Construction machine

Abstract

The purpose of the present invention is to provide a construction machine capable of improving the correction accuracy of a machine guide system or a machine control system. To this end, a controller on the basis of conversion parameters (attachment angle, link length) instructed to correct coordinates for converting attitude data of a work machine into a first prescribed position (bucket tip position) of the work machine A determination is made as to whether or not the work machine is statically determinate based on the posture data of the work machine detected by a posture detection device during a predetermined period of time, and if it is determined that the work machine is statically determinate, a determination is made as to whether or not the work machine is statically determinate. The updated value of the conversion parameter is calculated on the basis of the posture data of the work machine detected by the posture detection device during the predetermined time and the coordinates of the second predetermined position (pin position) of the work machine measured by an external measurement device after the instruction to correct the conversion parameter is given.

Description

Technical Field

[0001] The present invention relates to a construction machine such as a hydraulic excavator having a front working machine, and more particularly to a construction machine equipped with a machine guidance system or a machine control system. Background Art

[0002] In response to information-based construction, hydraulic excavators with mechanical guidance and mechanical control functions have been developed. In the mechanical guidance, the position and posture of the working mechanisms such as the boom, dipper arm, and bucket are displayed to the operator, and in the mechanical control, the position of the working mechanism is controlled in such a way that it moves along the target construction surface.

[0003] The construction that uses the coordinates of the vehicle at the construction site to assist in mechanical guidance and mechanical control is called three-dimensional information construction (3D information construction). The construction machinery corresponding to this 3D information construction has a GNSS (Global Navigation Satellite System) to obtain the position of the vehicle. For construction machinery with a front working machine such as a hydraulic excavator, for operation assistance, it is necessary not only to know the position of the vehicle but also the direction (azimuth) that the working machine is facing. Therefore, construction machinery with two GNSS antennas on the upper rotating body is known.

[0004] In the machine guidance system, since various information is presented to the operator in such a way that the front end position (claw tip position) of the bucket moves along the construction target surface, not only the position of the vehicle but also the posture information of the front working machine becomes important. Therefore, various sensors are installed to obtain the angles of the boom, arm, and bucket. For this angle sensor, IMU (Inertial Measurement Unit) sensors are mostly selected from the viewpoints of ease of installation and responsiveness of the angle sensor.

[0005] The mechanical guidance system calculates the claw tip position of the excavator using the inclination angles of the various components (boom, arm, bucket) of the front working machine, but the IMU sensor obtains its own inclination angle. Therefore, the IMU sensor converts the inclination angle of the IMU sensor to the inclination angle of each component using an "installation angle" that indicates the degree of rotation of the installation relative to each component. The accuracy of the inclination angle of each component will affect the calculation accuracy of the claw tip coordinates, so the installation angle must be obtained correctly. The operation of updating the parameters necessary for the calculation of such claw tip coordinates to the correct values ​​is called correction or calibration. Patent Document 1 can be cited as a prior art document that discloses a calibration method for the installation angle.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2017-181340 Summary of the invention

[0009] Patent document 1 proposes the following method, which is to obtain the coordinates of the connecting part (center of the rotating pin) serving as the rotation center of each component through an external measuring device (total station), compare the inclination angle of each component calculated from each coordinate with the inclination angle output by the inclination sensor (IMU sensor), and thereby calculate the installation angle.

[0010] For example, when obtaining the installation angle of the IMU sensor installed on the boom, the coordinates (x0, y0, z0) of the boom foot pin position p0 and the coordinates (x1, y1, z1) of the boom front pin position p1 are obtained by the total station. If it is assumed that the front working machine is set parallel to the coordinate axis X of the total station (that is, y0=y1), the angle θBM-TS of the boom can be given by Formula 1.

[0011]

Formula 1

[0012]

[0013] In parallel with this operation, the angle θBM-IMU output by the IMU sensor is recorded, whereby the mounting angle ΔθBM can be calculated using Formula (2).

[0014]

Formula 2

[0015] Δθ BM =θ BM-TS -θ BM-IMU

[0016] The total station cannot obtain all coordinates at the same time, and measures the coordinates point by point. Therefore, if the posture of the hydraulic excavator changes while obtaining each coordinate, there is a possibility that the installation angle cannot be calculated correctly.

[0017] For example, assume that the following three steps are performed: [1] obtaining the coordinates of the boom foot pin position p0, [2] obtaining the angle information of the IMU sensor, and [3] obtaining the coordinates of the boom tip pin position p1. In this operation, if the coordinates of the boom tip pin position p1 change from (x1, y1, z1) to (x1+δx, y1, z1+δz) during the operation from [2] to [3], the boom angle θBM-TS becomes as shown in Formula 3.

[0018]

Formula 3

[0019]

[0020] The angle θBM-TS calculated by the equation 1 and the equation 3 are different, and therefore the mounting angle ΔθBM is also calculated to be different. That is, if the posture of the front working machine changes during the calibration work, there is a possibility that the mounting angle cannot be correctly obtained.

[0021] Of course, when performing the calibration work, the operator is required to be careful not to operate the lever in order to prevent the posture change. However, even if the operator intentionally does not operate the lever, the posture change of the front working machine may occur.

[0022] For example, the front working machine is driven by a hydraulic cylinder, and therefore, if the hydraulic oil expands or contracts due to temperature changes, the cylinder length will change, resulting in a posture change. In addition, if the cylinder bottom pressure or piston rod pressure of the hydraulic cylinder decreases due to hydraulic oil leakage, the cylinder length will change. In addition, even if there is no change in the cylinder length, if the hydraulic excavator is set on soft soil, sometimes the hydraulic excavator will sink to the ground due to its own weight. If such a settlement occurs, the coordinates measured by the total station will change, and there is a possibility that the installation angle cannot be correctly obtained, resulting in a decrease in the accuracy of calibration.

[0023] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a construction machine capable of improving the calibration accuracy of a machine guidance system or a machine control system.

[0024] In order to achieve the above-mentioned purpose, the present invention is a construction machinery comprising: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; a multi-jointed working machine rotatably mounted on the upper rotating body; a posture detection device mounted on the working machine; and a controller for converting the posture data of the working machine detected by the posture detection device into the coordinates of a first specified position of the working machine using specified conversion parameters, the controller being based on the posture data of the working machine detected by the posture detection device and the coordinates of a second specified position of the working machine measured by an external measuring device. The updated value of the conversion parameter is calculated and corrected. In the engineering machinery, the controller is configured to determine whether the working machine is static based on the posture data of the working machine detected by the posture detection device during a specified time period after an instruction to correct the conversion parameter is given. When it is determined that the working machine is static, the updated value of the conversion parameter is calculated based on the posture data of the working machine detected by the posture detection device during the specified time period and the coordinates of the second specified position measured by the external measurement device after the instruction to correct the conversion parameter is given.

[0025] According to the present invention constructed as described above, the posture data and coordinates of the working machine acquired when the working machine is in a static state are used to update the conversion parameters for converting the posture data of the working machine into the coordinates of the first predetermined position of the working machine. This can improve the correction accuracy of the machine guidance system or the machine control system.

[0026] Effects of the Invention

[0027] According to the construction machine of the present invention, it is possible to improve the correction accuracy of the machine guidance system or the machine control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a diagram schematically showing the appearance of a hydraulic excavator in a first embodiment of the present invention.

[0029] Figure 2 This is a diagram schematically showing a part of the processing functions of the controller in the first embodiment of the present invention.

[0030] Figure 3 This is a functional block diagram of the controller in the first embodiment of the present invention.

[0031] Figure 4 This is a diagram showing an example of the content displayed on the monitor when calibration is performed.

[0032] Figure 5 This is a diagram showing an example of IMU data recorded in the posture detection result recording unit.

[0033] Figure 6 This is a flowchart showing the processing of the calibration execution unit in the first embodiment of the present invention.

[0034] Figure 7 This is a functional block diagram of a controller in the second embodiment of the present invention.

[0035] Figure 8 This is a flowchart showing the processing of the calibration execution unit in the second embodiment of the present invention.

[0036] Fig. 9 This is a diagram for explaining the influence of coordinate axes set by an external measuring device on coordinate measurement.

[0037] Fig.10 This is a diagram showing an example of a posture when performing calibration.

[0038] Fig.11 This is a functional block diagram of a controller in a modified example of the third embodiment of the present invention.

[0039] Fig.12 This is a diagram showing the appearance of data recorded by the controller in the third embodiment of the present invention.

[0040] Fig.13 This is a flowchart showing the processing of the calibration execution unit in the third embodiment of the present invention.

[0041] Fig.14 This is a functional block diagram of a controller in the fourth embodiment of the present invention.

[0042] Fig.15 This is a flowchart showing the processing of the calibration execution unit in the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0043] Hereinafter, a hydraulic excavator will be described as an example of a construction machine according to an embodiment of the present invention with reference to the accompanying drawings. In addition, in each figure, the same reference numerals are given to the same components, and repeated descriptions are omitted as appropriate.

[0044] [Example 1]

[0045] Figure 1 It is a diagram schematically showing the appearance of a hydraulic excavator according to a first embodiment of the present invention. Figure 1 In the embodiment, the hydraulic excavator 100 has a multi-jointed front working machine 1 formed by connecting a plurality of front parts (a boom 4, an arm 5, a bucket (working tool) 6) that rotate in the vertical direction, an upper rotating body 2 constituting a vehicle body, and a lower traveling body 3. The upper rotating body 2 is rotatably provided relative to the lower traveling body 3.

[0046] The base end of the boom 4 of the front working machine 1 is supported vertically and rotatably at the front of the upper rotating body 2, one end of the arm 5 is supported vertically and rotatably at the other end (front end) of the boom 4, and a bucket 6 is supported vertically and rotatably at the other end (front end) of the arm 5. The boom 4 is supported vertically and rotatably at the other end (front end) of the arm 5. Figure 2 The boom 4, the boom 5, the bucket 6, the upper rotating body 2, and the lower traveling body 3 are driven by the boom hydraulic cylinder 4a, the boom hydraulic cylinder 5a, the bucket hydraulic cylinder 6a, the rotating motor (not shown), and the left and right traveling motors 3a (only one side is shown) as hydraulic actuators.

[0047] In the cab 9 where the operator sits, operating levers 9a and 9b are provided for outputting operating signals for operating the hydraulic actuators 2a to 6a. The operating levers 9a and 9b can be tilted in the forward, backward, left and right directions, respectively, and the operation of the hydraulic actuators 2a to 6a is respectively allocated in each direction. The operating levers 9a and 9b include a detection device (not shown) for electrically detecting the tilting amount of the lever (lever operation amount) as an operating signal, and outputting the lever operation amount detected by the detection device to the control device, i.e., the controller 20, via electrical wiring.

[0048] The operation control of the boom hydraulic cylinder 4a, the dipper arm hydraulic cylinder 5a, the bucket hydraulic cylinder 6a, the swing motor 2a, and the left and right travel motors 3a is performed by controlling the direction and flow rate of the working oil supplied from the hydraulic pump device 7 driven by the engine and the electric motor to each hydraulic actuator 2a~6a by the controller valve 8. The controller valve 8 is operated by the drive signal (pilot pressure) output from the pilot pump (not shown) via the electromagnetic proportional valve. The electromagnetic proportional valve is controlled by the controller 20 based on the operation signal from the operating levers 9a and 9b, thereby controlling the operation of each hydraulic actuator 2a~6a. In addition, the operating levers 9a and 9b can also be hydraulic pilot type. In this case, the operating levers 9a and 9b include a pilot valve (not shown) that outputs a pilot pressure corresponding to the lever operation amount, and the controller valve 8 is operated by the pilot pressure output from the pilot valve.

[0049] An inertial measurement unit (IMU) 13 is provided as a posture sensor on the upper rotating body 2. The inertial measurement unit 13 measures angular velocity and acceleration, and constitutes a posture detection device. After assuming that the upper rotating body 2 equipped with the inertial measurement unit 13 is stationary, the inclination (pitch angle) and the inclination (roll angle) of the upper rotating body 2 in the forward and backward directions can be calculated based on the direction of the gravity acceleration in the IMU coordinate system set on the inertial measurement unit 13 (vertical downward direction) and the installation state of the inertial measurement unit 13 (relative positional relationship between the inertial measurement unit 13 and the upper rotating body 2). In addition, an angular velocity sensor is built into the IMU, and thus, the rotation angle (yaw angle) of the upper rotating body 2 can also be calculated by integrating the angular velocity, but it should be noted that the correct rotation angle cannot be easily calculated due to the constant error (gyro error) of the angular velocity sensor. In addition, in this embodiment, it is assumed that the above-mentioned inclination (angle) calculation function is installed in the inertial measurement device, but if the inertial measurement device is not installed with the angle calculation function, the angle calculation function can be installed in the controller 20 described later.

[0050] In addition, two GNSS antennas 17a and 17b are installed on the upper rotating body 2. The satellite signals received by each GNSS antenna are transmitted to the GNSS receiver 17c ( Figure 2 GNSS antennas 17a, 17b and GNSS receiver 17c constitute the position information detection device 17 ( Figure 3 shown).

[0051] The GNSS receiver 17c is connected to the GNSS fixed base station installed in the field through wireless communication, thereby performing RTK (Real Time Kinematic) positioning for the position information. In the case of a field without a GNSS fixed base station, a network-based RTK that obtains information from an electronic reference station via the Internet can also be used. In the following, it is assumed that the GNSS receiver 17c can perform RTK positioning regardless of whether there is a fixed base station in the field.

[0052] In order to measure the postures of the respective booms 4, arm 5, and bucket 6 that are components of the front working machine 1, inertial measurement devices 14 to 16 are provided at appropriate positions. The inertial measurement devices 14 to 16 also constitute posture detection devices in the same manner as the inertial measurement device 13 installed on the upper rotating body 2. In order to distinguish the inertial measurement devices 13 to 16, they are hereinafter appropriately referred to as vehicle body IMU 13, boom IMU 14, arm IMU 15, and bucket IMU 16 according to the locations where they are installed. In addition, the bucket IMU 16 may be provided not on the bucket 6 but on a link component (bucket link) 18 that rotates in conjunction with the bucket 6. When the bucket link 18 is provided with an IMU, it is sufficient to convert the inclination of the bucket link 18 into the inclination of the bucket 6 by utilizing geometric relationships.

[0053] Figure 2 1 is a diagram schematically showing the processing functions of the controller 20 mounted on the hydraulic excavator 100 . Figure 2 The controller 20 has various functions for controlling the operation of the hydraulic excavator 100, and as a part thereof, has the functions of a positioning calculation unit 21, a monitor display control unit 22, a hydraulic system control unit 23, a construction target surface calculation unit 24, and a calibration execution unit 25. In addition, Figure 2 In the figure, the processing functions 21 to 25 are shown to be executed by one controller, but each processing function may be executed by a plurality of controllers. For example, when the hydraulic excavator 100 has five controllers, each processing function 21 to 25 may be executed by a different controller. In addition, the calibration execution unit 25 may not be installed in the controller 20 mounted on the hydraulic excavator 100, but may be installed in another terminal.

[0054] The positioning operation unit 21 performs a posture operation process to calculate the coordinates and orientation of the hydraulic excavator 100 in the work site and the posture data of the front working machine 1 based on the position information calculated by the GNSS receiver 17c and the detection results of the inertial measurement devices 13 to 16. In order to calculate the posture data of the working machine 1 by the positioning operation unit 21, it is necessary to use various dimensions of the hydraulic excavator 100 (the connecting rod length described later) and the installation information of the sensor (installation angle) as conversion parameters. The operation of updating these conversion parameters with correct values ​​(hereinafter, updated values) is called correction or calibration. The operation related to the calibration is performed by the calibration execution unit 25.

[0055] The monitor display control unit 22 controls the monitor 30 ( Figure 4 The display of the front working machine 1 (as shown) is calculated based on the construction target surface calculated by the construction target surface calculation unit 24 and the posture data of the front working machine 1 calculated by the positioning calculation unit 21, and the instruction content for assisting the operator's operation is calculated and displayed on the monitor 30. That is, the monitor display control unit 22 assumes a part of the function as a mechanical guidance system, and the mechanical guidance system, for example, displays the posture of the front working machine 1 having driven parts such as the boom 4, the dipper arm 5, and the bucket 6, and the front end position and angle of the bucket 6 on the monitor 30 to assist the operator's operation. The monitor 30 is preferably not a simple display device, but is replaced by a tablet terminal with a touch panel and used as an input device. The following describes a case where the monitor 30 is composed of a tablet terminal.

[0056] The hydraulic system control unit 23 controls the hydraulic system of the hydraulic excavator 100 composed of the hydraulic pump device 7, the control valve 8, the hydraulic actuators 2a to 6a, etc., calculates the movement of the front working machine 1 based on the construction target surface calculated by the construction target surface calculation unit 24 and the posture data of the front working machine 1 calculated by the positioning calculation unit 21, and controls the hydraulic system of the hydraulic excavator 100 in a manner to realize the movement. In other words, the hydraulic system control unit 23 assumes a part of the function as a mechanical control system, which, for example, restricts the movement in a manner that the front end of the bucket 6 does not approach the target construction surface to a certain extent or controls in a manner that the front end position of the bucket 6 moves along the target construction surface.

[0057] The construction target surface calculation unit 24 calculates the construction target surface that defines the target shape of the construction object based on the construction information such as the three-dimensional construction drawings stored in advance in the storage device 40 by the construction manager and the position information and posture information of the hydraulic excavator 100 calculated by the positioning calculation unit 21. The monitor display control unit 22 and the construction target surface calculation unit 24 constitute a machine guidance system, and the hydraulic system control unit 23 and the construction target surface calculation unit 24 constitute a machine control system.

[0058] The calibration execution unit 25 calculates various parameters (specifically, various dimensions of the hydraulic excavator and the installation angle of the IMU sensor) using the data acquired by the posture detection devices 13 to 16 and the data acquired by the external measurement device 50. The calculated parameters are used by the positioning calculation unit 21 and the monitor display control unit 22.

[0059] Figure 3 is a functional block diagram of the controller 20 . Figure 3 In order to simplify the description, the Figure 2 A part of the functions shown (excluding the positioning calculation unit 21, the monitor display control unit 22, and the calibration execution unit 25).

[0060] The calibration execution unit 25 in this embodiment is composed of a posture detection result recording unit 25a, a posture information change detection unit 25b, an external measurement result recording unit 25c, a correction value calculation unit 25d, and a correction result recording unit 25e.

[0061] The posture detection result recording unit 25a records the detection information output by the posture detection devices 13 to 16. The timing of starting and ending the recording of the detection information can be arbitrarily changed, and the recording is started and ended by instructions from the operator or the controller 20 during calibration work.

[0062] use Figure 4 An example of the timing of starting and ending recording when recording is started by an instruction from an operator will be described. Figure 4 An example of the contents displayed on the monitor 30 when the calibration is performed is shown. The operator performs operations according to the instructions displayed on the monitor 30. Here, the calibration of the boom 4 is described as an example, but the same is true for other components (arm 5, bucket 6).

[0063] First, when calibration starts, Figure 4 As shown in (a) of FIG. 1 , an instruction to the operator to confirm that the hydraulic excavator 100 has reached the calibration posture is displayed on the monitor 30. When the operator determines that the hydraulic excavator 100 has reached the calibration posture, Figure 4 After (a), click "Yes" on the screen. The posture detection result recording unit 25a starts recording the data of the boom IMU 14 when "Yes" is clicked as a trigger. Then, Figure 4 As shown in (b), the monitor 30 displays an instruction for positions p0 and p1 whose coordinates should be acquired by the external measuring device 50. After the operator acquires the coordinates of the positions p0 and p1 displayed on the monitor by the external measuring device 50, he clicks "Yes" on the screen. The posture detection result recording unit 25a stops recording the data of the boom IMU 14 in accordance with the timing of the click.

[0064] In addition, when the external measuring device 50, the controller 20, and the monitor 30 are configured to be able to exchange information, the external measuring device 50 may acquire the information. Figure 4 "Yes" is automatically clicked at the time when the coordinates of the pin positions p0 and p1 in (b) are obtained. That is, it can also be configured so that the posture detection result recording unit 25a starts recording data when the coordinates of the pin position p0 are obtained by the external measurement device 50, and the posture detection result recording unit 25a ends recording data when the coordinates of the pin position p1 are obtained by the external measurement device 50. This function is executed by referring to the coordinate data recorded in the external measurement result recording unit 25c described later. In addition, the posture detection result recording unit 25a can directly record the data of the sampling period (for example, 10ms) output by the IMU sensor, or in order to save storage capacity, the data output by the IMU can be recorded in equal intervals every 100ms.

[0065] The posture information change detection unit 25b analyzes the IMU data recorded in the posture detection result recording unit 25a to confirm that Figure 4 When the calibration is performed in the posture (a), no posture change occurs in the front working machine 1. Figure 5 A method of determining whether or not there is a posture change based on the acquired IMU data will be described.

[0066] Figure 5 (a) shows an example of IMU data recorded in the posture detection result recording unit 25a when there is no change in the posture of the front working machine 1. The black dots in the figure represent data acquired at each time.

[0067] The output of the IMU sensor often changes due to various noises and engine vibrations. Therefore, even when there is no posture change, the output of the IMU sensor will change. In order to avoid misjudging the change as a "posture change", an allowable range is set for the data at each moment relative to the initial value or the average value of the entire data. As long as there is no data that deviates from this allowable range, it is judged that there is no posture change. This allowable range can be set by referring to the sensor accuracy described in the manual of the IMU sensor, or by using the accuracy of the Figure 5 The discrete value σ2 obtained by analyzing the IMU data obtained in the state (b) of FIG. 1 is set as the allowable range of ±3σ. Figure 5 In the state (b), the bucket claw tip is set on the ground (preferably, a platform) so that the front working machine 1 does not change its posture.

[0068] Figure 5(c) shows an example of IMU data recorded in the posture detection result recording unit 25a when the posture of the front working machine 1 changes. As described above, the acquired data is out of the set allowable range. By making such a judgment, it is possible to detect that the posture of the front working machine 1 changes. Figure 4 The posture change during the period of obtaining the coordinates of the pin positions p0 and p1 shown in (b) of FIG. 1. Generally, an IMU sensor used for machine guidance has an angle detection accuracy of about 0.1 to 0.3 degrees, and thus even a slight posture change of the working machine 1 can be detected.

[0069] The external measurement result recording unit 25c records the coordinate data acquired by the external measurement device 50 in a storage area in the controller 20. The coordinate data is the coordinates (x, y, z) in a three-dimensional space.

[0070] The correction value calculation unit 25d calculates the conversion parameter using the IMU data recorded in the posture detection result recording unit 25a and the coordinate data recorded in the external measurement result recording unit 25c. The IMU data recorded in the posture detection result recording unit 25a has fluctuations, so in order to suppress the influence of the fluctuations, an average process such as equation 4 is performed.

[0071]

Formula 4

[0072]

[0073] In addition, θi in Formula 4 represents the IMU data recorded in the sampling step i, and N means the number of IMU data recorded in the posture detection result recording unit 25a.

[0074] On the other hand, if the external measurement result recording unit 25c records Figure 4 The coordinates of the boom foot pin position p0 in (b) are set to (x0, y0, z0), and the coordinates of the boom tip pin position p1 are set to (x1, y1, z1), and the angle θBM-TS of the boom 4 can be calculated by Formula 1. And, by using Formula 1 and Formula 4, the installation angle ΔθBM of the boom IMU 14 can be calculated by Formula 5 which imitates Formula 2.

[0075]

Formula 5

[0076]

[0077] In addition, by using the coordinate data recorded in the external measurement result recording unit 25 c , the link length LBM of the boom 4 can be given by Formula (6).

[0078]

Formula 6

[0079]

[0080] As described above, Expression 1 and Expression 5 are satisfied only when there is no change in the posture of the front working machine 1. Therefore, it is preferable that the correction value calculation unit 25d is executed only when no posture change is detected by the posture information change detection unit 25b.

[0081] The correction result recording unit 25e records the mounting angle Δθ and the link length L calculated by the correction value calculation unit 25d. When the posture change is detected by the posture information change detection unit 25b, the calculation by the correction value calculation unit 25d is not performed, and thus the mounting angle Δθ and the link length L are not recorded. The mounting angle Δθ and the link length L recorded in the correction result recording unit 25e are reflected in the posture calculation by the positioning calculation unit 21 and the depiction of the hydraulic excavator 100 by the monitor display control unit 22.

[0082] Figure 6 2 is a flowchart showing the processing of the calibration execution unit 25 . Figure 6 The processing shown is performed for each component (boom 4, arm 5, bucket 6) of the front working machine 1. Hereinafter, each step will be described in order.

[0083] First, in step FC101, the operator is instructed to make a predetermined posture when performing calibration. In this embodiment, the monitor display control unit 22 sets the posture ( Figure 4 (a) shows an example) is displayed on the monitor 30. The operator makes the posture of the front working machine 1 match the calibration posture displayed on the monitor 30.

[0084] After step FC101, in step FC102, the operator is asked to confirm whether the posture preparation of the front working machine 1 is complete. When the operator determines that the posture preparation is complete and clicks Figure 4 After the display of "Yes" on the monitor 30 shown in (a) of FIG. 1 is displayed, the result of determination in step FC102 is Yes, and the process proceeds to step FC103. Before the preparation of the posture is completed, the result of determination in step FC102 is No, and the process proceeds to step FC101.

[0085] In step FC103, recording of IMU data is started. This process is executed by the posture detection result recording unit 25a. After recording of IMU data is started, the process proceeds to step FC104.

[0086] In step FC104, coordinate measurement and recording are performed by the external measurement device 50. This process is performed by the external measurement result recording unit 25c. Before the necessary coordinate data is acquired, the determination result in step FC105 is "no", and the operator continues the measurement by the external measurement device 50. After the necessary coordinate data is acquired, the determination result in step FC105 is "yes", and the process proceeds to step FC106.

[0087] In step FC106, the recording of the IMU data is completed. This process is also executed by the posture detection result recording unit 25a. After the recording of the IMU data is completed, the process proceeds to step FC107.

[0088] In step FC107, the recorded IMU data is processed, and in step FC108, it is determined whether the working machine 1 has a posture change. If there is no posture change, step FC108 determines yes and the process proceeds to step FC109. The processes of steps FC107 and FC108 are executed by the posture information change detection unit 25b.

[0089] In step FC109, the conversion parameters (installation angle Δθ, link length L) are calculated using the recorded IMU data and coordinate data. This process is executed by the correction value calculation unit 25d. After the conversion parameters are calculated, the process proceeds to step FC110.

[0090] In step FC110, the calculated conversion parameter is recorded in the memory of the controller 20. This process is executed by the correction result recording unit 25e.

[0091] If it is determined in step FC108 that there is a posture change (No), the recorded IMU data and coordinate data are not suitable for calculation of conversion parameters, and thus, the conversion parameters are not calculated and the flow ends.

[0092] (Summarize)

[0093] In the present embodiment, the hydraulic excavator (construction machinery) 100 comprises: a lower traveling body 3; an upper rotating body 2 rotatably mounted on the lower traveling body 3; a multi-jointed working machine 1 rotatably mounted on the upper rotating body 2; posture detection devices 14 to 16 mounted on the working machine 1; and a controller 20 for converting the posture data of the working machine 1 detected by the posture detection devices 14 to 16 into the coordinates of the first prescribed position (bucket claw tip position) of the working machine 1 using prescribed conversion parameters (installation angle Δθ, connecting rod length L). The controller 20 converts the posture data of the working machine 1 detected by the posture detection devices 14 to 16 into the coordinates of the first prescribed position (bucket claw tip position) of the working machine 1 based on the posture data of the working machine 1 detected by the posture detection devices 14 to 16 and the second prescribed position (pin position p0, p1, p2), calculate the updated value of the conversion parameter and perform correction. In the hydraulic excavator (construction machinery) 100, the controller 20 is configured to determine whether the working machine 1 is static based on the posture data of the working machine 1 detected by the posture detection devices 14 to 16 during a specified time (steps FC103 to FC106) after the instruction to correct the conversion parameter is given. When the working machine 1 is determined to be static, the updated value of the conversion parameter is calculated based on the posture data of the working machine 1 detected by the posture detection devices 14 to 16 during the specified time and the coordinates of the second specified position measured by the external measuring device 50 after the instruction to correct the conversion parameter is given.

[0094] According to the present embodiment configured as described above, the posture data and coordinates of the working machine 1 acquired when the working machine 1 is in a static state are used to update the conversion parameters (installation angle Δθ, link length L) for converting the posture data of the working machine 1 into the coordinates of the first predetermined position (bucket claw tip position) of the working machine 1. As a result, the correction accuracy of the machine guidance system or machine control system having the function of calculating the coordinates of the first predetermined position (bucket claw tip position) of the working machine 1 can be improved.

[0095] [Example 2]

[0096] The second embodiment of the present invention will be described focusing on the differences from the first embodiment. Figure 7 is a functional block diagram of the controller 20 in this embodiment. Figure 7 In the first embodiment ( Figure 3 The difference between the present invention and the present invention is that a recalibration notification unit 25f is added to the calibration execution unit 25. The recalibration notification unit 25f instructs the monitor display control unit 22 to display a message prompting recalibration on the monitor 30 when the posture information change detection unit 25b determines that there is a posture change.

[0097] Figure 8 : is a flowchart showing the processing of the calibration execution unit 25 in this embodiment. Figure 8 In the embodiment, steps FC201 to FC210 are the same as steps FC101 to FC110 in the first embodiment. Figure 6 The difference between the above two methods is that step FC211 is added. If it is determined in step FC208 that the posture of the front working machine 1 has changed (yes), information prompting recalibration is notified to the operator in step FC211, and the process ends. This process is executed by the recalibration notification unit 25f.

[0098] (Summarize)

[0099] The hydraulic excavator (construction machinery) 100 in this embodiment has a monitor (notification device) 30 capable of outputting information input from a controller 20. When the controller 20 corrects the conversion parameters, if it is determined that the front working machine 1 is not statically determinate, it will output information prompting re-correction to the monitor (notification device) 30.

[0100] According to the present embodiment configured as described above, when the posture of the front working machine 1 changes during calibration, the operator can quickly re-perform calibration.

[0101] [Example 3]

[0102] The third embodiment of the present invention will be described with the differences from the first embodiment as the center. In the first embodiment, the coordinate axis of the external measuring device 50 is the same as the coordinate axis of the front working machine 1 (the Y coordinate does not change when the pin position p0 is measured and when the pin position p1 is measured). This premise is useful because the coordinate axis of the external measuring device 50 can be freely set. However, in the case where the operator mistakenly performs the setting operation of the coordinate axis, the premise becomes invalid. In addition, in the first embodiment, the conversion parameters are calculated using the data of the external measuring device 50 acquired in one posture, but in the case of measurement failure based on the external measuring device 50 (for example, the target cannot be aligned with the correct coordinate position and the indicator installed at the pin position is deviated), the correct calculation cannot be performed. This embodiment adds a function to verify whether the setting of the coordinate axis is correct, and a function to verify whether the coordinates acquired by the external measuring device 50 are appropriate.

[0103] Fig. 9 This is a diagram of the hydraulic excavator 100 viewed from above (bird's eye view), and is a diagram for explaining the influence of the coordinate axes set by the external measuring device 50 on coordinate measurement.

[0104] Fig. 9 (a) shows an ideal state in which the X coordinate of the external measuring device 50 is set parallel to the direction of the front working machine 1. In contrast, Fig. 9(b) shows a state where the coordinate axes X′, Y′, and Z are set to rotate clockwise relative to the front working machine 1 .

[0105] If in Fig. 9 In the state (a), the straight line connecting the boom foot pin position p0 and the boom tip pin position p1 is parallel to the X-axis, and thus the angle θBM-TS of the boom IMU 14 can be calculated using Formula 1. Fig. 9 In the state of (b), the straight line connecting the boom foot pin position p0 and the boom tip pin position p1 is not parallel to the X' axis, so that Formula 1 cannot be used.

[0106] Such a non-optimal setting of the coordinate axis can be detected by checking the Y coordinates of the boom foot pin position p0 and the boom tip pin position p1. Specifically, if the Y coordinate (y0) of the boom foot pin position p0 is not equal to the Y coordinate (y1) of the boom tip pin position p1, it can be determined that the coordinate axis is inappropriate.

[0107] In addition, if the Y axis of the external measuring device 50 is set to be orthogonal to the rotation plane of the front working machine 1, the Y coordinates of the pin positions p1 and p2 (non-rotation center positions of the boom 4) will not change even if the posture of the boom 4 is changed. Therefore, if the change in the Y coordinates of the pin positions p1 and p2 obtained in different postures exceeds the threshold, it can be determined that the setting of the coordinate axis is inappropriate. If the allowable rotation angle of the coordinate axis is set to (for example, 0.5 degrees), the allowable change amount ΔY of the Y coordinate of the boom tip pin position p1 is given by Formula 7.

[0108]

Formula 7

[0109] ΔY=L BM sinφ

[0110] When determining whether the coordinate axis setting is correct, it is preferable to measure the coordinates in multiple postures that make the change in the Y coordinate as large as possible. Therefore, multiple postures are specified such that the X coordinate of the pin to be measured changes as much as possible. For example, when the boom 4 is used as the calibration object, the posture in which the boom 4 is lowered as much as possible ( Fig.10 (a)) and the posture of raising the boom 4 as much as possible ( Fig.10 Coordinate measurement is performed using an external measuring device 50 in two postures (as shown in (b)).

[0111] Fig.11 is a functional block diagram of the controller 20 in this embodiment. Fig.11 In the first embodiment ( Figure 3The difference between the calibration execution unit 25 and the calibration execution unit 25 is that an external measurement result analysis unit 25g is added to the calibration execution unit 25, and a function of notifying recalibration based on the analysis result of the external measurement result analysis unit 25g is added to the recalibration notification unit 25f.

[0112] In this embodiment, data is acquired in multiple postures, thereby enabling the conversion parameters (installation angle Δθ, connecting rod length L) to be calculated multiple times. Thus, the posture detection result recording unit 25a and the posture information change detection unit 25b respectively determine the recording of data in each posture and the presence or absence of posture change. In addition, the data acquired during the posture change is not useful for calibration.

[0113] The external measurement result recording unit 25 c records the coordinates of the pin positions p0 , p1 , and p2 acquired in each posture. Fig.12 The data recorded by the controller 20 when data acquisition is performed in two postures is shown. The coordinate data of the positions p1 and p2 measured in each posture are recorded in the external measurement result recording unit 25c, and the angle data recorded continuously in each posture are recorded in the posture detection result recording unit 20e1. The number of data N stored in the posture detection result recording unit 25a varies depending on the time of the calibration operation.

[0114] The external measurement result analyzing unit 25g analyzes the coordinate data recorded in the external measurement result recording unit 25c, and verifies the validity of the coordinate axes and the acquired data.

[0115] First, whether the coordinate axis is correctly set can be determined by whether the condition (Formula 8) that the amount of change in the Y coordinate of the pin positions p1 and p2 is equal to or less than a threshold value Th (for example, the measurement accuracy of the external measuring device 50 ) is satisfied.

[0116]

Formula 8

[0117] |y 11 -y 21 |≤Th

[0118] |y 12 -y 22 |≤Th

[0119] If any one of the equations 8 is not satisfied, it is determined that the coordinate axis of the external measuring device 50 is inappropriate. In addition, even if the coordinate axis can be determined only by the Y coordinate of one of the pin positions p1 and p2, the determination accuracy can be improved by using the Y coordinates of both pin positions p1 and p2 as in equation 8.

[0120] Next, a method for confirming the validity of each coordinate is described. First, when multiple postures are specified, it is assumed that there is a position that does not change in these multiple postures. For example, when calibrating the boom 4, if multiple postures are made by simply operating the boom 4, the boom foot pin position p0 does not change in these multiple postures. If attention is paid to this fact, when the change Δp0 of the boom foot pin position p0 shown in Formula 9 is higher than a specified threshold (for example, the measurement accuracy of the external measurement device 50), it can be determined that the measurement conditions of the external measurement device 50 are inappropriate.

[0121]

Formula 9

[0122]

[0123] Similarly, since the distance between the pins of the same component, that is, the connecting rod length, does not change in a short period of time, when the change in the connecting rod length LBM1, LBM2 of the boom 4 in each measurement calculated by formula 10 is higher than a specified threshold (for example, the measurement accuracy of the external measuring device 50), it can be judged that the measurement conditions of the external measuring device 50 are inappropriate.

[0124]

Formula 10

[0125]

[0126] When the external measurement result analyzing unit 25g determines that the measurement conditions are inappropriate, the coordinates recorded in the external measurement result recording unit 25c are inappropriate for calculation of conversion parameters, and thus the recalibration notifying unit 25f notifies recalibration, and the correction value calculating unit 25d does not calculate the conversion parameters.

[0127] In addition, in the above description, the correction work in two postures is described, but as long as there are two or more postures, the correction work can also be performed in more postures. However, if the number of postures is increased too much, the work time will increase, so 2 to 4 postures are preferably used.

[0128] In this embodiment, measurements are performed in multiple postures, whereby conversion parameters (installation angle Δθ, connecting rod length L) are calculated according to the number of measurements n. There are various considerations for determining the final conversion parameters (updated values ​​of conversion parameters) from the conversion parameters obtained from each measurement. For example, the conversion parameters obtained from any one measurement may be selected as the final parameters, or the average value of the conversion parameters obtained from each measurement as in Formula 11 may be used as the final parameters in order to suppress the influence of the variation of each measurement.

[0129]

Formula 11

[0130]

[0131] Fig.13 : is a flowchart showing the processing of the calibration execution unit 25 in this embodiment. Fig.13 In the embodiment, steps FC301 to FC308 are similar to steps FC101 to FC108 in the first embodiment ( Figure 6 shown).

[0132] If it is determined in step FC308 that there is a posture change (No), in step FC309, the operator is notified that inappropriate coordinates are measured due to the posture change of the working machine 1 and recalibration is required, and the process proceeds to step FC301. If it is determined in step FC308 that there is no posture change (Yes), the process proceeds to step FC310.

[0133] In step FC310, the creation of a second predetermined posture when performing calibration is instructed, which is different from the first predetermined posture when performing calibration instructed in step 301, and the process proceeds to step FC311. In step FC311, the same processing as steps FC302 to FC307 is performed, and the process proceeds to step FC312.

[0134] In step FC312, it is determined whether there is no posture change. If it is determined that there is a posture change (No), the operator is notified that inappropriate coordinates are measured due to the posture change of the work machine 1, so recalibration is required (step FC313), and the process proceeds to step FC311. If it is determined that there is no posture change (Yes), the process proceeds to step FC314.

[0135] In step FC314, the coordinates of the positions p0, p1, and p2 acquired by the external measurement device 50 are analyzed. This process is executed by the external measurement result analysis unit 25g.

[0136] In step FC315, it is determined whether the Y coordinates of the positions p1 and p2 acquired in the first posture and the second posture have changed. If it is determined that the Y coordinate has changed (No), the operator is notified that the coordinate axis of the external measurement device 50 is inappropriate and needs to be recalibrated, and the conversion parameter is not calculated, and the process ends. In this way, it is possible to prevent the conversion parameter from being calculated based on the coordinates measured on the basis of the inappropriate coordinate axis, and the operator can quickly correct the coordinate axis.

[0137] If it is determined in step FC315 that the Y coordinate has not changed (yes), the process proceeds to step FC316 to determine whether the link length calculated in each posture has not changed. If it is determined that the link length has changed (no), the operator is notified that the coordinates measured by the external measuring device 50 are inappropriate and need to be recalibrated, and the conversion parameter is not calculated, and the process ends. In this way, the conversion parameter can be prevented from being calculated based on inappropriate coordinates, and the operator can quickly remeasure the coordinates.

[0138] When it is determined in step FC316 that the link length has not changed (Yes), the conversion parameter is calculated in step FC317 and the process proceeds to step FC318.

[0139] In step FC318 , the conversion parameters are recorded in the memory of the controller 20 , and the process ends.

[0140] (Summarize)

[0141] The controller 20 in this embodiment obtains the coordinates of the non-rotational center position (pin position p1) of the working machine 1 measured by the external measuring device 50 in multiple postures in which the rotational center position (pin position p0) of the working machine 1 does not move. When the horizontal change of the non-rotational center position in the multiple postures is higher than the first threshold value (allowable change ΔY), it is judged that the coordinate axis of the external measuring device 50 is inappropriate. When correcting the conversion parameters (installation angle Δθ, connecting rod length L), even if the working machine 1 is judged to be statically determinate, when the coordinate axis of the external measuring device 50 is judged to be inappropriate, the update value of the conversion parameter is not calculated.

[0142] According to the present embodiment configured as described above, the conversion parameters (mounting angle Δθ, link length L) are updated only when the coordinate axes of the external measurement device 50 are appropriate, thereby making it possible to calibrate the machine guidance system or the machine control system with higher accuracy than the first embodiment.

[0143] In addition, the controller 20 in this embodiment obtains the coordinates of the rotation center position (pin position p0) of the working machine 1 and the non-rotation center position (pin position p1) of the working machine 1 measured by the external measuring device 50 in a plurality of postures in which the rotation center position of the working machine 1 does not move, and when the amount of change in the distance between the rotation center position and the non-rotation center position in the plurality of postures is greater than a second threshold value (for example, the measurement accuracy of the external measuring device 50), it is determined that the coordinates measured by the external measuring device 50 are inappropriate, and when correcting the conversion parameters (installation angle Δθ, connecting rod length L), even in the case where it is determined that the working machine 1 is statically determinate, when the coordinates measured by the external measuring device 50 are determined to be inappropriate, the update value of the conversion parameter is not calculated. Thus, the conversion parameters (installation angle Δθ, connecting rod length L) are updated only when the coordinates measured by the external measuring device 50 are appropriate, thereby being able to correct the machine guidance system or the machine control system with higher accuracy than the first embodiment.

[0144] In addition, the hydraulic excavator (construction machinery) 100 in the present embodiment has a monitor (notification device) 30 capable of outputting information input from the controller 20, and the controller 20 obtains the coordinates of the rotation center position (pin position p0) of the working machine 1 and the non-rotation center position of the working machine 1 measured by the external measuring device 50 in a plurality of postures (the first posture, the second posture) in which the rotation center position (pin position p0) of the working machine 1 does not move, and when the amount of change in the horizontal direction (Y-axis direction) of the non-rotation center position in the plurality of postures is higher than the first threshold value (allowable amount of change ΔY), it is determined that the coordinate axis of the external measuring device 50 is inappropriate, and the amount of change in the distance between the rotation center position and the non-rotation center position in the plurality of postures is higher than the second threshold value. When the coordinates measured by the external measuring device 50 are judged to be inappropriate (for example, the measurement accuracy of the external measuring device 50), when the conversion parameters (installation angle Δθ, link length L) are corrected, even if the working machine 1 is judged to be statically determinate, when the coordinate axis measured by the external measuring device 50 is judged to be inappropriate, or when the coordinates measured by the external measuring device 50 are judged to be inappropriate, the update value of the conversion parameter is not calculated, and when the working machine 1 is judged to be non-statically determinate, or when the coordinate axis measured by the external measuring device 50 is judged to be inappropriate, or when the coordinates measured by the external measuring device 50 are judged to be inappropriate, information prompting recalibration is output to the monitor (notification device) 30. Thus, when the coordinate axis of the external measuring device 50 is inappropriate, or when the coordinates measured by the external measuring device 50 are inappropriate, the operator can quickly recalibrate.

[0145] [Example 4]

[0146] The fourth embodiment of the present invention will be described with the differences from the third embodiment as the center. According to the third embodiment, high-precision calibration can be achieved, but there is a problem that a large amount of rework occurs when the posture of the working machine 1 changes and when the coordinate axes or measurement coordinates of the external measuring device 50 are inappropriate. This embodiment is intended to solve this problem.

[0147] Fig.14 It is a functional block diagram of the controller in this embodiment. Fig.14 In the third embodiment ( Fig.11 The difference between the present invention and the present invention is that a function of notifying the timing of the correction operation based on the calculation result of the posture information change detection unit 25b is added to the re-correction notification unit 25f.

[0148] The posture detection result recording unit 25a in this embodiment always keeps the latest IMU data of a fixed period (for example, three minutes) in the buffer area, and the posture information change detection unit 25b analyzes the IMU data in the buffer area, and urges the operator to implement coordinate measurement based on the external measurement device 50 through the recalibration notification unit 25f when there is no posture change. The first to third embodiments are in the form of subsequently analyzing the acquired data and correcting the data when there is a posture change, but this embodiment acquires the data of the external measurement device 50 after confirming that there is no posture change, thereby reducing the correction of the data. In addition, this embodiment seeks to improve the work efficiency by changing the implementation order from the third embodiment.

[0149] Fig.15 : is a flowchart showing the processing of the calibration execution unit 25 in this embodiment.

[0150] First, in step FC401, the operator is instructed to rotate the working machine 1 without specifying a particular posture, and while the operator rotates the front working machine 1, the coordinates of the positions of the pins of the working machine 1 are acquired from the external measuring device 50. After the acquisition of the coordinates is completed, the process proceeds to step FC402.

[0151] In step FC402 , the coordinates acquired from the external measuring device 50 are analyzed, and the process proceeds to step FC403 .

[0152] In step FC403, it is determined whether the Y coordinate of each pin position has not changed. When it is determined that the Y coordinate has changed (No), the operator is instructed in step FC404 to correct the coordinate axis of the front working machine 1, and the process proceeds to step FC401. The operator makes the coordinate axis of the front working machine 1 match the coordinate axis of the external measuring device 50 by rotating the upper rotating body 2. When it is determined that the Y coordinate has not changed (Yes), the process proceeds to step FC405. In this way, the coordinate axis is corrected first, thereby reducing the correction man-hour. The above processing is performed by the external measurement result recording unit 25c and the external measurement result analysis unit 25g.

[0153] In step FC405, the operator is instructed to take a predetermined first posture when performing calibration. The operator takes the first posture according to the instruction. After the first posture is completed, the process proceeds to step FC406.

[0154] In step FC406, IMU data is monitored, and in step FC407, it is determined whether the IMU data has not changed (no posture change). If it is determined that there is a posture change (No), the process proceeds to step FC406, and if it is determined that there is no posture change (Yes), the process proceeds to step FC408.

[0155] In step FC408 , the coordinates measured by the external measuring device 50 are acquired, and the process proceeds to step FC409 .

[0156] In step FC409, the operator is instructed to take a predetermined second posture when performing calibration. The operator takes the second posture according to the instruction. After the second posture is completed, the process proceeds to step FC410.

[0157] In step FC410, the IMU data is monitored, and in step FC411, it is determined whether the IMU data has not changed (no posture change). If it is determined that there is a posture change (No), the process proceeds to step FC410, and if it is determined that there is no posture change (Yes), the process proceeds to step FC412.

[0158] In step FC412 , the coordinates measured by the external measuring device 50 are acquired, and the process proceeds to step FC413 .

[0159] In step FC413 , the coordinates measured by the external measuring device 50 are acquired, and in step FC414 , it is determined whether the dimension (link length) of the working machine 1 has not changed.

[0160] If it is determined in step FC413 that the size has not changed (Yes), the conversion parameter is calculated in step FC415, and the conversion parameter is recorded in step FC416, and then the flow ends.

[0161] If it is determined in step FC413 that the size has changed (No), the operator is notified in step FC417 that recalibration is necessary because inappropriate coordinates have been measured due to the size change of the working machine 1, and the flow ends.

[0162] (Summarize)

[0163] The hydraulic excavator (construction machinery) 100 in this embodiment has a monitor (notification device) 30 capable of outputting information input from a controller 20. When the controller 20 corrects the conversion parameters (installation angle Δθ, connecting rod length L), if it is determined that the working machine 1 is statically determinate, the controller 20 outputs information to the monitor (notification device) 30 to prompt measurement based on the external measuring device 50.

[0164] According to the present embodiment constructed as described above, high-precision calibration can be achieved in the same manner as in the third embodiment. In addition, after confirming that the working machine 1 is statically stationary, the coordinates are measured by the external measuring device 50, thereby avoiding rework (re-measurement of coordinates) caused by changes in the posture of the working machine 1, thereby improving the efficiency of the calibration operation.

[0165] The embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments and includes various modified examples. For example, the above embodiments are described in detail to explain the present invention in an easy-to-understand manner, and are not limited to having all the described structures. In addition, a part of the structure of another embodiment can be added to the structure of a certain embodiment, and a part of the structure of a certain embodiment can be deleted or replaced with a part of another embodiment.

[0166] Description of Reference Numerals

[0167] 1…Front working machine, 2…Upper rotating body, 2a…Swing motor (hydraulic actuator), 3…Lower traveling body, 3a…Travel motor (hydraulic actuator), 4…Boom, 4a…Boom hydraulic cylinder (hydraulic actuator), 4b…Boom foot pin, 5…Arm, 5a…Arm hydraulic cylinder (hydraulic actuator), 5b…Arm pin (front end pin of boom), 6…Bucket, 6a…Bucket hydraulic cylinder (hydraulic actuator), 6b…Bucket pin, 7…Hydraulic pump device, 8…Controller valve, 9…Operating cab, 9a, 9b…Operating lever, 13 to 16…IMU sensor (inertial measurement unit, posture detection device), 17…Position information detection device, 17a…GNSS antenna, 17b…GNSS antenna, 17c…GNSS receiver, 18…Link component (bucket link), 20…Controller, 21 …posture detection result recording unit, 21…positioning calculation unit, 22…monitor display control unit, 23…hydraulic system control unit, 24…construction target surface calculation unit, 25…calibration execution unit, 25a…posture detection result recording unit, 25b…posture information change detection unit, 25c…external measurement result recording unit, 25d…correction value calculation unit, 25e…correction result recording unit, 25f…re-calibration notification unit, 25g…external measurement result analysis unit, 30…monitor (notification device), 40…storage device, 50…external measurement device, 100…hydraulic excavator (construction machinery), p0…boom foot pin position (second prescribed position, rotation center position), p1…boom front end pin position (second prescribed position, non-rotation center position), p2…bucket pin position (second prescribed position, non-rotation center position).

Claims

1. An engineering machine having: Lower running body; An upper rotating body rotatably mounted on the lower traveling body; A multi-jointed working machine rotatably mounted on the upper rotating body; a posture detection device installed on the working machine; and a controller for converting the posture data of the working machine detected by the posture detection device into coordinates of a first predetermined position of the working machine using predetermined conversion parameters; The controller calculates and corrects the update value of the conversion parameter based on the posture data of the working machine detected by the posture detection device and the coordinates of the second predetermined position of the working machine measured by an external measurement device, The engineering machine is characterized in that: The controller is configured as follows: determining whether the working machine is statically determinate based on the posture data of the working machine detected by the posture detection device during a predetermined time period after the instruction to correct the conversion parameter is given, When it is determined that the working machine is stationary, the updated value of the conversion parameter is calculated based on the posture data of the working machine detected by the posture detection device during the specified time period and the coordinates of the second specified position measured by the external measurement device after the instruction to correct the conversion parameter is given.

2. The construction machinery according to claim 1, characterized in that: A notification device capable of outputting information input from the controller is provided, When the controller calibrates the conversion parameter, if it is determined that the working machine is not statically stable, the controller outputs information prompting recalibration to the notification device.

3. The construction machine according to claim 1, characterized in that: The controller is configured as follows: acquiring the coordinates of the non-rotation center position of the working machine measured by the external measuring device in a plurality of postures in which the rotation center position of the working machine does not move, When the amount of change in the horizontal direction of the non-rotation center position in the plurality of postures exceeds a first threshold, it is determined that the coordinate axis of the external measurement device is inappropriate, When the conversion parameter is corrected, even if the working machine is determined to be statically determinate, if the coordinate axis of the external measurement device is determined to be inappropriate, the update value is not calculated.

4. The construction machinery according to claim 1, characterized in that: The controller is configured as follows: acquiring the coordinates of the rotation center position measured by the external measuring device and the coordinates of the non-rotation center position of the working machine in a plurality of postures in which the rotation center position of the working machine does not move, When the amount of change in the distance between the rotation center position and the non-rotation center position in the plurality of postures exceeds a second threshold, it is determined that the coordinates measured by the external measurement device are inappropriate, When the conversion parameter is corrected, even if the working machine is determined to be statically stable, if the coordinates measured by the external measuring device are determined to be inappropriate, the update value is not calculated.

5. The construction machine according to claim 1, characterized in that: A notification device capable of outputting information input from the controller is provided, The controller is configured as follows: acquiring the coordinates of the rotation center position and the coordinates of the non-rotation center position of the working machine measured by the external measuring device in a plurality of postures in which the rotation center of the working machine does not move, When the amount of change in the horizontal direction of the non-rotation center position in the plurality of postures exceeds a first threshold, it is determined that the coordinate axis of the external measurement device is inappropriate, When the amount of change in the distance between the rotation center position and the non-rotation center position in the plurality of postures exceeds a second threshold, it is determined that the coordinates measured by the external measurement device are inappropriate, When correcting the conversion parameter, even in the case where the working machine is judged to be statically determinate, in the case where the coordinate axis measured by the external measuring device is judged to be inappropriate, or in the case where the coordinate measured by the external measuring device is judged to be inappropriate, the update value is not calculated. When it is determined that the working machine is not statically determinate, or when it is determined that the coordinate axes measured by the external measuring device are inappropriate, or when it is determined that the coordinates measured by the external measuring device are inappropriate, information prompting recalibration is output to the notification device.

6. The construction machine according to claim 1, characterized in that: A notification device capable of outputting information input from the controller is provided, When the controller calibrates the conversion parameter and determines that the working machine is statically stable, the controller outputs information prompting measurement by the external measuring device to the notification device.

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