Excavator control architecture for generating sensor location and offset angle
US10329741B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 20, 2016 |
| Grant date | Jun 25, 2019 |
| Priority date | — |
| Expiry date | Nov 23, 2037 |
Classification
- Technology area (CPC E)Fixed Constructions
- CPC primaryE02F3/3681
- WIPO fieldCivil engineering
- WIPO sectorOther fields
Abstract
An excavator is disclosed including a chassis coupled to a boom point A, a sensor on a limb, an implement, an architecture, and a linkage assembly (LA) including a boom and a stick coupled to a boom point B. The architecture comprises one or more LA actuators and a controller that generates a sensor location ν and offset angle ϕ and is programmed to: pivot the limb (either the boom or stick) about a pivot point (respectively, A or B) and generate a set of sensor signals. The controller is programmed to repeatedly execute an iterative process n times until exceeding a threshold, which process comprises determining a sensor location estimate νn (a distance between the sensor and the pivot point) and an offset angle estimate ϕn defined relative to a limb axis. A utilized optimization model includes the set of sensor signals and error terms.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.