WO2022209303A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
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- WO2022209303A1 WO2022209303A1 PCT/JP2022/004694 JP2022004694W WO2022209303A1 WO 2022209303 A1 WO2022209303 A1 WO 2022209303A1 JP 2022004694 W JP2022004694 W JP 2022004694W WO 2022209303 A1 WO2022209303 A1 WO 2022209303A1
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- positioning
- satellite
- antenna
- positioning accuracy
- mask
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Classifications
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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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- 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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
Definitions
- the present invention relates to a work machine whose position is detected using a positioning satellite system.
- Information-aided construction refers to a series of construction processes consisting of research, design, construction, inspection, management, etc., which focuses on construction and utilizes electronic data and ICT (Information and Communication Technology) to facilitate construction. It is a system that achieves high efficiency.
- Machines that support information-aided construction include a guidance function that displays the vehicle body position and the position and posture of the front working device (sometimes referred to as a working device) along with the position data of the work target plane on the monitor, and a bucket that displays the work target plane. 2. Description of the Related Art
- Working machines typified by hydraulic excavators equipped with a machine control function for controlling a front working device to prevent over-digging are known.
- Work machines that are compatible with such information-aided construction present information to the operator based on information-aided construction data that has three-dimensional coordinate data, and provide work support and operation support functions. For example, in the machine guidance of a hydraulic excavator, the position of the tip of the bucket is calculated from data on the position and attitude of the vehicle body and the attitude data of the front working device, and the position of the bucket relative to the target work surface is presented to the operator via a monitor.
- This type of hydraulic excavator receives positioning signals from positioning satellites via a positioning antenna attached to the upper revolving structure in order to calculate the position of the upper revolving structure (body) in the global coordinate system (geographical coordinate system).
- a satellite positioning system for example, GNSS (Global Navigation Satellite System)
- GNSS Global Navigation Satellite System
- the front parts such as the boom, arm, and bucket may exist above the positioning antenna of the satellite positioning system, and these may interfere with the reception of positioning signals on straight routes. be.
- the positioning antenna receives the positioning signal as a diffracted wave or a reflected wave called multipath. If a diffracted wave or reflected wave is received and used for positioning calculation, there is a high possibility that an error will be included in the positioning result.
- Patent Document 1 discloses a technique that attempts to reduce the influence of multipath.
- a mask range (mask information) representing a selection rule of GPS satellites determined based on the arrangement of radio wave obstacles around a GPS receiver is stored in a database for each predetermined area, and GPS data is transmitted from the database.
- GPS receiver control that acquires the mask range corresponding to the signal reception area and selects the GPS satellite to be used for positioning from among the GPS satellites that are located outside the mask range among the multiple GPS satellites that fly in the sky.
- An apparatus is disclosed.
- Patent Document 1 assumes only non-moving radio wave obstacles, and the mask range when there are movable radio wave obstacles around the positioning antenna, such as the front work equipment of a hydraulic excavator. not touched. In other words, in order to improve satellite positioning accuracy in the field of work machinery, it is important to set a mask range that takes into consideration the attitude of the front work equipment, which is a movable radio wave obstruction.
- the mask range used for satellite selection is changed each time (or changed) according to changes in the attitude of the front working device, it would be possible to suppress the decrease in positioning accuracy, but the story is not so simple.
- the posture of the front working device is frequently changed (eg, raising and lowering the boom). If the mask range is changed in accordance with the change in attitude, the satellites used for positioning calculations will switch frequently, and changing the mask range may result in a decrease in positioning accuracy.
- the number of satellites that can be used for positioning calculation is extremely small, if the mask range is used according to the attitude of the front work device, there will be times when even the few satellites cannot be used for positioning. In some cases, not using it can suppress the decrease in positioning accuracy.
- positioning accuracy degradation can also occur due to, for example, the number of satellites and the SN ratio (signal-to-noise ratio) of satellite signals.
- the present invention has been made in view of the above circumstances, and its object is to provide a work machine that can suppress the deterioration of satellite positioning accuracy due to the operation of the work equipment.
- the present application includes a plurality of means for solving the above-mentioned problems, and to give an example, an undercarriage, an upper revolving body rotatably mounted on the undercarriage, and the upper revolving body An attached articulated working device, a plurality of attitude sensors for detecting the attitudes of the working device and the upper slewing structure, and attached to the upper slewing structure for receiving satellite signals from a plurality of positioning satellites.
- a receiver for calculating the position of the positioning antenna based on satellite signals received by the positioning antenna; and a receiver for calculating the position of the positioning antenna based on the satellite signals received by the positioning antenna; and a controller for calculating the attitude of the upper slewing structure, wherein the controller controls the working device and the positioning satellite for selecting the positioning satellite used for calculating the position of the positioning antenna by the receiver.
- a plurality of mask ranges set with reference to the positioning antenna based on the attitude of the upper slewing body are stored, and the controller uses each of the plurality of mask ranges to select a positioning satellite.
- the receiver is characterized by calculating the position of the positioning antenna based on the satellite signal of the positioning satellite selected when the positioning accuracy is the best among the plurality of positioning accuracies.
- the mask range reflecting the posture of the front work device changes with the operation of the front work device
- the mask range with the highest positioning accuracy is selected.
- FIG. 1 is a side view of a hydraulic excavator 1 and a GNSS reference station 8 according to an embodiment of the present invention
- FIG. FIG. 2 is a functional block diagram of an in-vehicle controller 40 mounted on the hydraulic excavator 1 of FIG. 1
- FIG. 3 is a perspective view of a first antenna coordinate system based on the GNSS antenna 50A
- FIG. 2 is a view (plan view) looking down on the hydraulic excavator 1 from the Z-axis in the first antenna coordinate system.
- the figure (side view) which looked at the hydraulic excavator 1 from +Y-axis direction in a 1st antenna coordinate system.
- FIG. 4 is an explanatory diagram of angles that define the posture of the front working device 6;
- 5 is a flowchart of positioning processing of the GNSS antenna 50A by the controller 40 and the GNSS receiver 51 according to the present embodiment;
- the present invention is applied to a crawler hydraulic excavator as a work machine. It also has a machine control function that limits the operation of the work equipment (that is, the operation of the actuator that drives the front member) so as not to exceed the construction target plane.
- the same reference numerals are given to the same parts in each figure, and overlapping explanations are omitted as appropriate.
- FIG. 1 is a side view of a hydraulic excavator 1 and a GNSS reference station 8 according to an embodiment of the invention.
- the hydraulic excavator 1 shown in this figure includes a crawler-type running body (lower running body) 2, a revolving body (upper revolving body) 3 attached to the upper part of the running body 2 so as to be able to turn, and one end (base end) of which is A front working device (sometimes simply referred to as “working device”) 6 consisting of a multi-joint type link mechanism is attached to the front of the revolving body 3 .
- Reference numeral 30 in the figure represents the ground.
- the front working device 6 has a boom 6A whose one end is connected to the revolving body 3, an arm 6B whose one end is connected to the other end of the boom 6A, and a bucket 6C whose one end is connected to the other end of the arm 6B.
- Each of these front members 6A, 6B, 6C is configured to rotate vertically.
- a boom cylinder 11A, an arm cylinder 11B, and a bucket cylinder 11C are provided as actuators (hydraulic cylinders) for rotating the front members 6A, 6B, and 6C.
- the revolving body 3 can be driven to turn left and right around a turning center axis O by a turning motor (not shown).
- the boom 6A, arm 6B and bucket 6C operate on a common plane including the front working device 6, and hereinafter this plane may be referred to as the action plane.
- the action plane is a plane perpendicular to the rotation axes of the boom 6A, arm 6B and bucket 6C.
- the center of the boom 6A, arm 6B and bucket 6C in the width direction center of the rotation axis may be referred to as the action plane.
- the hydraulic excavator 1 is provided with a plurality of attitude sensors 75A, 75B, 75C, and 23 for detecting the attitudes of the front working device 6 and the revolving body 3.
- attitude sensors 75A, 75B, 75C, and 23 for detecting the attitudes of the front working device 6 and the revolving body 3.
- IMU inertial measurement unit
- a boom attitude sensor 75A is attached to the boom 6A
- an arm attitude sensor 75B is attached to the arm 6B
- a bucket attitude sensor 75C is attached to the bucket 6C (see FIG. 1).
- a revolving structure attitude sensor 23 is attached to the revolving structure 3 (see FIG.
- attitude sensors 75A, 75B, 75C, and 23 are input to the controller 40 via connection lines.
- An angle sensor for example, a potentiometer or a rotary encoder
- the bucket attitude sensor 75C may be attached to the bucket link instead of the bucket.
- the revolving structure 3 has a plurality of control levers (not shown) operated by an operator, an operator's seat 4 having a monitor 60 displaying the positional relationship between the bucket 6C and the work target surface, and a plurality of positioning satellites.
- a controller 40 which is a computer that calculates desired position coordinates on the front work device 6 based on the position and orientation calculated by the GNSS receiver 51 and detection signals from the plurality of attitude sensors 75A, 75B, 75C, and 23.
- the positions of the two GNSS antennas 50A and 50B and the azimuth angle of the revolving body 3 are calculated by one GNSS receiver.
- a configuration in which two GNSS receivers 51A and 51B are mounted may be adopted.
- the GNSS reference station 8 that wirelessly transmits the GNSS correction data to the wireless device 7 of the hydraulic excavator 1 will be described.
- the GNSS reference station 8 whose coordinate positions in the geographic coordinate system are known, has a GNSS antenna 80 for receiving satellite signals from a plurality of positioning satellites (GNSS satellites) and satellite signals received by the GNSS antenna 80 (satellite signals (includes satellite code, carrier, satellite orbit, satellite signal reception level, etc.);
- a reference station controller 82 for generating GNSS correction data for wireless transmission to the radio 7 based on satellite signals, and a radio 87 for transmitting the GNSS correction data generated by the reference station controller 82 to the radio 7 are provided. .
- a GNSS receiver 81 connected to a GNSS reference station antenna 80 wirelessly transmits GNSS correction data from a wireless device 87 via a reference station controller 82 . If the GNSS correction data received by the wireless device 7 is used for positioning by the GNSS receiver 51, highly accurate positioning on the centimeter level becomes possible.
- ⁇ GNSS antenna 50> The two GNSS antennas 50A and 50B are fixed to the upper revolving body 3 via masts (antenna support members) 52a and 52b, respectively. are arranged at predetermined intervals.
- the two masts 52a and 52b are pole-shaped support members for supporting the GNSS antennas 50A and 50B above the upper swing body 3, respectively.
- the two masts 52a and 52b of this embodiment are arranged on the upper surface (first area) of the upper swing body 3, like the GNSS antennas 50A and 50B.
- Base ends of the masts 52a and 52b are fixed to the upper surface of the upper rotating body 3, and the masts 52a and 52b extend substantially vertically from the base ends.
- GNSS antennas 50A, 50B having a substantially disc-shaped external shape with the central part bulging in the axial direction are attached.
- Each antenna 50A, 50B is supported so as to pass through the center axis of the GNSS antenna 50A, 50B.
- the support members for the GNSS antennas 50A and 50B are not limited to the pole-shaped masts 52a and 52b, and can be supported by support members of various shapes.
- the GNSS receiver 51 receives the two GNSS antennas 50A, 50B based on a plurality of satellite signals (including satellite codes, carriers, satellite orbits, satellite signal reception levels, etc.), the two GNSS antennas 50A, 50B. 50B of at least one GNSS antenna (for example, the GNSS antenna 50B) in the geographic coordinate system (global coordinate system) and the orientation between the two GNSS antennas 50A and 50B Azimuth (also called heading) is calculated.
- a plurality of satellite signals including satellite codes, carriers, satellite orbits, satellite signal reception levels, etc.
- the two GNSS antennas 50A, 50B. 50B of at least one GNSS antenna for example, the GNSS antenna 50B
- Azimuth also called heading
- 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 the electromagnetic wave from each GNSS satellite and the transmission time included in the electromagnetic wave, and based on the arrival time difference, the distance between each GNSS satellite and the GNSS antennas 50A and 50B. are estimated to calculate the positions of the GNSS antennas 50A and 50B.
- the GNSS satellites are equipped with sophisticated clocks, and the distance between each GNSS satellite and the GNSS antenna is calculated by multiplying the arrival time difference obtained by demodulating the electromagnetic waves from each satellite by the speed of the electromagnetic waves.
- An error may be included in the calculated distance between each GNSS satellite and each GNSS antenna. This error is caused by the fact that the speed change of the electromagnetic wave generated by the ionosphere and water vapor existing between the GNSS satellite and the GNSS antenna is different for each GNSS satellite with different azimuth and elevation angles, and the orbital information sent by electromagnetic waves from each GNSS satellite. is slightly different from the actual position, and there are some errors in the clock information between the GNSS satellites.
- RTK-GNSS real-time kinematic GNSS
- receives GNSS correction data transmitted from the GNSS reference station 8 and performs positioning For example, the positioning of the reference station GNSS antenna 80 with a known absolute position installed near the hydraulic excavator 1 (within several kilometers) and the calculation of the GNSS correction data are performed by the reference station GNSS receiver 81, and the correction data is transmitted by the wireless device 87. It is transmitted to the receiver 51 of the excavator 1 .
- the relative position vector instead of the absolute position between the two GNSS antennas 50A (50B) and 80, errors can be reduced.
- the correction data transmitted from the radio 87 of the GNSS reference station 8 is received by the radio 7 mounted on the hydraulic excavator 1 and transmitted to the GNSS receiver 51 .
- the relative position between the reference station GNSS antenna 80 and the GNSS antenna 50A is calculated by comparing 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. Calculate (direction and distance).
- 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 with the carrier wave phase information of the satellite signal received by the mobile station antenna 50A by the GNSS receiver 51.
- the GNSS receiver 51 can output the positioning results of the GNSS antennas 50A and 50B in the NMEA format including the latitude, longitude and geoid height of each of the GNSS antennas 50A and 50B.
- 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 the 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 by the received signal of the GNSS antenna 50A to measure the relative position (vector) with the GNSS antenna 50B. becomes.
- relative positions (vectors) can be calculated without using correction data transmitted from the wireless device 87 .
- a direction calculation method there is also a method of calculating the positions of the GNSS antenna 50A and the GNSS antenna 50B from the reference station GNSS antenna 80 and obtaining the direction from the difference between the positions. Then, in the direction between the two GNSS antennas 50A and 50B calculated in this way, by considering the constant due to the mounting positions of the two GNSS antennas 50A and 50B on the excavator 1, and the azimuth (direction) of the front work device 6 can be calculated.
- a system for calculating the directions of the upper rotating body 3 and the front work device 6 by wirelessly transmitting correction data from the reference station GNSS antenna 80 has been described, but VRS (virtual reference point system), quasi-zenith satellite, etc. have been described. You may use the service which distributes the correction
- FIG. 2 is a functional block diagram of the controller 40 mounted on the hydraulic excavator 1 of FIG.
- the controller 40 Based on the positions of the two GNSS antennas 50A and 50B and the azimuth (heading) of the revolving structure 3 calculated by the GNSS receiver 51, and the detection signals of the plurality of attitude sensors 75A, 75B, 75C, and 23, the controller 40: It is a computer that calculates the position coordinates of each of the front members 6A, 6B, and 6C that constitute the front working device 6.
- FIG. 1 It is a computer that calculates the position coordinates of each of the front members 6A, 6B, and 6C that constitute the front working device 6.
- the controller 40 includes an arithmetic processing unit (for example, CPU (not shown)), a storage device (for example, semiconductor memory such as ROM and RAM) 56, and an interface (input/output device (not shown)).
- the program (software) stored in advance in 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. output a signal (computation result) to Note that the GNSS receivers 51 and 81 can also have hardware similar to that of the controller 40 .
- the storage device 56 may be a device independent of the controller 40 .
- the controller 40 is connected to the GNSS receiver 51, the attitude sensors 75A, 75B, 75C, 23, the monitor 60, and the wireless device 7 via interfaces, and is capable of inputting and outputting data.
- the storage device 56 of the controller 40 stores, for example, construction target surface data 55 defining the position of the construction target surface to be constructed by the hydraulic excavator 1, vehicle body shape and dimension data, and various programs executed by the arithmetic processing unit. is stored.
- the controller 40 By executing a program stored in the storage device 56, the controller 40 performs a work device position/attitude calculation unit 41, a positioning result input unit 42, a satellite position extraction unit 43, an exclusion satellite determination unit 44, a mask range calculation unit 45 , an accuracy calculation unit 46 and a mask selection unit 47 .
- the positioning result input unit 42 receives the position data of the two GNSS antennas 50A and 50B in the geographic coordinate system calculated by the GNSS receiver 51 and the azimuth data between the two GNSS antennas 50A and 50B (heading data of the upper rotating body 3). ).
- the mask range calculation unit 45 calculates a plurality of mask ranges used for selecting positioning satellites used for calculation (positioning) of the positions of the two GNSS antennas 50A and 50B by the GNSS receiver 51 .
- a plurality of mask ranges calculated by the mask range calculator 45 are stored in the storage device 56 within the controller 40 .
- the mask range calculator 45 calculates (sets) a plurality of mask ranges based on each of the two GNSS antennas 50A and 50B.
- the mask range calculated here includes a plurality of mask ranges (for example, a plurality of mask ranges with different sizes).
- a mask range that changes based on the postures of the front work device 6 and the upper swing body 3 (at the time of detection) may be included.
- the mask range of the GNSS antenna 50A includes a first mask range 21A set to a range in which the front working device 6 can become an obstacle when the GNSS antenna 50A receives satellite signals, and the first mask range 21A.
- a second mask range 22A set in the range is included.
- the first mask range 21A is based on the mounting position of the GNSS antenna 50A on the upper rotating body 3, the attitude of the upper rotating body 3 detected via the rotating body attitude sensor 23, and the maximum movable area of the front working device 6. Therefore, it may be set to the maximum range in which the front working device can become an obstacle when the GNSS antenna 50A receives satellite signals.
- the second mask range 22A consists of the mounting position of the GNSS antenna 50A on the upper revolving body 3, the attitude of the upper revolving body 3 detected via the revolving body attitude sensor 23, and the attitude detected via the attitude sensors 75A-75C. Based on the attitude of the front work device 6, the front work device 6 becomes an obstacle when the attitude of the front work device 6 is calculated (when the attitude is detected) and when the GNSS antenna 50A receives the satellite signal. You can set the range.
- the first mask range 21A and the second mask range 22A are set on, for example, a geographic coordinate system using a coordinate system based on the GNSS antenna 50A.
- a coordinate system based on the GNSS antenna 50A may be referred to as a first antenna coordinate system
- a coordinate system based on the GNSS antenna 50B may be referred to as a second antenna coordinate system.
- the coordinate system for setting the first mask range 21A and the second mask range 22A is not limited to the geographic coordinate system, and may be set to, for example, a field coordinate system having an origin on the work site.
- FIG. 3A and 3B are diagrams showing the first antenna coordinate system based on the GNSS antenna 50A.
- FIG. 3A is a perspective view of the first antenna coordinate system
- FIG. 3C is a view looking down (plan view)
- FIG. 3C is a view (side view) of the hydraulic excavator 1 viewed from the +Y-axis direction in the first antenna coordinate system.
- the first antenna coordinate system is a coordinate system whose origin is the center of the GNSS antenna 50A mounted on the revolving superstructure 3, and is fixed to the GNSS antenna 50A, that is, the revolving superstructure 3.
- the X-axis of the first antenna coordinate system is a straight line extending along the longitudinal direction of the revolving body 3, and the front of the revolving body 3 is the positive direction.
- the Y-axis is a straight line extending along the left-right direction of the revolving body 3, and the leftward direction of the revolving body 3 is the positive direction.
- the Z-axis is orthogonal to the X-axis and the Y-axis, with upward being the positive direction.
- the + direction of the rotation angle (roll angle, pitch angle, yaw angle (heading)) about each coordinate axis X, Y, Z is written in the figure.
- the heading shown in FIG. 3B is the direction (azimuth) in which the revolving body 3 and the front work device 6 are facing, and is the line of the orthogonal projection of the X-axis of the first antenna coordinate system onto the horizontal plane and the true north. It is represented by the angle formed by In this embodiment, the true north direction is defined as 0 degrees, and the clockwise direction when looking down on the X-axis from the vertical direction is defined as positive. This defines heading between 0 and 360 degrees. That is, the heading matches the azimuth calculated by the GNSS receiver 51 .
- the coordinate values in the geographic coordinate system consist of latitude, longitude and ellipsoidal height
- the coordinate values in the planar rectangular coordinate system, geocentric rectangular coordinate system and field coordinate system are three-dimensional rectangular coordinate systems consisting of X, Y, Z coordinates, etc.
- Geographical coordinate system coordinate values can be converted into a three-dimensional orthogonal coordinate system such as a planar rectangular coordinate system using the Gauss-Krugel conformal projection method or the like.
- the planar rectangular coordinate system, the geocentric rectangular coordinate system, and the field coordinate system can be mutually transformed by using affine transformation or Helmert transformation.
- the boom angle is based on a straight line extending horizontally from the center of the boom pin, which is the rotation axis of the boom 6A (the X-axis of the vehicle body (similar to the X-axis in Figure 3A)). It is the angle of rotation of a straight line 71 passing through the center of the arm pin, which is the driving axis.
- the arm angle is the angle by which a straight line 72 passing through the center of the arm pin and the center of the bucket pin, which is the rotation axis of the bucket 6C, rotates with the straight line 71 as a reference.
- the bucket angle is the angle by which a straight line 73 passing through the center of the bucket pin and the tip of the bucket rotates with respect to the straight line 72 .
- the boom angle, arm angle, and bucket angle are detected by a boom orientation sensor 75A, an arm orientation sensor 75B, and a bucket orientation sensor 75C, respectively.
- the mask range calculator 45 calculates the boom angle, arm angle, and bucket angle based on detection signals from the boom orientation sensor 75A, arm orientation sensor 75B, and bucket orientation sensor 75C. Next, using the calculated three angles, the three-dimensional model of the front work device 6 stored in the storage device 56 is appropriately rotated and translated, and the attitude of the three-dimensional model is changed to that of the actual front work device 6. position. In addition, the mask range calculation unit 45 calculates the roll angle and pitch angle, which are the inclination angles of the revolving structure 3, based on the detection signal of the revolving structure posture sensor 23, and creates a three-dimensional model of the front working device 6 in the same posture as the actual one.
- the values of the calculated roll angle and pitch angle and the value of the heading (azimuth of the revolving body 3) calculated by the GNSS receiver 51 are added to rotate.
- the coordinates of the center of the GNSS antenna 50A in the geographic coordinate system be (X0, Y0, Z0)
- the coordinates of an arbitrary point Pn on the front working device 6 be (Xn, Yn, Zn).
- n is a natural number
- its maximum value is the number of vertices defining the three-dimensional model of the front working device 6 .
- Equation 1 a vector V from the center of the GNSS antenna 50A to an arbitrary point Pn on the front working device 6 can be expressed by Equation 1 below.
- X'n Xn-X0
- Y'n Yn-Y0
- Z'n Zn-Z0.
- Coordinates (X'n, Y'n, Z'n) indicating the vector V are coordinates on the first antenna coordinate system.
- a vector Vxy obtained by projecting this vector V onto the XY plane in the first antenna coordinate system can be expressed by Equation 2 below.
- the angle from the north direction to the vector Vxy on the XY plane is represented as the azimuth angle ⁇ an (see FIG. 3B)
- the angle is the coordinate values X′n, Y′n and the heading (heading angle) on the first antenna coordinate system. It can be represented by the following formula 3 using and.
- the calculation formula for the azimuth angle ⁇ an is divided into five cases according to the combination of X'n and Y'n.
- the angle formed by the vector Vxy and the vector V is represented as an elevation angle ⁇ en (see FIG. 3C)
- the angle can be obtained by the following equation using the coordinate values X'n, Y'n, and Z'n on the first antenna coordinate system. 4 can be calculated. It should be noted that in Expression 4 below, the arithmetic expression for the elevation angle ⁇ en is divided into five cases according to the combination of X'n, Y'n, and Z'n.
- the azimuth angle ⁇ an and the elevation angle ⁇ en can be calculated from the coordinate values of the point Pn on the front working device 6 in the first antenna coordinate system. Since the dimensions of the front work device 6 (boom 6A, arm 6B, bucket 6C) are already known (for example, they are stored in the storage device 56 in advance as vehicle body shape dimension data (details will be described later)), the attitude sensors 75A-75C If the posture (boom angle, arm angle, bucket angle) of the front work device 6 is specified by , the azimuth angle ⁇ an and elevation angle ⁇ en of an arbitrary point Pn on the front work device 6 in that posture can be calculated.
- the mask range is defined by a combination of the range of the azimuth angle ⁇ an and the range of the elevation angle ⁇ en. That is, the mask range of this embodiment is defined by four parameters, two azimuth angles ⁇ an and two elevation angles ⁇ en.
- FIG. 5 is a diagram showing an example of the first mask range 21A and the second mask range 22A set on the GNSS antenna 50A on a sky plot (satellite map).
- the sky with the GNSS antenna 50A as a reference is represented by two-dimensional coordinates with two parameters, azimuth angle and elevation angle, and the mask range is represented in gray with dots.
- the center of the circle indicates the center of the GNSS antenna 50A
- the circumferential direction of the circle indicates the azimuth angle
- the radial direction of the circle indicates the elevation angle.
- a plurality of circles containing alphabets G, R and two-digit numbers in the figure respectively indicate the positions of positioning satellites captured by the GNSS receiver 51, and alphabets G, R and two-digit numbers represent the respective positioning satellites. number (satellite number).
- FIG. 5A An example of the first mask range 21A is shown in FIG. 5A.
- the azimuth angle is set to a range from ⁇ 1 to ⁇ 2 (where ⁇ 2> ⁇ 1) and the elevation angle is set to a range from ⁇ 3 to ⁇ 4 (where ⁇ 4> ⁇ 3).
- ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 are determined based on the maximum movable range of the front work device 6.
- ⁇ 1 is the minimum possible value of the azimuth angle ⁇ en when the revolving structure 3 operates the front working device 6 within the maximum movable range
- ⁇ 2 is the maximum possible value of the azimuth angle ⁇ en under the same conditions. be.
- ⁇ 3 is the minimum possible value of the elevation angle ⁇ en under the same conditions
- ⁇ 4 is the maximum possible value of the elevation angle ⁇ en under the same conditions.
- the first mask range 21A and the four parameters defining it are fixed as long as the excavator 1 (revolving body 3) does not perform a revolving motion or a traveling motion.
- the second mask range 22A in this figure is set to a range of azimuth angles greater than or equal to ⁇ 1 and less than or equal to ⁇ 2 (where ⁇ 2> ⁇ 1) and an elevation angle greater than or equal to ⁇ 3 and less than or equal to ⁇ 4 (where ⁇ 4> ⁇ 3).
- ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 are the postures of the front work device 6 at time t when the postures of the front work device 6 and the swing body 3 (boom angle, arm angle, bucket angle, pitch angle, roll angle, heading) are calculated. It is determined based on the range covering the sky of the GNSS antenna 50A.
- the mask range calculation unit 45 utilizes the above equations (3) and (4) to calculate the attitudes of the front working device 6 and the revolving body 3 (boom angle, arm A combination of azimuth angle ⁇ an and elevation angle ⁇ en is obtained for all vertices Pn on the three-dimensional model of the front working device 6 at a certain time t at which the angle, bucket angle, pitch angle, roll angle, heading) have been calculated.
- the combinations of azimuth angle ⁇ an and elevation angle ⁇ en at time t are ( ⁇ a1(t), ⁇ e1(t)), ( ⁇ a2(t), ⁇ e2(t)), ( ⁇ a3(t), ⁇ e3(t) ), . .
- the mask range calculator 45 selects the largest azimuth angle ⁇ a_max(t), the largest elevation angle ⁇ e_max(t), the smallest azimuth angle ⁇ a_min(t), and the smallest elevation angle ⁇ e_min(t) from the obtained combinations.
- the second mask range 22A and the four parameters defining it are calculated, for example, each time the posture of the front working device 6 is changed.
- the second mask range 22A is inherently smaller than the first mask range 21A and included in the first mask range 21A (see FIG. 5B).
- the heading and ⁇ 1 could be expressed with the same value, but in the case of FIG. 5B, the heading and ⁇ 1 are different. Therefore, the heading is not necessarily ⁇ a_min(t).
- the GNSS antenna can be detected by running or turning the revolving superstructure 3. It moves with the GNSS antenna 50A even when the position of 50A on the geographic coordinate system is changed. That is, the mask ranges 21A and 22A are not fixed on the basis of the geographic coordinate system, but are fixed on the first antenna coordinate system shown in FIG. 3A.
- the mask range is defined by four parameters.
- the contour of the mask range 21 may be set.
- the accuracy calculation unit 46 selects positioning satellites by using each of the plurality of mask ranges (for example, the first mask range 21A and the second mask range 22A) calculated by the mask range calculation unit 45. In the part that calculates (estimates) the positioning accuracy of the GNSS receiver 51 in a plurality of cases including when positioning satellites are selected without using any of the mask ranges (when satellite selection by mask ranges is interrupted) be.
- the numerical value of N of the GNSS antenna 50B may differ from the numerical value of N of the GNSS antenna 50A.
- N may also be referred to as the number of selected patterns in the mask range.
- the positioning accuracy of the GNSS receiver 51 is the accuracy of the positioning results of the GNSS antennas 50A and 50B by the GNSS receiver 51, and may be simply referred to as "positioning accuracy” below.
- This positioning accuracy includes data related to positioning satellites that can be selected after using each mask range (the number and arrangement of positioning satellites that can be used for positioning (for example, PDOP (Position Dilution of Precision)) and can be calculated from the SN ratio, level, etc. of satellite signals received from various positioning satellites (hereinafter sometimes referred to as "satellite-related data").
- an index value indicating positioning accuracy is calculated from satellite-related data, and accuracy is evaluated based on the magnitude of the index value.
- the satellite-related data may be received from the GNSS receiver 51, or may be calculated by the controller 40 based on satellite signals received by the GNSS antennas 50A and 50B.
- the controller 40 may transmit a list of satellites to be excluded (excluded satellite list, which will be described later) when used to calculate satellite-related data.
- the accuracy calculation unit 46 uses a certain mask range ("mask range” here includes cases where no mask is used) among a plurality of mask ranges set for each GNSS antenna 50.
- the satellite-related data of satellites that can be selected later are obtained from the information of the remaining satellites, excluding the satellites included in the certain mask range, among the plurality of satellites input from the satellite position extraction unit 43 .
- the accuracy calculator 46 calculates the positioning accuracy when the first mask range 21A is used, when the second mask range 22A is used, and when none of the mask ranges is used.
- the positioning accuracy (first positioning accuracy) when selecting a positioning satellite using the first mask range 21A (first case) is the first This is calculated by the accuracy calculator 46 based on the satellite-related data of the satellites excluding the satellites (G17, G19, R12, R22) included in the mask range 21A.
- the positioning accuracy (second positioning accuracy) when selecting a positioning satellite using the second mask range 22A (second case) is the second mask range from all satellites on the sky plot captured by the GNSS receiver 51.
- 22A is calculated by the accuracy calculator 46 based on the satellite-related data of the satellites excluding the satellite (G17) included in 22A.
- the positioning accuracy (third positioning accuracy) when selecting a positioning satellite without using any mask range (case 3) depends on the satellite-related data of all satellites on the sky plot supplemented by the GNSS receiver 51. Based on this, the accuracy calculation unit 46 calculates.
- the positioning accuracy for N cases calculated by the accuracy calculation unit 46 is output to the mask selection unit 47 .
- the mask selection unit 47 selects the case with the best positioning accuracy from among the N cases of positioning accuracy calculated by the accuracy calculation unit 46 .
- the positioning accuracy is the best, not only is one selected from a plurality of mask ranges set for each of the GNSS antennas 50A and 50B, but there are cases where the mask range is not used.
- Information on the mask range selected by the mask selection unit 47 is output to the exclusion satellite determination unit 44 .
- the satellite position extraction unit 43 extracts the positions (elevation angle and azimuth angle in the geographic coordinate system) of multiple satellites whose satellite signals are captured by the GNSS receiver 51, and outputs them to the exclusion satellite determination unit 44 and the accuracy calculation unit 46. do.
- the excluded satellite determination unit 44 is based on the mask range selected by the mask selection unit 47 and the position (elevation angle/azimuth angle) of the positioning satellite captured by the GNSS receiver 51 input from the satellite position extraction unit 43. , determines the excluded satellites that the GNSS receiver 51 does not use for the positioning calculation. Specifically, the excluded satellite determination unit 44 determines the satellites located in the mask range selected by the mask selection unit 47 from among the plurality of satellites extracted by the satellite position extraction unit 43 as excluded satellites, and determines the excluded satellites. Output the list of satellites to the GNSS receiver 51 .
- the GNSS receiver 51 acquires the list of excluded satellites output from the excluded satellite determination unit 44, and determines the list of satellites excluded from the list from among the plurality of positioning satellites capable of acquiring satellite signals at that time. Based on the satellite signals, the position of at least one GNSS antenna 50 in the geographic coordinate system and the orientation between the two GNSS antennas 50A, 50B (orientation of the upper revolving body 3) are calculated. As a result, the GNSS receiver 51 selects at least one GNSS antenna in the geographical coordinate system based on the satellite signal of the positioning satellite selected when the positioning accuracy is the best among the N positioning accuracies calculated by the accuracy calculation unit 46. 50 and the azimuth between the two GNSS antennas 50A and 50B. The calculated position and orientation are input to the positioning result input unit 42 .
- the position measurement results output from the GNSS receiver 51 are coordinates of at least one coordinate system of a planar rectangular coordinate system, a geocentric rectangular coordinate system, and a field coordinate system. It may be possible to output the value.
- the work device position/orientation calculation unit 41 calculates the position of the GNSS antennas 50A and 50B and the orientation of the upper swing body 3 input from the positioning result input unit 42 and the outputs of the plurality of orientation sensors (75A, 75B, 75C, and 23). Based on the calculated angle values of the front members 6A, 6B, 6C, the inclination angle (pitch angle and roll angle) of the upper revolving body 3, and the vehicle body shape dimension data stored in the storage device 56, the work device 6 (for example, the tip position and attitude of the bucket 6C in the field coordinate system) are calculated.
- the body shape data used to calculate the position and posture of the work device 6 include, for example, the length between two pins located at both ends of the boom 6A (boom pin length LB (see FIG. 4)), the arm 6B, the length between the two pins located at both ends of the bucket 6B (length between the 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 on the upper rotating body 3 GNSS mounting offset azimuth defined by the azimuth angle in the vehicle body coordinate system, the mounting position (antenna mounting position) of the two GNSS antennas 50A and 50B in the upper swing body 3 in the vehicle body coordinate system, and the two GNSS antennas There is a maximum movable area of the front work device 6 based on each of 50A and 50B.
- the monitor 60 is based on the position and attitude data of the working device 6 in the field coordinate system calculated by the working device position/posture calculation unit 41 and the position data of the work target surface in the field coordinate system stored in the storage device 56. It is possible to display the positional relationship between the working device 6 and the work target surface calculated by This display allows the operator to easily grasp the position and attitude of the working device 6 with respect to the work target surface.
- the position and orientation data of the working device 6 in the field coordinate system calculated by the working device position/posture calculation unit 41 and the position data of the work target surface in the field coordinate system stored in the storage device 56 are processed by the controller 40.
- machine control is executed to restrict the operation of the work device 6 (that is, the operation of the actuators 11A, 11B, 11C that drive the front members 6A, 6B, 6C) so that the tip of the bucket does not exceed the target surface for construction.
- the mask range calculator 45 defines the mask range using the azimuth angle and the elevation angle, the mask range may be defined using only the azimuth angle.
- FIG. 5A represents a sky plot when the front work device 6 obstructs the sky view of the GNSS antenna 50A as an obstacle the most.
- the first mask range 21A and the second mask range 22A are the same range, and can be collectively represented as the first mask range 21A.
- the boom 6A is lower than in the case of FIG. 5A, and the range in which the front working device 6 blocks the sky view of the GNSS antenna 50A as an obstacle is narrower than in the case of FIG. 5A. .
- the first mask range 21A and the second mask range 22A are different, the number of satellites selected when using the respective mask ranges 21A and 22A also changes. If the first mask range 21A is applied to positioning in the case of FIG. 5B, the first mask range 21A excludes a total of four satellites, R12, G19, R22, and G17, from satellites that can be used during positioning. However, if the second mask range 22A is applied to positioning in the case of FIG.
- the accuracy calculation unit 46 extracts satellites that can be used for positioning when each mask range is applied (however, this may include cases where none of the mask ranges are used), and the satellite-related data of the extracted satellites. Based on this, the positioning accuracy when using each mask range is calculated.
- the mask selection unit 47 compares a plurality of positioning accuracies calculated by the accuracy calculation unit 46, determines a mask range that produces the best positioning accuracy, and uses the mask range to perform positioning of the GNSS antenna 50 by the GNSS receiver 51. is done.
- FIG. 6 is a flowchart of positioning processing of the GNSS antenna 50A by the controller 40 and the GNSS receiver 51 according to this embodiment. This processing flow is repeatedly calculated at regular intervals (for example, 100 ms).
- regular intervals for example, 100 ms.
- the same processing is also performed for the GNSS antenna 50B, and the azimuth between the two GNSS antennas 50A and 50B is determined based on the positioning results of both GNSS antennas 50A and 50B. shall be calculated.
- step 51 the controller 40 (satellite position extraction unit 43 ) acquires from the GNSS receiver 51 data (including position data, etc.) of a plurality of satellites whose satellite signals are captured by the GNSS receiver 51 .
- the controller 40 calculates the attitude (pitch angle, roll angle) of the revolving superstructure 3 based on the detection signal from the revolving superstructure position sensor 23 .
- the controller 40 calculates the attitude of the front working device 6 based on the detection signals of the three attitude sensors 75A, 75B, and 75C.
- step 54 the controller 40 (mask range calculation unit 45) calculates the posture of the swing body 3 calculated in step 52, the maximum movable range of the front working device 6 stored in the storage device 56, and the range calculated in the previous cycle.
- the first mask range 21A is calculated based on the azimuth between the antennas 50A and 50B and stored in the storage device 56.
- controller 40 calculates the attitude of the revolving body 3 calculated in step 52, the attitude of the front work device 6 calculated in step 53, and the position of the GNSS antenna 50A calculated in the previous cycle. , and the heading of the revolving body 3 calculated in the previous cycle, the second mask range 22A included in the first mask range 21A is calculated.
- step 55 the controller 40 (accuracy calculation section 46) selects the remaining satellites by excluding the satellites located in the first mask range 21A.
- a first positioning accuracy, which is accuracy, is calculated.
- the satellite-related data of the satellites supplemented in the second case of excluding the satellites located in the second mask range 22A and selecting the remaining satellites is calculated based on the satellite-related data in the third case (which is assumed to be the same type as the The third positioning accuracy, which is the positioning accuracy in the third case, is calculated based on the same type as that used when calculating the first positioning accuracy.
- the controller 40 compares the first positioning accuracy and the second positioning accuracy calculated at step 55 . If the first positioning accuracy is better than the second positioning accuracy, the process proceeds to step 57. If the first positioning accuracy is the same as or worse than the second positioning accuracy, the process proceeds to step 59.
- step 57 the controller 40 (mask selection unit 47) determines the satellites located in the first mask range 21A from among the plurality of satellites whose positions are acquired in step 51 as excluded satellites, and lists the excluded satellites ( excluded satellite list) to the GNSS receiver 51.
- FIG. 7 is a diagram showing an example of changes over time in the angle of the boom 6A (boom angle) and PDOP.
- the angle of the boom 6A boost angle
- PDOP PDOP
- FIG. 7 shows a situation in which excavation and dumping (rotating motion) are repeatedly performed.
- the satellites that are shielded will change greatly due to changes in the posture of the boom 6A and changes in the turning angle (orientation of the turning body 3).
- the PDOP may increase before and after the boom is raised, that is, the positioning accuracy may decrease. Therefore, in such a case, using the wider first mask range 21A to suppress variations in the mask range may improve the positioning accuracy more than using the second mask range 22A. .
- the GNSS receiver 51 excludes the satellites included in the excluded satellite list of step 57 from the satellites that transmitted data to the controller 40 in step 51, and based on the satellite signals of the remaining satellites, the GNSS antenna 50A. A position is calculated and it is output to the controller 40 as a positioning result of the GNSS antenna 50A.
- the controller 40 compares the second positioning accuracy and the third positioning accuracy calculated at step 55 .
- the process proceeds to step 60, and when the second positioning accuracy is the same as or worse than the third positioning accuracy, the process proceeds to step 62.
- step 60 the controller 40 (mask selection unit 47) determines the satellites located in the second mask range 22A from among the plurality of satellites whose positions are acquired in step 51 as excluded satellites, and lists the excluded satellites ( excluded satellite list) to the GNSS receiver 51.
- the GNSS receiver 51 excludes the satellites included in the excluded satellite list in step 60 from the satellites that transmitted data to the controller 40 in step 51, and based on the satellite signals of the remaining satellites, the GNSS antenna 50A. A position is calculated and it is output to the controller 40 as a positioning result of the GNSS antenna 50A.
- step 62 the GNSS receiver 51 calculates the position of the GNSS antenna 50A based on the satellite signal of the satellite that transmitted the data to the controller 40 in step 51, and outputs it to the controller 40 as the positioning result of the GNSS antenna 50A.
- FIG. 8 is a diagram showing the satellite arrangement at a certain time and the second mask range 22A.
- the satellite G28 only one satellite (G28) exists in the azimuth of the front working device 6, and the number of satellites in the azimuth opposite to the azimuth of the front (180 degrees plus) is small.
- the satellite G28 is excluded by the second mask range 22A, the number of satellites is insufficient, and the positioning accuracy tends to deteriorate.
- the use of the second mask range 22A rather lowers the positioning accuracy, so the positioning accuracy is better when neither mask range is used.
- the controller 40 when a plurality of mask ranges are set, the controller 40 performs positioning when each mask range is used based on satellite-related data when each mask range is used. Accuracy is calculated, and one mask range to be used for positioning of the GNSS antennas 50A and 50B is selected from among the plurality of mask ranges based on the calculated positioning accuracy. As a result, the positioning accuracy can be improved more than when the mask range is selected based on the attitude of the front working device 6 .
- the controller 40 calculates the positioning accuracy in each case based on each satellite-related data when using a plurality of mask ranges of different sizes (including cases where mask ranges are not set), From among them, one mask range is selected for the case where the positioning accuracy is the best.
- the controller 40 calculates the positioning accuracy in each case based on each satellite-related data when using a plurality of mask ranges of different sizes (including cases where mask ranges are not set), From among them, one mask range is selected for the case where the positioning accuracy is the best.
- the satellite-related data in the selection of the mask range, it is possible to suppress the deterioration of the positioning accuracy more than when the mask range (in the above embodiment, the second mask range 22A) is changed along with the attitude of the front working device 6. Therefore, the working accuracy of the hydraulic excavator 1 can be improved as a result.
- a first mask range 21A that covers the entire movable area of the front working device 6 and a second mask range that covers an area that is hidden by the posture of the front working device 6 at that time. 22A are included.
- the attitude of the front working device 6 is taken into account in the selection of the mask range and the calculation of the positioning accuracy, and the influence of the shielding of the positioning signal by the front working device 6 on the positioning accuracy can be reduced.
- step 56 if it is determined in step 56 that the first positioning accuracy is better than the second positioning accuracy, even if determination processing for comparing the first positioning accuracy and the third positioning accuracy is added. good.
- this determination processing if it is determined that the first positioning accuracy is better, the process proceeds to step 57, and if it is determined that the third positioning accuracy is better, the same processing as in step 62 ( That is, the positioning process) may be performed without using any mask range.
- the number of usable mask ranges is not limited as long as each mask range is different.
- a range larger than the first mask range may be set.
- the mask range is set in consideration of the front movement range in the same operation, and the operations performed by the hydraulic excavator are set. It is also possible to use the mask range that is estimated and set for the work. The mask range in the latter case is assumed to be smaller than the first mask range 21A and larger than the second mask range 22A.
- the present invention is not limited to the above-described embodiments, and includes various modifications within a scope that does not deviate from the gist of the present invention.
- the present invention is not limited to those having all the configurations described in the above embodiments, but also includes those with some of the configurations omitted. Also, it is possible to add or replace part of the configuration according to one embodiment with the configuration according to another embodiment.
- each configuration related to the controller 40 and the functions and execution processing of each configuration are implemented partially or entirely by hardware (for example, logic for executing each function is designed by an integrated circuit).
- the configuration related to the controller 40 may be a program (software) that implements each function related to the configuration of the controller 40 by being read and executed by an arithmetic processing unit (for example, a CPU).
- Information related to the program can be stored, for example, in a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.
- control lines and information lines have been shown as necessary for the description of the embodiments, but not necessarily all the control lines and information lines related to the product does not necessarily indicate In reality, it can be considered that almost all configurations are interconnected.
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Abstract
Description
図1は本発明の実施形態に係る油圧ショベル1及びGNSS基準局8の側面図である。この図に示す油圧ショベル1は,クローラ式の走行体(下部走行体)2と,走行体2の上部に旋回可能に取り付けられた旋回体(上部旋回体)3と,一端(基端)が旋回体3の前方に取り付けられた多関節型のリンク機構よりなるフロント作業装置(単に「作業装置」と称することもある)6とを備えている。図中の符号30は地面を表す。
油圧ショベル1には,フロント作業装置6と旋回体3の姿勢を検出するための複数の姿勢センサ75A,75B,75C,23が備えられている。本実施形態では各姿勢センサに,角度(または角速度)と加速度を検出可能な慣性計測装置(IMU:Inertial Measurement Unit)を用いている。これら姿勢センサのうち,ブーム6Aにはブーム姿勢センサ75Aが,アーム6Bにはアーム姿勢センサ75Bが,バケット6Cにはバケット姿勢センサ75Cが取り付けられている(図1参照)。また,旋回体3には旋回体姿勢センサ23が取り付けられており(図1参照),それにより旋回体3の傾斜角度(ピッチ角及びロール角),旋回速度及び旋回角度の計測が可能となっている。姿勢センサ75A,75B,75C,23の出力(検出信号)は,接続線を介してコントローラ40に入力されている。なお,フロント作業装置6の姿勢センサとしては,各フロント部材の回動角度を検出する角度センサ(例えば,ポテンショメータやロータリエンコーダ)を用いても良い。またバケット姿勢センサ75Cはバケットでなくバケットリンクに取り付けられていてもよい。
油圧ショベル1の無線機7に対してGNSS補正データを無線送信するGNSS基準局8について説明する。地理座標系における座標位置が既知であるGNSS基準局8には,複数の測位衛星(GNSS衛星)から衛星信号を受信するためのGNSSアンテナ80と,GNSSアンテナ80で受信された衛星信号(衛星信号には衛星のコード,キャリア,衛星軌道及び衛星信号受信レベル等が含まれる)に基づいてGNSSアンテナ80の地理座標系における位置座標を演算するGNSS受信機81と,GNSSアンテナ80で受信された複数の衛星信号に基づいて無線機7に無線送信するためのGNSS補正データを生成する基準局コントローラ82と,基準局コントローラ82で生成されたGNSS補正データを無線機7に送信する無線機87が備えられている。GNSS基準局アンテナ80に接続されたGNSS受信機81は,基準局コントローラ82を経由して無線機87よりGNSS補正データを無線送信する。無線機7で受信されたGNSS補正データをGNSS受信機51での測位に利用するとセンチメートル級の高精度な測位が可能となる。
2つのGNSSアンテナ50A,50Bは,それぞれマスト(アンテナ支持部材)52a,52bを介して上部旋回体3に固定されており,上部旋回体3の上面にそれぞれ位置し,フロント作業装置6の前後方向に所定の間隔を介して配置されている。
GNSS受信機51は,2つのGNSSアンテナ50A,50Bで受信される複数の衛星信号(衛星のコード,キャリア,衛星軌道及び衛星信号受信レベル等が含まれる)に基づいて,2つのGNSSアンテナ50A,50Bのうち少なくとも1つのGNSSアンテナ(例えば,GNSSアンテナ50B)の地理座標系(グローバル座標系)における位置座標と,2つのGNSSアンテナ50A,50B間の方位(すなわち旋回体3やフロント作業装置6の方位(ヘディングとも称する))とを演算する。
図2は図1の油圧ショベル1に搭載されたコントローラ40の機能ブロック図である。
測位結果入力部42は,GNSS受信機51で演算される地理座標系における2つのGNSSアンテナ50A,50Bの位置データと,2つのGNSSアンテナ50A,50B間の方位データ(上部旋回体3のヘディングデータ)とを入力する。
マスク範囲演算部45は,GNSS受信機51による2つのGNSSアンテナ50A,50Bの位置の演算(測位)に利用する測位衛星を選択するために用いられる複数のマスク範囲を演算する。マスク範囲演算部45によって演算された複数のマスク範囲はコントローラ40内の記憶装置56に記憶される。マスク範囲演算部45は,2つのGNSSアンテナ50A,50Bのそれぞれを基準にして複数のマスク範囲を演算(設定)する。ここで演算されるマスク範囲には,複数のマスク範囲(例えば、大きさの異なる複数のマスク範囲)が含まれており,その中には演算時(言い換えると姿勢センサ75A-75C,23による姿勢検出時)のフロント作業装置6及び上部旋回体3の姿勢に基づいて変化するマスク範囲が含まれ得る。以下では,主にGNSSアンテナ50Aのマスク範囲の演算や設定について説明するが,GNSSアンテナ50Bについても同様にマスク範囲の演算や設定が行われる。
GNSSアンテナ50Aのマスク範囲には,GNSSアンテナ50Aが衛星信号を受信する際にフロント作業装置6が障害物となり得る範囲に設定された第1マスク範囲21Aと,第1マスク範囲21Aに包含される範囲に設定された第2マスク範囲22Aが含まれる。
精度演算部46は,マスク範囲演算部45で演算された複数のマスク範囲(例えば,第1マスク範囲21A,第2マスク範囲22A)のそれぞれを利用して測位衛星を選択した場合と,当該複数のマスク範囲のいずれも利用することなく測位衛星を選択した場合(マスク範囲による衛星選択を中断した場合)とを含む複数の場合におけるGNSS受信機51の測位精度をそれぞれ演算(推定)する部分である。ここにおける「複数の場合」の数Nは,GNSSアンテナ50A,50Bごとに存在し,各GNSSアンテナ50A,50Bに設定されたマスク範囲の総数のそれぞれに1(つまり,マスク範囲を使用しない場合)を加えた数値が該当する。すなわち,GNSSアンテナ50Aに2つマスク範囲が設定されている場合にはN=3となる。なお,GNSSアンテナ50BのNの数値はGNSSアンテナ50AのNの数値と異なっていても良い。Nをマスク範囲の選択パターンの数と称することもある。
マスク選択部47は,精度演算部46で演算されたN個の場合の測位精度の中で,最も測位精度が良い場合を選択する。最も測位精度が良い場合には,各GNSSアンテナ50A,50Bに設定された複数のマスク範囲のうち1つが選択されるだけでなく,マスク範囲を利用しない場合が選択されることもある。マスク選択部47で選択されたマスク範囲の情報は除外衛星決定部44に出力される。
衛星位置抽出部43は,GNSS受信機51が衛星信号を捕捉している複数の衛星の位置(地理座標系における仰角及び方位角)を抽出し,除外衛星決定部44と精度演算部46に出力する。
除外衛星決定部44は,マスク選択部47で選択されたマスク範囲と,衛星位置抽出部43から入力するGNSS受信機51が捕捉している測位衛星の位置(仰角・方位角)とに基づいて,GNSS受信機51が測位演算に利用しない除外衛星を決定する。具体的には,除外衛星決定部44は,衛星位置抽出部43で抽出された複数の衛星の中からマスク選択部47で選択されたマスク範囲に位置する衛星を除外衛星として決定し,その除外衛星のリストをGNSS受信機51に出力する。
GNSS受信機51は,除外衛星決定部44から出力される除外衛星のリストを取得し,その時点で衛星信号を捕捉可能な複数の測位衛星の中から当該リストに含まれる衛星を除外した衛星の衛星信号に基づいて,地理座標系における少なくとも1つのGNSSアンテナ50の位置と,2つのGNSSアンテナ50A,50B間の方位(上部旋回体3の方位)とを演算する。これによりGNSS受信機51は,精度演算部46が演算したN個の測位精度の中で最も測位精度が良い場合に選択される測位衛星の衛星信号に基づいて地理座標系における少なくとも1つのGNSSアンテナ50の位置と,2つのGNSSアンテナ50A,50B間の方位を演算することとなる。演算された位置と方位は測位結果入力部42に入力される。
作業装置位置・姿勢演算部41は,測位結果入力部42から入力するGNSSアンテナ50A,50Bの位置及び上部旋回体3の方位と,複数の姿勢センサ(75A,75B,75C,23)の出力から演算される各フロント部材6A,6B,6Cの角度値及び上部旋回体3の傾斜角(ピッチ角及びロール角)と,記憶装置56に記憶された車体形状寸法データとに基づいて,作業装置6の位置及び姿勢(例えば,現場座標系におけるバケット6Cの先端位置及び姿勢)を演算する。作業装置6の位置及び姿勢の演算に利用される車体形状寸法データとしては,例えば,ブーム6Aの両端に位置する2つのピン間の長さ(ブームピン間長LB(図4参照))と,アーム6Bの両端に位置する2つのピン間の長さ(アームピン間長)と,バケット6Cの先端とバケットピン間の長さ(バケット先端長)と,上部旋回体3における2つのGNSSアンテナ50A,50Bの位置関係を車体座標系における方位角で規定したGNSS取付オフセット方位角と,上部旋回体3における2つのGNSSアンテナ50A,50Bの車体座標系おける取付位置(アンテナ取付位置)と,2つのGNSSアンテナ50A,50Bのそれぞれを基準としたフロント作業装置6の最大可動領域がある。
図6は本実施形態に係るコントローラ40及びGNSS受信機51によるGNSSアンテナ50Aの測位処理のフローチャートである。この処理フローは,一定周期間隔(例えば100ms)で繰返し演算される。なお,ここではGNSSアンテナ50Aの測位についてのみ説明するが,GNSSアンテナ50Bについても同様の処理が行われ,両方のGNSSアンテナ50A,50Bの測位結果に基づいて2つのGNSSアンテナ50A,50B間の方位の演算が行われるものとする。
図6のフローにおいて,ステップ56で第1測位精度が第2測位精度より精度が良いと判定された場合には,さらに第1測位精度と第3測位精度を比較する判定処理を追加しても良い。この判定処理において,第1測位精度の方が精度が良いと判定された場合にはステップ57に進み,第3測位精度の方が精度が良いと判定された場合にはステップ62と同じ処理(すなわち,いずれのマスク範囲を使うことなく測位する処理)を行うようにしても良い。
Claims (9)
- 下部走行体と,
前記下部走行体の上に旋回可能に取り付けられた上部旋回体と,
前記上部旋回体に取り付けられた多関節型の作業装置と,
前記作業装置及び前記上部旋回体の姿勢を検出するための複数の姿勢センサと,
前記上部旋回体に取り付けられ,複数の測位衛星からの衛星信号を受信するための測位アンテナと,
前記測位アンテナで受信される衛星信号に基づいて前記測位アンテナの位置を演算する受信機と,
前記複数の姿勢センサの検出信号に基づいて,前記作業装置の姿勢と前記上部旋回体の姿勢とを演算するコントローラとを備えた作業機械において,
前記コントローラには,前記受信機による前記測位アンテナの位置の演算に利用する測位衛星を選択するために,前記作業装置及び前記上部旋回体の姿勢に基づいて前記測位アンテナを基準に設定される複数のマスク範囲が記憶されており,
前記コントローラは,前記複数のマスク範囲のそれぞれを利用して測位衛星を選択した場合のそれぞれの測位精度と,前記複数のマスク範囲のいずれも利用することなく測位衛星を選択した場合の測位精度とを含む複数の測位精度を,選択した前記測位衛星の衛星関連データに基づいて演算し,
前記受信機は,前記複数の測位精度のうち最も測位精度が良い場合に選択した前記測位衛星の衛星信号に基づいて前記測位アンテナの位置を演算する
ことを特徴とする作業機械。 - 請求項1の作業機械において,
前記複数のマスク範囲には,
前記測位アンテナが衛星信号を受信する際に前記作業装置が障害物となり得る範囲に設定された第1マスク範囲と,
前記第1マスク範囲に包含される範囲に設定された第2マスク範囲と
が含まれていることを特徴とする作業機械。 - 請求項2の作業機械において,
前記第1マスク範囲は,演算した前記上部旋回体の姿勢と,前記作業装置の最大可動領域とに基づいて,前記測位アンテナが衛星信号を受信する際に前記作業装置が障害物となり得る最大範囲に設定されており,
前記第2マスク範囲は,演算した前記上部旋回体の姿勢と,演算した前記作業装置の姿勢とに基づいて,前記作業装置の姿勢演算時における前記作業装置が,前記測位アンテナが前記複数の測位衛星から衛星信号を受信する際に障害物となる範囲に設定されている
ことを特徴とする作業機械。 - 請求項2または3の作業機械において,
前記コントローラは,
前記第1マスク範囲を利用した第1の場合における前記衛星関連データに基づいて前記第1の場合における測位精度である第1測位精度を演算し,
前記第2マスク範囲を利用した第2の場合における前記衛星関連データに基づいて前記第2の場合における測位精度である第2測位精度を演算し,
いずれのマスク範囲も利用しない第3の場合における前記衛星関連データに基づいて前記第3の場合における測位精度である第3測位精度を演算し,
前記受信機は,前記第1測位精度,前記第2測位精度および前記第3測位精度の中で最も測位精度が良い場合に選択される測位衛星の衛星信号に基づいて前記測位アンテナの位置を演算する
ことを特徴とする作業機械。 - 請求項2または3の作業機械において,
前記コントローラは,
前記第1マスク範囲を利用した第1の場合における前記衛星関連データに基づいて前記第1の場合における測位精度である第1測位精度を演算し,
前記第2マスク範囲を利用した第2の場合における前記衛星関連データに基づいて前記第2の場合における測位精度である第2測位精度を演算し,
いずれのマスク範囲も利用しない第3の場合における前記衛星関連データに基づいて前記第3の場合における測位精度である第3測位精度を演算し,
前記受信機は,前記第1測位精度が前記第2測位精度よりも測位精度が良い場合には,前記受信機は,前記第1マスク範囲を利用した場合に選択される測位衛星の衛星信号に基づいて前記測位アンテナの位置を演算する
ことを特徴とする作業機械。 - 請求項5の作業機械において,
前記第1測位精度が前記第2測位精度と測位精度が同じ又は悪い場合であって,前記第2測位精度が前記第3測位精度よりも測位精度が良い場合には,前記受信機は,前記第2マスク範囲を利用した場合に選択される測位衛星の衛星信号に基づいて前記測位アンテナの位置を演算する
ことを特徴とする作業機械。 - 請求項6の作業機械において,
前記第1測位精度が前記第2測位精度と測位精度が同じ又は悪い場合であって,前記第2測位精度が前記第3測位精度と測位精度が同じ又は悪い場合には,前記受信機は,いずれの衛星マスクも利用することなく選択される測位衛星の衛星信号に基づいて前記測位アンテナの位置を演算する
ことを特徴とする作業機械。 - 請求項1の作業機械において,
前記衛星関連データには,測位に利用可能な測位衛星の数と,測位に利用可能な測位衛星の配置と,測位に利用可能な測位衛星の衛星信号のSN比とのうち少なくとも1つが含まれることを特徴とする作業機械。 - 請求項1の作業機械において,
前記測位アンテナは第1測位アンテナであり,
前記上部旋回体に取り付けられ,前記複数の測位衛星からの衛星信号を受信するための第2測位アンテナをさらに備え,
前記受信機は,前記第1測位アンテナ及び前記第2測位アンテナの2つの測位アンテナで受信される衛星信号に基づいて,前記2つの測位アンテナ間の方位を演算し,
前記コントローラは,前記第1測位アンテナの位置と,前記2つの測位アンテナ間の方位とに基づいて,前記上部旋回体の方位を演算し,
前記複数のマスク範囲は,前記作業装置及び前記上部旋回体の姿勢と,前記上部旋回体の方位とに基づいて設定されている
ことを特徴とする作業機械。
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JP2021148467A (ja) * | 2020-03-16 | 2021-09-27 | 日立建機株式会社 | 作業機械 |
JP2021195803A (ja) * | 2020-06-16 | 2021-12-27 | 日立建機株式会社 | 建設機械 |
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2021
- 2021-03-30 JP JP2021058579A patent/JP7039746B1/ja active Active
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2022
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- 2022-02-07 KR KR1020237007658A patent/KR20230045068A/ko unknown
- 2022-02-07 CN CN202280005880.4A patent/CN116057417A/zh active Pending
- 2022-02-07 EP EP22779532.5A patent/EP4317617A1/en active Pending
- 2022-02-07 WO PCT/JP2022/004694 patent/WO2022209303A1/ja active Application Filing
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004184121A (ja) | 2002-11-29 | 2004-07-02 | Denso Corp | Gps受信機の制御装置、及び、サーバ装置 |
JP2020008286A (ja) * | 2018-07-02 | 2020-01-16 | 日立建機株式会社 | 作業機械 |
JP2020139933A (ja) * | 2019-03-01 | 2020-09-03 | 日立建機株式会社 | 作業機械 |
JP2020144014A (ja) * | 2019-03-06 | 2020-09-10 | 日立建機株式会社 | 作業機械 |
JP2020200597A (ja) * | 2019-06-06 | 2020-12-17 | 日立建機株式会社 | 建設機械 |
WO2021060533A1 (ja) * | 2019-09-26 | 2021-04-01 | 日立建機株式会社 | 作業機械 |
JP2021148467A (ja) * | 2020-03-16 | 2021-09-27 | 日立建機株式会社 | 作業機械 |
JP2021195803A (ja) * | 2020-06-16 | 2021-12-27 | 日立建機株式会社 | 建設機械 |
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JP7039746B1 (ja) | 2022-03-22 |
US20230374757A1 (en) | 2023-11-23 |
CN116057417A (zh) | 2023-05-02 |
EP4317617A1 (en) | 2024-02-07 |
JP2022155192A (ja) | 2022-10-13 |
KR20230045068A (ko) | 2023-04-04 |
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