Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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A Study on Position Recognition of Bucket Tip for Excavator

굴삭기의 버킷 끝단 위치인식에 관한 연구

  • Kim, Jae Hoon (Electronic Control Software Development Team, Doosan Infracore) ;
  • Bae, Jong Ho (Electronic Control Software Development Team, Doosan Infracore) ;
  • Jung, Woo Yong (Electronic Control Software Development Team, Doosan Infracore)
  • Received : 2016.01.11
  • Accepted : 2016.02.18
  • Published : 2016.03.01
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Abstract

The accurate calculation of bucket tip position has a large influence on showing the motion of an excavator on the display device of the excavator and controlling the excavator automatically. It is generally known that Inertial Measurement Unit (IMU) sensors are more accurate than accelerometer-based sensors while the boom, arm or bucket moves because additional forces beyond gravity add additional acceleration to the sensors. To prove the accuracy difference between the two types of sensors, a position recognition system using an accelerometer-based sensor and an IMU sensor is implemented on the excavator. The experimental results show that the system using the IMU sensor significantly reduces the position recognition error while bucket moves and additional force beyond gravity exists.

Keywords

Acknowledgement

Supported by : 국토교통과학기술진흥원

References

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  1. 굴착기 머신 콘트롤 기술 개발 및 생산성 향상 평가 vol.17, pp.1, 2016, https://doi.org/10.7839/ksfc.2020.17.1.037
  2. Analysis of the Position Recognition of the Bucket Tip According to the Motion Measurement Method of Excavator Boom, Stick and Bucket vol.20, pp.10, 2016, https://doi.org/10.3390/s20102881