WO2018164078A1 - Procédé d'acquisition du centre de rotation d'un élément rotatif dans un engin de chantier de construction - Google Patents

Procédé d'acquisition du centre de rotation d'un élément rotatif dans un engin de chantier de construction Download PDF

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Publication number
WO2018164078A1
WO2018164078A1 PCT/JP2018/008413 JP2018008413W WO2018164078A1 WO 2018164078 A1 WO2018164078 A1 WO 2018164078A1 JP 2018008413 W JP2018008413 W JP 2018008413W WO 2018164078 A1 WO2018164078 A1 WO 2018164078A1
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WO
WIPO (PCT)
Prior art keywords
measurement
rotation
rotation center
center
construction
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Application number
PCT/JP2018/008413
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English (en)
Japanese (ja)
Inventor
貴司 小川
亮一 草場
博 村松
康隆 片山
Original Assignee
株式会社トプコン
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Application filed by 株式会社トプコン filed Critical 株式会社トプコン
Publication of WO2018164078A1 publication Critical patent/WO2018164078A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Definitions

  • the present invention relates to a method for acquiring the rotation center of a rotating member in a construction machine.
  • FIG. 5 is a diagram for explaining a conventional method for acquiring the rotation center of a rotating member
  • (a) is a side view of a hydraulic excavator
  • (b) is a schematic diagram showing acquisition of the rotation center by the conventional method.
  • the excavator 10 includes a moving unit 12 provided with a crawler 11, an upper revolving unit 13 that can be swiveled around a rotation center O1 on the moving unit 12, and a rotating center O2 that can be rotated about the upper revolving unit 13 as a center.
  • a boom 14, an arm 15 disposed on the boom 14 so as to be pivotable about a rotation center O 3, and a bucket 16 disposed on the arm 15 so that the rotation center O 4 can be pivotally driven are provided.
  • the tip of the bucket 16 is a construction end 16a, and it is necessary to accurately acquire the position of the construction end 16a for automatic operation and auxiliary control. Therefore, it is necessary to accurately measure and acquire the dimensions of the upper swing body 13, the boom 14, the arm 15, and the bucket 16, and the positions of the rotation centers O1 to O4.
  • these information can be obtained from the blueprint of the excavator 10, but there are no blueprints or modifications in the existing excavator, and these information are You may not be able to get it. In this case, it is necessary to accurately measure the dimensions of each member and the position of the turning center.
  • the rotation centers O2 to O4 of the boom 14, the arm 15, and the bucket 16 can be observed from the outside in many cases, and it is easy to grasp this position.
  • the rotation center O1 of the upper swing body 13 cannot be observed from the outside.
  • the center of rotation may not be visible. In such a case, it is difficult to quickly and accurately grasp the rotation center of the rotating member.
  • the turning center is often positioned by the reference amount.
  • the estimated center Oa can be set, and the set estimated center Oa and the actual rotation center O1 often do not coincide with each other.
  • the estimation must be repeated by trial and error.
  • Patent Document 1 As a method for acquiring the turning center of each member constituting the construction work machine, Patent Document 1 includes an arm configured to support a construction end via a plurality of movable parts so that the construction machine body can turn.
  • the plurality of position sensors detect the respective states of the plurality of movable parts, and a GPS antenna is provided at a predetermined position of the arm. Based on the three-dimensional position information of the antenna and the outputs from the plurality of position sensors, A technique for calculating the three-dimensional position of the pivot center of the arm is described.
  • Patent Document 1 has a problem that it is necessary to arrange a plurality of position sensors and GPS devices on the construction work machine, which is expensive and the measurement procedure is complicated.
  • This invention is made in view of the subject mentioned above, and provides the rotation center acquisition method of the rotation member in the construction work machine which can acquire the rotation center of the rotation member of a construction work machine easily and reliably. Objective.
  • the invention according to claim 1, which solves the above-mentioned problem, is a method for obtaining the position of the rotation center of a member that is rotatably arranged on a construction machine, and includes one measurement point for a measurement target member that measures the rotation center.
  • the measurement target member is rotated around the rotation center and arranged at at least three different measurement positions. At each measurement position, the coordinates of the measurement points of the measurement target member are measured by a surveying instrument.
  • the rotation center of the rotating member in the construction machine is obtained by calculating the rotation center of the member to be measured from at least three measured coordinates.
  • the invention according to claim 2 is the rotation center acquisition method of the rotating member in the construction machine according to claim 1, wherein the surveying device has its own position, the azimuth angle of the measurement location, the depression angle of the measurement location, or It is a total station that measures the elevation angle and the distance to the measurement location and digitally outputs it.
  • the invention according to claim 3 is the method of obtaining the rotation center of the rotating member in the construction machine according to claim 1, wherein the construction machine is a hydraulic excavator provided with an upper swing body, and the member to be measured Is an upper revolving structure.
  • the invention according to claim 4 is the rotation center acquisition method of the rotating member in the construction machine according to claim 1, wherein the construction machine can swing around the rotation center arranged in the upper swing body.
  • a hydraulic excavator provided with an arm member, wherein the measurement target member is the arm member.
  • the invention according to claim 5 is the rotation center acquisition method of the rotating member in the construction machine according to claim 1, wherein the measurement result is input to a computer, and the calculator calculates the measurement target member from the measurement result. The coordinates of the center of rotation are calculated.
  • the rotation center of the rotation member of the construction machine can be acquired easily and reliably.
  • one measurement point is set on the measurement target member for measuring the rotation center, and the measurement target member is set around the rotation center. Rotate and place in at least three different measurement positions. At each measurement position, measure the coordinates of the measurement point of the measurement target member with the surveying device, and calculate the rotation center of the measurement target member from the measured at least three coordinates. . Therefore, even when the rotation center of the measurement target cannot be visually recognized, the rotation center of the measurement target member can be acquired easily and reliably.
  • the surveying device has its own position, the azimuth angle of the measurement location, the depression angle or elevation angle of the measurement location, and the distance to the measurement location. It is a total station that measures and outputs digitally. Therefore, the coordinates of the measurement point of the construction machine can be accurately and quickly measured and digitally output.
  • the construction work machine is a hydraulic excavator provided with an upper swing body, and the measurement target member is an upper swing body. Therefore, the rotation center in the upper swing body of the hydraulic excavator can be acquired easily and reliably.
  • the excavator provided with the arm member that can swing about the rotation center arranged on the upper swing body. And the member to be measured is an arm member. Therefore, the center of rotation of the arm member of the hydraulic excavator can be acquired easily and reliably.
  • a measurement result is input into a computer and a computer calculates the coordinate of the rotation center of a measurement object member from a measurement result. Therefore, the calculation can be performed automatically and accurately.
  • FIG. It is a schematic diagram which shows the rotation center acquisition method of the rotation member in the construction work machine which concerns on embodiment of this invention, (a) The top view which shows the arrangement
  • FIG. 1 is a schematic view showing a method for acquiring the rotation center of a rotating member in a construction machine according to an embodiment of the present invention, (a) a plan view showing an arrangement state of a hydraulic excavator and a surveying instrument, and (b) a measurement state.
  • FIG. 2 is a block diagram showing a data flow in the method of acquiring the rotation center of the rotating member in the construction work machine.
  • the upper swing body 13 of the hydraulic excavator 10 which is a construction work machine is used as a measurement target member.
  • the upper turning body 13 rotation center O1 is acquired.
  • the excavator 10 includes a moving unit 12 including a crawler 11, an upper swing body 13, a boom 14, an arm 15, and a bucket 16.
  • the upper swing body 13 is rotatable (turnable) in a horizontal plane with respect to the moving unit 12 around the rotation center O1.
  • the boom 14 can rotate (swing) in the vertical direction with respect to the upper swing body 13 around the rotation center O2.
  • the arm 15 can rotate (swing) in the vertical direction with respect to the boom 14 around the rotation center O3.
  • the bucket 16 can rotate (swing) in the vertical direction with respect to the arm 15 about the rotation center O4.
  • the surveying device 20 is disposed on the side of the hydraulic excavator 10 disposed on a plane, and the surveying device 20 sets the construction end 16 a of the bucket 16 as a measurement point.
  • the surveying device 20 sets the construction end 16 a of the bucket 16 as a measurement point.
  • the upper swing body 13 that is a measurement target member is driven to rotate, and the boom 14, arm 15, and bucket 16 are not driven.
  • the upper turning body 13 is rotated and the buckets 16 are arranged at three different positions on the same circumference.
  • reference numeral 21 denotes a tripod for fixing the surveying instrument 20
  • reference numeral 40 denotes an operator.
  • the measurement point can be measured at any position of the upper turning body 13, that is, the upper turning body 13, the boom 14, the arm 15, and the bucket 16. Further, the accuracy of measurement increases as the distance from the rotation center O1 of the upper swing body 13 increases.
  • the surveying device 20 used in the present embodiment is a total station, and measures the azimuth angle of the measurement location, the depression angle or elevation angle surrounding price of the measurement location, and the distance to the measurement location, and outputs them digitally.
  • the surveying instrument 20 can perform measurement in a prism mode that receives and measures reflected light from a mirror or a prism, and a non-prism mode that receives and measures reflected light from a measurement target member.
  • the coordinates of the construction end 16a at three locations ((A), (B), (C) in FIG. 1A) that are the trajectory drawn by the construction end 16a can be acquired.
  • the construction end portion 16a can be measured by arranging a prism on the construction end portion 16a and using the surveying instrument 20 in the prism mode. Note that the construction end 16a may be measured in the non-prism mode.
  • these measurement data are input to the computer 30, and the coordinates of the rotation center O1 of the upper swing body 13 are calculated by software installed in the computer 30.
  • Spreadsheet software can be used as the software installed in the computer 30.
  • FIG. 1B two strings a and b can be identified from the coordinates at the three measurement positions (A), (B), and (C) of the construction end portion 16a.
  • the center of rotation O1 of the upper swing body 13 exists at the intersection of the perpendicular bisectors c and d of the strings a and b.
  • the calculator 30 performs this calculation based on the input measurement data.
  • FIG. 3 is a flowchart showing a process flow of the rotation center acquisition method of the rotating member in the construction work machine.
  • the excavator 10 is placed on the plane G (step ST1).
  • the location where the excavator 10 is disposed is preferably horizontal.
  • the measurement location is determined (step ST2).
  • the construction end 16a located at the tip of the bucket 16 is selected as the measurement location.
  • a prism can be disposed at the construction end 16a.
  • the surveying device 20 is arranged and measurement is started.
  • the construction end 16a of the bucket 16 in the initial state is arranged at one place on the turning circle, and the coordinates of the construction end 16a are measured by the surveying device 20 (step ST3). That is, the measurement is performed with the hydraulic excavator 10 placed first.
  • step ST5 the coordinate measurement of the construction end 16a by the surveying device 20 is performed by turning the upper turning body 13 (step ST5) and repeatedly three times or more (step S4).
  • step ST6 the measurement is terminated (step ST6), and the measurement results, that is, the coordinates at the three positions of the construction end portion 16a are input to the software of the computer 30.
  • the coordinates are specified by (X, Y, H).
  • the calculator 30 performs the above-described calculation (step ST7), and outputs the coordinates of the rotation center O1 of the upper swing body 13.
  • the coordinates of the rotation center of the upper swing body 13 can be acquired easily and accurately. Thereby, it is possible to perform accurate control using this value for automatic operation control of the excavator 10 and driving support.
  • FIG. 4 is a schematic view showing another embodiment of the present invention.
  • the rotation center O2 of the boom 14 that is a swingable arm member of the excavator 10 is acquired.
  • one point 14a is set on the boom 14, and only the boom 14 is rotated without driving other members, and the boom 14 is moved at three locations ((D), (E), (F) in the figure).
  • the coordinates of one point 14a are measured.
  • the rotation center O2 of the boom 14 is acquirable similarly to embodiment mentioned above.
  • rotation center can be obtained in the same manner even when attached to other rotating members, for example, the arm 15 and the bucket 16.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Le problème décrit par la présente invention est d'acquérir facilement et de manière fiable le centre de rotation d'un élément rotatif d'un engin de chantier de construction. À cet effet, l'invention concerne un procédé d'acquisition de la position d'un centre de rotation (O1) d'un corps tournant supérieur (13) placé de façon à pouvoir tourner sur une excavatrice hydraulique (10). Une extrémité de travail (16a), qui est un point de mesure, est fixée au corps tournant supérieur (13) à l'endroit où le centre de rotation (O1) est mesuré (étape ST2). Le corps tournant supérieur (13) tourne autour du centre de rotation (O1) et est placé au niveau d'au moins trois positions de mesure différentes (étapes ST4, ST5). Dans chacune des positions de mesure, les coordonnées de l'extrémité de travail (16a) sont étudiées à l'aide d'un dispositif d'étude (étape ST3). Le centre de rotation d'un élément soumis à une mesure est calculé à partir d'au moins trois coordonnées mesurées (étape ST7).
PCT/JP2018/008413 2017-03-06 2018-03-05 Procédé d'acquisition du centre de rotation d'un élément rotatif dans un engin de chantier de construction WO2018164078A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-042207 2017-03-06
JP2017042207A JP2018146407A (ja) 2017-03-06 2017-03-06 建築作業機械における回転部材の回転中心取得方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11624169B2 (en) 2020-06-18 2023-04-11 Deere & Company Excavator with improved movement sensing

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6966108B2 (ja) 2020-03-18 2021-11-10 Ｔｏｔａｌｍａｓｔｅｒｓ株式会社 建設作業機械の測位較正方法及びその測位較正コントローラ
JP2024041326A (ja) * 2022-09-14 2024-03-27 株式会社小松製作所 作業機械における車体座標系を設定するためのシステムおよび方法

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JPH07150597A (ja) * 1993-12-01 1995-06-13 Kumagai Gumi Co Ltd 建設機械の位置及び姿勢表示方法
US5404661A (en) * 1994-05-10 1995-04-11 Caterpillar Inc. Method and apparatus for determining the location of a work implement
JPH09500700A (ja) * 1994-05-10 1997-01-21 キャタピラー インコーポレイテッド 作業機械の位置と方向を決定する方法と装置
US20040020083A1 (en) * 2002-07-29 2004-02-05 Staub Michael David Method and apparatus for determining machine location

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11624169B2 (en) 2020-06-18 2023-04-11 Deere & Company Excavator with improved movement sensing

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