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

Abstract

In the present invention, a measurement device is prepared, the device for performing measurement related to the positional relationship between the mounting origin-point location with respect to a movable work tool mounted on a construction machine and a control reference position of the movable work tool (S101, S102). Using the measurement results from the measurement device, at least the angle between the control reference position direction as viewed from the mounting origin-point location and a prescribed axial direction set for the construction machine is specified, and the specified angle is set as a reference angle required for controlling the movable work tool (S107).

Description

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

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

[0002] With respect to construction machinery such as hydraulic excavators and bulldozers used at construction sites, it is known that sensing results of a movable work implement attached to the construction machinery are used to perform guidance control (so-called machine guidance) regarding the construction site using the movable work implement (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2023-53504

[0004] Movable work tools that are attached to construction machinery and used are also called attachments, and several types are used depending on the construction work. In other words, there are several types of movable work tools with different uses, and the type attached may be changed as needed at the construction site.

[0005] Different types of movable implements generally have different shapes, sizes, etc. Even in such cases, it is undesirable that changing the type of attachment causes problems with the control of the replaced movable implement. In other words, when the type of attachment of a movable implement is changed, it is preferable to be able to calibrate the information required for controlling the movable implement.

[0006] The present disclosure provides a technique that enables the calibration of information required for controlling a movable work implement to be performed simply and accurately.

[0007] According to one aspect of the present invention, there is provided an information calibration method for calibrating information required to control a movable work implement attached to a construction machine, the information calibration method comprising: preparing a measuring device that measures the positional relationship between the attachment origin position of the movable work implement on the construction machine and the control reference position of the movable work implement; using the measurement results from the measuring device, identifying at least the angle between the direction of the control reference position as viewed from the attachment origin position and a predetermined axial direction set for the construction machine; and setting the identified angle as the reference angle required to control the movable work implement.

[0008] According to another aspect of the present invention, there is provided an information calibration system that calibrates information required to control a movable work implement attached to a construction machine, the information calibration system comprising: a measuring device that measures the positional relationship between the attachment origin position of the movable work implement on the construction machine and the control reference position of the movable work implement; and a control device that performs predetermined information processing using the measurement results from the measuring device, wherein the control device performs the information processing by at least identifying the angle between the direction of the control reference position as seen from the attachment origin position and a predetermined axial direction set for the construction machine, and processing the identified angle as the reference angle required to control the movable work implement.

[0009] According to yet another aspect of the present invention, there is provided an information calibration program for calibrating information required to control a movable work implement attached to a construction machine, the information calibration program causing a computer communicably connected to a measuring device that measures the positional relationship between the attachment origin position of the movable work implement on the construction machine and the control reference position of the movable work implement to use the measurement results from the measuring device to determine at least the angle between the direction of the control reference position as seen from the attachment origin position and a predetermined axial direction set for the construction machine, and to use the determined angle as the reference angle required to control the movable work implement.

[0010] According to the present invention, the information required for controlling the movable implement can be calibrated simply and accurately.

[0011] 1 is an explanatory diagram schematically showing an example of the general configuration of a backhoe, which is a construction machine to be controlled in the first embodiment of the present disclosure. FIG. 2 is a block diagram schematically showing an example of the configuration of a control system for a construction machine according to the first embodiment of the present disclosure. FIG. 3 is an explanatory diagram schematically showing an example of the configuration of a movable work implement that can be attached to a construction machine according to the first embodiment of the present disclosure, in which (a) is a diagram showing a standard bucket, which is an example of a movable work implement, (b) is a diagram showing a slope bucket, which is another example of a movable work implement, and (c) is a diagram showing a breaker, which is yet another example of a movable work implement. FIG. 4 is an explanatory diagram schematically showing an example of the general configuration of an information calibration system applied to a construction machine according to the first embodiment of the present disclosure. FIG. 5 is a block diagram showing an example of the functional configuration of the information calibration system according to the first embodiment of the present disclosure. FIG. 6 is an explanatory diagram showing an example of attachment, to a construction machine, of measurement tools that constitute the information calibration system according to the first embodiment of the present disclosure. FIG. 7 is a flow chart showing an example of the procedure of an information calibration method according to the first embodiment of the present disclosure. FIG. 8 is an explanatory diagram showing the concepts of a reference angle D1 and a reference distance L1 identified in the first embodiment of the present disclosure.

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

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

[0014] (Construction Machinery) Here, the construction machine to be controlled in this embodiment will be described. Construction machines are used at construction sites, and typical examples include civil engineering construction machines such as hydraulic excavators and bulldozers. However, construction machines are not limited to these, and other types of machines may be used, such as transport machines such as trucks and loaders, loading machines such as cranes, foundation construction machines, drilling machines, tunnel construction machines, concrete machines such as crushers, paving machines, road maintenance machines, etc.

[0015] In the following description, a case will be taken as an example in which the construction machine is a hydraulic excavator, also known as a backhoe. Fig. 1 is an explanatory diagram that schematically shows an example of the general configuration of a backhoe.

[0016] As shown in the figure, the backhoe 1 includes an upper rotating body (machine body) 11 including a driver's seat 10, a boom 12, an arm 13, and a bucket 14 as driving implements, and a lower moving body 15 as a traveling device. The lower moving body 15 enables the backhoe 1 to move (self-propel) around a construction site. The upper rotating body 11, the boom 12, the arm 13, and the bucket 14 are operated individually to perform work such as excavation on the ground surface at the construction site. Therefore, in the backhoe 1, the upper rotating body 11, the boom 12, the arm 13, and the bucket 14 function as "movable parts" that can be independently operated. Furthermore, among these, the bucket 14 in particular functions as a "movable work tool" that directly performs work on the ground surface at the construction site. In this case, the tip position of the bucket 14 corresponds to the work location to be performed by the bucket 14.

[0017] In addition to the bucket 14, there are several types of movable implements for different purposes that can be attached to the backhoe 1, and the type of implement attached can be changed as needed. The types and uses of movable implements that can be attached to the backhoe 1 will be described in detail below.

[0018] A Global Navigation Satellite System (GNSS) receiver (antenna) 16 is attached to the back of the upper rotating body 11, making it possible to determine the position of the backhoe 1.

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

[0020] In the excavator 1 configured as described above, angle sensors 21, 22, 23, and 24 are attached to each of the movable parts, namely, the upper rotating body 11, the boom 12, the arm 13, and the bucket 14. However, more specifically, the angle sensor 24 for the bucket is preferably attached to the idler arm 14c that indirectly drives the bucket 14. If the angle sensor 24 were attached near the tip of the bucket 14, there is a risk that the angle sensor 24 would get in the way or be damaged when working on the ground surface at a construction site.

[0021] The angle sensors 21, 22, 23, and 24 utilize the angle sensor function of an inertial measurement unit (hereinafter abbreviated as "IMU") that is composed of, for example, a triaxial acceleration sensor and a triaxial gyro sensor, and are configured to be able to detect the angle (i.e., the operating angle) when each movable part operates in at least three-dimensional space. Note that the angle sensors 21, 22, 23, and 24 do not necessarily have to be IMUs as long as they can detect the operating angle of each movable part, and may be configured using other types of sensors.

[0022] In the excavator 1 configured as described above, a GNSS receiver 16 is attached to the upper rotating body 11, which allows the position of the excavator 1 at a construction site to be measured. Furthermore, angle sensors 21, 22, 23, and 24 are attached to each of the movable parts, namely, the upper rotating body 11, the boom 12, the arm 13, and the bucket 14, so that the tip position of the bucket 14 relative to the upper rotating body 11 can be measured from the detection results of the angle sensors 21, 22, 23, and 24 and various setting information specified in advance. The various setting information here includes information (size data) about the size of each movable part, information about various items that serve as references for operation control (for example, the reference angle described below), and the like.

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

[0024] (System Configuration) Next, a description will be given of an example of the configuration of a control system that enables the above-described control (particularly machine guidance) of the backhoe 1. Fig. 2 is a block diagram that schematically shows an example of the configuration of the control system according to this embodiment.

[0025] As shown in the figure, the control system comprises a CAN (Controller Area Network) interface (hereinafter, interface will be abbreviated as "IF") 31 that connects to IMUs (angle sensors) 21, 22, 23, 24 attached to each moving part of the backhoe 1 to enable control of machine guidance, etc., a personal computer (hereinafter, abbreviated as "PC") 32 that connects to the CAN IF 31 and the GNSS receiver 16 attached to the upper rotating body 11 of the backhoe 1, and a monitor 33 that connects to the PC 32.

[0026] The CAN IF 31 functions as a "connection unit" that connects to the angle sensors 21, 22, 23, and 24, and enables acquisition of the detection results of the angle sensors 21, 22, 23, and 24. Such an interface is not limited to a CAN IF, and may be configured, for example, by one that complies with a serial communication protocol such as RS-232C or RS-485, or one that complies with USB (Universal Serial Bus).

[0027] The PC 32 is equipped with hardware resources as a computer, and is configured to execute a predetermined program, with the program (software) and the hardware resources working together to realize various functions, processing operations, etc. The PC 32 may be a general-purpose PC with a typical configuration, but is not limited to this, and may be configured using a so-called single-board computer, for example. The PC 32 may be mounted on the backhoe 1, but is not limited to this, and may be located remotely from the backhoe 1, for example, as long as it is connected to the CAN IF 31 and the GNSS receiver 16 via wireless communication.

[0028] There are various functions and processing operations that the PC 32 can realize, and examples of these include a function as a measurement processing unit 32a and a function as a network communication unit 32b.

[0029] The measurement processing unit 32a has a function of recognizing the operating state of the movable parts (i.e., the upper rotating body 11, the boom 12, the arm 13, and the bucket 14) to which the angle sensors 21, 22, 23, and 24 are attached, based on the detection results of the angle sensors 21, 22, 23, and 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 and posture of each movable part when the backhoe 1 is in operation. By the measurement processing unit 32a 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 a function of communicating with other devices on a network line (not shown) and exchanging various information with the other devices. Note that the network line and the other devices are not particularly limited, and various types can be applied.

[0031] The monitor 33 is configured, for example, with a liquid crystal display panel, and is used to output various types of information to the operator of the backhoe 1 in accordance with instructions from the PC 32. Such a monitor 33 is used in the operator'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 types of information but also accepts various types of information input using, for example, a touch panel.

[0032] (Types and uses of movable work implements) Next, specific examples will be described with respect to the types and uses of movable work implements that can be attached to the backhoe 1. Figure 3 is an explanatory diagram that schematically shows an example of the configuration of a movable work implement that can be attached to the backhoe.

[0033] As described above, there are various types of movable work implements (attachments) that can be attached to the backhoe 1. A typical example is the standard bucket 14, as shown in FIG. 3( a), which has a configuration suitable for applications such as digging and moving earth and sand. Because the standard bucket 14 is a typical example, it is sometimes simply referred to as a "bucket." However, there are multiple types of standard buckets 14 that differ in size, such as width and length. Another type of movable work implement (attachment) is the slope bucket 17, as shown in FIG. 3( b), which has a configuration suitable for leveling slopes of soil. Yet another type of movable work implement (attachment) is the breaker 18, as shown in FIG. 3( c), which has a configuration suitable for breaking rocks, concrete structures, and the like. The standard bucket 14, slope bucket 17, and breaker 18 illustrated here are only a few of the types of movable work implements (attachments), and it is known that there are many other types.

[0034] By appropriately replacing these various types of movable working tools as needed, the backhoe 1 can be used for a wide variety of purposes, and the range of construction work can be greatly expanded compared to when the tools are not interchangeable.

[0035] Replacing a movable work tool is usually done by replacing the tip end from the movable work tool pin 14a and the movable work tool link pin 14b. For example, when replacing a standard bucket 14 with a slope facing bucket 17, the movable work tool pin 14a and the movable work tool link pin 14b are removed from the attached standard bucket 14, the standard bucket 14 is replaced with the slope facing bucket 17, and then the movable work tool pin 14a and the movable work tool link pin 14b are reinserted, thereby replacing the standard bucket 14 with the slope facing bucket 17. This type of movable work tool replacement can also be done at a construction site.

[0036] However, movable work tools generally have different shapes, sizes, etc. depending on the type. For example, as shown in Figure 3, the standard bucket 14, the slope bucket 17, and the breaker 18 have different distances 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 different inclination angles θ from the reference direction when measuring the direction of the tip position. This is also true for various movable work tools other than the standard bucket 14, the slope bucket 17, and the 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, in order to enable monitoring of the tip position even after replacement and to control machine guidance, etc., it is necessary to be able to calibrate at least the information required for controlling the replaced movable work tool, namely, the distance L1 from the mounting origin position to the control reference position and the angle θ relative to the control reference position.

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

[0039] Regarding the information about the replaced movable work tool, it is conceivable that the worker performing the replacement work would manually measure the distance with a tape measure or measure the angle using a plumb bob, and then input these measurement results to calibrate the information. However, because such calibration requires manual measurements, it can be inconvenient for the user and may also cause problems in terms of measurement accuracy.

[0040] Furthermore, the calibration process for information accompanying the replacement of a movable work tool could be performed, for example, by preparing a surveying device such as a total station at the construction site and using the survey results obtained by this. However, this type of calibration process requires the preparation of a precision instrument such as a surveying device like a total station, and the surveying work is complicated, so it cannot be said to be easy to perform and is not practical as a process to be performed in conjunction with replacement work at a construction site.

[0041] In light of the above, in this embodiment, when replacing a movable work implement, the information required to control the replaced movable work implement can be calibrated simply and accurately by using the information calibration system and information calibration method described below.

[0042] (Configuration Example of Information Calibration System) First, a configuration example of the information calibration system according to this embodiment will be described.

[0043] The information calibration system is used in conjunction with a construction machine such as the backhoe 1, and when the movable implement of the construction machine is replaced, it calibrates information necessary for controlling information related to the replaced movable implement. Specific examples of the information to be calibrated will be described later. In order to perform information calibration, in this embodiment, the information calibration system is configured as described below.

[0044] Fig. 4 is an explanatory diagram showing a schematic configuration example of the information calibration system according to this embodiment. Note that Fig. 4 shows a case where the movable work implement attached to the backhoe 1 is a standard bucket 14. Fig. 5 is a block diagram showing an example of the functional configuration of the information calibration system according to this embodiment. Fig. 6 is an explanatory diagram showing an example of attachment of the measuring tools constituting the information calibration system according to this embodiment to a construction machine.

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

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

[0047] In order to perform a predetermined measurement process, the measurement device 40 is configured to have at least a measurement unit 41 .

[0048] 6, the measurement unit 41 includes an IMU 42 that functions as an angle sensor, a laser range finder 43 that functions as a distance measuring device, a sensor plate 44 on which the IMU 42 and the laser range finder 43 are mounted, and a holder block 45 that supports the sensor plate 44. The holder block 45 is configured to be detachably attached, using fasteners such as screws or similar devices, around the movable work implement pin 14a that supports the standard bucket 14, which is a movable work implement (for example, a cylinder for the movable work implement pin 14a). This allows the measurement unit 41 to rotate in synchronization with the standard bucket 14 when attached around the movable work implement pin 14a.

[0049] In this measurement unit 41, the IMU 42 functions 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 therewith) rotates. The laser rangefinder 43 is capable of measuring, for example, the distance from the measurement origin of the laser rangefinder 43 to the tip position of the standard bucket 14, which is the movable work tool after replacement. By mounting these on the sensor plate 44, the IMU 42 and the laser rangefinder 43 can each perform measurements while maintaining their relative positioning. The positioning of the IMU 42 and the laser rangefinder 43 will be described in detail later. The holder block 45 that supports these components is preferably attached around the movable work tool pin 14a so that the rotation axis (rotation center) of the measurement unit 41 when rotated coincides with the rotation center of the movable work tool pin 14a, which is the rotation center (mounting origin) of the standard bucket 14. The structure for attaching the holder block 45 around the movable work implement pin 14a is not limited to the use of fasteners such as screws, and may be constructed using other known techniques.

[0050] 4 and 5, the measurement device 40 may include, in addition to the measurement unit 41 described above, an IMU 46 mounted directly on the standard bucket 14 and an IMU 47 mounted on the idler arm 14c. The IMU 46 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 standard bucket 14 rotates. The IMU 46 is not an essential component, and may be substituted by the IMU 42 in the measurement unit 41. The IMU 47 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 idler arm 14c rotates. The IMU 47 is also not an essential component, and may be substituted by the angle sensor 24 constituting the control system of the backhoe 1.

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

[0052] (Control Device) The control device 50 is communicably connected to the measurement device 40, and performs predetermined information processing using the measurement results from the measurement device 40. The predetermined information processing performed by the control device 50 will be described in detail below.

[0053] The communication connection between the control device 50 and the measurement device 40 may be wireless or wired, and is not limited to a specific communication method. For example, short-range wireless communication conforming to Bluetooth (registered trademark) may be used, but is not limited to this.

[0054] A tablet PC that can be carried by the worker who replaces the movable work tool may be used as this type of control device 50. However, this is not limited to this, and any device that has hardware resources as a computer and is configured to execute a predetermined program so that the program (software) and the hardware resources work together to perform predetermined information processing may be used, such as a general-purpose PC with a general configuration or a smartphone with equivalent functions to the general-purpose PC.

[0055] In either configuration, the control device 50 executes a predetermined program to realize the functions of a calibration processing unit 51 and a network communication unit 52, as shown in FIG. 5.

[0056] The calibration processing unit 51 has a function of performing a calibration process of information accompanying replacement of the movable work tool through predetermined information processing using the measurement results from the measuring device 40. The information calibration process will also be described in detail below, similar to the predetermined information processing.

[0057] The network communication unit 52 has a function of communicating with other devices on a network line (not shown) and transmitting and receiving various information to and from the other devices. An example of the other devices is the PC 32 that constitutes the control system of the backhoe 1, but this is not necessarily limited to this. 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 being stored in a recording medium (e.g., a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc.) that can be read by the control device 50, as long as it can be installed in the control device 50, or may be provided from outside via a network such as the Internet or a dedicated line.

[0059] (Procedure of Information Calibration Method) Next, the procedure of the information calibration method performed using the information calibration system having the configuration described above, i.e., the procedure of the information calibration method according to this embodiment, will be described. Fig. 7 is a flow chart showing an example of the procedure of the information calibration method according to this embodiment.

[0060] For example, when a standard bucket 14 is attached to a backhoe 1 as a result of changing the movable work implement at a construction site, the measuring device 40 is installed on the replaced standard bucket 14 (step 101; hereinafter, step will be abbreviated as "S"). Specifically, for example, a worker replacing the standard bucket 14 attaches at least the measuring unit 41 constituting the measuring device 40 around the movable work implement pin 14a that supports the standard bucket 14. Furthermore, 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 rangefinder 43 of the measuring unit 41 are then communicatively connected to the control device 50 and the IMUs 46 and 47.

[0061] Of these, the measurement unit 41 is attached by, for example, moving it in a rotational direction around the movable work implement 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). This enables the laser rangefinder 43 in the measurement unit 41 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 implement pin 14a, the measuring unit 41 has a relative positional relationship with respect to the movable implement pin 14a as shown in FIG.

[0063] For example, when the measuring unit 41 is attached around the movable work implement pin 14a, it can rotate in synchronization with the standard bucket 14, and when the standard bucket 14 is rotated, the overall rotation axis N of the measuring unit 41 will coincide with the pin center of the movable work implement 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 defined by the X-axis, Y-axis, and Z-axis, and the Z-axis of the three-dimensional measurement space is parallel to the rotation axis of the standard bucket 14 (i.e., the pin center of the movable work implement pin 14a). In other words, the IMU 42 is disposed on the sensor plate 44 so that the Z-axis of the IMU 42 is parallel to the overall rotation axis N of the measurement unit 41.

[0065] In addition to the IMU 42, a laser rangefinder 43 is also mounted on the sensor plate 44 of the measurement unit 41, and the X axis of the IMU 42 is parallel to the laser beam irradiation direction of the laser rangefinder 43. In other words, the IMU 42 and the laser rangefinder 43 are positioned relative to each other on the sensor plate 44 so 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 range finder 43, and a Y axis perpendicular to the X and Z axes. The laser range finder 43 is disposed on the sensor plate 44 so that a line connecting the rotation center (rotation axis N) of the entire measurement unit 41 and the measurement origin of the laser range finder 43 (for example, the edge opposite to the edge on the laser emission side of the laser range finder 43) is parallel to the Y axis of the IMU 42. The distance between the rotation center parallel to the Y axis and the measurement origin is set to be L0.

[0067] After the measurement unit 41 is attached so as to achieve 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] 7 , the calibration processing unit 51 identifies the rotation axis of each of the IMUs 42, 46, and 47 based on the measurement results of each of the IMUs 42, 46, and 47 when the standard bucket 14 is rotated by the backhoe 1 (S103). The rotation axis of each of the IMUs 42, 46, and 47 can be identified using, for example, the technology disclosed in Japanese Patent No. 7161796. This makes it possible to convert the measurement results of the rotation angles around the rotation axes (X-axis, Y-axis, and Z-axis) of each of the IMUs 42, 46, and 47 into the rotation angle around the rotation axis of the standard bucket 14 (i.e., the movable implement pin 14a).

[0069] After identifying the rotation axes of the IMUs 42, 46, and 47, the calibration processing unit 51 further rotates the standard bucket 14 using the backhoe 1, and identifies a correspondence between the rotation angle measured by the IMU 46 attached to the standard bucket 14 and the rotation angle measured by the IMU 47 attached to the idler arm 14c (S104). The correspondence can be identified by deriving an approximation using a high-order polynomial that converts the rotation angle of the idler arm 14c into the rotation angle of the standard bucket 14, as disclosed in Japanese Patent No. 7161796, for example. 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] Thereafter, the backhoe 1 is set to a predetermined reference position (S105). Here, the predetermined reference position is a position that serves as a reference for the operation of the boom 12, arm 13, and standard bucket 14 of the backhoe 1. Specifically, examples of the predetermined reference position include a position in which the boom 12 is rotated to its upper limit, a position in which the arm 13 is rotated to its limit on the side of the upper rotating body 11, and a position in which a movable work implement such as the standard bucket 14 is rotated to its limit on the side of the upper rotating body 11 or its opposite limit. In other words, the predetermined reference position defines a reference point (origin or home position) for the movable range of the boom 12, arm 13, and standard bucket 14. By measuring the inclination angles of each movable part of the boom 12, arm 13, and standard bucket 14 in such a reference position as calibration data, when the backhoe 1 is in operation, the actual rotation angles of each movable part at that time can be derived 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). The information regarding the tilt angle can be identified, for example, from the measurement results using the GNSS antenna 16 and angle sensor 21 on the upper rotating body 11.

[0072] Thereafter, 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 determine the length (reference distance L1) and angle (reference angle D1) of the replaced standard bucket 14 (S107). The reference distance L1 and reference angle D1 determined by the calibration processing unit 51 are information used as a reference for controlling the replaced standard bucket 14, i.e., an example of 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. Furthermore, the reference angle D1 is the tilt angle of the direction of the control reference position as viewed from the mounting origin position in a predetermined reference posture. The tilt angle here refers to the angle of inclination with respect to a predetermined axial direction set for the backhoe 1 (for example, the direction of the rotation axis of the upper rotating body 11 of the backhoe 1).

[0073] Here, the procedure for determining the reference distance L1 and the reference angle D1 by the calibration processing unit 51 will be described with reference to Fig. 8. Fig. 8 is an explanatory diagram showing the concept of the reference distance L1 and the reference angle D1 determined in this embodiment.

[0074] In specifying the reference distance L1 and the reference angle D1, first, a virtual plane P is assumed. The plane P is a plane parallel to the rotation axis n1 (which can be specified in S106 of FIG. 7 ) of the upper rotating body 11 of the backhoe 1 and to the forward direction a1 of the upper rotating body 11, which is perpendicular to the rotation axis n1, and which includes the tip position of the standard bucket 14, which is a movable work implement (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 the gravitational acceleration acts when the backhoe 1 is in the reference posture (see S105 in FIG. 7) is acquired.

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

[0077]

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

[0079] When the distance L is obtained, 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 is set to L0, so by using these, 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 using the following equation (2).

[0080]

[0081] Furthermore, the direction X1 of the tip position (i.e., the control reference position) of the standard bucket 14 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 direction and Y-axis direction determined by the IMU 42 of the measurement unit 41.

[0082]

[0083] Then, once the projection G1 and direction X1 are identified, using these and information (which can be obtained in S106 of Figure 7) regarding the inclination state of the upper rotating body 11 of the backhoe 1 relative to the horizontal plane (particularly the inclination angle Dg of the rotation axis n1 of the upper rotating body 11 relative to the projection G1 of the gravitational acceleration G on the plane P), the reference angle D1 of the standard bucket 14 relative to the rotation axis n1 of the upper rotating body 11 can be calculated using the following equation (4).

[0084]

[0085] By undergoing the above-described information processing (calculation processing), 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 required 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 determine the angle between the direction of the control reference position as viewed 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 determined angle as the reference angle D1 required for controlling the standard bucket 14 after replacement.

[0087] At this time, the calibration processing unit 51 determines the reference angle D1 using the measurement result of the gravitational acceleration by the IMU 42. By using the gravitational acceleration in this way, the reference for determining the reference angle D1 is uniquely determined regardless of the state of the backhoe 1, the standard bucket 14, etc., and the determination of the reference angle D1 can be optimized.

[0088] Furthermore, the calibration processing unit 51 acquires information on the tilt angle Dg, which is the tilt state of the backhoe 1 relative 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 tilt of the backhoe 1) can be eliminated, which also makes it possible to appropriately determine the reference angle D1.

[0089] After determining the reference distance L1 and reference angle D1 for the replaced standard bucket 14, the calibration processing unit 51 stores and holds the determined reference distance L1 and reference angle D1 for the standard bucket 14 in association with identification information that enables identification of the standard bucket 14. Storage and holding can be performed, for example, by accessing the PC 32 in the control system via the network communication unit 52. This allows the PC 32 of the control system to monitor the tip position (control reference position) of the replaced standard bucket 14 based on the reference distance L1 and reference angle D1 and control machine guidance and the like. Furthermore, by associating the reference distance L1 and reference angle D1 with the identification information of the standard bucket 14, for example, when a standard bucket 14 is replaced with one of the same type, it is possible to control machine guidance and the like by utilizing the stored information without having to newly determine the reference distance L1 and reference angle D1.

[0090] When the correspondence between the measurement results of the IMUs 46, 47 has been identified (see S104 in FIG. 7), the calibration processing unit 51 also stores and holds information specifying this correspondence, similar to the reference distance L1 and the reference angle D1. This enables the PC 32 of the control system to derive the rotation angle of the replaced standard bucket 14 from the measurement results of the angle sensor 24 attached to the idler arm 14c, based on the information specifying the correspondence (i.e., the correlation between the IMUs 46, 47) and the reference angle D1.

[0091] (Operation and Effect) According to the first embodiment described above, a measurement device 40 is provided that measures the positional relationship between the attachment origin position of the movable implement and the control reference position of the movable implement. Measurement results from the measurement device 40 (particularly, measurement results from the IMU 42 of the measurement unit 41) are used to identify the angle between the direction of the control reference position as viewed from the attachment 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. The identified angle is set as the reference angle D1 required for controlling the replaced movable implement. Therefore, when replacing a movable implement, the reference angle D1, which is information required for controlling the replaced movable implement, can be calibrated simply and accurately. In other words, when replacing a movable implement of a construction machine such as a backhoe 1 on which machine guidance is operated, the reference angle D1 for measuring the control reference position of the replaced movable implement can be accurately and simply measured using the IMU 42, which functions as an angle sensor, allowing the machine guidance of the construction machine to continue operating. Furthermore, the efficiency of work at construction sites can be improved by performing calibration processing only on the movable work tools that are replaced as needed at the construction site, without having to recalibrate the entire construction machine.

[0092] Furthermore, according to the first embodiment, the reference angle D1 is determined using the measurement results of the gravitational acceleration by the IMU 42. By using the gravitational acceleration in this way, the reference for determining the reference angle D1 is uniquely determined regardless of the state of the backhoe 1, the movable work implement, etc., and the determination of the reference angle D1 can be optimized.

[0093] Furthermore, according to the first embodiment, information regarding the tilt angle Dg, which is the tilt state of the backhoe 1 relative to the horizontal plane, is acquired, and the acquired information is used to determine the reference angle D1. Therefore, when determining the reference angle D1, the influence of the arrangement state of the backhoe 1 at the construction site (such as the tilt of the backhoe 1) can be eliminated, and the determination of the reference angle D1 can be optimized.

[0094] Furthermore, according to the first embodiment, a measuring device 40 is provided that measures the positional relationship between the attachment origin position of the movable implement and the control reference position of the movable implement. Measurement results from the measuring device 40 (particularly, measurement results from the laser rangefinder 43 of the measuring unit 41) are used to identify the distance between the attachment origin position and the control reference position, and the identified distance is set as the reference distance L1 required for controlling the replaced movable implement. Therefore, when replacing a movable implement, the reference distance L1, which is information required for controlling the replaced movable implement, can be calibrated simply and accurately. In other words, when replacing a movable implement of a construction machine such as a backhoe 1 on which machine guidance is operated, the reference distance L1 for measuring the control reference position of the replaced movable implement can be accurately and simply measured using the laser rangefinder 43, which functions as a distance measuring device, allowing the machine guidance of the construction machine to continue operating.

[0095] Furthermore, according to the first embodiment, a measurement device 40 having a sensor plate 44 on which an IMU 42 and a laser range finder 43 are mounted is prepared, and the relationship between the measurement axis direction (e.g., the X-axis direction) of the IMU 42 and the distance measurement direction (i.e., the laser beam irradiation direction) of the laser range finder 43 is specified based on the mounting positions of the IMU 42 and the laser range finder 43 on the sensor plate 44. Therefore, when specifying the reference angle D1 and the reference distance L1, by utilizing the positioning state of the IMU 42 and the laser range finder 43 on the sensor plate 44, it is possible to omit complicated information processing for specifying the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser range finder 43, and it is possible to reduce the load of information processing for specifying the reference angle D1 and the reference distance L1.

[0096] Furthermore, according to the first embodiment, the reference angle D1 and reference distance L1 determined for a replaced movable work implement are stored and associated with the identification information of the movable work implement. Therefore, for the replaced movable work implement, the tip position (control reference position) can be monitored based on the reference angle D1 and reference distance L1, and machine guidance and other control can be performed. Furthermore, by associating the reference angle D1 and reference distance L1 with the identification information of the movable work implement, for example, when the movable work implement is replaced with the same type of movable work implement, the stored information can be used to control machine guidance and other control without having to newly determine the reference angle D1 and reference distance L1.

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

[0098] Second Embodiment Next, a second embodiment of the present disclosure will be described, focusing mainly on differences from the first embodiment described above.

[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 is different from that in the first embodiment. Specifically, the IMU 42 and the laser rangefinder 43 are not arranged in a state where they are positioned relative to each other on the sensor plate 44 of the measurement unit 41 as in the first embodiment, but are each arranged at an arbitrary position on the sensor plate 44.

[0100] In this 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 (i.e., the laser beam irradiation direction) of the laser rangefinder 43.

[0101] In this regard, in this embodiment, prior to using the measurement unit 41 having the IMU 42 and the laser range finder 43, the measurement unit 41 is subjected to, for example, the following processing.

[0102] First, the measurement unit 41 is set, for example, on a dedicated jig prepared in advance. Then, using the function of the jig, the measurement unit 41 (i.e., the IMU 42 and the laser rangefinder 43 on the sensor plate 44) is rotated so that the laser beam of the laser rangefinder 43 is the center of rotation. The rotation axis of the IMU 42 identified by this rotation is set as the X axis of the IMU 42. This makes it possible to identify 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 with each other. Note that the rotation axis of the IMU 42 may be identified using, for example, the technology disclosed in Japanese Patent No. 7161796.

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

[0104] Once the X-axis and Z-axis are specified, the Y-axis can be calculated using the following equation (5).

[0105]

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

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

[0108] That is, in the second embodiment, the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser range finder 43 is determined based on the result of information processing using the measurement results by the IMU 42 and the laser range finder 43. Therefore, the relationship between the IMU 42 and the laser range finder 43 can be determined even if the IMU 42 and the laser range finder 43 are not positioned on the sensor plate 44. That is, while sufficiently ensuring the degree of freedom and versatility of the placement of the IMU 42 and the laser range finder 43 on the sensor plate 44, it is still possible to determine the reference angle D1 and the reference distance L1 after determining the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser range finder 43.

[0109] Furthermore, in the second embodiment, when specifying the relationship between the measurement axis direction of the IMU 42 and the distance measurement direction of the laser range finder 43, the measurement unit 41 is rotated, and the specification is performed based on the rotation axis of the IMU 42 at that time. In other words, the specification of the relationship between the IMU 42 and the laser range finder 43, which is the basis for specifying the reference angle D1 and the reference distance L1, is performed based on the rotation axis when the IMU 42 is rotated, so that the specification can be performed accurately and simply.

[0110] Third Embodiment Next, a third embodiment of the present disclosure will be described, focusing mainly on the differences from the first and second embodiments described above.

[0111] To determine the reference angle D1 and the reference distance L1, at least a measurement unit 41 is prepared and attached around the movable implement pin 14a. At this time, for example, if the measurement unit 41 is not attached directly to the movable implement pin 14a, i.e., the support axis of the sensor plate 44 of the measurement unit 41 does not coincide with the central axis of the movable implement pin 14a, it may occur. In such a case, the irradiation position of the laser beam from the laser rangefinder 43 (i.e., the tip position of the movable implement) will deviate from the plane P (see FIG. 8 ). This may adversely affect the accuracy of determining the reference angle D1 and the reference distance L1.

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

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

[0114] At this time, the tip position of the movable work tool (i.e., the control reference position) is off plane P, but if 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 is defined as direction X1', then direction X1' can be determined by geometric calculation using the following equation (6).

[0115]

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

[0117]

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

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

[0120] That is, in the third embodiment, the direction X1 and reference distance L1 on which the reference angle D1 is based are determined based on a rotation axis obtained by rotating the movable work tool to which the measurement unit 41 having the IMU 42 and the laser rangefinder 43 is attached. Therefore, even if, for example, the measurement unit 41 is not attached directly 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, it is possible to prevent adverse effects on the determination accuracy of the reference angle D1 and the reference distance L1. In other words, it is possible to eliminate adverse effects due to misalignment of the measurement unit 41 when it is attached, and it is possible to accurately determine the reference angle D1 and the reference distance L1.

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

[0122] <Other Embodiments> The first to third embodiments of the present invention have been specifically described above, but the technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present disclosure.

[0123] For example, in each of the above-described embodiments, the movable work implement is mainly described as a standard bucket 14, but the present disclosure is not limited to this and can be applied in exactly the same way to various types of movable work implements.

[0124] In addition, for example, in each of the above-described embodiments, the construction machine has been described as an example in which the construction machine is the backhoe 1, but the present disclosure is not limited to this and can be applied in exactly the same way to other construction machines for civil engineering purposes, such as bulldozers, etc. Furthermore, the present disclosure is not limited to construction machines for civil engineering purposes and can be applied in exactly the same way to other types of machines, such as transport machines, loading and unloading machines, foundation construction machines, drilling machines, tunnel construction machines, concrete machines such as crushers, paving machines, road maintenance machines, etc.

[0125] Furthermore, for example, in each of the above-described embodiments, the respective components of the control system and the information calibration system have been specifically described, but the present disclosure is not limited to this, and the respective components and the communication methods between the elements may be changed as appropriate.

[0126] Furthermore, for example, in each of the above-described embodiments, an example has been given in which both the IMU 42 and the laser rangefinder 43 are disposed on the sensor plate 44 of the measurement unit 41, but the present disclosure is not limited to this. For example, the reference distance L1 may be determined by measuring using a measuring tool such as a tape measure, rather than using the laser rangefinder 43, and inputting the measurement results into the control device 50. In other words, while it is preferable to determine the reference distance L1 using the measurement results from the measurement unit 41 for both the reference angle D1 and the reference distance L1, this is not necessarily limited thereto, and it is sufficient that the determination be performed for at least the reference angle D1.

[0127] 1... Backhoe (construction machinery), 14... Standard bucket (movable work implement), 14a... Movable work implement pin, 14b... Movable work implement link pin, 14c... Idler arm, 17... Slope bucket (movable work implement), 18... Breaker (movable work implement), 40... Measuring device, 41... Measuring unit, 42... IMU (angle sensor), 43... Laser rangefinder (distance measuring device), 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 required to control a movable work implement attached to a construction machine, comprising: preparing a measuring device that measures the positional relationship between the attachment origin position of the movable work implement on the construction machine and the control reference position of the movable work implement; using the measurement results from the measuring device, identifying at least the angle between the direction of the control reference position as seen from the attachment origin position and a predetermined axial direction set for the construction machine; and setting the identified angle as the reference angle required to control the movable work implement.

2. The information calibration method according to claim 1, wherein the measurement device has an angle sensor, and the reference angle is determined using the measurement results of gravitational acceleration by the angle sensor.

3. The information calibration method according to claim 2, wherein information relating to the inclination angle of the construction machine relative to a horizontal plane is acquired, and the reference angle is determined using the acquired information.

4. An information calibration method as described in claim 2 or 3, in which the measuring device is provided with a distance measuring device, the measurement results of the distance measuring device are used to determine the distance between the mounting origin position and the control reference position, and the determined distance is used as the reference distance required for controlling the movable work implement.

5. An information calibration method as described in claim 4, wherein the measurement device has a sensor plate on which the angle sensor and the distance measuring device are mounted, and 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 mounting positions of the angle sensor and the distance measuring device on the sensor plate.

6. An information calibration method according to claim 4, wherein 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.

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

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

9. The information calibration method according to claim 4, wherein the reference angle and the reference distance determined for the movable work implement are stored and held in association with identification information of the movable work implement.

10. An information calibration method as described in claim 1, wherein a correlation is identified between an angle sensor attached to the movable work tool and an angle sensor attached to a non-exchangeable member that operates in conjunction with the movable work tool, and the rotation angle of the movable work tool is derived from the measurement results of the angle sensor attached to the non-exchangeable member based on the identified correlation and the reference angle identified for the movable work tool.

11. An information calibration system that calibrates information required to control a movable work implement attached to a construction machine, comprising: a measuring device that measures the positional relationship between the attachment origin position of the movable work implement on the construction machine and the control reference position of the movable work implement; and a control device that performs predetermined information processing using the measurement results from the measuring device, wherein the control device performs the information processing by at least identifying the angle between the direction of the control reference position as seen from the attachment origin position and a predetermined axial direction set for the construction machine, and setting the identified angle as the reference angle required to control the movable work implement.

12. An information calibration program that calibrates information required to control a movable work implement attached to a construction machine, the information calibration program causing a computer that is communicably connected to a measuring device that measures the positional relationship between the attachment origin position of the movable work implement on the construction machine and the control reference position of the movable work implement to use the measurement results from the measuring device to identify at least the angle between the direction of the control reference position as seen from the attachment origin position and a specified axial direction set for the construction machine, and to use the identified angle as the reference angle required to control the movable work implement.

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