CN109496263A - The bearing calibration of Work machine, means for correcting and Work machine correction system - Google Patents

Abstract

Means for correcting is the corrected device of parameter to the current location of the setting (P) in the hydraulic crawler excavator (11) for operation with equipment (2).The means for correcting has antenna (21,22), correction apparatus (150) and external measuring device (62).Antenna (21,22) is installed on hydraulic crawler excavator (11).Apparatus (150) configuration is corrected in the lower section of antenna (21,22).External measuring device (62) measures the position of correction apparatus (150).

Description

The bearing calibration of Work machine, means for correcting and Work machine correction system

Technical field

The present invention relates to the correction systems of the bearing calibration of Work machine, means for correcting and Work machine.

Background technique

In recent years, importing of the information-aided construction to the building operations for using Work machine etc. is constantly in progress.Information-aided construction Refer to, when carrying out the construction operation of civil engineering etc. using Work machines such as hydraulic crawler excavators, has used information telecommunication skill Art (ICT:Information and Communication Technology) and RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems) construction.Specifically, information-aided construction refers to, The position detection for carrying out the setting of the equipment in Work machine carries out certainly equipment based on the setting detected Dynamic control, thus expeditiously carries out the construction operation, to obtain high-precision construction results.

In the case where Work machine is, for example, hydraulic crawler excavator, the setting of the equipment in information-aided construction is shovel The position of the tooth tip of bucket.Positional relationship of the position of the tooth tip based on GNSS antenna and swing arm mounting pin, swing arm, dipper, scraper bowl The parameter of the respective stroke length of respective length, swing arm cylinder, dipper cylinder, scraper bowl cylinder etc., as the position coordinates in design Operation.

As the length for the swing arm of above-mentioned operation, dipper, scraper bowl and each cylinder, the size of design value is used.But Their actual size includes the error because caused by manufacturing the dimensional tolerance that upper and group is loaded onto relative to design value.Therefore, The position coordinates of the tooth tip calculated according to design value and the position coordinates of actual tooth tip may not be consistent, lead to the position of tooth tip The precision of detection reduces.In order to improve tooth tip position detection precision, it is necessary to based on what is measured by actual position Position coordinates, to correct the parameter in the design value for operation, so that needing to carry out position measures such correction operation.

For example, recording following technology in International Publication No. 2015/040726 (patent document 1): will be to from complete The prism mirror that is reflected of projection light of instrument of standing is installed on the tooth tip of scraper bowl, passes through reflection of the measurement from prism mirror Light measures to carry out the position of tooth tip.

Citation

Patent document

Patent document 1: International Publication No. 2015/040726

Summary of the invention

Subject to be solved by the invention

However, needing to measure the position of GNSS antenna in above-mentioned correction operation.In the position of measurement GNSS antenna When setting, the operator that carry out the measurement needs to access to GNSS antenna.

However, in the case where Work machine is extra small rotation type hydraulic excavator, in the body top section of hydraulic crawler excavator There is no the standpoints of operator.Therefore, operator can not access to GNSS antenna from body top section, need from ground into The correction of row GNSS antenna.Therefore, when the position for carrying out GNSS antenna measures operation, operator must take inadequate appearance Gesture.

Even if the object of the present invention is to provide one kind in small-sized Work machine, can also it make operator with comfortable Posture carry out the correction system of the bearing calibration of Work machine of position measurement of antenna, means for correcting and Work machine.

Solution for solving the problem

The bearing calibration of Work machine of the invention is in the Work machine for operation with equipment and antenna Setting current location the corrected bearing calibration of parameter, which has following step.

Firstly, in the lower section of antenna configuration correction apparatus.In the state that the lower section of antenna is configured with correction apparatus, utilize External measuring device corrects the position of apparatus to measure.Upper rheme based on the correction apparatus measured by external measuring device It sets, the positional relationship of equipment and antenna is corrected.

Means for correcting of the invention is to the setting in the Work machine for operation with equipment and antenna The corrected means for correcting of the parameter of current location.Means for correcting of the invention has correction apparatus and external measuring device. Apparatus configuration is corrected in the lower section of antenna.External measuring device measures the position of correction apparatus.

The correction system of Work machine of the invention has Work machine and means for correcting.Work machine has equipment And antenna.Means for correcting is corrected the parameter of the current location for the setting in operation Work machine.Means for correcting With correction apparatus, external measuring device, input unit and operational part.Apparatus configuration is corrected in the lower section of antenna.Outside measurement Device measures the position of correction apparatus.Input unit is configured to be entered the correction apparatus measured by external measuring device Position.Antenna of the operational part based on the above-mentioned position for being input to input unit, to the positional relationship for indicating equipment and antenna Parameter is corrected.

Invention effect

According to the present invention, since correction apparatus is configured in the lower section of antenna, even if in small-sized Work machine, Also operator can be made to carry out the position measurement of antenna with comfortable posture.

Detailed description of the invention

Fig. 1 is the perspective view for showing the structure of hydraulic crawler excavator of one embodiment of the present invention.

Fig. 2 is the main view for showing the structure of correction apparatus of one embodiment of the present invention.

Fig. 3 is the perspective view for showing the situation configured the correction apparatus of Fig. 2 in the lower section of antenna.

(A) of Fig. 4 is the side view for schematically showing the structure of hydraulic crawler excavator, and (B) is rearview, and (C) is to overlook Figure.

Fig. 5 is the block diagram for showing the structure for the control system that hydraulic crawler excavator has.

Fig. 6 is the figure for showing an example of structure of design landform.

Fig. 7 is the figure for showing an example of the guide picture of hydraulic crawler excavator of one embodiment of the present invention.

Fig. 8 is the figure for showing the list of parameter.

Fig. 9 is the side view of swing arm.

Figure 10 is the side view of dipper.

Figure 11 is the side view of scraper bowl and dipper.

Figure 12 is the side view of scraper bowl.

Figure 13 is the figure for illustrating that the operation method of the parameter of length of cylinder.

Figure 14 is the flow chart for showing the job step that operator carries out in timing.

Figure 15 is the figure for showing the setting position of external measuring device.

Figure 16 is the side view for showing the position of tooth tip of the equipment under five postures.

Figure 17 is the table for showing the stroke length of cylinder of first position~the 5th position position.

Figure 18 is the top view for showing the position of three different tooth tips of angle of revolution.

Figure 19 is the functional block diagram for showing processing function involved in the correction of means for correcting.

Figure 20 is the figure for showing the operation method of coordinate transitional information.

Figure 21 is the figure for showing the operation method of coordinate transitional information.

Specific embodiment

Hereinafter, being said referring to attached drawing to the structure of the hydraulic crawler excavator of one embodiment of the present invention and bearing calibration It is bright.

(structure of hydraulic crawler excavator)

Firstly, being illustrated using the structure of Fig. 1, Fig. 4 and Fig. 5 to the hydraulic crawler excavator of present embodiment.

Fig. 1 is the perspective view for being carried out the hydraulic crawler excavator 100 of the correction based on means for correcting.Hydraulic crawler excavator 100 has There are vehicle body (vehicle body) 1 and equipment 2.Vehicle body 1 has revolving body 3, driver's cabin 4 and driving body 5.Revolving body 3 is with energy The mode enough turned round is installed on driving body 5.Revolving body 3 contains the dresses such as hydraulic pump 37 (referring to Fig. 5), engine (not shown) It sets.Driver's cabin 4 is placed in the front of revolving body 3.Configured with aftermentioned display input device 38 and operation dress in driver's cabin 4 Set 25 (referring to Fig. 5).Driving body 5 has crawler belt 5a, 5b, travels hydraulic crawler excavator 100 by crawler belt 5a, 5b rotation.

Equipment 2 is installed on the front of vehicle body 1.Equipment 2 has swing arm 6, dipper 7, scraper bowl 8, swing arm cylinder 10, bucket Bar cylinder 11 and scraper bowl cylinder 12.

The base end part of swing arm 6 is installed on the front of vehicle body 1 via swing arm pin 13 in a swingable manner.13 phase of swing arm pin When in the oscillation center of swing arm 6 swung relative to revolving body 3.What the base end part of dipper 7 can be swung via dipper pin 14 Mode is installed on the front end of swing arm 6.Dipper pin 14 is equivalent to the oscillation center of dipper 7 swung relative to swing arm 6.In dipper 7 front end is equipped with the scraper bowl 8 that can be swung via scraper bowl pin 15.Scraper bowl pin 15 be equivalent to scraper bowl 8 relative to dipper 7 The oscillation center of swing.

Swing arm cylinder 10, dipper cylinder 11 and scraper bowl cylinder 12 are respectively the hydraulic cylinder being hydraulically operated.The cardinal extremity of swing arm cylinder 10 Portion is installed on revolving body 3 via swing arm cylinder mounting pin 10a in a swingable manner.The front end of swing arm cylinder 10 is via swing arm cylinder Ejector pin 10b is installed on swing arm 6 in a swingable manner.Thus swing arm cylinder 10 drives swing arm 6 by hydraulic flexible It is dynamic.

The base end part of dipper cylinder 11 is installed on swing arm 6 via dipper cylinder mounting pin 11a in a swingable manner.Dipper cylinder 11 front end is installed on dipper 7 via dipper cylinder ejector pin 11b in a swingable manner.Dipper cylinder 11 is stretched by hydraulic Contracting, thus drives dipper 7.

The base end part of scraper bowl cylinder 12 is installed on dipper 7 via scraper bowl cylinder mounting pin 12a in a swingable manner.Scraper bowl cylinder 12 front end is installed on one end and second of first connecting rod component 47 via scraper bowl cylinder ejector pin 12b in a swingable manner One end of link component 48.

The other end of first connecting rod component 47 is installed on dipper 7 via first connecting rod pin 47a in a swingable manner Front end.The other end of second connecting rod component 48 is installed on scraper bowl 8 via second connecting rod pin 48a in a swingable manner.Shovel Cylinder 12 struggle against by hydraulic flexible, thus scraper bowl 8 is driven.

Two antennas 21,22 of RTK-GNSS are installed in vehicle body 1.Antenna 21 is for example installed on driver's cabin 4.Antenna 22 Revolving body 3 is installed on via antenna support component 22a.

Antenna support component 22a has in the bar-like portion 22aa of rodlike extension and outside from bar-like portion 22aa The pedestal part 22ab that side is stretched out.Antenna support component 22a extends upwards from the upper surface of revolving body 3, in antenna support The upper end of component 22a is equipped with antenna 22.

Antenna 21,22 is spaced from each other certain distance along vehicle width direction and configures.21 (hereinafter referred to as " reference antenna of antenna 21 ") it is antenna for detecting the current location of vehicle body 1.Antenna 22 (hereinafter referred to as " directional aerial 22 ") is for detecting vehicle The antenna of the direction of body 1 (specifically revolving body 3).It should be noted that antenna 21,22 is also possible to the antenna of GPS.

Revolving body 3 has sand cover 3a (cover), sheet metal panel 3b and hood 3c as exterior plate.Sand cover 3a And hood 3c is made of such as resin respectively, is configured to be opened and closed.Sheet metal panel 3b is made of such as metal, with phase The irremovable mode of revolving body 3 is fixed.Antenna support component 22a for example avoids sand cover 3a and hood 3c And it is supported on the part of sheet metal panel 3b.

The hydraulic crawler excavator 100 of present embodiment e.g. small-sized (the extra small revolving shovel in rear, extra small revolving shovel Deng) hydraulic crawler excavator.The extra small revolving shovel in rear is that the rear end radius of gyration of revolving body 3 can be in driving body overall with The full circle swinging that full circle swinging and the front end least radius of gyration are carried out within 120% is more than 120% hydraulic crawler excavator (JIS A 8303).In addition, extra small revolving shovel is the hydraulic digging that revolving body 3 can turn round within the 120% of the width of driving body 5 Pick machine (JIS A 8340-4).

As described above, the hydraulic crawler excavator 100 of present embodiment be it is small-sized, counterweight is also small, and sand cover 3a and hair Motivation cover 3c is made of such as resin respectively.Therefore, the portion at the standpoint as operator is not present on the top of revolving body 3 Point.

(A), (B), (C) of Fig. 4 be respectively the side view of structure for schematically showing hydraulic crawler excavator 100, rearview, Top view.As shown in (A) of Fig. 4, the length (length between swing arm pin 13 and dipper pin 14) of swing arm 6 is L1.The length of dipper 7 Spending (length between dipper pin 14 and scraper bowl pin 15) is L2.The length of scraper bowl 8 is (between scraper bowl pin 15 and the tooth tip P of scraper bowl 8 Length) it is L3.The tooth tip P of scraper bowl 8 refers to the midpoint P in the width direction of the tooth tip of scraper bowl 8.

Then, it is illustrated using structure of the Fig. 2 and Fig. 3 to the means for correcting of present embodiment.

Fig. 2 is the main view for showing the structure of correction apparatus of one embodiment of the present invention, and Fig. 3 is shown Fig. 2 Apparatus configuration is corrected in the perspective view of the situation of the lower section of antenna.As shown in FIG. 2 and 3, the correction apparatus of present embodiment 150 mainly have prism mirror 101, prism supporting part 102, supporting rod part 103, protrusion 104 and level meter 105.

Prism mirror 101 for will the projection light from external measuring device 62 (such as total station: Fig. 1) towards external Measuring device 62 reflects.Prism mirror 101 has prism main body 101a and exterior member 101b.Prism main body 101a pass through by Three prism arrangements constitute reflecting surface at triangular pyramid.Exterior member 101b covers prism main body 101a.

The vertex of the triangular pyramid of prism main body 101a becomes the mirror center observed by external measuring device 62. The circular front of exterior member 101b is transparent glass surface 101ba.The projection light come from the projection of external measuring device 62 is logical It is incident to cross the prism main body 101a of glass surface 101ba internally, after the reflective surface by prism main body 101a, as anti- Light is penetrated to be emitted by glass surface 101ba to external measuring device 62.

Prism supporting part 102 has frame shape.The frame for the prism supporting part 102 that prism mirror 101 configured in frame shape It is interior.One side of prism mirror 101 and the other side are supported on prism supporting part 102 respectively.Prism supporting part as a result, 102 support prism mirror 101 as that can rotate.

Supporting rod part 103 has the rodlike shape linearly extended.In one end of the supporting rod part 103 linearly extended Portion is connected with prism supporting part 102.Supporting rod part 103 keeps prism mirror 101 via prism supporting part 102.It is being in The other end side of the supporting rod part 103 linearly extended is equipped with level meter 105.

Protrusion 104 has the rodlike shape linearly extended.Protrusion 104 relative to prism mirror 101 and Speech is located at the side opposite with supporting rod part 103.The length of protrusion 104 is shorter than the length of supporting rod part 103.Prism mirror 101 Rotary shaft extend direction and supporting rod part 103 and protrusion 104 direction linearly extended respectively it is for example orthogonal.

As shown in figure 3, antenna 21 has the recess portion that can be inserted for correcting the protrusion 104 of apparatus 150 in lower surface 21ha,21hb.The recess portion 21ha, 21hb may be the through hole for running through antenna 21 along the vertical direction respectively.In addition, recess portion 21ha, 21hb respectively can not also be along the vertical direction through antenna 21 and with the bottomed cylindrical shapes in antenna 21 with bottom surface Shape.It should be noted that, although it is not shown, but antenna 22 also has recess portion same as antenna 21 in lower surface.

By the way that protrusion 104 is inserted into recess portion 21ha, 21hb from the downside of antenna 21 respectively, so as to which apparatus will be corrected 150 position relative to antenna 21.In the state that correction apparatus 150 located relative to antenna 21, correction apparatus 150 is used Carry out the measurement of the position of antenna 21.

Or by the way that protrusion 104 is inserted into recess portion 21ha, 21hb respectively, so that correction apparatus 150 is fixed on The downside of antenna 21.Such as it is also possible to protrusion 104 with external screw thread, recess portion 21ha, 21hb are respectively provided with internal thread part, By the way that the external thread part of protrusion 104 is screwed together in the respective internal thread part of recess portion 21ha, 21hb, so that apparatus 150 will be corrected It is fixed on antenna 21.

In addition, being not limited to above-mentioned fixation side in the case where that will correct apparatus 150 and be fixed on the downside of antenna 21 Method, as long as the method that correction apparatus 150 can be positioned and fixed relative to antenna 21, it can be using arbitrary side Method.

In addition, correction apparatus 150 can also be not secured to antenna 21.In this case, the protrusion of apparatus 150 is corrected 104 are only inserted into recess portion 21ha, 21hb respectively and are positioned.

As shown in Figure 1, the means for correcting of present embodiment has correction apparatus 150, external measuring device 62 and correction Portion 60.Ginseng of the means for correcting to the current location of the setting in the hydraulic crawler excavator 100 for operation with equipment 2 Number is corrected.The parameter that means for correcting is corrected includes that the antenna for the positional relationship for indicating equipment 2 and antenna 21,22 is joined Number.The correction system of present embodiment has above structure device and Work machine (such as hydraulic crawler excavator 100).

As described above, hydraulic crawler excavator 100 has antenna 21,22.In addition, external measuring device 62 is, for example, total station, And preparation is separated with hydraulic crawler excavator 100.As described later in detail like that, correction unit 60 has input unit 63, display unit 64 and operation Portion 65 (controller).Input unit 63 be entered the correction apparatus 150 measured by external measuring device 62 position (it is specific and Speech be prism main body 101a triangular pyramid vertex position) part.Operational part 65 is based on being input to input unit 63 The position of apparatus 150 is corrected to correct the part of antenna parameter.

Input unit 63 is configured to input the distance from prism mirror 101 to the front end of protrusion 104.In addition, defeated Enter portion 63 to be configured to, can input in the form of negative value (negative deviant) from prism mirror 101 to the front end of protrusion 104 Distance.

(control system of hydraulic crawler excavator)

Then, it is illustrated using control system of Fig. 4~Fig. 6 to the hydraulic crawler excavator of present embodiment.

Fig. 5 is the block diagram for showing the structure for the control system that hydraulic crawler excavator 100 has.As shown in figure 5, hydraulic excavating Machine 100 has swing arm angle detection 16, dipper angle detection 17 and scraper bowl angle detection 18.Swing arm angle detection 16, dipper angle detection 17 and scraper bowl angle detection 18 are respectively arranged at swing arm 6, dipper 7 shown in (A) of Fig. 4, shovel Bucket 8.In addition or stroke sensor angle detection 16~18 can be such as potentiometer respectively,.

As shown in (A) of Fig. 4, angle of oscillation α of the swing arm angle detection 16 to swing arm 6 relative to vehicle body 1 is carried out indirectly Detection.Angle of oscillation β of the dipper angle detection 17 to dipper 7 relative to swing arm 6 is detected indirectly.Scraper bowl angle detection 18 pairs of scraper bowls 8 detect indirectly relative to the angle of oscillation γ of dipper 7.About the operation method of angle of oscillation α, β, γ, later It is described in detail.

As shown in (A) of Fig. 4, vehicle body 1 has position detection part 19.Vehicle of the position detection part 19 to hydraulic crawler excavator 100 It is detected the current location of body 1.There are two antenna 21,22 and three-dimensional position sensing devices 23 for the tool of position detection part 19.

Signal corresponding with the GNSS electric wave being respectively received from antenna 21,22 is inputted to three-dimensional position sensing device 23.Three Dimension position sensor 23 detects current location of the antenna 21,22 in global coordinate system.

It should be noted that global coordinate system is using the coordinate system of GNSS measurement, it is to be with the origin for being fixed on the earth The coordinate system of benchmark.In contrast, aftermentioned vehicle body coordinate system is the original to be fixed on vehicle body 1 (specifically revolving body 3) Coordinate system on the basis of point.

Position detection part 19 is according to the position of reference antenna 21 and directional aerial 22, to the x-axis of aftermentioned vehicle body coordinate system Deflection in global coordinate system is detected.

As shown in figure 5, vehicle body 1 has sideway angle transducer 24 and pitch reference 29.As shown in (B) of Fig. 4, sideway Tiltangleθ 1 (hereinafter referred to as " yaw angle theta of the angle transducer 24 to the width direction of vehicle body 1 relative to gravity direction (plumb line) 1 ") it is detected.As shown in (A) of Fig. 4, front-rear direction inclining relative to gravity direction of the pitch reference 29 to vehicle body 1 Bevel angle θ 2 (hereinafter referred to as " pitching angle theta 2 ") is detected.

It should be noted that in the present embodiment, width direction refers to the width direction of scraper bowl 8, with vehicle width direction one It causes.But equipment 2 have it is aftermentioned vert scraper bowl in the case where, the width direction of scraper bowl 8 and vehicle width direction may not Unanimously.

As shown in figure 5, hydraulic crawler excavator 100 has operating device 25, equipment controller 26, equipment control dress Set 27 and hydraulic pump 37.Operating device 25 has equipment operating member 31, equipment operation detection part 32, traveling behaviour Make component 33, mobility operation test section 34, revolution operating member 51 and revolution operation detection part 52.

Equipment operating member 31 is the component for being operated for operator to equipment 2, is for example, operated Bar.Equipment operation detection part 32 detects the operation content of equipment operating member 31, and as detection signal It is sent to equipment controller 26.

Mobility operation component 33 is the component for being operated for traveling of the operator to hydraulic crawler excavator 100, such as For operating stick.Mobility operation test section 34 detects the operation content of mobility operation component 33, and as detection signal to Equipment controller 26 is sent.

Revolution operating member 51 is the component for being operated for operator to the revolution of revolving body 3, is for example, operated Bar.The operation content of 52 pairs of operation detection part revolution operating members 51 of revolution detects, and fills as detection signal to work Set the transmission of controller 26.

Equipment controller 26 has storage unit 35 and operational part 36.Storage unit 35 has RAM (Random Access Memory), ROM (Read Only Memory) etc..Operational part 36 has CPU (Central Processing Unit) etc..Work Make the control that Setup Controller 26 is substantially carried out the movement of equipment 2 and the revolution of revolving body 3.Equipment controller 26 Operation with equipment operating member 31 correspondingly generates the control signal for acting equipment 2, and fills to work Set the output of control device 27.

Equipment control device 27 has the hydraulic-pressure control apparatus such as proportional control valve.Equipment control device 27 is based on Control signal from equipment controller 26, to the flow of the working oil supplied from hydraulic pump 37 to hydraulic cylinder 10~12 into Row control.Hydraulic cylinder 10~12 is correspondingly driven with the working oil come from the supply of equipment control device 27.It works as a result, Device 2 acts.

The operation of equipment controller 26 and revolution operating member 51 correspondingly generates the control for turning round revolving body 3 Signal processed, and exported to rotary motor 49.Rotary motor 49 is driven as a result, and revolving body 3 turns round.

Hydraulic crawler excavator 100 has display system 28.Display system 28 is to be for provide following information to operator System, the information is for excavating the ground in operating area and being formed as shape as aftermentioned design face.Display system System 28 has display input device 38 and display controller 39.

The input unit 41 and LCD (Liquid Crystal Display) etc. that display input device 38 has touch surface board-like Display unit 42.The display of display input device 38 is for providing the guide picture for carrying out excavating information used.In addition, in guidance picture Various keys are shown in face.Operator can make the various function of display system 28 by the various keys on touching guide picture It can execute.About guide picture, it is described in detail later.

The various functions of the execution display system 28 of display controller 39.Display controller 39 and 26 energy of equipment controller It is enough to be in communication with each other by communication mode wirelessly or non-wirelessly.Display controller 39 has the storage units 43 and CPU etc. such as RAM, ROM fortune Calculation portion 44.Testing result of the operational part 44 based on the various data and position detection part 19 for being stored in storage unit 43, execution are used for Show the various operations of guide picture.

Design terrain data is by pre-made and be stored in the storage unit 43 of display controller 39.Designing terrain data is Information relevant to the shape of three-dimensional design landform and position.Designing relief representation becomes the target on ground of manipulating object Shape.Display controller 39 makes to draw based on design terrain data, the data from the above-mentioned testing result of various sensors etc. It leads picture and is shown in display input device 38.Specifically, as shown in fig. 6, design landform is by distinguishing table with triangular polygon Existing multiple design faces 45 are constituted.It should be noted that in Fig. 6, only to a part mark attached drawing mark in multiple design faces The appended drawing reference in other design faces is omitted in note 45.Operator selects one or more design faces 45 in these design faces 45 It is selected as target face 70.Display controller 39 is used in the guide picture of the position of operator notification target face 70 and is shown in display Input unit 38.

The operational part 44 of display controller 39 is based on the testing result of position detection part 19 and is stored in the more of storage unit 43 A parameter comes the current location of the tooth tip P of operation scraper bowl 8.The operational part 44 has the first current location operational part 44a and second Current location operational part 44b.First current location operational part 44a is based on aftermentioned equipment parameter, to the tooth tip P of scraper bowl 8 Current location in vehicle body coordinate system carries out operation.Second current location operational part 44b is according to aftermentioned antenna parameter, position Current location and first current location operational part 44a fortune of the antenna 21,22 that test section 19 detects in global coordinate system Current location of the tooth tip P of the scraper bowl 8 of calculating in vehicle body coordinate system, it is current in global coordinate system to the tooth tip P of scraper bowl 8 Position carries out operation.

Correction unit 60 is the position for correcting in order to carry out the operation of above-mentioned angle of oscillation α, β, γ and the tooth tip P of scraper bowl 8 The operation set and the device of parameter needed.Correction unit 60 is constituted together with hydraulic crawler excavator 100 and external measuring device 62 For correcting the correction system of above-mentioned parameter.

External measuring device 62 is the device measured to the position of the tooth tip P of scraper bowl 8, for example, total station.Correction Portion 60 can carry out data communication with external measuring device 62 by wired or wireless.In addition, correction unit 60 can be by having Line wirelessly carries out data communication with display controller 39.Correction unit 60 is based on the letter measured by external measuring device 62 Breath, carries out the correction of parameter shown in Fig. 8.The correction of parameter is for example first in the factory of hydraulic crawler excavator 100 or after maintenance Begin to execute in setting.

Correction unit 60 has input unit 63, display unit 64 and operational part 65 (controller).Input unit 63 is after being entered The first operation dot position information for stating, the second operation dot position information, antenna position information, scraper bowl information part.Input unit 63 have the structure for being manually entered these information for operator, such as with multiple keys.As long as input unit 63 can be into The input of line number value, or the board-like structure of touch surface.Display unit 64 is, for example, LCD, is display for carrying out school The part of positive operation screen.Operational part 65 executes the processing of correction parameter based on the information inputted via input unit 63.

(guide picture in hydraulic crawler excavator)

Then, it is illustrated using guide picture of the Fig. 7 to the hydraulic crawler excavator of present embodiment.

Fig. 7 is the figure for showing the guide picture of hydraulic crawler excavator of one embodiment of the present invention.As shown in fig. 7, guidance Picture 53 shows the positional relationship of the tooth tip P of target face 70 and scraper bowl 8.Guide picture 53 is for hydraulic crawler excavator 100 Equipment 2 guides so as to become the picture of shape identical with target face 70 as the ground of manipulating object.

Guide picture 53 includes top view 73a and side view 73b.Top view 73a show operating area design landform and The current location of hydraulic crawler excavator 100.Side view 73b shows the positional relationship of target face 70 Yu hydraulic crawler excavator 100.

The top view 73a of guide picture 53 shows the design landform under overlooking by multiple triangular polygons.More For body, the plane of rotation of hydraulic crawler excavator 100 is showed design landform as perspective plane by top view 73a.Therefore, top view 73a is the figure observed from the surface of hydraulic crawler excavator 100, and when hydraulic crawler excavator 100 tilts, design face 45 is tilted.Separately Outside, the target face 70 selected from multiple design faces 45 is shown with the color different from other design faces 45.It needs to illustrate It is that in Fig. 7, the current location of hydraulic crawler excavator 100 is shown by the icon 61 of the hydraulic crawler excavator under overlooking, but can also be by His symbol is shown.

In addition, top view 73a includes the information for making hydraulic crawler excavator 100 be right against target face 70.It is hydraulic for making The information that excavator 100 is right against target face 70 is shown as face compass 73.Face compass 73 is indicated relative to target face The icon in 70 face direction and the direction that hydraulic crawler excavator 100 should be made to turn round.Operator can be by face compass 73 come really Recognize the face degree to target face 70.

The side view 73b of guide picture 53 include show target face 70 and scraper bowl 8 the positional relationship of tooth tip P image, And the range information 88 of the distance between tooth tip P for showing target face 70 and scraper bowl 8.Specifically, side view 73b includes setting Count the icon 75 of upper thread 81, target upper thread 82 and the hydraulic crawler excavator 100 under side view.Design upper thread 81 shows target face 70 The section in design face 45 in addition.Target upper thread 82 shows the section of target face 70.As shown in fig. 6, design upper thread 81 and target Upper thread 82 is by the midpoint P (following to be simply referred to as " the tooth tip P of scraper bowl 8 ") in the width direction to the tooth tip P for passing through scraper bowl 8 The plane 77 of current location and the intersection 80 in design face 45 carry out operation and find out.Present bit about the tooth tip P to scraper bowl 8 The method for carrying out operation is set, is described in detail later.

As described above, in guide picture 53, design upper thread 81, target upper thread 82 and the hydraulic digging comprising scraper bowl 8 The relative positional relationship of pick machine 100 is shown by image.Operator by moving the tooth tip P of scraper bowl 8 along target upper thread 82, from And excavation can be easy to carry out in a manner of making current ground be formed as designing landform.

(operation method of the current location of tooth tip P)

Then, it is said using the operation method of Fig. 4, Fig. 5 and Fig. 8 to the current location of the tooth tip P of above-mentioned scraper bowl 8 It is bright.

Fig. 8 shows the list for being stored in the parameter of storage unit 43.As shown in figure 8, parameter include equipment parameter and Antenna parameter.Equipment parameter includes indicating multiple ginsengs of swing arm 6, dipper 7 and the respective size of scraper bowl 8 and angle of oscillation Number.Antenna parameter includes indicating the multiple parameters with the positional relationship of swing arm 6 respectively of antenna 21,22.

In the operation of the current location of the tooth tip P of scraper bowl 8, firstly, as shown in figure 4, setting by the axis of swing arm pin 13 with Vehicle body coordinate system x-y-z of the intersection point of the action plane of aftermentioned equipment 2 as origin.It should be noted that following Explanation in, the position of swing arm pin 13 refers to the position at the midpoint in the vehicle width direction of swing arm pin 13.In addition, being detected according to angle The testing result in portion 16~18 (Fig. 5) carrys out current angle of oscillation α, β, γ (Fig. 4 of the above-mentioned swing arm 6 of operation, dipper 7, scraper bowl 8 (A)).Operation method about angle of oscillation α, β, γ is seen below.The tooth tip P of scraper bowl 8 in vehicle body coordinate system coordinate (x, y, Z) using swing arm 6, dipper 7, angle of oscillation α, β, γ of scraper bowl 8 and swing arm 6, dipper 7, scraper bowl 8 length L1, L2, L3 and pass through Numerical expression 1 below carrys out operation.

[numerical expression 1]

X=L1sin α+L2sin (alpha+beta)+L3sin (alpha+beta+γ)

Y=0

Z=L1cos α+L2cos (alpha+beta)+L3cos (alpha+beta+γ)

In addition, the coordinate (x, y, z) of the tooth tip P of the scraper bowl 8 in the vehicle body coordinate system found out according to numerical expression 1 pass through it is below Numerical expression 2 and be converted into the coordinate in global coordinate system (X, Y, Z).

[numerical expression 2]

Wherein, ω,κ is indicated as numerical expression 3 below.

[numerical expression 3]

κ=- θ 3

Here, as described above, θ 1 is yaw angle.θ 2 is pitch angle.In addition, θ 3 is the angle Yaw, it is above-mentioned vehicle body coordinate system Deflection of the x-axis in global coordinate system.Therefore, the angle Yaw θ 3 is based on the reference antenna 21 detected by position detection part 19 With the position of directional aerial 22 and operation.(A, B, C) is coordinate of the origin in global coordinate system in vehicle body coordinate system.

Above-mentioned antenna parameter show the origin in antenna 21,22 and vehicle body coordinate system positional relationship (antenna 21,22 with The positional relationship at the midpoint in the vehicle width direction of swing arm pin 13).Specifically, as shown in (B) of Fig. 4 and (C) of Fig. 4, day Line parameter includes: on the x-axis direction of vehicle body coordinate system distance Lbbx of the swing arm pin 13 between reference antenna 21；Swing arm pin The 13 distance Lbby on the y-axis direction of vehicle body coordinate system between reference antenna 21；And swing arm pin 13 and reference antenna The distance Lbbz on the z-axis direction of vehicle body coordinate system between 21.

In addition, antenna parameter include: between swing arm pin 13 and directional aerial 22 in the x-axis direction of vehicle body coordinate system Distance Lbdx；On the y-axis direction of vehicle body coordinate system distance Lbdy of the swing arm pin 13 between directional aerial 22；And swing arm On the z-axis direction of vehicle body coordinate system distance Lbdz of the pin 13 between directional aerial 22.

(A, B, C) is the coordinate and antenna parameter of the antenna 21,22 in the global coordinate system detected based on antenna 21,22 And operation.

As described above, by operation find out the tooth tip P of scraper bowl 8 in global coordinate system current location (coordinate (X, Y, Z)).

As shown in fig. 6, the current location of tooth tip P of the display controller 39 based on the scraper bowl 8 calculated as described above with It is stored in the design terrain data of storage unit 43, to the intersection 80 of three dimensional design landform and the plane 77 for the tooth tip P for passing through scraper bowl 8 Carry out operation.Then, display controller 39 is using the part across target face 70 in the intersection 80 as above-mentioned target upper thread 82 (Fig. 7) carry out operation.In addition, display controller 39 is using the part other than the target upper thread 82 in the intersection 80 as design upper thread 81 (Fig. 7) carry out operation.

(operation method of angle of oscillation α, β, γ)

Then, using Fig. 9~Figure 13, to according to the respective testing result of angle detection 16~18 come operation swing arm 6, bucket Bar 7, scraper bowl 8 the method for current angle of oscillation α, β, γ be illustrated.

Fig. 9 is the side view of swing arm 6.The angle of oscillation α of swing arm 6 is using equipment parameter shown in Fig. 9 and by following Numerical expression 4 indicate.

[numerical expression 4]

As shown in figure 9, Lboom2_x is the horizontal direction in vehicle body 1 between swing arm cylinder mounting pin 10a and swing arm pin 13 Distance in (x-axis direction for being equivalent to vehicle body coordinate system).Lboom2_z is between swing arm cylinder mounting pin 10a and swing arm pin 13 Distance in the vertical direction (the z-axis direction for being equivalent to vehicle body coordinate system) of vehicle body 1.Lboom1 be swing arm cylinder ejector pin 10b with The distance between swing arm pin 13.Lboom2 is the distance between swing arm cylinder mounting pin 10a and swing arm pin 13.Boom_cyl is swing arm The distance between cylinder seat frame pin 10a and swing arm cylinder ejector pin 10b.

The direction for linking swing arm pin 13 and dipper pin 14 under side view is set as xboom axis, by the side vertical with xboom axis To being set as zboom axis.Lboom1_x be swing arm cylinder ejector pin 10b in the xboom axis direction between swing arm pin 13 at a distance from. Lboom1_z be swing arm cylinder ejector pin 10b in the zboom axis direction between swing arm pin 13 at a distance from.

Figure 10 is the side view of dipper 7.The angle of oscillation β of dipper 7 uses Fig. 9 and equipment parameter shown in Fig. 10 simultaneously It is indicated by numerical expression 5 below.

[numerical expression 5]

As shown in figure 9, Lboom3_x be in xboom axis direction between dipper cylinder mounting pin 11a and dipper pin 14 away from From.Lboom3_z be dipper cylinder mounting pin 11a in the zboom axis direction between dipper pin 14 at a distance from.Lboom3 is dipper The distance between cylinder seat frame pin 11a and dipper pin 14.Arm_cyl is between dipper cylinder mounting pin 11a and dipper cylinder ejector pin 11b Distance.

As shown in Figure 10, the direction that dipper cylinder ejector pin 11b and scraper bowl pin 15 are linked under side view is set as xarm2 axis, it will The direction vertical with xarm2 axis is set as zarm2 axis.In addition, will be set in connection dipper pin 14 and the direction of scraper bowl pin 15 under side view For xarm1 axis.

Larm2 is the distance between dipper cylinder ejector pin 11b and dipper pin 14.Larm2_x is dipper cylinder ejector pin 11b and dipper The distance in xarm2 axis direction between pin 14.Larm2_z is the axis side zarm2 between dipper cylinder ejector pin 11b and dipper pin 14 Upward distance.

Larm1_x be dipper pin 14 in the xarm2 axis direction between scraper bowl pin 15 at a distance from.Larm1_z is dipper pin At a distance from the 14 zarm2 axis direction between scraper bowl pin 15.The angle of oscillation β of dipper 7 is institute between xboom axis and xarm1 axis At angle.

Figure 11 is the side view of scraper bowl 8 and dipper 7.Figure 12 is the side view of scraper bowl 8.The angle of oscillation γ of scraper bowl 8 is used Equipment parameter shown in Figure 10~Figure 12 is simultaneously indicated by numerical expression 6 below.

[numerical expression 6]

As shown in Figure 10, Larm3_z2 be in the zarm2 axis direction between first connecting rod pin 47a and scraper bowl pin 15 away from From.Larm3_x2 be first connecting rod pin 47a in the xarm2 axis direction between scraper bowl pin 15 at a distance from.

As shown in figure 11, Ltmp is the distance between scraper bowl cylinder ejector pin 12b and scraper bowl pin 15.Larm4 is first connecting rod pin The distance between 47a and scraper bowl pin 15.Lbucket1 is the distance between scraper bowl cylinder ejector pin 12b and first connecting rod pin 47a. Lbucket2 is the distance between scraper bowl cylinder ejector pin 12b and second connecting rod pin 48a.Lbucket3 is scraper bowl pin 15 and second connecting rod Sell the distance between 48a.The angle of oscillation γ of scraper bowl 8 is formed angle between xbucket axis and xarm1 axis.

As shown in figure 12, the direction that the tooth tip P of scraper bowl pin 15 and scraper bowl 8 is linked under side view is set as xbucket axis, it will The direction vertical with xbucket axis is set as zbucket axis.Lbucket4x is between scraper bowl pin 15 and second connecting rod pin 48a Distance in xbucket axis direction.Lbucket4_z is the zbucket axis direction between scraper bowl pin 15 and second connecting rod pin 48a On distance.

It should be noted that above-mentioned Ltmp is indicated by numerical expression 7 below.

[numerical expression 7]

As shown in Figure 10, Larm3 is the distance between scraper bowl cylinder mounting pin 12a and first connecting rod pin 47a.Larm3_x1 is Scraper bowl cylinder mounting pin 12a in the xarm2 axis direction between scraper bowl pin 15 at a distance from.Larm3_z1 is scraper bowl cylinder mounting pin 12a At a distance from zarm2 axis direction between scraper bowl pin 15.

In addition, as shown in figure 13, above-mentioned boom_cyl is the row for the swing arm cylinder 10 that swing arm angle detection 16 detects The long bss of journey is worth plus obtained from swing arm cylinder offset boft.Similarly, arm_cyl is that dipper angle detection 17 detects The long ass of the stroke of dipper cylinder 11 is worth plus obtained from dipper cylinder offset aoft.Similarly, bucket_cyl is the inspection of scraper bowl angle The long bkss of stroke for the scraper bowl cylinder 12 that survey portion 18 detects adds the scraper bowl cylinder offset including the minimum range comprising scraper bowl cylinder 12 It is worth obtained from bkoft.

As described above, according to the respective testing result of angle detection 16~18, swing arm 6, bucket are found out by operation Current angle of oscillation α, β, γ of bar 7, scraper bowl 8.

(correction operation carried out by operator)

Then, using Fig. 2, Fig. 4, Figure 14~Figure 18, in the hydraulic crawler excavator to illustrate present embodiment by operator The correction operation of progress.

Figure 14 is the flow chart for showing the job step that operator carries out in timing.As shown in figure 14, firstly, in step In S1, external measuring device 62 is arranged in operator.At this point, as shown in figure 15, operator is separated with the dead astern in swing arm pin 13 External measuring device 62 is arranged in defined distance Dx and the mode of distance Dy as defined in being just spaced laterally apart.In addition, in step In S2, operator uses external measuring device 62, is measured to the center of the end face (side) of swing arm pin 13.

In step s3, operator uses external measuring device 62, to the tooth tip P's under five postures of equipment 2 Position is measured.Here, operator operates equipment operating member 31, makes the position of the tooth tip P of scraper bowl 8 to figure This five positions first position P1 shown in 16 to the 5th position P5 are mobile.

At this point, revolving body 3 does not turn round and maintains the state fixed relative to driving body 5.Moreover, operator uses external meter Device 62 is surveyed, the coordinate of the tooth tip P of first position P1 to the position of the 5th position P5 is measured.First position P1 with And second position P2 is different position in the direction from front to rear of a vehicle body on the ground.The third place P3 and the 4th position P4 be Different position in the direction from front to rear of a vehicle body in the air.The third place P3 and the 4th position P4 be relative to first position P1 and The different position in the up-down direction second position P2.5th position P5 is first position P1, second position P2, the third place P3 And the 4th position between the P4 of position.

In Figure 17, by the stroke length of each cylinder 10~12 of the position of the position P5 of first position P1~the 5th with most Greatly 100%, minimum 0% mode is shown.As shown in figure 17, in first position P1, the stroke length of dipper cylinder 11 becomes It is minimum.That is, first position P1 is the position that equipment becomes the tooth tip P under this minimum posture in the angle of oscillation of dipper 7.

Become maximum in the stroke length of second position P2, dipper cylinder 11.That is, second position P2 is equipment in dipper 7 angle of oscillation becomes the position of the tooth tip P under this maximum posture.

In the third place P3, the stroke of dipper cylinder 11 is grown to minimum, and the stroke of scraper bowl cylinder 12 is grown to maximum.That is, the Three position P3 are that equipment 2 becomes under this maximum posture in the angle of oscillation that the angle of oscillation of dipper 7 becomes minimum and scraper bowl 8 The position of tooth tip P.

Maximum is grown in the stroke of the 4th position P4, swing arm cylinder 10.That is, the 4th position P4 is equipment 2 in swing arm 6 Angle of oscillation become the position of the tooth tip P under this maximum posture.

In the 5th position P5, dipper cylinder 11, swing arm cylinder 10, the cylinder length of scraper bowl cylinder 12 are not minimum, and are also not most Greatly, become intermediate value.That is, the 5th position P5 is equal as the angle of oscillation of dipper 7, the angle of oscillation of swing arm 6, the angle of oscillation of scraper bowl 8 It is not value that is maximum and being also not the smallest centre.

In step s 4, operator inputs the first operation dot position information to the input unit 63 of correction unit 60.First operation Dot position information indicates the tooth tip P of the scraper bowl 8 measured by external measuring device 62 in the position P5 of first position P1~the 5th Coordinate.Therefore, operator in step s 4, by the tooth tip P for the scraper bowl 8 for using external measuring device 62 to measure at first The coordinate at the position P5 of P1~the 5th is set to input to the input unit 63 of correction unit 60.

In step s 5, operator uses external measuring device 62, is measured to the position of antenna 21,22.Here, such as Shown in Figure 15, operator uses external measuring device 62, to the first measurement point P11 and the second measurement point on reference antenna 21 The position of P12 is measured.First measurement point P11 and second measures point P12 with the center of the upper surface of reference antenna 21 Benchmark and balanced configuration.Shape in the upper surface of reference antenna 21 is the first measurement point in rectangular or square situation The measurement of P11 and second point P12 is two diagonal points on the upper surface of benchmark antenna 21.

In addition, as shown in figure 15, operator uses external measuring device 62, point is measured to the third on directional aerial 22 The position of P13 and the 4th measurement point P14 are measured.Third measures the measurement of point P13 and the 4th point P14 with directional aerial 22 Balanced configuration on the basis of the center of upper surface.In the same manner as the first measurement point P11 and the second measurement point P12, third measurement The measurement of point P13 and the 4th point P14 is two diagonal points on the upper surface of directional aerial 22.

In the measurement of the first measurement point P11~the 4th measurement point P14 of antenna 21,22, as shown in Figure 1, correction apparatus 150 configurations are in the lower section of antenna 21,22.At this point, operator stands using the upper surface of crawler belt 5a, 5b as standpoint in crawler belt The upper surface of 5a, 5b.The protrusion 104 of correction unit 150 is inserted into recess portion 21ha, 21hb (Fig. 3) of antenna 21,22.Protrusion 104 can also be fixed on recess portion 21ha, 21hb for example, by screwing togather etc..

In the case where protrusion 104 is not secured to recess portion 21ha, 21hb and is only inserted into, operator's correction dominated by hand is used Such as supporting rod part 103 of tool 150 keeps protrusion 104 to be inserted into the state in recess portion 21ha, 21hb.In this state, from outer Portion's measuring device 62 projects projection light to the prism mirror 101 of correction apparatus 150.Projection light is reflected by prism mirror 101, The reflected light is measured by external measuring device 62.

In step s 6, operator inputs the antenna measured by external measuring device 62 to the input unit 63 of correction unit 60 Location information.Antenna position information includes the meter of expression first that operator is measured using external measuring device 62 in step s 5 Measuring point P11~the 4th measures the coordinate of the position of point P14.In addition, from prism mirror 101 to the front end of protrusion 104 away from From being inputted to input unit 63.Distance from the prism mirror 101 to the front end of protrusion 104 is with negative value (negative deviant) Form to input unit 63 input.

In the step s 7, the position of the operator three tooth tip Ps different to angle of revolution is measured.Here, such as Figure 18 institute Show, operator operates revolution operating member 51 and turns round revolving body 3.At this point, the posture of equipment 2 be maintained by Fixed state.Then, operator uses external measuring device 62, and the position of the three tooth tip P different to angle of revolution is (hereinafter referred to as Make " the first rotary position P21 ", " the second rotary position P22 ", " third rotary position P23 ") it is measured.

In step s 8, operator inputs the second operation dot position information to the input unit 63 of correction unit 60.Second operation Dot position information include the first rotary position of expression P21 that operator is measured using external measuring device 62 in the step s 7, The coordinate of second rotary position P22 and third rotary position P23.

In step s 9, operator inputs scraper bowl information to the input unit 63 of correction unit 60.Scraper bowl information is and scraper bowl 8 The relevant information of size.Scraper bowl information includes: the xbucket axis direction between above-mentioned scraper bowl pin 15 and second connecting rod pin 48a On distance (Lbucket4_x)；And scraper bowl pin 15 in the zbucket axis direction between second connecting rod pin 48a at a distance from (Lbucket4_z).Operator is using design value or the value measured by measuring means such as external measuring devices 62 as scraper bowl information And it inputs.

In step slo, operator issues the instruction for executing correction to correction unit 60.

(bearing calibration executed by correction unit 60)

Then, the processing executed by correction unit 60 is illustrated using Fig. 5, Fig. 8 and Figure 19~Figure 21.

Figure 19 is the functional block diagram for showing processing function involved in the correction of operational part 65.As shown in figure 19, operational part 65 have vehicle body coordinate system operational part 65a, coordinate converter section 65b, the first correction calculation section 65c and the second correction calculation section 65d。

Vehicle body coordinate system operational part 65a is based on the first operation dot position information and the second setting inputted by input unit 63 Location information carries out operation to coordinate transitional information.Coordinate transitional information is for will be on the basis of external measuring device 62 Coordinate system is converted into the information of vehicle body coordinate system.The first above-mentioned operation dot position information and antenna position information are counted by outside It surveys what device 62 measured, therefore, is indicated by the coordinate system (xp, yp, zp) on the basis of external measuring device 62.Coordinate Transitional information be for by the first operation dot position information and antenna position information from the seat on the basis of external measuring device 62 Mark system is converted into the information of vehicle body coordinate system (x, y, z).Hereinafter, being illustrated to the operation method of coordinate transitional information.

Firstly, vehicle body coordinate system operational part 65a is transported based on the first operation dot position information as shown in Figure 19 and Figure 20 Calculate the first unit normal vector AH vertical with the action plane A of equipment 2.Vehicle body coordinate system operational part 65a is according to first Five positions that operation dot position information is included, the action plane of equipment 2 is calculated using least square method, is based on this Operation is carried out to the first unit normal vector AH.It should be noted that the first unit normal vector AH can also be based on according to the In five positions that one operation dot position information is included compared with other two positions without departing from three positions coordinate And two vectors a1, the a2 found out carry out operation.

Then, vehicle body coordinate system operational part 65a is flat come operation and the revolution of revolving body 3 based on the second operation dot position information The second face BA vertical unit normal vector BHA.Specifically, vehicle body coordinate system operational part 65a is based on according to the second setting The first rotary position P21 that location information is included, the second rotary position P22, third rotary position P23 (Figure 18) coordinate and Two vectors b1, the b2 found out carry out the operation second unit normal vector BHA vertical with plane of rotation BA.

Then, as shown in figure 21, action plane A and revolution of the vehicle body coordinate system operational part 65a to above-mentioned equipment 2 The intersection vector DAB of plane BA carries out operation.Vehicle body coordinate system operational part 65a pass through intersection vector DAB and with equipment 2 The unit normal vector of the vertical plane B of action plane A carry out operation as revised second unit normal vector BH.So Afterwards, 65a pairs of vehicle body coordinate system operational part it is vertical with the first unit normal vector AH and revised second unit normal vector BH Third unit normal vector CH carry out operation.Third unit normal vector CH is vertical with the both sides of action plane A and plane B Plane C normal line vector.

Coordinate converter section 65b uses coordinate transitional information, the first operation point that will be measured by external measuring device 62 Confidence breath and antenna position information are converted into hydraulic crawler excavator 100 from the coordinate system (xp, yp, zp) in external measuring device 62 Vehicle body coordinate system (x, y, z).Coordinate transitional information includes the first above-mentioned unit normal vector AH, revised second unit Normal line vector BH and third unit normal vector CH.Specifically, as shown in numerical expression 8 below, using as shown in vector p External measuring device 62 coordinate system in the inner product of coordinate and each normal line vector AH, BH, CH of coordinate transitional information transport Calculate the coordinate in vehicle body coordinate system.

[numerical expression 8]

First correction calculation section 65c is based on the first operation dot position information for being converted into vehicle body coordinate system, by using number Value parsing carrys out the corrected value of operational parameter.Specifically, as shown in numerical expression 9 below, by least square method come operational parameter Corrected value.

[numerical expression 9]

The value of above-mentioned k is equivalent to the position P5 of first position P1~the 5th of the first operation dot position information.Therefore, n= 5.(x1, z1) is the coordinate of the first position P1 in vehicle body coordinate system.(x2, z2) is the second position P2 in vehicle body coordinate system Coordinate.(x3, z3) is the coordinate of the third place P3 in vehicle body coordinate system.(x4, z4) is the 4th position in vehicle body coordinate system The coordinate of P4.(x5, z5) is the coordinate of the 5th position P5 in vehicle body coordinate system.

Function J by searching for the numerical expression 9 becomes the smallest point, carrys out the corrected value of operation device parameter.It is specific and Speech, the corrected value of the equipment parameter of operation No.1~29 in the list of Fig. 8.

It should be noted that in the equipment parameter that the list of Fig. 8 is included, scraper bowl pin 15 and second connecting rod pin Between the distance Lbucket4_x and scraper bowl pin 15 and second connecting rod pin 48a in xbucket axis direction between 48a The value that distance Lbucket4_z in zbucket axis direction is inputted used as scraper bowl information.

Second correction calculation section 65d corrects antenna parameter based on the antenna position information for being input to input unit 63.Specifically For, the second correction calculation section 65d is using the coordinate at the midpoint of the first measurement point P11 and the second measurement point P12 as reference antenna The coordinate of 21 position carries out operation.Specifically, the coordinate of the position of reference antenna 21 is by above-mentioned swing arm pin 13 and benchmark Distance Lbbx, swing arm pin 13 in the x-axis direction of vehicle body coordinate system between antenna 21 and the vehicle body between reference antenna 21 are sat On the z-axis direction for marking the vehicle body coordinate system between the distance Lbby and swing arm pin 13 and reference antenna 21 on the y-axis direction of system Distance Lbbz indicate.

In addition, the second correction calculation section 65d using third measure point P13 and the 4th measure point P14 midpoint coordinate as The coordinate of the position of directional aerial 22 carries out operation.Specifically, the coordinate of the position of directional aerial 22 is by swing arm pin 13 and side Distance Lbdx, swing arm pin 13 in the x-axis direction of the vehicle body coordinate system between antenna 22 and the vehicle body between directional aerial 22 The z-axis direction of the vehicle body coordinate system between distance Lbdy and swing arm pin 13 and directional aerial 22 on the y-axis direction of coordinate system On distance Lbdz indicate.Then, the second correction calculation section 65d is using the coordinate of the position of these antenna 21,22 as antenna The corrected value of parameter Lbbx, Lbby, Lbbz, Lbdx, Lbdy, Lbdz exports.

The equipment parameter calculated by the first correction calculation section 65c, the day calculated by the second correction calculation section 65d The operation of line parameter and scraper bowl information preservation in the storage unit 43 of display controller 39, for above-mentioned tooth tip P position.

Then, the function and effect of present embodiment are illustrated.

In the present embodiment, in the measurement of the position of antenna 21,22, the correction configuration of apparatus 150 is in antenna 21,22 Lower section.The operator measured as a result, to the position of antenna 21,22 is not necessarily to configure and correct in the top of antenna 21,22 Apparatus 150 and the upper surface for standing on revolving body 3.Operator can stand as shown in Figure 1 on crawler belt 5a, 5b and high-ranking officers Positive apparatus 150 is configured at the lower section of antenna 21,22.Therefore, keeping a foothold for operator even is not present in the upper surface of revolving body 3 In the small-sized Work machine of point, operator can also be made to carry out the position measurement of antenna 21,22 with comfortable posture.

In addition, according to the present embodiment, as shown in Fig. 1 and Fig. 5, correction unit 60 includes input by external measuring device The input unit 63 of the position of 62 prism mirrors 101 measured；And based on the prism mirror for being input to the input unit 63 101 position corrects the operational part 65 of antenna parameter.Thereby, it is possible to the measurement of external measuring device 62 is inputted to correction unit 60 As a result, and can be realized the correction of antenna parameter.

In addition, according to the present embodiment, as shown in FIG. 2 and 3, correction apparatus 150 has for measuring to from outside Device 62 projects the prism mirror 101 and the supporting rod part for keeping the prism mirror 101 that the projection light come is reflected 103.Operator can hold supporting rod part 103 as a result, and the prism mirror 101 reflected projection light is configured at antenna 21,22 lower section.

In addition, according to the present embodiment, as shown in FIG. 2 and 3, correction apparatus 150 also has relative to prismatic reflection It is located at the protrusion 104 of the side opposite with supporting rod part 103 for mirror 101.As a result, by making the front end and day of protrusion 104 Line 21,22 abuts, and can position correction apparatus 150 relative to antenna 21,22.

In addition, according to the present embodiment, as shown in figure 3, have in lower surface can be for correcting apparatus 150 for antenna 21,22 Protrusion 104 insert recess portion 21ha, 21hb.Therefore, it by the way that protrusion 104 is inserted into recess portion 21ha, 21hb, can be easy Ground is positioned at antenna 21,22 for apparatus 150 is corrected.

In addition, according to the present embodiment, as shown in FIG. 2 and 3, input unit 63 is configured to input from prismatic reflection Mirror 101 arrives the distance of protrusion 104.Thereby, it is possible to more accurately know the position of antenna 21,22.

In addition, according to the present embodiment, as shown in FIG. 2 and 3, input unit 63 is configured to, it can be in the form of negative value Input is from prism mirror 101 to the distance of the front end of protrusion 104.In this way, being inputted in the form of negative deviant Distance is stated, can more accurately know the position of antenna 21,22.

In addition, according to the present embodiment, as shown in Figure 1 and Figure 2, correction apparatus 150, which has, is installed on supporting rod part 103 Level meter 105.As a result, when configuration corrects apparatus 150, the inclination of correction apparatus 150 understand that, it is more accurate to be able to carry out Measurement.

It should be noted that in the above-described embodiment, as the Work machine for being carried out the correction based on means for correcting And illustrate hydraulic crawler excavator 100, but the present invention can be applied to the Work machine with antenna other than hydraulic crawler excavator.

This time all aspects of disclosed embodiment are to illustrate, the content for the property of should not be considered as limitation.Of the invention Range is shown by the range that entitlement requests are protected rather than above-mentioned explanation, the same meaning of the range comprising protecting with entitlement requests And whole changes in range.

Description of symbols

1 vehicle body, 2 equipments, 3 revolving bodies, 3a sand cover, 3b sheet metal panel, 3c hood, 4 driver's cabins, 5 travelings Body, 5a, 5b crawler belt, 6 swing arms, 7 dippers, 8 scraper bowls, 10 swing arm cylinder 10a swing arm cylinder mounting pins, 10b swing arm cylinder ejector pin, 11 dippers Cylinder, 11a dipper cylinder mounting pin, 11b dipper cylinder ejector pin, 12 scraper bowl cylinders, 12a scraper bowl cylinder mounting pin, 12b scraper bowl cylinder ejector pin, 13 is dynamic Arm pin, 14 dipper pins, 15 scraper bowl pins, 16 swing arm angle detections, 17 dipper angle detections, 18 scraper bowl angle detections, 19 Position detection part, 21 reference antennas, 22 directional aerials, 22a antenna support component, 22aa bar-like portion, 22ab pedestal part, 23 Three-dimensional position sensing device, 24 sideway angle transducers, 25 operating devices, 26 equipment controllers, 27 equipment control devices, 28 display systems, 29 pitch references, 31 equipment operating members, 32 equipment operation detection parts, 33 mobility operations Component, 34 mobility operation test sections, 35,43 storage units, 36,44,65 operational parts, 37 hydraulic pumps, 38 display input devices, 39 is aobvious Show controller, 41,63 input units, 42,64 display units, the first current location 44a operational part, the second current location 44b operational part, 45 design faces, 47 first connecting rod components, 47a first connecting rod pin, 48 second connecting rod components, 48a second connecting rod pin, 49 revolution horses It reaches, 51 revolution operating members, 52 revolution operation detection parts, 53 guide pictures, 60 means for correctings, 61,75 icons, 62 outside measurements Device, 65a vehicle body coordinate system operational part, 65b coordinate converter section, the first correction calculation section of 65c, the second correction calculation section of 65d, 70 Target face, 73 face compass, 73a top view, 73b side view, 77 planes, 80 intersections, 81 design upper threads, 82 target upper threads, 88 Range information, 100 hydraulic crawler excavators, 101 prism mirrors, 101a prism main body, 101b exterior member, 101ba glass surface, 102 magnet members, 103 supporting rod parts, 104 protrusions, 105 level meters, 150 correction apparatus.

Claims (11)

1. a kind of bearing calibration of Work machine is to the work in the Work machine for operation with equipment and antenna The corrected bearing calibration of parameter of the current location of industry point, wherein

The bearing calibration of the Work machine has following steps:

In the lower section of antenna configuration correction apparatus；

In the state that the lower section of the antenna is configured with the correction apparatus, using external measuring device to the correction apparatus Position measured；And

Based on the position of the correction apparatus measured by the external measuring device, to the equipment with it is described The positional relationship of antenna is corrected.

2. the bearing calibration of Work machine according to claim 1, wherein

The bearing calibration of the Work machine is also equipped with the institute of the correction apparatus measured by the external measuring device Rheme sets the step of inputting to input unit,

The corrected step of positional relationship of the equipment and the antenna is included the following steps: based on input To the position of the input unit, the positional relationship for indicating the equipment and the antenna is corrected using operational part Antenna parameter.

3. a kind of means for correcting of Work machine is to the work in the Work machine for operation with equipment and antenna The corrected means for correcting of parameter of the current location of industry point, wherein

The means for correcting of the Work machine has:

Apparatus is corrected, is configured in the lower section of the antenna；And

External measuring device measures the position of the correction apparatus.

4. the means for correcting of Work machine according to claim 3, wherein

The correction apparatus also includes

Prism mirror is used to reflect the projection light come from the external measuring device projection；And

Supporting rod part keeps the prism mirror.

5. the means for correcting of Work machine according to claim 4, wherein

The correction apparatus also has for the prism mirror positioned at the prominent of the side opposite with the supporting rod part The portion of rising.

6. the means for correcting of Work machine according to claim 5, wherein

The antenna has in lower surface can be for the recess portion of the protrusion insert of the correction apparatus.

7. the means for correcting of Work machine according to claim 5 or 6, wherein

The parameter of the means for correcting correction includes the antenna for indicating the positional relationship of the equipment and the antenna Parameter,

The means for correcting of the Work machine is also equipped with:

Input unit consists of the position for being entered the correction apparatus measured by the external measuring device；With And

Operational part corrects the antenna parameter based on the position for being input to the input unit.

8. the means for correcting of Work machine according to claim 7, wherein

The input unit is configured to input the distance from the prism mirror to the protrusion.

9. the means for correcting of Work machine according to claim 8, wherein

The input unit be configured in the form of negative value input described in from the prism mirror to the protrusion away from From.

10. the means for correcting of the Work machine according to any one of claim 4 to 6, wherein

The correction apparatus also has the level meter for being installed on the supporting rod part.

11. a kind of correction system of Work machine, wherein

The correction system of the Work machine has:

Work machine, with equipment and antenna；And

Means for correcting is corrected the parameter of the current location for the setting in Work machine described in operation,

The means for correcting includes

Apparatus is corrected, is configured in the lower section of the antenna；

External measuring device measures the position of the correction apparatus；

Input unit consists of the position for being entered the correction apparatus measured by the external measuring device；With And

Operational part indicates the equipment and the antenna based on the position for being input to the input unit to correct Positional relationship antenna parameter.