JP2021127993A - Direction measurement method for heavy machinery - Google Patents

Abstract

To provide a direction measurement method capable of measuring orientation of a heavy machine even if a target cannot be detected by the total station temporarily.SOLUTION: It is a method of measuring the direction of a shovel 14b in a backhoe 10 provided with a rotating platform 14 having the shovel 14b on the upper part of a moving carriage 12, including a gyro sensor 20, an encoder 22, a total station 24 and calculation means 40. Using the calculation means 40, a direction of the moving carriage 12 is calculated from coordinate positions between two points input from the total station 24 when the backhoe 10 is advanced straight, the gyro sensor 20 is calibrated. By adding a rotation angle of the rotation platform 14 input from the encoder 22 and an amount of directional change from the calibration value input from the gyro sensor 20 within a predetermined time, a direction in which the shovel 14b is facing is calculated.SELECTED DRAWING: Figure 1

Description

The present invention relates to a method for measuring the orientation of a heavy machine during work, particularly a backhoe, and relates to a method for measuring the orientation of a heavy machine performing work indoors, underground space, or the like.

In order to measure the position and orientation of a heavy machine at an outdoor work site, a method of measuring the orientation by using signals from two or more GPS (Global Positioning System) satellites is generally adopted. However, such general position and orientation measurement cannot be performed at a site where GPS radio waves are difficult to reach, such as indoors or underground spaces such as tunnels.

Therefore, it has been proposed to measure the position and orientation of a heavy machine by using an automatic tracking type total station as disclosed in Patent Document 1. Originally, the position and orientation of a heavy machine using a total station were measured using two total stations, but in the technology disclosed in Patent Document 1, one unit whose coordinate position is determined is one. A total station and two targets are used, and the collimation planes of the targets are alternately shielded at predetermined time intervals. With such a configuration, the positions of two targets can be measured by one total station.

However, in the position detection system having the configuration disclosed in Patent Document 1, if only one target cannot be captured due to an obstacle or the like, there is a possibility that a misidentification may occur on the total station side.

With respect to such a technique, a technique as disclosed in Patent Document 2 has been proposed as a method of measuring the position and orientation of a heavy machine using a plurality of detection sensors. The technique disclosed in Patent Document 2 is to measure the position and orientation of a heavy machine by integrally using the detection data of an automatic tracking type total station, a gyro sensor, and a rotary encoder. Specifically, the total station detects the target that is movably installed over a predetermined distance to detect the position and orientation of the heavy machine, and the gyro sensor detects the change in orientation when the heavy machine moves. It is a thing. The rotary encoder measures the rotation angle of a swivel mounted on a heavy machine. The swivel table plays a role of changing the mounting position of the target detected by the total station, and has a function of expanding the permissible range of the detectable angle by the total station.

Japanese Unexamined Patent Publication No. 2002-161696 JP-A-2019-203793

According to the technique disclosed in Patent Document 2, it is considered that the position and orientation of the heavy machine can be measured with higher accuracy than the technique disclosed in Patent Document 1.
However, the technique disclosed in Patent Document 2 is the same as the technique disclosed in Patent Document 1, in that the position and the orientation cannot be detected unless the two targets can be detected. Therefore, even if a plurality of sensors are used, if the target detection by the total station fails, the position and orientation of the heavy machine may not be measured.

Therefore, an object of the present invention is to provide a method for measuring the direction of a heavy machine, which can measure the direction (direction) of the work machine in the heavy machine even if the target cannot be detected by the total station temporarily. do.

The method for measuring the direction of a heavy machine according to the present invention for achieving the above object is a method for measuring the direction of the work machine in a heavy machine having a swivel having a work machine on the upper part of the mobile carriage. The directional change measuring means for measuring the directional change amount of the heavy machine, the rotation angle measuring means for measuring the turning angle of the turning table, and the distance to the moving carriage or the target provided on the turning table are tracked. The non-contact distance measuring means for measuring is provided with at least an input unit, an output unit, a calculation unit, and a calculation means having a storage unit. By calculating the direction in which the moving carriage is facing from the coordinate position between the two points input from the means, the direction change measuring means is calibrated, and the turning angle input from the rotation angle measuring means is used. It is characterized in that the heavy machine angle, which is the direction in which the work machine is facing, is calculated by adding the directional angle from the calibration value input from the directional change measuring means within a predetermined time.

Further, in the method of measuring the direction of a heavy machine having the above-mentioned characteristics, when the coordinate data between two points is input to the calculation means by the non-contact distance measuring means, the calculation means is subjected to the rotation angle measuring means. The calibration is performed when neither the input to the effect that the turning angle has changed nor the input to the effect that the directional angle has changed from the directional change measuring means is made. With such a feature, it is possible to calibrate the directional change measuring means in the operation required for the work of the heavy machine.

Further, the method for measuring the orientation of a heavy machine having the above-mentioned characteristics is characterized in that, until the calibration is performed, the angle of the heavy machine obtained based on the calibration value obtained by the last calibration is obtained. .. With such a feature, it is possible to continue the angle measurement of the heavy machine even in the situation where the calibration is not performed, that is, even in the situation where the distance measurement by the non-contact distance measuring means cannot be performed.

According to the orientation measurement method for heavy machinery having the above characteristics, the orientation (direction) of the work machine in the heavy machinery can be measured even if the target cannot be detected by the total station temporarily. become.

It is also suitable as a method for measuring the orientation of heavy machinery, which is useful in indoor and underground spaces where GPS cannot be used.

It is a figure which shows the relationship between the heavy machine to which the direction measurement method of the heavy machine which concerns on invention is applied, and the system for carrying out this. It is a block diagram for demonstrating the system structure for carrying out the directional measurement method of a heavy machine which concerns on invention. This is the flow when measuring the direction of a heavy machine. It is a figure for demonstrating what kind of rotation angle is intended for a turning angle in an embodiment. It is a figure for demonstrating what kind of rotation angle the azimuth angle in an embodiment is intended.

Hereinafter, embodiments relating to the method for measuring the orientation of a heavy machine of the present invention will be described in detail with reference to the drawings. It should be noted that the embodiment shown below is an example of an embodiment suitable for carrying out the present invention, and can be obtained not only when the type of heavy machine to which the present invention is applied is different, but also when the measuring device or sensor used is different. If the properties of the data to be obtained match, it can be regarded as a part of the present invention.

[System for implementing the orientation measurement method]
First, with reference to FIGS. 1 and 2, a heavy machine and a system for applying the directional measurement method of the heavy machine (hereinafter, simply referred to as the directional measurement method) according to the present embodiment will be described.
The heavy machine that measures the orientation of the work machine in this embodiment is the backhoe 10. The backhoe 10 has a moving carriage 12 provided with left and right caterpillars and a swivel base 14, and the swivel base 14 is provided with an operation unit 14a and an excavator 14b which is a work machine. The backhoe 10 having such a basic calibration is provided with a gyro sensor 20 as a directional change measuring means, an encoder 22 as a rotation angle measuring means, and a target 26 read by a total station 24 as a non-contact ranging means. ing.

The gyro sensor 20 is provided on the moving carriage 12, and a detection axis is set so that the orientation change of the backhoe 10 itself can be detected and measured. The encoder 22 is provided so as to be able to detect the rotation angle of the swivel base 14. As an example of installing the encoder 22, the sensor main body may be installed on the moving carriage 12, and the rotation angle may be calculated by capturing the amount of rotation of the rotation shaft of the swivel base 14. Further, the target 26 may be set at a position where the total station 24, which will be described in detail later, can easily be grasped as a light source (or a reflection source), and may be set up, for example, behind the swivel table 14.

The total station 24 may be an automatic tracking type so that the position of the target 26 provided on the backhoe 10 can be measured. The total station 24 can obtain the position coordinates of the target 26 based on its own installation position and the direction of the focal direction (measurement axis) based on the built-in magnetic compass or the like. Therefore, when the target 26 moves, the vector of the moving direction (vector P1P0) can be obtained from the coordinates of the two moved points (for example, the P0 point and the P1 point), and the direction of the traveling direction can be calculated. Can be done.

The measured values (data) acquired by various sensors (in the present embodiment, the gyro sensor 20, the encoder 22, and the total station 24 may be collectively referred to as a sensor) are configured to be transmitted to the calculation means 40. There is. The calculation means 40 is provided with at least an input unit 42, a calculation unit 44, a storage unit 46, an output unit 48, and the like.

The input unit 42 plays a role of receiving the data transmitted from the sensor, and the storage unit 46 records the received data and the data calculated by the calculation unit 44, and various types necessary for the calculation by the calculation unit 44 and the like. This is the part responsible for recording the program. Further, the calculation unit 44 has a role of executing a program recorded in the storage unit 46 as necessary, reading the recorded data, and using the data received by the input unit 42 to perform various calculations and the like. It is the part to carry. The output unit 48 is a portion that plays a role of outputting the calculation result, that is, the direction of the backhoe 10 to a monitor or the like (not shown).

As shown in FIG. 2, the position information of the target 26 acquired by the total station 24 is transmitted to the data collector 30 (for example, arranged in the operation unit 14a of the backhoe 10) via the communication unit 28 and sent to the calculation means 40. It may be configured to be sent.

[Orientation measurement]
Next, the measurement of the orientation of the excavator 14b (the orientation of the heavy machine) in the backhoe 10 having the above configuration will be described with reference to FIG.
In the direction measurement method according to the present embodiment, after the initial direction is calibrated (calibration), the turning angle of the turning table 14 and the amount of change in the direction of the moving carriage 12 are determined while repeating the calibration (correction) of the gyro drift. The direction is measured by acquiring it. In the following description, the turning angle means an angle when the moving carriage 12 does not turn and only the turning table 14 turns, as shown in FIG. Further, as shown in FIG. 5, the azimuth angle means an angle when the backhoe 10 changes its direction together with the moving carriage 12.

[Initial calibration]
In the initial calibration, the backhoe 10 is first moved straight ahead. The straight-ahead movement referred to here is a case where only the position information (coordinate data) of the target 26 changes without the gyro sensor 20 detecting the azimuth change (azimuth angle) or the encoder 22 detecting the turning angle. (S10).

Next, the sensor value is acquired. The sensor value referred to here is mainly a detected value of the position information (coordinate data) of the target 26 by the total station 24. That is, the coordinate data of the target 26 at at least two points when the vehicle is moved straight is acquired. The two points here are preferably the coordinate data of the initial position before the backhoe 10 moves straight and the coordinate data of the end point position when the backhoe 10 finishes moving straight, but the initial position and the intermediate position , An intermediate position and an end point position, or a combination of measurement points such as a first intermediate position and a second intermediate position (S20).

Next, from the measured coordinate data of the two points, a vector indicating the amount of movement of the backhoe 10 and its direction are calculated. The direction can be calculated based on which direction and angle the vector indicating the amount of movement of the backhoe 10 is based on the direction in which the measurement axis of the total station 24 is facing. Then, the acquired orientation is set as the initial orientation of the gyro sensor 20 (S30).

[Gyro drift correction]
Although the gyro sensor 20 can measure the amount of directional change that occurs instantaneously, a drift phenomenon occurs in which a deviation occurs at an initial angle determined by itself with the passage of time. Therefore, it is necessary to correct the deviation of the initial direction (gyro drift) caused by the drift phenomenon. The correction of the gyro drift in the present embodiment is started after the initial calibration is completed, and can be performed in parallel with the orientation measurement of the backhoe 10.

First, after the initial calibration of the backhoe 10 (gyro sensor 20) is completed, the sensor value is acquired. The sensor value referred to here includes the coordinate data of the target from the total station 24, the azimuth angle by the gyro sensor 20, and the turning angle by the encoder 22 (S40). Compare the acquired coordinate data P _n of the target 26 with the previously acquired coordinate data (for example, the coordinate data of the target 26 after movement at the time of calibration: P _{n-1 in this case} ), and check whether the backhoe 10 has moved. It is determined whether or not (S50).

In S50, when it is determined that the backhoe 10 is not moving (P _n = P _n-1 ), it is determined that there is no change in the directional position of the backhoe 10 because the gyro drift cannot be corrected. , Α _n + β _n It is determined that there is no change in the backhoe angle θ _n. Here, α _n is an azimuth angle based on the gyro sensor 20, and β _n is a detection angle (swivel angle) by the encoder 22 (S100). On the other hand, when it is determined that the backhoe 10 is moving (P _n ≠ P _n-1 ), it is determined whether or not there is a change in the _{azimuth angle α n} and the turning angle β _{n, respectively.}

_{The turning determination is made separately for both the turning angle β n} by the turning table 14 and the azimuth angle α _n by the moving carriage 12, but the order does not matter. In the present embodiment, as the first determination, the turning angle by the turning table 14, that _{is, the detection value of the turning angle β n} by the encoder 22 changes when compared with the previous detected value (turning angle β _n-1). It is determined whether or not it is not (S60). Here, when it is determined that the vehicle is turning, that is, when there is a change in the rotation angle detected value by the encoder 22 (β _n ≠ β _n-1 ), the azimuth angle α _n by the moving carriage 12 changes. It is determined whether or not there is (S70). When there is no change in the azimuth angle α _{n in S70 (α n} = α _n-1 ), the backhoe angle θ _n is updated assuming that only the turning angle β _{n has changed.} On the other hand, when there is a change _{in the azimuth angle α n in S70 (α n} ≠ α _n-1 ), the backhoe angle θ _n is updated _{assuming that both the azimuth angle α n} and the turning angle β _{n have changed.} (S100).

When it is determined in the first determination that there is no change in the _{turning angle β n by the swivel table 14 (β n} = β _n-1 ), as the second determination, the azimuth angle α _n by the moving carriage 12 is determined. The presence or absence of change is determined (S80). In S80, when there is a change in the azimuth angle α _{n (α n} ≠ α _n-1 ), there is no change in the turning angle β _{n, and the backhoe angle θ n} is updated assuming that there is a change in the _{azimuth angle α n.} (S100).

On the other hand, when there is no change in the _{azimuth angle α n (α n} = α _n-1 ), the movement determined in S50 is determined to be straight, and from the coordinate data of the two points before and after the movement, it is determined that the movement is straight. A vector indicating the amount of movement of the backhoe 10 and its azimuth are calculated, and the azimuth of the gyro sensor 20 is corrected (S90). After heading correction of the azimuth angle alpha _n is performed, backhoe angle theta _n is updated by using the orientation angle alpha _n the corrected (S100).

[effect]
According to the orientation measurement method as described above, even if the target 26 cannot be detected by the total station 24 temporarily, the orientation (direction) of the excavator 14b in the backhoe 10 can be measured. Further, regarding the drift phenomenon peculiar to the gyro sensor 20, since the backhoe 10 can detect the movement (linear movement) in performing the work and correct it, it is not necessary to stop the work and obtain the correction value. It is possible to suppress the loss of working time.

In the above embodiment, the backhoe 10 is mentioned as a heavy machine, and the direction (direction) in which the excavator 14b is facing is measured. However, if it is a heavy machine having a moving carriage 12 and a swivel 14 attached to the moving carriage 12 and a working machine is provided on the swivel 14, the directional measurement method according to the present invention should be applied. Can be done.

10 ………… Backhoe, 12 ………… Moving trolley, 14 ………… Swivel, 14a ………… Operation unit, 14b ………… Excavator, 20 ………… Gyro sensor, 22 ………… Encoder, 24 …… … Total station, 26 ……… Target, 28 ……… Communication unit, 30 ……… Data collector, 40 ……… Calculation means, 42 ……… Input unit, 44 ……… Calculation unit, 46 ……… Storage unit , 48 ……… Output section.

Claims (3)

It is a method of measuring the orientation of the work machine in a heavy machine having a swivel having a work machine on the upper part of the moving carriage.
A directional change measuring means for measuring the directional change amount of the heavy machine, and
A rotation angle measuring means for measuring the turning angle of the swivel table and
A non-contact ranging means for tracking and measuring the distance to the moving carriage or the target provided on the swivel.
It includes at least an input unit, an output unit, an arithmetic unit, and an arithmetic means having a storage unit.
The calculation means changes the direction by calculating the direction in which the moving carriage is facing from the coordinate position between two points input from the non-contact distance measuring means when the heavy machine is moved straight. Calibrate the measuring means and
The turning angle input from the rotation angle measuring means and
A heavy machine characterized in that the heavy machine angle, which is the direction in which the work machine is facing, is calculated by adding the directional angle from the calibration value input from the directional change measuring means within a predetermined time. Direction measurement method. When the coordinate data between two points is input to the calculation means by the non-contact distance measuring means,
When neither the input to the effect that the turning angle has changed from the rotation angle measuring means nor the input to the effect that the azimuth has changed from the azimuth change measuring means has been made to the calculation means, the calibration is performed. The method for measuring the orientation of a heavy machine according to claim 1, wherein the method is performed. The method for measuring the orientation of a heavy machine according to claim 2, wherein the angle of the heavy machine obtained based on the calibration value obtained by the last calibration is obtained until the calibration is performed.

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