Excavator four-bar linkage length and angle offset determination using a laser distance meter
US10017914B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 20, 2016 |
| Grant date | Jul 10, 2018 |
| Priority date | — |
| Expiry date | Jan 24, 2037 |
Classification
- Technology area (CPC E)Fixed Constructions
- CPC primaryE02F3/32
- WIPO fieldCivil engineering
- WIPO sectorOther fields
Abstract
An excavator calibration framework comprises an excavator, a laser distance meter (LDM), and a laser reflector. The excavator comprises a chassis, linkage assembly (LA), sensor, implement, and control architecture. The LA comprises a boom, stick, and four-bar linkage (4BL) with the sensor on a 4BL dogbone linkage. The control architecture comprises a controller programmed to execute an iterative process at successive implement curl positions. The iterative process comprises generating a measured dogbone angle θDFMeasured, determining a height Ĥ and a distance {circumflex over (D)} between an implement node and the LDM, and determining an implement node position. The iterative process further comprises determining an estimated implement angle θGHEstimated and generating a mapping equation comprising linkage angle inputs (θDFMeasured, θGHEstimated) and n unsolved 4BL linkage length and angle offset parameters. The controller is programmed to generate and solve a set of m mapping equations comprising the n unsolved parameters.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.