Attitude computing device for operating machine, operating machine, and attitude computing method for operating machine
A technology for working machines and computing devices, which is applied to mechanically driven excavators/dredgers, measuring devices, earthmoving machines/shovels, etc., and can solve problems such as vibration in detection results
Active Publication Date: 2016-02-24
KOMATSU LTD
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Problems solved by technology
However, if the responsiveness of attitude angle detection is improved, the attitude angle detected by the IMU may fluctuate in a short cycle.
Therefore, when the work machine is excavated along the target excavation topography while the work machine is stationary, and the work machine is controlled so as to prevent digging into the excavation object beyond the boundary line, the detection result of the position of the work machine may vibrate.
Method used
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Embodiment Construction
[0058] Modes (embodiments) for carrying out the present invention will be described in detail with reference to the drawings.
[0059]
[0060] Figure 1A It is a perspective view of the work machine of this embodiment. Figure 1B It is a side view of the work machine of this embodiment. figure 2 It is a figure which shows the control system of the working machine of this embodiment. A hydraulic excavator 100 as a working machine has a vehicle body 1 and a working machine 2 as a main body. The vehicle main body 1 has an upper swing body 3 as a swing body and a running device 5 as a running body. The upper swing body 3 is accommodated inside the engine room 3EG figure 2 Shown are devices such as an engine 36 and a hydraulic pump 37 as power generating devices. The engine room 3EG is disposed on one end side of the upper swing body 3 .
[0061] In the present embodiment, an internal combustion engine such as a diesel engine is used as the engine 36 as the power generati...
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An attitude computing device for an operating machine comprises: a detection unit which is provided in the operating machine and detects angular velocity and acceleration; a first attitude angle computing unit which is provided in the detection unit and finds the attitude angle of the operating machine from the angular velocity and acceleration detected by the detection unit; a low-pass filter which causes the attitude angle found by the first attitude angle computing unit to pass therethrough and outputs the attitude angle as a first attitude angle; a second attitude angle computing unit which outputs, as a second attitude angle, the attitude angle found from the angular velocity and acceleration detected by the detection unit; and a selection unit which performs switching between the first attitude angle and the second attitude angle on the basis of information relating to the angular variation of the operating machine and outputs the first attitude angle or the second attitude angle.
Description
technical field [0001] The present invention relates to an attitude calculating device of an operating machine, an operating machine and an attitude calculating method of the operating machine. Background technique [0002] In recent years, in working machines such as hydraulic excavators and bulldozers, there is a technique of controlling the working machine so as to excavate along the boundary line so as not to excavate further beyond the boundary line of an inaccessible area of the excavated object (for example, patent Literature 1). [0003] prior art literature [0004] patent documents [0005] Patent Document 1: International Publication No. 1995 / 030059 [0006] The problem to be solved by the invention [0007] When the work machine is excavated along the target excavation terrain representing the target shape of the work machine's excavation target, it is necessary to obtain the position of the work machine included in the work machine. For example, in a hydra...
Claims
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IPC IPC(8): E02F9/20E02F3/43
CPCE02F3/435E02F9/123E02F9/265G01C21/188E02F3/32E02F9/2285E02F9/262
Inventor 马场昭典市原将志
Owner KOMATSU LTD