JP2017181340A - Construction machine and calibration method of construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately and easily calibrate an attachment angle of an inclination sensor which is installed at each operation part of a working mechanism of a construction machine.SOLUTION: A calibration method of a construction machine comprises: a first step for measuring a point Pon a rotation axis of a boom 13 with respect to an upper turning body 11, a point Pon a rotation axis of an arm 14 with respect to the boom, a point Pon a rotation axis of a first bucket link 16a with respect to the arm, and a point pon a rotation axis of a second bucket link 16b with respect to the first bucket link 16a by using an external measurement device 3; a second step for calculating inclination angles θ, θand θof the boom, the arm and the bucket on the basis of at least three-dimensional positions of the points P, P, Pand Pwhich are measured in the first step; and a third step for calculating attachment angles θ, θand θon the basis of the inclination angles θ, θand θmeasured in the second step and inclination angles θ, θand θwhich are detected by inclination sensors 21 to 23.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a construction machine provided with a sensor that measures a position and orientation of a work mechanism, among construction machines having a work mechanism in which a plurality of joints are connected.

  In recent years, in response to computerized construction, machine guidance functions that display the position and posture of work mechanisms such as booms, arms, and buckets on construction machines to the operator, and machine control functions that control to move along the target construction surface Some have As a typical example, there are those that display a bucket tip position and bucket angle of a hydraulic excavator on a monitor, and limit the operation so that the bucket does not advance further when the bucket tip approaches a target construction surface. In order to realize such a function, it is necessary to measure the position and orientation of the working mechanism, and the higher the measurement accuracy, the higher the quality construction can be realized.

  As an example of a technique for measuring the position and orientation of the working mechanism, Patent Document 1 describes as follows. In the invention of Patent Document 1, the angle (inclination angle) with respect to the direction of gravity of the measurement object can be obtained by simply attaching a plurality of inclination sensors to the measurement object (for example, a boom) at an arbitrary position. If the inclination angle of the measured object is obtained, the length of the measured object is known by design, so the height of the tip (monitor point) and the like can be easily obtained by calculation.

  As described in Patent Document 1, by attaching a tilt sensor to each operating body of a working mechanism such as a boom, an arm, and a bucket, the angle of each operating body with respect to the direction of gravity, that is, the absolute angle can be determined. If the link length (distance between the rotating pair) is known, the position of the working mechanism tip can be obtained from the absolute angle and the link length.

JP 2008-2842 A

  However, in order to obtain the absolute angle of each operating part of the working mechanism from the output of the tilt sensor, information on how the tilt sensor is attached to each operating part is necessary. For example, if the tilt sensor is mounted with a relative displacement of 30 degrees with respect to the working part, the output of the tilt sensor is 30 degrees when the absolute angle of the working part is zero. That is, unless the mounting angle of the tilt sensor is calibrated in advance and the mounting angle is subtracted from the output of the tilt sensor, the absolute angle of the operating part cannot be obtained. In addition, in order to measure the position of the working machine tip with high accuracy (for example, within ± 20 mm), it is necessary to perform calibration of the mounting angle with high accuracy (for example, within ± 0.1 °).

  In Patent Document 1, as a calibration method, a method using a plurality of tilt sensors whose positional relationships are known is described. However, it is expensive to attach a plurality of tilt sensors to one operating unit. It is not desirable.

  In general, a method may be used in which the operating unit is adjusted to a reference posture (horizontal or vertical), the absolute angle is set to a known state, and the output of the tilt sensor at that time is calibrated as the mounting angle. . However, since it is necessary to calibrate with high accuracy as described above, the operating part must be accurately adjusted to the reference posture, such as within ± 0.1 °. Takes time.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a construction machine and a construction machine capable of easily and accurately calibrating the mounting angle of the inclination sensor installed in each operating part of the working mechanism. It is to provide a method for calibrating a machine.

  In order to solve the above-described problems, the present invention provides a vehicle body, a first operating part rotatably supported by the vehicle body, a second operating part rotatably supported by the first operating part, A third working part rotatably supported by the two working parts, a first angle detecting part attached to the first working part at a first attachment angle and detecting an inclination angle of the first working part; A second angle detecting unit that is attached to the second operating unit at a second mounting angle and detects an inclination angle of the first operating unit; and a third mounting unit that is attached to the third operating unit at a third mounting angle; A third angle detector for detecting an inclination angle; the first to third attachment angles; the inclination angles of the first to third operating parts detected by the first to third angle detectors; and the first Based on the dimensional information of the first to third working parts, a preset position on the third working part is calculated. In the construction machine calibration method for calibrating the first to third attachment angles of the construction machine having a configured arithmetic device, a first measurement point on a rotation axis of the first working part with respect to the vehicle body, A second measurement point on the rotational axis of the second working part relative to the first working part, a third measurement point on the rotational axis of the third working part relative to the second working part, and on the third working part The first step of measuring the fourth measurement point in the external measuring device, and the inclination angle of the first to third working parts based on at least the first to fourth measurement points measured in the first step On the basis of the second step of calculating by the calculation device, the inclination angle of the first to third operating parts calculated in the second step, and the inclination angle detected by the first to third angle detection parts. And calculating the first to third mounting angles. 3 and that a step.

  According to the present invention, it is possible to know the absolute angle of each operating part by measuring the rotational pair position of each operating part without aligning each operating part of the working mechanism with the reference posture. Arbitrary postures can be used, and the time required for calibration can be greatly reduced. In addition, since it is not necessary to move the working mechanism in this calibration method, for example, calibration can be performed in a narrow place such as in a factory, and it is possible to omit a worker for moving the working mechanism. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments.

1 is a side view of a hydraulic excavator according to a first embodiment of the present invention. 1 is a side view of a vicinity of a boom of a hydraulic excavator according to a first embodiment of the present invention. 1 is a side view of the vicinity of an arm of a hydraulic excavator according to a first embodiment of the present invention. 1 is a side view of the vicinity of a bucket of a hydraulic excavator according to a first embodiment of the present invention. It is a perspective view which shows the calibration method of the hydraulic shovel which concerns on the 1st Embodiment of this invention. It is a three-view figure of the hydraulic excavator which concerns on the 1st Embodiment of this invention. 1 is a schematic configuration diagram of a hydraulic excavator according to a first embodiment of the present invention. It is a side view near the bucket of the hydraulic excavator which concerns on the 1st or 2nd embodiment of this invention. It is sectional drawing of the marker and jig | tool attached to the working mechanism of the hydraulic shovel which concerns on the 1st Embodiment of this invention. It is a three-view figure of the hydraulic excavator which concerns on the 3rd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following description shows specific examples of the contents of the present invention, and the present invention is not limited to these descriptions. Various modifications by those skilled in the art are within the scope of the technical idea disclosed in this specification. Changes and modifications are possible. In all the drawings for explaining the present invention, components having the same function are denoted by the same reference numerals, and repeated description thereof may be omitted.

  In the present embodiment, a hydraulic excavator will be described as an example of the construction machine, but the construction machine in the present invention is not limited to the hydraulic excavator. Hereinafter, the hydraulic excavator and the excavator calibration method according to the first embodiment will be described with reference to FIGS. 1 to 6.

  FIG. 1 shows a hydraulic excavator according to a first embodiment. Similar to a general excavator, the hydraulic excavator 1 includes an upper swing body 11, a lower traveling body 12 including a crawler, a boom 13, an arm 14, a bucket 15, an arm 14, and a work mechanism that performs work such as excavation. Link mechanism including a first bucket link 16a and a second bucket link 16b constituting a link mechanism together with the bucket 15, a boom cylinder 17 for driving the boom 13, an arm cylinder 18 for driving the arm 14, and a bucket 15 including the bucket links 16a and 16b. It is comprised from the bucket cylinder 19 etc. which drive via.

  The upper swing body 11 is rotatably supported by the lower travel body 12 and is driven to rotate relative to the lower travel body 12 by a swing motor (not shown). One end of the boom 13 is rotatably supported by the upper swing body 11 and is driven to rotate relative to the upper swing body 11 according to the expansion and contraction of the boom cylinder 17. One end of the arm 14 is rotatably supported on the other end of the boom 13, and is driven to rotate relative to the boom 13 according to the expansion and contraction of the arm cylinder 18.

  The bucket 15 is rotatably supported on the other end of the arm 14, one end of the first bucket link 16 a is rotatably supported on the arm 14, and one end of the second bucket link 16 b is attached to the bucket 15. The other end of the first bucket link 16a is rotatably supported by the other end of the first bucket link 16a. The first bucket link 16 a is driven to rotate relative to the arm 14 according to the expansion and contraction of the bucket cylinder 19. The bucket 15 is rotationally driven relative to the arm 14 by a second bucket link 16b that is driven in conjunction with the first bucket link 16a. The hydraulic excavator 1 having such a configuration can drive the bucket 15 to an arbitrary position and posture by driving the boom cylinder 17, the arm cylinder 18, and the bucket cylinder 19 to appropriate positions to perform a desired work. it can.

In the excavator 1, a boom tilt sensor 21, an arm tilt sensor 22, and a bucket tilt sensor 23 are installed on the boom 13, the arm 14, and the bucket link 16a, respectively. In the present embodiment, the tilt sensors 21 to 23 are described as measuring the biaxial or triaxial acceleration and detecting the tilt angle with respect to the direction of gravity. The hydraulic excavator 1 has a vehicle body tilt sensor 24 installed on the upper swing body 11, and can detect a lateral tilt angle θ _r (roll angle) and a longitudinal tilt angle θ _p (pitch angle) of the vehicle body. It has become.

Signals from the respective inclination sensors 21 to 24 are sent to a calculation device 25 installed in the upper swing body 11, and the bucket tip position P ₆ and the bucket angle θ _bk are calculated in the calculation device 25. The calculated bucket tip position P ₆ and bucket angle θ _bk are displayed on the monitor 26 in the driver's seat to be provided to the driver as a guidance function or used as feedback information for controlling the operation of the work mechanism. .

Hereinafter, a method of calculating the bucket tip position P ₆ and the bucket angle θ _bk from each inclination sensor signal will be described with reference to FIG. First, define the points _P 0 to P ₅ necessary for operation.

Point P ₀ is on the rotation axis of the rotating pair of the upper swing body 11 and the boom 13, and is either the upper swing body 11, the boom 13, or a pin (not shown) inserted into the rotating pair of the both. The right end of the structure. Point P ₁ is located on the rotation axis of the rotary pair section of the boom 13 and the arm 14, boom 13, of any of the structures of the inserted pin to the rotating pair section of the arm 14, or both (not shown) The right end.

Point P ₂ is located on the rotation axis of the rotary pair section of the arm 14 and the bucket link 16a, the arm 14, any structure of the bucket link 16a or both inserted pin turning pair of (not shown) The right end of the object.

Point P ₃ is located on the rotation axis of the rotary pair section of the bucket link 16a and the bucket cylinder 19, the bucket link 16a, one of the inserted pin to the rotating pair section of the bucket cylinder 19 or both (not shown) The right end of the structure.

Point P ₄ is located on the rotation axis of the rotary pair section of the arm 14 and the bucket 15, arm 14, of any of the structures of the inserted pin to the rotating pair section of the bucket 15, or both (not shown) The right end.

Point P ₅ has a bucket link 16b which is inserted between the bucket 15 and the bucket links 16a, located on the rotational axis of the rotary pair section of the bucket 15, the bucket 15, the revolute pair of the bucket link 16b or both The right end of any structure of the inserted pin (not shown).

Point P ₆ is the tip of bucket 15 and the right end of bucket 15. In the present embodiment, the bucket tip position P ₆ has an origin at a point P ₀ , the X axis (X _B ) in the forward direction of the upper swing body 11, the Y axis (Y _B ) in the left direction, and the Z axis in the upward direction. The vehicle body coordinate system ΣB having (Z _B ) is used.

The points obtained by projecting the point _P 1 to P ₆ in _X B _{Z B} plane and _{P 1} '~P _6', 'the length of _{L bm,} the line segment _{P 1'} segment _P 0 _{P 1} length of _{P 4} ' of the _{L am,} the length of the line segment _{P 4 'P 6' L bk} , the length of the line segment _{P 1 'P 2' L p2} , a length of a line _{P 2 'P 3'} and _{L bkl} The angle formed by the line segment P ₁ 'P ₂ ' with respect to the line segment P ₁ 'P ₄ ' is defined as a link offset angle θ _p2 . Further, horizontal and the angle of the Y _B axis of the upper revolving body 11 the body pitch angle theta _{p (not} shown), the horizontal line segment P _{0 P} 1 _'of the angle of the boom angle theta _bm, horizontal surface and the line segment The angle formed by P ₁ 'P ₄ ' is the arm angle θ _am , the angle formed by the horizontal plane and the line segment P ₂ 'P ₃ ' is the bucket link angle θ _bkl , and the angle formed by the horizontal plane and the line segment P ₄ 'P ₆ ' is the bucket. _Assuming that the angle θ _bk is, the bucket tip position P ₆ ′ projected on the X _B Z _B plane is expressed by the following equation.

Here, P _6′x ^B and P _6′z ^B indicate the X _B axis direction distance (X _B coordinate) and the Z _B axis direction distance (Z _B coordinate) of the bucket tip position P ₆ in the coordinate system ΣB, respectively. The vehicle body pitch angle θ _p is detected by the vehicle body tilt sensor 24. The boom angle θ _bm can be obtained from the boom inclination sensor 21, the arm angle θ _am can be obtained from the arm inclination sensor 22, and the bucket angle θ _bk can be obtained from the bucket link angle θ _bkl obtained by the bucket inclination sensor 23 and the arm angle θ _am .

  A method for obtaining each angle from each of the inclination sensors 21 to 23 will be described with reference to FIGS.

で求めることができる。ここで、Ｘ_Ｓ１軸と線分Ｐ_０Ｐ_１’との成す角、つまりブーム１３に対するブーム傾斜センサ２１の取付角度をθ_ｍ１とすると、ブーム角度θ_ｂｍは、

で求めることができる。なお、本実施の形態では右側面から見て時計回りの回転を正方向としている。 FIG. 2 is a diagram schematically showing a method for obtaining the boom angle θ _bm from the output of the boom tilt sensor 21. The boom tilt sensor 21 has an acceleration sensor that detects acceleration in at least two directions, and a coordinate system having a Y axis that is fixed to the boom tilt sensor 21 and parallel to the Y axis of the coordinate system ΣB is ΣS1. , The acceleration in the biaxial direction of the X axis (X _S1 ) and the Z axis (Z _S1 ) of ΣS1 can be detected. Assuming that the detected acceleration value of the boom tilt sensor 21 in the X _S1 axis direction is a _x1 and the detected acceleration value of the Z _S1 axis direction is a _z1 , the tilt angle θ _s1 of the boom tilt sensor 21 with respect to the horizontal direction is

Can be obtained. Here, if the angle formed by the _XS1 axis and the line segment P ₀ P ₁ ′, that is, the angle of attachment of the boom tilt sensor 21 to the boom 13 is θ _m1 , the boom angle θ _bm is

Can be obtained. In the present embodiment, clockwise rotation when viewed from the right side is the positive direction.

で求めることができる。ここで、Ｘ_Ｓ２軸と線分Ｐ_１’Ｐ_４’との成す角、つまりアーム１４に対するアーム傾斜センサ２２の取付角度をθ_ｍ２とすると、アーム角度θ_ａｍは、

で求めることができる。 FIG. 3 is a diagram schematically showing a method for obtaining the arm angle θ _am from the output of the arm inclination sensor 22. Similarly to the boom tilt sensor 21, the arm tilt sensor 22 has an acceleration sensor that detects acceleration in at least two directions, and is fixed to the arm tilt sensor 22 and has a Y axis parallel to the Y axis of the coordinate system ΣB. If the coordinate system possessed is ΣS2, the acceleration in the biaxial direction of the X axis (X _S2 ) and Z axis (Z _S2 ) of ΣS2 can be detected. When the acceleration detection value of _{X S2} axial direction of the arm inclination sensor 22 _{a x2,} acceleration detection value of _{Z S2} axial and _{a z2,} the inclination angle theta _s2 with respect to the horizontal direction of the arm inclination sensor 22,

Can be obtained. Here, when the angle formed by the _XS2 axis and the line segment P ₁ 'P ₄ ', that is, the mounting angle of the arm inclination sensor 22 with respect to the arm 14 is θ _m2 , the arm angle θ _am is

Can be obtained.

で求めることができる。ここで、Ｘ_Ｓ３軸と線分Ｐ_２’Ｐ_３’との成す角、つまりバケットリンク１６ａに対するバケット傾斜センサ２３の取付角度をθ_ｍ３とすると、バケットリンク角度θ_ｂｋｌは、

で求めることができる。バケット角度θ_ｂｋは、上述の通り求めたアーム角度θ_ａｍとバケットリンク角度θ_ｂｋｌから求めることができ、その関数をｆとすると、

で求めることができる。なお、関数ｆは、バケット１５を駆動するリンク機構の各寸法（線分Ｐ_２’Ｐ_３’、線分Ｐ_２’Ｐ_４’、線分Ｐ_３’Ｐ_５’、線分Ｐ_４’Ｐ_５’の各長さ及びリンクオフセット角度θ_ｐ２）に基づいて決定される。 FIG. 4 is a diagram schematically showing a method of obtaining the bucket angle θ _bk from the output of the bucket inclination sensor 23 and the arm angle θ _am . Similarly to the boom tilt sensor 21 and the arm tilt sensor 22, the bucket tilt sensor 23 has an acceleration sensor for detecting acceleration in at least two axial directions. The bucket tilt sensor 23 is fixed to the bucket tilt sensor 23 and has a Y axis of the coordinate system ΣB. If a coordinate system having parallel Y axes is ΣS3, the acceleration in the biaxial directions of the X axis (X _S3 ) and the Z axis (Z _S3 ) of the coordinate system ΣS3 can be detected. Assuming that the detected acceleration value of the bucket tilt sensor 23 in the X _S3 axis direction is a _x3 and the detected acceleration value of the Z _S3 axis direction is a _z3 , the tilt angle θ _s3 of the bucket tilt sensor 23 with respect to the horizontal direction is

Can be obtained. _Here, angle between the _{X S3} axis and the line segment _{P 2 'P 3',} that is, when the mounting angle of the bucket tilt sensor 23 relative to the bucket link 16a and theta _m3, bucket link angle theta _bkl is

Can be obtained. The bucket angle θ _bk can be obtained from the arm angle θ _am and the bucket link angle θ _bkl obtained as described above, and if the function is f,

Can be obtained. It should be noted that the function f is the dimension of the link mechanism that drives the bucket 15 (line segment P ₂ 'P ₃ ', line segment P ₂ 'P ₄ ', line segment P ₃ 'P ₅ ', line segment P ₄ 'P ₅ ′ and the link offset angle θ _p2 ).

As described so far, the bucket tip position P ₆ and the bucket angle can be calculated from the detection values of the respective inclination sensors, and these calculations are performed in the calculation device 25. However, the mounting angles θ _m1 , θ _m2 , and θ _{m3 of} the boom tilt sensor 21, the arm tilt sensor 22, and the bucket tilt sensor 23 and the dimensions L _bm , L _am , and L _bk of the work mechanism must be grasped in advance. I must. The dimensions of each part can be referred to from the design information, but the mounting angle must be calibrated with high accuracy for each actual vehicle body. The present invention provides a method for calibrating the mounting angles θ _m1 , θ _m2 , and θ _m3 with high accuracy and ease.

In the present embodiment, the vehicle body tilt sensor 24 is attached to the upper swing body 11 so that the attachment angle is zero, and the vehicle body pitch angle θ _p and the vehicle body roll angle θ _r it is assumed that directly obtained from the detection value, with respect to the vehicle body inclination sensor, if about the size of a mounting angle affects the calculation of the bucket end position P _6, mounted from the detection value of the sensor when pivoted 180 ° A widely used method such as calibrating the angle may be used.

  The tilt sensor calibration method for a hydraulic excavator, which is the content of the present invention in this embodiment, will be described with reference to FIGS.

FIG. 5 is a perspective view of the excavator 1 and the external measuring device 3 showing the calibration method. The external measuring device 3 can measure the position of an arbitrary point in a three-dimensional space such as a total station. The external measurement device 3 is installed so that the coordinate system fixed to the external measurement device 3 is ΣA, and the Z axis (Z _A ) of the coordinate system ΣA is parallel to the direction of gravity. That is, the plane including the X axis (X _A ) and the Y axis (Y _A ) of the coordinate system ΣA is equal to the horizontal plane. The calibration method according to the present invention measures the three-dimensional positions of the four points P ₀ , P ₁ , P ₂ , and P ₃ of the hydraulic excavator 1 with the external measuring device 3, and uses the obtained three-dimensional positions to measure the inclination sensors 21 to 21. 23, the mounting angles θ _m1 , θ _m2 , and θ _m3 are obtained.

6 is a trihedral view showing the right side, top surface, and front of the excavator 1, and FIG. 7 is a trihedral view schematically showing only the link structure of the excavator 1 in FIG. Hydraulic excavator 1, and are inclined roll angle theta _r as X _B-axis shown in the figures. In this case, the angle formed by the X _A Y _A plane and the Y _B axis is θ _r . Further, the _{Y B} axis direction distance between the point _{P 0} and the point _{P 1 L BMY, Y B} axis distance _{L P2Y} the point _{P 1} and point _{P 2} ', _{Y B} axial distance of the point _{P 2} and the point _{P 3 Is} L _bkly . The three-dimensional position measured by the external measuring device 3 becomes a three-dimensional coordinate in the coordinate system ΣA. That is, the position of the point _{P 0} to be measured by the external measuring device 3, a _{P 0z} ^A _{X A-axis} direction _P ^0x A, the _{Y A} axis _P ^0y A, to _{Z A-axis} direction. The same applies to the points P _{1 to} P ₆ .

The mounting angles θ _m1 , θ _m2 , and θ _m3 of the tilt sensors are the boom angle θ _bm , the arm angle θ _am , the bucket link angle θ _bkl , and the tilt angle θ _s1 obtained from the outputs of the tilt sensors 21 to 23 at that time. , Θ _s2 , θ _s3 can be calculated. The boom angle θ _bm , the arm angle θ _am, and the bucket link angle θ _bkl are _expressed by the following formulas based on the three-dimensional positions of the points P ₀ , P ₁ , P ₂ , and P ₃ measured by the external measuring device 3. It can be obtained using.

By obtaining the inclination angles θ _s1 , θ _s2 , θ _s3 of the respective inclination sensors 21 to 23 from the detection values of the respective inclination sensors 21 to 23 at this time, the mounting angles θ _m1 , θ _m2 , θ _m3 can be obtained.

The mounting angles θ _m1 , θ _m2 , and θ _m3 of the respective inclination sensors 21 to 23 can be obtained by the above, and from this parameter and the detected values θ _s1 , θ _s2 , and θ _{s3 of the} inclination sensors 21 to 23, The bucket bucket tip positions P _6′x ^B and P _6′z ^B can be obtained.

As can be seen from the above description, the hydraulic excavator tilt sensor calibration method according to the present embodiment externally measures the three-dimensional position of the rotating pair of the three operating parts (boom 13, arm 14, bucket link 16a) of the working mechanism. A first step that is measured by the apparatus 3, and a second step that calculates the inclination angle of each operating part based on the three-dimensional position of the rotating pair obtained in the first step and the dimension information of each part of the working mechanism; Based on the detected values θ _s1 , θ _s2 , θ _s3 obtained from the respective inclination sensors 21 to 23 and the inclination angles θ _bm , θ _am , θ _bkl of the operating parts obtained in the second step, And a third step of calculating mounting angles θ _m1 , θ _m2 and θ _m3 which are calibration parameters of the sensors 21 to 23.

Specifically, the excavator 1 is stopped in an arbitrary posture, and the three-dimensional positions of the four points P ₁ , P ₁ , P ₂ , and P ₃ are measured by the external measuring device 3. Thereafter, the calculation device 25 is instructed to start the calibration parameter calculation step via the monitor 26, and a plurality of three-dimensional positions obtained by measurement are input to the calculation device 25 via the monitor 26. Alternatively, the external measurement device 3 and the monitor 26 or the calculation device 25 are connected by a wired or wireless communication device (not shown), and a plurality of three-dimensional positions obtained by measurement by the external measurement device 3 are communicated to the calculation device 25. Sent. In the arithmetic unit 25, the vehicle body roll angle θ _r and the inclination angles θ _s1 , θ _s2 , θ _s3 of the inclination sensors 21 to 23 are acquired from the detection values of the inclination sensors 20 to 23, and a plurality of inputted three-dimensional positions. And the body roll angle θ _r, the inclination angles θ _bm , θ _am , θ _bkl of the operating parts of the work mechanism are calculated, and the calculation results and the inclination angles θ _s1 , θ _s2 , θ _{s3 of the} inclination sensors 21 to 23 are calculated. To calculate the mounting angles θ _m1 , θ _m2 , θ _m3 of the inclination sensors 21 to 23 and store them as calibration parameters. The operation of the subsequent bucket tip position P _6, using the calibration parameters stored.

In order to ensure the calculation accuracy of the mounting angles θ _m1 , θ _m2 , and θ _m3 as calibration parameters, it is necessary to measure the center of each rotating pair of the working mechanism of the excavator 1 as accurately as possible with the external measuring device 3. There is. On the other hand, in many excavators 1, there is not any mark or the like that accurately indicates the center of the rotating pair that can be seen from the appearance. Therefore, in this embodiment, the marker 4 is provided as a mark which shows the center of the rotation pair part as shown in FIG. Although only the vicinity of the bucket 15 is shown in FIG. 8, the same applies to the markers provided on the rotating pair of the boom 13 and the arm 14.

  The external measuring device 3 such as a total station irradiates the target position with laser light and measures the distance and angle. For this reason, if there is a mark such as a marker, the laser beam can be irradiated to the target location with higher accuracy than when there is nothing, and the accuracy of the obtained measurement result of the three-dimensional position is improved. Moreover, if the prism 5 (corner cube) etc. which reflect a laser beam in an incident direction instead of the marker 4 are used, the measurement precision by a laser beam will improve. Therefore, as shown in FIG. 9, the prism 5 may be attached to the rotating pair using the jig 6. FIG. 9 shows the pin 27 inserted into the rotating pair of the working mechanism, and the prism 5 and jig 6 attached to the pin 27. In this case, each rotation pair portion of the working mechanism is provided with a tapered hole 28, and the jig includes a conical portion 61 and a magnet 62 that fit into the taper hole 28, so that the rotation axis of each rotation pair portion can be easily and easily provided. The prism 5 can be attached with high accuracy. Needless to say, the configurations of the marker 4 and the prism mounting jig 6 are not limited to those shown in the present embodiment, and may have equivalent functions.

  The method for calibrating a hydraulic excavator of this embodiment has the following characteristics. First, since it is not necessary to move the working mechanism of the hydraulic excavator 1, calibration work in a narrow space is possible. Moreover, since it is not necessary to align with the reference posture and only the measurement by the external measurement device 3 is performed at least four times, the time for the calibration work can be greatly shortened as compared with the conventional methods. In addition, since an operator for moving the vehicle body and the working mechanism is not required, the calibration work can be easily performed by only one worker using the external measuring device 3.

  A calibration method according to the second embodiment of the present invention will be described focusing on differences from the first embodiment.

In the hydraulic excavator 1 according to the present embodiment, a bucket inclination sensor 23 is installed in the bucket 15 instead of the first bucket link 16a (indicated by a dotted line in FIG. 8), and the points are replaced by points P ₀ , P _1, P ₂ , P ₃ . Then, the three-dimensional positions of the points P ₀ , P _1, P ₄ , P ₆ are measured.

Also in this embodiment, the mounting angles θ _m1 , θ _m2 , and θ _m3 of the respective inclination sensors 21 to 23 can be calibrated as in the first embodiment. However, in this embodiment, equations used when calculating the mounting angles θ _m1 , θ _m2 , and θ _m3 of the respective inclination sensors 21 to 23 are as follows. _{However, L BKY} is _{Y B} axial distance of the point _{P 4} and the point _{P 6.}

According to this embodiment, the inclination sensor 23 is installed directly on the bucket 15, by measuring the three-dimensional position of the bucket tip position P ₆ in place of the point P _3, the size information of a link mechanism for driving the bucket 15 ( Since the mounting angle θ _m3 of the inclination sensor 23 is obtained without using the function f) in the first embodiment, the calibration accuracy of the bucket inclination sensor 23 can be improved.

Also, by measuring the three-dimensional position of the first bucket link 16a proximal side of the distal end side of the point P ₄ that is on the rotation axis of the rotating shaft on the arm 14 in place of the point P ₂ in the link offset angle Since the arm inclination angle θ _am can be obtained without using θ _p2 , the calibration accuracy of the arm inclination sensor 22 can be improved.

  A third embodiment of the present invention will be described with reference to FIG. This embodiment is different from the first embodiment only in that four markers or prisms are installed via a mounting jig, and the other configurations are the same, so the overlapping parts are not described. To do.

Features of this embodiment, the four markers or prisms (four points _{P 0, P 1, P 2} , P 3) is _X B _{Z B} plane (or rotation plane of the boom 13) parallel to the same plane The point is that they are arranged. In order to configure in this way, in this embodiment, on the rotating shaft of the rotating pair of the upper swing body 11 and the boom 13, on the rotating shaft of the rotating pair of the boom 13 and the arm 14, the arm 14 and the bucket link 16a. Markers or prisms are installed on mounting shafts 6a, 6b, 6c, and 6d on the rotating shafts of the rotating pair of the rotor link and on the rotating shaft of the rotating pair of the bucket link 16a and the bucket cylinder 19, respectively. Yes.

When the length of the _{Y B} axis of the mounting jig 6a and _{L x,} the length of the _{Y B} axis of the mounting jig 6b is _L x _{+ L BMY,} the length of the _{Y B} axis of the mounting jig. 6c L _x + _{L p2y,} the length of the _{Y B} axis of the mounting jig 6d becomes _L x _{+ L bkly.} With this configuration, the point _P 1 with respect to point _{P 0} of the working _mechanism, P 2, _{P 3} of the _{Y B} axis offset _{L bmy, L p2y, L bkly} since are all 0, so easily calculated In addition, the dimension values L _bm , L _p2 , and L _bkl are also obtained from the following formulas from the three-dimensional positions of the respective parts, which are measurement values obtained by the external measurement device 3.

The boom angle θ _bm , the arm angle θ _am , and the bucket link angle θ _blk are obtained by the following equations.

  Based on the above calculation results, the inclination sensors 21 to 23 can be calibrated by the method described in the first embodiment.

According to the present embodiment, the dimensions L _bm , L _p2 , and L _bkl of the working mechanism of the actual machine are obtained from the three-dimensional positions of the four points P ₀ , P ₁ , P ₂ , and P ₃ . A more accurate calibration considering the influence is possible. Moreover, various dimensions L _bm of actual working mechanism obtained during _calibration, holds the value of L _bkl, by also be used in the calculation of the subsequent bucket tip position P _6, the bucket tip position P ₆ It is also possible to improve the calculation accuracy.

  As mentioned above, although embodiment of this invention was explained in full detail, this invention is not limited to above-described embodiment, Various modifications are included. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. In addition, a part of the configuration of another embodiment can be added to the configuration of a certain embodiment, and a part of the configuration of a certain embodiment can be deleted or replaced with a part of another embodiment. Is possible.

  DESCRIPTION OF SYMBOLS 1 ... Hydraulic excavator (construction machine), 11 ... Upper turning body (vehicle body), 12 ... Lower traveling body, 13 ... Boom (1st operation part), 14 ... Arm (2nd operation part), 15 ... Bucket (3rd Operating portion (main body portion), 16a ... first bucket link (third operating portion (first connecting portion)), 16b ... second bucket link (third operating portion (second connecting portion)), 17 ... boom cylinder , 18 ... arm cylinder, 19 ... bucket cylinder, 21 ... boom tilt sensor (first angle detector), 22 ... arm tilt sensor (second angle detector), 23 ... bucket tilt sensor (third angle detector), 24 ... body tilt sensor, 25 ... arithmetic unit, 26 ... monitor, 27 ... pin, 28 ... taper hole, 3 ... external measuring device, 4 ... marker, 5 ... prism, 6 ... jig, 61 ... conical part, 62 ... magnet.

Claims (7)

The car body,
A first working part rotatably supported by the vehicle body;
A second working part rotatably supported by the first working part;
A third working part rotatably supported by the second working part;
A first angle detector that is attached to the first working part at a first attachment angle and detects an inclination angle of the first working part;
A second angle detector that is attached to the second working part at a second attachment angle and detects an inclination angle of the first working part;
A third angle detector that is attached to the third working part at a third attachment angle and detects an inclination angle of the first working part;
Based on the first to third mounting angles, the inclination angles of the first to third working parts detected by the first to third angle detecting parts, respectively, and the dimension information of the first to third working parts. In the construction machine calibration method for calibrating the first to third mounting angles of the construction machine having a computing device configured to compute a preset position on the third working unit,
A first measurement point on the rotation axis of the first operating part relative to the vehicle body; a second measurement point on the rotation axis of the second operating part relative to the first operating part; and the third measurement point on the second operating part. A first step of measuring, with an external measuring device, a third measurement point on the rotation axis of the operating unit and a fourth measurement point on the third operating unit;
A second step of calculating an inclination angle of the first to third working parts by the calculation device based on at least the first to fourth measurement points measured in the first step;
The first to third attachment angles are calculated based on the inclination angles of the first to third working parts calculated in the second step and the inclination angles detected by the first to third angle detection parts. A construction machine calibration method comprising: a third step. The construction machine calibration method according to claim 1,
The third working part is
A main body part rotatably supported by the second working part;
A first connecting part having one end rotatably supported by the second working part;
One end is rotatably supported at the other end of the first connecting portion, and the second connecting portion is rotatably supported at the other end of the main body portion.
The third angle detector is attached to the main body,
The third measurement point is on a rotation axis of the first connection part with respect to the second working part,
The construction machine calibration method, wherein the fourth measurement point is on a rotation axis of the second connection part with respect to the first connection part. The construction machine calibration method according to claim 2,
The construction machine calibration method, wherein the first to fourth measurement points are arranged on the same plane parallel to the rotation plane of the first working part. The car body,
A first working part rotatably supported by the vehicle body;
A second working part rotatably supported by the first working part;
A third working part rotatably supported by the second working part;
A first angle detector that is attached to the first working part at a first attachment angle and detects an inclination angle of the first working part;
A second angle detector that is attached to the second working part at a second attachment angle and detects an inclination angle of the first working part;
A third angle detector that is attached to the third working part at a third attachment angle and detects an inclination angle of the first working part;
Based on the first to third mounting angles, the inclination angles of the first to third working parts detected by the first to third angle detecting parts, respectively, and the dimension information of the first to third working parts. In a construction machine having a calculation device configured to calculate a preset position on the third working unit,
A first measurement point on the rotation axis of the first operating part relative to the vehicle body; a second measurement point on the rotation axis of the second operating part relative to the first operating part; and the third measurement point on the second operating part. First to fourth markers that can be measured by an external measuring device are provided at each of the third measurement point on the rotation axis of the operating unit and the fourth measurement point on the third operating unit,
The arithmetic device calculates an inclination angle of the first to third working parts based on at least a three-dimensional position of the first to fourth measurement points measured by the external measurement device, and A construction machine configured to calculate the first to third attachment angles on the basis of the inclination angle of three operating parts and the inclination angle detected by the first to third angle detection parts. . The construction machine according to claim 4,
The third working part is
A main body part rotatably supported by the second working part;
A first connecting part having one end rotatably supported by the second working part;
One end is rotatably supported at the other end of the first connecting portion, and the second connecting portion is rotatably supported at the other end of the main body portion.
The third angle detector is attached to the main body,
The third measurement point is on a rotation axis of the first connection part with respect to the second working part,
The construction machine, wherein the fourth measurement point is on a rotation axis of the second connection portion with respect to the first connection portion. The construction machine according to claim 5,
The construction machine according to claim 1, wherein the first to fourth markers are installed on the same plane parallel to the rotation plane of the first working part. The construction machine according to claim 5,
A first rotating pair of the vehicle body and the first operating part; a second rotating pair of the first operating part and the second operating part; a third rotation of the second operating part and the first connecting part. The paired part, and the fourth rotating paired part of the first connecting part and the second connecting part have tapered holes centered on the respective rotation axes,
The first to fourth rotating pair portions are connected to the first to fourth rotating pair portions via a jig having a conical portion formed so as to be fitted into each tapered hole of the first to fourth rotating pair portions. Construction machine characterized in that it is mounted on each.

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