Six-way blade orientation determination from lifting movement
AssigneeHoneywell International Inc.
InventorsYanling Min, Xiao Cao, Zhizhen Shen, Jingwei Li
Life of this patent
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Abstract
Embodiments are directed to determining at least one orientation parameter of a six-way blade coupled to a vehicle via an attachment member. The at least one orientation parameter is determined based on a pure lifting movement of the blade and the attachment member. Rotation rate measurements of the attachment member and/or the blade are taken during the pure lifting movement and used to derive orientation parameters such as the swing angle of the blade and the relative heading between the blade and the attachment member.
Claims20
A system, comprising:
- at least one first sensor mounted on a vehicle, wherein the vehicle includes a body, a blade, and an attachment member that couples the blade to the body, wherein at least one of the at least one first sensor is coupled to the blade,
- wherein the attachment member is configured for lift movement, wherein the lift movement is defined as a rotation along a horizontal axis with respect to the body,
- wherein the blade is configured for swing movement, wherein the swing movement is defined as a rotation along an axis orthogonal to an axis of the lift movement with respect to the attachment member,
- wherein the at least one first sensor is configured to determine rotation rate measurements with respect to movement of the blade about at least one axis of rotation, wherein the movement of the blade includes lift movement synchronized with the lift movement of the attachment member;
- and
- at least one processor integrated in or coupled to the at least one first sensor, wherein the at least one processor is configured to:
- determine a lift rotation rate of at least one of:
- the blade or the attachment member, the lift rotation rate associated with a pure lifting movement of the blade and the attachment member performed simultaneously,
- determine at least one orientation parameter of the blade with respect to the attachment member based on the lift rotation rate and the rotation rate measurements.
A method for determining at least one orientation parameter of a blade attached to a vehicle, wherein the vehicle includes a body and an attachment member that couples the blade to the body, wherein movement of the blade is defined orthogonal to an axis of motion with respect to the attachment member, wherein the attachment member is configured for lift movement, wherein the lift movement is defined as a rotation along a horizontal axis with respect to the body, wherein the blade is configured for swing movement, wherein the swing movement is defined as a rotation along an axis orthogonal to an axis of the lift movement with respect to the attachment member, the method comprising:
- determining rotation rate measurements with respect to movement of the blade about at least one axis of rotation;
- and
- determining a lift rotation rate of at least one of:
- the blade or the attachment member, the lift rotation rate associated with a pure lifting movement of the blade and the attachment member performed simultaneously,
- determining at least one orientation parameter of the blade with respect to the attachment member based on the lift rotation rate and the rotation rate measurements.
A program product comprising a non-transitory processor-readable medium on which program instructions configured to be executed by at least one processor are embodied, wherein by executing the program instructions, the at least one processor is configured to:
- determine rotation rate measurements with respect to movement of a blade about at least one axis of rotation, wherein the blade is coupled to a body of a vehicle by an attachment member, wherein movement of the blade is defined orthogonal to an axis of motion with respect to the attachment member, wherein the attachment member is configured for lift movement, wherein the lift movement is defined as a rotation along a horizontal axis with respect to the body, wherein the blade is configured for swing movement, wherein the swing movement is defined as a rotation along an axis orthogonal to an axis of the lift movement with respect to the attachment member;
- and
- determine a lift rotation rate of at least one of:
- the blade or the attachment member, the lift rotation rate associated with a pure lifting movement of the blade and the attachment member performed simultaneously, and
- determine at least one orientation parameter of the blade with respect to the attachment member based on the lift rotation rate and the rotation rate measurements.
Dependencies are inferred from the claim text.