Compensating for acceleration induced inclination errors

Patent metadata

Field	Value
Publication number	US-9618338-B2
Application number	US-201414218005-A
Country	US
Kind code	B2
Filing date	Mar 18, 2014
Priority date	Mar 18, 2014
Publication date	Apr 11, 2017
Grant date	Apr 11, 2017

Abstract

A relative angle between a machine's direction of travel and the orientation of an inclination sensor on a work tool coupled to the machine is determined and/or calculated. In some examples, the present disclosure describes a method of determining a relative angle between a machine's direction of travel and an inclination sensor coupled to a work tool coupled to the machine. Such method may include determining the machine's direction of travel, and determining an orientation of the inclination sensor coupled to the work tool coupled to the machine. The relative angle between the machine's direction of travel and the orientation of the inclination sensor coupled to the work tool may then be calculated.

First claim

I claim:

1. A method of determining a relative angle between a machine's direction of travel and an inclination sensor coupled to a work tool coupled to the machine, the method comprising:
determining the machine's direction of travel;
determining an orientation of the inclination sensor coupled to the work tool coupled to the machine; and
calculating the relative angle between the machine's direction of travel and the orientation of the inclination sensor coupled to the work tool, the relative angle being determined by a processor by calculating a difference between a slope of a ground surface on which the machine is travelling and a pitch relative to a horizontal plane of the inclination sensor.

2. The method of claim 1 , wherein determining the orientation of the inclination sensor coupled to the work tool comprises at least one of:
receiving a rotary position output from a rotary position sensor; and
receiving a cylinder position output from a cylinder position sensor.

3. The method of claim 2 , wherein calculating the relative angle comprises calculating the relative angle based on at least one of the rotary position output and the cylinder position output.

4. The method of claim 1 , wherein determining the orientation of the inclination sensor coupled to the work tool comprises positioning the work tool on a ground surface prior to determining the orientation of the inclination sensor coupled to the work tool.

5. The method of claim 1 , wherein determining the machine's direction of travel comprises:
estimating a slope of a surface on which the machine has traveled.

6. The method of claim 5 , wherein the estimating the slope of the surface comprises:
measuring a first elevation of the machine at a first location of the machine;
measuring a second elevation of the machine at a second location of the machine;
estimating the slope based at least on the first elevation of the machine and the second elevation of the machine.

7. The method of claim 5 , wherein the estimating the slope of the surface comprises:
measuring a first elevation of the work tool at a first location of the machine;
measuring a second elevation of the work tool at a second location of the machine;
estimating the slope based at least on the first elevation of the work tool and the second elevation of the work tool.

8. The method of claim 5 , wherein the machine's direction of travel is the slope of the surface.

9. The method of claim 5 , wherein calculating the relative angle comprises calculating a difference between the slope and the orientation of the inclination sensor coupled to the work tool.

10. The method of claim 1 , wherein determining the machine's direction of travel comprises determining an orientation of an inclination sensor coupled to the machine.

11. A system, comprising:
a machine having a work tool attached thereto;
an inclination sensor coupled to the work tool, the inclination sensor configured to sense an orientation of the work tool;
a slope estimation tool coupled to at least one of the work tool and the machine, the slope estimation tool configured to estimate a slope of a surface on which the machine has traveled;
a receiver provided along a path in which the machine travels; and
a processor adapted to determine an elevation of the receiver and in turn use the elevation to determine the slope of the surface on which the machine has traveled.

12. The system of claim 11 , wherein the slope estimation tool comprises an inclination sensor coupled to the machine.

13. The system of claim 12 , wherein the slope estimation tool estimates the slope of the surface on which the machine has traveled by measuring an elevation of the work tool at at least two locations of the machine.

14. The system of claim 12 , wherein the slope estimation tool estimates the slope of the surface on which the machine has traveled by measuring an elevation of the machine at at least two locations of the machine.

15. The system of claim 11 , wherein the slope estimation tool comprises a global positioning system receiver.

16. The system of claim 11 , wherein the inclination sensor comprises at least one of an inclinometer, an accelerometer, and a gyroscope.

17. A method, comprising:
estimating a slope associated with a machine's direction of travel, the slope being a difference in elevation between at least two locations in the machine's direction of travel;
determining an orientation of an inclination sensor coupled to a work tool coupled to the machine; and
calculating a relative angle between the slope and the orientation of the inclination sensor coupled to the work tool, the relative angle being determined by a processor by calculating a difference between a slope of a ground surface on which the machine is travelling and a pitch relative to a horizontal plane of the inclination sensor.

18. The method of claim 17 , wherein calculating the relative angle comprises determining a difference between an angle associated with the slope and an angle associated with the orientation of the inclination sensor.

19. The method of claim 17 , wherein estimating the slope comprises:
receiving a first elevation of the machine at a first location;
receiving a second elevation of the machine at a second location;
determining a difference between the first elevation and the second elevation over a distance between the first location and the second location.

20. The method of claim 17 , wherein estimating the slope comprises:
sensing a first elevation and first global positioning system position of the machine at a first location;
sensing a second elevation and second global positioning system position of the machine at a second location;
determining a difference between the first elevation and the second elevation over a distance between the first global positioning system position and the second global positioning system position.

Assignees

• Caterpillar Inc

Inventors

• Fehr Drew

Classifications

• G01C9/08 Primary

  Means for compensating acceleration forces due to movement of instrument · CPC title

• G01S19/13

  Receivers · CPC title

• G01S19/14

  specially adapted for specific applications · CPC title