JP2005061024A - Position measuring display system for working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position measuring display system for a working machine for safely and efficiently performing work by correctly displaying the attitudes of a swiveling upper structure and a traveling lower structure to the surrounding situation. <P>SOLUTION: The attitude of the lower structure 2 to the upper structure 3 is obtained from a turning angle θsw obtained from the measured value of a gyroscope 26, and a bucket tip position 3P7 is obtained in a upper structure coordinate system Σ3 from a boom angle θ5, an arm angle θ6 and a bucket angle θ7 detected by angle sensors 21-23. A bucket tip position OP7 in a global coordinate system ΣO is obtained from a value OΣ3 of the upper structure coordinate system Σ3 in the global coordinate system ΣO and the bucket tip position 3P7 in the upper structure coordinate system Σ3, and the position relation of a hydraulic shovel 1 including the upper structure 3, a bucket 7 and the lower structure 2, to topographic features is displayed superposed on a monitor screen 46a. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention measures and calculates the position and orientation of an upper swing body of a work machine such as a hydraulic excavator and a work device in a three-dimensional space, and displays the positional relationship between the upper swing body and the work device with respect to the surrounding situation. The present invention relates to a position measurement display system.

  2. Description of the Related Art In recent years, work management is performed by measuring the position of a monitor point of a work machine using a three-dimensional position measurement device such as a GPS at a construction site. As a representative example of the monitor point, there is a position of a working device of a work machine, for example, a bucket tip position of a hydraulic shovel. If the bucket tip position can be measured, it is possible to grasp the work progress status during construction by comparing the measurement data with preset terrain data and target shape data, and management during construction can be performed. Moreover, even after construction, construction management can be performed by generating finished shape data (for example, excavation landform data) from the measurement data.

  As a prior art of such a position measurement display system, for example, as described in Japanese Patent Application Laid-Open No. 2001-98585, a three-dimensional position of an excavating work machine is measured to calculate a work plane, It is known to display the relative position between the intersection line and the excavating work machine. In the embodiment, the excavating work machine is a bucket, and the tip position of the bucket is measured by a boom, an arm and a bucket angle sensor, a GPS antenna installed on the upper swing body, and its receiver.

  In addition, as described in International Publication No. WO03 / 000997A1, there is a remote control system for construction machines that displays a positional relationship between a target excavation surface and a bucket tip position. In this system, in the embodiment shown in FIGS. 17 to 20, the turning angle is detected by an angle sensor, and the position of the excavator base coordinate system fixed to the lower traveling body from the turning angle and the three-dimensional position measurement value of GPS. And the posture as a value of the global coordinate system, and the bucket tip position in the global coordinate system is calculated using this value. It is also possible to display terrain data, which is the surrounding work situation.

JP 2001-98585 A

International Publication No. WO03 / 000997A1

  However, the above prior art has the following problems.

  In the technique described in Japanese Patent Laid-Open No. 2001-98585, the GPS is installed on the upper swing body, and the three-dimensional positions of the upper swing body and the bucket tip are measured in combination with the boom, arm, and bucket angle sensor. There is no description regarding the footwear (hereinafter referred to as the undercarriage). This means that the posture of the lower traveling body displayed on the display screen is different from the actual posture (the positional relationship of the lower traveling body with respect to the surrounding work situation is different from the actual posture).

  Since the machine operator works while checking the display screen during the work, if the posture of the lower traveling body on the display screen is different from the actual posture as described above, the following problems will occur. May occur.

  For example, when a traveling operation is performed, there is a possibility that the machine starts to move in a direction different from the traveling direction predicted by the operator looking at the display screen. At this time, for example, when the work is performed in a place such as a cliff where the installation space of the machine is narrow, the worst case may be a fall. Therefore, a careful operation is required for the operator, and the work cannot be performed safely and efficiently.

  In addition, even during excavation work, there are cases where work is performed while checking the positional relationship with the lower traveling body, such as when the excavated earth and sand is released near the lower traveling body. Then, if the display position of the lower traveling body with respect to the surrounding situation is different from the actual position, confusion is caused and the work cannot be performed safely and efficiently.

  The technology described in International Publication No. WO03 / 000997A1 detects the turning angle and obtains the position and orientation of the shovel base coordinate system fixed to the lower traveling body as the value of the global coordinate system. However, the purpose is to obtain the bucket tip position as a value in the global coordinate system, and there is no idea of displaying the positional relationship between the lower traveling body and the surrounding situation. Therefore, this conventional technique has the same problem.

  In addition, some work machines, such as dredgers, the lower support is not a traveling body, but when doing work by displaying the positional relationship between the work device, the lower support and the surrounding situation, If the position of the lower support relative to the surrounding situation is different from the actual situation, it will be confused and the work cannot be performed safely and efficiently.

  An object of the present invention is to provide a position measurement and display system for a work machine that can perform work safely and efficiently by correctly displaying the postures of the upper swing body and the lower traveling body with respect to the surrounding situation.

  In this specification, “absolute position in the three-dimensional space” is a position expressed by a coordinate system set outside the work machine. For example, when GPS is used as a three-dimensional position measurement device, A position expressed by a coordinate system fixed to a reference ellipsoid used as a reference for latitude, longitude, and height by GPS. Further, in this specification, the coordinate system set to the reference ellipsoid is referred to as a global coordinate system.

  (1) In order to achieve the above object, the present invention is provided in a construction machine having an upper swing body and a lower support body, and a work device provided on the upper swing body, and the work device for the upper swing body is provided. Work position measurement means for measuring a state quantity related to position and orientation, a plurality of three-dimensional position measurement means installed on the upper swing body, and the upper area using measurement values of the work area measurement means and the three-dimensional position measurement means First calculating means for calculating the position and orientation of the revolving unit and the working device in a three-dimensional space, and using the calculated value of the first calculating unit, the upper revolving unit, the working device, and the surrounding work situation In a position measurement display system for a work machine that displays a positional relationship, a turning angle measuring unit that measures a turning angle of the upper turning body with respect to the lower support, and the upper turning body using a measurement value of the turning angle measuring means Positional relationship between the upper swing body and the working device and the lower support with respect to the surroundings using second calculation means for calculating the attitude of the lower support relative to the surroundings, and using the calculated values of the first calculation means and the second calculation means Display means for displaying.

  Thus, the turning angle measuring means, the second calculating means, and the display means are provided, and the positions of the upper turning body, the working device, and the lower support with respect to the surrounding situation using the calculated values of the first calculating means and the second calculating means. By displaying the relationship, the overall positional relationship including the posture of the lower support relative to the surrounding situation (the positional relationship between the upper swinging body and work device and the lower support relative to the surrounding situation) is displayed correctly, and it is safe and efficient. Can do the work

  (2) In the above (1), preferably, the turning angle measuring means is based on the yaw angle measuring means for measuring the yaw angle of the upper turning body, and the yaw angle measured by the yaw angle measuring means. Turning angle calculating means for calculating a turning angle of the upper turning body.

  Thereby, compared with the case where an angle sensor is used for the detection of the turning angle, the yaw angle measuring means has less restrictions on the installation position, so that the installation becomes easy. Further, the complexity of the structure and the cost increase can be minimized.

  (3) In the above (2), preferably, the turning angle measuring means further includes turning determination means for determining whether or not the upper turning body is turning, and the turning angle calculation means includes: While the turning determination means determines that the upper turning body is turning, the turning angle of the upper turning body is calculated based on the yaw angle measured by the yaw angle measurement means.

  As a result, the turning angle measuring means accurately measures the turning angle without calculating the turning angle unless the upper turning body turns even if the change in the yaw angle is measured by the yaw angle measuring means when turning by traveling. be able to.

  (4) Further, in the above (2), preferably, the turning angle measuring means further includes a turning angle reset means for resetting the turning angle to a predetermined value.

  As a result, errors that have been measured and accumulated, such as when work is started or when turning and traveling are performed in combination, can be canceled and the turning angle can be accurately measured.

  (5) In the above (1), preferably, the display means displays, in a bird's-eye view, a positional relationship between the upper swing body and the work device and the lower support body with respect to a surrounding situation.

  Thereby, the display of the positional relationship between the upper swing body and the working device and the lower support relative to the surrounding situation becomes easy to see, and the work can be performed safely and efficiently.

  According to the present invention, it is possible to perform work safely and efficiently by correctly displaying the postures of the upper swing body and the lower traveling body with respect to the surrounding situation.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, the present invention is applied to a crawler hydraulic excavator which is a typical example of a construction machine as a work machine.

  FIG. 1 is an external view of a hydraulic excavator equipped with a work position measurement display system according to the present embodiment.

  In FIG. 1, reference numeral 1 denotes a hydraulic excavator. The hydraulic excavator 1 is provided on a lower traveling body 2, a lower traveling body 2, and an upper revolving body 3 that forms a vehicle body together with the lower traveling body 2. The front work machine 4 includes a boom 5 provided on the upper swing body 3 so as to be rotatable in the vertical direction, and is provided at the tip of the boom 5 so as to be rotatable in the vertical direction. The arm 6 and a bucket 7 provided at the tip of the arm 6 so as to be rotatable in the vertical direction are driven by expanding and contracting the boom cylinder 8, the arm cylinder 9, and the bucket cylinder 10, respectively. The upper swing body 3 is provided with a cab 11.

  The hydraulic excavator 1 includes an angle sensor 21 that detects a rotation angle (boom angle) between the upper swing body 3 and the boom 5, an angle sensor 22 that detects a rotation angle (arm angle) between the boom 5 and the arm 6, An angle sensor 23 that detects a rotation angle (bucket angle) between the arm 6 and the bucket 7 and an inclination sensor 24 that detects an inclination angle (pitch angle) in the front-rear direction of the upper swing body 3 are provided.

  Further, the excavator 1 includes two GPS antennas 31 and 32 that receive signals from GPS satellites, a wireless antenna 33 that receives correction data (described later) from a reference station, and a wireless antenna 34 that transmits position data. Is provided. The two GPS antennas 31 and 32 are installed on the left and right of the rear part of the revolving unit that is off the turning center of the upper revolving unit 3.

  A gyro 26 for measuring the rotation angle in the yaw direction of the upper swing body 3 is installed on the upper swing body 3, and a turning angle (described later) obtained from the measured value of the gyro 26 is set in the cab 11. A turning angle reset switch 28 (see FIG. 4) for resetting the value is provided.

  FIG. 2 is a hydraulic circuit diagram showing a hydraulic drive system of the excavator 1.

  In FIG. 2, the hydraulic drive system of the hydraulic excavator 1 includes variable displacement hydraulic pumps 101 and 102, a valve device 103, and a plurality of actuators 8 and 9 including the boom cylinder 8, arm cylinder 9, and bucket cylinder 10. 10, 105, 106, 107, 108. The actuator 105 is a hydraulic motor (swing motor) for turning the upper swing body 3 with respect to the lower traveling body 2, and the actuators 106 and 107 are hydraulic motors (right and left) for driving the left and right crawler tracks of the lower traveling body 2. The actuator 108 is a spare actuator for driving the attachment when the bucket 7 is replaced with another attachment.

  The valve device 103 has two valve groups of flow control valves 103 a to 103 d and flow control valves 103 e to 103 i, and the flow control valves 103 a to 103 d are positioned on a center bypass line 103 j connected to the discharge path 111 of the hydraulic pump 101. The flow control valves 103e to 103i are located on the center bypass line 103k connected to the discharge path 112 of the hydraulic pump 102. In the discharge passages 111 and 112, a main relief valve 103m for determining the maximum discharge pressure of the hydraulic pumps 101 and 102 is provided.

  The flow control valves 103a to 103d and the flow control valves 103e to 103i are center bypass types, and the pressure oil discharged from the hydraulic pumps 101 and 102 corresponds to the actuators 8 to 10 and 105 to 108 by these flow control valves. To be supplied. The flow control valve 103a is for right travel, the flow control valve 103b is for bucket, the flow control valve 103c is for the first boom, the flow control valve 103d is for the second arm, the flow control valve 103e is for turning, and the flow control valve 103f is For the first arm, the flow control valve 103g is for the second boom, the flow control valve 103h is for standby, the flow control valve 103i is for traveling left, and the boom cylinder 8 is provided with two flow control valves 103g and 103c. Two flow control valves 103d and 103f are also provided for the arm cylinder 9. Pressure oil from the two hydraulic pumps 101 and 102 joins the bottom side of the boom cylinder 8 and the arm cylinder 9, respectively. Can be supplied.

  FIG. 3 is a diagram showing an operation pilot system of the flow control valves 103a to 103i.

The flow control valves 103i and 103a are operated by the operation pilot pressures TR1, TR2 and TR3 and TR4 from the operation pilot devices 139 and 138 of the operation device 135, and the flow control valve 103b and the flow control valves 103c and 103g are operated by the operation pilot device of the operation device 136. Due to the operation pilot pressures BKC, BKD and BOD, BOU from 140, 141, the flow control valves 103d, 103f and the flow control valve 103e are operated pilot pressures ARC, ARD and SW1, from the operation pilot devices 142, 143 of the operation device 137. By SW2, the flow control valve 103h is switched by operating pilot pressures AU1 and AU2 from the operating pilot device 144, respectively.
The operation pilot devices 138 to 144 have a pair of pilot valves (reducing valves) 138a, 138b to 144a, and 144b, respectively, and the operation pilot devices 138, 139, and 144 further have operation pedals 138c, 139c, and 144c, respectively. The operation pilot devices 140 and 141 further have a common operation lever 140c, and the operation pilot devices 142 and 143 further have a common operation lever 142c. When the operation pedals 138c, 139c, 144c and the operation levers 140c, 142c are operated, the pilot valve of the related operation pilot device is operated according to the operation direction, and the operation pilot pressure according to the operation amount is generated.

  Shuttle valves 151 to 163 are hierarchically connected to the output lines of the pilot valves of the operation pilot devices 138 to 144. The shuttle valves 151, 153, 154, 155, 158, 159 and 161 operate the operation pilot devices 138, The maximum operating pilot pressure of 140, 141, 142 is led out to the hydraulic line 171 and used as the positive control pilot pressure PP1 of the hydraulic pump 1, and shuttle valves 152, 154, 155, 156, 157, 159, 160, The maximum operating pilot pressure of the operating pilot devices 139, 141, 142, 143, and 144 is led out to the hydraulic line 172 by 162 and 163, and used as the pilot pressure PP 2 for positive control of the hydraulic pump 2. Further, the operation pilot pressure of the turning operation pilot device 143 is led out to the hydraulic line 173 by the shuttle valve 156 and detected as the turning pilot pressure Ps by the pressure sensor 27.

  FIG. 4 is a block diagram showing the overall configuration of the position measurement display system according to the present embodiment mounted on the hydraulic excavator 1.

  In FIG. 4, reference numeral 200 denotes a position measurement display system according to the present embodiment. A wireless device 41 receives correction data (described later) from a reference station via an antenna 33, and distributes correction data received by the wireless device 41. A GPS receiver 43 that measures the three-dimensional positions of the GPS antennas 31 and 32 in real time based on the correction data from the distributor 42 and the signals from the GPS satellites received by the GPS antennas 31 and 32. 44, position data from the GPS receivers 43 and 44, the front angle sensors 21 to 23, the tilt sensor 24, the angle data from the gyro 26, the pressure data from the turning pilot pressure sensor 27, and the turning angle reset switch 28. The controller 45 that inputs and aggregates the operation signals of the controller, based on these aggregated various data An in-vehicle computer 46 having a monitor screen 46a for calculating and displaying the position and posture of the excavator 1 and the position of the tip (monitor point) of the bucket 7, and the position data calculated by the in-vehicle computer 46 are transmitted via the antenna 34. A wireless device 47 is provided. Each of the GPS antenna 31 and the GPS receiver 43, and the GPS antenna 32 and the GPS receiver 44 constitute a set of GPS (Grobal Positioning System) receivers.

  Here, reference numeral 48 denotes an IC card, which stores original terrain data and target terrain data of a work range planned by a server computer, which will be described later. The operator connects the IC card 48 to the in-vehicle computer 46 when the system is started. Enter the data. At the end of the work, the measurement data is recorded on the IC card 48, connected to the server computer, input the measurement data, and used for construction management.

  FIG. 5 is a block diagram showing a device configuration of an office side system having a role as a GPS reference station.

  In FIG. 5, 51 is an office that manages the position and work of the hydraulic excavator 1 and bucket 7, etc. The office 51 receives a GPS antenna 52 that receives signals from GPS satellites, and correction data is transmitted to the hydraulic excavator 1. From the excavator 1, the radio antenna 54 that receives the position data of the hydraulic excavator 1, the bucket 7, etc. from the excavator 1, the three-dimensional position data measured in advance and the GPS satellite 52 received from the GPS satellite 52 Based on the signal, the GPS receiver 43 and 44 of the excavator 1 described above generates correction data for performing RTK (real-time kinematic) measurement. The wireless device 56 for transmitting the corrected data through the antenna 53 and the antenna 54 Radio 57 for receiving data, the server computer 58 for performing computation and display for displaying and managing the location of the hydraulic excavator 1 and the bucket 7 on the basis of the position data received is established by radio 57. The GPS antenna 52 and the GPS receiver 55 constitute a set of GPS receivers.

  An IC card 48 can be connected to the server computer 58 to input / output original terrain data, target terrain data, measurement data, and the like.

  An outline of the operation of the position measurement display system according to the present embodiment will be described.

  In this embodiment, in order to perform position measurement with high accuracy, RTK measurement is performed by the GPS receivers 43 and 44 shown in FIG. For this purpose, first, the GPS reference station 55 for generating the correction data shown in FIG. 5 is required. The GPS reference station 55 generates and generates correction data for RTK measurement based on the position data of the antenna 52 measured in advance three-dimensionally as described above and the signal from the GPS satellite received by the antenna 52. The correction data is transmitted by the wireless device 56 through the antenna 53 at a constant cycle.

  On the other hand, the GPS receivers 43 and 44 on the vehicle side shown in FIG. 4 are based on correction data received by the wireless device 41 via the antenna 33 and signals from GPS satellites received by the antennas 31 and 32. RTK measurement is performed on the three-dimensional positions of the antennas 31 and 32. By this RTK measurement, the three-dimensional positions of the antennas 31 and 32 are measured with an accuracy of about ± 1 to 2 cm. The measured three-dimensional position data is input to the controller 45.

  Further, the rotation angle of the boom 5, the arm 6 and the bucket 7 by the angle sensors 21 to 23, the pitch angle of the hydraulic excavator 1 by the inclination sensor 24, the rotation angle in the yaw direction of the upper swing body 3 by the gyro 26, and the pressure sensor 27, respectively. The turning pilot pressure is measured and similarly input to the controller 45, and the operation signal of the turning angle reset switch 28 is also input to the controller 45.

  The in-vehicle computer 46 performs general vector calculation and coordinate conversion based on various data input to the controller 45 to calculate the position and posture of the excavator 1 and the three-dimensional position of the tip of the bucket 7. Further, based on the obtained three-dimensional position and the terrain data input from the IC card 48, the information is displayed on the monitor screen 46a of the in-vehicle computer 46 to inform the operator of the work status, and the wireless device 47 via the antenna 34. Send.

  The transmitted position and orientation of the excavator 1 and the position data of the tip of the bucket 7 are received by the wireless device 57 via the antenna 54 and input to the server computer 58. The server computer 58 stores the input position and posture of the excavator 1 and the position data of the tip of the bucket 7 and displays them on the monitor screen of the server computer 58. Thereby, the working state of the excavator 1 can be managed in the office 51.

  Next, arithmetic processing in the in-vehicle computer 46 will be described with reference to FIGS.

  FIG. 6 is a diagram showing a coordinate system used for calculating the position and posture of the excavator 1 and the absolute position of the tip of the bucket 7 in the three-dimensional space.

  In FIG. 6, Σ0 is a global coordinate system having an origin O0 at the center of a GPS-compliant ellipsoid, Σ3 is fixed to the upper swing body 3 of the excavator 1, and has an origin O3 at the intersection of the swing base frame and the swing center. The upper swing body coordinate system, Σ 7, is a bucket tip coordinate system that is fixed to the bucket 7 and has a center O 7 at the tip of the bucket 7. Oc is the intersection of the ground contact surface of the lower traveling body 2 with the ground and the turning center.

  Since the positional relationship xga, xgb, yga, ygb, zga, zgb of the GPS antennas 31 and 32 with respect to the origin (intersection of the turning base frame and the turning center) O3 of the upper turning body coordinate system Σ3 is known, the global coordinate system Σ0 If the three-dimensional positions of the GPS antennas 31 and 32 and the pitch angle θ2 of the hydraulic excavator 1 are known, the position and orientation of the upper swing body coordinate system Σ3 in the global coordinate system Σ0 (the direction of the upper swing body 3) can be obtained. Can do.

  In addition, since the positional relationship α3, α4, β4 between the origin O3 of the upper swing body coordinate system Σ3 and the base end of the boom 5 and the dimensions α5, α6, α7 of the arm 5, arm 6, and bucket 7 are known, the boom angle If θ5, arm angle θ6, and bucket angle θ7 are known, the position and orientation of bucket tip coordinate system Σ7 in upper swing body coordinate system Σ3 can be obtained.

  Naturally, since the positional relationship αc between the origins O3 and Oc of the upper swing body coordinate system Σ3 is known, if the turning angle θsw is known, the position and posture of the lower traveling body 2 in the upper swing body coordinate system Σ3 can be determined. Can be sought.

  Accordingly, the three-dimensional positions of the GPS antennas 31 and 32 obtained by the GPS receivers 43 and 44 on the vehicle side are obtained as values in the global coordinate system Σ0, the pitch angle θ2 of the hydraulic excavator 1 is obtained by the angle sensor 24, and the angle sensor The boom angle θ5, the arm angle θ6, and the bucket angle θ7 are obtained from 21 to 23, the turning angle θsw is obtained by the turning angle sensor 25, and the coordinate conversion calculation is performed, whereby the position and posture of the excavator 1 (the upper turning body 3 The position and orientation, the position and orientation of the lower traveling body 2), and the tip position of the bucket 7 can be obtained from the values of the global coordinate system Σ0.

  FIG. 7 is a diagram for explaining the concept of the global coordinate system.

  In FIG. 7, G is a compliant ellipsoid used in GPS, and the origin O0 of the global coordinate system Σ0 is set at the center of the compliant ellipsoid G. Further, the x0 axis direction of the global coordinate system Σ0 is located on a line passing through the intersection C of the equator A and the meridian B and the center of the reference ellipsoid G, and the z0 axis direction is a line extending from the center of the reference ellipsoid G to the north and south. The y0 axis direction is located on a line orthogonal to the x0 axis and the z0 axis. In GPS, the position on the earth is expressed by latitude and longitude, and the height (depth) with respect to the reference ellipsoid G. By setting the global coordinate system Σ0 in this way, the GPS position information is expressed in the global coordinate system. It can be easily converted to a value of Σ0.

  FIG. 8 is a flowchart showing a calculation processing procedure.

  In FIG. 8, first, the three-dimensional position (latitude, longitude, height) of the GPS antenna 31 obtained by the GPS receiver 43 on the vehicle-mounted side is converted into the value 0P1 of the global coordinate system Σ0 based on the above idea (step S10). ). An arithmetic expression for this is generally well known and is omitted here. Similarly, the three-dimensional position of the GPS antenna 32 obtained by the in-vehicle side GPS receiver 44 is converted into a value 0P2 of the global coordinate system Σ0 (step S20). Next, the pitch angle θ2 measured by the tilt sensor 24 is input (step S30), the three-dimensional positions 0P1, 0P2 in the global coordinate system Σ0 of the GPS antennas 31 and 32 obtained in steps S10 and 20 and the pitch angle θ2 thereof. And the positional relationship xga, xgb, yga, ygb, zga, zgb of the GPS antennas 31 and 32 with respect to the origin (intersection of the turning base frame and the turning center) O3 of the upper turning body coordinate system Σ3 stored in the storage device. The position and orientation of the revolving body coordinate system Σ3 are obtained from the value 0Σ3 of the global coordinate system Σ0 (step S40). This calculation is coordinate transformation and can be performed by a general mathematical method. Next, the turning angle θsw (described later) obtained from the measured value of the gyro 26 is input, and the posture of the lower traveling body 2 with respect to the upper turning body 3 is obtained (step S50). Next, the boom angle θ5, the arm angle θ6, and the bucket angle θ7 detected by the angle sensors 21 to 23 are input, and these values and the origin O3 of the upper-part turning body coordinate system Σ3 and the base end of the boom 5 stored in the storage device are input. The bucket tip position 3P7 is obtained in the upper swing body coordinate system Σ3 from the positional relations α3, α4, β4 and the dimensions α5, α6, α7 of the arms 5, 6 and 7 (step S60). This calculation is also coordinate transformation and can be performed by a general mathematical method. Next, the bucket tip in the global coordinate system Σ0 from the value 0Σ3 of the upper swing body coordinate system Σ3 in the global coordinate system Σ0 obtained in step S40 and the bucket tip position 3P7 in the upper swing body coordinate system Σ3 obtained in step S60. A position 0P7 is obtained (step S70).

  Next, the position and posture of the upper swing body determined as described above, 0Σ3, the posture 3P4 of the lower traveling body 2 with respect to the upper swing body 3 (hereinafter, 0Σ3 and 3P4 are collectively referred to as the position and posture of the hydraulic excavator) and the bucket tip Display data is created based on each data of the position 0P7 and the terrain data input from the IC card 48, and the excavator including the upper turning body 3 and the bucket 7 and the lower traveling body 2 with respect to the terrain on the monitor screen 46a of the in-vehicle computer 46. 1 is superimposed and displayed (step S80). Further, the position and posture of the excavator and the bucket tip position data are transmitted by the radio 47 via the antenna 34, and a similar image is displayed on the monitor screen of the server computer 58.

  In the above, the processing of the angle sensors 21 to 23 and step S60 constitutes work position measuring means for measuring the state quantity regarding the position and posture of the work device (bucket) 7 with respect to the upper swing body 3, and the GPS antennas 31, 32 and The receivers 43, 44, etc. constitute a plurality of three-dimensional position measuring devices installed on the upper swing body 3, and the processes in steps S10 to S40 and step S70 are performed by the work position measuring means and the three-dimensional position measuring means. The first calculation means for calculating the position and orientation of the upper swing body 3 and the work device (bucket) 7 in the three-dimensional space using the measured values is configured, and the processing of the gyro 26 and step S50 is performed on the lower support body 2. The turning angle measuring means for measuring the turning angle of the upper turning body 3 is configured, and the process of step S50 is performed by using the measured value of the turning angle measuring means. The second calculating means for calculating the posture of the lower support 2 with respect to the processing is configured, and the processing of step S89 and the monitor screen 46a are performed on the upper swing body 3 with respect to the surrounding situation using the calculated values of the first calculating means and the second calculating means. And the display means which displays the positional relationship of the working apparatus (bucket) 7 and the lower support body 2 is comprised.

  FIG. 9 shows an example of images displayed on the monitor screen 46 a of the in-vehicle computer 46 and the monitor screen 46 a of the server computer 58.

  In FIG. 9, reference numeral 100 denotes a terrain such as an original terrain or a target terrain, and the excavator 1 is displayed superimposed on the terrain 100. Since the position and orientation data of the excavator 1 includes the position and orientation 0Σ3 of the upper swing body and the posture 3P4 of the lower traveling body 2 with respect to the upper swing body 3, the positions of the lower traveling body 2 and the upper swing body 3 of the excavator 1 The relationship coincides with the actual situation, and the entire positional relationship including the posture of the lower traveling body 2 with respect to the terrain 100 (the positional relationship between the upper swing body 3 and the bucket 7 and the lower traveling body 2 with respect to the terrain 100) is correctly displayed. . As a result, it is possible to prevent the operator who is working while looking at the monitor screen 46a from traveling in an unintended direction, and to work safely and efficiently. In addition, when the earth and sand excavated during excavation work is released near the lower traveling body 2, the positional relationship of the lower traveling body with respect to the surrounding situation (terrain) can be accurately grasped while viewing the monitor screen 46a, which is safe. Work can be done efficiently.

  Further, the positional relationship between the upper swing body 3 and the bucket (working device) 7 and the lower traveling body 2 with respect to the terrain 100 (surrounding situation) is displayed in a bird's eye view. As a result, the most visible display state can be obtained, and the work can be performed safely and efficiently. Note that a top view may be displayed instead of the bird's eye view, and in this case, substantially the same effect can be obtained. Further, side views may be displayed together or may be selectively displayed. Further, the map data may be displayed in place of the terrain data or together with the terrain data.

  FIG. 10 is a flowchart showing details of the process in step S50 for obtaining the turning angle θsw from the measured value of the gyro 26.

  First, the gyro change angle = the current output value of the gyro-the previous value of the output angle of the gyro is calculated to obtain the gyro change angle (step S51). Next, it is determined whether or not the turning pilot pressure Ps detected by the pressure sensor 27 (FIG. 3) is equal to or greater than a threshold value (step S53). If it is equal to or greater than the threshold value, it is determined that a turning operation has been performed, and turning angle = turning angle + gyro. The turning angle is obtained by calculating the change angle. Next, it is determined whether or not the turning angle reset switch 28 is ON. If the turning angle reset switch 28 is not ON, the process is terminated, and if it is ON, the turning angle is set to 0 (step S55). If the turning pilot pressure is not greater than or equal to the threshold value in step S52, it is determined that the turning operation has not been performed, and the process proceeds directly to step S54.

  The purpose of calculating the turning angle only when the turning operation is performed is to avoid the influence of traveling turning. The gyro 26 is installed on the upper swing body 3 and measures the yaw angle of the upper swing body 3 with respect to the earth (ground). Therefore, it is not possible to determine whether the excavator 1 has been rotated in the yaw direction by the turning operation of the upper revolving structure 3 or by the traveling operation of the lower traveling structure 2. Therefore, a turning pilot pressure sensor 27 is provided to detect the turning operation, and it is determined that the turning angle between the upper turning body 3 and the lower traveling body 2 has changed only when turning, and the turning angle is measured. As a result, the turning angle can be accurately measured without being affected by the rotation due to the traveling operation.

  In addition, instead of the pressure sensor that detects the turning pilot pressure, a pressure sensor that detects the traveling pilot pressure is provided to detect the traveling operation, and the turning angle between the upper and lower traveling bodies changes only when not traveling. It may be determined that the turning angle may be calculated.

  FIG. 11 shows the attitude of the excavator 1 when the turning angle reset switch 28 is turned ON. The operator operates the hydraulic excavator 1 to bring the upper swing body 3 and the lower traveling body 2 into a parallel state as shown in FIG. Then, the turning angle reset switch 28 is turned ON. At this time, the controller 45 performs steps S54 and S55 in FIG. Thereby, accumulation of errors when measuring the turning angle using the gyro is avoided, and accurate turning angle measurement is possible.

  As described above, according to the present embodiment, it is possible to perform work safely and efficiently by correctly displaying the postures of the upper swing body and the lower traveling body with respect to the surrounding situation.

  In addition, an angle sensor is generally used to measure the turning angle of the upper turning body, and the present invention does not exclude the use of the angle sensor. However, it is necessary to remodel the connection part of the upper revolving unit 3 and the lower traveling unit 2 to attach the angle sensor, which makes it difficult to attach, and there are not a few problems such as complicated structure and increased cost. In the present embodiment, as described above, the turning angle of the upper turning body is measured using the gyroscope (yaw angle measuring means) 26, so that the turning angle can be measured without using an angle sensor. Therefore, there is no problem of attachment as in the case of using the angle sensor, the attachment is easy, and the complexity and cost increase of the structure can be minimized.

  In addition, a turning pilot pressure sensor 27 is provided to detect a turning operation, and it is determined that the turning angle between the upper turning body 3 and the lower traveling body 2 has changed only when turning, and the turning angle is measured. Therefore, it is possible to accurately measure the turning angle without being affected by the rotation caused by the traveling operation.

  In addition, a turning reset switch 28 is provided, the upper turning body 3 and the lower traveling body 2 are placed in a parallel state, the turning reset switch 28 is turned ON, and the turning angle is reset to 0, so that the accumulation error is canceled and the turning angle is accurately set. Can be measured.

  Moreover, since the positional relationship between the upper swing body 3 and the bucket (working device) 7 and the lower traveling body 2 with respect to the terrain 100 (surrounding conditions) is displayed in a bird's eye view, the display state becomes clear and the work is performed safely and efficiently. be able to.

  In addition, although the above embodiment is a thing when this invention is applied to a hydraulic shovel as a working machine, the present invention is applied also to working machines other than a hydraulic shovel, and the same effect is acquired. For example, recently, a landmine disposer based on a crawler hydraulic excavator has been developed. In this land mine disposer, the buried land mine is detected in advance, approaching the buried land mine while looking at the display data of the buried land mine, and the land mine is destroyed by a processing tool such as a rotary cutter. Also in this case, by applying the present invention and correctly displaying the positional relationship of the lower traveling body with respect to the surrounding situation, it is possible to accurately approach the buried land mine, and the work can be performed safely and efficiently.

  In addition, as a work machine, there is a work machine in which the lower support (hull) is not a traveling body like a dredger. Even when the present invention is applied to such a thing, the positional relationship of the hull with respect to the surrounding situation is correctly displayed, so that the dredging work of dredged earth and sand can be carried out quickly and without confusion, and it can be done safely. Work can be done efficiently.

  Further, the above embodiment is for the case where an operator gets on the cab of a hydraulic excavator to perform the work, but the work is performed remotely by looking at the image displayed on the monitor screen of the server computer 58. Also good.

It is a figure which shows the external appearance of the hydraulic excavator carrying the position measurement display system concerning one embodiment of this invention. It is a hydraulic circuit diagram which shows the hydraulic drive system of a hydraulic shovel. It is a figure which shows the operation pilot system of a flow control valve. It is a figure which shows the apparatus structure of an apparatus measurement display system. It is a figure which shows the apparatus structure of the office side system which also serves as a reference station. It is a figure which shows the coordinate system used in order to calculate the absolute position in the three-dimensional space of a hydraulic shovel position and attitude | position, and a bucket front-end | tip. It is a figure which shows the outline | summary of a global coordinate system. It is a flowchart which shows an arithmetic processing procedure. It is a figure which shows an example of the image displayed on a monitor screen. It is a flowchart which shows the detail of the process which calculates | requires a turning angle from the measured value of a gyro. It is a figure which shows the attitude | position of the hydraulic shovel when turning a turning angle reset switch.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Lower traveling body 3 Upper turning body 4 Front work machine 5 Boom 6 Arm 7 Bucket 21-23 Angle sensor 24 Inclination sensor 25 Turning angle sensor 26 Gyro 27 Turning pilot pressure sensor 28 Turning angle reset switch 31, 32 GPS antenna 33, 34 Radio antenna 41 Radio 43, 44 GPS receiver 45 Controller 46 In-vehicle computer 46a Monitor screen (display screen)
47 Radio 48 IC card 51 Office 52 GPS antenna 53, 54 Radio antenna 55 GPS receiver 56, 57 Radio 58 Server computer

Claims (5)

Work position measuring means provided in a construction machine having an upper swing body and a lower support body, and a work device provided on the upper swing body, and measuring a state quantity related to the position and posture of the work device with respect to the upper swing body, The position and posture of the upper swing body and the work device in the three-dimensional space are measured using a plurality of three-dimensional position measurement means installed on the upper swing body and the measurement values of the work position measurement means and the three-dimensional position measurement means. In a position measurement display system for a work machine that has a first calculation means for calculating, and displays a positional relationship between the upper swing body and the work device and a surrounding work situation using a calculated value of the first calculation means.
A turning angle measuring means for measuring a turning angle of the upper turning body with respect to the lower support;
Second calculation means for calculating the posture of the lower support relative to the upper swing using the measurement value of the turning angle measuring means;
A work machine comprising: display means for displaying a positional relationship between the upper swing body and the work device and the lower support body with respect to a surrounding situation using the calculated values of the first calculation means and the second calculation means. Position measurement display system. In the work machine position measurement display system according to claim 1,
The turning angle measuring means includes a yaw angle measuring means for measuring the yaw angle of the upper turning body, and a turning angle calculation for calculating the turning angle of the upper turning body based on the yaw angle measured by the yaw angle measuring means. A position measurement and display system for a work machine. In the work machine position measurement display system according to claim 2,
The turning angle measuring means further includes turning determination means for determining whether or not the upper turning body is turning,
The turning angle calculating means calculates the turning angle of the upper turning body based on the yaw angle measured by the yaw angle measuring means while the turning determination means determines that the upper turning body is turning. A position measurement and display system for a work machine. In the work machine position measurement display system according to claim 2,
The position measurement display system for a work machine, wherein the turning angle measuring means further includes turning angle resetting means for resetting the turning angle to a predetermined value. In the work machine position measurement display system according to claim 1,
The position measurement and display system for a work machine, wherein the display means displays, in a bird's-eye view, a positional relationship between the upper swing body and work device and the lower support with respect to the surrounding situation.

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