Dynamic motion compensation
AssigneeLeica Geosystems AG
InventorDamien Dusha
Life of this patent
Estimating the term…
Abstract
A method and system that compensates for kinematic accelerations influencing a sensor measurement of working equipment such as an excavator. The method and system identify members of the working equipment that are movable relative to each other (e.g. stick, boom, bucket) and define a co-ordinate frame for each movable member. A kinematic relationship, preferably a kinematic chain. The sensor measurement is then modified according to the kinematic relationships and the relative position of each identified member.
Claims16
A method of providing compensation for kinematic accelerations influencing a sensor measurement from a sensor of working equipment, the method comprising:
- identifying a plurality of members of the working equipment that are movable relative to each other;
- defining a co-ordinate frame for one or more sensors associated with each movable member;
- determining kinematic relationships for each co-ordinate frame, including determining a kinematic chain;
- determining the relative position including the angle of each identified movable member;
- determining the relative movement of each movable member relative to a previous movable member in the kinematic chain;
- and
- modifying the sensors or sensor measurements according to the kinematic relationships, relative position, and relative movement of each identified movable member, such that the accelerations induced by all relative movements of the movable members are compensated for.
A system that compensates one or more sensor measurements from sensors of working equipment for kinematic accelerations, the system comprising:
- working equipment having a plurality of members that are movable relative to each other;
- and
- a processor in communication with the sensors that are configured to:
- take a sensor measurement;
- obtain a co-ordinate frame for one or more sensors associated with each movable member;
- obtain a kinematic relationship for each co-ordinate frame including determining a kinematic chain;
- determine the relative position including the angle of the movable members;
- determine the relative movement of each movable member relative to a previous movable member in the kinematic chain;
- and
- modify the sensors or sensor measurements according to the kinematic relationships, relative position, and relative movement of each identified movable member to account and compensate for the kinematic accelerations induced by all relative movements.
Dependencies are inferred from the claim text.