Construction machinery

Abstract

To provide a construction machine improved in calibration accuracy of a machine guidance system or a machine control system.SOLUTION: A controller 20 determines whether or not a work machine 1 is stabilized, on the basis of an attitude of the work machine 1 detected by attitude detection devices 14-16 during prescribed time after an instruction is given to calibrate conversion parameters (fitting angle Δθ, link length L) for converting the attitude of the work machine 1 to the coordinate of a first prescribed position (bucket claw tip position) of the work machine 1. When the work machine 1 is determined to be stabilized, the updated values of the conversion parameters are calculated, on the basis of the attitude of the work machine 1 detected by the attitude detection devices 14-16 during the prescribed time and the coordinate of a second prescribed position (pin positions p0, p1, p2) of the work machine 1 measured by an exterior measuring device 50 after the calibration of the conversion parameters is instructed.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] In response to the trend toward information-based construction, hydraulic excavators have been developed that have machine guidance functions that display the position and posture of working mechanisms such as booms, arms, and buckets to the operator, as well as machine control functions that control the position of working mechanisms so that they move along the target construction surface.

[0003] Using the coordinates of the vehicle at the construction site to provide work support for machine guidance and machine control is called three-dimensional information-based construction (3D information-based construction). Construction machinery that supports this 3D information-based construction is equipped with a Global Navigation Satellite System (GNSS) to acquire its own position. For construction machinery with front-mounted implements, such as hydraulic excavators, not only the vehicle's position but also the direction (azimuth) that the implement is facing is necessary for work support, so construction machinery equipped with two GNSS antennas on the upper rotating body is well known.

[0004] Machine guidance systems provide various information to the operator so that the bucket tip position (toe position) moves along the construction target surface, so not only the vehicle's position but also the posture information of the front work implement is important. For this reason, some kind of sensor is installed to obtain the angles of the boom, arm, and bucket. An IMU (Inertial Measurement Unit) sensor is often selected for this angle sensor due to its ease of installation and responsiveness.

[0005] The machine guidance system calculates the toe position of the excavator using the tilt angle of each component of the front work equipment (boom, arm, bucket), but the IMU sensor acquires its own tilt angle. Therefore, the "mounting angle," which indicates how rotated the IMU sensor is attached to each component, is used to convert the IMU sensor's tilt angle into the tilt angle of each component. Because the accuracy of the tilt angle of each component affects the accuracy of the calculation of the toe coordinate, it is necessary to acquire the mounting angle accurately. The process of updating the parameters required for calculating the toe coordinate to accurate values ​​is called calibration. Patent Document 1 is a prior art document that discloses a method for calibrating the mounting angle. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-181340 Summary of the Invention [Problem to be solved by the invention]

[0007] Patent Document 1 presents a method for calculating the mounting angle by acquiring the coordinates of the connecting part (center of the pivot pin), which is the center of rotation of each component, using an external measuring device (total station), and comparing the tilt angle of each component calculated from each coordinate with the tilt angle output by an inclination sensor (IMU sensor).

[0008] For example, to obtain the mounting angle of an IMU sensor attached to a boom, the coordinates (x0, y0, z0) of the boom foot pin position p0 and the coordinates (x1, y1, z1) of the boom tip pin position p1 are obtained using a total station. Assuming that the front implement is installed parallel to the coordinate axis X of the total station (i.e., y0 = y1 holds), the boom angle θBM-TS is given by equation 1.

[0009]

number

[0010] In parallel with this work, by recording the angle θBM-IMU output by the IMU sensor, the mounting angle ΔθBM can be calculated using equation 2.

[0011]

number

[0012] A total station cannot acquire all coordinates simultaneously, but instead measures the coordinates one point at a time, which means that if the position of the hydraulic excavator changes when acquiring each coordinate, it may not be possible to calculate the installation angle correctly. For example, suppose work is performed in three steps: [1] acquire the coordinates of boom foot pin position p0, [2] acquire angle information from the IMU sensor, and [3] acquire the coordinates of boom tip pin position p1. In this work, if the coordinates of boom tip pin position p1 change from (x1, y1, z1) to (x1 + δx, y1, z1 + δz) during work [2] to [3], the boom angle θBM-TS will be as shown in Equation 3.

[0013]

number

[0014] Because the angle θBM-TS calculated by Equation 1 and Equation 3 differ, the mounting angle ΔθBM will also be calculated as a different value. In other words, if the posture of the front implement changes during the calibration work, there is a possibility that the mounting angle will not be obtained correctly.

[0015] Naturally, when performing calibration work, caution is given to not operate the lever to prevent posture changes, but posture changes in the front work implement can occur even if the operator does not intentionally operate the lever.

[0016] For example, because the front work equipment is driven by a hydraulic cylinder, temperature changes that cause the pressure oil to expand and contract, resulting in a change in cylinder length and resulting in a change in posture. Additionally, a decrease in cylinder bottom pressure or rod pressure due to a pressure oil leak can also cause the cylinder length to change. Even if the cylinder length does not change, if the hydraulic excavator is installed on soft soil, its own weight can cause it to sink into the ground. When this sinking occurs, the coordinates measured by the total station change, making it impossible to accurately obtain the mounting angle, which can lead to reduced calibration accuracy.

[0017] The present invention has been made in view of the above-mentioned problems, and its object is to provide a construction machine that can improve the calibration accuracy of a machine guidance system or a machine control system. [Means for solving the problem]

[0018] In order to achieve the above object, the present invention provides a construction machine comprising a lower traveling body, an upper rotating body rotatably attached to the lower traveling body, an articulated work machine rotatably attached to the upper rotating body, an attitude detection device attached to the work machine, and a controller that converts the attitude of the work machine detected by the attitude detection device into coordinates of a first predetermined position of the work machine using predetermined conversion parameters, wherein the controller calculates and calibrates an updated value of the conversion parameter based on the attitude of the work machine detected by the attitude detection device and the coordinate of a second predetermined position of the work machine measured by an external measurement device, wherein the controller determines whether the work machine is statically settled based on the attitude of the work machine detected by the attitude detection device within a predetermined time after an instruction to calibrate the conversion parameter is given, and if it is determined that the work machine is statically settled, calculates an updated value of the conversion parameter based on the attitude of the work machine detected by the attitude detection device within the predetermined time and the coordinate of the second predetermined position measured by the external measurement device after an instruction to calibrate the conversion parameter is given.

[0019] According to the present invention configured as described above, the conversion parameters for converting the attitude of the work machine into the coordinates of the first predetermined position of the work machine are updated using the attitude and coordinates of the work machine acquired when the work machine is statically determined, thereby making it possible to improve the calibration accuracy of the machine guidance system or machine control system. [Effects of the Invention]

[0020] According to the construction machine of the present invention, it is possible to improve the calibration accuracy of the machine guidance system or the machine control system. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a diagram schematically illustrating the appearance of a hydraulic excavator according to a first embodiment of the present invention. [Figure 2] FIG. 1 is a diagram schematically illustrating a part of the processing functions of a controller according to a first embodiment of the present invention. [Figure 3] Functional block diagram of a controller according to a first embodiment of the present invention. [Figure 4] An example of what is displayed on the monitor during calibration [Figure 5] A diagram showing an example of IMU data recorded in the attitude detection result recording unit. [Figure 6] 1 is a flowchart showing the processing of a calibration execution unit in a first embodiment of the present invention. [Figure 7] Functional block diagram of a controller according to a second embodiment of the present invention. [Figure 8] 10 is a flowchart showing the processing of a calibration execution unit in a second embodiment of the present invention. [Figure 9] A diagram explaining the influence of coordinate axes set by an external measurement device on coordinate measurement. [Figure 10] A diagram showing an example of posture when performing calibration [Figure 11] Functional block diagram of a controller in a modified example of the third embodiment of the present invention. [Figure 12]FIG. 10 is a diagram showing an image of data recorded in a controller in a third embodiment of the present invention. [Figure 13] 10 is a flowchart showing the processing of a calibration execution unit in a third embodiment of the present invention. [Figure 14] Functional block diagram of a controller according to a fourth embodiment of the present invention. [Figure 15] 10 is a flowchart showing the processing of a calibration execution unit in the fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, a hydraulic excavator will be described as an example of a construction machine according to an embodiment of the present invention with reference to the drawings. In each drawing, the same reference numerals are used to designate the same components, and redundant description will be omitted where appropriate. [Example]

[0023] Fig. 1 is a diagram showing a schematic view of the exterior of a hydraulic excavator according to a first embodiment of the present invention. In Fig. 1, the hydraulic excavator 100 comprises an articulated front working machine 1 formed by connecting a plurality of front members (a boom 4, an arm 5, and a bucket (work implement) 6) that each rotate in the vertical direction, and an upper rotating body 2 and a lower traveling body 3 that form the vehicle body. The upper rotating body 2 is provided so as to be able to rotate relative to the lower traveling body 3.

[0024] The base end of a boom 4 of the front working implement 1 is supported on the front part of the upper rotating structure 2 so as to be rotatable in the vertical direction, one end of an arm 5 is supported on the other end (tip) of the boom 4 so as to be rotatable in the vertical direction, and a bucket 6 is supported on the other end (tip) of the arm 5 so as to be rotatable in the vertical direction. The boom 4 rotates around a boom foot pin 4b (shown in FIG. 2), the arm 5 rotates around an arm pin (boom tip pin) 5b, and the bucket 6 rotates around a bucket pin 6b. The boom 4, arm 5, bucket 6, upper rotating structure 2, and lower traveling structure 3 are driven by hydraulic actuators: a boom cylinder 4a, an arm cylinder 5a, a bucket cylinder 6a, a swing motor (not shown), and left and right traveling motors 3a (only one of which is shown), respectively.

[0025] The operator's cab 9 is provided with control levers 9a and 9b that output operation signals for operating the hydraulic actuators 2a to 6a. The control levers 9a and 9b can be tilted in the forward / backward and left / right directions, and each direction is assigned to operate the hydraulic actuators 2a to 6a. The control levers 9a and 9b include a detection device (not shown) that electrically detects the amount of tilt of the lever (lever operation amount), which is an operation signal, and outputs the lever operation amount detected by the detection device to a controller 20, which is a control device, via electrical wiring.

[0026] The operation of the boom cylinder 4a, arm cylinder 5a, bucket cylinder 6a, swing motor 2a, and left and right travel motors 3a is controlled by a control valve 8 that controls the direction and flow rate of hydraulic oil supplied to each of the hydraulic actuators 2a to 6a from a hydraulic pump unit 7 driven by a prime mover such as an engine or an electric motor. The control valve 8 is operated by a drive signal (pilot pressure) output from a pilot pump (not shown) via an electromagnetic proportional valve. The operation of each of the hydraulic actuators 2a to 6a is controlled by a controller 20 that controls the electromagnetic proportional valve based on an operation signal from operation levers 9a and 9b. The operation levers 9a and 9b may be hydraulically piloted. In this case, the operation levers 9a and 9b include a pilot valve (not shown) that outputs a pilot pressure corresponding to the amount of lever operation, and the control valve 8 is operated by the pilot pressure output from the pilot valve.

[0027] An inertial measurement unit (IMU) 13 is disposed on the upper rotating body 2 as an attitude sensor. The IMU 13 measures angular velocity and acceleration and constitutes an attitude detection device. When the upper rotating body 2 on which the IMU 13 is disposed is stationary, the forward / backward tilt (pitch angle) and the left / right tilt (roll angle) of the upper rotating body 2 can be calculated based on the direction of gravitational acceleration (vertical downward direction) in the IMU coordinate system set in the IMU 13 and the mounting state of the IMU 13 (the relative positional relationship between the IMU 13 and the upper rotating body 2). The IMU has a built-in angular velocity sensor, which allows the rotation angle (yaw angle) of the upper rotating body 2 to be calculated by integrating the angular velocity. However, it should be noted that it is not easy to accurately calculate the rotation angle due to steady-state errors (gyro bias) of the angular velocity sensor. In this embodiment, it is assumed that the inertial measurement unit is equipped with the tilt (angle) calculation function described above. However, if the inertial measurement unit does not have the angle calculation function, the angle calculation function can be implemented in the controller 20 described below.

[0028] Two GNSS antennas 17a and 17b are also attached to the upper rotating body 2. Satellite signals received by each GNSS antenna are input to a GNSS receiver 17c (shown in FIG. 2) and used for various positioning calculations such as calculating antenna coordinates and azimuth angles. The GNSS antennas 17a and 17b and the GNSS receiver 17c form a position information detection device 17 (shown in FIG. 3).

[0029] The GNSS receiver 17c performs RTK (Real Time Kinematic) positioning of location information by connecting via wireless communication to a GNSS fixed station installed on-site. If there is no GNSS fixed station on-site, network-based RTK, which obtains information from electronic reference stations via the Internet, may be used. Hereinafter, it is assumed that the GNSS receiver 17c is capable of performing RTK positioning, regardless of whether there is a fixed station on-site.

[0030] Inertial measurement units 14 to 16 are installed at appropriate positions on the boom 4, arm 5, and bucket 6, which are components of the front work implement 1, to measure their respective attitudes. Like the inertial measurement unit 13 attached to the upper rotating body 2, the inertial measurement units 14 to 16 also constitute attitude detection devices. Hereinafter, to distinguish between the inertial measurement units 13 to 16, they will be referred to as the vehicle body IMU 13, boom IMU 14, arm IMU 15, and bucket IMU 16, as appropriate, depending on their installation locations. Note that the bucket IMU 16 may be installed not on the bucket 6, but on a link member (bucket link) 18 that rotates in conjunction with the bucket 6. If an IMU is installed on the bucket link 18, the tilt of the bucket link 18 can be converted to the tilt of the bucket 6 by utilizing a geometric relationship.

[0031] FIG. 2 is a diagram schematically illustrating the processing functions of a controller 20 mounted on the hydraulic excavator 100. In FIG. 2, the controller 20 has various functions for controlling the operation of the hydraulic excavator 100, including a positioning calculation unit 21, a monitor display control unit 22, a hydraulic system control unit 23, a construction target surface calculation unit 24, and a calibration execution unit 25. Although FIG. 2 illustrates the processing functions 21 to 25 as being executed by a single controller, each processing function may be executed by multiple controllers. For example, if the hydraulic excavator 100 is equipped with five controllers, each processing function 21 to 25 may be executed by a separate controller. Furthermore, the calibration execution unit 25 does not have to be implemented in the controller 20 mounted on the hydraulic excavator 100, but may be implemented in a separate terminal.

[0032] The positioning calculation unit 21 performs attitude calculation processing to calculate the coordinates and direction of the hydraulic excavator 100 within the work site and the attitude of the front work implement 1 based on the position information calculated by the GNSS receiver 17c and the detection results of the inertial measurement units 13 to 16. In order for the positioning calculation unit 21 to calculate the attitude of the work implement 1, it is necessary to use various dimensions of the hydraulic excavator 100 (link lengths, described below) and sensor mounting information (mounting angles) as conversion parameters. The process of updating these conversion parameters with accurate values ​​(hereinafter referred to as updated values) is called proofreading or calibration. Calculations related to this calibration are executed by a calibration execution unit 25.

[0033] The monitor display control unit 22 controls the display on the monitor 30 (shown in FIG. 4) provided in the operator's cab 9, and calculates operation support instructions for the operator based on the construction target surface calculated by the construction target surface calculation unit 24 and the attitude of the front work implement 1 calculated by the positioning calculation unit 21, and displays them on the monitor 30. In other words, the monitor display control unit 22 performs part of the function of a machine guidance system that supports the operator's operation by displaying, for example, the attitude of the front work implement 1 having driven members such as the boom 4, arm 5, and bucket 6, and the tip position and angle of the bucket 6 on the monitor 30. The monitor 30 is not simply a display device, and it is desirable to replace it with a tablet terminal equipped with a touch panel and use it as an input device. The following description will be given assuming that the monitor 30 is configured as a tablet terminal.

[0034] The hydraulic system control unit 23 controls the hydraulic system of the hydraulic excavator 100, which is made up of the hydraulic pump unit 7, control valve 8, hydraulic actuators 2a to 6a, etc., and calculates the movement of the front working implement 1 based on the construction target surface calculated by the construction target surface calculation unit 24 and the attitude of the front working implement 1 calculated by the positioning calculation unit 21, and controls the hydraulic system of the hydraulic excavator 100 to realize that movement. In other words, the hydraulic system control unit 23 performs part of the function of a machine control system, for example, by limiting the movement so that the tip of the bucket 6 does not come closer than a certain amount to the target construction surface, and by controlling the tip position of the bucket 6 to move along the target construction surface.

[0035] The construction target surface calculation unit 24 calculates a construction target surface that defines the target shape of the construction object, based on construction information such as three-dimensional construction drawings that have been stored in advance in the storage device 40 by the construction manager, and the position information and attitude information of the hydraulic excavator 100 calculated by the positioning calculation unit 21. The monitor display control unit 22 and the construction target surface calculation unit 24 constitute a machine guidance system, and the hydraulic system control unit 23 and the construction target surface calculation unit 24 constitute a machine control system.

[0036] The calibration execution unit 25 calculates various parameters (specifically, various dimensions of the hydraulic excavator and the mounting angle of the IMU sensor) using data acquired by the attitude detection devices 13 to 16 and data acquired by the external measurement device 50. The calculated parameters are used by the positioning calculation unit 21 and the monitor display control unit 22.

[0037] Fig. 3 is a functional block diagram of the controller 20. To simplify the explanation, some of the functions shown in Fig. 2 (other than the positioning calculation unit 21, the monitor display control unit 22, and the calibration execution unit 25) are omitted from Fig. 3.

[0038] The calibration execution unit 25 in this embodiment is made up of a posture detection result recording unit 25a, a posture information change detection unit 25b, an external measurement result recording unit 25c, a calibration value calculation unit 25d, and a calibration result recording unit 25e.

[0039] The attitude detection result recording unit 25a records the detection information output by the attitude detection devices 13 to 16. The timing to start and end recording of the detection information can be changed arbitrarily, and the start and end of recording are controlled by instructions from the operator or controller 20 during the calibration work.

[0040] An example of the timing of starting and ending recording when recording is started at the instruction of the operator will be described with reference to Fig. 4. Fig. 4 shows an example of the content displayed on the monitor 30 when calibration is being performed. The operator performs operations in accordance with the instructions displayed on the monitor 30. Here, calibration of the boom 4 will be described as an example, but the same applies to other components (arm 5, bucket 6).

[0041] First, at the start of calibration, as shown in FIG. 4(a), an instruction is displayed on the monitor 30 to prompt the operator to confirm that the hydraulic excavator 100 has assumed the posture for performing calibration. When the operator determines that the posture of the hydraulic excavator 100 has been adjusted to that shown in FIG. 4(a), the operator taps "Yes" on the screen. The attitude detection result recording unit 25a starts recording data from the boom IMU 14, triggered by the tapping of "Yes." Thereafter, as shown in FIG. 4(b), an instruction for positions p0 and p1 whose coordinates should be acquired by the external measurement device 50 is displayed on the monitor 30. After the operator acquires the coordinates of positions p0 and p1 displayed on the monitor using the external measurement device 50, the operator taps "Yes" on the screen. In synchronization with this tap, the attitude detection result recording unit 25a stops recording data from the boom IMU 14.

[0042] In addition, if the external measurement device 50, the controller 20, and the monitor 30 are configured to be able to exchange information with each other, the tap of "Yes" may be automatically performed when the coordinates of the pin positions p0 and p1 in FIG. 4B are acquired by the external measurement device 50. In other words, the posture detection result recording unit 25a may start recording data at the same time as the coordinate of the pin position p0 is acquired by the external measurement device 50, and the posture detection result recording unit 25a may end recording data at the same time as the coordinate of the pin position p1 is acquired by the external measurement device 50. This function is executed by referencing the coordinate data recorded in the external measurement result recording unit 25c, which will be described later. In addition, the posture detection result recording unit 25a may directly record the data output by the IMU sensor at a sampling period (e.g., 10 ms), or may record data every 100 ms by thinning out the data output by the IMU at regular intervals to save storage capacity.

[0043] The attitude information change detection unit 25b analyzes the IMU data recorded in the attitude detection result recording unit 25a and confirms that no attitude change has occurred in the front working implement 1 when calibration is performed in the attitude shown in Fig. 4(a). A method for determining whether or not there has been an attitude change based on the acquired IMU data will be described with reference to Fig. 5.

[0044] 5(a) shows an example of IMU data recorded in the attitude detection result recording unit 25a when there is no change in the attitude of the front working implement 1. The black dots in the figure represent data acquired at each time.

[0045] The output of the IMU sensor is always subject to variation due to the influence of various noises and engine vibrations. For this reason, the output of the IMU sensor can change even when there is no change in attitude. To prevent this variation from being erroneously determined as a "change in attitude," a tolerance is set for the data at each time relative to the initial value or the average value of all the data, and it is determined that there is no change in attitude unless there is data that deviates from this tolerance range. This tolerance range can be set by referring to the sensor accuracy stated in the IMU sensor specifications, or by using the variance value σ obtained by analyzing IMU data acquired in a state where the bucket tip is placed on the ground (preferably a surface plate) as shown in Figure 5(b) to prevent any change in attitude of the front work implement 1. 2 The range of ±3σ may be used to set the tolerance range.

[0046] FIG. 5(c) shows an example of IMU data recorded in the attitude detection result recording unit 25a when the attitude of the front work implement 1 has changed. As mentioned above, the acquired data deviates from the set tolerance range. By making such a determination, it is possible to detect the change in attitude while acquiring the coordinates of the pin positions p0 and p1 shown in FIG. 4(b). IMU sensors generally used for machine guidance have an angle detection accuracy of about 0.1 to 0.3 degrees, making it possible to detect even slight changes in the attitude of the front work implement 1.

[0047] The external measurement result recording unit 25c records the coordinate data acquired by the external measurement device 50 in a storage area within the controller 20. The coordinate data is coordinates (x, y, z) in a three-dimensional space.

[0048] The calibration value calculation unit 25d calculates the conversion parameters using the IMU data recorded in the attitude detection result recording unit 25a and the coordinate data recorded in the external measurement result recording unit 25c. Since the IMU data recorded in the attitude detection result recording unit 25a has variations, an averaging process such as that shown in Equation 4 is performed to suppress the influence of the variations.

[0049]

number

[0050] In addition, θi in the formula 4 indicates the IMU data recorded in the sampling step i, and N indicates the number of IMU data recorded in the attitude detection result recording unit 25a.

[0051] Meanwhile, if the coordinates of boom foot pin position p0 in FIG. 4(b), which are recorded in the external measurement result recording unit 25c, are (x0, y0, z0), and the coordinates of boom tip pin position p1 are (x1, y1, z1), then the angle θBM-TS of the boom 4 can be calculated from equation 1. Then, using equations 1 and 4, the mounting angle ΔθBM of the boom IMU 14 can be calculated from equation 5, which is modeled after equation 2.

[0052]

number

[0053] Furthermore, by using the coordinate data recorded in the external measurement result recording unit 25c, the link length LBM of the boom 4 is given by equation (6).

[0054]

number

[0055] As described above, the formulas 1 and 5 are valid only when there is no change in the posture of the front working implement 1. Therefore, it is desirable that the calibration value calculation unit 25d be executed only when no posture change is detected by the posture information change detection unit 25b.

[0056] The calibration result recording unit 25e records the mounting angle Δθ and link length L calculated by the calibration value calculation unit 25d. When a posture change is detected by the posture information change detection unit 25b, the calculation by the calibration value calculation unit 25d is not executed, and therefore neither the mounting angle Δθ nor the link length L is recorded. The mounting angle Δθ and link length L recorded in the calibration result recording unit 25e are reflected in the posture calculation by the positioning calculation unit 21 and in the drawing of the hydraulic excavator 100 by the monitor display control unit 22.

[0057] Fig. 6 is a flowchart showing the processing of the calibration execution unit 25. The processing shown in Fig. 6 is carried out for each member (boom 4, arm 5, bucket 6) of the front attachment 1. Each step will be explained below in order.

[0058] First, in step FC101, the operator is instructed to create a predetermined posture for when calibration is performed. In this embodiment, the monitor display control unit 22 displays the posture for when calibration is performed (an example is shown in FIG. 4(a)) on the monitor 30. The operator aligns the posture of the front attachment 1 with the calibration posture displayed on the monitor 30.

[0059] Following step FC101, in step FC102, confirmation is made with the operator as to whether or not the posture preparation of the front working implement 1 has been completed. If the operator determines that posture preparation has been completed and taps "Yes" on the monitor 30 shown in Fig. 4(a), the result of step FC102 is YES, and the process proceeds to step FC103. Until posture preparation is completed, the result of step FC102 is NO, and the process proceeds to step FC101.

[0060] In step FC103, the recording of IMU data is started. This process is executed by the attitude detection result recording unit 25a. After the recording of IMU data is started, the process proceeds to step FC104.

[0061] In step FC104, coordinate measurement and recording are performed by the external measuring device 50. This process is executed by the external measurement result recording unit 25c. Until the necessary coordinate data is acquired, the result of the determination in step FC105 is NO, and the operator continues measurement by the external measuring device 50. When the necessary coordinate data is acquired, the result of the determination in step FC105 is YES, and the process proceeds to step FC106.

[0062] In step FC106, the recording of the IMU data is completed. This process is also executed by the posture detection result recording unit 25a. After the recording of the IMU data is completed, the process proceeds to step FC107.

[0063] In step FC107, the recorded IMU data is processed, and in step FC108, it is determined whether or not there has been a change in the attitude of the work machine 1. If there has been no change in attitude, the determination in step FC108 is YES, and the process proceeds to step FC109. The processes of steps FC107 and FC108 are executed by the attitude information change detection unit 25b.

[0064] In step FC109, the conversion parameters (mounting angle Δθ, link length L) are calculated using the recorded IMU data and coordinate data. This process is executed by the calibration value calculation unit 25d. Once the conversion parameters have been calculated, the process proceeds to step FC110.

[0065] In step FC110, the calculated conversion parameters are recorded in the memory of the controller 20. This process is executed by the calibration result recording unit 25e.

[0066] If it is determined in step FC108 that there is a change in posture (NO), the recorded IMU data and coordinate data are not suitable for calculating the transformation parameters, and therefore the flow ends without calculating the transformation parameters.

[0067] (summary) In this embodiment, the system includes a lower traveling body 3, an upper rotating body 2 rotatably attached to the lower traveling body 3, an articulated working machine 1 rotatably attached to the upper rotating body 2, attitude detection devices 14 to 16 attached to the working machine 1, and a controller 20 that converts the attitude of the working machine 1 detected by the attitude detection devices 14 to 16 into coordinates of a first predetermined position (bucket tip position) of the working machine 1 using predetermined conversion parameters (mounting angle Δθ, link length L), and the controller 20 converts the attitude of the working machine 1 detected by the attitude detection devices 14 to 16 into coordinates of a second predetermined position (pin positions p0, p1, p2) of the working machine 1 measured by an external measurement device 50, In a hydraulic excavator (construction machine) 100 that calculates and calibrates the updated values ​​of the conversion parameters, the controller 20 determines whether the work machine 1 is statically determined based on the attitude of the work machine 1 detected by the attitude detection devices 14 to 16 during a predetermined time (steps FC103 to FC106) after an instruction to calibrate the conversion parameters is given, and if it is determined that the work machine 1 is statically determined, calculates the updated values ​​of the conversion parameters based on the attitude of the work machine 1 detected by the attitude detection devices 14 to 16 during the predetermined time and the coordinates of the second predetermined position measured by the external measuring device 50 after an instruction to calibrate the conversion parameters is given.

[0068] According to this embodiment configured as described above, the posture and coordinates of the work machine 1 acquired when the work machine 1 is statically determined are used to update the conversion parameters (mounting angle Δθ, link length L) for converting the posture of the work machine 1 into coordinates of the first predetermined position (bucket toe position) of the work machine 1. This makes it possible to improve the calibration accuracy of a machine guidance system or machine control system that has a function for calculating the coordinates of the first predetermined position (bucket toe position) of the work machine 1. [Example]

[0069] A second embodiment of the present invention will be described, focusing on the differences from the first embodiment. Fig. 7 is a functional block diagram of the controller 20 in this embodiment. In Fig. 7, the difference from the first embodiment (shown in Fig. 3) is that a recalibration notification unit 25f is added to the calibration execution unit 25. The recalibration notification unit 25f instructs the monitor display control unit 22 to display information on the monitor 30 prompting recalibration when the posture information change detection unit 25b determines that a posture change has occurred.

[0070] Fig. 8 is a flowchart showing the processing of the calibration execution unit 25 in this embodiment. In Fig. 8, steps FC201 to FC210 are the same processing as steps FC101 to FC110 in the first embodiment. The difference from the first embodiment (shown in Fig. 6) is that step FC211 has been added. If it is determined in step FC208 that there has been a change in the posture of the front working implement 1 (YES), information prompting recalibration is notified to the operator in step FC211, and the flow ends. This processing is executed by the recalibration notification unit 25f.

[0071] (summary) The hydraulic excavator (construction machine) 100 in this embodiment is equipped with a monitor (alarm device) 30 that can output information input from the controller 20, and if the controller 20 determines that the front working implement 1 is not statically settled when calibrating the conversion parameters, it outputs information to the monitor (alarm device) 30 prompting recalibration.

[0072] According to this embodiment configured as described above, if the posture of the front attachment 1 changes during calibration, the operator can quickly redo the calibration. [Example]

[0073] A third embodiment of the present invention will be described, focusing on differences from the first embodiment. In the first embodiment, a prerequisite is that the coordinate axes of the external measuring device 50 are the same as those of the front working implement 1 (i.e., there is no change in the Y coordinate between measuring pin position p0 and measuring pin position p1). This prerequisite is practical because the coordinate axes of the external measuring device 50 can be freely set. However, if the operator makes an error in setting the coordinate axes, this prerequisite will no longer be met. Furthermore, in the first embodiment, the conversion parameters are calculated using data from the external measuring device 50 acquired in a single orientation. However, if the measurement by the external measuring device 50 fails (for example, if the target cannot be aimed at the correct coordinate position or if the target attached to the pin position is misaligned), the correct calculation cannot be performed. This embodiment adds a function to verify whether the coordinate axis settings are correct and a function to verify whether the coordinates acquired by the external measuring device 50 are appropriate.

[0074] FIG. 9 is a diagram (bird's-eye view) of the hydraulic excavator 100 seen from above, and is a diagram for explaining the influence that the coordinate axes set by the external measuring device 50 have on coordinate measurement.

[0075] Fig. 9(a) shows an ideal state in which the X coordinate of the external measuring device 50 is set parallel to the direction of the front working implement 1. In contrast to this, Fig. 9(b) shows a state in which the coordinate axes X', Y', Z are set rotated clockwise relative to the front working implement 1.

[0076] In the state of Figure 9(a), the line connecting the boom foot pin position p0 and the boom tip pin position p1 is parallel to the X-axis, so it is possible to calculate the angle θBM-TS of the boom IMU 14 using equation 1. However, in the state of Figure 9(b), the line connecting the boom foot pin position p0 and the boom tip pin position p1 is not parallel to the X'-axis, so it is not possible to use equation 1.

[0077] Such undesirable coordinate axis settings can be detected by checking the Y coordinates of the boom foot pin position p0 and the boom tip pin position p1. Specifically, if the Y coordinate (y0) of the boom foot pin position p0 and the Y coordinate (y1) of the boom tip pin position p1 are not equal, it can be determined that the coordinate axes are inappropriate.

[0078] Furthermore, if the Y axis of the external measuring device 50 is set so that it is perpendicular to the rotation plane of the front work implement 1, the Y coordinate of pin positions p1 and p2 (non-rotation center positions of the boom 4) will not change even if the attitude of the boom 4 is changed. Therefore, if the amount of change in the Y coordinate of pin positions p1 and p2 obtained in multiple different attitudes exceeds a threshold, it can be determined that the setting of the coordinate axes is inappropriate. If the allowable rotation angle of the coordinate axes is φ (for example, 0.5 degrees), the allowable change ΔY in the Y coordinate of boom tip pin position p1 is given by equation 7.

[0079]

number

[0080] When determining whether the coordinate axis settings are correct, it is desirable to measure the coordinates in multiple orientations that result in as large a change in the Y coordinate as possible. Therefore, multiple orientations are specified that result in as large a change in the X coordinate of the pin being measured. For example, when the boom 4 is the target of calibration, coordinate measurement is performed by the external measurement device 50 in two orientations: one in which the boom 4 is lowered as far as possible (shown in FIG. 10(a)), and one in which the boom 4 is raised as far as possible (shown in FIG. 10(b)).

[0081] Fig. 11 is a functional block diagram of the controller 20 in this embodiment. The difference between Fig. 11 and the first embodiment (shown in Fig. 3) is that an external measurement result analysis unit 25g is added to the calibration execution unit 25, and a function of notifying recalibration in accordance with the analysis result of the external measurement result analysis unit 25g is added to the recalibration notification unit 25f.

[0082] In this embodiment, data is acquired in multiple postures, so the conversion parameters (mounting angle Δθ, link length L) can be calculated multiple times. Therefore, the posture detection result recording unit 25a and the posture information change detection unit 25b record data in each posture and determine whether or not there is a posture change, respectively. Note that data acquired while the posture is being changed is not used for calibration.

[0083] The external measurement result recording unit 25c records the coordinates of each pin position p0, p1, p2 acquired in each orientation. An image of the data recorded in the controller 20 when data acquisition is performed in two orientations is shown in Figure 12. The external measurement result recording unit 25c records the coordinate data of positions p1, p2 measured in each orientation, and the orientation detection result recording unit 20e1 records the angle data continuously recorded in each orientation. The number of data N stored in the orientation detection result recording unit 25a varies depending on the time taken for the calibration work.

[0084] The external measurement result analysis unit 25g analyzes the coordinate data recorded in the external measurement result recording unit 25c, and verifies the validity of the coordinate axes and the acquired data.

[0085] First, whether the coordinate axes are set correctly can be determined by whether the condition (Equation 8) that the amount of change in the Y coordinates of the pin positions p1 and p2 is less than or equal to a threshold value Th (for example, the measurement accuracy of the external measurement device 50) is met.

[0086]

number

[0087] If any of the formulas (8) is not satisfied, it is determined that the coordinate axes of the external measurement device 50 are inappropriate. Although it is possible to determine the coordinate axes using only the Y coordinate of one of the pin positions p1 and p2, the accuracy of the determination can be improved by using the Y coordinates of the two pin positions p1 and p2, as in formula (8).

[0088] Next, a method for confirming the validity of each coordinate will be described. First, when multiple orientations are specified, it is assumed that there is a position that does not change across these multiple orientations. For example, when calibrating the boom 4, if multiple orientations are created by manipulating only the boom 4, the boom foot pin position p0 will remain unchanged across these multiple orientations. Focusing on this fact, if the amount of change Δp0 in the boom foot pin position p0 shown in equation 9 exceeds a predetermined threshold (for example, the measurement accuracy of the external measurement device 50), it can be determined that the measurement conditions of the external measurement device 50 are inappropriate.

[0089]

number

[0090] Similarly, since the link length, which is the distance between each pin of the same component, does not change in a short period of time, if the amount of change in the link lengths LBM1, LBM2 of the boom 4 for each measurement calculated by equation 10 exceeds a predetermined threshold value (e.g., the measurement accuracy of the external measuring device 50), it can be determined that the measurement conditions of the external measuring device 50 are inappropriate.

[0091]

number

[0092] If the external measurement result analysis unit 25g determines that the measurement conditions are inappropriate, the coordinates recorded in the external measurement result recording unit 25c are inappropriate for calculating the conversion parameters, so the recalibration notification unit 25f notifies of recalibration and the calibration value calculation unit 25d does not calculate the conversion parameters.

[0093] Although the above explanation is about calibration work in two positions, calibration work can be performed in more than two positions. However, since increasing the number of positions too much increases the work time, it is desirable to have around two to four positions.

[0094] In this embodiment, measurements are taken in multiple orientations, so the conversion parameters (mounting angle Δθ, link length L) are calculated according to the number of measurements n. There are various methods for determining the final conversion parameters (updated values ​​of the conversion parameters) from the conversion parameters obtained in each measurement. For example, the conversion parameters obtained in any one measurement may be selected as the final parameters, or, to suppress the influence of variations in each measurement, the average value of the conversion parameters obtained in each measurement may be used as the final parameter, as shown in Equation 11.

[0095]

number

[0096] Fig. 13 is a flowchart showing the processing of the calibration execution unit 25 in this embodiment. In Fig. 13, steps FC301 to FC308 are the same as steps FC101 to FC108 (shown in Fig. 6) in the first embodiment.

[0097] If it is determined in step FC308 that there is a change in posture (NO), in step FC309 the operator is notified that recalibration is required because inappropriate coordinates have been measured due to a change in posture of the work implement 1, and the process proceeds to step FC301. If it is determined in step FC308 that there is no change in posture (YES), the process proceeds to step FC310.

[0098] In step FC310, an instruction is given to create a predetermined second posture at the time of calibration, which differs from the predetermined first posture at the time of calibration whose creation was instructed in step FC301, and the process proceeds to step FC311. In step FC311, the same processing as in steps FC302 to FC307 is executed, and the process proceeds to step FC312.

[0099] In step FC312, it is determined whether or not there has been a change in posture. If it is determined that there has been a change in posture (NO), the operator is notified that recalibration is required because inappropriate coordinates have been measured due to a change in posture of the work machine 1 (step FC313), and the process proceeds to step FC311. If it is determined that there has been no change in posture (YES), the process proceeds to step FC314.

[0100] In step FC314, the coordinates of the positions p0, p1, and p2 acquired by the external measurement device 50 are analyzed. This process is executed by the external measurement result analysis unit 25g.

[0101] In step FC315, it is determined whether there is a change in the Y coordinate of the positions p1 and p2 acquired in the first and second attitudes. If it is determined that there is a change in the Y coordinate (NO), the operator is notified that recalibration is required because the coordinate axes of the external measuring device 50 are inappropriate, and the flow ends without calculating the transformation parameters. This prevents the transformation parameters from being calculated based on coordinates measured under inappropriate coordinate axes, and enables the operator to quickly correct the coordinate axes.

[0102] If it is determined in step FC315 that there is no change in the Y coordinate (YES), the process proceeds to step FC316, where it is determined whether there is no change in the link length calculated for each posture. If it is determined that there is a change in the link length (NO), the operator is notified that recalibration is required because the coordinates measured by the external measuring device 50 are inappropriate, and the flow ends without calculating the transformation parameters. This prevents the transformation parameters from being calculated based on inappropriate coordinates, and enables the operator to quickly remeasure the coordinates.

[0103] If it is determined in step FC316 that there is no change in the link length (YES), conversion parameters are calculated in step FC317, and the process proceeds to step FC318.

[0104] In step FC318, the conversion parameters are recorded in the memory of the controller 20, and the flow ends.

[0105] (summary) The controller 20 in this embodiment acquires the coordinates of the non-rotation center position (pin position p1) of the work machine 1 measured by the external measuring device 50 in a plurality of postures in which the rotation center position (pin position p0) of the work machine 1 does not move, and determines that the coordinate axes of the external measuring device 50 are inappropriate if the horizontal change amount of the non-rotation center position in the plurality of postures exceeds a first threshold value (allowable change amount ΔY).When calibrating the conversion parameters (mounting angle Δθ, link length L), even if it is determined that the work machine 1 is statically settled, if it is determined that the coordinate axes of the external measuring device 50 are inappropriate, the controller 20 does not calculate updated values ​​of the conversion parameters.

[0106] According to this embodiment configured as described above, the conversion parameters (mounting angle Δθ, link length L) are updated only when the coordinate axes of the external measuring device 50 are appropriate, making it possible to calibrate the machine guidance system or machine control system with higher accuracy than in the first embodiment.

[0107] Furthermore, the controller 20 in this embodiment acquires coordinates of the rotation center position (pin position p0) of the work machine 1 measured by the external measurement device 50 in a plurality of postures in which the rotation center position does not move, and the coordinates of the non-rotation center position (pin position p1) of the work machine 1. If the amount of change in the distance between the rotation center position and the non-rotation center position in the plurality of postures exceeds a second threshold value (for example, the measurement accuracy of the external measurement device 50), the controller 20 determines that the coordinates measured by the external measurement device 50 are inappropriate. When calibrating the conversion parameters (mounting angle Δθ, link length L), even if the controller 20 determines that the work machine 1 is statically settled, if it determines that the coordinates measured by the external measurement device 50 are inappropriate, the controller 20 does not calculate updated values ​​for the conversion parameters. As a result, the conversion parameters (mounting angle Δθ, link length L) are updated only when the coordinates measured by the external measurement device 50 are appropriate, making it possible to calibrate the machine guidance system or the machine control system with higher accuracy than in the first embodiment.

[0108] Furthermore, the hydraulic excavator (construction machine) 100 in this embodiment is equipped with a monitor (alarm device) 30 that can output information input from the controller 20, and the controller 20 acquires coordinates of the rotation center position (pin position p0) of the work machine 1 measured by the external measurement device 50 in a plurality of postures (first posture, second posture) in which the rotation center position of the work machine 1 does not move and the non-rotation center position of the work machine 1, and determines that the coordinate axes of the external measurement device 50 are inappropriate when the amount of change in the horizontal direction (Y-axis direction) of the non-rotation center position in the plurality of postures exceeds a first threshold value (allowable change amount ΔY), and determines that the coordinate axes of the external measurement device 50 are inappropriate when the amount of change in the distance between the rotation center position and the non-rotation center position in the plurality of postures exceeds a second threshold value (for example, When the coordinate axes measured by the external measuring device 50 are determined to be inappropriate, or when the coordinates measured by the external measuring device 50 are determined to be inappropriate, even if the work machine 1 is determined to be statically settled when calibrating the conversion parameters (mounting angle Δθ, link length L), if it is determined that the coordinate axes measured by the external measuring device 50 are inappropriate, or when it is determined that the coordinates measured by the external measuring device 50 are inappropriate, the updated values ​​of the conversion parameters are not calculated, and if it is determined that the work machine 1 is not statically settled, or when it is determined that the coordinate axes measured by the external measuring device 50 are inappropriate, or when it is determined that the coordinates measured by the external measuring device 50 are inappropriate, information prompting recalibration is output to the monitor (alarm device) 30. This enables the operator to quickly redo the calibration when the coordinate axes of the external measuring device 50 are inappropriate or when the coordinates measured by the external measuring device 50 are inappropriate. [Example]

[0109] A fourth embodiment of the present invention will be described, focusing on the differences from the third embodiment. While the third embodiment can achieve highly accurate calibration, it has the problem of requiring a lot of rework when there is a change in the posture of the work machine 1 or when the coordinate axes or measurement coordinates of the external measuring device 50 are inappropriate. This embodiment solves this problem.

[0110] Fig. 14 is a functional block diagram of the controller in this embodiment. The difference between Fig. 14 and the third embodiment (shown in Fig. 11) is that a function of notifying the timing of calibration work in accordance with the calculation result of the posture information change detection unit 25b is added to the recalibration notification unit 25f.

[0111] In this embodiment, the attitude detection result recording unit 25a always stores the latest IMU data for a certain period of time (for example, 3 minutes) in a buffer area, and the attitude information change detection unit 25b analyzes the IMU data in this buffer area and, if there is no attitude change, prompts the operator to perform coordinate measurement using the external measurement device 50 via the recalibration notification unit 25f. In the first to third embodiments, the acquired data is analyzed later, and if there is an attitude change, the data is re-acquired. However, in this embodiment, data from the external measurement device 50 is acquired after confirming that there is no attitude change, so it is expected that the number of data re-acquisitions will be reduced. In addition, this embodiment aims to improve work efficiency by changing the implementation procedure from the third embodiment.

[0112] FIG. 15 is a flowchart showing the processing of the calibration execution unit 25 in this embodiment.

[0113] First, in step FC401, the operator is instructed to rotate the work implement 1 without specifying a specific posture, and while the operator is rotating the front work implement 1, the coordinates of each pin position of the work implement 1 are acquired from the external measurement device 50. After the acquisition of the coordinates is completed, the process proceeds to step FC402.

[0114] In step FC402, the coordinates acquired from the external measuring device 50 are analyzed, and the process proceeds to step FC403.

[0115] In step FC403, it is determined whether or not there has been a change in the Y coordinate of each pin position. If it is determined that there has been a change in the Y coordinate (NO), in step FC404 the operator is instructed to correct the coordinate axes of the front working implement 1, and the process proceeds to step FC401. The operator operates the upper rotating body 2 to align the coordinate axes of the front working implement 1 with the coordinate axes of the external measuring device 50. If it is determined that there has been no change in the Y coordinate (YES), the process proceeds to step FC405. By correcting the coordinate axes first in this way, it is possible to reduce the number of steps required for redoing the work. The above processing is executed by the external measurement result recording unit 25c and the external measurement result analysis unit 25g.

[0116] In step FC405, the operator is instructed to create a predetermined first posture when performing calibration. The operator creates the first posture according to the instructions. After the creation of the first posture is completed, the process proceeds to step FC406.

[0117] In step FC406, the IMU data is monitored, and in step FC407, it is determined whether there is a change in the IMU data (no change in attitude). If it is determined that there is a change in attitude (NO), the process proceeds to step FC406, and if it is determined that there is no change in attitude (YES), the process proceeds to step FC408.

[0118] In step FC408, the coordinates measured by the external measuring device 50 are acquired, and the process proceeds to step FC409.

[0119] In step FC409, the operator is instructed to create a predetermined second posture when performing calibration. The operator creates the second posture according to the instructions. After the creation of the second posture is completed, the process proceeds to step FC410.

[0120] In step FC410, the IMU data is monitored, and in step FC411, it is determined whether there is a change in the IMU data (no change in attitude). If it is determined that there is a change in attitude (NO), the process proceeds to step FC410, and if it is determined that there is no change in attitude (YES), the process proceeds to step FC412.

[0121] In step FC412, the coordinates measured by the external measuring device 50 are acquired, and the process proceeds to step FC413.

[0122] In step FC413, the coordinates measured by the external measuring device 50 are analyzed, and in step FC414, it is determined whether or not there is any change in the dimensions (link length) of the work machine 1.

[0123] If it is determined in step FC413 that there is no change in the dimensions (YES), the conversion parameters are calculated in step FC415, and the conversion parameters are recorded in step FC416, after which the flow is terminated.

[0124] If it is determined in step FC413 that there is a change in the dimensions (NO), in step FC417 the operator is notified that recalibration is necessary because inappropriate coordinates have been measured due to a change in the dimensions of the work machine 1, and the flow ends.

[0125] (summary) The hydraulic excavator (construction machine) 100 in this embodiment is equipped with a monitor (alarm device) 30 that can output information input from the controller 20, and when the controller 20 determines that the work machine 1 is statically settled when calibrating the conversion parameters (mounting angle Δθ, link length L), it outputs information to the monitor (alarm device) 30 that prompts measurement by the external measuring device 50.

[0126] According to this embodiment configured as described above, it is possible to achieve highly accurate calibration, as in the third embodiment. Furthermore, by measuring the coordinates with the external measuring device 50 after confirming that the work machine 1 is statically settled, it is possible to avoid rework (re-measuring the coordinates) that would otherwise be required due to a change in the posture of the work machine 1, thereby improving the efficiency of the calibration work.

[0127] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to add part of the configuration of one embodiment to the configuration of another embodiment, or to delete part of the configuration of one embodiment or replace it with part of another embodiment. [Explanation of symbols]

[0128] 1...front work equipment, 2...upper rotating body, 2a...swing motor (hydraulic actuator), 3...lower traveling body, 3a...travel motor (hydraulic actuator), 4...boom, 4a...boom cylinder (hydraulic actuator), 4b...boom foot pin, 5...arm, 5a...arm cylinder (hydraulic actuator), 5b...arm pin (boom tip pin), 6...bucket, 6a...bucket cylinder (hydraulic actuator), 6b...bucket pin, 7...hydraulic pump device, 8...control valve, 9...operator's cab, 9a, 9b...operating levers, 13 to 16...IMU sensor (inertial measurement unit, attitude detection device), 17...position information detection device, 17a...GNSS antenna, 17b...GNSS antenna, 17c...GNSS receiver, 18...link member (bucket link), 20...controller, 21...posture detection result recording unit, 21...positioning calculation unit, 22...monitor display control unit, 23...hydraulic system control unit, 24...construction target surface calculation unit, 25...calibration execution unit, 25a...posture detection result recording unit, 25b...posture information change detection unit, 25c...external measurement result recording unit, 25d...calibration value calculation unit, 25e...calibration result recording unit, 25f...recalibration notification unit, 25g...external measurement result analysis unit, 30...monitor (alarm device), 40...storage device, 50...external measurement device, 100...hydraulic excavator (construction machinery), p0...boom foot pin position (second predetermined position, rotation center position), p1...boom tip pin position (second predetermined position, non-rotation center position), p2...bucket pin position (second predetermined position, non-rotation center position).

Claims

1. a lower running body; an upper rotating body rotatably attached to the lower traveling body; an articulated working machine rotatably attached to the upper rotating body; a posture detection device attached to the work machine; a controller that converts the attitude of the work machine detected by the attitude detection device into coordinates of a first predetermined position of the work machine using predetermined conversion parameters; In a construction machine, the controller performs calibration by calculating updated values ​​of the transformation parameters based on the attitude of the work implement detected by the attitude detection device and the coordinates of a second predetermined position of the work implement measured by an external measurement device, The controller determining whether the work machine is statically determined based on the attitude of the work machine detected by the attitude detection device during a predetermined time after the instruction to calibrate the conversion parameters is given; When it is determined that the work machine is statically settled, an updated value of the conversion parameter is calculated based on the attitude of the work machine detected by the attitude detection device during the predetermined time and the coordinates of the second predetermined position measured by the external measurement device after an instruction to calibrate the conversion parameter is given. Construction machinery characterized by:

2. The construction machine according to claim 1, an alarm device capable of outputting information input from the controller; When the controller determines that the work machine is not statically settled when calibrating the conversion parameters, the controller outputs information to the notification device to prompt recalibration. Construction machinery characterized by:

3. The construction machine according to claim 1, The controller acquiring coordinates of a non-rotation center position of the work machine measured by the external measuring device in a plurality of postures in which the rotation center position of the work machine does not move; determining that the coordinate axes of the external measurement device are inappropriate when the amount of change in the horizontal direction of the non-rotation center position in the plurality of postures exceeds a first threshold value; When calibrating the conversion parameters, even if it is determined that the work machine is statically determined, if it is determined that the coordinate axes of the external measurement device are inappropriate, the updated values ​​are not calculated. Construction machinery characterized by:

4. The construction machine according to claim 1, The controller acquiring coordinates of the rotation center position and the non-rotation center position of the work machine measured by the external measuring device in a plurality of postures in which the rotation center position of the work machine does not move; determining that the coordinates measured by the external measurement device are inappropriate when a change in the distance between the rotation center position and the non-rotation center position in the plurality of postures exceeds a second threshold value; When calibrating the conversion parameters, even if it is determined that the work machine is statically determined, if it is determined that the coordinates measured by the external measuring device are inappropriate, the updated values ​​are not calculated. Construction machinery characterized by:

5. The construction machine according to claim 1, an alarm device capable of outputting information input from the controller; The controller acquiring coordinates of a rotation center position and a non-rotation center position of the work machine measured by the external measuring device in a plurality of postures in which the rotation center of the work machine does not move; determining that the coordinate axes of the external measurement device are inappropriate when the amount of change in the horizontal direction of the non-rotation center position in the plurality of postures exceeds a first threshold value; determining that the coordinates measured by the external measurement device are inappropriate when a change in the distance between the rotation center position and the non-rotation center position in the plurality of postures exceeds a second threshold value; When calibrating the conversion parameters, even if it is determined that the work machine is statically determined, if it is determined that the coordinate axes measured by the external measurement device are inappropriate, or if it is determined that the coordinates measured by the external measurement device are inappropriate, the updated values ​​are not calculated, When it is determined that the work machine is not statically settled, when it is determined that the coordinate axes measured by the external measuring device are not appropriate, or when it is determined that the coordinates measured by the external measuring device are not appropriate, information prompting recalibration is output to the notification device. Construction machinery characterized by:

6. The construction machine according to claim 1, an alarm device capable of outputting information input from the controller; When the controller determines that the work machine is statically settled during the calibration of the conversion parameters, the controller outputs information to the notification device to prompt measurement by the external measurement device. Construction machinery characterized by:

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