Working Kinematics Position Estimation via Sensor Fusion
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Solution Overview
Problem
Current systems for estimating the position of work kinematics in machines like wheel loaders and excavators suffer from poor dynamic performance, leading to increased estimation errors due to disruptive accelerations, especially during cornering or on slopes, which cannot be accurately detected and compensated without additional complex sensors.
Innovation Solution
A method that combines force, acceleration, and yaw rate signals from sensors like inertial measurement units and pressure sensors to improve position estimation, using curves and functions to calculate the position of work kinematics under various conditions, including static, sliding, and accelerated movements, and integrates this data into sensor fusion algorithms for enhanced accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If inertial measurement units (IMUs) are used to estimate the position of working kinematics, then dynamic performance improves, but estimation accuracy deteriorates due to disruptive accelerations and measurement errors
Solution Approach 1:
The patent combines multiple sensor types (accelerometers, gyroscopes, magnetometers from IMU, and additional disturbance detection sensors) to create a fused measurement system. This merging allows the system to leverage the dynamic response of IMUs while compensating for their vulnerabilities through complementary sensor data, resolving the contradiction between dynamic performance and measurement accuracy
Solution Approach 2:
The system implements feedback mechanisms where position estimates are continuously refined based on sensor measurements and disturbance detections. The controller uses feedback loops to adjust estimates in real-time, correcting errors caused by disruptive accelerations while maintaining dynamic tracking capability, thus resolving the accuracy-dynamics trade-off
2Measurement precision
If additional complex sensor technology is used to detect and compensate for disturbance accelerations, then position estimation accuracy improves, but device complexity increases
Solution Approach 1:
The patent makes the IMU system multi-functional by using the same sensor suite for both normal position estimation and disturbance detection/compensation. The accelerometers, gyroscopes, and magnetometers serve dual purposes: tracking working kinematics position and detecting disruptive accelerations from machine movements. This universality improves accuracy without adding dedicated disturbance sensors, avoiding increased device complexity
Solution Approach 2:
The system uses its own IMU sensors to detect and compensate for disturbances affecting its measurements. The accelerometers and gyroscopes that measure working kinematics also detect disruptive accelerations from machine movements, and the controller uses this self-generated data to correct position estimates. This self-service approach improves accuracy without requiring external complex sensor systems
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the accuracy of position estimation even under challenging conditions, reducing estimation errors and improving operational efficiency by effectively accounting for disruptive influences and complex movements.
Implementation Method 1
The measured accelerations and angular rates can be used to estimate the angles of the individual elements of the working kinematics relative to each other (and thus their positions)
Implementation Method 2
provide a first force signal from the first actuator as a function of a first force applied by the first boom element
Data Source
Figure 1
Figure 2
Figure 3(a)~3(c)
AI summary
The invention relates to a method for estimating the position of a working kinematics (2, 4) of a working machine (1), which comprises a main body (5) and the working kinematics (2, 4) which is connected to the main body (5) of the working machine (1) and which is configured to receive loads and move them relative to the main body (5), wherein the working kinematics has a boom with at least one first boom element (2), wherein the first boom element (2) is movable by an acting actuator (8), and wherein the working kinematics includes a sensor device which is configured to provide a first force signal from the first actuator (8) as a function of a first force applied by the first boom element (2), and a first acceleration signal as a function of an acceleration acting on the first boom element (2).and furthermore to provide a first rotation rate signal as a function of a rotation rate acting on the first boom element (2); wherein the method comprises the following steps: a. Acquiring the first force signal, the first acceleration signal and the first rotation rate signal; b. Determining the position estimate of the working kinematics based on the signals acquired in step a.