JP2018146408A - Acquisition method of inclination sensor correction amount in construction work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simply and surely acquire a correction amount of an inclination sensor installed in a rotatably component.SOLUTION: An acquisition method of an inclination sensor correction amount in a construction work machine is a method acquiring a correction amount of inclination sensors 21, 22, 23, 24 installed in a rotatable upper revolving superstructure 13 of a hydraulic shovel 10, a boom 14, a an arm 15, and a bucket 16. The method comprises the steps of: setting a plurality of measuring points in the upper revolving superstructure 13, the boom 14, the arm 15, and a bucket 16 where the inclination sensors 21, 22, 23, 24 are arranged and measuring coordinates of the measuring points by a surveying device 30 (step ST2); calculating an angle value of a measuring object component based on the measured coordinates of the measuring points by a computer 50 (step ST6); and acquiring the correction amount of the inclination sensors based on the calculated angle value and the output values of the inclination sensors 21, 22, 23, 24 (step ST7).SELECTED DRAWING: Figure 2

Description

  The present invention relates to a method for obtaining a correction amount of an inclination sensor in a construction machine.

  Conventionally, in the civil engineering and construction fields, hydraulic excavators have been used as construction work machines when leveling and paving. In recent years, the operation of this excavator, the movement of the excavator body and the drive and rotation of the upper swing body, boom, arm, and bucket are automatically controlled according to the specified leveling shape, and the operation of the excavator by the operator is assisted. Control is performed. In order to perform such control, it is necessary to accurately grasp the position (coordinates) of the blade edge of the bucket. For this purpose, it is necessary to accurately grasp the dimensions of the upper-part turning body, the boom, the arm, the bucket, and the like and the inclination angle of each member. For this reason, the rotation sensor of the construction work machine is provided with an inclination sensor that measures the amount of inclination of the rotation member.

  FIG. 6 is a side view of a hydraulic excavator showing a construction machine to which the present invention can be applied. As shown in FIG. 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.

  As a method for obtaining the angle of each member constituting a construction machine, 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.

JP 2002-181539 A

  Conventionally, the correction amount of the tilt sensor is obtained by setting the boom at a known tilt angle, for example, horizontal, obtaining the output of the tilt sensor in this state, and comparing them. However, in the conventional method, in order to make the boom angle 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 A tilt sensor correction amount acquisition method in a construction machine, wherein a correction value of the tilt sensor is acquired based on an angle and an output value of the tilt sensor.

  Similarly, 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.

  Similarly, 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.

  Similarly, 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.

  Similarly, the invention according to claim 5 is the tilt sensor correction amount acquisition method for the construction work machine according to claim 1, wherein the measurement target member size is acquired from the coordinates of the measurement point.

  According to the inclination sensor correction amount acquisition method for a construction machine according to the present invention, the correction amount of the inclination sensor arranged on the rotating member of the construction machine can be acquired easily and reliably.

That is, according to the inclination sensor correction amount acquisition method for a construction machine according to claim 1, 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.

Moreover, according to the inclination sensor correction amount acquisition method in the construction machine according to claim 2, 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, the position of the measurement point of the measurement object of the construction work machine can be measured accurately and quickly and digitally output. Based on this, the inclination angle of the measurement object can be obtained and the correction amount of the inclination sensor can be obtained. it can.

According to the inclination sensor correction amount acquisition method for a construction machine according to claim 3, the construction machine is a hydraulic excavator, and the member to be measured is a rotating arm member or bucket. The inclination sensor correction amount acquisition method in the construction machine according to 1.
Therefore, it is possible to acquire the correction amount of the tilt sensor arranged on the boom or arm or bucket that is the arm member of the hydraulic excavator.

Furthermore, according to the inclination sensor correction amount acquisition method in the construction machine according to claim 4, 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.

And according to the inclination sensor correction amount acquisition method in the construction machine according to claim 5, 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.

It is a schematic diagram which shows the inclination sensor correction amount acquisition method in the construction work machine which concerns on embodiment of this invention, (a) The top view which shows the arrangement state of a hydraulic shovel and a surveying instrument, (b) The schematic diagram which shows a measurement state It is. It is a block diagram which shows the data flow in the inclination sensor correction amount acquisition method in the construction work machine. It explains the measurement point of the measurement target member, (a) is a photograph of a hydraulic excavator showing the measurement point, (b) is a diagram showing an input table of the measurement results. It is a flowchart which shows the flow of a process of the inclination sensor correction amount acquisition method in the construction work machine. It is a schematic diagram which shows the inclination and dimension confirmation of a hydraulic shovel. 1 is a side view of a hydraulic excavator showing a construction machine to which the present invention can be applied.

  Hereinafter, an inclination sensor correction amount acquisition method in a construction machine according to an embodiment for carrying out the present invention will be described. 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.

  In the inclination sensor correction amount acquisition method in the construction work machine according to the embodiment, as shown in FIGS. 1 and 5, 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.

  As described above, 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. Further, the boom 14 can rotate (swing) in the vertical direction with respect to the upper swing body 13 around the rotation center O2. Similarly, 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.

  In this embodiment, as shown in FIGS. 1 and 2, 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. To do. In the figure, reference numeral 31 denotes a tripod for fixing the surveying instrument 30, and reference numeral 40 denotes an operator. Moreover, when all the measurement points cannot be measured from one direction by the surveying device 30 arranged at one place, 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.

  Then, as shown in FIG. 2, 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. As software installed in the computer 50, spreadsheet software can be used.

  Next, measurement points of the excavator 10 by the surveying device 30 will be described. 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, and 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 number of measurement points of the excavator 10 can be plural, for example, the following 12 points. This measurement point can be changed as necessary. In addition, alphabets a to l attached to the front of the name correspond to the photograph in FIG. At the time of measurement, when it is visible from the surveying instrument 30 and can be measured directly, it is measured in the non-prism mode of the surveying instrument 30, and when the measurement location is not visible, using an auxiliary tool with a reflecting mirror or the like placed at the tip, Measure in prism mode. When using a measurement auxiliary tool, the dimension (H) of the auxiliary tool after measurement is subtracted from the height position.

a: Prism b: IMU
c: Center of rotation d: On excavation axis e: Boom pin f: Arm pin g: Bucket pin h: Link pin i: Link pin j: Link pin k: Bucket center l: Under track

  Moreover, in this embodiment, arbitrary three places of the plane G are measured. Thereby, the inclination of the plane G is acquired. Note that 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 measurement data from 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.

  Next, the process of the inclination sensor correction amount acquisition method in the construction machine according to the embodiment will be described. FIG. 4 is a flowchart showing a processing flow of the inclination sensor correction amount acquisition method in the construction work machine. In obtaining the correction value, first, 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.

  And the measurement point 30 measures a measurement point (step ST2). In this example, the measurement points are any three locations on the plane G in addition to the 12 locations described above.

  Next, 12 measurement results of the excavator 10 and 3 measurement results on the plane G are input to the computer 50. Then, 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). . When tilt correction is necessary (Yes in step ST4), 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.

  In the calculation of the inclination correction amount, as shown in FIG. 5A, the plane G on which the excavator 10 is arranged has an inclination “α” 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).

  When tilt correction is not necessary (No in step ST4), the dimensions and tilt amounts of the boom 14, the arm 15, and the 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.

  As described above, according to the inclination sensor correction amount acquisition method in the construction machine according to the present embodiment, 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.

  It should be noted that 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. Further, a GNSS (Global Navigation Satellite System) may be used as a position measurement system arranged on the excavator 10.

10: Hydraulic excavator (construction machine)
11: Crawler 12: Moving part 13: Upper turning body 14: Boom (arm member)
15: Arm (arm member)
16: Bucket 21, 22, 23, 24: Inclination sensor 30: Surveying device 50: Computer

Claims (5)

A method for obtaining a correction amount of an inclination sensor arranged on a rotatable member arranged on a construction machine,
A plurality of measurement points are set on a measurement target member that is a member on which the tilt sensor is arranged,
Survey the coordinates of these measurement points with a surveying instrument,
Calculate the inclination angle of the measurement target member from the coordinates of the plurality of measured measurement points,
An inclination sensor correction amount acquisition method for a construction machine, wherein the inclination sensor correction value is acquired based on the acquired inclination angle and the output value of the inclination sensor.   2. The total surveying device according to claim 1, wherein the surveying device is a total station that measures and digitally outputs its own position, an azimuth angle of a measurement location, a depression angle or an elevation angle of the measurement location, and a distance to the measurement location. To obtain the tilt sensor correction amount in a construction machine in Japan.   The inclination sensor correction amount acquisition method for a construction work machine according to claim 1, wherein the construction work machine is a hydraulic excavator, and the measurement target member is a rotating arm member or a bucket.   The method according to claim 1, wherein a measurement result is input to a computer, and the computer calculates an inclination angle of the member to be measured from the measurement result.   The method for obtaining a tilt sensor correction amount in a construction machine according to claim 1, wherein the dimension of the measurement target member is obtained together from the coordinates of the measurement point.