JP2002181538A - Construction edge position detection device using GPS - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately position coordinates of a construction end in a civil engineering construction machine having an arm configured to support a construction end (for example, a blade edge of a bucket) via a plurality of movable parts. Provided is a construction end position detection device using GPS, which can detect the construction end position. A civil engineering construction machine having an arm configured to support a construction end via a plurality of movable parts,
A plurality of position sensors for detecting respective states of the plurality of movable parts, two GPS antennas provided at predetermined positions of the construction machine, and a receiving device for receiving three-dimensional position information of each of the two antennas, A construction end position detection device comprising: a calculation unit that calculates a three-dimensional position of a construction end based on three-dimensional position information of two antennas from a receiving device and outputs from a plurality of position sensors.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting a position of a construction end (for example, a cutting edge of a bucket) in a civil engineering construction machine having an arm configured to support the construction end via a plurality of movable parts.

[0002]

2. Description of the Related Art A civil engineering machine has an arm configured to support a construction end (for example, a cutting edge of a bucket) via a plurality of movable parts. The arm is pivotally attached to the construction machine body, and pivots around a pivot center (generally called a pin) of the arm. Thereby,
Land preparation work is performed on site.

The detection of the position coordinates of the tip of the arm with respect to the construction machine body can be calculated based on the state of each movable part.

On the other hand, measurement of the position coordinates of the construction machine main body,
The measurement of the direction angle of the arm has been performed by an automatic tracking surveying instrument or GPS.

[0005]

When the position information of a construction machine is obtained by an automatic tracking type surveying instrument, a plurality of objects cannot be automatically tracked due to its structure. An automatic tracking type surveying instrument is required, which increases costs.

[0006] In addition, since initial setting is required when arranging the surveying instrument, various preparatory operations are required before starting the leveling operation, and it takes a lot of labor and time when considered as a whole.

[0007] Further, at a site where a plurality of construction machines are operated, each surveying instrument must be arranged so as not to obstruct other construction machines and to prevent other construction machines from obstructing tracking.

On the other hand, when the position coordinates of a construction machine are detected using GPS, it is usually not possible to detect the directional angle of the construction machine with one antenna.

At the time of initial setting, the construction machine is rotated in a fixed place,
If the rotation center coordinates are determined, it is possible to calculate the direction angle of the arm, but even if the position of the construction machine is displaced due to vibration or impact, it is difficult to detect it,
Actual construction may deviate from the plan.

Further, since considerable vibration and impact are applied to the construction end during the work, it has been difficult to detect the position coordinates of the construction end with high accuracy.

An object of the present invention is to provide a construction machine for civil engineering having an arm configured to support a construction end (for example, a cutting edge of a bucket) via a plurality of movable parts, and to accurately position coordinates of the construction end. An object of the present invention is to provide a construction end position detecting device using a GPS, which can detect the position.

[0012]

The preferred solution of the present invention is as follows.

(1) In a civil engineering construction machine having an arm configured to support a construction end portion via a plurality of movable parts, a plurality of position sensors for detecting respective states of the plurality of movable parts, and a construction machine GPS provided at a predetermined position
Two antennas, a receiving device for receiving the three-dimensional position information of each of the two antennas, and a construction end portion based on the three-dimensional position information of the two antennas from the receiving device and outputs from a plurality of position sensors. And a calculating means for calculating the three-dimensional position.

(2) In a civil engineering construction machine having an arm configured to support a construction end via a plurality of movable parts, position information from two GPS antennas provided at predetermined positions of the construction machine is used. A three-dimensional position coordinate of a pivot center position of an arm is calculated based on the calculated position, and a three-dimensional position of the processed end is calculated based on outputs from a plurality of position sensors.

(3) The construction end position detecting device described above, wherein the two antennas are arranged on a horizontal plane substantially perpendicular to the movable surface of the arm.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS By calculating the position coordinates of a construction end (for example, the cutting edge of a bucket) based on a baseline defined by two GPS antennas, the position coordinates of the construction end can be calculated with high accuracy. To detect. For this reason, even if the displacement of the construction machine occurs due to vibration or impact, the displacement is strong and the position coordinates of the construction end can be detected with high accuracy.

The construction end is located at the tip of the arm. The arm is configured to support a construction end via a plurality of movable parts (such as a boom), and is pivotally mounted on the construction machine body.

The arm is pivotally mounted on a support of the construction machine body. Position coordinates of the support (pin position)
Can be detected with high accuracy at any time, so that the three-dimensional position coordinates of the construction end of the arm such as the blade edge of the bucket can be detected with high accuracy.

For example, the G provided at a predetermined position of the construction machine
The three-dimensional position coordinates of the turning center position of the arm are calculated based on the position information from the two PS antennas, and the three-dimensional position of the construction end is calculated based on the outputs from the plurality of position sensors.

Further, a plurality of position sensors for detecting respective states of the plurality of movable parts, two GPS antennas provided at predetermined positions of the construction machine, three-dimensional position information from the two antennas and a plurality of The three-dimensional position of the construction end is calculated based on the output from the position sensor.

By using the construction end position detecting device having such a configuration, even if considerable vibration and impact are applied to the construction end during the work, the position coordinates of the construction end can be detected with high accuracy. Is possible.

Further, by detecting the three-dimensional position coordinates of the construction end of the arm, high-precision automatic control is enabled, civil engineering work can be performed reliably and safely, and the burden on the operator is reduced. In addition, operation by an unskilled person can be realized.

The three-dimensional position of the construction end (the edge of the bucket or the like) of the construction machine (excavator or the like) can be calculated with high accuracy in real time.

By being able to calculate the position information of the construction end,
High-precision control becomes possible, and in addition to automation of advanced construction work and avoidance of leveling failure due to operation mistakes during work,
Safety of surrounding workers and operators can be ensured.

Further, the pivot position of the arm (pin position,
By calculating the position of the support portion, the calculation becomes easy.

Since only two antennas are required, it is advantageous in terms of cost.

According to one preferred embodiment of the present invention,
G for construction equipment (eg, excavator) for civil engineering
Using two PS antennas, three-dimensional position coordinates of the center position (pin position) of the turning of the arm are calculated to detect the position of the blade edge of the bucket. The two antennas are arranged at predetermined positions on the construction machine.

The three-dimensional coordinates of the center position (pin position) of the turning of the arm and the directional angle of the arm are obtained by calibration.

The three-dimensional position coordinates of the construction end can be configured to be represented by a specific height with respect to the pivot center position (pin position) of the arm and the arm length by calculation.

Although not involved in the position coordinates, the construction end angle Qθ can be detected as important data during construction.

[0031]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

The construction machine shown in FIGS. 1 and 2 is a hydraulic shovel.

As shown in FIGS. 1 and 2, the present invention is an improved position detecting device for a construction end (for example, a blade edge of a bucket) 2 using two GPS antennas 1. The construction end position detection device is used for a civil engineering construction machine having an arm 6 configured to support the construction end 2 via a plurality of movable parts 3, 4, and 5.

The construction end position detecting device includes a plurality of position sensors 7, 8, 9 for detecting the state of each of the plurality of movable parts 3, 4, 5, and two construction sensors provided at predetermined positions of the construction machine main body 9. GPS antenna 1 and receiving device 11 for receiving three-dimensional position information of each of these two antennas 1
Calculating means 1 for calculating the three-dimensional position of the construction end 2 based on the three-dimensional position information of the two antennas 1 from the receiving device 11 and the outputs from the plurality of position sensors 7, 8, 9
2

The two antennas 1 are arranged on a horizontal plane substantially perpendicular to the movable surface of the arm 6.

The positional relationship between the pin position 10, the construction end 2, and the GPS antenna in the construction machine shown in FIGS.

As shown, the pin 10 and the construction end 2 have a positional relationship between both ends of the arm 6.

On the other hand, since the GPS antenna 1 is fixed at a predetermined position of the construction machine main body 9, the positional relationship with the pins 10 arranged on the construction machine main body 9 must be measured at the time of initial setting before construction. Is required.

As a method of the length measuring work, since there are often various devices between the two, it is difficult to measure the length by a light wave, so the length is measured by a measuring tape or the like.

Further, based on the pin positions at the design stage, the GPS
It is also possible to determine the arrangement position of the antenna for installation and attach it.

However, since there is a pipe or the like for driving the arm around the pin position, it is desirable to perform a calibration method that can easily maintain a predetermined accuracy even in the field.

Using two measurement system systems, the cutting edge 2
Find the three-dimensional coordinates of.

One measurement system system is a system system installed on the arm 6, and measures a horizontal distance H and a specific height Av of the arm 6 from the pin 10 to the cutting edge 2. The second measurement system is a GPS system, and measures three-dimensional coordinates of the position of the antenna 1.

In order to link such two measurement system systems, a relative relationship between the pin 10, the arm 6, and the GPS antenna 1 is obtained.

FIGS. 3-5 show three example systems.

Various patterns as shown in FIGS. 3 to 5 are conceivable depending on the type of the shovel and the method of installing the GPS antenna 1. In any case, two GPS antennas 1 are used.
The three-dimensional coordinates of the cutting edge 2 can be obtained by knowing the relative positions (three-dimensional) between the two and the GPS antenna 1 and the arm 6.

Referring to FIG. 6, pin 10 and arm 6
The relationship between and the GPS antenna 1 will be described.

If the coordinates of the antenna 1 and the pin 10 of NO 1 and NO 2 are obtained, the XY coordinates of the blade edge 2
Three parameters of the direction angle (C) and the horizontal distance (H) can be calculated in advance. Using these parameters, the calculation of the two coordinates of the cutting edge 2 is performed in the following procedure.

(1) Base direction (A) The three-dimensional coordinates of the two GPS antennas 1 are obtained. These coordinates are assumed to be projected on the design data of the site. This 2
The base direction (A) can be obtained from the coordinates.

(2) Calculation of Pin Coordinates (Px, Py) Px and Py of pin 10 are XY coordinates of antenna 1 of NO1, horizontal distance (H) of arm 6, base direction (A) and direction angle (B) ).

Px = H ・ sinB + x1 Py = H ・ cosB + y1 (3) Coordinates (Bx, By) of the cutting edge Coordinates (Px, Py) and direction angles (C) of the pin 10 and the arm 6 obtained as described above. It can be obtained from the horizontal distance Ah.

Bx = H · sinC + x1 By = H · cosC + y1 Next, the coordinates (Bz) of the cutting edge 2 will be described.

The Z coordinates of the GPS antennas 1 and 2 and the Z coordinate (Pz) of the pin 10 can be obtained from the specific height Av obtained as described above.

The height of the mechanical ratio between the GPS antenna 1 and the pin 10 is defined as dz.

Bz = (Zno1 + Zno2) / 2−dz + Av The coordinates of the pin 10 are obtained as follows. That is, pin 1
By obtaining the three-dimensional coordinates of 0 and the direction of the arm 6, the three-dimensional coordinates of the cutting edge 2 can be obtained with two GPS units.

[0056]

According to the present invention, the three-dimensional position of the construction end of the construction machine can be detected with high accuracy, and furthermore, it is hardly affected by vibration and impact.

[Brief description of the drawings]

FIG. 1 is a front view showing the concept of a construction edge position detecting device according to one embodiment of the present invention.

FIG. 2 is a plan view showing the concept of a construction edge position detecting device according to one embodiment of the present invention.

FIG. 3 schematically shows an example of a method of detection by the construction end position detecting device of FIG.

FIG. 4 schematically shows another example of how to detect by the construction end position detecting device of FIG.

FIG. 5 schematically shows still another example of a method of detection by the construction end position detecting device of FIG.

FIG. 6 shows a relationship between a pin, an arm, and a GPS in the construction end position detecting device of FIG.

FIG. 7 shows the relationship between the movable range (plane) of the arm and the baseline by the GPS antenna, in particular, from the conceptual diagram of the construction end position detecting device of FIG.

FIG. 8 shows a relationship between an arm and a GPS antenna arrangement position, in particular, from a conceptual diagram of the construction end position detection device of FIG.

FIG. 9 shows an example of a control system of the construction end position detecting device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 GPS antenna 2 Construction end part 3, 4, 5 Movable part 6 Arm 7, 8, 9 Position sensor 10, 14 pin 11 Receiving device 12 Calculation means A Base direction B, C Direction angle H Horizontal distance Av Specific height

Claims (3)

[Claims] 1. A construction machine for civil engineering having an arm configured to support a construction end via a plurality of movable parts, a plurality of position sensors for detecting respective states of the plurality of movable parts, and Two GPS antennas provided at predetermined positions, a receiving device that receives three-dimensional position information of each of the two antennas, three-dimensional position information of the two antennas from the receiving device, and outputs from a plurality of position sensors Based on 3
And a calculating means for calculating a dimensional position. 2. A construction machine for civil engineering having an arm configured to support a construction end via a plurality of movable parts, based on position information from two GPS antennas provided at predetermined positions of the construction machine. A three-dimensional position coordinate of an arm turning center position, and a three-dimensional position of the construction end based on outputs from a plurality of position sensors. 3. The construction end position detecting device according to claim 1, wherein the two antennas are arranged on a horizontal plane substantially perpendicular to a movable surface of the arm.