Method and multibody system for supervision of a joint
AssigneeDeLaval Holding AB
InventorAndreas Eriksson
Life of this patent
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Abstract
A method for use with a multibody system includes two body sections assembled via a joint, one of the body sections including a camera which is moveable between a first position and a second position, includes detecting a reference object with the camera situated in the first position, determining a reference value of the reference object, requesting movement of the camera from the first position into the second position, initiating movement of the camera from the first position towards the second position, while iteratively sampling image of the reference object, determining a current object value of the reference object, based on the sampled image, matching the reference value with the current object value, and determining successfulness of the camera movement, based on the matching.
Claims19
A method for a multibody system including two body sections assembled via a joint, one of the body sections including a camera which is moveable between a first position and a second position, the method comprising:
- detecting at least one reference object with the camera situated in the first position;
- determining a reference value of the at least one reference object;
- requesting movement of the camera from the first position into the second position;
- initiating movement of the camera from the first position towards the second position, while iteratively
- sampling an image of the at least one reference object,
- determining a current object value of the at least one reference object, based on the sampled image, and
- matching the determined reference value with the determined current object value;
- and
- determining successfulness of the movement of the camera from the first position into the second position, based on the matching,
- wherein the determined reference value of the at least one reference object comprises a reference vector between a reference point of the multibody system and the position of the at least one reference object with the camera situated in the first position,
- the determined current object value of the at least one reference object, based on the sampled image comprises an object vector between the reference point of the multibody system and the at least one reference object in the sampled image, and
- the matching is made by a length comparison between the reference vector and the object vector.
A multibody system comprising:
- two body sections assembled via a joint, one of the body sections comprising a camera which is moveable between a first position and a second position;
- and
- a controller configured to
- detect at least one reference object via the camera situated in the first position,
- determine a reference value of the at least one reference object,
- request movement of the camera from the first position into the second position,
- initiate movement of the camera from the first position towards the second position, while iteratively
- sampling an image of the at least one reference object,
- determining a current object value of the at least one reference object, based on the sampled image, and
- matching the determined reference value with the current object value, and
- determine successfulness of the movement of the camera from the first position into the second position, based on the matching,
- wherein the controller is further configured to:
- determine a reference vector between a reference point of the multi-body system and the position of the at least one reference object with the camera situated in the first position,
- determine an object vector between the reference point of the multi-body system the at least one reference object in the sampled image, and
- match the determined reference value with the current object value by a length comparison between the determined reference vector and the determined object vector.
Dependencies are inferred from the claim text.