JP7349587B1 - positioning device - Google Patents

Abstract

An object of the present invention is to accurately determine the position of the tip of a movable operating tool in a work machine. SOLUTION: A position determination device 80 applied to a backhoe 10 includes a vehicle position measuring means 81 that measures the position of a GNSS 40 of a traveling vehicle 20, a vehicle rotation degree acquisition means 82 that acquires a rotation angle A0 of the traveling vehicle 20, and a vehicle rotation angle acquisition means 82 that acquires a rotation angle A0 of the traveling vehicle 20. A first rotation degree acquisition means 83 that acquires rotation angles A1, A2, A3 of one rotation part (first boom 31, arm 33, bucket 34), and acquisition of rotation angle A4 of a second rotation part (second boom 32). The second rotation degree obtaining means 84 and the position determining means 85 are provided. The position determining means 85 determines the position of the tip portion 34b of the bucket 34 in the movable operating tool 30 based on the measured position of the GNSS 40 and the acquired rotation angles A0, A1, A2, A3, and A4. . [Selection diagram] Figure 7

Description

The present invention relates to a position determining device that is applied to a working machine equipped with at least a movable operating tool and that determines the position of a tip end portion of the movable operating tool.

Backhoes are conventionally known as working machines such as construction machines. Backhoes generally include movable operating tools such as a boom, an arm, and a bucket. The operation of this movable operating tool is controlled according to the driver's operation. In particular, it is preferable that the position of the tip of the movable operating tool be acquired in order to excavate at a targeted position on the ground surface. For example, the acquired position of the tip portion can be used to guide the driver in operating the movable operating tool. In view of these circumstances, techniques for determining the position of the tip of a movable operating tool have been developed in recent years.

Patent Document 1 discloses a method for determining the position of a bucket tip of a backhoe. In the method disclosed in Patent Document 1, the position of the bucket tip is determined based on the position of the backhoe, its inclination, and the rotation angles of each of the boom, arm, and bucket.

JP 2021-148586 A (Claim 7, paragraph 0083, etc.)

In the method disclosed in Patent Document 1, the rotation angles of the boom, arm, and bucket are reflected in determining the position of the distal end portion of the movable operating tool. These rotation angles are centered on an axis parallel to one direction (for example, a substantially horizontal direction along the width direction of the traveling vehicle in plan view). On the other hand, in response to the need for downsizing, work machines that can offset the bucket have become widespread. This type of work machine is centered on an axis parallel to a direction other than the one direction (for example, along the vehicle height direction of the traveling vehicle when viewed from the front and perpendicular to the one direction). The boom is often configured to be rotatable.

In this case, even if the method of Patent Document 1 is applied, the rotation of the boom for offset movement is not reflected in the position determination. For this reason, there is a possibility that a discrepancy will occur between the actual position of the tip portion moved by the operation and the determined position of the tip portion. In view of the above, there is a need for a technique that can accurately determine the position of the distal end portion even in the case of offset movement.

Therefore, in view of the above-mentioned needs, the present invention provides a position determining device for determining the position of the tip of a movable operating tool in a working machine, which accurately positions the tip of the movable operating tool even when the movable operating tool moves offset. The purpose is to provide what you can decide.

The technical means of the present invention for solving this technical problem is characterized by the following points. The position determining device of the present invention is a working machine including a traveling vehicle and a movable operating tool extending toward a distal end part separated from the traveling vehicle, the position determining device is a working machine that extends along the width direction of the traveling vehicle in a plan view, and , a first direction that is a substantially horizontal direction, and a second direction that is along the vehicle height direction of the traveling vehicle when viewed from the front and that is orthogonal to the first direction; a first rotating part that is rotatable about an axis parallel to the first direction and that allows the distal end part to move in the second direction when viewed from the front; applied to a working machine comprising: a second rotating portion that is rotatable about a parallel axis and that rotates to enable movement of the tip portion in the first direction in the planar view; .

The position determination device of the present invention includes a vehicle position measuring means for measuring the position of a predetermined part of the traveling vehicle, a vehicle rotation degree acquisition means for acquiring the rotation degree of the traveling vehicle, and a vehicle rotation degree acquisition means for acquiring the rotation degree of the first rotation part. a first degree of rotation acquisition means for acquiring a degree of rotation; a second degree of rotation acquisition means for acquiring a degree of rotation of the second rotation portion; the measured position of the predetermined portion of the traveling vehicle; The position of the tip portion of the movable operating tool is determined based on the degree of rotation of the vehicle, the obtained degree of rotation of the first rotation portion, and the obtained degree of rotation of the second rotation portion. and position determining means.

According to this, the predetermined portion of the traveling vehicle is positioned by the vehicle position measuring means. The vehicle rotation degree acquisition means acquires the rotation degree of the traveling vehicle. The first rotation degree acquisition means acquires the rotation degree of the first rotation portion. The second rotation degree acquisition means acquires the rotation degree of the second rotation portion. The position determining means determines the position of the distal end portion of the movable operating tool based on the measured predetermined position of the traveling vehicle, the obtained rotation degree of the first rotation portion, and the obtained rotation degree of the second rotation portion. Ru.

Therefore, the position of the distal end portion of the movable operating tool can be determined by reflecting the positional movement of the traveling vehicle, the rotation of the traveling vehicle, and the rotation of the first rotating portion in accordance with the operation of the working machine. Furthermore, the position of the tip end portion of the movable operating tool can be determined by also reflecting the rotation of the second rotating portion in accordance with the operation of the working machine. Therefore, even when the distal end portion is moved offset in the first direction, the position of the distal end portion can be determined with high accuracy. By displaying the determined position of the tip portion on, for example, a display device, the driver can appropriately navigate the operation of the movable operating tool.

In the position determining device of the present invention, the working machine includes a shaft member coaxially fixed to the shaft, which is a center of rotation of the second rotation portion, and a shaft member that is coaxially fixed to the shaft, which is a center of rotation of the second rotation portion; The rotary member is fixed to a portion that rotates relative to the shaft member and is rotatable relative to the shaft member, and detects the degree of rotation of the rotary member with respect to the shaft member, and detects the degree of rotation of the rotary member with respect to the shaft member. A rotation degree detection device that sends out a corresponding signal is provided, and the second rotation degree acquisition means is configured to acquire the rotation degree of the second rotation portion based on the signal sent out by the rotation degree detection device. be done.

In the position determining device of the present invention, one end of the working machine is fixed to the second rotating part, the other end is fixed to the first rotating part or the traveling vehicle, and the working machine has a direction from the one end to the other end. The second rotating portion includes a rod member whose linear distance is variable, and a linear distance detection device that detects the linear distance and sends a signal corresponding to the linear distance. The second rotation degree acquisition means is configured to be rotatable about an axis parallel to the second direction in accordance with the change, and the second rotation degree acquisition means detects the second rotation portion based on the signal sent by the linear distance detection device. is configured to obtain the degree of rotation.

In the position determining device of the present invention, the working machine is provided at the predetermined portion of the traveling vehicle, and detects the position of the predetermined portion based on reception of a positioning signal from a global positioning satellite, and a vehicle position detection device that transmits a signal corresponding to the position of the vehicle; and a vehicle position detection device that is provided at the second rotating portion and detects the position of the second rotating portion based on reception of a positioning signal from a global positioning satellite; a rotational position detection device that sends out a signal corresponding to the position of the second rotational portion; The position determination device of the present invention is further configured to measure the position of the second rotating portion based on the measured position of the predetermined portion of the traveling vehicle. and a rotational position measuring means for measuring the position of the second rotational part based on the signal sent by the rotational position detection device, The means is configured to obtain a rotation degree of the second rotation part based on the obtained position of the axis and the measured position of the second rotation part.

In the position determination device of the present invention, the work implement is provided at a position of the axis that is a center of rotation of the second rotating part, and the work implement is configured to determine the position of the axis based on reception of a positioning signal from a global positioning satellite. a shaft position detection device that detects the position of the shaft and sends a signal corresponding to the position of the shaft; A rotational position detection device that detects a position and sends out a signal corresponding to the position of the second rotating portion, and the position determination device of the present invention further includes: a signal sent out by the shaft position detection device; and a relative position acquisition means for acquiring a relative position of the second rotational part with respect to the position of the shaft based on a signal sent out by the rotational position detection device, and the second rotation degree acquisition means The rotation degree of the second rotation part is obtained based on the relative position of the second rotation part with respect to the position of the shaft.

According to the present invention, even when the distal end portion moves offset in the first direction, the position of the distal end portion can be accurately determined. By displaying the determined position of the tip portion on, for example, a display device, the driver can appropriately navigate the operation of the movable operating tool.

1 is a side view of a working machine (backhoe) to which a position determining device according to a first embodiment of the present invention is applied. FIG. 2 is a front view of the work machine shown in FIG. 1. FIG. FIG. 2 is a plan view of the work machine shown in FIG. 1. FIG. FIG. 2 is a configuration diagram of a second rotation degree detection device (RENC) included in the working machine shown in FIG. 1. FIG. FIG. 2 is a perspective view of a first boom, a second boom, and a second rotation degree detection device in the vicinity of a second boom support shaft included in the working machine shown in FIG. 1. FIG. FIG. 2 is a longitudinal cross-sectional view of the first boom, the second boom, and the second rotation degree detection device in the vicinity of the second boom support shaft included in the work machine shown in FIG. 1. FIG. FIG. 2 is a functional block diagram showing an ECU included in the work machine shown in FIG. 1 and various devices connected to the ECU. FIG. 2 is a side view of the working machine for explaining the positional relationship of each part when the working machine shown in FIG. 1 is in a standard state. FIG. 2 is a side view of the running vehicle for explaining the positional relationship of each part when the running vehicle included in the working machine shown in FIG. 1 moves and rotates. FIG. 2 is a side view of a first boom and a second boom for explaining the positional relationship of each part when the first boom included in the working machine shown in FIG. 1 moves and rotates. FIG. 2 is a side view of the arm included in the work machine shown in FIG. 1 for explaining the positional relationship of each part when the arm is moved and rotated. FIG. 2 is a side view of the bucket for explaining the positional relationship of each part when the bucket included in the work machine shown in FIG. 1 moves and rotates. FIG. 2 is a plan view of the movable operating tool for explaining the positional relationship of each part when a second boom included in the working machine shown in FIG. 1 rotates. 2 is a flowchart showing a series of processing by a position determining device included in the working machine shown in FIG. 1. FIG. It is a block diagram of the linear distance detection device (WENC) with which the working machine (backhoe) to which the position determination device based on 2nd Embodiment of this invention is applied is equipped. The first boom, the second boom, the second boom cylinder, and the linear distance detection device in the vicinity of the second boom support shaft, which are included in the work machine to which the position determining device according to the second embodiment of the present invention is applied. FIG. The first boom, the second boom, the second boom cylinder, and the linear distance detection device in the vicinity of the second boom support shaft, which are included in the work machine to which the position determining device according to the second embodiment of the present invention is applied. FIG. 7 is a plan view for explaining how the second boom rotates when offset movement is executed. It is a graph showing the relationship between the straight line distance and the rotation angle of the second boom. FIG. 2 is a functional block diagram showing an ECU included in a work machine to which a position determining device according to a second embodiment of the present invention is applied, and various devices connected to the ECU. A working machine (backhoe) to which the position determining device according to the third embodiment of the present invention is applied has a first boom, a second boom, and a rotational position sensing device (GNSS) in the vicinity of the second boom support shaft. FIG. It is a functional block diagram showing an ECU included in a work machine to which a position determining device according to a third embodiment of the present invention is applied, and various devices connected to the ECU. FIG. 7 is a side view of the working machine to which the position determining device according to the third embodiment of the present invention is applied, for explaining the positional relationship of each part when the working machine is in a reference state. Sides of the first boom and second boom for explaining the positional relationship of each part when the first boom included in the work machine to which the position determining device according to the third embodiment of the present invention is applied moves and rotates. This is a perspective view. FIG. 7 is a plan view of the first boom and the second boom for explaining the positional relationship of each part when the second boom included in the work machine to which the position determining device according to the third embodiment of the present invention is applied rotates; FIG. be. It is a flowchart which shows a series of processing by the position determination device concerning a 3rd embodiment of the present invention. A work machine (backhoe) to which the position determining device according to the fourth embodiment of the present invention is applied includes a first boom, a second boom, a rotational position sensing device (GNSS), and a rotational position sensing device (GNSS) near the second boom support shaft. FIG. 2 is a perspective view of a rotational position sensing device (GNSS). It is a functional block diagram showing an ECU included in a work machine to which a position determining device according to a fourth embodiment of the present invention is applied, and various devices connected to the ECU. FIG. 7 is a plan view of the first boom and the second boom for explaining the positional relationship of each part when the second boom included in the work machine to which the position determining device according to the fourth embodiment of the present invention is applied rotates; FIG. be. It is a flowchart showing a series of processing by a position determining device according to a third embodiment of the present invention.

Hereinafter, each embodiment of the present invention will be described based on the drawings.

[First embodiment]
<Work equipment>
1, 2, and 3 show a work machine 10 to which a position determining device 80 according to a first embodiment of the present invention is applied. In this embodiment, the working machine 10 will be described as a backhoe 10. Note that the work machine 10 is not limited to a backhoe, and may be another construction machine, agricultural machine, or the like (bulldozer, etc.) having a tip end of a movable operating tool. 1, 2, and 3 are a side view of the backhoe 10, a front view of the backhoe 10, and a plan view of the backhoe 10. The backhoe 10 is a small swivel offset boom type backhoe. The configuration of the backhoe 10 will be described in detail below.

The backhoe 10 includes a traveling vehicle 20, a movable operating tool 30, a vehicle position detection device 40, a first rotation detection device 50, a second rotation detection device 60, and a drive control device 70. The position determining device 80 is mounted on the backhoe 10. Note that the drive control device 70 and the position determining device 80 constitute a part of an ECU (Electronic Control Unit) 90. In a plan view, a first direction K1 is defined that is along the vehicle width direction of the traveling vehicle 20 and is a substantially horizontal direction. In a front view, a second direction K2 is defined along the vehicle height direction of the traveling vehicle 20 and orthogonal to the first direction K1. Further, a third direction K3 is defined that is orthogonal to each of the first direction K1 and the second direction K2.

The traveling vehicle 20 has an upper rotating body 21 and a lower traveling body 22. The upper rotating body 21 is mounted on the lower traveling body 22 so as to be pivotable about an axis parallel to the second direction K2. The upper revolving body 21 is equipped with a movable operating tool 30, a vehicle position detection device 40, and a cabin 21a. The cabin 21a is provided with a driver's seat, operating tools 21b (for example, levers, switches, pedals, etc., see FIG. 7), and a display device 21c (for example, a monitor, etc., see FIG. 7). When the driver is seated in the cabin 21a, the directions corresponding to the front/back of the driver, the left/right of the driver, and the top/bottom of the driver are respectively forward/backward, left/right, Upper and lower. The lower traveling body 22 includes a traveling device 22a and a dozer device 22b. The traveling device 22a is configured to be a crawler type. The dozer device 22b is provided in front of the traveling device 22a. In the upper revolving body 21, the cabin 21a is arranged closer to the left side, and the movable operating tool 30 is arranged to the right of the cabin 21a.

As shown in FIG. 1, the movable operating tool 30 includes a first boom 31, a second boom 32, an arm 33, and a bucket 34. The movable operating tool 30 also includes a first boom cylinder 36 , a second boom cylinder 37 , an arm cylinder 38 , and a bucket cylinder 39 . These cylinders are, for example, rod-shaped hydraulic cylinder devices, and can be driven to expand and contract so that the straight-line distance from one end to the other end is changed by operation by a driver.

A lower rear end of the first boom 31 is supported in front of the upper revolving body 21 via a first boom support shaft 31a. One end of the first boom cylinder 36 is connected to the lower side of the first boom cylinder support shaft 31a in front of the upper revolving structure 21 via the first boom cylinder support shaft 36a. The other end of the first boom cylinder 36 supports the first boom 31 from below via a first boom cylinder support shaft 36b. The first boom support shaft 31a and the first boom cylinder support shafts 36a and 36b are axes parallel to the first direction K1. The first boom 31 is rotatable about the first boom support shaft 31a by the telescopic drive of the first boom cylinder 36.

The rear end of the second boom 32 is supported by the upper front end of the first boom 31 via the second boom support shaft 32a. One end of the second boom cylinder 37 is connected to the left side of the first boom 31 via a second boom cylinder support shaft 37a. The other end of the second boom cylinder 37 is connected to the left side of the second boom 32 via a second boom cylinder support shaft 37b. Further, on the left side of the second boom 32, in parallel with the second boom cylinder 37, an offset link 32b is provided. One end and the other end of the offset link 32b are connected to the first boom 31 and the second boom 32, respectively. The second boom support shaft 32a and the second boom cylinder support shafts 37a, 37b are axes parallel to the second direction K2. The second boom 32 is rotatable about the second boom support shaft 32a by the telescopic drive of the second boom cylinder 37.

An upper and rear end of the arm 33 is supported by a front end of the second boom 32 via an arm support shaft 33a. One end of the arm cylinder 38 is connected to the upper side of the second boom 32 via an arm cylinder support shaft 38a above and behind the arm support shaft 33a. The other end of the arm cylinder 38 supports the arm 33 from above via an arm cylinder support shaft 38b above and in front of the arm support shaft 33a. The arm support shaft 33a and the arm cylinder support shafts 38a and 38b are axes parallel to the first direction K1. By driving the arm cylinder 38 to extend and contract, the arm 33 is rotatable about the arm support shaft 33a.

The end of the bucket 34 is supported by the lower end of the arm 33 via a bucket support shaft 34a. One end of the bucket cylinder 39 is connected to the upper side of the arm 33 in front of the arm support shaft 33a via a bucket cylinder support shaft 39a. The other end of the bucket cylinder 39 supports the bucket 34 via a bucket cylinder support shaft 39b below the bucket support shaft 34a. The bucket support shaft 34a and the bucket cylinder support shafts 39a and 39b are axes parallel to the first direction K1. By driving the bucket cylinder 39 to expand and contract, the bucket 34 can rotate around the bucket support shaft 34a.

Furthermore, the bucket 34 includes a tip portion 34b. The tip portion 34b corresponds to the outermost portion of the bucket 34 in the rotational radial direction. In this way, the movable operating tool 30 is configured to extend toward the tip portion 34b that is spaced forward from the traveling vehicle 20.

When any one, two, or all of the first boom 31, arm 33, and bucket 34 rotate, the tip portion 34b of the bucket 34, as shown by the broken line in FIG. Movement in the second direction K2 (upward or downward) is possible. At the same time, the tip portion 34b of the bucket 34 can also move in the third direction K3 (forward or backward). The first boom 31, arm 33, and bucket 34 correspond to a first rotating portion.

As the second boom 32 rotates, the tip portion 34b of the bucket 34 can move in the first direction K1 (leftward or rightward), as shown by the dashed line in FIGS. 2 and 3. At the same time, the tip portion 34b of the bucket 34 can also move in the third direction K3 (forward or backward). In this manner, rotation of the second boom 32 allows offset movement of the bucket 34. The second boom 32 corresponds to a second rotating portion.

As shown in FIGS. 1 and 7, the vehicle position detection device 40 is mounted on the upper revolving structure 21 of the traveling vehicle 20. As shown in FIGS. As a mounting position (corresponding to a predetermined position), the vehicle position detection device 40 may be provided, for example, on the roof of the cabin 21a, behind the cabin 21a, etc. in the upper revolving body 21. In this embodiment, in order to simplify the explanation, it is assumed that the vehicle position detection device 40 is mounted at the rear of the cabin 21a.

The vehicle position detection device 40 detects the mounting position as the position of the traveling vehicle 20 based on reception of positioning signals from global positioning satellites. This detection signal is sent out toward the position determining device 80. The vehicle position detection device 40 may be capable of position detection using a satellite positioning system such as GNSS, for example. In this embodiment, the absolute coordinates corresponding to the mounting position of the vehicle position detection device 40 are determined using two frequencies L1 and L2. Hereinafter, the vehicle position detection device 40 may be referred to as GNSS 40. Note that instead of the two frequencies L1 and L2, two frequencies L1 and L5 may be used, or a multi-frequency wave of two or more frequencies may be used.

One first rotation degree detection device 50 is mounted on each of the four locations of the rotating upper body 21, the first boom 31, the arm 33, and the bucket 34 of the traveling vehicle 20. These four first rotation degree detection devices 50 each detect the degree of rotation about an axis parallel to the first direction K1 in the four regions. These detection signals are each sent to the position determining device 80. The first rotation angle detection device 50 may be, for example, an IMU (Inertial Measurement Unit) or the like capable of detecting a rotation angle. Hereinafter, the first rotation degree detection device 50 may be referred to as an IMU 50. Further, the first rotation degree detection devices 50 each mounted on the upper revolving body 21, the first boom 31, the arm 33, and the bucket 34 of the traveling vehicle 20 may also be referred to as IMU51, IMU52, IMU53, and IMU54. be.

As shown in FIGS. 1, 4, 5, and 6, one second rotation degree detection device 60 is mounted on each of the first boom 31 and the second boom support shaft 32a. ing. The second rotation degree detection device 60 detects the degree of rotation of the second boom 32 about an axis parallel to the second direction K2. This detection signal is sent out toward the position determining device 80. The second rotation angle detection device 60 may be a device capable of detecting a rotation angle, such as a rotary encoder, for example. Hereinafter, the second rotation degree detection device 60 may be referred to as RENC 60.

As shown in FIG. 4, the RENC 60 includes a slit disk 61, a shaft 62, a casing 63, a light source 64, and a light receiving section 65. The slit disk 61 is configured in a disk shape and has a large number of opening slits 61a arranged in the circumferential direction. The shaft 62 extends from the center of the slit disk 61 perpendicularly to the surface of the slit disk 61. The slit disk 61 can rotate integrally with the shaft 62. The casing 63 is a cylindrical housing, and contains the slit disk 61 and the shaft 62 coaxially therein. The casing 63 has an opening 63b at the center of the fixed surface 63a. The shaft 62 is slidably supported through the opening 63b, and a portion thereof is exposed from the inside of the casing 63 to the outside. Thereby, the shaft 62 (slit disk 61) and the casing 63 are configured to rotate relative to each other.

A light source 64 and a light receiving section 65 are fixed to the inner wall of the casing 63 so as to be spaced apart from each other. The vicinity of the circumference of the slit disk 61 is interposed between the light source 64 and the light receiving section 65 . The direction of light from the light source 64 toward the light receiving section 65 is parallel to the direction in which the shaft 62 extends. When the shaft 62 and the casing 63 rotate relative to each other, the light receiving section 65 alternately detects passage and blocking of light through the opening slit 61a. This detection signal is sent out toward the position determining device 80. Based on this detection signal, the rotation angle of the casing 63 with respect to the shaft 62 (slit disk 61) can be obtained. Here, the shaft 62 corresponds to a shaft member, and the casing 63 corresponds to a rotating member.

As shown in FIGS. 5 and 6, a mating hole 31b is provided at the front end of the first boom 31 on the second boom 32 side, which extends in the vertical direction. A second boom support shaft 32a is fixed to the rear end of the second boom 32 on the first boom 31 side so as to project upward. A portion of the rear end of the second boom 32 is covered by the front end of the first boom 31, and the second boom support shaft 32a is slidably engaged with the engagement hole 31b. . Thereby, the second boom 32 rotates integrally around the second boom support shaft 32a. In other words, the first boom 31 becomes a part that rotates relative to the second boom support shaft 32a as the second boom 32 rotates (see FIG. 3).

An annular fixing portion 31c is provided around the mating hole 31b of the first boom 31. When the second boom support shaft 32a is engaged with the engagement hole 31b, the fixed portion 31c is configured to surround the second boom support shaft 32a. Further, the upper top surfaces of the second boom support shaft 32a and the fixed portion 31c are substantially flush with each other. A recessed portion 32a1 recessed downward at the center is provided on the upper top surface of the second boom support shaft 32a. The shaft 62 of the RENC 60 is inserted from the tip into the recessed portion 32a1, and the shaft 62 and the second boom support shaft 32a are fixed coaxially. That is, the second boom support shaft 32a and the shaft 62 are parallel to the second direction K2. Along with fixing the shaft 62, the fixing surface 63a of the RENC 60 is fixed to the fixing portion 31c of the first boom 31.

Thereby, when the second boom 32 rotates around the second boom support shaft 32a, the casing 63 also rotates relative to the shaft 62 of the RENC 60 with the same rotation angle. Therefore, the rotation angle of the second boom 32 can be obtained based on the detection signal of the RENC 60.

As shown in FIGS. 1 and 7, the ECU 90 includes a drive control device 70 and a position determining device 80. The drive control device 70 and the position determining device 80 are composed of a CPU, an electric circuit, etc., and are electrically connected to the various devices described above in a wired or wireless manner. Specifically, the drive control device 70 is connected to the operating tool 21b, the movable operating tool 30, and a power transmission system such as a prime mover and a transmission (not shown). The position determining device 80 is connected to the GNSS 40, IMU 50, RECN 60, and display device 21c.

The drive control device 70 receives an operation signal of the operating tool 21b operated by the driver. The drive control device 70 controls the telescopic drive of the first boom cylinder 36, the second boom cylinder 37, the arm cylinder 38, and the bucket cylinder 39 of the movable operating tool 30 in accordance with the operation signal. Thereby, each rotation operation of the first boom 31, second boom 32, arm 33, and bucket 34 about their respective support shafts is controlled. The drive control device 70 also controls a power transmission system such as a prime mover and a transmission (not shown), and also executes travel control of the travel device 22a.

The position determination device 80 includes a vehicle position measurement means 81 , a vehicle rotation degree acquisition means 82 , a first rotation degree acquisition means 83 , a second rotation degree acquisition means 84 , and a position determination means 85 . The vehicle position measuring means 81 is connected to the GNSS 40 and receives a signal corresponding to the position detected by the GNSS 40. Vehicle position measuring means 81 measures the position of traveling vehicle 20 based on the signal. The position to be measured may be, for example, three-dimensional coordinates. The vehicle rotation angle acquisition means 82 is connected to the IMU 51 and receives a signal corresponding to the rotation angle detected by the IMU 51 . The vehicle rotation angle acquisition means 82 acquires the rotation angle of the traveling vehicle 20 based on the signal.

The first rotation angle acquisition means 83 is connected to the IMUs 52, 53, and 54, respectively, and receives signals corresponding to rotation angles detected and transmitted by the IMUs 52, 53, and 54. The first rotation angle acquisition means 83 acquires the rotation angles of the first boom 31, arm 33, and bucket 34, respectively, based on the signals. The second rotation angle acquisition means 84 is connected to the RECN 60 and receives a signal corresponding to the rotation angle detected and sent out by the RECN 60. The second rotation angle acquisition means 84 acquires the rotation angle of the second boom 32 based on the signal.

The position determining means 85 determines the measured position of the traveling vehicle 20, the acquired rotation angle of the traveling vehicle 20, and the acquired rotation angles of the first boom 31, arm 33, and bucket 34, The position of the tip portion 34b of the movable operating tool 30 in the bucket 34 is determined based on the rotation angle of the second boom 32 obtained above. The determined position may be, for example, three-dimensional coordinates. A specific position determination process will be described in detail later. The position determining means 85 displays the determined position information of the distal end portion 34b on the display device 21c. For example, on the monitor of the display device 21c, the mark of the tip portion 34b may be displayed superimposed on a map of the vicinity of the traveling vehicle 20 in the field. Thereby, the position of the tip portion 34b of the bucket 34 can be visually confirmed on the display device 21c, and it becomes possible to navigate the driver's operation.

<Position determination process>
The broken line in FIG. 8 indicates a state in which the backhoe 10 is stationary in a reference posture and position. This state is called a reference state. In the standard state, the second boom 32 extends forward from the tip of the first boom 31 along the third direction K3. That is, in the standard state, the second boom 32 is not moved offset.

The position determining device 80 first determines reference coordinates, which are the coordinates of the part in the reference state. In the reference state, reference coordinates corresponding to the mounting position of the GNSS 40 are assumed to be (Xs0, Ys0, Zs0). The reference coordinates (Xs0, Ys0, Zs0) of the GNSS 40 are those determined by the GNSS 40. Note that in the notation of coordinates (L, M, N), "L" represents a component in the third direction K3, "M" represents a component in the first direction K1, and "N" represents a component in the second direction K2.

In the reference state, the distance and direction from the mounting position of the GNSS 40 to the position of the first boom support shaft 31a are known. Based on the measured reference coordinates (Xs0, Ys0, Zs0) of the GNSS 40 and the known separation distance and direction, the reference coordinates (Xs1, Ys1, Zs1) corresponding to the position of the first boom support shaft 31a are determined. be done.

In the reference state, the distance and direction from the position of the first boom support shaft 31a to the position of the arm support shaft 33a are known. Based on the reference coordinates (Xs1, Ys1, Zs1) of the first boom support shaft 31a determined above and the known separation distance and direction, the reference coordinates (Xs2, Ys2, Zs2) corresponding to the position of the arm support shaft 33a are determined. ) is determined.

In the reference state, the distance and direction from the position of the arm support shaft 33a to the position of the bucket support shaft 34a are known. Based on the reference coordinates (Xs2, Ys2, Zs2) of the arm support shaft 33a determined above and the known separation distance and direction, the reference coordinates (Xs3, Ys3, Zs3) corresponding to the position of the bucket support shaft 34a are determined. It is determined.

In the reference state, the distance and direction from the position of the bucket support shaft 34a to the position of the tip portion 34b are known. Based on the determined reference coordinates (Xs3, Ys3, Zs3) of the bucket support shaft 34a and the known separation distance and direction, the reference coordinates (Xs4, Ys4, Zs4) corresponding to the position of the tip portion 34b are determined. be done.

The reference coordinates (Xs0, Ys0, Zs0), (Xs1, Ys1, Zs1), (Xs2, Ys2, Zs2), (Xs3, Ys3, Zs3), (Xs4, Ys4, Zs4) determined as described above are as follows: It is stored in the storage device of the backhoe 10 and can be read out during necessary arithmetic processing.

Next, when the backhoe 10 in the reference state starts operating, the position determining device 80 determines the coordinates of the operating part at every predetermined timing.

As shown in FIG. 9, it is assumed that the coordinates corresponding to the mounting position of the GNSS 40 move from the reference coordinates (Xs0, Ys0, Zs0) to (X0, Y0, Z0) due to the operation of the backhoe 10. Assume that the operation of the backhoe 10 causes the traveling vehicle 20 to rotate from the reference state by a rotation angle A0 about the axis in the first direction K1. According to the movement of the mounting position of the GNSS 40 and the rotation of the traveling vehicle 20, the coordinates corresponding to the position of the first boom support shaft 31a change from the reference coordinates (Xs1, Ys1, Zs1) to (X1, Y1, Z1). Assume that it has moved. The coordinates (X0, Y0, Z0) of the GNSS 40 are those determined by the GNSS 40. The rotation angle A0 of the traveling vehicle 20 is detected by the IMU 51.

A vector (Xs1-Xs0, Ys1-Ys0, Zs1-Zs0) directed from the reference coordinates (Xs0, Ys0, Zs0) of the GNSS 40 to the reference coordinates (Xs1, Ys1, Zs1) of the first boom support shaft 31a is known. Based on the measured coordinates (X0, Y0, Z0) of the GNSS 40, the known vector, and the detected rotation angle A0, the coordinates (X1, Y1 , Z1) are determined. Specifically, as shown in the following equations (1), (2), and (3), using the coordinates (X0, Y0, Z0), the sum of the above vectors, and the rotation matrix of the rotation angle A0, , coordinates (X1, Y1, Z1) are determined. In addition, instead of using the following formulas (1), (2), and (3), the following formulas (1a), (2a), and (3a) are used to calculate the first boom support shaft 31a. Determining the coordinates (X1, Y1, Z1) corresponding to the position is more suitable from the viewpoint of improving accuracy.

X1=(X0+(Xs1-Xs0))(cos(A0))+
(Z0+(Zs1-Zs0))(sin(A0))...(1)
Y1=(Y0+(Ys1-Ys0))...(2)
Z1=(X0+(Xs1-Xs0))(-sin(A0))+
(Z0+(Zs1-Zs0))(cos(A0))...(3)

X1=X0+(Xs1-Xs0)(cos(A0))+
(Zs1-Zs0) (sin(A0)) ...(1a)
Y1=Y0+(Ys1-Ys0)...(2a)
Z1=X0+(Xs1-Xs0)(-sin(A0))+
(Zs1-Zs0) (cos(A0)) ...(3a)

As shown in FIG. 10, it is assumed that the coordinates corresponding to the position of the first boom support shaft 31a move from the reference coordinates (Xs1, Ys1, Zs1) to (X1, Y1, Z1) due to the operation of the backhoe 10. . Assume that the operation of the backhoe 10 causes the first boom 31 to rotate from the reference state by a rotation angle A1 about the axis in the first direction K1. According to the movement of the position of the first boom support shaft 31a and the rotation of the first boom 31, the coordinates corresponding to the position of the arm support shaft 33a change from the reference coordinates (Xs2, Ys2, Zs2) to (X2, Y2, It is assumed that the user has moved to Z2). The rotation angle A1 of the first boom 31 is detected by the IMU 52.

A vector (Xs2-Xs1, Ys2-Ys1, Zs2-Zs1) directed from the reference coordinates (Xs1, Ys1, Zs1) of the first boom support shaft 31a to the reference coordinates (Xs2, Ys2, Zs2) of the arm support shaft 33a is known. It is. Based on the coordinates (X1, Y1, Z1) of the first boom support shaft 31a determined above, the known vector, and the detected rotation angle A1, the coordinates ( X2, Y2, Z2) are determined. Specifically, as shown in the following equations (4), (5), and (6), using the coordinates (X1, Y1, Z1), the sum of the above vectors, and the rotation matrix of the rotation angle A1, , coordinates (X2, Y2, Z2) are determined. In addition, when determining the coordinates (X1, Y1, Z1) of the first boom support shaft 31a, if the above formulas (1a), (2a), and (3a) are used, the following formula (4), Instead of using equations (5) and (6), the following equations (4a), (5a), and (6a) are used to calculate the coordinates (X2, Y2, Determining Z2) is more suitable from the viewpoint of improving accuracy.

X2=(X1+(Xs2-Xs1))(cos(A1))+
(Z1+(Zs2-Zs1))(sin(A1))...(4)
Y2=(Y1+(Ys2-Ys1))...(5)
Z2=(X1+(Xs2-Xs1))(-sin(A1))+
(Z1+(Zs2-Zs1))(cos(A1))...(6)

X2=X1+(Xs2−Xs1)(cos(A1))+
(Zs2-Zs1) (sin(A1)) ...(4a)
Y2=Y1+(Ys2-Ys1)...(5a)
Z2=X1+(Xs2-Xs1)(-sin(A1))+
(Zs2-Zs1) (cos(A1)) ...(6a)

As shown in FIG. 11, it is assumed that the coordinates corresponding to the position of the arm support shaft 33a move from the reference coordinates (Xs2, Ys2, Zs2) to (X2, Y2, Z2) due to the operation of the backhoe 10. Assume that due to the operation of the backhoe 10, the arm 33 rotates from the reference state by a rotation angle A2 about the axis in the first direction K1. According to the movement of the position of the arm support shaft 33a and the rotation of the arm 33, the coordinates corresponding to the position of the bucket support shaft 34a move from the reference coordinates (Xs3, Ys3, Zs3) to (X3, Y3, Z3). It shall be assumed that The rotation angle A2 of the arm 33 is detected by the IMU 53.

A vector (Xs3-Xs2, Ys3-Ys2, Zs3-Zs2) directed from the reference coordinates (Xs2, Ys2, Zs2) of the arm support shaft 33a to the reference coordinates (Xs3, Ys3, Zs3) of the bucket support shaft 34a is known. . Based on the determined coordinates (X2, Y2, Z2) of the arm support shaft 33a, the known vector, and the detected rotation angle A2, the coordinates (X3, Y3, Z3) are determined. Specifically, as shown in the following equations (7), (8), and (9), using the coordinates (X2, Y2, Z2), the sum of the above vectors, and the rotation matrix of the rotation angle A2, , coordinates (X3, Y3, Z3) are determined. Note that when determining the coordinates (X2, Y2, Z2) of the arm support shaft 33a, if the above formulas (4a), (5a), and (6a) are used, the following formulas (7) and (8) are used. ) and (9), the following equations (7a), (8a), and (9a) are used to calculate the coordinates (X3, Y3, Z3) corresponding to the position of the bucket support shaft 34a. It is more preferable to determine this from the viewpoint of improving accuracy.

X3=(X2+(Xs3-Xs2))(cos(A2))+
(Z2+(Zs3-Zs2))(sin(A2))...(7)
Y3=(Y2+(Ys3-Ys2))...(8)
Z3=(X2+(Xs3-Xs2))(-sin(A2))+
(Z2+(Zs3-Zs2))(cos(A2))...(9)

X3=X2+(Xs3−Xs2)(cos(A2))+
(Zs3-Zs2) (sin(A2)) ...(7a)
Y3=Y2+(Ys3-Ys2)...(8a)
Z3=X2+(Xs3-Xs2)(-sin(A2))+
(Zs3-Zs2) (cos(A2)) ...(9a)

As shown in FIG. 12, it is assumed that the coordinates corresponding to the position of the bucket support shaft 34a move from the reference coordinates (Xs3, Ys3, Zs3) to (X3, Y3, Z3) due to the operation of the backhoe 10. It is assumed that, due to the operation of the backhoe 10, the bucket 34 is rotated from the reference state by a rotation angle A3 about the axis in the first direction K1. According to the movement of the position of the bucket support shaft 34a and the rotation of the bucket 34, the coordinates corresponding to the position of the tip portion 34b have moved from the reference coordinates (Xs4, Ys4, Zs4) to (X4, Y4, Z4). shall be taken as a thing. The rotation angle A3 of the bucket 34 is detected by the IMU 54.

A vector (Xs4-Xs3, Ys4-Ys3, Zs4-Zs3) directed from the reference coordinates (Xs3, Ys3, Zs3) of the bucket support shaft 34a to the reference coordinates (Xs4, Ys4, Zs4) of the tip portion 34b is known. Based on the determined coordinates (X3, Y3, Z3) of the bucket support shaft 34a, the known vector, and the detected rotation angle A3, the coordinates (X4, Y4) corresponding to the position of the tip portion 34b are determined. , Z4) are determined. Specifically, as shown in the following equations (10), (11), and (12), using the coordinates (X3, Y3, Z3), the sum of the above vectors, and the rotation matrix of the rotation angle A3, , coordinates (X4, Y4, Z4) are determined. Note that when determining the coordinates (X3, Y3, Z3) of the bucket support shaft 34a, if the above formulas (7a), (8a), and (9a) are used, the following formulas (10) and (11) are used. ) and (12), the following equations (10a), (11a), and (12a) are used to calculate the coordinates (X4, Y4, Z4) corresponding to the position of the tip portion 34b. If this is determined, it is more suitable from the viewpoint of improving accuracy.

X4=(X3+(Xs4-Xs3))(cos(A3))+
(Z3+(Zs4-Zs3))(sin(A3))...(10)
Y4=(Y3+(Ys4-Ys3))...(11)
Z4=(X3+(Xs4-Xs3))(-sin(A3))+
(Z3+(Zs4-Zs3))(cos(A3))...(12)

X4=X3+(Xs4−Xs3)(cos(A3))+
(Zs4-Zs3) (sin(A3)) ...(10a)
Y4=Y3+(Ys4-Ys3)...(11a)
Z4=X3+(Xs4-Xs3)(-sin(A3))+
(Zs4-Zs3) (cos(A3)) ...(12a)

As shown in FIG. 13, it is assumed that the operation of the backhoe 10 causes the second boom 32 to rotate from the reference state by a rotation angle A4 about the second boom support shaft 32a. Assume that the coordinates corresponding to the position of the tip portion 34b move from (X4, Y4, Z4) to (X, Y, Z) in accordance with the rotation of the second boom 32. That is, this movement corresponds to a leftward or rightward offset movement in accordance with the rotation of the second boom 32. The rotation angle A4 of the second boom 32 is detected by the RENC 60. If the rotation angle A4 in the rightward offset movement is a positive value, the rotation angle A4 in the leftward offset movement may be a negative value. Further, the positive and negative values of the rotation angle A4 may be reversed.

Based on the determined coordinates (X4, Y4, Z4) of the tip end portion 34b and the detected rotation angle A4, coordinates (X , Y, Z) are determined. Specifically, as shown in the following equations (13), (14), and (15), the coordinates (X, Y4, Z4) and the rotation matrix of the rotation angle A4 are used to calculate the coordinates (X, Y, Z) are determined. In addition, when determining the coordinates (X4, Y4, Z4) of the tip portion 34b, when using the above formulas (10a), (11a), and (12a), the following formulas (13) and (14) Instead of using equations (15) and (15), the following equations (13a), (14a), and (15a) are used to calculate the coordinates corresponding to the position of the tip portion 34b when the second boom 32 rotates. Determining (X, Y, Z) is more suitable from the viewpoint of improving accuracy. Here, X5 and Y5 in the following formulas (13a), (14a), and (15a) correspond to the position of the second boom support shaft 32a determined by the following formulas (16a) and (17a), respectively. (see FIG. 23).

X=X4(cos(A4))−Y4(sin(A4))…(13)
Y=X4(sin(A4))+Y4(cos(A4))...(14)
Z=Z4...(15)

X=X5+(X4-X5)(cos(A4))-
(Y4-Y5) (sin (A4)) ... (13a)
Y=Y5+(X4-X5)(sin(A4))+
(Y4-Y5)(cos(A4))...(14a)
Z=Z4...(15a)

As described above, the position determining device 80 determines the coordinates (X, Y, Z) corresponding to the position of the tip portion 34b of the bucket 34.

<Actual operation>
The actual operation of the position determining device 80 will be explained with reference to the flowchart of FIG. 14. When the position determining device 80 determines the position of the tip portion 34b of the bucket 34 and displays the position, first, in step ST1, the position determining device 80 determines reference coordinates. The vehicle position measuring means 81 of the position determination device 80 positions the reference coordinates (Xs0, Ys0, Zs0) corresponding to the mounting position of the GNSS 40 when the backhoe 10 is stationary in the reference state. When the backhoe 10 is stationary in the standard state, the position determining means 85 of the position determining device 80 determines the position of each of the first boom support shaft 31a, arm support shaft 33a, bucket support shaft 34a, and tip portion 34b. Reference coordinates (Xs1, Ys1, Zs1), (Xs2, Ys2, Zs2), (Xs3, Ys3, Zs3), and (Xs4, Ys4, Zs4) corresponding to the positions are determined, respectively. (See Figure 8).

Next, in step ST2, the position determining device 80 measures the coordinates of the GNSS 40. The coordinates (X0, Y0, Z0) corresponding to the mounting position of the GNSS 40 are determined by the vehicle position measuring means 81 of the position determining device 80 when the backhoe 10 is in operation.

Next, in step ST3, the position determining device 80 obtains rotation angles A0, A1, A2, A3, and A4. The vehicle rotation angle acquisition means 82 of the position determining device 80 acquires the rotation angle A0 of the traveling vehicle 20 when the backhoe 10 is operating. When the backhoe 10 is operating, the first rotation angle acquisition means 83 of the position determining device 80 acquires the rotation angles A1, A2, and A3 of the first boom 31, the arm 33, and the bucket 34, respectively. . The second rotation angle acquisition means 84 of the position determination device 80 acquires the rotation angle A4 of the second boom 32 when the backhoe 10 is operating.

Next, in step ST4, the position determining device 80 determines the coordinates of the tip portion 34b. When the backhoe 10 is in operation, the position determining means 85 of the position determining device 80 determines the reference coordinates determined in step ST1, the coordinates of the GNSS 40 determined in step ST2, and the rotation acquired in step ST3. Correspond to the position of the tip portion 34b of the bucket 34 using angles A0, A1, A2, A3, A4 and the above equations (1) to (15) (preferably the above equations (1a) to (15a)). The coordinates (X, Y, Z) are determined (see FIGS. 9 to 13).

Then, in step ST5, the position determining device 80 displays the position of the tip portion 34b. The position determining means 85 of the position determining device 80 displays the position of the coordinates (X, Y, Z) determined in step ST4 on the display device 21c (see FIG. 7).

<Effects of embodiment>
As explained above, according to the position determination device 80 according to the first embodiment of the present invention, the mounting position of the GNSS 40 of the traveling vehicle 20 is determined by the vehicle position measuring means 81. The vehicle rotation angle acquisition means 82 acquires the rotation angle A0 of the traveling vehicle 20. The first rotation degree acquisition means 83 acquires rotation angles A1, A2, and A3 of the first rotation parts (first boom 31, arm 33, bucket 34). The second rotation angle acquisition means 84 acquires the rotation angle A4 of the second rotation portion (second boom 32). The position determining means 85 determines the position of the tip portion 34b of the bucket 34 based on the measured mounting position of the GNSS 40 and the acquired rotation angles A0, A1, A2, A3, and A4.

Therefore, the movement of the position of the traveling vehicle 20, the rotation of the traveling vehicle 20, and the rotation of the first rotating parts (first boom 31, arm 33, bucket 34) in response to the operation of the work equipment 10 (backhoe 10) are reflected. Thus, the position of the tip portion 34b of the bucket 34 can be determined. Furthermore, the position of the tip end portion 34b of the bucket 34 can be determined by also reflecting the rotation of the second rotating portion (second boom 32) in accordance with the operation of the working machine 10 (backhoe 10). Therefore, even if the tip portion 34b moves offset in the first direction K1, the position of the tip portion 34b can be determined with high accuracy. By displaying the determined position of the tip portion 34b on, for example, the display device 21c, the driver can appropriately navigate the operation of the movable operating tool 30.

In the position determination device 80 according to the first embodiment of the present invention, the backhoe 10 is particularly equipped with the second rotation degree detection device 60 (RENC 60). The RENC 60 includes a shaft 62 and a casing 63 that is rotatable relative to the shaft 62. The shaft 62 is coaxially fixed to the second boom support shaft 32a. The casing 63 is fixed to the first boom 31. The first boom 31 rotates relative to the second boom support shaft 32a as the second boom 32 rotates. The degree of rotation of the casing 63 with respect to the shaft 62 is detected, and the rotation angle A4 of the second boom 32 is obtained. According to this, the rotation angle detection device can be easily attached, and the rotation angle A4 of the second boom 32 can be reliably acquired with a simple configuration.

[Second embodiment]
Next, a position determining device 80 according to a second embodiment of the present invention will be described. In the second embodiment, instead of the second rotation angle detection device 60 (RECN 60) of the first embodiment, a straight line distance detection device 60 is used to obtain the rotation angle A4 of the second boom 32. The second embodiment differs from the first embodiment in this respect, and is otherwise the same as the first embodiment. Hereinafter, differences from the first embodiment will be explained.

As shown in FIG. 15, the linear distance detection device 60 may be a device capable of detecting a linear distance, such as a wire encoder, for example. Hereinafter, the straight-line distance detection device 60 may be referred to as WENC 60. In the WENC 60, components that are the same as or equivalent to the components of the RECN 60 of the first embodiment are given the same reference numerals, and a description thereof will be omitted.

The WENC 60 further includes a cover 66, an outlet 67, and a wire 68 in addition to the components of the RECN 60 of the first embodiment. The cover 66 is a cylindrical housing having the same diameter as the casing 63, and is fixed to the casing 63 so as to cover the shaft 62. The bottom surface of the cover 66 serves as a fixed surface 66a. An outlet port 67 is provided on the side surface of the casing 63. The outlet 67 protrudes in a direction perpendicular to the axis of the shaft 62 and communicates the interior space of the cover 66 with the outside.

The wire 68 has flexibility and is wound around the side surface of the shaft 62 inside the cover 66 and led out to the outside through the outlet 67. The shaft 62 is constantly biased in one direction of rotation in order to wind up the wire 68. When the wire 68 is pulled outside the cover 66, the shaft 62 rotates while resisting the biasing force. When the wire 68 is loosened on the outside of the cover 66, the shaft 62 rotates in the opposite direction in response to the biasing force. Therefore, on the outside of the cover 66, the shaft 62 (slit disk 61) and the casing 63 rotate relative to each other in accordance with the expansion and contraction of the linear distance from the tip of the wire 68 to the outlet 67. When the shaft 62 and the casing 63 rotate relative to each other, the light receiving section 65 alternately detects passage and blocking of light through the opening slit 61a. This detection signal is sent out toward the position determining device 80. Based on this detection signal, the straight-line distance of the wire 68 can be obtained.

As shown in FIG. 16, a wire fixing portion 37b1 that protrudes upward is coaxially provided on the second boom cylinder support shaft 37b of the second boom cylinder 37 on the arm 33 side. The tip of the wire 68 is fixed to the wire fixing portion 37b1, the wire 68 is stretched parallel to the second boom cylinder 37, and the fixing surface 66a of the WENC 60 is fixed above the second boom cylinder support shaft 37a. The WENC 60 is fixed such that the outlet 67 faces the wire fixing portion 37b1. One end of the second boom cylinder 37 is fixed to the left side surface of the second boom 32 via a second boom cylinder support shaft 37b. The other end of the second boom cylinder 37 is fixed to the left side surface of the first boom 31 via a second boom cylinder support shaft 37a.

As shown in FIG. 17, when the second boom cylinder 37 is driven to shorten, the straight line distance in the direction from one end (second boom cylinder support shaft 37b) to the other end (second boom cylinder support shaft 37a) is shortened. Accordingly, the second boom 32 also rotates about the second boom 32 support shaft, and is offset to the left. Moreover, when the second boom cylinder 37 is driven to extend, the above-mentioned straight-line distance is extended. Correspondingly, the second boom 32 also rotates around the second boom 32 support shaft, and is offset to the right. The second boom cylinder 37 corresponds to a rod member.

The straight-line distance of the wire 68 expands and contracts in response to the expansion and contraction of the straight-line distance of the second boom cylinder 37 . The linear distance of the second boom cylinder 37 changes depending on the rotation angle of the second boom 32. Therefore, the rotation angle of the second boom 32 can be obtained based on the detection signal of the WENC 60.

As shown in FIGS. 17 and 18, in this embodiment, the straight-line distance D of the wire 68 (second boom cylinder 37) can be extended from the reference straight-line distance Ds in the standard state to the maximum straight-line distance D1. There is. As the straight line distance D changes from Ds to D1, the absolute value of the positive rotation angle A4 increases. Further, the straight line distance D can be shortened from the standard straight line distance Ds to the minimum straight line distance D2. As the straight line distance D changes from Ds to D2, the absolute value of the negative rotation angle A4 increases.

As shown in FIG. 19, the second rotation degree acquisition means 84 of the second embodiment is connected to the WENC 60 and receives a signal corresponding to the linear distance detected and transmitted by the WENC 60. The second rotation angle acquisition means 84 acquires the rotation angle of the second boom 32 based on the signal. The rotation angle A4 of the second boom 32 may be obtained, for example, based on the detected linear distance D and the relationship between the linear distance D and the rotation angle A4 shown in FIG. 18.

In the position determination device 80 according to the second embodiment of the present invention, the backhoe 10 is particularly equipped with a straight-line distance detection device 60 (WENC 60). The WENC 60 includes a wire 68, and the linear distance of the wire 68 expands and contracts in response to the expansion and contraction of the linear distance of the second boom cylinder 37. The linear distance of the second boom cylinder 37 changes depending on the rotation angle of the second boom 32. Utilizing this fact, the straight line distance is detected and the rotation angle A4 of the second boom 32 is obtained. According to this, the linear distance detection device can be easily attached, and the rotation angle A4 of the second boom 32 can be reliably obtained with a simple configuration.

In the second embodiment, the WENC (wire encoder) 60 is used as the linear distance detection device 60, but any device that can detect the linear distance of the second boom cylinder 37 may be used. There may be. The linear distance detection device 60 may be, for example, an optical sensor, a radio wave sensor, a sonic sensor, or the like. The linear distance between the second boom cylinder support shafts 37a and 37b may be detected using these sensors.

[Third embodiment]
Next, a position determining device 80 according to a third embodiment of the present invention will be described. In the third embodiment, instead of the RECN 60 and WENC 60 of the first and second embodiments, a rotational position detection device 60A is used to obtain the rotation angle A4 of the second boom 32. Furthermore, in the third embodiment, the position determination device 80 further includes an axial position acquisition means 86 and a rotational position measurement means 87. In this respect, the third embodiment differs from the first and second embodiments described above, and is otherwise the same as the first and second embodiments. Hereinafter, differences from the first and second embodiments will be explained.

As shown in FIG. 20, the rotational position detection device 60A is mounted on the second boom 32. The mounting position may be anywhere on the second boom 32, but for example, if the rotational position detection device 60A is mounted at a location as far away as possible from the second boom support shaft 32a, the detection accuracy of the rotation angle A4 may be improved. It is suitable for From this viewpoint and from the viewpoint of ease of mounting, in this embodiment, the rotational position detection device 60A is located at the upper part of the second boom 32 and in front of the second boom cylinder support shaft 37b (on the arm 33 side). It is installed.

The rotational position detection device 60A detects the mounting position as the position of the second boom 32 based on reception of a positioning signal from a global positioning satellite. This detection signal is sent out toward the position determining device 80. The rotational position detection device 60A may be capable of position detection using a satellite positioning system such as GNSS, for example. In this embodiment, the absolute coordinates corresponding to the mounting position of the rotational position detection device 60A are determined using two frequencies L1 and L2. Hereinafter, the rotational position detection device 60A may be referred to as GNSS 60A. Note that instead of the two frequencies L1 and L2, two frequencies L1 and L5 may be used, or a multi-frequency wave of two or more frequencies may be used.

As shown in FIG. 21, the position determination device 80 further includes an axial position acquisition means 86 and a rotational position measurement means 87 in addition to those of the first embodiment. The shaft position acquisition means 86 acquires the position of the second boom support shaft 32a, which is the center of rotation of the second boom 32, as described later. The rotational position measuring means 87 is connected to the GNSS 60A and receives a signal corresponding to the position of the second boom 32 detected and transmitted by the GNSS 60A. The rotational position measuring means 87 measures the position of the second boom 32 based on the signal. As described later, the second rotation angle acquisition means 84 determines the rotation angle of the second boom 32 based on the acquired position of the second boom support shaft 32a and the determined position of the second boom 32. get.

As shown in FIG. 22, in the reference state, the position determining device 80 further sets the reference coordinates (Xs5, Ys5, Zs5) corresponding to the position of the second boom support shaft 32a and the reference coordinates corresponding to the mounting position of the GNSS 60A. Determine the coordinates (Xs6, Ys6, Zs6). Components and coordinates that are the same as or equivalent to those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the reference state, the distance and direction from the position of the first boom support shaft 31a to the position of the second boom support shaft 32a are known. Based on the reference coordinates (Xs1, Ys1, Zs1) of the first boom support shaft 31a determined from the reference coordinates (Xs0, Ys0, Zs0) of the GNSS 40 and the known separation distance and direction, the second boom support shaft 32a The reference coordinates (Xs5, Ys5, Zs5) corresponding to the position are determined. In addition, instead of this, the distance and direction from the mounting position of the GNSS 40 to the position of the second boom support shaft 32a are known, and based on the reference coordinates (Xs0, Ys0, Zs0) of the GNSS 40, , the reference coordinates (Xs5, Ys5, Zs5) of the second boom support shaft 32a may be determined.

In the reference state, the distance and direction from the position of the second boom support shaft 32a to the mounting position of the GNSS 60A are known. Based on the reference coordinates (Xs5, Ys5, Zs5) of the second boom support shaft 32a determined above and the known separation distance and direction, the reference coordinates (Xs6, Ys6, Zs6) corresponding to the mounting position of the GNSS 60A are determined. It is determined.

As shown in FIG. 23, it is assumed that the coordinates corresponding to the position of the first boom support shaft 31a move from the reference coordinates (Xs1, Ys1, Zs1) to (X1, Y1, Z1) due to the operation of the backhoe 10. . Assume that the operation of the backhoe 10 causes the first boom 31 to rotate from the reference state by a rotation angle A1 about the axis in the first direction K1. According to the movement of the position of the first boom support shaft 31a and the rotation of the first boom 31, the coordinates corresponding to the position of the second boom support shaft 32a change from the reference coordinates (Xs5, Ys5, Zs5) to (X5, Y5, Z5). When the second boom 32 does not rotate from the reference state (does not move offset), the coordinates corresponding to the mounting position of the GNSS 60A are assumed to have moved from the reference coordinates (Xs6, Ys6, Zs6) to (X6a, Y6a, Z6a). do. The rotation angle A1 of the first boom 31 is detected by the IMU 52.

Vector (Xs5-Xs1, Ys5-Ys1, Zs5-Zs1) from the reference coordinates (Xs1, Ys1, Zs1) of the first boom support shaft 31a toward the reference coordinates (Xs5, Ys5, Zs5) of the second boom support shaft 32a is known. The coordinates (X1, Y1, Z1) of the first boom support shaft 31a determined by the above formulas (1) to (3) (preferably the above formulas (1a) to (3a)) and the known vector , and the detected rotation angle A1, the coordinates (X5, Y5, Z5) corresponding to the position of the second boom support shaft 32a are determined. Specifically, as shown in the following equations (16), (17), and (18), using the coordinates (X1, Y1, Z1), the sum of the above vectors, and the rotation matrix of the rotation angle A1, , coordinates (X5, Y5, Z5) are determined. The shaft position acquisition means 86 acquires the position of the second boom support shaft 32a as described above. In addition, instead of using the following formulas (16), (17), and (18), the following formulas (16a), (17a), and (18a) are used to calculate the second boom support shaft 32a. Determining the coordinates (X5, Y5, Z5) corresponding to the position is more suitable from the viewpoint of improving accuracy.

X5=(X1+(Xs5-Xs1))(cos(A1))+
(Z1+(Zs5-Zs1))(sin(A1))...(16)
Y5=(Y1+(Ys5-Ys1))...(17)
Z5=(X1+(Xs5-Xs1))(-sin(A1))+
(Z1+(Zs5-Zs1))(cos(A1))...(18)

X5=X1+(Xs5−Xs1)(cos(A1))+
(Zs5-Zs1) (sin(A1)) ...(16a)
Y5=Y1+(Ys5-Ys1)...(17a)
Z5=X1+(Xs5-Xs1)(-sin(A1))+
(Zs5-Zs1) (cos(A1)) ...(18a)

From the reference coordinates (Xs1, Ys1, Zs1) of the first boom support shaft 31a, via the reference coordinates (Xs5, Ys5, Zs5) of the second boom support shaft 32a, to the reference coordinates (Xs6, Ys6, Zs6) of the GNSS 60A. Vector ((Xs5-Xs1) + (Xs6-Xs5), (Ys5-Ys1) + (Ys6-Ys5), (Zs5-Zs1) + (Zs6-Zs5)) = (Xs6-Xs1, Ys6-Ys1, Zs6- Zs1) is known. The coordinates (X1, Y1, Z1) of the first boom support shaft 31a determined by the above formulas (1) to (3) (preferably the above formulas (1a) to (3a)) and the known vector , and the detected rotation angle A1, coordinates (X6a, Y6a, Z6a) corresponding to the mounting position of the GNSS 60A are determined. Specifically, as shown in the following equations (19), (20), and (21), using the coordinates (X1, Y1, Z1), the sum of the above vectors, and the rotation matrix of the rotation angle A1, , coordinates (X6a, Y6a, Z6a) are determined. In addition, instead of using the following formulas (19), (20), and (21), the following formulas (19a), (20a), and (21a) are used to correspond to the mounting position of GNSS60A. Determining the coordinates (X6a, Y6a, Z6a) is more suitable from the viewpoint of improving accuracy.

X6a=(X1+(Xs6−Xs1))(cos(A1))+
(Z1+(Zs6-Zs1))(sin(A1))...(19)
Y6a=(Y1+(Ys6-Ys1))...(20)
Z6a=(X1+(Xs6-Xs1))(-sin(A1))+
(Z1+(Zs6-Zs1))(cos(A1))...(21)

X6a=X1+(Xs6−Xs1)(cos(A1))+
(Zs6-Zs1) (sin(A1)) ...(19a)
Y6a=Y1+(Ys6-Ys1)...(20a)
Z6a=X1+(Xs6-Xs1)(-sin(A1))+
(Zs6-Zs1) (cos(A1)) ...(21a)

Here, as shown in FIG. 24, it is assumed that the operation of the backhoe 10 causes the second boom 32 to rotate (offset movement) about the second boom support shaft 32a. In this case, it is assumed that the coordinates corresponding to the mounting position of the GNSS 60A have moved from (X6a, Y6a, Z6a) to (X6b, Y6b, Z6b). The coordinates (X6b, Y6b, Z6b) of GNSS60A are those determined by GNSS60A.

Based on the determined coordinates (X5, Y5, Z5), the determined coordinates (X6a, Y6a, Z6a), and the determined coordinates (X6b, Y6b, Z6b), the position of the second boom 32 is determined. A rotation angle A4 is obtained. Specifically, as shown in the following equations (22), (23), (24), and (25a), vectors (X6a-X5, Y6a-Y5, Z6a-Z5) and (X6b-X5, Inner product S of Y6b-Y5, Z6b-Z5), absolute value T of vector (X6a-X5, Y6a-Y5, Z6a-Z5), and absolute value of vector (X6b-X5, Y6b-Y5, Z6b-Z5) Rotation angle A4 is determined using U. The second rotation angle acquisition means 84 acquires the rotation angle A4 of the second boom 32 as described above.

S=(X6a-X5)(X6b-X5)+(Y6a-Y5)(Y6b-Y5)+
(Z6-Z5a) (Z6b-Z5) ...(22)
T = ((X6a-X5) ² + (Y6a-Y5) ² + (Z6a-Z5) ² ) ^1/2 ...(23)
U = ((X6b-X5) ² + (Y6b-Y5) ² + (Z6b-Z5) ² ) ^1/2 ...(24)
A4=arccos(S/((T)(U)))...(25a)

The actual operation of the position determining device 80 in the third embodiment will be explained with reference to the flowchart in FIG. 25. In determining the reference coordinates in step ST1, when the backhoe 10 is stationary in the reference state, the position determining means 85 of the position determining device 80 determines, in addition to the reference coordinates of the first and second embodiments, , the second boom support shaft 32a, and the reference coordinates (Xs5, Ys5, Zs5) and (Xs6, Ys6, Zs6) corresponding to the respective positions of the GNSS 60A are also determined. (See Figure 22).

Next, in step ST21 after step ST2, the position determining device 80 acquires the coordinates of the second boom support shaft 32a. When the backhoe 10 is operating, the axis position acquisition means 86 of the position determining device 80 calculates the Coordinates (X5, Y5, Z5) corresponding to the position of the two-boom support shaft 32a are determined (see FIG. 23).

Next, in step ST22, the position determining device 80 measures the coordinates of the GNSS 60A. When the backhoe 10 is operating, the rotational position measuring means 87 of the position determining device 80 measures the coordinates (X6b, Y6b, Z6b) corresponding to the mounting position of the GNSS 60A.

In acquiring the rotation angle in the next step ST3, when the backhoe 10 is operating, the second rotation angle acquisition means 84 of the position determining device 80 uses the above equations (19) to (24) and the above (25a). The rotation angle A4 of the second boom 32 is obtained using the formula (preferably the above formulas (19a) to (21a), the above formulas (23) to (24), and the above formula (25a)) (Fig. 24 ). Note that the rotation angles A0, A1, A2, and A3 are obtained in the same manner as in the first and second embodiments. Thereafter, the process advances to steps ST4 and ST5, and the same processes as in the first and second embodiments are executed.

In the position determination device 80 according to the third embodiment of the present invention, the second boom 32 of the backhoe 10 is particularly equipped with a rotational position detection device 60A (GNSS 60A). Furthermore, the position determination device 80 further includes an axial position acquisition means 86 and a rotational position measurement means 87. The shaft position acquisition means 86 acquires the position of the second boom support shaft 32a. The mounting position of the GNSS 60A on the second boom 32 is determined by the GNSS 60A and the rotational position measuring means 87. The rotation angle A4 of the second boom 32 is obtained based on the obtained position of the second boom support shaft 32a and the measured mounting position of the GNSS 60A on the second boom 32. According to this, the rotational position detection device can be mounted on any part of the second boom 32. For example, the rotational position detection device can be mounted at a location where it can be easily mounted while avoiding structures, or at a location where the accuracy of the rotation angle can be improved. Therefore, the rotation angle A4 of the second boom 32 can be easily and reliably obtained.

[Fourth embodiment]
Next, a position determining device 80 according to a fourth embodiment of the present invention will be described. In the fourth embodiment, instead of the RECN 60 and WENC 60 of the first and second embodiments, a rotational position detection device 60A and a shaft position detection device 60B are used to obtain the rotation angle A4 of the second boom 32. . Furthermore, in the fourth embodiment, the position determination device 80 includes relative position acquisition means 88 instead of the axis position acquisition means 86 and rotational position measurement means 87 of the third embodiment. In this respect, the fourth embodiment differs from the first, second, and third embodiments described above, and is otherwise the same as the first, second, and third embodiments. Hereinafter, points different from the first, second, and third embodiments described above will be explained.

As shown in FIG. 26, the rotational position detection device 60A and the shaft position detection device 60B are mounted on the second boom 32. The shaft position detection device 60B is coaxially mounted on the upper part of the second boom support shaft 32a. The rotational position detection device 60A may be mounted at any location in the second boom 32 as long as it is located in front of the shaft position detection device 60B. For example, it is preferable to mount the rotational position detection device 60A at a location as far away as possible from the shaft position detection device 60B, from the viewpoint of improving the detection accuracy of the rotation angle A4. From this viewpoint and from the viewpoint of ease of mounting, in this embodiment, the rotational position detection device 60A is located at the upper part of the second boom 32 and in front of the second boom cylinder support shaft 37b (on the arm 33 side). It is installed.

The rotational position detection device 60A detects the mounting position on the second boom 32 as the position of the second boom 32 based on reception of a positioning signal from a global positioning satellite. This detection signal is sent out toward the position determining device 80. The rotational position detection device 60A may be capable of position detection using a satellite positioning system such as GNSS, for example. The shaft position detection device 60B detects the mounting position on the second boom support shaft 32a as the position of the second boom support shaft 32a based on reception of a positioning signal from a global positioning satellite. This detection signal is sent out toward the position determining device 80. The axis position detection device 60B may be capable of position detection using, for example, a satellite positioning system such as GNSS.

In this embodiment, the relative position of the rotational position detecting device 60A with respect to the position of the axis position detecting device 60B can be obtained by relative positioning using one frequency L1. That is, the relative position of the second boom 32 with respect to the position of the second boom support shaft 32a can be acquired. As the relative position, for example, a vector from the position of the second boom support shaft 32a (the position of the shaft position detection device 60B) to the position of the rotational position detection device 60A on the second boom 32 may be used. Hereinafter, the rotational position detection device 60A may be referred to as GNSS60A, and the axial position detection device 60B may be referred to as GNSS60B.

The GNSS 60A and GNSS 60B in this embodiment may have any configuration as long as they can perform relative positioning as described above. In the case of relative positioning, the configuration of the position detection device can be made simpler than in the case of determining absolute coordinates using multi-frequency waves. Therefore, inexpensive position detection devices can be used as the GNSS 60A and the GNSS 60B.

As shown in FIG. 27, the position determination device 80 further includes relative position acquisition means 88 in addition to those of the first embodiment. The relative position acquisition means 88 acquires the relative position of the second boom 32 with respect to the position of the second boom support shaft 32a, as described later. The relative position acquisition means 88 is connected to the GNSS 60A and the GNSS 60B, and receives signals corresponding to the positions of the second boom 32 and the second boom support shaft 32a detected and sent out by the GNSS 60A and 60B, respectively. . The relative position acquisition means 88 acquires the relative position based on the signal. The second rotation angle acquisition means 84 acquires the rotation angle of the second boom 32 based on the acquired relative position, as will be described later.

As shown in FIG. 28, it is assumed that the operation of the backhoe 10 causes the second boom 32 to rotate (offset movement) about the second boom support shaft 32a. The state shown in FIG. 28 corresponds to the state shown in FIG. 24 described above. That is, in this state, the position of the first boom support shaft 31a moves from the reference coordinates (Xs1, Ys1, Zs1) to the coordinates (X1, Y1, Z1), and the first boom 31 rotates by the rotation angle A1. It is in a state of being.

In this state, before the second boom 32 is rotated, relative positioning is performed using the GNSSs 60A and 60B. Specifically, a vector (X6a-X5, Y6a-Y5, Z6a-Z5) from the mounting position of the GNSS 60B on the second boom support shaft 32a toward the mounting position of the GNSS 60A on the second boom 32 is acquired. Also, when the second boom 32 is rotated, relative positioning is performed using the GNSSs 60A and 60B. Specifically, a vector (X6b-X5, Y6b-Y5, Z6b-Z5) from the mounting position of the GNSS 60B on the second boom support shaft 32a toward the mounting position of the GNSS 60A on the second boom 32 is acquired. The relative position acquisition means 88 acquires vectors (X6a-X5, Y6a-Y5, Z6a-Z5) and (X6b-X5, Y6b-Y5, Z6b-Z5) as relative positions as described above.

In the third embodiment, the coordinates (X5, Y5, Z5) of the second boom support shaft 32a, the coordinates (X6a, Y6a, Z6a) and (X6b, Y6b, Z6b) of the GNSS 60A are individually acquired, Vectors (X6a-X5, Y6a-Y5, Z6a-Z5) and (X6b-X5, Y6b-Y5, Z6b-Z5) are obtained. In contrast, in this embodiment, vectors (X6a-X5, Y6a-Y5, Z6a-Z5) and (X6b-X5 , Y6b-Y5, Z6b-Z5) are directly obtained. In this point, this embodiment differs from the third embodiment described above.

The rotation angle A4 of the second boom 32 is obtained based on the vectors (X6a-X5, Y6a-Y5, Z6a-Z5) and (X6b-X5, Y6b-Y5, Z6b-Z5) obtained above. Specifically, as shown in the above equations (22), (23), (24), and (25a), vectors (X6a-X5, Y6a-Y5, Z6a-Z5) and (X6b-X5, Inner product S of Y6b-Y5, Z6b-Z5), absolute value T of vector (X6a-X5, Y6a-Y5, Z6a-Z5), and absolute value of vector (X6b-X5, Y6b-Y5, Z6b-Z5) Rotation angle A4 is determined using U. The second rotation angle acquisition means 84 acquires the rotation angle A4 of the second boom 32 as described above.

The actual operation of the position determining device 80 in the fourth embodiment will be explained with reference to the flowchart in FIG. 29. In determining the reference coordinates in step ST1, while the backhoe 10 is stationary in the reference state, the reference coordinates are determined by the position determining means 85 of the position determining device 80 in the same manner as in the first and second embodiments. be done. (See Figure 8).

Next, in step ST23 via step ST2, the position determining device 80 acquires the relative positions of the GNSSs 60A and 60B. The relative position acquisition means 88 of the position determining device 80 acquires vectors (X6a-X5, Y6a-Y5, Z6a-Z5) and (X6b-X5, Y6b-Y5, Z6b-Z5). Here, the vector (X6a-X5, Y6a-Y5, Z6a-Z5) is a vector from the mounting position of the GNSS 60B to the mounting position of the GNSS 60A before the offset movement of the second boom 32 is performed. The vector (X6b-X5, Y6b-Y5, Z6b-Z5) is a vector directed from the mounting position of the GNSS 60B to the mounting position of the GNSS 60A when the second boom 32 is offset moved.

In acquiring the rotation angle in the next step ST3, when the backhoe 10 is operating, the second rotation angle acquisition means 84 of the position determining device 80 calculates the above equations (22) to (24) and the above (25a). The rotation angle A4 of the second boom 32 is obtained using (see FIG. 28). Note that the rotation angles A0, A1, A2, and A3 are obtained in the same manner as in the first and second embodiments. Thereafter, the process advances to steps ST4 and ST5, and the same processes as in the first and second embodiments are executed.

In particular, in the position determining device 80 according to the fourth embodiment of the present invention, the second boom 32 of the backhoe 10 is equipped with a rotational position detecting device 60A (GNSS60A), and the shaft position detecting device 60B (GNSS60B) is equipped with the second boom 32 of the backhoe 10. The second boom support shaft 32a is provided with the second boom support shaft 32a. Furthermore, the position determination device 80 further includes relative position acquisition means 88 . The relative positioning of the GNSSs 60A and 60B and the relative position acquisition means 88 acquire the relative position of the second boom 32 (the mounting position of the GNSS 60A) with respect to the second boom support shaft 32a (the mounting position of the GNSS 60B). Based on the obtained relative position, the rotation angle A4 of the second boom 32 is obtained. According to this, relative positioning is performed by the rotational position detection device and the axial position detection device. In the case of relative positioning, the configuration of the position detection device can be made simpler than in the case of determining absolute coordinates using multi-frequency waves. Therefore, an inexpensive position detection device can be used as the rotational position detection device and the shaft position detection device. Therefore, the rotation angle A4 of the second boom 32 can be reliably obtained at low cost.

[Modified example]
Various modifications can be adopted in the embodiments of the present invention. In the first to fourth embodiments described above, the configuration of the backhoe 10 is such that the first boom 31 is rotatable around the first boom support shaft 31a, and the second boom 32 is rotatable around the second boom support shaft 31a. It is rotatable around 32a. Relative rotation of the second boom 32 with respect to the first boom 31 allows offset movement of the bucket 34.

Instead, for example, the first boom 31 and the second boom 32 are integrally configured, the relative rotation of the second boom 32 with respect to the first boom 31 is regulated, and the first boom 31 is rotated in the second direction. It may be rotatable about an axis parallel to K2. More specifically, the connection portion of the first boom 31 to the traveling vehicle 20 may be the rotation center of two axes, an axis parallel to the first direction K1 and an axis parallel to the second direction K2. . Thereby, relative rotation of the first boom 31 with respect to the traveling vehicle 20 allows the bucket 34 to be offset. Even when the position determining device 80 is applied to the backhoe 10 having the configuration of this modification, the same effects as those of the above embodiments can be achieved.

The above-mentioned embodiments disclosed herein are illustrative in all respects and should not be considered restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

DESCRIPTION OF SYMBOLS 10... Work equipment (backhoe), 20... Traveling vehicle, 30... Movable operating tool, 31... First boom, 31a... First boom support shaft, 32... Second boom, 32a... Second boom support shaft, 33... Arm , 33a... Arm support shaft, 34... Bucket, 34a... Bucket support shaft, 34b... Tip portion, 36... First boom cylinder, 37... Second boom cylinder, 38... Arm cylinder, 39... Bucket cylinder, 40... Vehicle position Detection device (GNSS), 50... First rotation detection device (IMU), 60... Second rotation detection device (RENC), 60... Straight distance detection device (WENC), 60A... Rotation position detection device (GNSS), 60B... Axis position detection device (GNSS), 80... Position determining device, 81... Vehicle position measuring means, 82... Vehicle rotation degree acquisition means, 83... First rotation degree acquisition means, 84... Second rotation degree acquisition means, 85 ...position determining means, 86...axis position acquisition means, 87...rotational position acquisition means, 88...relative position acquisition means, 90...ECU, A0...rotation angle, A1...rotation angle, A2...rotation angle, A3...rotation angle, A4...rotation angle, K1...first direction, K2...second direction

Claims (5)

A running vehicle,
a movable operating tool extending toward a distal end portion separated from the traveling vehicle;
In a work machine equipped with
a first direction that is along the vehicle width direction of the traveling vehicle in a plan view and is a substantially horizontal direction;
A second direction is defined along the vehicle height direction of the traveling vehicle when viewed from the front and perpendicular to the first direction,
The movable operating tool is
an axis parallel to the first directionis supported by the traveling vehicle via a first boom support shaft, and the first boom support shaft isa first rotating part that is rotatable around the center and that, by rotating, allows the distal end part to move in the second direction when viewed from the front;The first boom asand,
an axis parallel to the second directionis supported by the end of the first boom via a second boom support shaft, and the second boom support shaft isa second rotating part that is rotatable around the center and that, by rotating, allows the distal end part to move in the first direction in the planar view;Second boom asand,
It is supported by the end of the second boom via an arm support shaft that is parallel to the first direction, and is rotatable about the arm support shaft, and by rotating, the an arm that allows the distal end portion to move in the second direction;
It is supported by the end of the arm via a bucket support shaft that is parallel to the first direction, is rotatable around the bucket support shaft, and corresponds to the outermost portion in the rotational radial direction.
a bucket that is provided with the tip portion that rotates to enable movement of the tip portion in the second direction when viewed from the front;
Work equipment equipped with
A positioning device applied to,
Vehicle position measuring means for measuring the position of a predetermined part of the traveling vehicle;
Vehicle rotation degree acquisition means for acquiring the rotation degree of the traveling vehicle;
a first rotation degree acquisition means for acquiring a rotation degree of the first rotation part;
a second degree of rotation acquisition means for acquiring the degree of rotation of the second rotation portion;
The measured position of the predetermined part of the running vehicle, the obtained rotation degree of the running vehicle, the obtained rotation degree of the first rotation part, and the obtained rotation degree of the second rotation part. determining the position of the tip portion of the movable operating tool based on the degree of rotation;A position determining means,
Coordinates (L, M, N ), in
In a reference state in which the work equipment is stationary in a reference posture and position,
Reference coordinates of the vehicle position measuring means, reference coordinates of the first boom support shaft, reference coordinates of the arm support shaft, reference coordinates of the bucket support shaft, reference coordinates of the tip portion, and the second boom support shaft. The reference coordinates of
(Xs0, Ys0, Zs0), (Xs1, Ys1, Zs1), (Xs2, Ys2, Zs2), (Xs3, Ys3, Zs3), (Xs4, Ys4, Zs4), and (Xs5, Ys5, Zs5)
and respectively stipulate that
When the work equipment moves from the reference state, the degree of rotation of the traveling vehicle from the reference state is a rotation angle A0, the degree of rotation of the first boom from the reference state is a rotation angle A1, and the degree of rotation from the reference state is When the degree of rotation of the arm is a rotation angle A2, and the degree of rotation of the bucket from the reference state is a rotation angle A3,
The coordinates of the vehicle position measuring means, the coordinates of the first boom support shaft, the coordinates of the arm support shaft, the coordinates of the bucket support shaft, the coordinates of the tip portion, and the coordinates of the second boom support shaft,
(X0, Y0, Z0), (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4), and (X5, Y5, Z5)
When stipulating respectively,

X1=X0+(Xs1-Xs0)(cos(A0))
+(Zs1-Zs0)(sin(A0))
Y1=Y0+(Ys1-Ys0)
Z1=X0+(Xs1-Xs0)(-sin(A0))
+(Zs1-Zs0)(cos(A0))
It was decided that
X2=X1+(Xs2-Xs1)(cos(A1))
+(Zs2-Zs1)(sin(A1))
Y2=Y1+(Ys2-Ys1)
Z2=X1+(Xs2-Xs1)(-sin(A1))
+(Zs2-Zs1)(cos(A1))
It was decided that
X3=X2+(Xs3-Xs2)(cos(A2))
+(Zs3-Zs2)(sin(A2))
Y3=Y2+(Ys3-Ys2)
Z3=X2+(Xs3-Xs2)(-sin(A2))
+(Zs3-Zs2)(cos(A2))
It was decided that
X4=X3+(Xs4-Xs3)(cos(A3))
+(Zs4-Zs3)(sin(A3))
Y4=Y3+(Ys4-Ys3)
Z4=X3+(Xs4-Xs3)(-sin(A3))
+(Zs4-Zs3)(cos(A3))
It was decided that
X5=X1+(Xs5-Xs1)(cos(A1))
+(Zs5-Zs1)(sin(A1))
Y5=Y1+(Ys5-Ys1)
Z5=X1+(Xs5-Xs1)(-sin(A1))
+(Zs5-Zs1)(cos(A1))
It was decided that
Furthermore, when the degree of rotation of the second boom from the reference state becomes a rotation angle A4,
When the coordinates of the tip portion are defined as (X, Y, Z),
X=X5+(X4-X5)(cos(A4))-(Y4-Y5)(sin(A4))
Y=Y5+(X4-X5)(sin(A4))+(Y4-Y5)(cos(A4))
Z=Z4
decide toposition determining means;
equipped with
Positioning device. The position determining device according to claim 1,
The work machine is
a shaft member coaxially fixed to the shaft serving as a center of rotation of the second rotation portion; and a shaft member fixed to a portion that rotates relative to the shaft with rotation of the second rotation portion and the shaft member; A rotation degree detection device having a rotation member that is rotatable relative to the member, detects the degree of rotation of the rotation member with respect to the shaft member, and sends a signal corresponding to the degree of rotation of the rotation member with respect to the shaft member,
The second rotation degree obtaining means includes:
A position determining device configured to obtain a degree of rotation of the second rotating portion based on a signal sent out by the degree of rotation detection device. The position determining device according to claim 1,
The work machine is
a rod member having one end fixed to the second rotating part, the other end fixed to the first rotating part or the traveling vehicle, and having a variable linear distance in a direction from the one end to the other end;
a straight-line distance detection device that detects the straight-line distance and sends a signal corresponding to the straight-line distance;
Equipped with
The second rotation part is
configured to be rotatable about an axis parallel to the second direction according to a change in the linear distance of the rod member,
The second rotation degree obtaining means includes:
A position determining device configured to obtain a degree of rotation of the second rotating portion based on a signal sent out by the linear distance detecting device. The position determining device according to claim 1,
The work machine is
A vehicle position detection device that is provided at the predetermined portion of the traveling vehicle, detects the position of the predetermined portion based on reception of a positioning signal from a global positioning satellite, and sends a signal corresponding to the position of the predetermined portion. and,
a rotational position provided in the second rotational part that detects the position of the second rotational part based on reception of a positioning signal from a global positioning satellite and sends a signal corresponding to the position of the second rotational part; a detection device;
Equipped with
The vehicle position measuring means includes:
configured to measure the position of the predetermined portion of the traveling vehicle based on a signal sent out by the vehicle position detection device,
Furthermore,
an axis position acquisition means for acquiring the position of the axis, which is the center of rotation of the second rotating part, based on the measured position of the predetermined part of the traveling vehicle;
Rotational position measuring means for measuring the position of the second rotational part based on the signal sent out by the rotational position detection device;
Equipped with
The second rotation degree obtaining means includes:
A position determining device configured to obtain a degree of rotation of the second rotation part based on the obtained position of the axis and the measured position of the second rotation part. The position determining device according to claim 1,
The work machine is
It is provided at the position of the axis that is the center of rotation of the second rotating part, detects the position of the axis based on reception of a positioning signal from a global positioning satellite, and outputs a signal corresponding to the position of the axis. A shaft position detection device for sending out,
a rotational position provided in the second rotational part that detects the position of the second rotational part based on reception of a positioning signal from a global positioning satellite and sends a signal corresponding to the position of the second rotational part; a detection device;
Equipped with
Furthermore,
Relative position acquisition means for acquiring the relative position of the second rotating portion with respect to the position of the shaft based on the signal sent out by the shaft position detection device and the signal sent out by the rotational position detection device. ,
The second rotation degree obtaining means includes:
A position determining device configured to obtain a rotation degree of the second rotation part based on a relative position of the second rotation part with respect to the obtained position of the axis.