Excavator limb length and offset angle determination using a laser distance meter
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United States of America Patent
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Jun 12, 2018
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app pub date -
Nov 30, 2016
filing date -
Nov 30, 2016
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Abstract
A framework comprises a laser distance meter (LDM), reflector, and excavator comprising a chassis, linkage assembly (LA), boom and stick sensors, implement, and control architecture. The LA comprises a boom and stick defining LA positions. The LDM is configured to generate a DLDM and θINC between the LDM and the reflector at a node, and the control architecture comprises actuator(s) and a controller programmed to execute at successive LA positions an iterative process (comprises generating θB, generating θS, and calculating a height H and a distance D between the node and the LDM based on DLDM and θINC), build a set of H, D measurements and a corresponding set of θB, θS for n LA positions, and execute a linear least squares optimization process based on the H, D set and corresponding set of θB, θS to determine and operate the excavator using LB, LS, θBBias, and θSBias.
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