Work Machine Sensor Mounting for Position Calculation Accuracy
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Solution Overview
Problem
Existing control systems for work machines face challenges in accurately calculating the position of a work implement due to displacement between vehicle body portions, leading to inaccuracies in attitude and position detection.
Innovation Solution
A control system with a vehicle body positional sensor and a work implement positional sensor both attached to the second vehicle body portion, allowing for accurate calculation of the work implement's position even when the second vehicle body portion is displaced relative to the first vehicle body portion, using data from these sensors and a controller to determine the work implement's position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the attitude sensor is attached to the first vehicle body portion and the positional sensor is attached to the second vehicle body portion, then the structure allows separate mounting on different vehicle body portions, but the position calculation accuracy deteriorates when the second vehicle body portion is displaced relative to the first vehicle body portion
Solution Approach 1:
The patent merges the mounting location of both the attitude sensor and positional sensor to the second vehicle body portion. This ensures that both sensors reference the same coordinate system, eliminating calculation errors caused by displacement between the first and second vehicle body portions. The controller calculates the work implement position based on attitude data and position data that share a common reference frame, thereby maintaining high measurement precision while allowing flexible sensor mounting.
2Adaptability or versatility
If the second vehicle body portion is supported by the first vehicle body portion via a mount, then the structure allows relative displacement between vehicle body portions, but the position calculation accuracy deteriorates due to deformation of the mount
Solution Approach 1:
The patent resolves this contradiction by combining the mounting locations of both sensors to the second vehicle body portion. This approach maintains the flexible mount-supported structure while ensuring that sensor measurements are taken from a common reference frame, thereby preserving calculation accuracy despite the physical separation and potential deformation of the mount connecting the first and second vehicle body portions.
3Device complexity
If sensors are attached to different vehicle body portions, then the mounting structure is simplified, but the reliability of position detection deteriorates when displacement occurs between vehicle body portions
Solution Approach 1:
The patent merges the mounting location of both the attitude sensor and positional sensor to the second vehicle body portion. This unified mounting approach maintains relatively simple device structure while significantly improving reliability by ensuring that both sensors operate from the same reference frame, thereby eliminating errors caused by relative displacement between the first and second vehicle body portions.
Data Source
AI summary
A work machine includes a work implement and a vehicle body including a first vehicle body portion, a mount attached to the first vehicle body portion, and a second vehicle body portion supported on the first vehicle body portion via the mount. A control system for the work machine includes a vehicle body positional sensor, a work implement positional sensor, and a controller. The vehicle body positional sensor is attached to the second vehicle body portion and outputs vehicle body position data indicative of a position of the second vehicle body portion. The work implement positional sensor is attached to the second vehicle body portion and outputs work implement position data indicative of a relative position of the work implement with respect to the second vehicle body portion. The controller calculates a position of the work implement based on the vehicle body position data and the work implement position data.