Method of calibrating a sensor on a work vehicle

Patent metadata

Field	Value
Publication number	US-11274416-B2
Application number	US-201916380752-A
Country	US
Kind code	B2
Filing date	Apr 10, 2019
Priority date	Apr 10, 2019
Publication date	Mar 15, 2022
Grant date	Mar 15, 2022

Abstract

A work vehicle including a body, an operational frame movable relative to the body about a primary joint, a linkage arrangement configured to adjust a position of the operational frame relative to the body, and a working implement coupled to the operational frame and movable relative to the body. A first sensor is positioned on the body. A second sensor is positioned on at least one of the operational frame, the linkage arrangement, and the working implement. A processor is configured to receive a first signal from the first sensor, where the first signal is representative of a measurement sensed by the first sensor, receive a second signal from the second sensor, where the second signal is representative of a measurement sensed by the second sensor, and determine a measurement error of the first sensor based on the signals from the first sensor and the second sensor.

First claim

What is claimed is:

1. A work vehicle comprising:
a body;
an operational frame movable relative to the body about a primary joint;
a linkage arrangement configured to adjust a position of the operational frame relative to the body;
a working implement coupled to the operational frame and movable relative to the body;
a first sensor positioned on the body;
a second sensor positioned on at least one of the operational frame, the linkage arrangement, and the working implement; and
a processor configured to
receive a first signal from the first sensor, the first signal representative of a measurement sensed by the first sensor,
receive a second signal from the second sensor, the second signal representative of a measurement sensed by the second sensor, and
determine a measurement error of the first sensor based on the signals from the first sensor and the second sensor.

2. The work vehicle of claim 1 , wherein the processor is further configured to calculate an expected measurement value based on the signal from the second sensor, and wherein the processor is configured to determine the measurement error of the first sensor by comparing the signal from the first sensor to the expected measurement value.

3. The work vehicle of claim 1 , wherein the measurement error represents an error in a measurement taken by the first sensor in a first direction, and wherein the processor is further configured to determine a second measurement error representative of a measurement taken by the first sensor in a second direction.

4. The work vehicle of claim 3 , wherein the measurement error in the first direction is representative of an error in the measured roll of the work vehicle, and wherein the second measurement error in the second direction is representative an error in the measured pitch direction.

5. The work vehicle of claim 4 , wherein the processor is further configured to determine a third measurement error representative of a measurement taken in the yaw direction.

6. The work vehicle of claim 1 , wherein the processor is further configured to automatically adjust a measurement value sensed by the first sensor based on the measurement error of the first sensor.

7. The work vehicle of claim 1 , wherein the linkage arrangement includes a plurality of hydraulic cylinders, the work vehicle further including a third sensor associated with one cylinder of the plurality of cylinders, and a fourth sensor associated with another cylinder of the plurality of cylinders, wherein the third sensor and the fourth sensor are each configured to sense a parameter relating to a length of the corresponding cylinder.

8. A work vehicle comprising:
a body;
a working implement movable relative to the body;
a linkage arrangement configured to adjust a position of the working implement relative to the body, the linkage arrangement including a plurality of hydraulic cylinders, each movable between an extended position and a retracted position to adjust a length thereof;
a first sensor positioned on the body;
a second sensor positioned on a first cylinder of the plurality of cylinders of the linkage arrangement, the second sensor configured to sense a parameter of the first cylinder; and
a processor configured to determine a measurement error of the first sensor based at least in part on a signal representative of a measurement sensed by the second sensor.

9. The work vehicle of claim 8 , wherein the processor is configured to determine
the measurement error of the first sensor by
receiving a first signal from the first sensor, the first signal including a measurement sensed by the first sensor when the body is rotated in a first direction relative to the working implement,
receiving a second signal from the second sensor, the second signal representative of a measurement sensed by the second sensor when the body is rotated in the first direction relative to the working implement,
receiving a third signal from the first sensor, the third signal representative of a measurement sensed by the first sensor when the body is rotated in a second direction relative to the working implement, and
receiving a fourth signal from the second sensor, the second signal representative of a measurement sensed by the second sensor when the body is rotated in the second direction relative to the working implement.

10. The work vehicle of claim 8 , wherein the measurement error represents an error in a measurement taken by the first sensor in a first direction, and wherein the processor is further configured to determine a second measurement error representative of a measurement taken by the first sensor in a second direction.

11. The work vehicle of claim 8 , wherein the processor is configured to determine the measurement error of the first sensor by calculating an expected measurement value based on the signal from the second sensor.

12. The work vehicle of claim 11 , wherein the processor is configured to determine the measurement error of the first sensor by comparing a measurement sensed by the first sensor to the expected measurement value.

13. The work vehicle of claim 8 , wherein the processor is further configured to automatically adjust a measurement sensed by the first sensor based on the measurement error of the first sensor.

14. The work vehicle of claim 8 , further including a third sensor positioned on a second cylinder of the plurality of cylinders of the linkage arrangement, the third sensor configured to sense a parameter of the second cylinder.

15. The work vehicle of claim 8 , further including an operational frame movable relative to the body about a primary joint, the working implement coupled to the operational frame and to the linkage arrangement.

16. A work vehicle, comprising:
a body;
an operational frame movable relative to the body about a primary joint;
a linkage arrangement configured to adjust a position of the operational frame relative to the body;
a working implement coupled to the operational frame and movable relative to the body;
a first sensor positioned on the body;
a second sensor positioned on at least one of the operational frame, the linkage arrangement, and the blade; and
a processor configured to determine a measurement error of the first sensor based at least in part on a signal received from the first sensor and a signal received from the second sensor.

17. The work vehicle of claim 16 , wherein the processor is configured to wirelessly output the measurement error of the first sensor to a location remote from the work vehicle.

18. The work vehicle of claim 16 , wherein the processor is configured to determine a measurement error of the first sensor by calculating an expected measurement value based on the signal from the second sensor.

19. The work vehicle of claim 18 , wherein the processor is configured to determine the measurement error of the first sensor by comparing the signal from the first sensor to the expected measurement value.

20. The work vehicle of claim 16 , wherein the linkage arrangement includes a plurality of hydraulic cylinders, the work vehicle further including a third sensor associated with one cylinder of the plurality of cylinders, and a fourth sensor associated with another cylinder of the plurality of cylinders, wherein the third sensor and the fourth sensor are each configured to sense a parameter relating to a length of the corresponding cylinder.

Assignees

• Deere & Co

Inventors

• Veasy David A
• Christofferson Craig
• Peat Michael D
• Sherlock Lance R

Classifications

• G01B21/06

  specially adapted for measuring length or width of objects while moving · CPC title

• E02F3/7654

  with the scraper blade being horizontally movable into a position near the chassis · CPC title

• E02F9/264

  Sensors and their calibration for indicating the position of the work tool · CPC title

• E02F3/765

  with the scraper blade being pivotable about a horizontal axis disposed perpendicular to the blade · CPC title

• F15B2211/6336

  representing a state of the output member, e.g. position, speed or acceleration · CPC title