WO2018164079A1 - Procédé d'acquisition d'une quantité de correction de capteur d'inclinaison dans un engin de chantier de construction - Google Patents

Procédé d'acquisition d'une quantité de correction de capteur d'inclinaison dans un engin de chantier de construction Download PDF

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Publication number
WO2018164079A1
WO2018164079A1 PCT/JP2018/008414 JP2018008414W WO2018164079A1 WO 2018164079 A1 WO2018164079 A1 WO 2018164079A1 JP 2018008414 W JP2018008414 W JP 2018008414W WO 2018164079 A1 WO2018164079 A1 WO 2018164079A1
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WO
WIPO (PCT)
Prior art keywords
measurement
correction amount
inclination
construction machine
tilt
Prior art date
Application number
PCT/JP2018/008414
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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
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社トプコン filed Critical 株式会社トプコン
Publication of WO2018164079A1 publication Critical patent/WO2018164079A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels

Definitions

  • the present invention relates to a method for acquiring a correction amount of an inclination sensor in a construction work machine.
  • FIG. 6 is a side view of a hydraulic excavator showing a construction work machine to which the present invention can be applied.
  • 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.
  • a tilt sensor 21 is disposed on the boom 14, a tilt sensor 22 is disposed on the arm 15, a tilt sensor 23 is disposed on the bucket 16, and a tilt sensor 24 is disposed on the upper swing body 13.
  • Patent Document 1 includes an arm configured to support a construction end via a plurality of movable parts so as to be pivotable on the construction machine body.
  • a 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 outputs from the plurality of position sensors, the arm A technique for calculating the three-dimensional position of the turning center is described.
  • the correction amount of the tilt sensor is obtained by setting the boom to a known tilt angle, for example, horizontal, obtaining the output of the tilt sensor in this state, and comparing them.
  • a known tilt angle for example, horizontal
  • another tilt angle measuring device is required, and care must be taken not to affect the angle error due to an unstable posture. is there.
  • the present invention has been made in view of the above-described problems, and an inclination sensor correction amount in a construction machine that can easily and reliably obtain a correction amount of an inclination sensor disposed on a rotatable member of the construction machine.
  • the purpose is to provide an acquisition method.
  • the invention according to claim 1, which solves the above problem, is a method for obtaining a correction amount of a tilt sensor disposed on a rotatable member disposed on a construction work machine, wherein the member on which the tilt sensor is disposed.
  • a plurality of measurement points are set on the measurement target member, the coordinates of these measurement points are surveyed by a surveying device, the inclination angle of the measurement target member is calculated from the measured coordinates of the plurality of measurement points, and the obtained inclination
  • the invention according to claim 2 is the tilt sensor correction amount acquisition method for the construction machine according to claim 1, wherein the surveying device includes its own position, the azimuth angle of the measurement location, the depression angle or elevation angle of the measurement location. And a total station that measures the distance to the measurement location and outputs the result digitally.
  • the invention described in claim 3 is the tilt sensor correction amount acquisition method for the construction machine according to claim 1, wherein the construction machine is a hydraulic excavator, and the measurement target member is a rotating arm member or bucket. It is characterized by being.
  • the invention according to claim 4 is the tilt sensor correction amount acquisition method for the construction machine according to claim 1, wherein the measurement result is input to a computer, and the computer calculates the tilt angle of the measurement target member from the measurement result. Is calculated.
  • the invention according to claim 5 is characterized in that, in the inclination sensor correction amount acquisition method for a construction machine according to claim 1, the dimension of the measurement target member is acquired from the coordinates of the measurement point.
  • the correction amount of the inclination sensor arranged on the rotating member of the construction machine can be acquired easily and reliably.
  • a plurality of measurement points are set on the measurement target member on which the inclination sensor is arranged, and the coordinates of these measurement points are set by the surveying instrument.
  • the measurement is performed, and the inclination angle of the measurement target member is calculated from the coordinates of the plurality of measured measurement points, and compared with the output value of the inclination sensor arranged on the measurement target member. Therefore, it is possible to acquire the tilt angle of the measurement object in a state where the measurement target member is arranged at an arbitrary position, and to acquire the correction amount of the tilt sensor based on the acquired tilt angle.
  • the surveying device calculates the position of itself, the azimuth angle of the measurement location, the depression angle or elevation angle of the measurement location, and the distance to the measurement location.
  • a total station that measures and outputs digitally. Therefore, it is possible to accurately and quickly measure the position of the measurement point of the measurement object of the construction machine and output it digitally. it can.
  • the construction machine is a hydraulic excavator
  • the member to be measured is a rotating arm member or bucket.
  • the measurement result is input to the computer, and the computer calculates the inclination angle of the measurement target member from the measurement result. Therefore, the tilt angle of the rotating member necessary for acquiring the correction amount of the tilt sensor can be automatically and accurately acquired by the computer.
  • the dimension of the measurement target member is acquired from the coordinates of the measurement point. Therefore, various correction values necessary for control of the construction machine can be acquired from the acquired dimensions of each measurement object.
  • (a) is a photograph of a hydraulic excavator showing the measurement point
  • (b) is a diagram showing an input table of the measurement results.
  • 1 is a side view of a hydraulic excavator showing a construction machine to which the present invention can be applied.
  • FIG. 1 is a schematic diagram showing an inclination sensor correction amount acquisition method 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 inclination sensor correction amount acquisition method in the construction work machine.
  • the rotatable arm member of the excavator 10 that is the construction work machine that is, the upper swing body 13, the boom 14,
  • the dimensions of the arm 15 and the bucket 16 and the correction amount for correcting the tilt sensors 21, 22, 23, 24 arranged on these are acquired.
  • the excavator 10 includes the moving unit 12 including the crawler 11, the upper swing body 13, the boom 14, the arm 15, and the 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.
  • a surveying device 30 is disposed on the side of a hydraulic excavator 10 disposed on a plane, and the coordinates of measurement points set on the excavator 10 are measured by the surveying device 30.
  • reference numeral 31 denotes a tripod for fixing the surveying instrument 30, and reference numeral 40 denotes an operator.
  • the installation location of the surveying device 30 may be moved and measured from another direction.
  • the coordinates of the measurement points set on the excavator 10 can be acquired by the surveying device 30, and the dimensions and the tilt amount of the rotating member of the excavator 10 can be calculated based on the acquired coordinates.
  • the surveying device 30 used in the present embodiment is a total station, and measures the azimuth angle of the measurement location, the depression angle or elevation angle of the measurement location, and the distance to the measurement location, and outputs them digitally.
  • the surveying instrument 30 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.
  • these measurement data are input to the computer 50, and the length and inclination of each member are calculated from the coordinates of each measurement point by software installed in the computer 50.
  • software installed in the computer 50 spreadsheet software can be used.
  • FIG. 3A and 3B are diagrams for explaining the measurement points of the measurement target member.
  • FIG. 3A is a photograph of a hydraulic excavator showing the measurement points
  • FIG. 3B is a diagram showing an input table of measurement results.
  • the hydraulic excavator 10 to be measured is provided with a total station device as position acquisition means, and the upper swing body 13 is provided with a prism 17 (FIG. 1B).
  • the measurement points of the hydraulic excavator 10 can be a plurality of, for example, the following 12 locations. This measurement point can be changed as necessary.
  • alphabets a to l attached to the front of the name correspond to the photograph in FIG.
  • the measurement point by the surveying device 30 is not only for acquiring the correction amount of the tilt sensor, but also acquires the length dimension (inter-axis dimension) of each measurement target member, and the bucket 16 from the length dimension and the tilt. It can also be used to obtain the offset amount between the tip of the prism and the prism 17.
  • the operator 40 inputs data measured by the surveying instrument 30 to the computer 50.
  • An input table is shown in FIG. As shown in FIG. 4B, the position of each part inputs three-dimensional information (X, Y, Z) and a target height “H”.
  • the computer 50 processes the measurement data by software, and calculates and outputs the dimensions of the upper swing body 13, the boom 14, the arm 15, and the bucket 16 and the respective tilt amounts.
  • the difference between the amount of inclination and the output value of the inclination sensors 21, 22, 23, 24 is used as a correction value for each of the inclination sensors 21, 22, 23, 24.
  • FIG. 4 is a flowchart showing a processing flow of the inclination sensor correction amount acquisition method in the construction work machine.
  • the excavator 10 is placed on the plane G (step ST1).
  • the plane G on which the excavator 10 is disposed is preferably horizontal. However, even when the plane G is inclined, the inclination can be corrected by subsequent processing.
  • measurement points 30 are measured with the surveying instrument 30 (step ST2).
  • the measurement points are any three locations on the plane G in addition to the 12 locations described above.
  • step ST3 12 measurement results of the excavator 10 and 3 measurement results on the plane G are input to the computer 50.
  • the software of the computer 50 first calculates the inclination of the plane on which the excavator 10 is arranged from the three coordinates of the plane G (step ST3) and confirms whether inclination correction is necessary (step ST4).
  • step ST5 a tilt correction amount is calculated (step ST5). This inclination correction amount is necessary when measuring the offset amount from the prism 17 to the tip of the bucket 16 based on the dimensions of the boom 14, the arm 15, and the like.
  • the plane G on which the excavator 10 is arranged has an inclination “ ⁇ ” with respect to the horizontal plane H, and inclination correction is necessary (Yes in step ST4).
  • “H0” corrected for inclination is calculated from the height “h1” of the prism 17 measured by the computer 50 (step ST6). Based on the height dimension “h0” corrected for inclination and the coordinates of the prism 17, the dimensions and inclination amounts of the boom 14, the arm 15, and the bucket 16 are calculated (step ST6).
  • step ST4 If tilt correction is not necessary (No in step ST4), the dimensions and tilt amounts of the boom 14, arm 15, and bucket 16 are calculated as they are. Thereby, the inclination amount of the upper swing body 13, the boom 14, the arm 15, and the bucket 16 was acquired. Next, this value is compared with the output values of the inclination sensors 21, 22, 23, 24, and the correction amounts of the inclination sensors 21, 22, 23, 24 are acquired (step ST7). As a result, a series of processing ends.
  • the dimensions of the upper swing body 13, the boom 14, the arm 15, and the bucket 16, and the inclination sensors 21 and 22 are easily and accurately. , 23 and 24 can be acquired. Therefore, accurate control can be performed by using these values for automatic operation control of the excavator 10 and driving support.
  • the inclination amount of the plane G on which the excavator 10 is disposed is measured with an inclinometer and compared with the inclination amount obtained by the computer 50, and as shown in FIG.
  • the calculation result of the computer 50 can be confirmed by measuring with a tape measure and comparing with the calculated value of the computer 50.
  • a GNSS Global Navigation Satellite System

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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)
  • Mechanical Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Le problème décrit par la présente invention est d'acquérir facilement et de manière fiable une quantité de correction d'un capteur d'inclinaison situé dans un élément qui peut tourner. La solution selon l'invention porte sur un procédé d'acquisition d'une quantité de correction pour des capteurs d'inclinaison (21, 22, 23, 24) situés sur un corps tournant supérieur rotatif (13), sur une flèche (14), sur un bras (15) et sur un godet (16) d'une excavatrice hydraulique (10). Une pluralité de points de mesure est placée sur le corps tournant supérieur (13), la flèche (14), le bras (15) et le godet (16) où se situent les capteurs d'inclinaison (21, 22, 23, 24), et les coordonnées de ces points de mesure sont étudiées à l'aide d'un dispositif d'étude (30) (étape ST2). Des angles d'inclinaison d'éléments en cours de mesure sont calculés par un ordinateur (50) à partir des coordonnées de la pluralité mesurée de points de mesure (étape ST6). Une valeur de correction pour les capteurs d'inclinaison est acquise en fonction des angles d'inclinaison acquis et des valeurs de sortie des capteurs d'inclinaison (21, 22, 23, 24) (étape ST7).
PCT/JP2018/008414 2017-03-06 2018-03-05 Procédé d'acquisition d'une quantité de correction de capteur d'inclinaison dans un engin de chantier de construction WO2018164079A1 (fr)

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JP2017042213A JP6918524B2 (ja) 2017-03-06 2017-03-06 建築作業機械における傾斜センサー補正量取得方法
JP2017-042213 2017-03-06

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN113565165A (zh) * 2021-09-27 2021-10-29 徐州徐工挖掘机械有限公司 挖掘机电子围墙的建立方法
WO2023157744A1 (fr) * 2022-02-18 2023-08-24 株式会社小松製作所 Système et procédé d'acquisition d'informations

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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
JP7127715B2 (ja) * 2020-09-28 2022-08-30 日本精機株式会社 作業支援システムの制御方法、作業支援システムの制御プログラム
WO2024010024A1 (fr) * 2022-07-08 2024-01-11 株式会社ニコン Procédé de mesure et procédé de construction de structure

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JP2000213934A (ja) * 1999-01-22 2000-08-04 Caterpillar Inc 傾斜センサ―及びその精度を調整する方法
US20050194163A1 (en) * 2004-02-18 2005-09-08 Wray Albert A. Linked mode for a multi-axis machine control
JP2007064853A (ja) * 2005-08-31 2007-03-15 Hitachi Ltd 複合測位による移動体の測位制御装置、システムおよびプログラム
JP2012202061A (ja) * 2011-03-24 2012-10-22 Komatsu Ltd 油圧ショベルの較正システム及び較正方法
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Publication number Priority date Publication date Assignee Title
CN113565165A (zh) * 2021-09-27 2021-10-29 徐州徐工挖掘机械有限公司 挖掘机电子围墙的建立方法
CN113565165B (zh) * 2021-09-27 2022-02-15 徐州徐工挖掘机械有限公司 挖掘机电子围墙的建立方法
WO2023157744A1 (fr) * 2022-02-18 2023-08-24 株式会社小松製作所 Système et procédé d'acquisition d'informations

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