A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Improved determination of excavator swing boom angle based on centripetal acceleration direction
The invention relates to an improved determination of excavator swing boom angle based on centripetal acceleration direction. The invention relates to a system for determining the swing boom angle of an excavator, the excavator comprising: a lower part; an upper portion including a compartment disposed on the lower portion and configured to rotate relative to the lower portion about a first axis of rotation; and a swing boom disposed on the upper portion and configured to rotate relative to the upper portion about a second axis of rotation, the actual swing boom position defining a swing boom angle. The system includes a first inertial measurement unit (IMU) configured to be mounted on the boom and generate first IMU data, the first IMU including at least one acceleration sensor and a processing unit. The processing unit is configured to: receive first IMU data; determining a direction of centripetal acceleration acting on the first IMU based on the received first IMU data when the upper portion is rotated relative to the lower portion about the first axis of rotation; and determining a swing boom angle based on the direction.
本发明涉及基于向心加速度方向的挖掘机摆动动臂角度的改进确定。本发明涉及用于确定挖掘机的摆动动臂角度的系统，挖掘机包括：下部；包括舱室的上部，其布置在下部上并且被配置为相对于下部绕第一旋转轴线旋转；及摆动动臂，其布置在上部上并且被配置为相对于上部绕第二旋转轴线旋转，实际摆动动臂位置限定了摆动动臂角度。系统包括第一惯性测量单元IMU，其被配置为安装在动臂上并且生成第一IMU数据，第一IMU包括至少一个加速度传感器和处理单元。处理单元被配置为：接收第一IMU数据；当上部绕第一旋转轴线相对于下部旋转时，基于接收的第一IMU数据来确定作用在第一IMU上的向心加速度的方向；及基于该方向来确定摆动动臂角度。
Improved determination of excavator swing boom angle based on centripetal acceleration direction
The invention relates to an improved determination of excavator swing boom angle based on centripetal acceleration direction. The invention relates to a system for determining the swing boom angle of an excavator, the excavator comprising: a lower part; an upper portion including a compartment disposed on the lower portion and configured to rotate relative to the lower portion about a first axis of rotation; and a swing boom disposed on the upper portion and configured to rotate relative to the upper portion about a second axis of rotation, the actual swing boom position defining a swing boom angle. The system includes a first inertial measurement unit (IMU) configured to be mounted on the boom and generate first IMU data, the first IMU including at least one acceleration sensor and a processing unit. The processing unit is configured to: receive first IMU data; determining a direction of centripetal acceleration acting on the first IMU based on the received first IMU data when the upper portion is rotated relative to the lower portion about the first axis of rotation; and determining a swing boom angle based on the direction.
本发明涉及基于向心加速度方向的挖掘机摆动动臂角度的改进确定。本发明涉及用于确定挖掘机的摆动动臂角度的系统，挖掘机包括：下部；包括舱室的上部，其布置在下部上并且被配置为相对于下部绕第一旋转轴线旋转；及摆动动臂，其布置在上部上并且被配置为相对于上部绕第二旋转轴线旋转，实际摆动动臂位置限定了摆动动臂角度。系统包括第一惯性测量单元IMU，其被配置为安装在动臂上并且生成第一IMU数据，第一IMU包括至少一个加速度传感器和处理单元。处理单元被配置为：接收第一IMU数据；当上部绕第一旋转轴线相对于下部旋转时，基于接收的第一IMU数据来确定作用在第一IMU上的向心加速度的方向；及基于该方向来确定摆动动臂角度。
Improved determination of excavator swing boom angle based on centripetal acceleration direction
基于向心加速度方向的挖掘机摆动动臂角度的改进确定
KEAN MICHAEL G (author)
2023-12-22
Patent
Electronic Resource
Chinese
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