DE112017000076T5 - Method for calibrating a work machine, calibration device and system for calibrating a work machine - Google Patents

Abstract

A calibration device is a device for calibrating a parameter for calculating a current position of an operating point (P) in a hydraulic excavator (11) containing work equipment (2). The calibration device includes an antenna (21, 22), a calibration device (150) and an external measuring device (62). The antenna (21, 22) is attached to the hydraulic excavator (11). The calibration device (150) is arranged below the antenna (21, 22). The external measuring device (62) measures a position of the calibration device (150).

Description

TECHNICAL AREA

The present invention relates to a method for calibrating a work machine, a calibration device and a system for calibrating a work machine.

TECHNICAL BACKGROUND

In recent years, information-based execution has increasingly found its way into work in construction using a work machine. The information-based design stands for execution that makes extensive use of information and communication technology as well as RTK-GNSS (Real Time Kinematic Global Navigation Satellite) when working, such as construction work, using a work machine such as a hydraulic excavator. be executed. In the information-based embodiment, a position of an operating point of a work equipment on the work machine is detected, and the work equipment is automatically controlled on the basis of the detected work point, so that the executed work is performed efficiently and a result of the execution is high in accuracy.

For example, when the work machine is the hydraulic excavator, the operating point of the work equipment in the information-based embodiment is a position of a cutting edge of a bucket. The position of the cutting edge is referred to as a position coordinate of the design based on parameters such as a positional relationship between a GNSS antenna and a boom toe, lengths of a boom, a dipper stick and the bucket and stroke lengths of a boom cylinder, a dipper stick cylinder and a Bucket cylinder calculated.

Sizes of a design value are used as the lengths of the boom, the dipper stick, the bucket and each cylinder used in the above-mentioned calculation. However, the actual sizes include a deviation due to manufacturing tolerances as well as assembly tolerances in terms of design value. Therefore, the positional coordinate of the cutting edge, which is calculated from the design value, does not always coincide with the actual positional coordinate of the cutting edge, resulting in deterioration of accuracy in position detection of the cutting edge. In order to improve the accuracy of the position detection of the cutting edge, it is necessary to calibrate the parameter of the design value used for the calculation based on the position coordinate obtained with the measurement of the actual position, and it is necessary to perform calibration such as for example, the position measurement to perform.

For example, International Publication No. 2015/040726 (Patent Document 1) discloses a method in which a prism mirror, which reflects projection light from a total station, is attached to the cutting edge of the bucket and the light reflected from the prism mirror is measured to determine the position of the prism mirror Measuring cutting edge.

LIST OF APPROACHES

Patent Document

PATENT DOCUMENT 1: International Publication No. 2015/040726

SUMMARY OF THE INVENTION

TECHNICAL PROBLEM

It is necessary to measure the position of the GNSS antenna during the calibration process. When measuring the position of the GNSS antenna, an operator performing the measurement must have access to the GNSS antenna.

However, when the work machine is a minimum swing radius excavator, there is no room for the operator to stand on an upper portion of a body of the hydraulic excavator. Therefore, the operator does not have access to the GNSS antenna over the upper portion of the body and must calibrate the GNSS antenna from the ground. Therefore, the operator must take an unnatural posture when measuring the position of the GNSS antenna.

An object of the present disclosure is to provide a method of calibrating a work machine, a calibration apparatus, and a work machine calibration system that enable the operator to position the antenna in a comfortable posture even with a small work machine to eat.

THE SOLUTION OF THE PROBLEM

A method of calibrating a work machine according to the present disclosure is a method of calibrating a parameter for calculating a current position of an operating point of a work machine including a work implement and an antenna, the method including the steps listed below.

First, a calibration device is placed below the antenna. A position of the calibration device is measured by means of an external measuring device, wherein the calibration device is arranged below the antenna. A positional relationship between the work equipment and the antenna is calibrated based on the position of the calibration device, and the position is measured with the external measurement device.

A calibration device according to the present disclosure is a calibration device that calibrates a parameter for calculating a current position of an operating point of a work machine that includes work equipment and an antenna. The calibration device of the present disclosure includes a calibration device and an external measurement device. The calibration device is arranged below the antenna. The external measuring device measures a position of the calibration device.

A system for calibrating a work machine according to the present disclosure includes a work machine and a calibration device. The work machine contains a work equipment and an antenna. The calibration device calibrates the parameters for calculating a current position of an operating point of the work machine. The calibration device includes a calibration device, an external measurement device, an input unit, and a calculation unit. The calibration device is arranged below the antenna. The external measuring device measures a position of the calibration device. The input unit is configured to input the position of the calibration device, the position being measured by the external measuring device. Based on the position entered in the input unit, the calculation unit calibrates an antenna parameter indicating the positional relationship between the work equipment and the antenna.

ADVANTAGEOUS EFFECTS OF THE INVENTION

According to the present disclosure, the calibration device is disposed below the antenna so that the operator can measure the position of the antenna even in the small work machine in a comfortable posture.

list of figures

• 1 FIG. 10 is a perspective view illustrating a structure of a hydraulic excavator according to an embodiment of the present disclosure. FIG.
• 2 FIG. 10 is a front view illustrating a construction of a calibration device according to an embodiment of the present disclosure. FIG.
• 3 FIG. 15 is a perspective view illustrating a state in which the calibration device in FIG 2 is arranged below an antenna.
• 4 (A) is a side view, (B) is a rear view, and (C) is a plan view schematically illustrating the structure of the hydraulic excavator.
• 5 FIG. 10 is a block diagram illustrating a configuration of a control system included in the hydraulic excavator.
• 6 is a view that illustrates an example of a planned topography.
• 7 FIG. 10 is a view illustrating an example of a guidance screen of the hydraulic excavator according to an embodiment of the present disclosure. FIG.
• 8th is a view that shows a list of parameters.
• 9 is a side view of a boom.
• 10 is a side view of a dipper.
• 11 is a side view of a spoon and a dipper.
• 12 is a side view of the spoon.
• 13 FIG. 13 is a view illustrating a method of calculating a parameter indicating a cylinder length. FIG.
• 14 Figure 11 is a flowchart illustrating a workflow performed by the operator during calibration.
• 15 FIG. 13 is a view illustrating a position where an external measuring device is installed. FIG.
• 16 is a side view illustrating a position of a cutting edge in five positions of a working equipment.
• 17 is a table representing a stroke length of a cylinder at each of a first to a fifth position.
• 18 FIG. 11 is a plan view illustrating the positions of three cutting edges with different swing angles. FIG.
• 19 Figure 12 is a functional block diagram illustrating a processing function associated with calibrating a calibration device.
• 20 Fig. 13 is a view illustrating a method of calculating coordinate transformation information.
• 21 FIG. 12 is a diagram illustrating the method of calculating the coordinate transformation information. FIG.

DESCRIPTION OF EMBODIMENTS

Hereinafter, a structure and a calibration method of a hydraulic excavator according to an embodiment of the present disclosure will be described with reference to the drawings.

Construction of hydraulic excavator

The construction of the hydraulic excavator of the present invention will be described with reference to FIG 1 . 4 and 5 described.

1 is a perspective view of a hydraulic excavator 100 in which calibration is performed with a calibration device. hydraulic excavators 100 contains a body (vehicle main body) 1 as well as a working equipment 2 , body 1 contains a turn unit 3 , a driver's cab 4 as well as a driving unit 5 , Rotary unit 3 is rotatable on driving unit 5 appropriate. Rotary unit 3 takes devices, such as a hydraulic pump 37 (please refer 4 ) and a motor (not shown) on. cab 4 is at the front section of rotary unit 3 appropriate. A display input device 38 and an actuator 25 (described below) are in the driver's cab 4 arranged (see 5 ). Traveling unit 5 contains caterpillars 5a . 5b , and hydraulic excavators 100 drives when the caterpillars 5a . 5b rotate.

working equipment 2 is at a front section of body 1 appropriate. working equipment 2 contains a boom 6 , a dipperstick 7 , a spoon 8th , a boom cylinder 10 , a dipperstick cylinder 11 and a spoon cylinder 12 ,

A rear end of outrigger 6 is over a boom pin 13 pivotable on the front section of body 1 appropriate. boom pins 13 corresponds to a pivot center of boom 6 in terms of rotary unit 3 , A rear end of spoon cylinder 7 is about a dipper stick 14 at a front end of boom 6 appropriate. Dipper pins 14 corresponds to a pivot center from dipperstick 7 in terms of boom 6 , spoon 8th is about a spoon bolt 15 pivoting on a front end of dipper stick 7 appropriate. bucket pins 15 corresponds to a pivoting midpoint of spoons 8th in terms of dipperstick 7 ,

boom cylinder 10 , Dipper stick cylinder 11 as well as spoon cylinder 12 are each a hydraulic cylinder, which is driven by hydraulic pressure. The rear end of boom cylinder 10 is about a boom cylinder foot bolt 10a swiveling on turning unit 3 appropriate. The front end of boom cylinder 10 is via a boom cylinder head bolt 10b on outrigger 6 appropriate. boom cylinder 10 is extended and retracted by the hydraulic pressure, thus moving boom 6 ,

The back end of dipper stick cylinder 11 is about a dipper cylinder foot bolt 11a swiveling on boom 6 appropriate. The front end of dipper stick cylinder 11 is about a dipper cylinder head bolt 11b swiveling to dipper 7 appropriate. Arm cylinder 11 is extended and retracted by hydraulic pressure, moving dipper stick 7 ,

The back end of spoon cylinder 12 is via a bucket cylinder foot bolt 12a swiveling to dipper 7 appropriate. The front end of spoon cylinder 12 is via a bucket cylinder head bolt 12b pivotable at one end of a first hinge element 37 and one end of a second hinge element 48 appropriate.

The other end of the first joint element 47 is about a first hinge pin 47a swiveling at the front end of dipper stick 7 appropriate. The other end of the second hinge element 48 is over a second hinge pin 48a swiveling on spoon 8th appropriate. bucket cylinder 12 is extended and retracted by hydraulic pressure, moving bucket 8th ,

Two antennas 21 and 22 for RTK GNSS are attached to body 1 appropriate. antenna 21 is for example to the driver's cab 4 appropriate. antenna 22 is with an antenna support element in between 22a on turning unit 3 appropriate.

Antenna support member 22a contains a rod-shaped section 22aa which extends in a rod shape, as well as a pedestal section 22ab that of the rod-shaped section 22aa projects to an outer peripheral side. Antenna support member 22a extends from an upper surface of rotary unit 3 upwards, and antenna 22 is at an upper end of antenna support element 22a appropriate.

The antennas 21 and 22 are arranged at a fixed distance apart in the vehicle width direction. antenna 21 (hereinafter referred to as "reference antenna 21 "Denotes) is an antenna, which is a current position of body 1 detected. antenna 22 (hereinafter referred to as "directional antenna 22 " is an antenna that is an alignment of body 1 (especially rotary unit 3 ) detected. As antennas 21 . 22 An antenna can be used for GPS.

Rotary unit 3 contains a dirt cover 3a (Cover), a sheet metal lining 3b and a hood 3c as external panels. dust cover 3a and hood 3c each consist for example of plastic and can be opened. Blechverkleidung 3b For example, it is made of metal and is in terms of rotary unit 3 rigidly attached. Antenna support member 22a is made of sheet metal 3b worn and does not come with dirt cover, for example 3a and hood 3c in contact.

hydraulic excavators 100 For example, in the present embodiment, a small hydraulic excavator (such as a minimum rear swing radius excavator and a minimum swing radius excavator) may be used. The excavator with minimum rear swivel radius is a hydraulic excavator, where a swivel radius of the rear end of rotary unit 3 completely within 120% of a total width of the drive unit, but a front minimum swing radius at full swing exceeds 120% (JIS A 8303). The excavator with minimum swing radius is a hydraulic excavator, at the rotary unit 3 within 120% of the width of the driving unit 5 can be turned.

As described above, hydraulic excavators 100 In the present embodiment, the counterweight is also small, and dirt cover 3a as well as bonnet 3c each consist for example of plastic. Therefore, at an upper section of rotary unit 3 There is no section on which an operator can stand.

4 (A) . 4 (B) and 4 (C) are a side view, a rear view and a plan view schematically the structure of hydraulic excavators 100 represent. A length of boom 6 (a length between boom bolts 13 and dipper sticks 14 ) is as in 4 (A) shown, L1 , A length of dipperstick 7 (a length between dipper sticks 14 and spoon bolts 15 ) L2 , A length of spoon 8th (a length between spoon bolts 15 and a cutting edge P of spoons 8th ) L3 , cutting edge P of spoons 8th corresponds to a center P in a width direction of the cutting edge of spoons 8th ,

Hereinafter, the construction of the calibration apparatus of the present embodiment will be described with reference to FIG 2 and 3 described.

2 FIG. 16 is a front view illustrating a structure of a calibration device of an embodiment of the present disclosure; and FIG 3 FIG. 15 is a perspective view illustrating a state in which the calibration device in FIG 2 is arranged below the antenna. A calibration device 150 of the present embodiment, as shown in FIG 2 and 3 represented, as main components a prism mirror 101 , a prism-carrying unit 102 , a pole 130 , a lead 104 as well as a dragonfly 105 ,

prism mirror 101 reflects light coming from an external measuring device 62 (for example, a total station in 1 ) is projected onto the external measuring device 62 to. prism mirror 101 contains a prism body 101 and an outer element 101b , prism body 101 , forms a reflective surface by combining three prisms into a triangle-pyramidal shape. The outer element 101b covers prism body 101 from.

A tip of the Triangle Pyramid of prism body 101 is, via the external measuring device 62 seen the middle of the mirror. A circular front of the outer element 101b is a transparent glass surface 101ba , That from the external measuring device 62 projected light hits the inner prism body 101 over the glass surface 101ba on, is from the reflective surface of prism body 101 reflected and then over glass surface 101ba as the reflected light to the external measuring device 62 output.

Prisms support unit 102 has the shape of a frame. prism mirror 101 is in a frame of the frame-shaped prism-carrying unit 102 arranged. One of the side sections and the other side section of prism mirror 101 Be by prism-carrying unit 102 carried. Therefore, carry prism-carrying unit 102 prism mirror 101 rotatable.

pole 103 has the shape of a straight extending rod. Prisms support unit 102 is with one end of the straight extending rod 103 connected. pole 103 holds prism mirror 101 via prism-carrying unit 102 , dragon-fly 105 is at the other end of the straight extending rod 103 appropriate.

head Start 104 has the shape of a straight extending rod. head Start 104 is located at one with respect to prism mirror 101 pole 103 opposite side. The length of projection 104 is shorter than the length of rod 103 , For example, a direction in which a rotation axis of prism mirror 101 runs, perpendicular to a direction in which rod 103 and lead 104 each extending in a straight line.

antenna 21 contains, as in 3 represented, recesses 21ha . 21hb , about the lead 104 from calibration device 150 can be inserted in a lower surface. Each of the recesses 21ha . 21hb can be a through hole that is vertical through antenna 21 passes through. Alternatively, each of the recesses 21ha . 21hb have the shape of a bottomed cylinder having a bottom surface in antenna 21 and not in a vertical direction by antenna 21 passes through. antenna 22 is similar to antenna 21 although not shown, also has a recess in a lower surface.

head Start 104 gets into each of the recesses 21ha . 21hb from the bottom side of antenna 21 introduced, so that calibration device 150 in terms of antenna 21 can be positioned. The position of antenna 21 is done using calibration equipment 150 measured, with calibration device 150 with respect to antenna 21 is positioned.

calibration device 150 can be at the bottom of antenna 21 be attached by projection 104 in each of the recesses 21ha . 21hb is introduced. For example, has projection 104 an external thread, showing each of the recesses 21ha . 21hb an internal thread on and becomes the external thread of projection 104 with each of the internal threads of the recesses 21ha . 21hb engaged, so that calibration device 150 to antenna 21 can be attached.

When attaching calibration device 150 at the bottom of the antenna 21 is a method of attaching calibration device 150 is not limited to the above-described method, but any method may be used, as far as calibration means 150 attached while keeping in relation to antenna 21 is positioned.

Furthermore, it is possible that calibration device 150 not to antenna 21 is attached. In this case, the lead will be 104 from calibration device 150 in each of the recesses 21ha . 21hb introduced and positioned.

The calibration device of the present embodiment includes, as in FIG 1 shown, calibration device 150 , the outer measuring device 62 and a calibration unit 60 , The calibration device calibrates a parameter to calculate the current position of an operating point on hydraulic excavators 100 , the working equipment 2 having. The parameter calibrated by the calibration device includes an antenna parameter that represents a positional relationship between work equipment 2 and the antennas 21 . 22 indicates. The calibration system of the present invention includes the above-mentioned calibration device as well as a work machine (eg, hydraulic excavator 100 ) on.

hydraulic excavators 100 contains, as described above, the antennas 21 . 22 , The external measuring device 62 is, for example, a total station and is separate from hydraulic excavators 100 provided. Calibrating unit 60 includes an input unit, as described in detail below 63 , a display unit 64 and a calculation unit 65 (Controller). Input unit 63 is a unit at which by the external measuring device 62 measured position of calibration device 150 (ie, the position of the top of the triangle pyramid of prism body 101a) is entered. Calculation unit 65 is a unit that measures the antenna parameters based on the input unit 63 entered position of calibration device 150 calibrated.

Input unit 63 is set up so that a distance from prism mirror 101 to a bit of projection 104 can be entered. Furthermore, input unit 63 set up so that the distance from prism mirror 101 to the top of tab 104 can be entered as a negative value (negative offset value).

Control system of the hydraulic excavator

A control system of the hydraulic excavator of the present embodiment will be described with reference to FIG 4 to 6A described.

5 is a block diagram illustrating a configuration of the control system used in hydraulic excavators 100 is included. hydraulic excavators 100 contains, as in 5 shown, a boom angle detector 16 , a dipperstick angle detector 17 and a spoon angle detector 18 , Boom angle detector 16 , Dipperstick angle detector 17 and spoon angle detector 18 are located on boom 6 , Dipperstick 7 or spoon 8th in 4 (A) , For example, any of the angle detectors 16 to 18 a potentiometer or a stroke sensor.

Boom angle detector 16 captured as in 4 (A) shown, indirectly a swivel angle α of boom 6 in terms of body 1 , Arm angle detector 17 indirectly detects a swivel angle β of dipper stick 7 in terms of boom 6 , Bucket angle detector 18 indirectly detects a swing angle γ of spoons 8th in terms of dipperstick 7 , A method of calculating swing angles α, β, γ will be described in detail later.

body 1 contains, as in 4 (A) shown, a position detector 19 , Position detector 19 captures the current position of body 1 of hydraulic excavators 100 , Position detector 19 contains 2 antennas 21 . 22 as well as a 3D position sensor 23 ,

A signal corresponding to a GNSS radio wave coming from each of the antennas 21 . 22 is received, is in the 3D position sensor 23 entered. The 3D position sensor 23 captures the current positions of the antennas 21 . 22 in a global coordinate system.

The global coordinate system is a coordinate system measured by GNSS, and is a coordinate system based on an origin fixed on the earth. On the other hand, a coordinate system of the vehicle body (which will be described later) is a coordinate system based on that on the body 1 (ie rotary unit 3 ) fixed origin based.

Depending on the positions of reference antenna 21 and directional antenna 22 captures position detector 19 a direction angle in the global coordinate system of an x-axis of the coordinate system of the vehicle body.

body 1 contains, as in 5 shown, a roll angle sensor 24 as well as a pitch angle sensor 29 , Roll angle sensor 24 captured as in 4 (B) 4, an inclination angle θ1 (hereinafter referred to as "roll angle θ1") in the width direction of body 1 with respect to a direction of gravity (vertical line). Pitch angle sensor 29 captured as in 4 (A) 4, an inclination angle θ2 (hereinafter referred to as "pitch angle θ2") in a longitudinal direction of body 1 in terms of the direction of gravity.

In the present embodiment, the width direction refers to the width direction of spoons 8th and coincides with the vehicle width direction. If, however, work equipment 2 has a swing bucket (described below), the width direction of bucket may be right 8th do not coincide with the vehicle width direction.

hydraulic excavators 100 contains, as in 5 shown, actuator 25 , a work equipment control device 26 , a work equipment control device 27 as well as hydraulic pump 37 , actuator 25 includes a work equipment actuator 31 , a work equipment actuation detector 32 , a driving control element 33 , a driving control detector 34 , a rotary control element 51 and a rotary control detector 52 ,

Work implement actuator 31 is an element used to operate work equipment 2 by an operator, and is for example a control lever. Work implement operation detector 32 detects an operation content of work equipment operating member 31 and sends the operation content as a detection signal to work equipment control means 26 ,

Driving control element 33 is an element used to control the drive of hydraulic excavators 1 is used by the operator, and is for example an operating lever. Driving control detector 34 detects the control content of the drive control element 33 and sends the control content as a detection signal to work equipment control means 26 ,

Rotary control element 51 is an element used to control the rotation of rotary unit 3 is used by the operator, and is for example an operating lever. Rotary control detector 52 captures the control content of rotary control 51 and sends the control content as a detection signal to work equipment control means 26 ,

Work implement controller 26 contains a memory 35 and a calculation unit 36 , Storage 35 includes Random Access Memory (RAM), Read Only Memory (ROM), and the like. Calculation unit 36 includes a CPU (Central Processing Unit) and the like. Work implement controller 26 mainly controls the function of work equipment 2 as well as the rotation of rotary unit 3 , Work implement controller 26 generates a control signal through the work equipment 2 according to the operation of work equipment actuator 31 is operated, and outputs the control signal to the work equipment control device 27 out.

Work equipment control device 27 includes a hydraulic control device, such as a proportional control valve. Work implement control device 27 controls a flow rate of a hydraulic pump 37 the hydraulic cylinders 10 to 12 supplied hydraulic oil based on the control signal from work equipment control device 26 , The hydraulic cylinders 10 to 12 be with the work equipment control device 27 controlled supplied hydraulic oil. This works working equipment 2 ,

Work implement controller 26 generates a control signal for rotating rotary unit 3 according to the operation of rotary control element 51 and outputs the control signal to a swing motor 49 out. This will pivot motor 49 powered and turns rotary unit 3 ,

hydraulic excavators 100 contains a display system 28 , Display system 28 provides the operator with information on the basis of which a shape corresponding to a planned surface (described below) is formed by excavating the soil in a work area. Display system 28 contains a display input device 38 and a display controller 39 ,

Display input device 38 contains a touch-sensitive input unit 41 and a display unit 42 , such as an LCD (Liquid Crystal Display). Display input device 38 indicates a guidance screen on which the excavation information is provided. Furthermore, various keys are displayed on the guidance screen. The operator can use various functions of display system 28 by touching different buttons on the guidance screen. The guidance screen is described in detail below.

Display control means 39 performs various functions of display system 28 out. Display control means 39 and work equipment control means 26 can communicate with each other wirelessly or via cable via communication devices. Display control means 39 has a memory 43 , such as a RAM and a ROM, and a calculation unit 44 , such as a CPU. Based on various data elements stored in memory 43 are stored, and a detection result of position detector 19 performs calculation unit 44 various calculations for displaying the guidance screen.

In memory 43 from display controller 39 Data of planned topography is generated and stored in advance. The data of planned topography is information about the shape and position of the planned three-dimensional topography. The planned topography indicates the desired shape of the soil to be worked on. Display control means 39 initiates display input device 38 to display the guidance screen based on the data of the planned topography and data, such as the detection results from the various sensors listed above. That is, the planned topography will, as in 6 shown, with a variety of planned surfaces 45 created, each expressed by triangular polygons. In 6 is only a part of the plurality of planned surfaces with reference numerals 45 and reference numerals for other planned areas are omitted. The operator selects one or the plurality of planned surfaces 45 as a target area 70 out. Display control means 39 initiates display input device 38 to display the guidance screen to the operator about the position of target area 70 to inform.

Calculation unit 44 from display controller 39 calculates the current position of cutting edge P of spoons 8th based on the detection result of position detector 19 and a variety in memory 43 stored parameter. Calculation unit 44 contains a first unit 44a for calculating a current position and a second unit 44b to calculate a current position. The first unit 44a for calculating a current position calculates the current position of cutting edge P of spoons 8th in the coordinate system of the vehicle body based on a parameter of the work equipment (described later). The second unit 44b To calculate a current position calculates the current position of cutting edge P of spoons 8th in the coordinate system of the vehicle body based on a parameter of the antenna (described below), that of the position detector 19 detected current position of the antennas 21 . 22 in the global coordinate system and by the first unit 44a for calculating a current position calculated current position of cutting edge P of spoons 8th ,

Calibrating unit 60 is a unit that calibrates parameters used for the calculation of swing angles α, β, γ of the position of cutting edge P of spoons 8th required are. Calibrating unit 60 forms together with hydraulic excavator 100 and the external measuring device 62 a calibration system that calibrates the parameters listed above.

The external measuring device 62 is a device that determines the position of cutting edge P of spoons 8th measures, and is for example a total station. Calibrating unit 60 Can communicate via cable or wireless data communication with the external measuring device 62 carry out. Calibrating unit 60 Furthermore, via cable or wireless data communication with display control device 39 carry out. Calibrating unit 60 calibrates the parameters in 8th based on the by the external measuring device 62 measured Information. For example, the calibration of the parameters when delivering hydraulic excavator 100 or an initial setting after maintenance.

Calibrating unit 60 closes input unit 63 , Display unit 164 as well as calculation unit 65 (Controller). Input unit 63 is a unit to which first operating point position information, second operating point position information, antenna position information, and bucket information (described later) are input. Input unit 63 is set up so that the operator inputs the information manually, and includes, for example, a plurality of keys. Input unit 63 may be a touch-sensitive input unit if a numerical value can be entered. Display Unit 64 is an LCD, for example, and is a unit to which an operation screen serving to perform the calibration is displayed. Calculation unit 65 performs processing for calibrating the parameters based on the commit unit 63 entered information.

Control screen on hydraulic excavator

The guidance screen of the hydraulic excavator of the present embodiment will be described with reference to FIG 7 described.

7 FIG. 13 is a view illustrating the guidance screen of the hydraulic excavator of one embodiment of the present disclosure. FIG. A guide screen 53 poses as in 7 shown a positional relationship between target area 70 and cutting edge P of spoon 8th dar. guide screen 53 is a screen that has work equipment 2 of hydraulic excavators 100 so that the ground, which is the object of processing, is given the same shape as the target area 70 ,

Leit screen 53 closes a top view 73a and a side view 73b on. Top view 73a represents the planned topography of a work area as well as the current position of hydraulic excavators 100 dar. side view 73b represents a positional relationship between target area 70 and hydraulic excavators 100 represents.

Top view 73a from guide screen 53 represents the planned topography in plan view by means of the multitude of triangular polygons. That is, top view 73a represents the planned topography with the swing plane of hydraulic excavator 100 as a projection plane. Therefore, top view is 73a one from immediately above hydraulic excavator 100 seen view, and the planned area 45 is inclined when hydraulic excavator 100 is inclined. Target area 70 , from the multiplicity of planned surfaces 45 is selected in a color that is different from other planned surfaces 45 different. In 7 becomes the current position of hydraulic excavator 100 with a hydraulic excavator icon 61 displayed in plan view, but it can be displayed with a different icon.

Top view 73a includes information regarding the alignment of hydraulic excavators 100 to target area 70 on. The information regarding the alignment of hydraulic excavators 100 , the target area 70 Faced as an alignment compass 73 displayed. Guidance Compass 73 is an icon that is an orientation with respect to target area 70 and indicating a direction in the hydraulic excavator 100 should be turned. The operator may have a degree of alignment with respect to target area 70 using alignment compass 73 check.

sideview 73b from guide screen 53 includes an image representing the positional relationship between target area 70 and cutting edge P of spoon 8th and a distance information 88 represents a distance between target area 70 and cutting edge P of spoon 8th indicates. That is, side view 73b closes a line 81 the planned area, a line 82 the target area as well as an icon 75 of hydraulic excavators 100 in side view. The line 81 the planned area shows a section of the planned area 45 except the target area 70 , The line 82 the target area shows a section of target area 70 , The line 81 the planned area and the line 82 The target area is determined by a cutting line 80 one level 77 represented by the current position of a midpoint P (hereinafter referred to simply as the "cutting edge of the bucket 8th" designated) in the width direction of the cutting edge P of spoons 8th runs, and the planned area 45 is calculated. A method of calculating the current position of cutting edge P of spoons 8th will be described in detail below. On guide screen 53 As described above, the relative positional relationship between line becomes 81 the planned area, line 82 the target area and hydraulic excavator 100 including spoons 8th as the picture is displayed. When cutting edge P of spoons 8th along line 82 the target area is moved, the operator can easily excavate the ground so that the current topography becomes the planned topography.

Method for calculating the current position of cutting edge P

A method of calculating the current position of cutting edge P of spoons 8th is referring to 4 . 5 and 8th described.

8th puts a list in memory 43 stored parameters. Close the parameters as in 8th displayed, the work equipment parameter and the antenna parameter. The work equipment parameter includes a variety of parameters, each of which is the dimensions of boom 6 , Dipperstick 7 and spoons 8th and specify the swivel angle. The antenna parameter includes a variety of parameters, each of which is the positional relationship between the antennas 21 . 22 and outriggers 6 specify.

When calculating the current position of cutting edge P of spoons 8th becomes a coordinate system xyz of the vehicle body with an intersection of the axis of cantilever bolts 13 and the working level of work equipment 2 (described below) as an origin. In the following description gives the position of boom bolts 13 the position of a midpoint of boom bolts 13 in the vehicle width direction. Current tilt angles α, β, γ ( 4 (A) ) of boom 6 , Dipperstick 7 and spoons 8th become from the detection results of the angle detectors 16 to 18 ( 5 ). A method of calculating swing angles α, β, γ will be described later. A coordinate (x, y, z) of the cutting edge P of spoons 8th in the coordinate system of the vehicle body is determined by the following mathematical formula 1 using the swing angle α, β, γ of boom 6 , Dipperstick 7 and spoons 8th as well as the lengths L1 . L2 and L3 from outrigger 6 , Dipperstick 7 and spoons 8th calculated. $$\begin{array}{c}x=\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">L</figure-callout>}1\text{sin}\alpha +\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">L</figure-callout>}2\text{sin}\left(\alpha +\beta \right)+\mathrm{<figure-callout\; id="3"\; label="L"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">L</figure-callout>}3\text{sin}\left(\alpha +\beta +\gamma \right)\\ y=0\\ z=\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">L</figure-callout>}1\text{cos}\alpha +\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">L</figure-callout>}2\text{cos}\left(\alpha +\beta \right)+\mathrm{<figure-callout\; id="3"\; label="L"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">L</figure-callout>}3\text{cos}\left(\alpha +\beta +\gamma \right)\end{array}$$

The coordinate (x, y, z) of cutting edge P of spoons 8th in the coordinate system of the vehicle body, which is determined with the mathematical formula 1, is converted with the mathematical formula 2 given below into a coordinate (X, Y, Z) in the global coordinate system. $$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)=\left(\begin{array}{ccc}\text{cos}\kappa \text{cos}\phi & \text{cos}\kappa \text{sin}\phi \text{sin}\omega +\text{sin}\kappa \text{cos}\omega & -\text{cos}\kappa \text{sin}\phi \text{cos}\omega +\text{sin}\kappa \text{sin}\omega \\ -\text{sin}\kappa \text{cos}\phi & -\text{sin}\kappa \text{sin}\phi \text{sin}\omega +\text{cos}\kappa \text{cos}\omega & \text{sin}\kappa \text{sin}\phi \text{cos}\omega +\text{cos}\kappa \text{sin}\omega \\ \text{sin}\phi & -\text{cos}\phi \text{sin}\omega & \text{cos}\phi \text{cos}\omega \end{array}\right)\left(\begin{array}{c}x\\ y\\ z\end{array}\right)+\left(\begin{array}{c}A\\ B\\ C\end{array}\right)$$

Wherein ω, φ, κ are expressed with the mathematical formula 3 given below. $$\begin{array}{c}\omega =\text{arcsin}\left(\frac{\text{sin}\mathrm{<figure-callout\; id="1"\; label="\theta "\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">\theta </figure-callout>}1}{\text{cos}\phi }\right)\\ \phi =\mathrm{<figure-callout\; id="2"\; label="\theta "\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">\theta </figure-callout>}2\\ \kappa =-\mathrm{<figure-callout\; id="3"\; label="\theta "\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">\theta </figure-callout>}3\end{array}$$

Here, as described above, θ1 is the roll angle. θ2 is the pitch angle. θ3 is a yaw angle which is a directional angle of the x-axis of the coordinate system of the vehicle body in the global coordinate system. Thus, the yaw angle θ3 becomes based on the positions of the reference antenna 21 and directional antenna 22 calculates the positions of position detector 19 be recorded. (A, B, C) is a coordinate of the origin in the global coordinate system in the coordinate system of the vehicle body.

The antenna parameter gives the positional relationship between the antennas 21 . 22 and the origin in the coordinate system of the vehicle body (the positional relationship between the antennas 21 . 22 and the center of boom bolts 13 in the vehicle width direction). That is, the antenna parameter closes as in 4 (B) and 4 (C) shown a distance Lbbx between boom bolts 13 and reference antenna 21 in the direction of the x-axis of the coordinate system of the vehicle body, a distance Lbby between cantilever bolts 13 and reference antenna 21 in the y-axis direction of the coordinate system of the vehicle body, and a distance Lbbz between cantilever bolts 13 and reference antenna 21 in the direction of the z-axis of the coordinate system of the vehicle body.

The antenna parameter further includes a distance Lbdx between cantilever bolts 13 and directional antenna 22 in the direction of the x-axis of the coordinate system of the vehicle body, a distance Lbdy between cantilever bolts 13 and directional antenna 22 in the direction of the y-axis of the coordinate system of the vehicle body and a distance Lbdz between cantilever bolts 13 and directional antenna 22 in the direction of the z-axis of the coordinate system of the vehicle body.

(A, B, C) is based on the antenna parameter and the coordinates of the antennas 21 . 22 calculated in the global coordinate system, with the coordinates through the antennas 21 . 22 be recorded.

The current position (coordinate (X, Y, Z)) of cutting edge P of bucket 8th is calculated in the global coordinate system as described above.

Display control means 39 calculated as in 6 shown, section line 80 the three-dimensional planned topography and level 77 passing through cutting edge P of spoons 8th runs, based on the calculated current position of cutting edge P of the bucket 8th and the one in memory 43 stored data of the planned topography. Then calculates display controller 39 one by target area 70 passing through section of cutting line 80 as a line 82 the target area ( 7 ). Display control means 39 further calculates a section of cutting line 80 with the exception of line 82 the target area as a line 81 the planned area ( 7 ).

Method for calculating the swivel angles α, β, γ

A method for calculating actual swing angles α, β, γ of boom 6 , Dipperstick 7 and spoons 8th from the detection results of the angle detectors 16 to 18 is below with reference to 9 to 13A described.

9 is a side view of boom 6.Swenkwinkel α of boom 6 is calculated using the mathematical formula 4 below using the work equipment parameters in 9 expressed. $$\alpha =\text{arctan}\left(-\frac{Lb\mathrm{<figure-callout\; id="2"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om2\_x}{Lb\mathrm{<figure-callout\; id="2"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om2\_z}\right)-\text{arccos}\left(\frac{Lb\mathrm{<figure-callout\; id="1"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om{1}^2+Lb\mathrm{<figure-callout\; id="2"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om{2}^2+bOOm\_\mathrm{<figure-callout\; id="2"\; label="c\; l\; y"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">c\; </figure-callout>}l{y}^{}{}^2}{2*Lb\mathrm{<figure-callout\; id="1"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om1*LbOOm2}\right)+\text{arctan}\left(\frac{Lb\mathrm{<figure-callout\; id="1"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om1\_z}{Lb\mathrm{<figure-callout\; id="1"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om1\_x}\right)$$

Lboom2_x is as in 9 shown a distance between boom cylinder foot bolts 10a and cantilever bolts 13 in the horizontal direction of body 1 (which corresponds to the x-axis direction of the vehicle body coordinate system). Lboom2_z is a distance between boom cylinder foot bolts 10a and cantilever bolts 13 in the vertical direction of body 1 (which corresponds to the direction of the z-axis of the coordinate system of the vehicle body). Lboom1 is a distance between boom cylinder head bolts 10b and cantilever bolts 13 , Lboom2 is a distance between boom cylinder foot bolts 10a and cantilever bolts 13 , boom_cyl is a distance between boom cylinder foot bolts 10a and boom cylinder head bolts 10b ,

It is assumed that a direction of connection of boom bolts 13 and dipper sticks 14 in side view is an xboom axis and a direction perpendicular to the xboom axis is a zboom axis. Lboom1_x is a distance between boom cylinder headed bolts 10b and cantilever bolts 13 in the direction of the xboom axis. Lboom 1_z is a distance between boom cylinder head bolts 10b and cantilever bolts 13 in the direction of the zboom axis.

10 is a side view of dipperstick 7 , The swivel angle β of the dipper stick 7 is calculated using the following mathematical formula 5 using the in 9 and 10 shown work equipment parameters. $$\begin{array}{c}\beta =\text{arctan}\left(-\frac{Lb\mathrm{<figure-callout\; id="3"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om3\_z}{Lb\mathrm{<figure-callout\; id="3"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om3\_x}\right)-\text{arctan}\left(\frac{Lb\mathrm{<figure-callout\; id="3"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om{3}^2+La\mathrm{<figure-callout\; id="2"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m{2}^2-arm\_\mathrm{<figure-callout\; id="2"\; label="c\; l\; y"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">c\; </figure-callout>}l{y}^{}{}^2}{2*La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m3*Larm2}\right)\\ +\text{arctan}\left(\frac{La\mathrm{<figure-callout\; id="2"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m2\_x}{La\mathrm{<figure-callout\; id="2"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m2\_z}\right)+\text{arctan}\left(\frac{La\mathrm{<figure-callout\; id="1"\; label="r\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">r\; </figure-callout>}m1\_x}{La\mathrm{<figure-callout\; id="1"\; label="r\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">r\; </figure-callout>}m1\_z}\right)-\pi \end{array}$$

Lboom3_x is as in 9 shown a distance between dipper cylinder foot bolt 11a and dipper sticks 14 in the direction of the xboom axis. Lboom3_z is a distance between dipper cylinder foot bolts 11a and dipper sticks 14 in the direction of the zboom axis. Lboom3 is a distance between dipper cylinder foot bolts 11a and dipper sticks 14 , Arm_cyl is a distance between dipper cylinder foot bolts 11a and dipper cylinder head bolts 11b ,

It will, as in 10 shown, assumed that a direction of connection of dipper cylinder head bolts 11b and spoon bolts 15 in a side view is an xarm2 axis and that a direction perpendicular to the xarm2 axis is a zarm2 axis. It is assumed that a direction of connection of dipper sticks 14 and spoon bolts 15 in side view is an xarm1-axis.

Larm2 is a distance between dipper cylinder head bolts 11b and dipper sticks 14 , Larm2_x is a distance between dipper cylinder head bolts 11b and dipper sticks 14 in the direction of the xarm2 axis. Larm2_z is a distance between dipper cylinder head bolts 11b and dipper sticks 14 in the direction of the zarm2 axis.

Larm1_x is a distance between dipper sticks 14 and spoon bolts 15 in the direction of the xarm2 axis. Larm1_z is a distance between dipper sticks 14 and spoon bolts 15 in the direction of the zarm2 axis. Swivel angle β of dipper stick 7 is an angle formed between the xboom axis and the xarm1 axis.

11 is a side view of spoon 8th and dipper 7. 12 is a side view of spoon 8th , The swivel angle γ of spoons 8th is calculated with the following mathematical formula 6 using the in 10 to 12 shown work equipment parameters. $$\begin{array}{c}\beta =\text{arctan}\left(-\frac{Lb\mathrm{<figure-callout\; id="3"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om3\_z}{Lb\mathrm{<figure-callout\; id="3"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om3\_x}\right)-\text{arctan}\left(\frac{Lb\mathrm{<figure-callout\; id="3"\; label="O\; O\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">O\; </figure-callout>}Om{3}^2+La\mathrm{<figure-callout\; id="2"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m{2}^2-arm\_\mathrm{<figure-callout\; id="2"\; label="c\; l\; y"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">c\; </figure-callout>}l{y}^{}{}^2}{2*La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m3*Larm2}\right)\\ +\text{arctan}\left(\frac{La\mathrm{<figure-callout\; id="2"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m2\_x}{La\mathrm{<figure-callout\; id="2"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m2\_z}\right)+\text{arctan}\left(\frac{La\mathrm{<figure-callout\; id="1"\; label="r\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">r\; </figure-callout>}m1\_x}{La\mathrm{<figure-callout\; id="1"\; label="r\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">r\; </figure-callout>}m1\_z}\right)-\pi \end{array}$$

Larm3_z2 is as in 10 shown, a distance between the first hinge pin 47a and spoon bolts 15 in the direction of the zarm2 axis. Larm3_x2 is a distance between the first hinge pin 47a and spoon bolts 15 in the direction of the xarm2 axis.

Ltmp is how in 11 represented a distance between bucket cylinder head bolts 12b and spoon bolts 15 , Larm4 is a distance between the first hinge pin 47a and spoon bolts 15 , Lbucket1 is a distance between bucket cylinder head bolts 12b and the first hinge pin 47a , Lbucket2 is a distance between bucket cylinder head bolts 12b and the second hinge pin 48a , Lbucket3 is a distance between spoon bolts 15 and the second hinge pin 48a , The swivel angle γ of spoons 8th is an angle formed between an xbucket axis and the xarm1 axis.

It will, as in 12 shown, assumed that a direction of connection of spoon bolts 15 and cutting edge P of spoon 8th in side view, the xbucket axis is and a direction perpendicular to the xbucket axis is a zbucket axis. Lbucket4_x is a distance between bucket pins 15 and the second hinge pin 48a in the direction of the xbucket axis. Lbucket4_z is a distance between bucket pins 15 and the second hinge pin 48a in the direction of the zbucket axis.

The above-mentioned distance Ltmp is expressed by the following mathematical formula 7. $$\begin{array}{c}Ltmp=\sqrt{La\mathrm{<figure-callout\; id="4"\; label="r\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0023.png"\; state="\{\{state\}\}">r\; </figure-callout>}m{4}^2+Lbuc\mathrm{<figure-callout\; id="1"\; label="k\; e\; t"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">k\; </figure-callout>}et{1}^2-2La\mathrm{<figure-callout\; id="4"\; label="r\; m"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0023.png"\; state="\{\{state\}\}">r\; </figure-callout>}m4*Lbuc\mathrm{<figure-callout\; id="1"\; label="k\; e\; t"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">k\; </figure-callout>}et1*\text{cos}\phi }\\ \phi =\pi +\sqrt{\frac{La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m3\_z2}{La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m3\_x2}}-\sqrt{\frac{La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m3\_z1-La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m3\_z2}{La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m3\_x1-La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m3\_x2}}\\ -\text{arccos}\left\{\frac{Lbuc\mathrm{<figure-callout\; id="1"\; label="k\; e\; t"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">k\; </figure-callout>}et{1}^2+La\mathrm{<figure-callout\; id="3"\; label="r\; m"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">r\; </figure-callout>}m{3}^2-buvket\_\mathrm{<figure-callout\; id="2"\; label="c\; y\; l"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">c\; </figure-callout>}y{l}^{}{}^2}{2*lbuc\mathrm{<figure-callout\; id="1"\; label="k\; e\; t"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">k\; </figure-callout>}et1*Larm3}\right\}\end{array}$$

Larm3 is how in 10 shown a distance between bucket cylinder foot bolt 12a and the first hinge pin 47a , Larm3_x1 is a distance between bucket cylinder foot bolts 12a and spoon bolts 15 in the direction of the xarm2 axis. Larm3_z1 is a distance between bucket cylinder foot bolts 12a and spoon bolts 15 in the direction of the zarm2 axis.

boom_cyl is how in 13 shown, a value that is determined by a boom cylinder offset boft to a stroke length bss of boom cylinder 10 is added, with the stroke length bss by boom angle detector 16 is detected. Similarly, arm_cyl is a value that is determined by a dipper stick offset aoft to a stroke length ass of dipper stick cylinders 11 is added, with the stroke length ass by dipper cylinder angle detector 17 is detected. Similarly, bucket-cyl is a value that is determined by a bucket cylinder offset bkoft having a minimum distance from bucket cylinder 12 includes, to a stroke length bkss of bucket cylinder 12 11 is added, with the stroke length bkss by bucket cylinder angle detector 18 is detected.

Current swivel angle α, β, γ of boom 6 , Spoon cylinder 7 and spoons 8th as described above, by means of the calculation from the detection results of the angle detectors 16 to 18 determined.

Calibration procedure by operator

Hereinafter, the calibration operation by the operator in the hydraulic excavator of the present embodiment will be described with reference to FIG 2 . 4 and 14 to 18 described.

14 Figure 11 is a flowchart illustrating a workflow performed by the operator during calibration. In step S1 installed as in 14 illustrated, the operator the external measuring device 62 , In doing so, the operator installs, as in 15 shown, the external measuring device 62 immediately behind boom bolts 13 with a given distance Dx and immediately next to boom bolts 13 with a given distance Dy. In step S2 The operator measures a center position on an end surface (side surface) of cantilever bolts 13 using the external measuring device 62 ,

In step S3 the operator measures the position of the cutting edge P in the five positions of work equipment 2 using the external measuring device 62 The operator operates a work equipment actuator 31 to the position of cutting edge P of spoons 8th to move at five positions, ie from a first position P1 up to a fifth position P5 , in the 16 are shown.

This is turning unit 3 not, but maintains a state in the rotary unit 3 at driving unit 5 is fixed. Then, the operator measures the coordinates of cutting edge P at the first position, respectively P1 up to the fifth position P5 using the external measuring device 62 , The first position P1 and the second position P2 differ from each other in a longitudinal direction of the body on the ground. The third position P3 and the fourth position P4 differ from each other in the longitudinal direction of the body in the air. The third position P3 and the fourth position P4 differ from each other in the vertical direction with respect to the first position P1 and the second position P2 , The fifth position P5 is a position between the first position P1 , the second position P2 , the third position P3 and the fourth position P4 ,

17 represents the stroke lengths of the cylinders 10 to 12 at each one from the first position P1 to the fifth position P5 with the maximum of 100% and the minimum of 0%. The stroke length of dipper stick cylinder 11 corresponds, as in 17 shown at the first position P1 the minimum. That is, the first position P1 is the position of cutting edge P in the position of the work equipment, in which the swivel angle of dipper stick 7 the minimum.

At the second position P2 corresponds to the stroke length of dipper stick cylinder 11 the maximum. That is, the first position P2 is the position of cutting edge P in the position of the work equipment, in which the swivel angle of dipper stick 7 corresponds to the maximum.

At the third position P3 corresponds to the stroke length of dipper stick cylinder 11 the minimum and corresponds to the stroke length of bucket cylinder 12 the maximum. That is, the third position P3 is the position of cutting edge P in the position of work equipment 2 at which the swivel angle of dipper stick 7 corresponds to the minimum, while the swing angle of spoon 8th corresponds to the maximum.

At the fourth position P4 corresponds to the stroke length of boom cylinder 10 the maximum. That is, the fourth position P4 is the position of cutting edge P in the position of work equipment 2 at which the swivel angle of boom 6 corresponds to the maximum.

At the fifth position P5 The cylinder lengths correspond to dipper stick cylinders 11 , Boom cylinder 10 and spoon cylinder 12 Intermediate values that are neither the minimum nor the maximum. That is, at the fifth position P5 correspond to the swivel angle of dipper stick 7 , Boom 6 and spoons 8th the intermediate values that correspond to neither the maximum nor the minimum.

In step S4 the operator gives the first operating point position information to the input unit 63 from calibration unit 60 on. The first operating point position information gives the coordinates from the first position P1 to the fifth position P5 from cutting edge P of spoons 8th in which the coordinates are determined by the external measuring device 62 be measured. So the operator gives the coordinates from the first position P1 to the fifth position P5 from cutting edge P of spoon 8th to input unit 63 from calibration unit 60 a, with the coordinates in step S4 through the external measuring device 62 be measured.

In step S5 the operator measures the positions of the antennas 21 . 22 using the external measuring device 62 , The operator measures, as in 15 represented, the positions of a first measuring point P11 and a second measuring point P12 to reference antenna 21 using the external measuring device 62 , The first measuring point P11 and the second measuring point P12 are with respect to the center of the upper surface of reference antenna 21 arranged symmetrically. If the top surface of reference antenna 21 has a rectangular or square shape, are the first measuring point P11 and the second measuring point P12 two diagonal points on the upper surface of reference antenna 21 ,

The operator measures, as in 15 represented, the positions of a third measuring point P13 and a fourth measuring point P14 at directional antenna 22 using the external measuring device 62 , The third measuring point P13 and the fourth measuring point P14 are with respect to the middle of the upper surface of directional antenna 22 arranged symmetrically. Like the first measuring point P11 and the second measuring point P12 are the third measuring point P13 and the fourth measuring point P14 two diagonal points on the top surface of the directional antenna 22 ,

When measuring from the first measuring point P11 up to the fourth measuring point P14 the antennas 21 . 22 is calibration device 150 , as in 1 shown below the antennas 21 . 22 arranged. The operator stands on the upper surface of the caterpillar tracks 5a . 5b , wherein the upper surfaces of the caterpillars 5a . 5b serve as the stand area. head Start 104 from calibration device 150 is in the recesses 21ha . 21hb ( 3 ) of the antennas 21 . 22 introduced. head Start 104 For example, by means of screws in the recesses 21ha . 21hb be fixed.

If projection 104 not in the recesses 21ha . 21hb is fixed, but only in the recesses 21ha . 21hb is introduced, the operator holds rod 103 from calibration device 150 with one hand of the operator, maintaining the state in the tab 104 in the recesses 21ha . 21hb is introduced. In this case, the projection light from the external measuring device 62 on the prism mirror 101 from calibration device 150 projected. The projection light is made by prism mirror 101 reflected, and the reflected light is with the external measuring device 62 measured.

In step S6 the operator gives the with the external measuring device 62 measured antenna position information to input unit 63 from calibration unit 60 on. The antenna position information includes the coordinates representing the positions from the first measurement point P 11 up to the fourth measuring point P14 specify the coordinates by the operator in step S5 using the external measuring device 62 be measured. The distance from prism mirror 101 to the top of the lead 107 will be at input unit 63 entered. The distance from prism mirror 101 to the top of tab 104 will be at input unit 63 entered as a negative value (negative offset value).

In step S7 The operator measures three positions of cutting edges P with different swing angles. In this case, the operator operates as in 18 shown, rotary control element 51 to turn unit 3 to turn. This will be the position of work equipment 2 kept in a stationary state. Subsequently, the operator measures the three positions (hereinafter referred to as "first pivot position P21 "," Second pivot position P22 "," Third pivot position P23 ") of cutting edges P with different swivel angles using the external measuring device 62 ,

In step S8 the operator gives the second operating point position information to the input unit 63 from calibration unit 60 on. The second operating point position information includes coordinates that represent the first pivot position P21 , the second pivot position P22 and the third pivot position P23 specify the coordinates by the operator in step S7 using the external measuring device 62 be measured.

In step S9 gives the operator spoon information to input unit 63 from calibration unit 60 on. The spoon information is information about the dimensions of spoons 8th , The spoon information closes the gap (Lbucket4_x) between spoon pins 15 and the second hinge pin 48a in the direction of the xbucket axis and the distance (Lbucket4_z) between bucket pins 15 and the second hinge pin 48a in the direction of the zbucket axis. The operator gives the setpoint or with a measuring device, such as the external measuring device 62 , measured value as the spoon information.

In step S10 the operator instructs the calibration unit 60 to carry out the calibration.

By calibration unit 60 performed calibration procedure

The following is with reference to 5 . 8th as well as 19 to 21 by the calibration unit 60 performed processing described.

19 is a functional block diagram that is one with the calibration of calculation unit 65 represents contiguous processing function. Calculation unit 65 contains, as in 19 represented a unit 65a for calculating a coordinate system of the vehicle body, a coordinate transformation unit 65b , a first calculation unit 65 c for calibration and a second calculation unit 65d for calibration.

unit 65a for calculating a coordinate system of the vehicle body calculates coordinate transformation information based on the first operating-point position information as well as the second operating-point position information transmitted via input unit 63 be entered. The coordinate transformation information is information for converting the on the external measuring device 62 based coordinate system in the coordinate system of the vehicle body. Since the first operating point position information and the antenna position information from the external measuring device 62 are measured, the first operating point position information and the antenna position information in one on the external measuring device 62 based coordinate system (xp, yp, zp) expressed. The coordinate transformation information is information for converting the first operating-point position information and the antenna-position information from that on the external measuring device 62 based coordinate system in the coordinate system (x, y, z) of the vehicle body. A method of calculating the coordinate transformation information will be described below.

unit 65a is calculated to calculate a coordinate system of the vehicle body as in 19 and 20 shown, a first normal unit vector AH perpendicular to a movement plane A of work equipment 2 based on the first operating point position information. unit 65a for calculating a coordinate system of the vehicle body calculates the movement plane of work equipment 2 using the least squares method from the five positions included in the first operating point position information, and calculates the first normal unit vector AH based on the calculated motion plane. The first normal unit vector AH can be based on two vectors a1, a2 calculated from the coordinates of three positions that do not deviate from the other two positions of the five positions included in the first operating-point position information.

Then calculate the unit 65a for calculating a coordinate system of the vehicle body, a second normal unit vector BHA perpendicular to a pivot plane BA of rotary unit 3 based on the second operating point position information. That is, the unit 65a for calculating a coordinate system of the vehicle body calculates the second normal unit vector BHA on the basis of two vectors b1, b2 derived from the coordinates of the first pivotal position P21 , the second pivot position P22 and the third pivot position P23 are determined, which are included in the second operating point position information.

Then calculate the unit 65a for computing a coordinate system of the vehicle body as in 21 shown, a cut line vector DAB of movement level A of work equipment 2 and pan level BA. unit 65a for calculating a coordinate system of the vehicle body calculates the normal unit vector of a plane B passing through the cut line vector DAB and perpendicular to the movement plane A of work equipment 2 runs as a corrected second normal unit vector BH. Then calculate unit 65a for calculating a coordinate system of the vehicle body, a third normal unit vector CH perpendicular to the first normal unit vector and the corrected second normal unit vector BH. The third normal unit vector CH is a normal vector of a plane C perpendicular to both the motion plane A as well as level B ,

Coordinate transformation unit 65b converts the first operating point position information as well as the antenna position information generated by the external measuring device 62 are measured using the coordinate transformation information from the coordinate system (xp, yp, zp) of the external measuring device 62 in the coordinate system (x, y, z) of the vehicle body of hydraulic excavators 100 around. The coordinate transformation information includes the first normal unit vector AH, the corrected second normal unit vector BH, and the third normal unit vector CH. That is, the coordinates in the coordinate system of the body become, as indicated by the following mathematical formula 8, an internal product of the coordinates in the coordinate system of the external measuring device 62 calculated by a vector p and normal vectors AH, BH, CH of the coordinate transformation information. $$\begin{array}{c}x=\overrightarrow{p}·\overrightarrow{CH}\\ y=\overrightarrow{p}·\overrightarrow{AH}\\ z=\overrightarrow{p}·\overrightarrow{BH}\end{array}$$

The first calculation unit 65c for calibration calculates the calibration value of the parameter using a numerical analysis based on the first operating-point position information converted into the coordinate system of the vehicle body. That is, the calibration value of the parameter is calculated by least squares method, as indicated by mathematical formula 9 below. $$\begin{array}{l}J=\frac{1}{2}{\displaystyle \underset{k=1}{\overset{n}{\Sigma }}{\left\{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">L</figure-callout>}1\text{sin}\left(\alpha k\right)+\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">L</figure-callout>}2\text{sin}\left(\alpha k+\beta k\right)+\mathrm{<figure-callout\; id="3"\; label="L"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">L</figure-callout>}3\text{sin}\left(\alpha k+\beta k+\gamma k\right)-xk\right\}}^2}\\ +\frac{1}{2}{\displaystyle \underset{k=1}{\overset{n}{\Sigma }}{\left\{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="DE112017000076T5\_0017.png,DE112017000076T5\_0018.png"\; state="\{\{state\}\}">L</figure-callout>}1\text{cos}\left(\alpha k\right)+\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">L</figure-callout>}2\text{cos}\left(\alpha k+\beta k\right)+\mathrm{<figure-callout\; id="3"\; label="L"\; filenames="DE112017000076T5\_0010.png,DE112017000076T5\_0017.png"\; state="\{\{state\}\}">L</figure-callout>}3\text{cos}\left(\alpha k+\beta k+\gamma k\right)-zk\right\}}^2}\end{array}$$

The correspondence of the value of k ranges from the first position P1 to the fifth position P5 the first operating point position information. So n = 5. (x1, z1) is a coordinate of the first position P1 in the coordinate system of the vehicle body. (x2, z2) is a coordinate of the second position P2 in the coordinate system of the vehicle body. (x3, z3) is a coordinate of the third position P3 in the coordinate system of the vehicle body. (x4, z4) is a coordinate of the fourth position P4 in the coordinate system of the vehicle body. (x5, z5) is a coordinate of the fifth position P5 in the coordinate system of the vehicle body.

The calibration value of the work equipment parameter is calculated by looking for a point at which a function J of the mathematical formula 9 has a minimum. That is, in the list in 8th For example, the calibration values of work equipment parameters Nos. 1 to 29 are calculated.

Of those in the list in 8th The work equipment parameters included in the calculation are the value entered as the bucket information as the distance Lbucket4_x between bucket bolts 15 and the second hinge pin 48a in the direction of the xbucket axis and distance Lbucket4_z between bucket pins 15 and the second hinge pin 48a used in the direction of the zbucket axis.

The second calculation unit 65d for calibration calibrates the antenna parameters based on the input unit 63 entered antenna position information. That is, the second calculation unit 65d for calibration calculates the coordinate of the midpoint between the first measurement point P11 and the second measuring point P12 as the coordinate of the position of reference antenna 21 , That is, the coordinate of the position of reference antenna 21 is by distance Lbbx between boom bolts 13 and reference antenna 21 in the direction of the x-axis of the coordinate system of the vehicle body, distance Lbby between cantilever bolts 13 and reference antenna 21 in the y-axis direction of the vehicle body coordinate system and the distance Lbbz between the boom bolts 13 and reference antenna 21 in the direction of the z-axis of the coordinate system of the vehicle body.

The second calculation unit 65d for calibration calculates the coordinate of the midpoint between the third measurement point P13 and the fourth measuring point P14 as the coordinate of the position of directional antenna 22 , That is, the coordinate of the position of directional antenna 22 is by distance Lbdx between cantilever bolts 13 and directional antenna 22 in the x-axis direction of the vehicle body coordinate system, distance Lbdy between cantilever bolts 13 and directional antenna 22 in the y-axis direction of the vehicle body coordinate system and the distance Lbdz between the boom bolts 13 and directional antenna 22 in the direction of the z-axis of the coordinate system of the vehicle body. Then there is the second calculation unit 65d for calibration, the coordinates of the positions of the antennas 21 . 22 as the calibration values of the antenna parameters Lbbx, Lbby, Lbbz, Lbdx, Lbdy, Lbdz.

The first calculation unit 65c for calibration calculated work equipment parameters by the second calculation unit 65d Antenna parameters calculated for calibration as well as the bucket information are stored in memory 43 from display controller 39 stored and used to calculate the position of cutting edge P.

Hereinafter, an advantageous effect of the present embodiment will be described.

In the present embodiment, calibration means 150 when measuring the positions of the antennas 21 . 22 below the antennas 21 . 22 arranged. This requires the operator to adjust the positions of the antennas 21 . 22 measures, not on the upper surface of rotary unit 3 stand to calibration device 150 above the antennas 21 . 22 to arrange. The operator can, as in 1 shown on caterpillars 5a . 5b stand and calibration device 150 below the antennas 21 . 22 Arrange. Thus, even with a small work machine, the operator can not stand for the operator on the upper surface of rotary unit 3 provides the positions of the antennas 21 . 22 measure in a comfortable posture.

According to the present embodiment, as shown in FIG 1 and 5 shown, a calibration unit 60 Input unit 63 , about which by the external measuring device 62 measured position of prism mirror 101 is entered, as well as calculation unit 65 , with which the antenna parameters based on the input unit 63 entered position of prism mirror 101 be calibrated. This allows the result of the measurement by the external measuring device 62 in calibration unit 60 can be entered and the antenna parameters can be calibrated.

According to the present embodiment, as in FIG 2 and 3 shown, calibration device 150 prism mirror 101 , that of the external measuring device 62 projected projection light reflects, as well as rod 103 one, the prism mirror 101 holds. Therefore, the operator can prism mirror 101 , which reflects the projection light, below the antennas 21 . 22 Arrange while rod 103 hold.

According to the present embodiment, as shown in FIG 2 and 3 shown, calibration device 150 further advantage 104 who is at the in terms of prism mirror 101 pole 103 located opposite side. This allows calibration device 150 in terms of the antennas 21 . 22 be positioned by the tip of projection 104 in contact with the antennas 21 . 22 is brought.

According to the present embodiment, the antennas include 21 . 22 , as in 3 shown, wells 21ha . 21hb , in the lead 104 from calibration device 150 can be introduced in the lower surface. So can calibration device 150 in a simple way with respect to the antennas 21 . 22 be positioned by projection 104 in the recesses 21ha . 21hb is introduced.

According to the present embodiment, as shown in FIG 2 and 3 shown, input unit 63 set up so that the distance from prism mirror 101 to lead 104 can be entered. This allows the positions of the antennas 21 . 22 be determined more accurately.

According to the present embodiment, as shown in FIG 2 and 3 shown, input unit 63 set up so that the distance from prism mirror 101 to the top of tab 104 as the negative value can be entered. The positions of the antennas 21 . 22 can be more accurately determined by inputting the distance as the negative offset value, as described above.

According to the present embodiment, as shown in FIG 1 and 2 shown, calibration device 150 dragon-fly 105 on the pole 103 is appropriate. This allows the angle of inclination of calibration device 150 when arranging calibration device 150 can be determined and the measurement can be carried out more accurately.

In the present embodiment, hydraulic excavator 100 as the work machine calibrated with the calibration device. However, the present disclosure can be applied to working machines having other antennas than the hydraulic excavator.

It should be noted that the disclosed embodiment is in all respects illustrative and not restrictive. The scope of the present disclosure is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

LIST OF REFERENCE NUMBERS

1: body, 2: working equipment, 3: rotating unit, 3a: dirt cover, 3b: sheet metal lining, 3c: bonnet, 4: cab, 5: driving unit, 5a, 5b: crawler, 6: boom, 7: dipper stick, 8: Spoon, 10: Outrigger Cylinder, 10a: Outrigger Cylinder Stud, 10b: Outrigger Cylinder Head Bolt, 11: Dipper Stick Cylinder, 11a: Dipper Stick Pedestal, 11b: Dipper Stick Cylinder Stud, 12: Spoon Cylinder, 12a: Spoon Cylinder Stud, 12b: Spoon Cylinder Headed bolt, 13: boom pin, 14: dipper stick, 15: bucket bolt, 16: boom angle detector, 17: dipper stick angle detector, 18: bucket angle detector, 19: position detector, 21: reference antenna, 22: direction antenna, 22a: antenna carrying element, 22aa : rod-shaped section, 22ab : Pedestal section 23 : 3D position sensor, 24: roll angle sensor, 25: actuator, 26: work equipment controller, 27: work equipment control apparatus, 28: display system, 29: pitch angle sensor, 31: work equipment actuator, 32: work equipment Operation detector, 33: drive control element, 34: drive control detector, 35, 43: memory, 36, 44, 65: calculation unit, 37: hydraulic pump, 38: display input device, 39: display control device , 41, 63: input unit, 42, 64: display unit, 44a: first unit for calculating a current position, 44b: second unit for calculating a current position, 45: planned area, 47: first joint element, 47a: first one Hinge pin, 48: second hinge element, 48a: second hinge pin, 49: swing motor, 51: rotation control element, 52: rotation control detector, 53: guidance screen, 60: calibration unit, 61, 75: icon, 62: external measuring device, 65a: unit for calculating a coordinates vehicle body system, 65b: coordinate transformation unit, 65c: first calculation unit for calibration, 65d: second calculation unit for calibration, 70: target area, 73: alignment compass, 73a: plan view, 73b: side view, 77: plane, 80: cutting line, 81: line of planned surface, 82: line of target surface, 88: distance information, 100: hydraulic excavator, 101: prism mirror, 101a: prism body, 101b: outer element, 101ba : Glass surface, 102: prism support unit, 103: rod, 104: projection, 105: bubble level, 150: calibration device

Claims (11)

A method of calibrating a work machine that calibrates a parameter for calculating a current position of an operating point on a work machine that includes work equipment and an antenna, the method for calibrating a work machine comprising the steps of: Placing a calibration device below the antenna; Measuring a position of the calibration device with an external measuring device while arranging the calibration device below the antenna; such as Calibrating a positional relationship between the work equipment and the antenna based on the position of the calibration device, wherein the position is measured with the external measurement device. Method for calibrating a work machine after Claim 1 method further comprising the step of inputting the position of the calibration device to an input unit, wherein the position is measured with the external measuring device, and the step of calibrating the positional relationship between the working equipment and the antenna, the step of calibrating an antenna parameter indicating the positional relationship between the work equipment and the antenna with a calculation unit based on the position input to the input unit. Apparatus for calibrating a work machine that calibrates a parameter for calculating a current position of an operating point on a work machine that includes work equipment and an antenna, the apparatus for calibrating a work machine comprising: a calibration device, which is arranged below the antenna, as well as an external measuring device for measuring a position of the calibration device. Apparatus for calibrating a working machine according to Claim 3 wherein the calibration device further includes: a prism mirror for reflecting projection light projected from the external measuring device; and a rod for holding the prism mirror. Apparatus for calibrating a working machine according to Claim 4 wherein the calibration means further includes a projection located on a side opposite the prism mirror of the rod. Apparatus for calibrating a working machine according to Claim 5 wherein the antenna includes a recess on a lower surface into which the projection of the calibration device can be inserted. Apparatus for calibrating a working machine according to Claim 5 or 6 wherein the parameter calibrated with the work machine calibration apparatus includes an antenna parameter indicative of a positional relationship between the work equipment and the antenna, and the work machine calibration apparatus further comprises: an input unit for inputting the position the calibration device is set up, wherein the position is measured with the external measuring device; and a calculating unit for calibrating the antenna parameter based on the position input to the input unit. Apparatus for calibrating a working machine according to Claim 7 wherein the input unit is arranged so that a distance from the prism mirror to the projection can be input. Apparatus for calibrating a working machine according to Claim 8 wherein the input unit is arranged so that the distance from the prism mirror to the projection can be entered as a negative value. Device for calibrating a working machine according to one of Claims 4 to 6 wherein the calibration device further includes a dragonfly attached to the rod. A work machine calibration system comprising: a work machine including work equipment and an antenna; and a calibration device for calibrating a parameter for calculating a current position of an operating point on the work machine, wherein the calibration device includes: calibration means disposed below the antenna; an external measuring device for measuring a position of the calibration device; an input unit configured to input the position of the calibration device, the position being measured by the external measuring device; and a calculating unit for calibrating an antenna parameter indicating a positional relationship between the working equipment and the antenna based on the position input to the input unit.

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