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Mobile working machine comprising a position control device of a working arm, and method for controlling the position of a working arm of a mobile working machine

  • US 9,151,013 B2
  • Filed: 04/07/2010
  • Issued: 10/06/2015
  • Est. Priority Date: 04/20/2009
  • Status: Active Grant
First Claim
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1. A mobile working machine comprising:

  • a working arm having an inclination angle relative to a y-axis;

    the working arm arranged on a revolving superstructure of the mobile working machine using a first end;

    a tool movably arranged on a second end of the working arm;

    a first inclination sensor arranged on the revolving superstructure;

    a second inclination sensor arranged on the working arm;

    a rotation rate sensor arranged on the working arm; and

    an arithmetic logic unit operatively connected to the first inclination sensor, the second inclination sensor, and the rotation rate sensor the arithmetic logic unit being configured to;

    identify an acceleration of the working arm with reference to signals from the first inclination sensor and the second inclination sensor;

    generate a first measurement of an inclination angle with reference to the acceleration of the working arm;

    identify a plurality of angular velocity measurements of the working arm with reference to signals from the rotation rate sensor over a predetermined time period;

    generate a second measurement of the inclination angle of the working arm with reference to the plurality of angular velocity measurements from the rotation rate sensor; and

    generate an estimate of the inclination angle of the working arm with reference to the first measurement and the second measurement of the inclination angle of the working arm.

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