JP7245119B2 - 建設機械 - Google Patents

建設機械 Download PDF

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Publication number
JP7245119B2
JP7245119B2 JP2019106447A JP2019106447A JP7245119B2 JP 7245119 B2 JP7245119 B2 JP 7245119B2 JP 2019106447 A JP2019106447 A JP 2019106447A JP 2019106447 A JP2019106447 A JP 2019106447A JP 7245119 B2 JP7245119 B2 JP 7245119B2
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JP
Japan
Prior art keywords
azimuth angle
angle
quality
attitude
gnss
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JP2019106447A
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English (en)
Japanese (ja)
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JP2020200597A5 (enExample
JP2020200597A (ja
Inventor
新士 石原
枝穂 泉
伸一 小竹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2019106447A priority Critical patent/JP7245119B2/ja
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Priority to PCT/JP2020/021204 priority patent/WO2020246369A1/ja
Priority to CN202080037240.2A priority patent/CN113874862B/zh
Priority to US17/607,914 priority patent/US12106017B2/en
Priority to EP20818965.4A priority patent/EP3981923B1/en
Priority to KR1020217037338A priority patent/KR102606049B1/ko
Publication of JP2020200597A publication Critical patent/JP2020200597A/ja
Publication of JP2020200597A5 publication Critical patent/JP2020200597A5/ja
Application granted granted Critical
Publication of JP7245119B2 publication Critical patent/JP7245119B2/ja
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/02—Reliability analysis or reliability optimisation; Failure analysis, e.g. worst case scenario performance, failure mode and effects analysis [FMEA]

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Geometry (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Operation Control Of Excavators (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
JP2019106447A 2019-06-06 2019-06-06 建設機械 Active JP7245119B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2019106447A JP7245119B2 (ja) 2019-06-06 2019-06-06 建設機械
CN202080037240.2A CN113874862B (zh) 2019-06-06 2020-05-28 工程机械
US17/607,914 US12106017B2 (en) 2019-06-06 2020-05-28 Construction machine
EP20818965.4A EP3981923B1 (en) 2019-06-06 2020-05-28 Construction machine
PCT/JP2020/021204 WO2020246369A1 (ja) 2019-06-06 2020-05-28 建設機械
KR1020217037338A KR102606049B1 (ko) 2019-06-06 2020-05-28 건설 기계

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019106447A JP7245119B2 (ja) 2019-06-06 2019-06-06 建設機械

Publications (3)

Publication Number Publication Date
JP2020200597A JP2020200597A (ja) 2020-12-17
JP2020200597A5 JP2020200597A5 (enExample) 2022-03-25
JP7245119B2 true JP7245119B2 (ja) 2023-03-23

Family

ID=73651994

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019106447A Active JP7245119B2 (ja) 2019-06-06 2019-06-06 建設機械

Country Status (6)

Country Link
US (1) US12106017B2 (enExample)
EP (1) EP3981923B1 (enExample)
JP (1) JP7245119B2 (enExample)
KR (1) KR102606049B1 (enExample)
CN (1) CN113874862B (enExample)
WO (1) WO2020246369A1 (enExample)

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JP7245119B2 (ja) * 2019-06-06 2023-03-23 日立建機株式会社 建設機械
JP7089550B2 (ja) * 2020-06-16 2022-06-22 日立建機株式会社 建設機械
JP7500420B2 (ja) * 2020-12-28 2024-06-17 日立建機株式会社 作業機械
US11873617B2 (en) * 2021-02-02 2024-01-16 Deere & Company Mobile grading machine with improved grading control system
JP7039746B1 (ja) 2021-03-30 2022-03-22 日立建機株式会社 作業機械
JP7691869B2 (ja) * 2021-07-08 2025-06-12 株式会社小松製作所 作業機械の制御システム、作業機械、及び作業機械の制御方法
WO2023189216A1 (ja) * 2022-03-31 2023-10-05 日立建機株式会社 作業支援システム
JP2024089460A (ja) * 2022-12-21 2024-07-03 株式会社クボタ 旋回作業機
CN116996756B (zh) * 2023-05-30 2024-03-26 钛玛科（北京）工业科技有限公司 一种工业相机自动微调装置及其控制方法
JP2025035054A (ja) * 2023-08-31 2025-03-13 株式会社小松製作所 作業車両の計測システムおよび作業車両の計測方法
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Also Published As

Publication number Publication date
CN113874862B (zh) 2025-03-25
KR20210151964A (ko) 2021-12-14
US12106017B2 (en) 2024-10-01
WO2020246369A1 (ja) 2020-12-10
JP2020200597A (ja) 2020-12-17
EP3981923A1 (en) 2022-04-13
EP3981923A4 (en) 2023-06-21
KR102606049B1 (ko) 2023-11-29
US20220222392A1 (en) 2022-07-14
EP3981923B1 (en) 2024-05-08
CN113874862A (zh) 2021-12-31

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