JP7419119B2 - working machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a working machine used in civil engineering work, etc., which detects the position of a working device using GNSS.

As a working machine (for example, a hydraulic excavator) equipped with a working device configured by connecting multiple front members such as a boom, arm, and bucket, a construction target plane is generated from a three-dimensional construction drawing and defines the completed shape of the construction target. A machine guidance function that displays the information on the operator's cab together with the work equipment, and a machine control function that limits the operation of the work equipment (i.e., the movement of the actuator that drives the front member) to prevent the work equipment from exceeding the target construction surface. The equipment provided is used for civil engineering works, etc.

This type of work machine has multiple attitude sensors ( For example, an IMU (Inertial Measurement Unit) and two antennas for GNSS (Global Navigation Satellite System) (GNSS antennas) may be installed. When calculating the position of the working device, the position of at least one GNSS antenna and the azimuth between the two GNSS antennas are calculated from a plurality of satellite signals received by the two GNSS antennas. Then, by combining the calculated position and orientation with the detection results of multiple posture sensors, the position of the work equipment (for example, the position in the site coordinate system or geographic coordinate system (global coordinate system) set at the work site) is determined. is calculated.

Furthermore, in GNSS positioning that requires high positioning accuracy, it is preferable to use RTK (Real Time Kinematic)-GNSS positioning. In this positioning method, a work machine (mobile station) receives correction data wirelessly transmitted from a GNSS reference station installed at a known point, and the work machine (mobile station) that receives the correction data calculates the relative position with respect to the reference station. Then, the three-dimensional coordinates of the work machine (mobile station) are determined together with the coordinates of the known point (reference station). The directions of the two GNSS antennas are calculated by comparing the data (satellite signals) received by the two GNSS antennas. In addition, moving-based RTK is a method that generates correction data from data received by one GNSS antenna, transmits the correction data to the receiver of the other GNSS antenna, and calculates the direction between the two GNSS antennas. It is also possible to use it.

In order to perform construction with high precision on the construction target surface, it is necessary to determine the position of at least one GNSS antenna and the azimuth between the two GNSS antennas with high precision. However, in GNSS positioning, it is known that the positioning accuracy decreases due to the influence of obstacles existing around two GNSS antennas. To solve this problem, Patent Document 1 extracts a building from an image acquired by a camera, and calculates the distance between a first position and a second position and the image of the building at the first and second positions. The actual height H of the building is calculated from the elevation angles θ1 and θ2, and the height H of the building is calculated based on the calculated actual height H of the building and the position information of the GNSS satellite acquired by the GNSS receiver 10 at the second position. It is determined whether the building becomes an obstacle when receiving radio waves from the GNSS satellite, and if it is determined that the building becomes an obstacle, the radio waves being received from the GNSS satellite are determined to be multipath, and the radio waves received from the GNSS satellite are determined to be multipath. A mobile positioning device has been disclosed that performs positioning calculations without using information on radio waves received from a satellite.

Japanese Patent Application Publication No. 2012-159347

By the way, in working machines, movable parts such as booms and arms are sometimes located higher than the GNSS antenna. In this case, the boom and arm can become obstacles that deteriorate positioning accuracy, but detecting these movable parts with a camera as in Patent Document 1 is not suitable due to the installation position of the camera and the processing load. . In addition, when cameras are generally used outdoors, they may not be able to detect obstacles due to the influence of strong light such as sunlight during the day or work lights at night, making it difficult to detect obstacles stably in the first place. There is also.

The present invention has been made in view of the above-mentioned problems, and provides a working machine that can detect position and orientation with high accuracy and high availability in a working machine that has a working device that can be located at a higher place than a GNSS antenna. The purpose is to

The present application includes a plurality of means for solving the above-mentioned problems, and to give one example, an undercarriage body, an upper revolving structure rotatably attached to the upper revolving body, and a revolving upper structure mounted on the upper revolving body. a working device that is attached to the front and operates on a predetermined operating plane; a plurality of attitude sensors that are attached to the working device and the upper rotating body; and satellite signals that are fixed to the upper rotating body and that are received from a plurality of positioning satellites. two GNSS antennas for receiving, and a position of at least one GNSS antenna among the two GNSS antennas based on a plurality of satellite signals received by the two GNSS antennas and correction data transmitted from a reference station. and an azimuth between the two GNSS antennas, and a receiver that calculates the position of the at least one GNSS antenna, the azimuth between the two GNSS antennas, and the detection signals of the plurality of attitude sensors. In a working machine equipped with a controller that calculates the orientation and position of the device, the two GNSS antennas are each located in an area behind the working device on the upper surface of the revolving upper structure, and are arranged in the front-rear direction of the working device. The controller sets a mask range to a range where the working device may become an obstacle when the two GNSS antennas receive satellite signals from the plurality of positioning satellites, and The device determines the position of the at least one GNSS antenna and the position of the at least one GNSS antenna based on satellite signals transmitted from the remaining positioning satellites excluding the positioning satellite located in the mask range set by the controller from the plurality of positioning satellites. Let us calculate the direction between two GNSS antennas.

According to the present invention, it is possible to easily set the mask range based on the direction of the working device calculated from the positioning result, and the mask range can be made compact by arranging the GNSS antenna. can be easily detected.

1 is a side view of a working machine according to an embodiment of the present invention. FIG. 1 is a top view of a working machine according to an embodiment of the present invention. 1 is a system configuration diagram of a working machine according to an embodiment of the present invention. It is an explanatory view of the angle regarding the boom concerning an embodiment of the present invention. An explanatory diagram of the principle of position measurement in GNSS. An explanatory diagram of the principle of position measurement in GNSS. The figure which shows an example of the GNSS positioning result of the working machine equipped with a boom. An explanatory diagram of a mask range to be set in a conventional antenna arrangement. FIG. 7 is an explanatory diagram of a mask range to be set in the antenna arrangement of a comparative example. FIG. 4 is an explanatory diagram of a mask range to be set in the antenna arrangement of the present embodiment. An explanatory diagram of a mask range to be set in a conventional antenna arrangement. FIG. 7 is an explanatory diagram of a mask range to be set in the antenna arrangement of a comparative example. FIG. 4 is an explanatory diagram of a mask range to be set in the antenna arrangement of the present embodiment. An example of a mask range that should be set in the antenna arrangement of this embodiment. An example of the mask range (azimuth angle range) that should be set in a conventional antenna arrangement. Sky map of GNSS satellite orbits observable in Japan. This is an example of calculating DOP, which is a guideline for the placement of GNSS satellites and positioning accuracy. FIG. 4 is an explanatory diagram of the range of elevation angles in which a satellite can be shielded by a working device when the antenna is arranged according to the present embodiment. FIG. 4 is an explanatory diagram of the range of elevation angles in which a satellite can be reflected by a working device when the antenna is arranged according to the present embodiment. An example of a mask range (azimuth angle and elevation angle range) that should be set in the antenna arrangement of this embodiment.

Embodiments of the present invention will be described below with reference to the drawings. In the following embodiment, the present invention is applied to a crawler type hydraulic excavator as a working machine, and the machine guidance function that displays the positional relationship between the bucket tip and the target construction surface on a monitor in the operator's cab, and the bucket tip It has a machine control function that limits the operation of the working device (that is, the operation of the actuator that drives the front member) so as not to exceed the target construction surface. Note that in each figure, the same parts are given the same reference numerals, and duplicate explanations will be omitted as appropriate.

(First embodiment)
<Target machine>
FIG. 1 is a side view of a hydraulic excavator 1 and a GNSS reference station 8 according to the first embodiment, and FIG. 2 is a top view of the hydraulic excavator 1 of FIG. 1. The hydraulic excavator 1 shown in these figures includes a crawler-type traveling body (lower traveling body) 2, a rotating body (upper rotating body) 3 that is rotatably attached to the upper part of the traveling body 2, and one end (base end). is equipped with a front working device (sometimes simply referred to as a "working device") 6, which is an articulated link mechanism attached to the front of the revolving body 3. Reference numeral 30 in the figure represents the ground.

The front working device 6 includes a boom 6A having one end connected to the revolving structure 3, an arm 6B having one end connected to the other end of the boom 6A, and a bucket 6C having one end connected to the other end of the arm 6B. Each of these front members 6A, 6B, and 6C is configured to rotate in the vertical direction.

Furthermore, a boom cylinder 11A, an arm cylinder 11B, and a bucket cylinder 11C are provided as drive actuators for rotating each of the front members 6A, 6B, and 6C. The revolving body 3 is driven to rotate around a rotation center axis O by a rotation motor (not shown).

The boom 6A, the arm 6B, and the bucket 6C operate on a common plane that includes the front working device 6, and this plane may hereinafter be referred to as the operating plane. In other words, the operating plane is a plane perpendicular to the rotation axes of the boom 6A, arm 6B, and bucket 6C. can be set at the center of the rotation axis). In this embodiment, a plane passing through the centers of the boom 6A, the arm 6B, and the bucket 6C in the width direction is defined as the operating plane Po (see FIG. 2).

<Attitude sensor>
The hydraulic excavator 1 is equipped with a plurality of attitude sensors 75A, 75B, 75C, and 23 for detecting the attitude of the front working device 6 and the rotating body 3. In this embodiment, each attitude sensor uses an inertial measurement unit (IMU) that can detect angle (or angular velocity) and acceleration. Among these attitude sensors, a boom attitude sensor 75A is attached to the boom 6A, an arm attitude sensor 75B is attached to the arm 6B, and a bucket attitude sensor 75C is attached to the bucket 6C (see FIG. 1). In addition, a rotating body attitude sensor 23 is attached to the rotating body 3 (see FIG. 1), which measures the inclination angle (pitch angle and roll angle), turning speed, and turning angle of the rotating body 3. The outputs (detection signals) of the attitude sensors 75A, 75B, 75C, and 23 are input to the on-vehicle controller 40 via connection lines. Note that as the posture sensor of the front working device 6, an angle sensor that detects the rotation angle of each front member may be used.

The revolving body 3 includes a driver's seat 4 equipped with an operating device (not shown) operated by an operator, a monitor 60 that displays the positional relationship between the bucket 6C and the construction target surface, and a plurality of positioning satellites (GNSS). two GNSS antennas 50A and 50B for receiving satellite signals from a satellite), a radio 7 for receiving GNSS correction data transmitted from a reference station 8, and at least one of the two GNSS antennas 50A and 50B. The GNSS receiver 51 calculates the position coordinates of the GNSS antenna in the geographic coordinate system (global coordinate system) and the azimuth between the two GNSS antennas 50A and 50B (that is, the azimuth of the rotating body 3), and the GNSS receiver 51 calculates The on-vehicle controller 40 is a computer that calculates desired position coordinates on the front working device 6 based on the position and orientation determined and the detection signals of the plurality of posture sensors 75A, 75B, 75C, and 23. There is. In this embodiment, the position of the two GNSS antennas 50A, 50B and the azimuth of the revolving body 3 are calculated using one GNSS receiver, but the position of the two GNSS antennas 50A, 50B is calculated using one GNSS receiver. A configuration may be adopted in which two GNSS receivers 51A and 51B are mounted.

<GNSS reference station>
The GNSS reference station 8 that wirelessly transmits GNSS correction data to the radio device 7 of the hydraulic excavator 1 will be described. The GNSS reference station 8 whose coordinate position in the geographic coordinate system is known includes a GNSS antenna 80 for receiving satellite signals from a plurality of positioning satellites (GNSS satellites), and a GNSS antenna 80 for receiving satellite signals from a plurality of positioning satellites (GNSS satellites). A GNSS receiver 81 that calculates the position coordinates of the antenna 80 in a geographic coordinate system, and a reference station controller 82 that generates GNSS correction data to be wirelessly transmitted to the radio 7 based on a plurality of satellite signals received by the GNSS antenna 80. and a radio device 87 that transmits GNSS correction data generated by the reference station controller 82 to the radio device 7. A GNSS receiver 81 connected to a GNSS reference station antenna 80 wirelessly transmits GNSS correction data from a radio device 87 via a reference station controller 82. If the GNSS correction data received by the radio device 7 is used for positioning by the GNSS receiver 51, highly accurate positioning on the centimeter level becomes possible.

<Arrangement of GNSS antenna 50>
The two GNSS antennas 50A and 50B are fixed to the upper rotating body 3 via masts (antenna support members) 52a and 52b, respectively, and are located above the area behind the front working device 6 on the upper surface of the upper rotating body 3. They are arranged at predetermined intervals in the front-rear direction of the front working device 6, respectively. The two GNSS antennas 50A and 50B of this embodiment are arranged so that their centers are located above the line of intersection between the upper surface (first region) of the upper revolving body 3 and the operating plane Po, as shown in FIG. 1 etc. and are arranged along the front-rear direction of the front working device 6. By arranging the two GNSS antennas 50A and 50B in this way, the area where the electromagnetic waves from the satellite are shielded by the front working device 6 can be limited to the vicinity of the extension surface of the operating plane Po, and the area where the electromagnetic waves from the satellite are shielded by the front working device 6 can be limited to the vicinity of the extension surface of the operating plane Po. Shielding of electromagnetic waves is essentially not performed.

The two masts 52a and 52b are pole-shaped support members for supporting the GNSS antennas 50A and 50B above the revolving upper structure 3, respectively. The two masts 52a and 52b of this embodiment are arranged on the line of intersection between the upper surface (first region) of the upper revolving body 3 and the operating plane Po, similarly to the GNSS antennas 50A and 50B. In the example shown in FIG. 2, the base end of each mast 52a, 52b is fixed to the upper surface of the upper revolving structure 3, and each mast 52a, 52b extends substantially perpendicularly from the base end. At the tip of each mast 52a, 52b, a GNSS antenna 50A, 50B having a substantially disk-shaped outer shape with a central portion bulging in the axial direction is attached. Each antenna 50A, 50B is supported so as to pass through the center axis of the GNSS antenna 50A, 50B. Note that the supporting members of the GNSS antennas 50A and 50B are not limited to the pole-shaped masts 52a and 52b, but support members of various shapes can be used.

Note that the following arrangement of the two GNSS antennas 50A and 50B is also permitted. First, the two GNSS antennas 50A and 50B are connected to a first virtual plane Pv1 that passes through the left outermost end of the front working device 6 in the left-right direction and parallel to the operating plane Po, and to a right outermost end of the front working device 6 in the left-right direction. The second imaginary plane Pv2 is parallel to the motion plane Po. Here, "the leftmost outermost end of the front working device 6 in the left-right direction" refers to all of the parts that constitute the front working device 6 located on the left side of the operating plane Po (on the lower side of the operating plane Po in the paper of FIG. 1). This is the point on the member that is farthest from the operating plane Po, and similarly, the "right outermost end of the front working device 6 in the left-right direction" refers to the point on the right side of the operating plane Po (on the paper in FIG. 1). This is the point located at the farthest position from the operating plane Po among all the members constituting the front working device 6 located above the operating plane Po. Although it depends on the width of the bucket 6C in the lateral direction, for example, the outermost left end and the outermost right end of the front working device 6 in the lateral direction are the outermost left end and the outermost right end of the bucket 6C, as shown in FIG. It may be the end.

However, the two GNSS antennas 50A and 50B pass through the left outermost end of the boom 6A in the left-right direction and are parallel to the operating plane Po, and the operating plane passes through the right outermost end of the boom 6A in the left-right direction. It is preferable to arrange it so that it is located in a region sandwiched between Po and a fourth virtual plane Pv4 parallel to Po. That is, it is preferable that the GNSS antenna 50 (50A, 50B) be arranged inside the "width B" within the maximum width of the boom 6A behind the front working device 6. At this time, it is sufficient that the center points of the GNSS antennas 50A and 50B are within the "width B". This is because the boom 6A is usually the largest among the members that make up the front working device 6, so it has a strong ability to shield electromagnetic waves (navigation signals) from satellites, and this has a large effect on the positioning error of the GNSS antennas 50A and 50B. be. In addition, the "left outermost end (right outermost end) of the boom 6A in the left-right direction" is a point on the boom 6A located on the left side (right side) of the operating plane Po, and the point located at the farthest position from the operating plane Po. It is. In FIG. 1, the left and right width of the boom 6A is constant in the front-back direction, and the third and fourth virtual planes Pv3 and Pv4 are located on the left and right side surfaces of the boom 6A. For example, if the width of the boom 6A increases in the left-right direction toward the base end, the boom width will be maximum at the base end, so the third and fourth virtual planes Pv3 and 4 are respectively at the base end of the boom 6A. This is a plane passing through the left and right ends of .

Further, in addition to arranging the two GNSS antennas 50A and 50B in the horizontal region of the hydraulic excavator 1 as described above, it is preferable that the two GNSS antennas 50A and 50B are further arranged as follows. That is, the two GNSS antennas 50A and 50B are installed above the intersection line between the upper surface of the upper revolving body 3 (i.e., the first region and the second region) and the operating plane Po, or above the upper surface of the upper revolving structure 3 (i.e., the first region). It is preferable that the respective GNSS antennas 50A, 50B are supported and arranged by masts 52a, 52b so that their centers are located in a straight line above the intersection line between the GNSS antennas 50A and 50B and a plane parallel to the operating plane Po. .

<GNSS receiver 51>
The GNSS receiver 51 selects at least one of the two GNSS antennas 50A, 50B based on the plurality of satellite signals received by the two GNSS antennas 50A, 50B and the GNSS correction data received by the radio 7. The position coordinates of the GNSS antenna (for example, GNSS antenna 50B) in the geographic coordinate system (global coordinate system) and the orientation between the two GNSS antennas 50A and 50B (that is, the orientation of the rotating body 3) are calculated.

Electromagnetic waves (satellite signals) containing transmission time information are transmitted from multiple positioning satellites. The GNSS receiver 51 calculates the arrival time difference from the reception time of electromagnetic waves from each GNSS satellite and the transmission time included in the electromagnetic waves, and uses the arrival time difference between each GNSS satellite and the GNSS antennas 50A, 50B, and 80. The positions of the GNSS antennas 50A, 50B, and 80 are calculated by estimating the distance. GNSS satellites are equipped with sophisticated clocks, and the distance between each GNSS satellite and GNSS antenna is calculated by demodulating the electromagnetic waves from each satellite and multiplying the arrival time difference by the speed of the electromagnetic waves.

Further, the electromagnetic waves include modulated orbit information of each satellite, and by demodulating this, the position information of each GNSS satellite can be calculated by the GNSS receiver 51. For example, if we show the case where electromagnetic waves from three satellites are received by the GNSS antenna 50A on a plane, we draw three spheres whose center is the satellite position determined from the orbit information of each satellite and whose radii are distances L1, L2, and L3. However, it does not converge to one point. This is because the distances L1, L2, and L3 include errors, but the position of the GNSS antenna 50A can be estimated by the least squares method.

It is possible to determine the position (X, Y) on a plane using electromagnetic waves from a total of three satellites, but if electromagnetic waves from a total of four satellites can be received, the position (X, Y, Z) in three-dimensional space can be determined. is measurable. If there are four satellites, the spheres with the satellite position as the center and distances L1, L2, L3, and L4 as radii do not necessarily intersect at one point, but the point where the difference from each sphere is the smallest is the position of the GNSS antenna 50A. It can be inferred that. Furthermore, even when there are four or more satellites, the point at which the difference from each sphere is the smallest can be similarly estimated as the position of the GNSS antenna.

Here, the reason why the intersection of the spheres according to the distance from each satellite does not become one point is because the calculated distance between each GNSS satellite and each GNSS antenna includes an error. This error is caused by the fact that the speed change of electromagnetic waves generated by the ionosphere and water vapor that exist between the GNSS satellite and the GNSS antenna differs depending on the position of each GNSS satellite, which has a different azimuth and elevation angle, and the orbit information sent by electromagnetic waves from each GNSS satellite. This occurs due to factors such as the location being slightly different from the actual location and slight errors in the clock information between each GNSS satellite.

Such errors can be reduced by using RTK-GNSS (Real Time Kinematic GNSS). For example, the reference station GNSS receiver 81 performs positioning of a reference station GNSS antenna 80 whose absolute position is known and is installed near the hydraulic excavator 1 (within several kilometers) and calculates GNSS correction data, and the correction data is transmitted to the radio 87. It is transmitted to the receiver 51 of the excavator 1. Errors can be reduced by measuring the relative position (vector) between the two GNSS antennas 50A (50B) and 80 instead of the absolute position.

The correction data transmitted from the radio device 87 is received by the radio device 7 mounted on the hydraulic excavator 1 and transmitted to the GNSS receiver 51. The GNSS receiver 51 calculates the relative position between the reference station GNSS antenna 80 and the GNSS antenna 50A by comparing and calculating the satellite signal received by the GNSS antenna 50A (mobile station) and the signal of the reference station GNSS antenna 80 obtained from the correction data. (direction and distance). At this time, the carrier wave phase information of the satellite signal from the satellite received by the base station antenna 80 is transmitted as correction information, and this is compared and calculated by the GNSS receiver 51 with the carrier wave phase information of the satellite signal received by the mobile station antenna 50A. . This enables positioning of the mobile station antenna 50A on the order of several centimeters, and enables highly accurate relative positioning that converges on almost one point. Furthermore, by including the position information of the reference station GNSS antenna 80 in the correction data described above, it becomes possible to obtain the absolute position of the GNSS antenna 50A, which is a mobile station. In addition, when the distance between the reference station GNSS antenna 80 and the GNSS antenna 50A is short (generally within several kilometers), the above-mentioned error factors (changes in the speed of electromagnetic waves, clock information errors between each GNSS satellite) can be well canceled. becomes possible. The direction between the two GNSS antennas 50A and 50B and the position of the other GNSS antenna 50B can be similarly calculated. The GNSS receiver 51 can output the positioning results of the GNSS antennas 50A, 50B in the NMEA format, etc., including the latitude, longitude, and geoid height of the respective GNSS antennas 50A, 50B.

By the way, since two GNSS antennas 50A and 50B exist in the positioning target of the GNSS receiver 51 of this embodiment, one GNSS antenna 50A can be regarded as a reference station and the other GNSS antenna 50B can be regarded as a mobile station. Such a method is a moving base method. It is possible to measure the relative position (vector) between the two GNSS antennas 50A and 50B by using the correction data generated from the received signal of the GNSS antenna 50A to measure the relative position (vector) with the GNSS antenna 50B. becomes. In the moving base method, the relative position (vector) can be calculated without using the correction data transmitted from the radio device 87.

Another direction calculation method is to calculate the positions of the GNSS antenna 50A and GNSS antenna 50B from the reference station GNSS antenna 80, and determine the direction from the difference between the positions. Then, by considering the constant caused by the mounting position of the two GNSS antennas 50A, 50B on the excavator 1 in the direction between the two GNSS antennas 50A, 50B calculated in this way, the upper rotating body 2 (vehicle body) And the direction (direction) of the front working device 6 can be calculated.

In addition, in this embodiment, a system has been described in which the correction data is wirelessly transmitted from the reference station GNSS antenna 80 to calculate the direction of the upper rotating structure 3 and the front working device 6, but VRS (virtual reference point system), quasi-zenith satellite, A service that distributes correction data over a network may be used.

<In-vehicle controller>
FIG. 3 is a functional block diagram of the on-vehicle controller 40 mounted on the hydraulic excavator of FIG. 1.

The onboard controller 40 performs front work based on the positions of the two GNSS antennas 50A and 50B and the orientation of the rotating body 3 calculated by the GNSS receiver 51 and the detection signals of the plurality of attitude sensors 75A, 75B, 75C, and 23. This is a computer that calculates the position coordinates of each front member 6A, 6B, and 6C that constitute the device 6.

The in-vehicle controller 40 includes an arithmetic processing unit (e.g., CPU (not shown)), a storage device (e.g., semiconductor memory such as ROM, RAM, etc.) 56, and an interface (input/output device (not shown)). The program (software) stored in advance in the device 56 is executed by the arithmetic processing unit, and the arithmetic processing unit performs arithmetic processing based on the data specified in the program and the data input from the interface. Outputs the signal (calculation result) to the outside. Note that the GNSS receivers 51 and 81 can also include the same type of hardware as the on-vehicle controller 40. Further, the storage device 56 may be a device independent from the controller 40.

The on-vehicle controller 40 is connected to a GNSS receiver 51, attitude sensors 75A, 75B, 75C, 23, a monitor 60, and a radio device 7 via an interface, and is capable of inputting and outputting data.

The storage device 56 of the on-vehicle controller 40 stores, for example, construction target surface data 55 that defines the position of the construction target surface on which the hydraulic excavator 1 is to perform construction, vehicle body shape and dimension data, and various programs executed by the arithmetic processing unit. etc. are memorized.

The on-vehicle controller 40 executes a program stored in the storage device 56 to perform work equipment position/attitude calculation section 41, positioning result input section 42, satellite position extraction section 43, excluded satellite determination section 44, and mask range calculation section. 45, a mask removal range calculation section 46, and a boom back angle calculation section 47.

The boom back angle calculation unit 47 calculates the boom angle value calculated from the output of the boom attitude sensor 75A, the inclination angle value (pitch angle) of the rotating body attitude sensor 23, and the boom back offset of the boom stored in the storage device 56. The boom back angle is calculated based on the value of the angle (vehicle body shape and dimension data), and the calculated boom back angle is output to the mask removal range calculating section 46. The boom back angle is the angle of the boom back (boom top surface) with respect to the horizontal plane. Boom back offset angles θ1, θ2, θ3, and θ4 (see FIG. 4), which are the differences between the boom angle value and the boom back angle, are stored as vehicle body dimension data used for calculating the boom back angle. As shown in Fig. 1, the shape of the boom in this embodiment is not a straight line but a curved shape, so multiple boom back offset angles are stored, and in this embodiment, multiple boom back angles are calculated. There are cases. FIG. 4 is an explanatory diagram of the boom rear surface and the boom rear offset angle. It is assumed that the back surface of the boom 6A of this embodiment is composed of two straight lines (planes) and a curved line (curved surface) that complements the two straight lines, as shown in an example in FIG. The boom angle value is based on the pin (boom pin) of the rotating part on the base end side that connects the boom 6A to the upper rotating structure 3, and the pin (arm pin) of the rotating part on the tip side that connects the boom 6A to the arm 6B. This is the angle that the straight line 61 connecting on the operating plane Po makes with the horizontal plane. The boom back face offset angle is the angle formed between the straight line 61 connecting the pins and the back face of each boom. In the example of FIG. 4, the offset angles of the straight line portions are θ1 and θ4. On the other hand, the curved portion was approximated by two straight lines (approximate straight lines), and the offset angles of each approximate straight line were set to θ2 and θ3. In this way, if you store the boom back offset angle in advance according to the shape of the boom back and use them and the detected inclination angle (pitch angle) of the rotating structure 3 and the boom angle value, you can calculate the boom back angle. The boom rear angle, which is the angle of each boom rear surface, can be calculated by the section 47.

The mask removal range calculation unit 46 determines whether the satellite signal is blocked by the boom 6A based on the angle values of each front member 6A, 6B, and 6C calculated from the outputs of the plurality of attitude sensors (75A, 75B, 75C, and 23). The range of positions (azimuth and elevation angle) of the GNSS satellites that can reach the GNSS antennas 50A and 50B without any movement is calculated. Also, based on the boom back angle calculated by the boom back angle calculation unit 47, the position (azimuth and elevation angle) of the GNSS satellite where the satellite signal can reach the GNSS antennas 50A, 50B without being reflected from the back of the boom 6A. Calculate the range of . Then, a range obtained by merging the above two calculated ranges (a mask removal range) is output to the mask range calculation unit 45. The mask removal range is defined by the range of azimuth and elevation angle, and can be set in the vehicle body coordinate system set for the hydraulic excavator 1.

The positioning result input unit 42 receives position data of the two GNSS antennas 50A and 50B in the geographic coordinate system calculated by the GNSS receiver 51, and azimuth data between the two GNSS antennas 50A and 50B (azimuth data of the upper revolving body 3). ).

The mask range calculation unit 45 uses the azimuth data (azimuth angle in the geographic coordinate system) of the upper rotating body 3 inputted from the positioning result input unit 42 and the mask removal range (azimuth and elevation angle) calculated by the mask removal range calculation unit 46. Based on this, the mask range (azimuth and elevation angle), which is the range in which the work device 6 can become an obstacle when the two GNSS antennas 50A and 50B receive satellite signals from a plurality of positioning satellites, is calculated in the geographic coordinate system. , outputs the calculated mask range to the excluded satellite determination unit 44. This "range where the work device 6 can become an obstacle" includes the range where the satellite signals transmitted from the plurality of positioning satellites are blocked by the work device 6 before reaching the two GNSS antennas 50A and 50B (the first range), and a range (second range) in which satellite signals transmitted from a plurality of positioning satellites can be reflected by the working device 6 and received by the two GNSS antennas. The first range and the second range may be defined as a range of azimuth angles, or may be defined as ranges of azimuth angles and elevation angles (details will be described later).

The satellite position extraction unit 43 extracts the positions (elevation angles and azimuth angles in the geographic coordinate system) of a plurality of satellites whose satellite signals are captured by the GNSS receiver 51, and outputs them to the excluded satellite determination unit 44.

The excluded satellite determining unit 44 is based on the mask range calculated by the mask range calculating unit 45 and the position (elevation angle/azimuth angle) of the positioning satellite captured by the GNSS receiver 51 that is input from the satellite position extracting unit 43. Then, the GNSS receiver 51 determines excluded satellites that will not be used for positioning calculations. Specifically, the excluded satellite determining unit 44 determines as excluded satellites the satellites located within the mask range from among the plurality of satellites extracted by the satellite position extracting unit 43, and transmits the list of excluded satellites to the GNSS receiver 51. Output to.

The GNSS receiver 51 acquires the list of excluded satellites output from the excluded satellite determining unit 44, and selects the satellites excluding the satellites included in the list from among the plurality of positioning satellites that can capture satellite signals at that time. Based on the satellite signal, the position of at least one GNSS antenna 50 in the geographic coordinate system and the orientation between the two GNSS antennas 50A and 50B (orientation of the upper revolving body 3) are calculated. The calculated position and orientation are input to the positioning result input section 42.

The work equipment position/attitude calculation unit 41 calculates the position and orientation of the GNSS antennas 50A and 50B input from the positioning result input unit 42 and the orientation of the upper revolving body 3 from the outputs of the plurality of attitude sensors (75A, 75B, 75C, 23). The working device 6 (for example, the position and orientation of the tip of the bucket 6C in the site coordinate system). The vehicle body shape and dimension data used to calculate the position and orientation of the working device 6 include, for example, the length between the two pins located at both ends of the boom 6A (boom pin length LB (see FIG. 4)), and the arm The length between the two pins located at both ends of the bucket 6B (length between arm pins), the length between the tip of the bucket 6C and the bucket pin (bucket tip length), and the two GNSS antennas 50A and 50B in the upper revolving body 3. There is a GNSS installation offset azimuth that defines the positional relationship between the two in terms of the azimuth in the vehicle body coordinate system.

The monitor 60 monitors the work equipment 6 based on the position and orientation data of the work equipment 6 in the site coordinate system calculated by the work equipment position/attitude calculation unit 41 and the position data of the construction target surface in the site coordinate system stored in the storage device 56. The positional relationship between the work device 6 and the construction target surface calculated by the calculation can be displayed. This display allows the operator to easily grasp the position and orientation of the work device 6 with respect to the construction target surface.

Note that the on-vehicle controller 40 uses the position and orientation data of the work device 6 in the site coordinate system calculated by the work device position/posture calculation unit 41 and the position data of the construction target surface in the site coordinate system stored in the storage device 56. Based on this, machine control is executed to limit the operation of the working device 6 (that is, the operation of the actuators 11A, 11B, and 11C that drive the front members 6A, 6B, and 6C) so that the tip of the bucket does not exceed the target construction surface. You may do so.

Moreover, although the mask range calculating section 45 described above defines the mask range using the azimuth angle and the elevation angle, the mask range may be defined using only the azimuth angle.

<Setting the mask range>
Before entering into the explanation of the mask range, the principle of position measurement in GNSS will be briefly explained. The GNSS position is measured by determining the distances L1, L2, and L3 from the plurality of GNSS satellites 200A, 200B, and 200C to the GNSS antenna 50A, as shown in FIG. In reality, it is difficult to accurately measure the distances L1, L2, and L3, so the position with the least error is determined by the least squares method or the like. This is a reasonable position considering that errors at L1, L2, and L3 occur evenly, but if a large error occurs in the distance from any one satellite, a large error will also occur in the measured position.

For example, regarding the calculation of the distance L3 between the GNSS satellite 200C and the GNSS antenna 50A in the satellite arrangement shown in Fig. 5, the boom 6A is located between the GNSS satellite 200C and the GNSS antenna 50A and partially blocks the radio waves, causing an error in the positioning result. Occur. Regarding the calculation of the distance L3 in the satellite arrangement shown in FIG. If there is a radio wave reflected by GNSS antenna 6A and propagated to GNSS antenna 50A, the error in distance L3 becomes large and an error occurs in the positioning result. It can also be seen from the fact that the error generated in this way becomes larger in the direction where there is an obstacle such as the boom 6A, as shown in the positioning results of FIG. Such errors are caused by the satellite being located in the direction (azimuth) in which the boom 6A intercepts the GNSS satellite and the direction (azimuth) in which the signal from the GNSS satellite is reflected by the boom 6A to the GNSS antenna. This can be significantly reduced by performing positioning calculations without using satellites located in the same direction.

Next, details of mask range setting by the mask range calculation unit 45 will be explained. It is preferable that the mask range is set in consideration of the direction and posture of the front working device 6, as well as shielding and reflection of the positioning signal by the front working device 6. However, in the following, only the orientation of the front working device 6 will be considered without considering the attitude of the front working device 6 (more specifically, the mask removal range calculated by the mask removal range calculation unit 46). Now, we will explain the case where the mask range is set in the range of azimuth angles.

(1) Setting the mask range considering the orientation of the work device 6 (1-1) Mask range based on the range where the satellite signal is shielded by the work device 6 First, the direction in which the satellite signal is “shielded” by the work device 6 The relationship between the angle range and antenna arrangement will be explained using FIGS. 8, 9, and 10. FIG. 8 is an explanatory diagram of the mask range Ram1 that should be set when the two GNSS antennas are arranged in the conventional manner, and FIG. 9 is an explanatory diagram of the mask range Ram1 that should be set when the two GNSS antennas are arranged on the extension surface of the side of the boom. FIG. 10 is an explanatory diagram of Ram2, and FIG. 10 is an explanatory diagram of a mask range Ram3 that should be set when the arrangement of the two GNSS antennas is as shown in FIG. 2 (that is, in the case of this embodiment).

As in the prior art shown in FIG. 8, when two GNSS antennas 50a and 50b are installed in the upper revolving body in the left-right direction with an interval larger than the boom width (see B in FIG. 2). Even if radio waves (satellite signals) from a satellite reaching either of the GNSS antennas 50a, 50b are blocked by an obstacle (for example, a boom), positioning accuracy deteriorates. Therefore, it is preferable to exclude satellites located in a range where radio waves are blocked by obstacles from the satellites used for positioning. Therefore, in the case of FIG. 8, the mask range to be set is the range Raz1 indicated by the arrow in the figure. This range Raz1 indicates the range of azimuth angles in which the boom can block a portion of the GNSS satellite radio waves reaching the two antennas 50a and 50b. As described above, in the conventional technology, there is a possibility that a relatively wide range of satellites may be blocked.

Next, as shown in FIG. 9, when the two GNSS antennas 50a and 50b are arranged on the rear side of the boom so as to be located on the extension surface of the left and right sides of the boom (in this case, the distance between the two antennas in the left and right direction is is the boom width B), the range of azimuth angles in which the boom blocks part of the GNSS satellite radio waves (that is, the mask range) is the range Raz2. The range Raz2 is smaller than the conventional range Raz1 (FIG. 8).

As shown in FIG. 10, when the two GNSS antennas 50A and 50B are arranged in a line in the longitudinal direction of the hydraulic excavator 1 so as to fit in the area behind the boom 6A (in the case of this embodiment), the boom The range of azimuth angles that partially shield the GNSS satellite radio waves is a narrower range Raz3 than in the case of FIG. Therefore, the mask range calculation unit 45 of this embodiment sets the mask range to the range Raz3. The mask range Raz3 can be set to an azimuth angle range that allows a straight line that intersects the working device 6 (or just the boom 6A) to be drawn when a radial straight line extending from the center of each GNSS antenna 50A, 50B is drawn. With the antenna arrangement as in this embodiment, the mask range can be narrowest among the three examples shown in FIGS. 8, 9, and 10.

(1-2) Mask range based on the range in which the satellite signal is reflected by the work device 6 Next, the relationship between the azimuth range in which the satellite signal is “reflected” by the work device 6 and the antenna arrangement is shown in FIGS. This will be explained using 13. Note that the antenna arrangements in FIGS. 11, 12, and 13 correspond to the antenna arrangements in FIGS. 8, 9, and 10.

In the case of an antenna arrangement like the conventional technique shown in FIG. 11, reflected waves not only from the boom but also from the arm may have an influence. In addition, since reflected waves from the sides of the boom and arm also have an effect, it is necessary to consider the satellite in front of the boom (hydraulic excavator 1). Therefore, there are two mask ranges to be set: a range Rar11 behind the shovel and a range Rar12 in front of the shovel. Note that the range Rar11 behind the shovel tends to increase as the antennas 50a and 50b move away from the operating plane Po of the working device 6 (see FIG. 2).

Next, in the case of the antenna arrangement shown in Fig. 12, the reflected waves from the arm are blocked by the boom, so there is no effect, and the reflected waves from the sides of the boom and arm are also affected because the antennas 50a and 50b are placed within the width of the boom. not reached. Therefore, the mask range to be set is only the range Rar2 behind the shovel.

Finally, in the case of the antenna arrangement of this embodiment shown in FIG. 13, the range that the reflected waves can reach is a range Rar3 that is even narrower than the mask range Rar2 shown in FIG. 12. Therefore, the mask range calculation unit 45 of this embodiment sets the mask range to range Rar3. The mask range Rar3 is a range of azimuth angles in which satellite signals transmitted from multiple positioning satellites can be reflected by the work device 6 (or just the boom 6A) and received by either of the two GNSS antennas 50A and 50B. Can be set to With the antenna arrangement as in this embodiment, the mask range can be narrowest among the three examples shown in FIGS. 11, 12, and 13.

(1-3) Mask range (azimuth range) based on shielding and reflection by the work device 6
Based on the above, the mask range set by the mask range calculation unit 45 of the present embodiment in consideration of the direction of the working device 6 is a range that is a combination of the range Ram3 and the range Rar3 shown in FIG. 14. However, FIG. 14 shows the mask range when the direction of the working device 6 (upper rotating body 3) is facing east, and in actual processing, the mask range calculation unit 45 uses the upper part input from the positioning result input unit 42. The mask range is rotated in accordance with the orientation of the rotating body 3. That is, for example, when the work device 6 is facing north, the actual mask range is obtained by rotating the mask range in FIG. 14 by 90 degrees counterclockwise.

In addition, in the mask range of FIG. 14, from the viewpoint of improving positioning accuracy, Rel0, which is a predetermined range where the elevation angle is close to zero (in the example shown in the figure, the range of elevation angle from zero to 15 degrees) is added to the mask range. The range Rel0 can be deleted from the mask range set by the mask range calculation unit 45.

(1-4) Effect 1 of this embodiment
As described above, in the hydraulic excavator 1 of the present embodiment, the two GNSS antennas 50A and 50B are located in the area behind the working device 6 on the upper surface of the upper revolving structure 3, and are arranged in the front and back direction of the working device 6. Based on the azimuth of the working device 6 calculated by the GNSS receiver 51, the working device 6 is placed at intervals, and the working device is A range of azimuth angles (first range) Ram3 that can be shielded by Ram3, and an azimuth angle at which satellite signals transmitted from a plurality of positioning satellites can be reflected by the work device 6 and received by the two GNSS antennas 50A and 50B. The mask range is set to the range (second range) Rar3.

According to the hydraulic excavator 1 configured as described above, the mask range can be easily set based on the direction of the working device 6 calculated from the positioning result of the GNSS receiver 51, so that it is possible to easily set the mask range based on the direction of the working device 6 calculated from the positioning result of the GNSS receiver 51. Compared to setting the mask range based on object detection, the processing load on the controller can be reduced, and the mask range can be set without being affected by strong light such as sunlight during the day or work lights at night. Highly accurate position and azimuth detection is easily possible. Furthermore, by arranging the GNSS antennas 50A and 50B in the rear area of the boom 6A along the front-rear direction of the work equipment 6, the mask range in Fig. 15 (range Ram1 in Fig. 8 and the Since the mask range (see Figure 14) is set narrower than the range (combined range of Rar11), the number of satellites excluded during positioning calculations can be minimized, and Deterioration of positioning accuracy is unlikely to occur, and highly accurate position and orientation detection with high availability is possible.

By the way, in general, the satellite orbit of a GNSS satellite does not fly over the high latitude regions of the North Pole or the South Pole, but orbits over the mid-latitude regions. Figure 16 shows a sky map of GNSS satellite orbits observable in Japan. As shown in this figure, in Japan, which is located in the northern hemisphere, satellites cannot be observed at low elevation angles in the north, and there may be areas where satellites do not fly. Therefore, the range in which satellites that can be used for positioning calculations actually exist is further limited from the range excluding the mask range. From this point of view, it is a great advantage to set a narrow mask range as in this embodiment.

Further, FIG. 17 is an example of calculating DOP (Dilution Of Precision), which is a guideline for the placement of GNSS satellites and positioning accuracy. The black circles in the figure indicate the satellite positions. As shown in the right diagram of Figure 17, when the satellites are arranged approximately evenly in three or more directions, the horizontal DOP (HDOP) is 1.1, whereas as shown in the left diagram of Figure 17, the satellite arrangement If it is biased in two directions, the HDOP is 2.42, and the accuracy is more than twice as bad as in the figure on the right. When using the conventional antenna arrangement and excluding satellites based on the mask range shown in FIG. 15, there is a high possibility that bias as shown in the left diagram of FIG. 17 will occur. On the other hand, in the antenna arrangement of this embodiment, the set mask range is narrow, so the bias shown in the left diagram of FIG. 17 is unlikely to occur, and the positioning accuracy is less likely to deteriorate due to a decrease in the number of satellites. Accurate position and orientation detection becomes possible.

Although different mask ranges may be set for each of the two GNSS antennas 50A and 50B, it is preferable to set a common mask range for the two GNSS antennas 50A and 50B. In the latter case, since a common satellite can be used for positioning the two GNSS antennas 50A and 50B, positioning accuracy can be improved. If a common mask range is set for two antennas in the conventional antenna arrangement, the number of satellites that can be used for positioning will be drastically reduced, which may have a large impact on positioning accuracy. However, the mask range set in this embodiment As shown in FIG. 14, since it is much narrower than before, it is easy to set a common mask range for the two antennas, which has the advantage of making it easier to improve positioning accuracy.

(2) Setting the mask range in consideration of the direction and posture of the front working device 6 Next, both the posture of the front working device 6 (specifically, the boom back angle calculated by the boom back angle calculating section 47) and the direction A case will be described in which the mask range is set in the range of the azimuth angle and the elevation angle by considering the following.

Here, the mask range calculation unit 45 calculates the range of the front work device from the mask range (the range that is a combination of the range Ram3 and the range Rar3 in FIG. 14) set in consideration of the direction of the front work device 6 according to the explanation in (1) above. By removing the mask removal range calculated by the mask removal range calculation unit 46 in consideration of the orientation of the front working device 6, a mask range (see FIG. 20 described later) is set in consideration of the orientation and orientation of the front working device 6.

(2-1) Mask range based on the range in which the satellite signal is shielded by the working device 6 FIG. 18 is an explanatory diagram of the range of elevation angles in which the satellite can be shielded by the working device 6 when the antenna is arranged according to this embodiment. As shown in this figure, the range where the satellite is shielded by the boom 6A and arm 6B changes depending on the attitude of the boom 6A and arm 6B. In this case, the maximum value (upper limit) of the range of elevation angles in which the satellite can be shielded is the reference point of the GNSS antenna 50A that is closer to the work device 6 (boom 6A) of the two GNSS antennas 50A and 50B (for example, The straight line passing through the center point (the center point) and touching the working device 6 (the tangent to the working device 6) Lc corresponds to the angle θe made with the horizontal plane. That is, in the example of FIG. 18, the mask removal range calculation unit 46 calculates a straight line Lc shown by a broken line that passes through the center point of the antenna 50A and touches the working device 6 at the contact point Pc1, and sets the straight line Lc as a horizontal plane. Let the angle θe be "the maximum value of the range of elevation angles in which the satellite is shielded". Then, the mask removal range calculation unit 46 calculates the range from the GNSS antenna 50A to the front side of the shovel where the elevation angle exceeds θe as the mask removal range. At that time, the posture of the working device 6 at that time can be specified from the angle values of each front member 6A, 6B, 6C calculated from the outputs of the plurality of posture sensors (75A, 75B, 75C, 23), and the posture of the working device 6 at that time can be specified. By considering the shape of each front member 6A, 6B, and 6C, the tangent line Lc and the angle θe can be specified.

In the example of FIG. 18, the mask removal range is determined from the posture of each front member 6A, 6B, 6C at that time, but the tangent Lc and angle are determined based on the maximum movable range of each front member 6A, 6B, 6C. θe may also be determined. In the latter case, even if the front members 6A, 6B, and 6C operate during work, the mask range does not change, so the positioning accuracy can be stabilized.

(2-2) Mask range based on the range in which the satellite signal is reflected by the working device 6 Next, a method for calculating the range of elevation angles in which the satellite signal is reflected by the working device 6 will be explained using FIG. Here, as mentioned in the explanation of the boom back angle calculation unit 47, the boom 6A is approximated by four line segments (straight lines), and the end points of each line segment are set as PB1 to PB5 as shown in FIG. Here, if we consider the case where a satellite signal is reflected on the back of the boom defined by a straight line (straight line PB1-PB2) passing through two points PB1 and PB2, the reflected waves that affect the positioning of the GNSS antenna 50A near the boom 6A. is reflected between points PB1 and PB2. In this case, the mask removal range can be calculated by calculating the elevation angle θs of the satellite signal that is reflected at a point PB2 higher than the GNSS antenna 50A and reaches the GNSS antenna 50A. First, the inclination angle θb of the straight line PB1-PB2 can be calculated by the boom back angle calculating section 47. Similarly, the elevation angle θg of a straight line passing through the center point of the GNSS antenna 50A and the point PB2 can be calculated from the position of the point PB in the vehicle body coordinate system and the mounting position of the GNSS antenna 50A. At this time, the mask removal range calculation unit 46 calculates the elevation angle θs of the satellite that is likely to be reflected from the straight line PB1-PB2 and the point PB2 and reach the GNSS antenna 50A based on the following equation (1).

θs=θg+(90-θb)...Formula (1)

The range of the elevation angle θs may be considered as 0 to 90 degrees. Since the elevation angle at point PB1 is 0 or less, the range of elevation angles affected by the reflected wave reflected from straight line PB1-PB2 is from 0 to θs. Therefore, based on the boom back angle calculated by the boom back angle calculation unit 47, the mask removal range calculation unit 46 calculates whether the satellite signal is not reflected at the back of the boom 6A (between straight lines PB1 and PB2). The range in which the elevation angle exceeds θs is calculated as the range of the azimuth and elevation angle of the GNSS satellite that can reach the GNSS antenna 50A. Similarly, the range in which the satellite signal can reach the GNSS antenna 50A without being reflected is calculated using straight lines PB2-PB3, PB3-PB4, and PB4-PB5, and the mask removal range is calculated. In the attitude of the working device 6 (boom 6A) in FIG. 19, the mask removal range calculation unit 46 calculates the range from the GNSS antenna 50A to the rear side of the shovel where the elevation angle exceeds θs as the final mask removal range.

(2-3) Mask range based on shielding and reflection by work device 6 (azimuth angle and elevation angle range)
Based on the above, the mask range set by the mask range calculation unit 45 of this embodiment in consideration of the direction and posture of the working device 6 is a range that is a combination of the range Ram3' and the range Rar3' shown in FIG. 20. FIG. 20 shows a case where the elevation angle θe in FIG. 18 is 60 degrees and the elevation angle θs in FIG. Range Rar3' is a range obtained by removing a region where the elevation angle θs exceeds 45 degrees from range Rar in FIG.

Note that, similarly to FIG. 14, FIG. 20 shows the mask range when the direction of the working device 6 (upper rotating body 3) is facing east, and in actual processing, the mask range calculation unit 45 uses the positioning result input unit 42. The mask range is rotated in accordance with the orientation of the upper rotating body 3 inputted from. Furthermore, the range Rel0 can be deleted.

(2-4) Effect 2 of this embodiment
As described above, in the hydraulic excavator 1 of this embodiment, the inclination angle of the upper surface of the boom 6A (working device 6) is calculated based on the detection signals of the plurality of attitude sensors (75A, 75B, 75C, 23), Satellite signals transmitted from a plurality of positioning satellites are based on the direction of the working device 6 calculated from the positioning results of the GNSS receiver 51 and the detection signals of the plurality of attitude sensors (75A, 75B, 75C, 23). A range (first range) of azimuth and elevation angles that can be shielded by the working device 6 before reaching the two GNSS antennas 50A and 50B is determined, and the calculated azimuth of the working device 6 and the calculated azimuth angle are determined. Based on the inclination angle of the top surface of the boom 6A, the range of azimuth and elevation angles ( A second range) Rar3' was determined, and mask ranges were set in the first range Ram3' and the second range Rar3'.

According to the hydraulic excavator 1 configured as described above, the mask range can be reduced in the elevation angle range compared to the mask range shown in FIG. The number of satellites can be reduced. Therefore, it is possible to detect a highly accurate position and orientation with high availability and less deterioration of positioning accuracy.

<Others>
Note that the present invention is not limited to the above-described embodiments, and includes various modifications without departing from the gist thereof. For example, the present invention is not limited to having all the configurations described in the above embodiments, but also includes configurations in which some of the configurations are deleted. Further, a part of the configuration according to one embodiment can be added to or replaced with the configuration according to another embodiment.

For example, in the above, the mask range in FIG. 20 (the mask range that takes into account the orientation and orientation of the work device 6) is used for positioning, but the mask range in FIG. 14 (the mask range that takes into account the orientation of the work device 6) You can. In this case, the boom back angle calculating section 47 and the mask removal range calculating section 46 can be omitted from the controller 40.

In addition, in the above, the mask range shown in FIG. 14 is first set based on the orientation of the working device 6, the mask removal range explained using FIGS. 18 and 19 is determined, and the mask removal range is set from the mask range shown in FIG. Although the final mask range in FIG. 20 was determined by removing the mask range, the mask range in FIG. 20 may be determined from the beginning without going through the mask range in FIG. 14.

Further, each configuration related to the controller 40 and the functions and execution processing of each of the configurations may be partially or completely realized by hardware (for example, by designing logic for executing each function using an integrated circuit). It's okay. Further, the configuration related to the controller 40 described above may be a program (software) that is read and executed by an arithmetic processing unit (for example, a CPU) to realize each function related to the configuration of the controller 40. Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), and the like.

In addition, in the description of each embodiment above, the control lines and information lines are those that are understood to be necessary for the description of the embodiment, but not all control lines and information lines related to the product are necessarily included. It does not necessarily indicate that In reality, almost all configurations can be considered to be interconnected.

1... Hydraulic excavator, 2... Traveling body (lower traveling body), 3... Swinging body (upper rotating body), 4... Driver's seat, 6... Front working device (working device), 6A... Boom, 6B... Arm, 6C... Bucket, 7...Radio device, 8...Reference station, 10...GNSS receiver, 11A...Boom cylinder, 11B...Arm cylinder, 11C...Bucket cylinder, 23...Swivel body attitude sensor (attitude sensor), 40...Vehicle controller (control device) ), 41... Work equipment position/attitude calculation section, 42... Positioning result input section, 43... Satellite position extraction section, 44... Excluded satellite determination section, 45... Mask range calculation section, 46... Mask removal range calculation section, 47... Boom rear angle calculation unit, 50A...GNSS antenna, 50B...GNSS antenna, 51...GNSS receiver, 52a...mast (antenna support member), 52b...mast (antenna support member), 55...construction target surface data, 56...memory Device, 60... Monitor, 75A... Boom attitude sensor, 75B... Arm attitude sensor, 75C... Bucket attitude sensor, 80... GNSS reference station antenna, 81... Reference station GNSS receiver, 82... Reference station controller, 87... Radio device, 200A... GNSS Satellite, 200B...GNSS satellite, 200C...GNSS satellite

Claims (5)

a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
a working device that is attached to the front of the upper revolving body and operates on a predetermined operating plane;
a plurality of attitude sensors attached to the working device and the upper revolving body;
two GNSS antennas fixed to the upper revolving body for receiving satellite signals from a plurality of positioning satellites;
The position of at least one GNSS antenna among the two GNSS antennas and the azimuth between the two GNSS antennas are determined based on a plurality of satellite signals received by the two GNSS antennas and correction data transmitted from a reference station. a receiver that calculates ;
A working machine comprising: a controller that calculates the orientation and position of the working device based on the position of the at least one GNSS antenna, the orientation between the two GNSS antennas, and detection signals of the plurality of attitude sensors;
The two GNSS antennas are each located in a region behind the working device on the upper surface of the revolving upper structure, and are spaced apart from each other in the longitudinal direction of the working device,
The controller sets a mask range to a range where the work device may become an obstacle when the two GNSS antennas receive satellite signals from the plurality of positioning satellites,
The receiver determines the position of the at least one GNSS antenna based on satellite signals transmitted from the remaining positioning satellites excluding the positioning satellite located in the mask range set by the controller from among the plurality of positioning satellites. and the direction between the two GNSS antennas. In the working machine of claim 1,
The controller determines, based on the calculated azimuth of the working device, a first azimuth in which satellite signals transmitted from the plurality of positioning satellites may be shielded by the working device before reaching the two GNSS antennas. and a second azimuth range in which satellite signals transmitted from the plurality of positioning satellites can be reflected by the work device and received by the two GNSS antennas. Characteristic working machines. In the working machine of claim 1,
The controller includes:
calculating the inclination angle of the upper surface of the working device based on the detection signals of the plurality of posture sensors;
Based on the calculated azimuth of the working device and detection signals of the plurality of attitude sensors, satellite signals transmitted from the plurality of positioning satellites are shielded by the working device before reaching the two GNSS antennas. determining a range of first azimuth and elevation angles that may be
Based on the calculated azimuth of the working device and the calculated inclination angle of the top surface of the working device, satellite signals transmitted from the plurality of positioning satellites are reflected on the top surface of the working device and the two determining a second azimuth and elevation range that may be received by the GNSS antenna;
A working machine, wherein the mask range is set to the first azimuth angle and elevation angle range and the second azimuth angle and elevation angle range. In the working machine of claim 1,
The two GNSS antennas each pass through a first virtual plane that passes through the outermost left end of the working device in the left-right direction and is parallel to the operating plane, and a first virtual plane that passes through the outermost right end of the working device in the left-right direction and is parallel to the operating plane. and a second virtual plane parallel to the working machine, the working machine being located in an area sandwiched between the working machine and a second virtual plane parallel to the working machine, and being spaced apart from each other in the front-rear direction of the working device. In the working machine of claim 1,
The working machine is characterized in that the two GNSS antennas are each arranged above a line of intersection between the upper surface of the upper revolving body and the operating plane.

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