Modifying a rotational position of a boom of a machine
A method may include receiving, from a position sensor associated with a machine, data indicative of a horizontal rotation angle of a boom of the machine. The position sensor may be fixedly mounted to a boom link of the machine and may be fixedly connected through one or more links to the boom. The method may further include sending, to a boom actuator, one or more commands to modify a horizontal position of the boom to a target horizontal position or to a default horizontal position. The target horizontal position may include a position of the boom prior to drift in the horizontal position during operation of linkage elements of the machine and the default horizontal position may include a position of the boom to which the boom is to return after use.
1 . A system associated with a machine, comprising:
a boom actuator;
a position sensor; and
a rotational position system, wherein the rotational position system is configured to:
receive, from the position sensor, data indicative of a horizontal rotation angle of a boom of the machine relative to a body of the machine;
determine whether the horizontal rotation angle of the boom of the machine deviates from a target horizontal rotation angle relative to the body of the machine; and
upon detecting that the horizontal rotation angle of the boom of the machine deviates from the target horizontal rotation angle, send, to the boom actuator, one or more commands to modify the horizontal rotation angle of the boom to the target horizontal rotation angle,
wherein the target horizontal rotation angle includes a position of the boom and a position of a swing casting prior to drift in the horizontal rotation angle during operation, and
wherein the swing casting is fixedly connected to an end of the boom such that the boom is rotatable horizontally about an axis.
2 . The system of claim 1 , wherein the rotational position system is further configured, when sending the one or more commands, to:
send the one or more commands to modify the horizontal rotation angle to the target horizontal rotation angle based on determining that the horizontal rotation angle deviates from the target horizontal rotation angle, wherein the one or more commands include a command to wait until boom swing is not in use before modifying the horizontal rotation angle.
3 . The system of claim 1 , wherein the rotational position system is further configured to:
receive user input to set a default horizontal rotation angle relative to the body of the machine prior to receiving the data.
4 . The system of claim 3 , wherein the rotational position system is further configured to:
receive user input to modify the horizontal rotation angle from a current horizontal rotation angle to another horizontal rotation angle.
5 . The system of claim 4 , wherein the rotational position system is further configured, when sending the one or more commands, to:
send the one or more commands to modify the horizontal rotation angle to the default horizontal rotation angle.
6 . The system of claim 1 , wherein the machine comprises an excavator.
7 . The system of claim 1 , wherein the rotational position system is configured to send, to the boom actuator, the one or more commands to modify the horizontal rotation angle only when boom swing is not in use and for a period of time after the boom swing is inactive.
8 . A method, comprising:
receiving, from a position sensor associated with a machine, data indicative of a horizontal rotation angle of a boom of the machine relative to a body of the machine,
wherein the position sensor is fixedly mounted to a boom link of the machine and is fixedly connected through one or more links to the boom; and
sending, to a boom actuator, one or more commands to modify the horizontal rotation angle of the boom relative to the body of the machine to a target horizontal rotation angle relative to the body of the machine,
wherein the target horizontal rotation angle comprises a position of the boom and a position of a swing casting relative to the body of the machine prior to drift in the horizontal rotation angle during operation of linkage elements of the machine, and
wherein the one or more commands to modify the horizontal rotation angle of the boom relative to the body of the machine are only sent when boom swing is not in use and are not sent when the boom swing is in use.
9 . The method of claim 8 , further comprising:
determining that the horizontal rotation angle deviates from the target horizontal rotation angle based on the data indicative of the horizontal rotation angle; and
sending the one or more commands to modify the horizontal rotation angle to the target horizontal rotation angle based on determining that the horizontal rotation angle deviates from the target horizontal rotation angle, wherein the one or more commands include a command to wait until the boom swing is not in use before modifying the horizontal rotation angle.
10 . The method of claim 8 , further comprising:
determining to activate an operation mode for modifying the horizontal rotation angle to the target horizontal rotation angle based on detecting an operation of the machine.
11 . The method of claim 8 , further comprising:
determining that the boom swing is not in use; and
wherein the sending of the one or more commands further comprises:
sending the one or more commands to modify the horizontal rotation angle to the target horizontal rotation angle after determining that the boom swing is not in use, and
wherein the method further includes deactivating the one or more commands to modify the horizontal rotation angle of the boom if the boom swing is in use.
12 . The method of claim 8 , further comprising:
receiving one or more commands to set a default horizontal rotation angle prior to receiving the data.
13 . The method of claim 8 , further comprising:
receiving user input to modify the horizontal rotation angle from a current horizontal rotation angle to a default horizontal rotation angle prior to sending the one or more commands.
14 . The method of claim 13 , wherein the default horizontal rotation angle comprises one or more of:
a starting horizontal rotation angle of the boom relative to the body of the machine prior to use of the boom, or
an in-use position set by an operator of the machine.
15 . A rotational position system associated with a machine, the rotational position system being configured to:
receive, from a position sensor associated with the machine, data indicative of a horizontal rotation angle of a boom of the machine relative to a body of the machine,
wherein the position sensor is fixedly mounted to a boom link of the machine and is fixedly connected through one or more links to the boom; and
send, to a boom actuator, one or more commands to modify the horizontal rotation angle of the boom to a target horizontal rotation angle relative to the body of the machine,
wherein the target horizontal rotation angle comprises a position of the boom and a position of a swing casting prior to drift in the horizontal rotation angle during use of linkage elements of the machine, wherein the swing casting is fixedly connected to an end of the boom such that the boom is rotatable horizontally about an axis relative to the body of the machine,
wherein the rotational position system is configured to only send the one or more commands to modify the horizontal rotation angle of the boom relative to the body of the machine during digging or dumping operations, when boom swing is not in use, and for a period of time after the boom swing is inactive, such that the rotational position system does not send the one or more commands to modify the horizontal rotation angle of the boom relative to the body the machine when the boom swing is active.
16 . The rotational position system of claim 15 , wherein the rotational position system is further configured to:
determine that the horizontal rotation angle deviates from the target horizontal rotation angle based on the data indicative of the horizontal rotation angle of the boom relative to the body of the machine; and
send the one or more commands to modify the horizontal rotation angle to the target horizontal rotation angle based on determining that the horizontal rotation angle deviates from the target horizontal rotation angle, wherein the swing casting is a 2-bar linkage or a 4-bar linkage.
17 . The rotational position system of claim 15 , wherein the rotational position system is further configured to:
determine to activate an operation mode for modifying the horizontal rotation angle to the target horizontal rotation angle based on detecting an operation of the machine.
18 . The rotational position system of claim 15 , wherein the rotational position system is further configured to:
determine that the boom swing is not in use; and
wherein the sending of the one or more commands further comprises:
sending the one or more commands to modify the horizontal rotation angle to the target horizontal rotation angle after determining that the boom swing is not in use.
19 . The rotational position system of claim 15 , wherein the rotational position system is further configured to:
receive user input to set a default horizontal rotation angle prior to receiving the data, and wherein the default horizontal rotation angle comprises a position of the boom to which the boom is to return after use.
20 . The rotational position system of claim 19 , wherein the rotational position system is further configured to:
receive user input to modify the horizontal rotation angle from a current horizontal rotation angle to the default horizontal rotation angle prior to sending the one or more commands to modify the horizontal rotation angle to the default horizontal rotation angle.