Excavator implement angle determination using a laser distance meter
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United States of America Patent
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Jul 23, 2019
Grant Date -
Jun 21, 2018
app pub date -
Dec 21, 2016
filing date -
Dec 21, 2016
priority date (Note) -
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status (Latency Note)
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Abstract
An excavator calibration framework comprises an excavator, a laser distance meter (LDM), and a plurality of laser reflectors. The excavator comprises a chassis, linkage assembly (LA), implement, and control architecture. The LA comprises a boom, stick, the implement, and a four-bar linkage including nodes, with a laser reflector at each node. The control architecture comprises a controller programmed to execute an iterative process at n linkage assembly positions to determine a position of an nth calibration node of the plurality of nodes of the four-bar linkage to determine triangular angles and side lengths of an external triangle formed between the nth calibration node and two other nodes having identified positions. The iterative process is repeated n times until triangular angles and side lengths of three external triangles are determined that form an internal triangle. Angles of the internal triangle are determined to generate an implement angle.
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