Posture calculation device of working machinery, posture calculation device of excavator, and working machinery

Patent metadata

Field	Value
Publication number	US-9745726-B2
Application number	US-201414385260-A
Country	US
Kind code	B2
Filing date	May 19, 2014
Priority date	May 19, 2014
Publication date	Aug 29, 2017
Grant date	Aug 29, 2017

Abstract

A posture calculation device of working machinery includes: a measuring device configured to detect an angle speed and acceleration; a posture angle calculation unit configured to obtain a posture angle of the working machinery from the detected angle speed and the detected acceleration; a first complementary filter to which a first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a first posture angle; a second complementary filter to which a second cutoff frequency different from the first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a second posture angle; and a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle according to a state of the measuring device.

First claim

The invention claimed is:

1. A posture calculation device of working machinery comprising:
a measuring device provided in the working machinery, and configured to detect an angle speed and acceleration;
a first posture angle calculation unit configured to obtain a posture angle of the working machinery from the acceleration detected by the measuring device;
a second posture angle calculation unit configured to obtain a posture angle of the working machinery from the angle speed detected by the measuring device;
a first complementary filter to which a first cutoff frequency is set, and configured to decrease a noise in the posture angles obtained by the first and second posture angle calculation units to output a first posture angle;
a second complementary filter to which a second cutoff frequency different from the first cutoff frequency is set, and configured to decrease a noise in the posture angles obtained by the first and second posture angle calculation units to output a second posture angle; and
a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle according to a state of the working machinery.

2. The posture calculation device of working machinery according to claim 1 , wherein the first cutoff frequency is higher than the second cutoff frequency.

3. The posture calculation device of working machinery according to claim 2 , wherein the switching unit outputs the first posture angle when having determined that the working machinery is in a quasi-stationary state, and outputs the second posture angle when having determined that the working machinery is in a dynamic state.

4. The posture calculation device of working machinery according to claim 3 , wherein
the switching unit determines that working machinery is in a quasi-stationary state when a standard deviation of the first posture angle is smaller than a first threshold set in advance in a predetermined period before a timing at which determination of switching is made, and when a magnitude of the acceleration other than gravity acceleration is smaller than a second threshold set in advance.

5. The posture calculation device of working machinery according to claim 1 , wherein, after switching from the first posture angle to the second posture angle, the switching unit corrects the second posture angle using a value obtained by subtracting of the second posture angle from the first posture angle at a time of switching as a correction value.

6. The posture calculation device of working machinery according to claim 5 , wherein, after switching from the second posture angle to the first posture angle, the switching unit corrects the first posture angle using a value obtained by multiplying of an error of the second posture angle at the time of switching by a coefficient that is larger than 0 and smaller than 1 as a correction value.

7. The posture calculation device of working machinery according to claim 1 ,
wherein the first complementary filter includes:
a first filter unit to filter the posture angles and output filtered posture angles, and a first adding unit to add the filtered posture angles and output the first posture angle, and

wherein the second complementary filter includes:
a second filter unit to filter the posture angles and output filtered posture angles, and a second adding unit to add the filtered posture angles and output the second posture angle.

8. The posture calculation device of working machinery according to claim 7 , wherein the first filter unit includes a first low pass filter and a first high pass filter, and the second filter unit includes a second low pass filter and a second high pass filter.

9. The posture calculation device of working machinery according to claim 8 , wherein the first and second low pass filters receive the posture angle from the first posture calculation unit, the first and second high pass filters receive the posture angle from the second posture calculation unit, the first adding unit adds the outputs from the first low and high pass filters to produce the first posture angle, and the second adding unit adds the outputs from the second low and high pass filters to produce the second posture angle.

10. A posture calculation device of an excavator comprising:
a measuring device provided in an upper swing body of the excavator, and configured to detect an angle speed and acceleration;
a first posture angle calculation unit configured to obtain a posture angle of the excavator from the acceleration detected by the measuring device;
a second posture angle calculation unit configured to obtain a posture angle of the excavator from the angle speed detected by the measuring device;
a first complementary filter to which a first cutoff frequency is set, and configured to decrease a noise in the posture angles obtained by the first and second posture angle calculation units to output a first posture angle;
a second complementary filter to which a second cutoff frequency lower than the first cutoff frequency is set, and configured to decrease a noise in the posture angles obtained by the first and second posture angle calculation units to output a second posture angle; and
a switching unit configured to output the first posture angle when having determined that the excavator is in a quasi-stationary state, and to output the second posture angle when having determined that the excavator is in a dynamic state.

11. Working machinery comprising:
a posture calculation device of working machinery including:
a measuring device provided in the working machinery, and configured to detect an angle speed and acceleration;
a first posture angle calculation unit configured to obtain a posture angle of the working machinery from the acceleration detected by the measuring device;
a second posture angle calculation unit configured to obtain a posture angle of the working machinery from the angle speed detected by the measuring device;
a first complementary filter to which a first cutoff frequency is set, and configured to decrease a noise in the posture angles obtained by the first and second posture angle calculation unit to output a first posture angle;
a second complementary filter to which a second cutoff frequency different from the first cutoff frequency is set, and configured to decrease a noise in the posture angles obtained by the first and second posture angle calculation units to output a second posture angle; and
a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle according to a state of the working machinery; and

a control unit configured to obtain a position of a working machine attached to the working machinery using the first posture angle or the second posture angle output from the posture calculation device of the working machinery.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Kanemitsu Yasuo

Classifications

• E02F3/435

  for dipper-arms, backhoes or the like · CPC title

• G01C1/00

  Measuring angles · CPC title

• G01C9/00

  Measuring inclination, e.g. by clinometers, by levels · CPC title

• E02F3/32

  working downwardly and towards the machine, e.g. with backhoes · CPC title

• E02F9/264 Primary

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