Methods for acquiring information on heavy machinery, devices and programs for handling information on heavy machinery

Abstract

To improve the work efficiency of heavy machinery. [Solution] A method for acquiring information on heavy machinery 100, wherein the positional relationship between the reflective prisms 107 and 108 and the rotation center position of the slewing body 103 is known as a specific positional relationship, and the method comprises: a first step of measuring the position of the reflective prism 107 using a total station 300 while the traveling body 101 is stationary; a second step of calculating the rotation center position of the slewing body 103 based on the measurement result and the specific positional relationship; a third step of detecting the movement of the traveling body 101; and a fourth step of measuring the position of the reflective prism 108 using a total station 300 when the movement of the traveling body 101 is detected, and calculating the rotation center position of the slewing body 103 based on the measured position of the reflective prism 107, the measured position of the reflective prism 108 and the specific positional relationship.

Description

Technical Field

[0001] The present invention relates to a technique for handling information of heavy machinery.

Background Art

[0002] Techniques for measuring the position of a movable part of heavy machinery are known (see, for example, Patent Documents 1 to 4).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0004] When detecting the position of the cutting edge (for example, the bucket part of a power shovel) of a heavy machine (construction work machine) using a measuring device, first, the rotation center of the rotating part of the heavy machine is detected, and based on that, the position of the cutting edge is detected. The work of obtaining this rotation center is complicated and improvement is required. Against such a background, the present invention aims to provide a technique for improving the working efficiency of heavy machinery.

Means for Solving the Problems

[0005] The present invention relates to a method for acquiring information on a heavy machine comprising a traveling body equipped with a means for moving, and a rotating body rotatable on the traveling body and equipped with a first optical target and a second optical target, wherein the positional relationship between the first optical target, the second optical target and the rotation center position of the rotating body is known as a specific positional relationship, and the method comprises: a first step of measuring the position of the first optical target using a position measuring device with laser light while the traveling body is stationary; a second step of calculating the rotation center position of the rotating body based on the measurement result and the specific positional relationship; a third step of detecting the movement of the traveling body; and a fourth step of measuring the position of the second optical target using the position measuring device when the movement of the traveling body is detected, and calculating the rotation center position of the rotating body based on the measured position of the first optical target, the measured position of the second optical target and the specific positional relationship.

[0006] In the present invention, the fourth step is performed after the movement of the traveling body has been detected, when the traveling body has stopped and the rotation of the rotating body has stopped.

[0007] In the present invention, one embodiment is one in which a signal requesting the stopping of the rotation of the rotating body is generated after the movement of the traveling body is detected. In the present invention, one embodiment is one in which, in a state in which the first reflective prism and the second reflective prism cannot be distinguished, the first step is performed, the trajectory of the movement of the first reflective prism is measured by the position measuring device while the rotating body is in a rotated state, the rotation center position of the rotating body is determined based on the movement trajectory, and the first reflective prism and the second reflective prism are distinguished based on the determined rotation center position of the rotating body, the measurement position of the first reflective prism by the position measuring device, and the specific positional relationship.

[0008] The present invention relates to a device for handling information on heavy machinery, comprising a traveling body equipped with a means of movement, and a rotating body rotatable on the traveling body and equipped with a first optical target and a second optical target, wherein the positional relationship between the first optical target, the second optical target, and the rotation center position of the rotating body is known as a specific positional relationship, and the device further comprises: a data receiving unit that receives data of a measurement of the position of the first optical target by a position measuring device using laser light when the traveling body is stationary; a calculation unit that calculates the rotation center position of the rotating body based on the measurement result and the specific positional relationship; a detection unit that detects the movement of the traveling body; and a calculation unit that, when the movement of the traveling body is detected, calculates the rotation center position of the rotating body based on the measurement of the position of the second optical target by the position measuring device, the measurement of the position of the first optical target, the measurement of the position of the second optical target, and the specific positional relationship.

[0009] The present invention is a program for causing a computer to perform a process to acquire information on a heavy machine having a mobile body equipped with a means of movement and a slewing body rotatable on the mobile body and equipped with a first optical target and a second optical target, wherein the positional relationship between the first optical target, the second optical target and the rotation center position of the slewing body is known as a specific positional relationship, and the program causes the computer to perform the following steps: a first step of causing the mobile body to measure the position of the first optical target using a position measuring device that uses laser light while the mobile body is stationary; a second step of calculating the rotation center position of the slewing body based on the measurement result and the specific positional relationship; a third step of detecting the movement of the mobile body; and a fourth step of causing the computer to perform the position of the second optical target using the position measuring device when the movement of the mobile body is detected, and calculate the rotation center position of the slewing body based on the measured position of the first optical target, the measured position of the second optical target and the specific positional relationship. [Effects of the Invention]

[0010] According to the present invention, the work efficiency of heavy machinery can be increased. [Brief explanation of the drawing]

[0011] [Figure 1] This is a conceptual diagram of an embodiment. [Figure 2] This is a block diagram of the arithmetic unit. [Figure 3] This is a flowchart showing an example of the processing procedure. [Figure 4] This is a flowchart showing an example of the processing procedure. [Modes for carrying out the invention]

[0012] 1. First Embodiment (First) In the configuration shown in Figure 1, the total station 300 continuously measures the position of the reflecting prism 107 in an absolute coordinate system. An absolute coordinate system is a coordinate system used in GNSS and maps. For example, a position in an absolute coordinate system is described by longitude, latitude, and elevation. Alternatively, a local coordinate system with the machine installation point (the installation point of the total station 300) as the origin can be used.

[0013] The rotation center position of the slewing body 103 is calculated from the position of the reflective prism 107, and the position of the cutting edge at the tip of the bucket 106 is calculated from the rotation center position of the slewing body 103. In other words, the position of the cutting edge is calculated based on the measured value of the position of the reflective prism 107 measured by the total station 300.

[0014] Here, when the traveling body 101 moves and the rotation center position of the rotating body 103 moves, the accuracy of calculating the cutting edge position using the measurement position of the reflecting prism 107 by the total station 300 decreases. In this case, since the calculation basis for the cutting edge position is the rotation center position of the rotating body 103, the movement of the traveling body 101 changes the position information of this calculation basis, resulting in an error in the calculation result of the cutting edge position.

[0015] As a method for dealing with this problem, there is a method of performing the following calibration process every time the traveling body 101 moves. First, with the traveling body 101 in a stationary state, the revolving body 103 is rotated. Here, the movement locus of the reflecting prism 107 measured by the total station 300 at that time is obtained. This movement locus is an arc, and the center of curvature thereof is the center of the revolving body 103. Thereby, a new rotation center position of the revolving body 103 is obtained.

[0016] In this method, the above calibration process must be performed every time the traveling body 101 moves. During this calibration process, the heavy machine 100 must interrupt the work, resulting in a decrease in work efficiency. Further, the rotation of the revolving body 103 in the above calibration process is an operation separate from the work, and the burden increases in terms of ensuring the safety of the workers who are working together with the heavy machines around. This also leads to a decrease in work efficiency.

[0017] This embodiment solves the above problem by using a reflecting prism 108 (second reflecting prism) in addition to the reflecting prism 107 (first reflecting prism).

[0018] That is, this embodiment is a method for acquiring information of a heavy machine 100 having a traveling body 101 provided with moving means and a revolving body 103 rotatable on the traveling body 101 and provided with a reflecting prism 107, wherein the positional relationship between the reflecting prisms 107 and 108 and the rotation center position of the revolving body 103 is known as a specific positional relationship, and in a state where the traveling body 101 is stationary, a first step of measuring the position of the reflecting prism 107 by the total station 300, a second step of calculating the rotation center position of the revolving body 103 based on the result of the measurement and the specific positional relationship, a third step of detecting the movement of the traveling body 101, and when the movement of the traveling body 101 is detected, measuring the position of the reflecting prism 108 by the total station 300, and a fourth step of calculating the rotation center position of the revolving body 103 based on the measured value of the position of the reflecting prism 107, the measured value of the position of the reflecting prism 108, and the specific positional relationship.

[0019] (Heavy machine) Figure 1 shows a heavy machine 100 which is a hydraulic excavator. The heavy machine 100 includes a traveling body 101. The traveling body 101 includes endless tracks 102 which are a moving means. The traveling body 101 includes a revolving body 103 which can rotate horizontally on its upper part. An electronic compass (azimuth sensor) 111, an IMU (inertial measurement unit) 112 and an inclination sensor 113 are attached to the revolving body 103.

[0020] The revolving body 103 includes a boom 104. The boom 104 moves with its tip on a circular orbit in a vertical plane with the connection part with the revolving body 103 as the rotation center. Due to this movement, the tip of the boom 104 moves in the vertical direction.

[0021] An arm 105 is attached to the tip of the boom 104. The arm 105 moves with its tip on a circular orbit in a vertical plane with the connection part to the boom 104 as the rotation center. Due to this movement, the tip of the arm 105 moves in a direction approaching and receding from the revolving body 103.

[0022] A bucket 106 is attached to the tip of the arm 105. The bucket 106 rotates its tip in a vertical plane with the attachment part to the arm 105 as the rotation center. Due to this movement, the tip (the cutting edge part) of the bucket 106 moves on an arc centered on the above rotation center in a direction approaching and receding from the revolving body 103. The movement of each part is performed by hydraulic pressure. The movement and driving method of each part are the same as those of a normal hydraulic excavator.

[0023] The top of the rotating body 103 is fitted with two optical targets, a reflective prism 107 and a reflective prism 108. The reflective prisms 107 and 108 are omnidirectional reflective prisms that reflect light incident from a range of 360° horizontally and ±30° vertically, reversing its direction by 180°. The reflective prisms 107 and 108 are mounted off-center from the rotation center of the rotating body 103. Furthermore, the installation positions of the reflective prisms 107 and 108 are adjusted so that the horizontal separation distance L1 from the rotation center axis of the rotating body 103 to the rotation center axis of the rotating body 103 is different from the horizontal separation distance L2 from the rotation center axis of the rotating body 103 (L1 ≠ L2). In addition, the horizontal separation distance L3 between the reflective prisms 107 and 108 is set so that L3 ≠ L1 and L3 ≠ L2. Furthermore, the reflecting prisms 107 and 108 are positioned at different heights.

[0024] The positional relationship (relationship between the three) between the reflective prism 107, the reflective prism 108, and the rotation center position of the swivel body 103 is known and has been acquired in advance.

[0025] A tilt sensor 114 is attached to the boom 104, a tilt sensor 115 is attached to the arm 105, and a tilt sensor 116 is attached to the bucket 106.

[0026] The heavy machine 100 is equipped with a calculation device 200. The calculation device 200 is a computer and calculates the rotation center position of the slewing body 103 based on the measurement results of the positions of the reflecting prisms 107 and / or 108 by the total station 300. The calculation device 200 also calculates the position of the cutting edge of the bucket 106 based on the rotation center position and the measured inclination angles of the inclination sensors 114, 115 and 116.

[0027] (T-Station) Total Station 300 is set up with its position and orientation in the absolute coordinate system known. Total Station 300 measures the distance to reflective prisms 107 and 108 using the principle of laser ranging. By measuring the direction of the optical axis of the ranging laser beam at this time, the directions of reflective prisms 107 and 108 as seen from Total Station 300 can be obtained.

[0028] Knowing the distance from total station 300 to reflecting prisms 107 and 108, and the direction of reflecting prisms 107 and 108 as seen from total station 300, allows us to determine the positions of reflecting prisms 107 and 108 relative to total station 300. On the other hand, the position and orientation of total station 300 in absolute coordinate system are known. Therefore, based on the measurements of reflecting prisms 107 and 108 taken by total station 300, the positions of reflecting prisms 107 and 108 in absolute coordinate system can be obtained.

[0029] The positions of the reflecting prisms 107 and 108 are measured repeatedly by the Total Station 300 at intervals of approximately 5 Hz to 100 Hz (5 to 100 times per second). The Total Station 300 can also be equipped with a camera to take images of the object being measured.

[0030] (Block diagram of the arithmetic unit) Figure 2 is a block diagram of the arithmetic unit 200. The arithmetic unit 200 is a computer and comprises a data reception unit 201, a reflection prism identification and determination unit 202, a reflection prism movement trajectory acquisition unit 203, a rotation center position calculation unit 204, a movement presence / absence determination unit 205, a posture detection unit 206, a cutting edge position and orientation calculation unit 207, a stationary request signal generation unit 208, a rotation presence / absence determination unit 209, a storage unit 210, a total station operation control unit 211, and a communication device 212.

[0031] Functional units other than the memory unit 210 and the communication device 212 are configured in software, and the operation programs for executing these functions are realized by the CPU of the arithmetic unit 200 executing them. It is also possible to configure some or all of these functional units with dedicated hardware (electronic circuits).

[0032] The data reception unit 201 receives measurement data of the positions of the reflecting prisms 107 and 108 measured by the total station 300, as well as identification data of the reflecting prisms 107 and 108, as described later.

[0033] The reflective prism identification unit 202 identifies reflective prisms 107 and 108. The identification of the reflective prisms is performed as follows: Reflective prisms 107 and 108 are equipped with LED light-emitting units as identification means. These light-emitting units emit light in specific different light emission patterns for reflective prisms 107 and 108. This light emission is received by the light-receiving unit of the total station 300, separated from the distance-measuring light due to the difference in light emission patterns, and detected as identification data for the reflective prisms, associated with the measurement position data of the reflective prisms. This identification data is associated with the position data of reflective prisms 107 and 108 respectively and sent to the calculation unit 200. The calculation unit 200 identifies reflective prisms 107 and 108 based on the above identification data.

[0034] Methods for distinguishing between the reflective prisms 107 and 108 include using the difference in their positions in the height direction, or using captured images. Alternatively, each of the reflective prisms 107 and 108 can be equipped with an identification indicator, and the two can be distinguished by image recognition. Furthermore, even if the reflective prisms 107 and 108 do not have an identification means, they can be distinguished using the method described in the second embodiment later.

[0035] The reflective prism movement trajectory acquisition unit 203 acquires the movement trajectory (change in position in absolute coordinate system) of the reflective prism 107 and / or reflective prism 108 based on the measurement data of the positions of the reflective prism 107 and / or reflective prism 108.

[0036] The rotation center position calculation unit 204 calculates the rotation center position of the slewing body 103 based on the trajectories of the moving reflective prisms 107 and / or 108. When the slewing body 103 rotates while the traveling body 101 is stationary, the reflective prisms 107 and 108 move along a circular orbit. Therefore, if the positions of the reflective prisms 107 and 108 are continuously measured by the total station 300 at this time, the measured movement trajectories of the reflective prisms 107 and 108 will be arcs, which are part of a circular orbit (if the slewing body 103 completes one rotation, it will be a circular orbit).

[0037] An axis passing through the center of curvature of this arc and perpendicular to the slewing body 103 becomes the axis of rotation of the slewing body 103. This axis of rotation can be calculated from the above arc. The center of rotation of the slewing body 103 lies on this axis of rotation. The position of the center of rotation of the slewing body 103 is set inside the slewing body 103. For example, suppose the distance between the top surface of the slewing body 103 and the reflecting prism 107 is 1 m. In this case, the center of rotation of the slewing body 103 is set to be, for example, 1.5 m below the center of rotation of the reflecting prism 107. This process is performed in the calculation unit 204 for the center of rotation of the slewing body.

[0038] If the slewing body 103 is tilted, its axis of rotation will also be tilted. This tilt is measured by the tilt sensor 113. In the actual process, the tilt of the axis of rotation of the slewing body 103 is determined based on the tilt information from the tilt sensor 113, and the position of the center of rotation of the slewing body 103 on this axis of rotation is determined. Alternatively, the tilt of the axis of rotation of the slewing body 103 may be calculated from the tilt of the arc described above.

[0039] Furthermore, the rotation center position calculation unit 204 also calculates the rotation center position of the slewing body 103 using the following method. The relationship between the rotation center positions of the reflecting prisms 107 and 108 and the slewing body 103 is known. Therefore, when the traveling body 101 and the slewing body 103 are stationary, the rotation center position of the slewing body 103 can be calculated by measuring the positions of the reflecting prisms 107 and 108 in the absolute coordinate system using the total station 300. This process is also performed by the rotation center position calculation unit 204 of the slewing body.

[0040] If the reflective prisms 107 and 108 do not have identification means, two candidate rotation center positions of the rotating body 103 can be obtained based on the measurement positions of the reflective prisms 107 and 108. Therefore, if the reflective prisms 107 and 108 do not have identification means, this problem can be avoided by identifying the reflective prisms 107 and 108 using the method shown in the second embodiment described later.

[0041] The unit 205 for determining whether or not the moving body has moved determines whether or not the moving body 101 has moved. Here, it is determined that the moving body 101 has moved if the movement trajectory of the reflecting prism 107 or 108, which is continuously measured by the total station, deviates from a circular arc. Also, it is determined that the moving body 101 has stopped moving if the movement trajectory of the reflecting prism 107 or 108 changes from a non-circular arc to a circular arc.

[0042] By attaching an IMU (Inertial Measurement Unit) to the vehicle 101, it is also possible to determine whether or not the vehicle 101 is moving based on its measured values.

[0043] The attitude detection unit 206 of the rotating body detects the horizontal attitude (orientation) of the rotating body 103 based on the azimuth information from the electronic compass 111.

[0044] The cutting edge position and orientation calculation unit 207 calculates the cutting edge position and orientation of the bucket 106 based on the rotation center position of the swivel body 103, the position of the reflecting prism 107 or 108, and the measured values ​​of the tilt sensor 113, tilt sensor 114, tilt sensor 115, and tilt sensor 116.

[0045] Prior calibration has been performed to obtain the relationship between the position and orientation of the blade tip, the positions of the reflective prisms 107 and 108, the rotation center position of the swivel body 103 and its orientation, and the measured values ​​of the tilt sensors 113, 114, 115, and 116. This prior calibration is performed when the reflective prisms 107 and 108 and the tilt sensors 113 to 116 are installed.

[0046] Here, given that the rotation center position of the rotating body 103 in the absolute coordinate system is known, when the position of the reflecting prism 107 or 108 in the absolute coordinate system is measured by the total station 300, the position and orientation of the cutting edge in the absolute coordinate system can be calculated from the known relationship described above. This process is performed in the cutting edge position and orientation calculation unit 207.

[0047] The stationary request signal generation unit 208 generates a signal to the operator of the heavy machinery 100 requesting that the traveling body 101 and the rotating body 103 be brought to a stop. The operator's seat of the heavy machinery 100 is equipped with a display that shows information regarding the position and orientation of the cutting edge and information regarding the work to be done, and the content related to the above request is displayed on this display.

[0048] The rotation determination unit 209 determines whether the slewing body 103 is rotating or not. The determination of whether the slewing body 103 is rotating is made based on the output of the IMU 112. It is also possible to obtain whether the slewing body 103 is rotating from measurement data of the position of the reflective prism 107 or 108 or from captured images.

[0049] The memory unit 210 stores data and operation programs necessary for the operation of the heavy machinery 100. The total station operation control unit 211 controls the timing of starting, stopping, and switching between the reflecting prisms 107 and 108 during measurement by the total station. The communication device 212 communicates with the total station 300 and other equipment. Communication is performed using known wireless communication standards such as wireless LAN.

[0050] (Processing during the work) Figure 3 is a flowchart illustrating an example of processing performed when the heavy machinery 100 is in operation (working). The program that executes the processing shown in Figure 3 is stored in the memory unit 210 or a suitable storage medium and executed by the CPU of the arithmetic unit 200. It is assumed that the position and orientation of the total station 300 in the absolute coordinate system are known. It is also assumed that the positional relationship between the reflective prism 107 and reflective prism 108 on the slewing body 103, and the rotation center position of the slewing body 103 is known. Furthermore, it is assumed that the reflective prisms 107 and 108 are equipped with identification means and can be identified. An example in which the reflective prisms 107 and 108 are not equipped with identification means will be described in the second embodiment.

[0051] First, before starting work (before operating the heavy machinery), a field calibration process is performed (step S201). In this process, with the traveling body 101 and the rotating body 103 stationary, the total station 300 measures the positions of the reflecting prisms 107 and 108 in the absolute coordinate system. This measurement data is sent to the computing unit 200, which then performs the following processing.

[0052] At this stage, the relationship between the positions of the reflective prisms 107 and 108 and the rotation center of the slewing body 103 is known. Therefore, by determining the positions of the reflective prisms 107 and 108 in the absolute coordinate system, the position of the rotation center of the slewing body 103 in the absolute coordinate system and the orientation of the slewing body 103 can be determined. In this process, the measurement value from the tilt sensor 113 is referenced to reduce the calculation error of the rotation center position caused by the tilt of the slewing body 103.

[0053] In step S201, the process of determining the rotation center position and orientation of the slewing body 103 is performed. Here, the identification of the reflective prisms 107 and 108 is performed based on the light emission signals from each of the reflective prisms described above.

[0054] As an alternative to step 201, while the position of the reflecting prism 107 is continuously measured by the total station 300, the rotating body 103 is rotated while the traveling body 101 is stationary, and the rotation center position and orientation of the rotating body 103 are determined. This is the same as the conventional calibration process.

[0055] The field calibration process in step S201 makes it possible to calculate the position and orientation of the cutting edge based on subsequent measurements of the position of the reflective prism 107. In other words, after step S201, work can be performed by the heavy machinery 100.

[0056] Before starting work with the heavy machinery 100, the position of the reflecting prism 107 is measured using the total station 300 (step S202). The measurement of the position of the reflecting prism 107 using the total station 300 continues until step S209.

[0057] Next, the heavy machinery 100 is put into operation (step S203). Once the operation has started, the position and orientation of the cutting edge are calculated based on the position of the reflecting prism 107 in the absolute coordinate system, which is continuously measured by the total station 300 (step S204). This process is carried out continuously at a repetition frequency of 5Hz to 100Hz.

[0058] In this state, it is determined whether the vehicle 101 has moved (step S205). If it is determined that the vehicle 101 has moved, the process proceeds to step S206; otherwise, the process in step S204 is repeated.

[0059] In step S206, it is determined whether the vehicle 101 is stationary or not. If the vehicle 101 is stationary, the process proceeds to step S207; if the vehicle 101 continues to move, the process in step S206 is repeated.

[0060] In step S207, a stop request signal is generated, requesting the operator (driver) of the heavy machinery 100 to stop the traveling body 101 and the rotating body 103. When the stop request signal is output, the following processes are performed: displaying this information on the display screen located in the driver's seat of the heavy machinery 100, illuminating a warning lamp, and providing an audible warning. The stop request signal is generated to allow time for the locking and position measurement of the reflective prism 108, which is performed in a later stage (step S209).

[0061] Next, it is determined whether the rotating body 103 is stationary or not (step S208). Whether or not the rotating body 103 is rotating is determined based on the output of the IMU 112. Alternatively, the rotation of the rotating body 103 may be determined from the measurement result of the position of the reflecting prism 107 by the total station 300. If the rotating body 103 is stationary, the process proceeds to step S209; otherwise, the process from step S207 onwards is repeated.

[0062] In step S209, the position of the reflecting prism 108 in the absolute coordinate system is measured using the total station 300. At this stage, the traveling body 101 and the rotating body 103 are stationary. Therefore, in step S209, positional information of the reflecting prisms 107 and 108 in the absolute coordinate system is obtained.

[0063] Once the positional information of the reflective prisms 107 and 108 in the absolute coordinate system is obtained, the rotation center position of the slewing body 103 is calculated based on this information and the previously obtained relationship between the rotation center positions of the reflective prisms 107 and 108 and the slewing body 103 (step S210). At this time, the rotation center position of the slewing body 103 is corrected based on the tilt information of the slewing body 103 measured by the tilt sensor 113.

[0064] Step S210 provides information on the new rotation center position of the rotating body 103 after the movement of the traveling body 101.

[0065] Next, the measurement of the position of the reflecting prism 107 by the total station is restarted (step S211), and the process of calculating the position and orientation of the blade tip (step S204) is resumed. In other words, the process of calculating the position and orientation of the blade tip after the movement of the traveling body 101 (step S204) is resumed.

[0066] (Superiority) Even if the traveling body 101 moves and the rotation center position of the rotating body 103 shifts, a new rotation stop position can be determined by measuring the position of the second reflecting prism, the reflecting prism 108. Therefore, calibration processing by rotating the rotating body 103 again is not required. This increases the work efficiency of the heavy machinery 100.

[0067] Furthermore, rotation of the slewing body 103 for calibration purposes is not necessary during the calibration process performed on-site before the start of work. Rotation of the slewing body outside of work must be carried out while ensuring the safety of workers in the surrounding area (there are many situations where workers work in cooperation with heavy machinery), and this hinders work efficiency. In this respect, the embodiment in which the slewing body 103 is not rotated for calibration purposes at the work site is preferable.

[0068] (Action taken when target is lost) Figure 4 shows the flow of processing that takes place when the total station 300 loses sight of the target reflective prism. Here, it is assumed that the total station 300 continues to measure the position of the reflective prism 107 while the heavy machinery 100 is in operation.

[0069] The process in Figure 4 is performed in parallel with the process in Figure 3, after step S202 in Figure 3 has been executed. If step S301 in the process in Figure 4 is YES, the process in Figure 3 is temporarily stopped.

[0070] First, it is determined whether the total station 300 has lost sight of the target reflective prism 107 (step S301). If the target has been lost, the process proceeds to step S302; otherwise, the determination in step S301 is repeated.

[0071] In step S302, a stop request signal is generated to request that the movement of the traveling body 101 and the rotating body 103 be stopped. Subsequently, a determination is made as to whether or not the traveling body 101 and the rotating body 103 have stopped (step S303). If the traveling body 101 and the rotating body 103 have stopped, the process proceeds to step S304; otherwise, the process from step S302 onward is repeated.

[0072] In step S304, the total station 300 searches for the reflecting prism 107 and measures its position, and then searches for the reflecting prism 108 and measures its position (step S304). Next, based on the positions of the reflecting prisms 107 and 108 and the measurements from the tilt sensor 113, the attitude and rotation center position of the rotating body 103 are calculated (step S305).

[0073] Here, if the reflective prisms 107 and 108 are equipped with identification means and can be identified, the attitude and rotation center position of the rotating body 103 can be calculated uniquely. If the reflective prisms 107 and 108 are not equipped with identification means, the method of the second embodiment described later is adopted.

[0074] After step S305, the measurement of the position of the reflecting prism 107 by the total station 300 is resumed (step S306). Once step S306 is executed, the processes from step S202 onwards in Figure 3 can be executed.

[0075] 2. Second Embodiment The following describes an example where the reflective prisms 107 and 108 cannot be distinguished. In this case as well, the positional relationship between the reflective prisms 107 and 108 and the rotation center positions of the swivel body 103 is acquired in advance as known information. The following describes the differences from the processing of the first embodiment.

[0076] Here, we assume that the relationship L1 ≠ L2 ≠ L3 is set between the horizontal separation distance L1 between the reflective prism 107 and the rotational center axis of the slewing body 103, the horizontal separation distance L2 between the reflective prism 108 and the rotational center axis of the slewing body 103, and the horizontal separation distance L3 between the reflective prisms 107 and 108.

[0077] (Step S201) The positions of reflective prisms 107 and 108 are measured by the total station 300. At this stage, they cannot be distinguished from each other. Next, based on the measured positions of the two reflective prisms and the positional relationship between the rotation center positions of reflective prism 107, reflective prism 108, and the rotating body 103, reflective prisms 107 and 108 are distinguished.

[0078] For example, information (this identification information) is obtained as to whether the reflective prism that is locked at that point is the reflective prism located on the right side when viewed from behind on the rotating body 103 (reflective prism 108 in Figure 1) or the reflective prism located on the left side (reflective prism 107 in Figure 1).

[0079] The following is a specific example. For instance, suppose that at this point the total station 300 has locked onto one of the reflecting prisms 107 and is measuring its position. Then, suppose that the rotation center position P0 of the slewing body 103 is determined based on the change in the measured position of the reflecting prism as the slewing body 103 rotates.

[0080] On the other hand, P1 is the position of the reflecting prism measured by the total station 300 when the rotating body 103 is stationary.

[0081] Here, we search for consistency between P0 and P1 and the known positional relationships between the positions of the reflecting prism 107, the reflecting prism 108, and the rotation center position of the rotating body 103. In this case, since L1 ≠ L2 ≠ L3, the above consistency is uniquely valid.

[0082] Here, for example, suppose that P0 and P1 match the previously obtained positional relationship between the rotation center position of the rotating body 103 and the reflective prism 107. In this case, the reflective prism being measured is identified as reflective prism 107. The reflective prism that is not being measured is identified as reflective prism 108. In this way, it becomes possible to distinguish between reflective prisms 107 and 108.

[0083] (Step S202) The position of the reflecting prism 107 is measured using the total station 300.

[0084] (Step S209) The total station 300 unlocks the reflecting prism 107, which it had been measuring, searches for another reflecting prism nearby, finds a reflecting prism different from reflecting prism 107, and locks onto it. At this time, it recognizes the reflecting prism located in a different position from reflecting prism 107 as reflecting prism 108.

[0085] (Step S210) Since the reflective prisms 107 and 108 can be identified, the rotation center position of the rotating body 103 can be uniquely determined.

[0086] (Step S211) Since the object of measurement switches from reflective prism 108 to reflective prism 107, the identification information of the reflective prism is carried over to the subsequent steps S204 and below, which are performed again.

[0087] (Superiority) In the second embodiment, the rotation of the rotating body 103 is required during the field calibration process, but it is possible to handle cases where the reflecting prisms 107 and 108 do not have identification means.

[0088] 3. Third Embodiment A sensor may be placed on the operating lever of the heavy machinery 100 to detect whether the traveling body 101 is moving and / or whether the rotating body 103 is rotating. Alternatively, if the heavy machinery 100 is equipped with an interface that outputs signals related to whether the traveling body 101 is moving and / or whether the rotating body 103 is rotating, these signals may be received to detect whether the traveling body 101 is moving and / or whether the rotating body 103 is rotating.

[0089] 4. Fourth Embodiment Three reflective prisms may be placed on the rotating body 103. In this case, the rotation center of the rotating body 103 can be calculated even if the reflective prisms cannot be identified. Furthermore, the tilt of the rotating body 103 can be calculated from the measurement positions of the three reflective prisms. It is also possible to place four or more reflective prisms on the rotating body 103.

[0090] 5. Others This invention can be applied to heavy machinery other than hydraulic shovels, as long as it is equipped with a traveling body and a rotating body. This invention can also be applied to heavy machinery that operates unmanned. [Explanation of symbols]

[0091] 100...Heavy machinery, 101...Vehicle, 102...Tracked vehicle, 103...Slewing body, 104...Boom, 105...Arm, 106...Bucket, 107...Reflective prism, 108...Reflective prism, 111...Electronic compass, 112...IMU, 113...Tilt sensor, 114...Tilt sensor, 115...Tilt sensor, 116...Tilt sensor, 200...Calculation unit, 300...Total station.

Claims

1. A vehicle equipped with means of transport, A rotating body that is rotatable on the aforementioned traveling body and is equipped with a first optical target and a second optical target A method for obtaining information on heavy machinery having, The positional relationship between the first optical target, the second optical target, and the rotation center position of the rotating body is known as a specific positional relationship. The first step is to measure the position of the first optical target using a laser beam position measuring device while the vehicle is stationary, A second step is to calculate the rotation center position of the rotating body based on the measurement results and the specific positional relationship, A third step of determining whether or not the vehicle is moving, If it is determined that the traveling body is moving, the position of the second optical target is measured by the position measuring device, and the rotation center position of the rotating body is calculated based on the measured position of the first optical target, the measured position of the second optical target, and the specific positional relationship. A method for obtaining information on heavy machinery.

2. The method for acquiring information on heavy machinery according to claim 1, wherein the fourth step is performed after the movement of the traveling body has been detected, when the traveling body has stopped and the rotation of the slewing body has stopped.

3. A method for acquiring information on heavy machinery according to claim 1 or 2, wherein a signal requesting the cessation of the rotation of the rotating body is generated after the movement of the traveling body is detected.

4. In a state where the first reflective prism and the second reflective prism cannot be distinguished, Before the first step, While the rotating body is in a rotating state, the position measuring device measures the movement trajectory of the first reflecting prism, and based on the movement trajectory, the rotation center position of the rotating body is determined. A method for obtaining information about heavy machinery according to any one of claims 1 to 3, wherein the first reflective prism and the second reflective prism are identified based on the rotation center position of the rotating body obtained, the measurement position of the first reflective prism by the position measuring device, and the specific positional relationship.

5. A vehicle equipped with means of transport, A rotating body that is rotatable on the aforementioned traveling body and is equipped with a first optical target and a second optical target A device for handling information on heavy machinery, The positional relationship between the first optical target, the second optical target, and the rotation center position of the rotating body is known as a specific positional relationship. When the vehicle is stationary, a data receiving unit receives data on the measured position of the first optical target by a position measuring device using laser light, A calculation unit that calculates the rotation center position of the rotating body based on the measurement results and the specific positional relationship, A determination unit for determining whether or not the aforementioned traveling body is moving, When it is determined that the traveling body is moving, a calculation unit calculates the rotation center position of the rotating body based on the position measurement of the second optical target by the position measuring device, the position measurement of the first optical target, the position measurement of the second optical target, and the specific positional relationship. A device that handles information about heavy machinery equipped with these features.

6. A vehicle equipped with means of transport, A rotating body that is rotatable on the aforementioned traveling body and is equipped with a first optical target and a second optical target A program that causes a computer to perform a process to acquire information about heavy machinery having The positional relationship between the first optical target, the second optical target, and the rotation center position of the rotating body is known as a specific positional relationship. to the computer The first step involves, while the vehicle is stationary, having a position measuring device using laser light measure the position of the first optical target; A second step is to calculate the rotation center position of the rotating body based on the measurement results and the specific positional relationship, A third step of determining whether or not the vehicle is moving, If it is determined that the traveling body is moving, the position of the second optical target is measured by the position measuring device, and the rotation center position of the rotating body is calculated based on the measured position of the first optical target, the measured position of the second optical target, and the specific positional relationship. A program that executes the command.

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