Information calibration method, information calibration system, and information calibration program

Abstract

This enables simple and accurate calibration of information necessary for controlling movable work tools used on construction machinery. [Solution] A measuring device is prepared to measure the positional relationship between the mounting origin position of a movable work tool on a construction machine and the control reference position of the movable work tool (S101, S102). Using the measurement results from the measuring device, at least the angle between the direction of the control reference position as seen from the mounting origin position and a predetermined axis direction set for the construction machine is identified, and this identified angle is set as the reference angle necessary for controlling the movable work tool (S107).

Description

Technical Field

[0004] , , , ,

[0001] The present invention relates to an information calibration method, an information calibration system, and an information calibration program.

Background Art

[0002] Regarding construction machines such as hydraulic excavators and bulldozers used at construction sites, for example, it is known to perform guidance control (so-called machine guidance) regarding a construction location by a movable working tool using the sensing result of the movable working tool attached to the construction machine (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A movable working tool that is attached to and used in a construction machine is also called an attachment, and a plurality of types are appropriately selected according to the construction content. That is, there are a plurality of types of movable working tools with different uses, and the attachment type may be changed as needed at a construction site.

[0005] Generally, movable working tools of different types have different shapes, sizes, etc. Even in such a case, it is not preferable that the control of the movable working tool after replacement is hindered by the replacement of the attachment type. That is, when the attachment type of the movable working tool is changed, it is preferable to be able to calibrate the information required for the control of the movable working tool.

[0006] The present disclosure provides a technique that enables the calibration of information necessary for the control of a movable working tool simply and with high accuracy. [Means for solving the problem]

[0007] According to one aspect of the present invention, An information calibration method for calibrating information necessary for controlling a movable work tool attached to and used in construction machinery, A measuring device is provided to measure the positional relationship between the mounting origin position of the movable work tool on the construction machine and the control reference position of the movable work tool. Using the measurement results from the aforementioned measuring device, at least the angle between the direction of the control reference position as seen from the mounting origin position and the predetermined axis direction set for the construction machine is identified, and this identified angle is set as the reference angle necessary for controlling the movable work tool. Information calibration methods are provided.

[0008] Furthermore, according to another aspect of the present invention, An information calibration system for calibrating information necessary for controlling movable work tools used on construction machinery, A measuring device for measuring the positional relationship between the mounting origin position of the movable work tool on the construction machine and the control reference position of the movable work tool, The system includes a control device that performs predetermined information processing using the measurement results from the aforementioned measuring device, The control device, as part of its information processing, identifies at least the angle between the direction of the control reference position as viewed from the mounting origin position and the predetermined axis direction set for the construction machine, and sets the identified angle as the reference angle necessary for controlling the movable work tool. An information calibration system is provided.

[0009] Furthermore, according to yet another aspect of the present invention, An information calibration program for calibrating information necessary for controlling movable work tools used on construction machinery, A computer is connected in a communication manner to a measuring device that measures the positional relationship between the origin position of the movable work tool attached to the construction machine and the control reference position of the movable work tool. Using the measurement results from the measuring device, the device will perform a process to identify at least the angle between the direction of the control reference position as seen from the mounting origin position and the predetermined axis direction set for the construction machine, and to set the identified angle as the reference angle necessary for controlling the movable work tool. An information calibration program is provided. [Effects of the Invention]

[0010] According to the present invention, the calibration of information necessary for controlling a movable work tool can be performed simply and accurately. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic diagram illustrating an example of the general configuration of a backhoe, which is a construction machine to be controlled, according to the first embodiment of this disclosure. [Figure 2] This is a schematic block diagram showing an example of the configuration of a control system for a construction machine according to the first embodiment of this disclosure. [Figure 3] This diagram schematically shows an example of the configuration of a movable work tool that can be attached to a construction machine according to the first embodiment of the present disclosure, where (a) is a diagram showing a standard bucket, which is an example of a movable work tool; (b) is a diagram showing a slope bucket, which is another example of a movable work tool; and (c) is a diagram showing a breaker, which is yet another example of a movable work tool. [Figure 4] This is a schematic diagram illustrating an example of the general configuration of an information calibration system applied to a construction machine according to the first embodiment of this disclosure. [Figure 5] This is a block diagram showing an example of the functional configuration of an information calibration system according to the first embodiment of this disclosure. [Figure 6] This is an explanatory diagram showing an example of mounting a measurement tool, which constitutes the information calibration system according to the first embodiment of this disclosure, onto a construction machine. [Figure 7] This is a flowchart showing an example of the procedure for the information calibration method according to the first embodiment of this disclosure. [Figure 8] This is an explanatory diagram illustrating the concepts of the reference angle D1 and reference distance L1 as specified in the first embodiment of this disclosure.

Mode for Carrying Out the Invention

[0012] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0013] <First Embodiment> First, the first embodiment of the present disclosure will be described.

[0014] (Construction Machinery) Here, the construction machinery that is the control target in this embodiment will be described. Construction machinery is used at a construction site, and typical examples include construction machinery for civil engineering applications such as hydraulic excavators and bulldozers. However, the construction machinery is not limited to these, and other types such as transportation machinery such as trucks and loaders, cargo handling machinery such as cranes, foundation construction machinery, boring machinery, tunnel construction machinery, concrete machinery such as crushers, paving machinery, road maintenance machinery, etc. may also be used.

[0015] In the following description, the case where the construction machinery is a hydraulic excavator also called a backhoe will be taken as an example. FIG. 1 is an explanatory diagram schematically showing an example of the schematic configuration of a backhoe.

[0016] As shown in the diagram, the backhoe 1 comprises an upper rotating body (main body) 11 including a cockpit 10, a boom 12, an arm 13, and a bucket 14 which are driven work tools, and a lower mobile body 15 which serves as a travel device. With this configuration, the backhoe 1 can move (self-propel) at construction sites by being equipped with the lower mobile body 15. Then, by operating the upper rotating body 11, boom 12, arm 13, and bucket 14 respectively, it performs excavation and other work on the ground surface at the construction site. Therefore, in the backhoe 1, the upper rotating body 11, boom 12, arm 13, and bucket 14 each function as "movable parts" that can operate independently. In particular, the bucket 14 functions as a "movable work tool" that directly performs work on the ground surface at the construction site. In this case, the position of the tip of the bucket 14 corresponds to the work area performed by the bucket 14.

[0017] In addition to the bucket 14, several other types of movable work tools are available for use with the backhoe 1, each with a different purpose. The type of tool can be changed as needed. Details regarding the types and uses of movable work tools that can be attached to the backhoe 1 will be described later.

[0018] A receiver (antenna) 16 of the Global Navigation Satellite System (GNSS) is attached to the back of the upper rotating body 11, which enables the position of the backhoe 1 to be determined.

[0019] Furthermore, the cockpit 10 of the upper rotating body 11 is equipped with a controller (not shown) operated by the pilot, a monitor (not shown) that outputs information to the pilot, and the like.

[0020] In a backhoe 1 with this configuration, angle sensors 21, 22, 23, and 24 are attached to the movable parts: the upper rotating body 11, boom 12, arm 13, and bucket 14, respectively. However, it is preferable that the angle sensor 24 for the bucket is attached more specifically to the idler arm 14c that indirectly drives the bucket 14. This is because if the angle sensor 24 is attached near the tip of the bucket 14, it may get in the way during construction work on the ground surface at the construction site, or it may be damaged.

[0021] The angle sensors 21, 22, 23, and 24 utilize the angle sensor function of an inertial measurement unit (IMU), which consists of, for example, a three-axis accelerometer and a three-axis gyroscope, and are configured to detect the angle (i.e., the operating angle) of each movable part when it moves in at least three-dimensional space. Note that the angle sensors 21, 22, 23, and 24 do not necessarily have to be an IMU, and may be configured using other types of sensors as long as they can detect the operating angle of each movable part.

[0022] In a backhoe 1 with this configuration, a GNSS receiver 16 is attached to the upper rotating body 11, which allows the position of the backhoe 1 at the construction site to be measured. Furthermore, angle sensors 21, 22, 23, and 24 are attached to the movable parts: the upper rotating body 11, boom 12, arm 13, and bucket 14. Therefore, the position of the tip of the bucket 14 relative to the upper rotating body 11 can be measured from the detection results of each angle sensor 21, 22, 23, and 24 and various pre-defined setting information. The various setting information here includes information on the size of each movable part (size data) and information on various items that serve as a reference during motion control (for example, the reference angle described later).

[0023] Therefore, the position of the tip of the bucket 14 within the construction site can be monitored from these measurement results, and based on these monitoring results, it becomes possible to control the backhoe 1 while it is in operation. Specifically, for example, the monitoring results of the tip position of the bucket 14 and the construction target data (design data) of the construction site can be output on the display panel of the driver's seat 10, and it becomes possible to provide guidance (so-called machine guidance) to the operator of the backhoe 1 regarding the required amount of work (excavation amount, etc.). In this way, when performing control such as machine guidance, the position of the tip of the bucket 14 is used as one of the reference points. In other words, the position of the tip of the bucket 14 can be said to correspond to the "control reference position" when controlling the backhoe 1.

[0024] (System Configuration) Next, we will describe an example of a control system configuration that enables the control (especially machine guidance) of the backhoe 1 as described above. Figure 2 is a schematic block diagram showing an example of the configuration of the control system according to this embodiment.

[0025] As shown in the diagram, the control system includes a CAN (Controller Area Network) interface (hereinafter referred to as "IF") 31 that connects to IMUs (angle sensors) 21, 22, 23, and 24 mounted on each movable part of the backhoe 1 in order to enable control such as machine guidance, a personal computer (hereinafter referred to as "PC") 32 that connects to the CAN IF 31 and a GNSS receiver 16 mounted on the upper rotating body 11 of the backhoe 1, and a monitor 33 that connects to the PC 32.

[0026] The CAN IF31 functions as a "connection unit" that connects to each angle sensor 21, 22, 23, and 24, enabling the acquisition of detection results from each angle sensor 21, 22, 23, and 24. Such an interface is not limited to CAN IF; for example, it may be configured using serial communication protocols such as RS-232C or RS-485, or USB (Universal Serial Bus).

[0027] The PC32 is equipped with computer hardware resources, and by executing a predetermined program, the program (software) and hardware resources work together to realize various functions and processing operations. While the PC32 could potentially use a general-purpose PC with a typical configuration, it is not limited to this; for example, it could be configured using a so-called single-board computer. Furthermore, while the PC32 is likely to be mounted on the backhoe 1, it is not limited to this; for example, if it is connected to the CAN IF31 and GNSS receiver 16 via wireless communication, it may be located remotely from the backhoe 1.

[0028] The PC32 can perform a variety of functions and processing operations, but one example is its function as a measurement processing unit 32a and its function as a network communication unit 32b.

[0029] The measurement processing unit 32a has the function of recognizing the operating state of the movable parts to which each angle sensor 21, 22, 23, 24 is attached (i.e., the upper slewing body 11, boom 12, arm 13, and bucket 14) is attached, based on the detection results of each angle sensor 21, 22, 23, 24 obtained when the backhoe 1 is in operation and the position detection results obtained by the GNSS receiver 16. The operating state of the movable parts refers to at least one of the position or orientation of each movable part when the backhoe 1 is in operation. By recognizing such operating states, the PC 32 can monitor the tip position of the bucket 14 within the construction site based on the recognition results.

[0030] The network communication unit 32b has the function of communicating with other devices on a network line (not shown) and exchanging various types of information with those other devices. The network line and other devices are not particularly limited and various types can be used.

[0031] The monitor 33 is, for example, composed of an LCD display panel, and is used to output various information to the operator of the backhoe 1, etc., in accordance with instructions from the PC 32. Such a monitor 33 is used in the driver's seat 10 of the backhoe 1, but is not limited to this, and may be used in a location away from the backhoe 1. Furthermore, it is preferable that the monitor 33 not only outputs various information but also supports various information inputs, for example, via a touch panel.

[0032] (Types and uses of movable work tools) Next, we will explain the types and uses of movable work tools that can be attached to backhoe 1, using specific examples. Figure 3 is a schematic diagram illustrating an example of the configuration of a movable work tool that can be attached to a backhoe.

[0033] As previously mentioned, there are various types of movable work tools (attachments) that can be attached to and used with backhoe 1. A typical example is the standard bucket 14, as shown in Figure 3(a), which has a configuration suitable for applications such as excavating and moving soil. Because the standard bucket 14 is representative, it is sometimes simply called a "bucket." However, there are several types of standard buckets 14 that differ in size, such as width and length. Other types of movable work tools (attachments) include, for example, the slope bucket 17 shown in Figure 3(b), which has a configuration suitable for leveling slopes of soil. Furthermore, other types of movable work tools (attachments) include, for example, the breaker 18 shown in Figure 3(c), which has a configuration suitable for crushing rocks, concrete structures, and the like. It should be noted that the standard bucket 14, slope bucket 17, and breaker 18 exemplified here represent only a portion of the types of movable work tools (attachments), and it is known that many other types exist.

[0034] By appropriately replacing these various types of movable work tools as needed, Backhoe 1 can be adapted to a wide variety of applications, significantly expanding the range of construction work that can be performed compared to a system where the tools are not interchangeable.

[0035] The replacement of movable work tools is usually performed by replacing the pointed end at the movable work tool pin 14a and movable work tool link pin 14b. For example, when replacing a standard bucket 14 with a slope bucket 17, the movable work tool pin 14a and movable work tool link pin 14b are removed from the standard bucket 14 while it is still attached, the standard bucket 14 is replaced with the slope bucket 17, and then the movable work tool pin 14a and movable work tool link pin 14b are reinserted to complete the replacement from the standard bucket 14 to the slope bucket 17. Such replacement of movable work tools can also be performed at construction sites.

[0036] However, movable work tools generally have different shapes, sizes, etc., depending on their type. For example, as shown in Figure 3, in the standard bucket 14, slope bucket 17, and breaker 18, the distance L1 from the center of the movable work tool pin 14a (hereinafter sometimes simply referred to as the "pin center" or "mounting origin") to the tip position (i.e., the "control reference position") and the inclination angle θ from the reference direction used to measure the direction of the tip position are different for each. This is also true for various other movable work tools besides the standard bucket 14, slope bucket 17, and breaker 18. In other words, the distance L1 from the mounting origin position to the control reference position and the angle θ with respect to the control reference position differ depending on the type of movable work tool.

[0037] Therefore, when replacing a movable work tool, it is necessary to be able to calibrate information regarding at least the distance L1 from the mounting origin position to the control reference position and the angle θ with respect to the control reference position, as this information is necessary for controlling the movable work tool after replacement, in order to enable monitoring of the tip position and control such as machine guidance even after replacement.

[0038] Furthermore, depending on the type of movable work tool, not only the distance L1 and angle θ, but also the distance between the movable work tool pin 14a and the movable work tool link pin 14b may differ. In that case, the correspondence between the rotation angle of the movable work tool and the rotation angle of the idler arm 14c will also differ, so it is preferable to be able to calibrate information regarding that correspondence as well.

[0039] Regarding information about movable work tools after replacement, one possible approach is for the worker performing the replacement to manually measure distances with a measuring tape or measure angles using a plumb bob, and then input these measurement results to perform calibration. However, such calibration requires manual measurement, which can be inconvenient for users and may also lead to problems with measurement accuracy.

[0040] Furthermore, regarding the calibration process associated with the replacement of movable work tools, it is conceivable, for example, to prepare surveying equipment such as a total station at the construction site and use the surveying results obtained from it. However, such calibration processing requires the preparation of precision instruments such as total stations and the surveying process is complicated, so it cannot be said to be easily carried out and is not practical as a process to be performed in conjunction with replacement work at a construction site.

[0041] Based on the above points, in this embodiment, when replacing a movable work tool, the calibration of the information necessary for controlling the replaced movable work tool can be performed simply and accurately by using the information calibration system and information calibration method described below.

[0042] (Example of an information calibration system configuration) First, we will describe an example configuration of the information calibration system according to this embodiment.

[0043] The information calibration system is used in conjunction with construction machinery such as backhoes, and when the movable work tools of the construction machinery are replaced, it performs calibration of the information necessary to control the information related to the replaced movable work tools. Specific examples of the information to be calibrated will be described later. In this embodiment, the information calibration system is configured as described below to perform information calibration.

[0044] Figure 4 is a schematic diagram illustrating an example of the information calibration system according to this embodiment. In Figure 4, the movable work tool attached to the backhoe 1 is shown as a standard bucket 14. Figure 5 is a block diagram illustrating an example of the functional configuration of the information calibration system according to this embodiment. Figure 6 is a diagram illustrating an example of attaching the measurement tools constituting the information calibration system according to this embodiment to a construction machine.

[0045] As shown in Figures 4 and 5, the information calibration system according to this embodiment is broadly composed of a measuring device 40 and a control device 50.

[0046] (Measuring device) The measuring device 40 is used to perform predetermined measurement processing necessary for information calibration, and is attached to the replaced movable work tool (standard bucket 14 in Figure 4) for use. The predetermined measurement processing performed by the measuring device 40 will be described in detail later.

[0047] To perform a predetermined measurement process, the measuring device 40 is configured to include at least a measuring unit 41.

[0048] As shown in Figure 6, the measurement unit 41 includes an IMU 42 that functions as an angle sensor, a laser distance meter 43 that functions as a distance measuring instrument, a sensor plate 44 on which the IMU 42 and laser distance meter 43 are mounted, and a holder block 45 that supports the sensor plate 44. The holder block 45 is configured to be detachably attached to the movable work tool pin 14a that supports the movable work tool standard bucket 14 (for example, a cylinder relative to the movable work tool pin 14a) using fasteners such as screws or similar fasteners. As a result, the measurement unit 41 can rotate in sync with the standard bucket 14 when mounted around the movable work tool pin 14a.

[0049] In such a measurement unit 41, the IMU 42 utilizes its function as an angle sensor to measure, for example, the magnitude of the rotation angle, rotation speed, acceleration (including gravitational acceleration), etc., when the measurement unit 41 (i.e., the standard bucket 14 synchronized with it) rotates. The laser distance meter 43 can measure, for example, the distance from the measurement origin of the laser distance meter 43 to the tip position of the standard bucket 14, which is the movable work tool after replacement. Because these are mounted on the sensor plate 44, the IMU 42 and the laser distance meter 43 can each perform measurements while maintaining their relative positioning. The positioning state of the IMU 42 and the laser distance meter 43 will be described in detail later. Preferably, the holder block 45 that supports them is mounted around the movable work tool pin 14a such that the axis of rotation (center of rotation) when the measurement unit 41 is rotated coincides with the center of rotation of the movable work tool pin 14a, which is the center of rotation (mounting origin) of the standard bucket 14. Furthermore, the configuration for attaching the holder block 45 around the movable work tool pin 14a is not limited to using fasteners such as screws, and may be constructed using other known technologies.

[0050] Furthermore, as shown in Figures 4 and 5, the measuring device 40 may also include, in addition to the measuring unit 41 described above, an IMU 46 directly attached to the standard bucket 14 and an IMU 47 attached to the idler arm 14c. The IMU 46 is configured to measure, for example, the magnitude of the rotation angle, rotation speed, and acceleration (including gravitational acceleration) when the standard bucket 14 rotates, by utilizing its function as an angle sensor. Note that the IMU 46 is not an essential component and may be substituted with the IMU 42 in the measuring unit 41. The IMU 47 is configured to measure, for example, the magnitude of the rotation angle, rotation speed, and acceleration (including gravitational acceleration) when the idler arm 14c rotates, by utilizing its function as an angle sensor. Note that the IMU 47 is also not an essential component and may be substituted with the angle sensor 24 that constitutes the control system of the backhoe 1.

[0051] Furthermore, the measuring device 40 may have a USB (Universal Serial Bus) hub 48 for communicating with the control device 50, connecting the IMU 42, laser rangefinder 43, IMU 46, and IMU 47 that constitute the measuring device 40. However, as long as communication with the control device 50 is possible, it does not necessarily have to be a USB hub 48; a CAN IF or the like may be used instead.

[0052] (Control device) The control device 50 is connected to the measuring device 40 in a communication manner and performs predetermined information processing using the measurement results from the measuring device 40. The predetermined information processing performed by the control device 50 will be described in detail later.

[0053] The communication connection between the control device 50 and the measuring device 40 may be wireless or wired, and is not limited to any particular communication method. For example, short-range wireless communication compliant with Bluetooth® may be used, but is not limited to this.

[0054] Such a control device 50 could be a tablet PC that can be carried by an operator performing the replacement of movable work tools. However, it is not limited to this, and any device that has computer hardware resources and is configured so that a predetermined program is executed, and the program (software) and hardware resources cooperate to perform predetermined information processing, can be used, such as a general-purpose PC or a smartphone with equivalent functionality to such a general-purpose PC.

[0055] In either configuration, the control device 50, by executing a predetermined program, realizes the functions of a calibration processing unit 51 and a network communication unit 52, as shown in Figure 5.

[0056] The calibration processing unit 51 has the function of performing information calibration processing associated with the replacement of movable work tools by performing predetermined information processing using the measurement results from the measuring device 40. The details of the information calibration processing will also be described later, similar to the predetermined information processing.

[0057] The network communication unit 52 has the function of communicating with other devices on a network line (not shown) and exchanging various types of information with those other devices. Examples of other devices include, but are not limited to, the PC 32 which constitutes the control system of the backhoe 1. In other words, the network line and other devices are not particularly limited, and various types can be applied.

[0058] The functions of the calibration processing unit 51 and the network communication unit 52 described above are realized by the control device 50 executing a predetermined program. In other words, the predetermined program that realizes these functions corresponds to one embodiment of the "information calibration program" according to this embodiment. In this case, the predetermined program that realizes each function may be provided by storing it on a recording medium readable by the control device 50 (for example, a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc.), as long as it can be installed on the control device 50, or it may be provided from an external source via a network such as the Internet or a dedicated line.

[0059] (Procedure for information calibration) Next, we will describe the procedure for the information calibration method performed using the information calibration system with the configuration described above, that is, the procedure for the information calibration method according to this embodiment. Figure 7 is a flowchart showing an example of the procedure for the information calibration method according to this embodiment.

[0060] For example, at a construction site, if a standard bucket 14 is attached to the backhoe 1 by replacing the movable work tool, the measuring device 40 is installed on the replaced standard bucket 14 (step 101, hereafter steps are abbreviated as "S"). Specifically, for example, the worker performing the replacement work on the standard bucket 14 will at least attach the measuring unit 41, which constitutes the measuring device 40, around the movable work tool pin 14a that supports the standard bucket 14. If the measuring device 40 has IMUs 46 and 47, the IMU 46 is installed on the standard bucket 14 and the IMU 47 is installed on the idler arm 14c. The IMU 42 and laser distance meter 43 of the measuring unit 41 and the IMUs 46 and 47 are then connected to the control device 50 so as to be able to communicate with it.

[0061] In this regard, the measurement unit 41 is moved, for example, in the rotational direction around the movable work tool pin 14a, so that the spot aiming position of the laser beam emitted by the laser rangefinder 43 in the measurement unit 41 (i.e., the position of the distance measurement point by the laser rangefinder 43) is aligned with the tip position of the standard bucket 14 (S102). As a result, the laser rangefinder 43 in the measurement unit 41 is able to measure the distance from the measurement origin of the laser rangefinder 43 to the tip position of the standard bucket 14.

[0062] When the measuring unit 41 is attached around the movable tool pin 14a, it will have a relative positional relationship with respect to the movable tool pin 14a as shown in Figure 6.

[0063] For example, the measuring unit 41 can rotate in sync with the standard bucket 14 when mounted around the movable tool pin 14a, and when the standard bucket 14 is rotated, the overall axis of rotation N of the measuring unit 41 will coincide with the pin center of the movable tool pin 14a, which is the rotation center (mounting origin) of the standard bucket 14.

[0064] The IMU 42 mounted on the sensor plate 44 of the measurement unit 41 corresponds to a three-dimensional measurement space composed of the X, Y, and Z axes, and the Z axis of this three-dimensional measurement space is parallel to the rotation axis of the standard bucket 14 (i.e., the pin center of the movable work tool pin 14a). In other words, the IMU 42 is positioned on the sensor plate 44 such that its Z axis is parallel to the overall rotation axis N of the measurement unit 41.

[0065] On the sensor plate 44 of the measurement unit 41, in addition to the IMU 42, a laser rangefinder 43 is also mounted, and the X-axis of the IMU 42 is parallel to the laser beam irradiation direction of the laser rangefinder 43. In other words, on the sensor plate 44, the IMU 42 and the laser rangefinder 43 are positioned relative to each other such that the X-axis of the IMU 42 and the laser beam irradiation direction of the laser rangefinder 43 are parallel to each other.

[0066] The IMU 42 has a Z-axis parallel to the rotation axis N, an X-axis parallel to the laser beam irradiation direction of the laser rangefinder 43, and a Y-axis perpendicular to these X and Z axes. On the sensor plate 44, the laser rangefinder 43 is positioned such that the line connecting the overall rotation center of the measurement unit 41 (rotation axis N) and the measurement origin of the laser rangefinder 43 (for example, the edge of the laser rangefinder 43 opposite to the edge on the laser emission side) is parallel to the Y-axis of the IMU 42. The distance L0 is set to be the distance between the rotation center parallel to the Y-axis and the measurement origin.

[0067] After the measurement unit 41 is mounted in this positional relationship, the calibration processing unit 51 of the control device 50 connected to the measurement unit 41 performs the following predetermined information processing.

[0068] As shown in Figure 7, the calibration processing unit 51 identifies the rotation axis of each IMU 42, 46, and 47 based on the measurement results of each IMU 42, 46, and 47 when the standard bucket 14 is rotated by the backhoe 1 (S103). The identification of the rotation axis of each IMU 42, 46, and 47 can be performed, for example, using the technique disclosed in Japanese Patent Publication No. 7161796. This makes it possible to convert the measurement results of the rotation angle around the rotation axis (X axis, Y axis, and Z axis) of each IMU 42, 46, and 47 into the rotation angle around the rotation axis of the standard bucket 14 (i.e., the movable work tool pin 14a).

[0069] After identifying the rotation axis of each IMU 42, 46, and 47, the calibration processing unit 51 further rotates the standard bucket 14 with the backhoe 1 and identifies the correspondence between the rotation angle measured by the IMU 46 mounted on the standard bucket 14 and the rotation angle measured by the IMU 47 mounted on the idler arm 14c (S104). The identification of the correspondence can be done, for example, by deriving an approximation formula using a higher-order polynomial that converts the rotation angle of the idler arm 14c to the rotation angle of the standard bucket 14, as disclosed in Japanese Patent Publication No. 7161796. This identifies the correlation between the standard bucket 14 and the idler arm 14c, making it possible to derive the rotation angle of the standard bucket 14 from the rotation angle of the idler arm 14c during actual measurement.

[0070] Subsequently, the backhoe 1 is set to a predetermined reference position (S105). Here, the predetermined reference position is the position that serves as the reference for the operation of the boom 12, arm 13, and standard bucket 14 of the backhoe 1. Specifically, for example, the position in which the boom 12 is rotated to its upper limit, the position in which the arm 13 is rotated to its limit on the side of the upper slewing body 11, and the position in which movable work tools such as the standard bucket 14 are rotated to their limit on the side of the upper slewing body 11 or to their limit on the opposite side are examples of predetermined reference positions. In other words, the predetermined reference position defines the reference point (origin or home position) of the range of motion of the boom 12, arm 13, and standard bucket 14. In such a reference position, by measuring the inclination angle of each movable part of the boom 12, arm 13, and standard bucket 14 as calibration data, when the backhoe 1 is in operation, it is possible to derive the actual rotation angle of each movable part at that time by adding the rotation angles measured by each angle sensor to these inclination angles (calibration data) as reference angles.

[0071] In addition, the calibration processing unit 51 accesses the PC 32 in the control system via the network communication unit 52 to acquire information regarding the tilt state (tilt angle) of the upper rotating body 11 of the backhoe 1 (S106). Information regarding the tilt angle can be determined, for example, by measurement results using the GNSS antenna 16 and angle sensor 21 on the upper rotating body 11.

[0072] Subsequently, the calibration processing unit 51 uses the measurement results from the measuring device 40 and performs the following predetermined information processing on the measurement results to identify the length (reference distance L1) and angle (reference angle D1) of the standard bucket 14 after replacement (S107). The reference distance L1 and reference angle D1 identified by the calibration processing unit 51 are examples of information used as a reference when controlling the standard bucket 14 after replacement, that is, information necessary for controlling the standard bucket 14. Specifically, the reference distance L1 is the distance from the mounting origin position to the control reference position. The reference angle D1 is the inclination angle in the direction of the control reference position as viewed from the mounting origin position in a predetermined reference posture. The inclination angle here is the angle of inclination with respect to a predetermined axis direction set for the backhoe 1 (for example, the rotation axis direction of the upper rotating body 11 in the backhoe 1).

[0073] Here, the procedure for determining the reference distance L1 and reference angle D1 by the calibration processing unit 51 will be explained with reference to Figure 8. Figure 8 is an explanatory diagram illustrating the concepts of the reference distance L1 and reference angle D1 as specified in this embodiment.

[0074] In determining the reference distance L1 and reference angle D1, we first assume a hypothetical plane P. Plane P is a plane that is perpendicular to the rotation axis n1 of the upper rotating body 11 of the backhoe 1 (which can be determined in S106 in Figure 7) and parallel to the forward direction a1 of the upper rotating body 11, and includes the tip position of the standard bucket 14, which is a movable work tool (i.e., the control reference position).

[0075] Furthermore, based on the measurement results from the IMU 42 of the measurement unit 41, the direction G in which gravitational acceleration acts on the backhoe 1 in the standard posture state (see S105 in Figure 7) is obtained.

[0076] When the direction G is obtained, the rotation center of the measurement unit 41 is the rotation axis N, so considering these unit vectors, the projection G1 of the direction G onto the plane P can be determined by the following equation (1).

[0077]

number

[0078] Next, based on the measurement results from the laser rangefinder 43 of the measurement unit 41, the distance L between the measurement origin of the laser rangefinder 43 and the tip position of the standard bucket 14 (i.e., the control reference position) is obtained.

[0079] Once distance L is obtained, the distance L0 is set to the distance between the position of the rotation axis N on the plane P (i.e., the mounting origin position) and the measurement origin of the laser rangefinder 43. Using these values, the reference distance L1 between the position of the rotation axis N on the plane P (i.e., the mounting origin position) and the tip position of the standard bucket 14 (i.e., the control reference position) can be determined by the following equation (2).

[0080]

number

[0081] Furthermore, the direction X1 of the tip position of the standard bucket 14 (i.e., the control reference position) as viewed from the position of the rotation axis N on the plane P (i.e., the mounting origin position) can be determined by the following equation (3) when considered as a unit vector together with the X-axis and Y-axis directions from the IMU 42 of the measurement unit 41.

[0082]

number

[0083] Then, by identifying the projection G1 and direction X1, and using this information along with information about the inclination state of the upper rotating body 11 of the backhoe 1 with respect to the horizontal plane (particularly the inclination angle Dg of the rotation axis n1 of the upper rotating body 11 with respect to the projection G1 of the gravitational acceleration G in plane P) (which can be obtained in S106 of Figure 7), the reference angle D1 of the standard bucket 14 with respect to the rotation axis n1 of the upper rotating body 11 can be determined by the following equation (4).

[0084]

number

[0085] Through the information processing (calculation processing) described above, the calibration processing unit 51 uses the measurement results from the laser rangefinder 43 of the measurement unit 41 to determine the distance between the mounting origin position and the control reference position, and sets the determined distance as the reference distance L1 necessary for controlling the standard bucket 14 after replacement.

[0086] Furthermore, the calibration processing unit 51 uses the measurement results from the IMU 42 of the measurement unit 41 to identify the angle between the direction of the control reference position as seen from the mounting origin position and the direction of the rotation axis n1 of the upper rotating body 11, which is a predetermined axis set for the backhoe 1, and sets the identified angle as the reference angle D1 necessary for controlling the standard bucket 14 after replacement.

[0087] At this time, the calibration processing unit 51 uses the measurement results of gravitational acceleration by the IMU 42 to determine the reference angle D1. In this way, by utilizing gravitational acceleration, the reference for determining the reference angle D1 is uniquely determined regardless of the state of the backhoe 1, standard bucket 14, etc., thereby improving the accuracy of the determination of the reference angle D1.

[0088] Furthermore, the calibration processing unit 51 acquires information regarding the inclination angle Dg, which is the inclination state of the backhoe 1 with respect to the horizontal plane, and uses the acquired information to determine the reference angle D1. Therefore, when determining the reference angle D1, the influence of the placement state of the backhoe 1 at the construction site (such as the inclination of the backhoe 1) can be eliminated, thus improving the accuracy of the determination of the reference angle D1.

[0089] After identifying the reference distance L1 and reference angle D1 for the standard bucket 14 after replacement, the calibration processing unit 51 stores the identified reference distance L1 and reference angle D1 for the standard bucket 14 in association with identification information that allows the standard bucket 14 to be identified. This storage can be performed, for example, by accessing the PC 32 in the control system via the network communication unit 52. As a result, the PC 32 in the control system can monitor the tip position (control reference position) of the standard bucket 14 after replacement, based on the reference distance L1 and reference angle D1, and perform control such as machine guidance. Furthermore, by associating this with the identification information of the standard bucket 14, for example, when replacing with a standard bucket 14 of the same type, control such as machine guidance can be performed by utilizing the stored information without having to re-identify the reference distance L1 and reference angle D1.

[0090] If the correspondence between the measurement results of IMUs 46 and 47 is identified (see S104 in Figure 7), the calibration processing unit 51 stores the information identifying that correspondence, in the same way as the reference distance L1 and reference angle D1. As a result, the control system's PC 32 can derive the rotation angle of the standard bucket 14 after replacement from the measurement results of the angle sensor 24 attached to the idler arm 14c, based on the information identifying the correspondence (i.e., the correlation between each IMU 46 and 47) and the reference angle D1.

[0091] (Effects and Benefits) According to the first embodiment described above, a measuring device 40 is provided to measure the positional relationship between the mounting origin position of the movable work tool and the control reference position of the movable work tool. Using the measurement results from the measuring device 40 (in particular, the measurement results from the IMU 42 of the measuring unit 41), the angle between the direction of the control reference position as seen from the mounting origin position and the direction of the rotation axis n1 of the upper rotating body 11, which is a predetermined axis set for the backhoe 1, is identified, and this identified angle is set as the reference angle D1 necessary for controlling the movable work tool after replacement. Therefore, when replacing a movable work tool, the reference angle D1, which is the information necessary for controlling the movable work tool after replacement, can be calibrated simply and accurately. In other words, when a movable workpiece is replaced on a construction machine such as a backhoe 1 in which machine guidance is in operation, the reference angle D1 for measuring the control reference position of the replaced movable workpiece can be measured accurately and easily using the IMU 42, which functions as an angle sensor, allowing the machine guidance of that construction machine to continue operating. Furthermore, by performing calibration only on the movable work tools that are replaced as needed at the construction site, without having to recalibrate the entire construction machinery, the efficiency of work at construction sites can be improved.

[0092] Furthermore, according to the first embodiment, the reference angle D1 is determined using the measurement results of gravitational acceleration by the IMU42. By utilizing gravitational acceleration in this way, the reference for determining the reference angle D1 is uniquely determined regardless of the state of the backhoe 1 or movable work tools, thereby improving the accuracy of the determination of the reference angle D1.

[0093] Furthermore, according to the first embodiment, information regarding the inclination angle Dg, which is the inclination state of the backhoe 1 with respect to the horizontal plane, is acquired, and the reference angle D1 is determined using the acquired information. Therefore, when determining the reference angle D1, the influence of the arrangement state of the backhoe 1 at the construction site (such as the inclination of the backhoe 1) can be eliminated, thereby improving the accuracy of the determination of the reference angle D1.

[0094] Furthermore, according to the first embodiment, a measuring device 40 is provided to measure the positional relationship between the mounting origin position of the movable work tool and the control reference position of the movable work tool. The measurement results from the measuring device 40 (in particular, the measurement results from the laser distance meter 43 of the measuring unit 41) are used to determine the distance between the mounting origin position and the control reference position, and this determined distance is set as the reference distance L1 necessary for controlling the movable work tool after replacement. Therefore, when replacing a movable work tool, the reference distance L1, which is the information necessary for controlling the movable work tool after replacement, can be calibrated simply and accurately. In other words, when a movable workpiece is replaced on a construction machine such as a backhoe 1 in which machine guidance is in operation, the reference distance L1 for measuring the control reference position of the replaced movable workpiece can be measured accurately and easily using a laser rangefinder 43 that functions as a distance measuring device, and the machine guidance of that construction machine can continue to operate.

[0095] Furthermore, according to the first embodiment, the measuring device 40 is provided with a sensor plate 44 on which an IMU 42 and a laser distance meter 43 are mounted, and the relationship between the measurement axis direction of the IMU 42 (for example, the X axis direction) and the distance measurement direction of the laser distance meter 43 (i.e., the laser beam irradiation direction) is determined by the mounting positions of the IMU 42 and the laser distance meter 43 on the sensor plate 44. Therefore, when determining the reference angle D1 and the reference distance L1, by utilizing the positioning state of the IMU 42 and the laser distance meter 43 on the sensor plate 44, the complicated information processing required to determine the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser distance meter 43 can be omitted, and the information processing load for determining the reference angle D1 and the reference distance L1 can be reduced.

[0096] Furthermore, according to the first embodiment, the reference angle D1 and reference distance L1 identified for the replaced movable work tool are stored in association with the identification information of the movable work tool. Therefore, for the replaced movable work tool, the tip position (control reference position) can be monitored based on the reference angle D1 and reference distance L1, and control such as machine guidance can be performed. In addition, by associating it with the identification information of the movable work tool, for example, when replacing with a movable work tool of the same type, control such as machine guidance can be performed by utilizing the stored information without having to re-identify the reference angle D1 and reference distance L1.

[0097] Furthermore, according to the first embodiment, the correlation between the IMU 46 mounted on the movable work tool and the IMU 47 mounted on the idler arm 14c that operates in conjunction with the movable work tool is identified, and the rotation angle of the movable work tool is derived from the measurement results of the angle sensor 24 mounted on the idler arm 14c based on the identified correlation and the reference angle D1 identified for the movable work tool. Therefore, even if the distance between the movable work tool pin 14a and the movable work tool link pin 14b differs depending on the type of movable work tool, it becomes possible to appropriately grasp the correspondence between the rotation angle of the movable work tool and the rotation angle of the idler arm 14c, calibrate the information, and then perform control such as machine guidance.

[0098] <Second Embodiment> Next, a second embodiment of this disclosure will be described. Here, the differences from the first embodiment described above will be explained in particular.

[0099] In this embodiment, the arrangement of the IMU 42 and the laser rangefinder 43 on the sensor plate 44 of the measurement unit 41 differs from that of the first embodiment. Specifically, on the sensor plate 44 of the measurement unit 41, the IMU 42 and the laser rangefinder 43 are not positioned relative to each other as in the first embodiment, but rather are each positioned at arbitrary locations on the sensor plate 44.

[0100] In that case, since the positional relationship between the IMU 42 and the laser rangefinder 43 cannot be uniquely determined, the problem becomes how to determine the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser rangefinder 43 (i.e., the laser beam irradiation direction).

[0101] In this embodiment, prior to using the measurement unit 41 having the IMU 42 and the laser rangefinder 43, the measurement unit 41 is subjected to processing such as that described below.

[0102] First, the measurement unit 41 is set in a pre-prepared dedicated jig, for example. Then, using the functions of the jig, the measurement unit 41 (i.e., the IMU 42 and laser rangefinder 43 on the sensor plate 44) is rotated so that the laser beam of the laser rangefinder 43 becomes the center of rotation. The rotation axis of the IMU 42 identified by this rotation is defined as the X-axis of the IMU 42. This makes it possible to determine the positional relationship between the X-axis direction of the IMU 42 and the laser beam irradiation direction of the laser rangefinder 43 so that they coincide. The rotation axis of the IMU 42 can be identified, for example, using the technique disclosed in Japanese Patent No. 7161796.

[0103] Similarly, for example, the measurement unit 41 is rotated using the function of a jig so that the support axis of the sensor plate 44 (i.e., the center of rotation when mounted using the holder block 45) becomes the center of rotation. The rotation axis of the IMU 42 identified by this rotation is defined as the Z-axis of the IMU 42. The Z-axis identified in this way coincides with the rotation axis N. Here again, the rotation axis of the IMU 42 can be identified using, for example, the technique disclosed in Japanese Patent No. 7161796.

[0104] Once the X and Z axes are identified, the Y axis can be determined using equation (5) below.

[0105]

number

[0106] Then, the distance L0 is defined as the distance between the rotation axis N (Z axis) and the laser beam of the laser rangefinder 43, and the distance between the point on the laser beam that gives distance L0 and the measurement origin of the laser rangefinder 43 is used as the correction value for the measurement of the laser rangefinder 43.

[0107] The subsequent information processing is the same as in the first embodiment.

[0108] In other words, in the second embodiment, the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser distance meter 43 is determined based on the results of information processing using the measurement results from the IMU 42 and the laser distance meter 43. Therefore, even if the IMU 42 and the laser distance meter 43 are not positioned on the sensor plate 44, their relationship can be determined. In other words, while ensuring sufficient freedom and versatility in the placement of the IMU 42 and the laser distance meter 43 on the sensor plate 44, it is possible to determine the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser distance meter 43, and then determine the reference angle D1 and the reference distance L1.

[0109] Furthermore, in the second embodiment, in determining the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser distance meter 43, the measurement unit 41 is rotated, and the determination is made based on the rotation axis of the IMU 42 at that time. In other words, the relationship between the IMU 42 and the laser distance meter 43, which forms the basis for determining the reference angle D1 and the reference distance L1, is determined based on the rotation axis when the IMU 42 is rotated, making it possible to determine these accurately and simply.

[0110] <Third Embodiment> Next, a third embodiment of this disclosure will be described. Here again, the differences from the first and second embodiments described above will be the main points to be explained.

[0111] When determining the reference angle D1 and reference distance L1, at least a measuring unit 41 is provided and mounted around the movable tool pin 14a. However, if, for example, the measuring unit 41 is not mounted directly facing the movable tool pin 14a, that is, if the support axis of the sensor plate 44 in the measuring unit 41 does not coincide with the central axis of the movable tool pin 14a, then in such a case the irradiation position of the laser beam by the laser rangefinder 43 (i.e., the tip position of the movable tool) will deviate from the plane P (see Figure 8). In other words, the accuracy of determining the reference angle D1 and reference distance L1 may be adversely affected.

[0112] Therefore, in this embodiment, when determining the reference angle D1 and the reference distance L1, the following processing is performed, for example.

[0113] First, with the measurement unit 41 attached around the movable tool pin 14a (the measurement unit 41 does not need to be directly facing the movable tool pin 14a), the movable tool is rotated (see S103 in Figure 7), and the rotation axis N of the measurement unit 41 obtained by that rotation is determined from the measurement results of each IMU 42, 46, and 47 at that time.

[0114] At this time, the tip position of the movable work tool (i.e., the control reference position) is off the plane P, but if we define the direction of the tip position (i.e., the control reference position) as viewed from the position of the rotation axis N (i.e., the mounting origin position) in that state as direction X1', then this direction X1' can be determined by geometric calculation using the following equation (6).

[0115]

number

[0116] Furthermore, if we define distance L1' as the distance from the position of the rotation axis N (i.e., the mounting origin position) to the tip position of the movable work tool (i.e., the control reference position) in that state, then this distance L1' can be determined by geometric calculation using the following equation (6).

[0117]

number

[0118] Then, the direction X1' and distance L1' identified through this information processing are replaced with the direction X1 and distance L1 (see Figure 8) when a control reference position exists on plane P, respectively.

[0119] The subsequent information processing is the same as in the first or second embodiment.

[0120] In other words, in the third embodiment, the direction X1 and reference distance L1 that form the basis of the reference angle D1 are determined based on the axis of rotation obtained by rotating a movable work tool to which a measuring unit 41 having an IMU 42 and a laser distance meter 43 is attached. Therefore, even if, for example, the measuring unit 41 is not mounted facing the movable work tool pin 14a and the support axis of the sensor plate 44 does not coincide with the central axis of the movable work tool pin 14a, adverse effects on the accuracy of determining the reference angle D1 and reference distance L1 can be eliminated. In other words, adverse effects due to misalignment when the measuring unit 41 is mounted can be eliminated, and the determination of the reference angle D1 and reference distance L1 can be performed with high accuracy.

[0121] This also ensures sufficient flexibility in mounting the measurement unit 41, thereby improving convenience for workers who replace movable work tools and perform the associated information calibration.

[0122] <Other Embodiments> Although the first to third embodiments of the present invention have been described in detail above, the technical scope of this disclosure is not limited to the embodiments described above, and various modifications are possible without departing from the spirit thereof.

[0123] For example, although the embodiments described above mainly described the case where the movable workpiece is a standard bucket 14, this disclosure is not limited to this and can be applied in exactly the same way to various types of movable workpieces.

[0124] Furthermore, although the above embodiments were described using the backhoe 1 as an example, this disclosure is not limited to this and can be applied in exactly the same way to other civil engineering construction machinery such as bulldozers. Moreover, it is not limited to civil engineering construction machinery, but can be applied in exactly the same way to other types of machinery such as transport machinery, material handling machinery, foundation work machinery, drilling machinery, tunnel construction machinery, concrete machinery such as crushers, paving machinery, road maintenance machinery, etc.

[0125] Furthermore, while the components of the control system and information calibration system have been specifically described in the embodiments described above, this disclosure is not limited thereto, and the components and communication methods between them may be modified as appropriate.

[0126] Furthermore, while the embodiments described above have given examples where both the IMU 42 and the laser distance meter 43 are arranged on the sensor plate 44 of the measurement unit 41, this disclosure is not limited thereto. For example, instead of using the laser distance meter 43 to determine the reference distance L1, the measurement may be performed using a measuring tool such as a tape measure, and the measurement result may be input as data to the control device 50. In other words, while it is preferable to perform the determination using the measurement result from the measurement unit 41 for both the reference angle D1 and the reference distance L1, it is not necessarily limited thereto, and it is sufficient if it is performed for at least the reference angle D1. [Explanation of Symbols]

[0127] 1... Backhoe (construction machine), 14... Standard bucket (movable work tool), 14a... Movable work tool pin, 14b... Movable work tool link pin, 14c... Idler arm, 17... Slope bucket (movable work tool), 18... Breaker (movable work tool), 40... Measuring device, 41... Measuring unit, 42... IMU (angle sensor), 43... Laser rangefinder (distance measuring instrument), 44... Sensor plate, 45... Holder block, 46... IMU (angle sensor), 47... IMU (angle sensor), 48... USB hub, 50... Control device (tablet PC), 51... Calibration processing unit, 52... Network communication unit

Claims

1. An information calibration method for calibrating information necessary for controlling a movable work tool attached to and used in construction machinery, A measuring device is provided to measure the positional relationship between the mounting origin position of the movable work tool on the construction machine and the control reference position of the movable work tool. Using the measurement results from the aforementioned measuring device, at least the angle between the direction of the control reference position as seen from the mounting origin position and the predetermined axis direction set for the construction machine is identified, and this identified angle is set as the reference angle necessary for controlling the movable work tool. Information calibration method.

2. The aforementioned measuring device is equipped with an angle sensor. The reference angle is determined using the measurement results of gravitational acceleration by the angle sensor. The information calibration method according to claim 1.

3. Information regarding the inclination angle of the construction machine with respect to the horizontal plane is obtained, and the reference angle is determined using the obtained information. The information calibration method according to claim 2.

4. A measuring device equipped with a distance measuring instrument is provided. Using the measurement results from the distance measuring device, the distance between the mounting origin position and the control reference position is determined, and this determined distance is used as the reference distance necessary for controlling the movable work tool. The information calibration method according to claim 2 or 3.

5. The aforementioned measuring device is provided, which has a sensor plate on which the angle sensor and the distance measuring instrument are mounted. The relationship between the measurement axis direction of the angle sensor and the distance measuring device is determined by the mounting positions of the angle sensor and the distance measuring device on the sensor plate. The information calibration method according to claim 4.

6. The relationship between the measurement axis direction of the angle sensor and the distance measurement direction of the distance measuring device is determined based on the results of information processing using the measurement results from the angle sensor and the distance measuring device. The information calibration method according to claim 4.

7. The aforementioned reference angle is determined based on the axis of rotation when the angle sensor is rotated. The information calibration method according to claim 6.

8. The aforementioned reference angle is determined based on the rotation axis of the movable work tool to which the angle sensor is attached. The information calibration method according to claim 4.

9. The reference angle and reference distance identified for the movable work tool are stored in association with the identification information of the movable work tool. The information calibration method according to claim 4.

10. The correlation between the angle sensor attached to the movable work tool and the angle sensor attached to the non-replaceable member that operates in conjunction with the movable work tool is identified. Based on the identified correlation and the reference angle identified for the movable work tool, the rotation angle of the movable work tool is derived from the measurement results of the angle sensor attached to the non-replaceable member. The information calibration method according to claim 1.

11. An information calibration system for calibrating information necessary for controlling movable work tools used on construction machinery, A measuring device for measuring the positional relationship between the mounting origin position of the movable work tool on the construction machine and the control reference position of the movable work tool, The system includes a control device that performs predetermined information processing using the measurement results from the aforementioned measuring device, The control device, as part of its information processing, identifies at least the angle between the direction of the control reference position as viewed from the mounting origin position and the predetermined axis direction set for the construction machine, and sets the identified angle as the reference angle necessary for controlling the movable work tool. Information calibration system.

12. An information calibration program for calibrating information necessary for controlling movable work tools used on construction machinery, A computer is connected in a communication manner to a measuring device that measures the positional relationship between the origin position of the movable work tool attached to the construction machine and the control reference position of the movable work tool. Using the measurement results from the measuring device, the device will perform a process to identify at least the angle between the direction of the control reference position as seen from the mounting origin position and the predetermined axis direction set for the construction machine, and to set the identified angle as the reference angle necessary for controlling the movable work tool. Information calibration program.

Images