JP2022103603A5 - - Google Patents
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- JP2022103603A5 JP2022103603A5 JP2020218339A JP2020218339A JP2022103603A5 JP 2022103603 A5 JP2022103603 A5 JP 2022103603A5 JP 2020218339 A JP2020218339 A JP 2020218339A JP 2020218339 A JP2020218339 A JP 2020218339A JP 2022103603 A5 JP2022103603 A5 JP 2022103603A5
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Claims (8)
前記旋回体に取り付けられ複数のフロント部材が連結された作業装置と、
複数の測位衛星が発信する信号を受信する第１アンテナ及び第２アンテナと、
前記複数のフロント部材の姿勢情報をそれぞれ取得する複数の第１姿勢センサと、
前記旋回体の姿勢情報を取得する第２姿勢センサと、
前記第１アンテナ及び前記第２アンテナで受信された前記複数の測位衛星の信号に基づいて、前記第１アンテナから前記第２アンテナへの基線ベクトルを演算し、前記複数の第１姿勢センサ及び前記第２姿勢センサで取得された姿勢情報に基づいて前記作業装置の姿勢を演算し、前記第２姿勢センサで取得された姿勢情報と前記基線ベクトルとに基づいて前記作業装置の方位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、複数のマスク領域データが記憶されており、
前記複数のマスク領域データには、それぞれ、前記作業装置の姿勢及び方位が対応付けられており、
前記複数のマスク領域データのそれぞれに対応付けられた前記作業装置の姿勢及び方位は、前記作業装置の姿勢及び方位を変数とする多次元座標系に設定されており、
前記コントローラは、
前記多次元座標系において、前記複数の第１姿勢センサ及び前記第２姿勢センサで取得された姿勢情報に基づいて演算された前記作業装置の姿勢と、前記第２姿勢センサで取得された姿勢情報と前記基線ベクトルとに基づいて演算された前記作業装置の方位とに、距離が近い姿勢と方位とが対応付けられた２以上の所定数のマスク領域データを前記複数のマスク領域データの中から選択し、
前記第１アンテナで受信された前記複数の測位衛星の信号のうち、前記所定数のマスク領域データのそれぞれに従って選択した測位衛星から発信された信号に基づいて、前記第１アンテナの第１の位置を前記所定数演算し、
前記多次元座標系において、前記複数の第１姿勢センサ及び前記第２姿勢センサで取得された姿勢情報に基づいて演算された前記作業装置の姿勢と、前記第２姿勢センサで取得された姿勢情報と前記基線ベクトルとに基づいて演算された前記作業装置の方位との位置から、前記所定数のマスク領域データに対応付けられた前記作業装置の姿勢及び方位のそれぞれの位置までの距離を前記所定数演算し、
前記所定数の前記第１アンテナの第１の位置と、前記所定数の距離とに基づいて、前記第１アンテナの第２の位置を演算し、
前記第１アンテナの第２の位置と、前記第２姿勢センサで取得された姿勢情報とに基づいて、前記作業装置の位置を演算する
ことを特徴とする作業機械。 A rotating body,
a working device attached to the revolving body and connected to a plurality of front members;
a first antenna and a second antenna that receive signals transmitted by a plurality of positioning satellites;
a plurality of first attitude sensors each acquiring attitude information of the plurality of front members;
a second attitude sensor that acquires attitude information of the rotating body;
A baseline vector from the first antenna to the second antenna is calculated based on the signals of the plurality of positioning satellites received by the first antenna and the second antenna, and the baseline vector from the first antenna to the second antenna is calculated. A controller that calculates the posture of the working device based on the posture information acquired by the second posture sensor, and calculates the orientation of the working device based on the posture information acquired by the second posture sensor and the baseline vector. In a working machine equipped with
The controller stores a plurality of mask area data,
Each of the plurality of mask area data is associated with an attitude and an orientation of the working device,
The posture and orientation of the work device associated with each of the plurality of mask area data are set in a multidimensional coordinate system using the posture and orientation of the work device as variables,
The controller includes:
In the multidimensional coordinate system, a posture of the working device calculated based on posture information acquired by the plurality of first posture sensors and the second posture sensor, and posture information acquired by the second posture sensor. and the orientation of the working device calculated based on the base line vector, and a predetermined number of two or more mask area data that are associated with postures and orientations that are close in distance from among the plurality of mask area data. choose,
A first position of the first antenna based on a signal transmitted from a positioning satellite selected according to each of the predetermined number of mask area data among the signals of the plurality of positioning satellites received by the first antenna. Calculate the predetermined number of
In the multidimensional coordinate system, a posture of the working device calculated based on posture information acquired by the plurality of first posture sensors and the second posture sensor, and posture information acquired by the second posture sensor. The distance from the position of the azimuth of the working device calculated based on calculate numbers,
calculating a second position of the first antenna based on the predetermined number of first positions of the first antenna and the predetermined number of distances;
A working machine, wherein a position of the working device is calculated based on a second position of the first antenna and posture information acquired by the second posture sensor.
前記コントローラは、前記所定数の前記第１アンテナの第１の位置のそれぞれに前記所定数の距離に基づく重み付けを行うことで前記第１アンテナの第２の位置を演算する
ことを特徴とする作業機械。 In the working machine of claim 1,
The controller calculates the second position of the first antenna by weighting each of the first positions of the predetermined number of first antennas based on the predetermined number of distances. machine.
前記複数のマスク領域データには、それぞれ、前記複数のフロント部材の姿勢と、前記作業装置の方位とが対応付けられている
ことを特徴とする作業機械。 In the working machine of claim 1,
The working machine, wherein each of the plurality of mask area data is associated with a posture of the plurality of front members and an orientation of the working device.
前記複数のフロント部材にはブームが含まれており、
前記複数のマスク領域データには、それぞれ、前記ブームの姿勢及び前記作業装置の方位を示す互いに異なる１組の値が対応付けられており、
前記複数のマスク領域データは、それぞれに対応付けられた前記１組の値に前記ブームの姿勢及び前記作業装置の方位を定めたときに、前記複数のフロント部材から前記ブームを除いたフロント部材が取り得る全ての姿勢において、前記ブームを除いたフロント部材が前記第１アンテナの上空を遮蔽する領域に基づいて決定されている
ことを特徴とする作業機械。 In the working machine of claim 3,
The plurality of front members include a boom,
Each of the plurality of mask area data is associated with a mutually different set of values indicating an attitude of the boom and an orientation of the working device,
The plurality of mask area data is such that when the attitude of the boom and the orientation of the work device are determined based on the one set of values associated with each one, the front members excluding the boom from the plurality of front members are A working machine characterized in that, in all possible postures, the front member excluding the boom is determined based on an area that shields the sky above the first antenna.
前記複数のマスク領域データに対応付けられた前記ブームの姿勢及び前記作業装置の方位は、前記ブームの角度及び前記作業装置の方位の２つを変数とする二次元座標系に設定されており、
前記コントローラは、
前記複数の第１姿勢センサのうち前記ブームに取り付けられた姿勢センサで取得された姿勢情報と前記第２姿勢センサで取得された姿勢情報とに基づいて前記ブームの角度を演算し、
前記複数のマスク領域データに対応付けられた前記ブームの角度及び前記作業装置の方位のうち、前記二次元座標系において、前記複数の第１姿勢センサのうち前記ブームに取り付けられた姿勢センサで取得された姿勢情報と前記第２姿勢センサで取得された姿勢情報とに基づいて演算された前記ブームの角度と、前記第２姿勢センサで取得された姿勢情報と前記基線ベクトルとに基づいて演算された前記作業装置の方位とからの距離が近いものを前記所定数選択し、
前記第１アンテナで受信された前記複数の測位衛星の信号のうち前記所定数のマスク領域データのそれぞれに従って選択した測位衛星から発信された信号に基づいて、前記第１アンテナの第１の位置を前記所定数演算し、
前記二次元座標系において、前記複数の第１姿勢センサのうち前記ブームに取り付けられた姿勢センサで取得された姿勢情報と前記第２姿勢センサで取得された姿勢情報とに基づいて演算された前記ブームの角度と、前記第２姿勢センサで取得された姿勢情報と前記基線ベクトルとに基づいて演算された前記作業装置の方位との位置から、前記所定数のマスク領域データに対応付けられた前記ブームの角度及び前記作業装置の方位のそれぞれの位置までの距離を前記所定数演算し、
前記所定数の前記第１アンテナの第１の位置のそれぞれに前記所定数の距離に基づく重み付けを行うことで前記第１アンテナの第２の位置を演算する
ことを特徴とする作業機械。 The working machine according to claim 4,
The attitude of the boom and the orientation of the working device that are associated with the plurality of mask area data are set in a two-dimensional coordinate system with two variables: the angle of the boom and the orientation of the working device,
The controller includes:
Calculating the angle of the boom based on posture information acquired by a posture sensor attached to the boom among the plurality of first posture sensors and posture information acquired by the second posture sensor,
Among the angle of the boom and the orientation of the working device, which are associated with the plurality of mask area data, are acquired by a posture sensor attached to the boom among the plurality of first posture sensors in the two-dimensional coordinate system. The angle of the boom is calculated based on the attitude information acquired by the user and the attitude information acquired by the second attitude sensor, and the angle of the boom is calculated based on the attitude information acquired by the second attitude sensor and the baseline vector. selecting the predetermined number of devices that are close to the direction of the working device;
A first position of the first antenna is determined based on a signal transmitted from a positioning satellite selected according to each of the predetermined number of mask area data among the signals of the plurality of positioning satellites received by the first antenna. Calculate the predetermined number,
In the two-dimensional coordinate system, the above information is calculated based on the attitude information acquired by the attitude sensor attached to the boom among the plurality of first attitude sensors and the attitude information acquired by the second attitude sensor. Based on the position of the boom angle and the orientation of the working device calculated based on the attitude information acquired by the second attitude sensor and the base line vector, the calculating the predetermined distances to each position of the boom angle and the direction of the working device;
A work machine characterized in that the second position of the first antenna is calculated by weighting each of the first positions of the predetermined number of first antennas based on the predetermined number of distances.
前記所定数は４であることを特徴とする作業機械。 The working machine according to claim 5,
A working machine characterized in that the predetermined number is four.
基準局から送信されるＧＮＳＳ補正データを受信するための無線機をさらに備え、
前記コントローラは、前記第１アンテナ及び前記第２アンテナで受信された前記複数の測位衛星の信号のうち前記コントローラに記憶された前記複数のマスク領域データに従って選択した測位衛星から発信された信号と、前記ＧＮＳＳ補正データとに基づいて、前記第１アンテナの第１の位置と、前記基線ベクトルとを演算することを特徴とする作業機械。 In the working machine of claim 1,
Further comprising a radio device for receiving GNSS correction data transmitted from the reference station,
The controller transmits a signal transmitted from a positioning satellite selected according to the plurality of mask area data stored in the controller from among the signals of the plurality of positioning satellites received by the first antenna and the second antenna; The working machine is characterized in that the first position of the first antenna and the baseline vector are calculated based on the GNSS correction data.
前記複数のマスク領域データに対応付けられた前記複数のフロント部材のそれぞれの姿勢と前記作業装置の方位とは、前記複数のフロント部材のそれぞれの角度及び前記作業装置の方位の合計ｎ個を変数とするｎ次元座標系に設定されており、
前記コントローラは、
前記第１アンテナの第１の位置及び前記基線ベクトルと、前記複数の第１姿勢センサ及び前記第２姿勢センサで取得された姿勢情報とに基づいて、前記複数のフロント部材のそれぞれの角度及び前記作業装置の方位を演算し、
前記複数のマスク領域データに対応付けられた前記複数のフロント部材のそれぞれの角度及び前記作業装置の方位のうち、前記ｎ次元座標系において、前記第１アンテナの第１の位置及び前記基線ベクトルと、前記複数の第１姿勢センサ及び前記第２姿勢センサで取得された姿勢とに基づいて演算された前記複数のフロント部材のそれぞれの角度及び前記作業装置の方位からの距離が近いものを前記所定数選択し、
前記第１アンテナで受信された前記複数の測位衛星の信号のうち前記所定数のマスク領域データのそれぞれに従って選択した測位衛星から発信された信号に基づいて、前記第１アンテナの第１の位置を前記所定数演算し、
前記ｎ次元座標系において、前記第１アンテナの第１の位置及び前記基線ベクトルと、前記複数の第１姿勢センサ及び前記第２姿勢センサで取得された姿勢とに基づいて演算された前記複数のフロント部材のそれぞれの角度及び前記作業装置の方位の位置から前記所定数のマスク領域データに対応付けられた前記複数のフロント部材のそれぞれの角度及び前記作業装置の方位のそれぞれの位置までの距離を前記所定数演算し、
前記所定数の前記第１アンテナの第１の位置のそれぞれに前記所定数の距離に基づく重み付けを行うことで前記第１アンテナの第２の位置を演算する
ことを特徴とする作業機械。 In the working machine of claim 1,
The postures of each of the plurality of front members and the orientation of the working device, which are associated with the plurality of mask area data, are a total of n variables of the angles of each of the plurality of front members and the orientation of the working device. The n-dimensional coordinate system is set as
The controller includes:
The angles of each of the plurality of front members and the Calculate the direction of the work equipment,
Among the angles of each of the plurality of front members and the orientation of the working device associated with the plurality of mask area data, in the n-dimensional coordinate system, the first position of the first antenna and the baseline vector , the angles of each of the plurality of front members calculated based on the postures acquired by the plurality of first posture sensors and the second posture sensor and the distance from the direction of the working device are selected from the predetermined one. Select a number,
A first position of the first antenna is determined based on a signal transmitted from a positioning satellite selected according to each of the predetermined number of mask area data among the signals of the plurality of positioning satellites received by the first antenna. Calculate the predetermined number,
In the n-dimensional coordinate system, the plurality of postures calculated based on the first position of the first antenna, the baseline vector, and the postures acquired by the plurality of first posture sensors and the second posture sensor. Distances from the positions of the respective angles of the front members and the orientations of the working device to the respective positions of the respective angles and the azimuths of the working devices of the plurality of front members that are associated with the predetermined number of mask area data. Calculate the predetermined number,
A work machine characterized in that the second position of the first antenna is calculated by weighting each of the first positions of the predetermined number of first antennas based on the predetermined number of distances.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020218339A JP7500420B2 (en) | 2020-12-28 | 2020-12-28 | Work Machine |
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| JP2020218339A JP7500420B2 (en) | 2020-12-28 | 2020-12-28 | Work Machine |
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| JP2022103603A JP2022103603A (en) | 2022-07-08 |
| JP2022103603A5 true JP2022103603A5 (en) | 2023-10-25 |
| JP7500420B2 JP7500420B2 (en) | 2024-06-17 |
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| JP6216970B2 (en) | 2013-05-20 | 2017-10-25 | 一般財団法人生産技術研究奨励会 | Position detection device, position detection system, and position detection method |
| JP7007313B2 (en) | 2019-03-06 | 2022-02-10 | 日立建機株式会社 | Work machine |
| JP7245119B2 (en) | 2019-06-06 | 2023-03-23 | 日立建機株式会社 | construction machinery |
| JP7089550B2 (en) | 2020-06-16 | 2022-06-22 | 日立建機株式会社 | Construction machinery |
| JP7039746B1 (en) | 2021-03-30 | 2022-03-22 | 日立建機株式会社 | Work machine |
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