JPH07150596A - Excavating position display device for power shovel - Google Patents
Excavating position display device for power shovelInfo
- Publication number
- JPH07150596A JPH07150596A JP29701893A JP29701893A JPH07150596A JP H07150596 A JPH07150596 A JP H07150596A JP 29701893 A JP29701893 A JP 29701893A JP 29701893 A JP29701893 A JP 29701893A JP H07150596 A JPH07150596 A JP H07150596A
- Authority
- JP
- Japan
- Prior art keywords
- angle
- boom
- bucket
- arm
- length
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009412 basement excavation Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 239000002131 composite material Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はパワーショベルの掘削位
置表示装置に関するものであり、特に、角度センサの検
出値に基づく計測誤差を低減したパワーショベルの掘削
位置表示装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavation position display device for a power shovel, and more particularly to a excavation position display device for a power shovel in which a measurement error based on a detection value of an angle sensor is reduced.
【０００２】[0002]
【従来の技術】従来のパワーショベルのバケット先端位
置の計測について、図５と後記の数式とによって説明す
る。同図において１は水平面に設置されたパワーショベ
ルであり、該パワーショベル１の走行台車２上に上部旋
回体３が搭載され、該上部旋回体３にはブーム４、アー
ム５及びバケット６が設けられている。そして、該パワ
ーショベル１の設置場所の水平面をＸ軸とし、該Ｘ軸に
直交し、且つ、ブームフートＡを通過する直線をＹ軸と
するとともに、計測の原点をブームフートＡ上に置く。2. Description of the Related Art Measurement of a bucket tip position of a conventional power shovel will be described with reference to FIG. In the figure, reference numeral 1 is a power shovel installed on a horizontal plane, and an upper swing body 3 is mounted on a traveling carriage 2 of the power shovel 1, and a boom 4, an arm 5 and a bucket 6 are provided on the upper swing body 3. Has been. Then, the horizontal plane of the installation location of the power shovel 1 is set as the X axis, the straight line orthogonal to the X axis and passing through the boom foot A is set as the Y axis, and the origin of measurement is set on the boom foot A.
【０００３】又、前記ブームフートＡとブームトップＢ
とを結ぶ線分をブーム長Ｌ1 、前記ブームトップＢとア
ームトップＣとを結ぶ線分をアーム長Ｌ2 及び前記アー
ムトップＣとバケット先端部位Ｄとを結ぶ線分をバケッ
ト長Ｌ3 とする。更に、前記Ｙ軸とブーム長Ｌ1 とのな
す角をブーム角θ1 、前記ブーム長Ｌ1 の延長線とアー
ム長Ｌ2 とのなす角をバケット角θ2 及び前記アーム長
Ｌ2 の延長線とバケット長Ｌ3 とのなす角をバケット角
θ3 とする。そして、前記ブーム角θ1 を計測するブー
ム角度センサ７を前記ブームフートＡ部位と、前記アー
ム角θ2 を計測するアーム角度センサ８を前記ブームト
ップＢ部位とに夫々設けるとともに、更に、前記バケッ
ト角θ3 を計測するバケット角度センサ９を前記アーム
トップＣ部位に設ける。The boom foot A and the boom top B are also provided.
The line segment connecting B and L is the boom length L 1 , the line segment connecting the boom top B and the arm top C is the arm length L 2, and the line segment connecting the arm top C and the bucket tip portion D is the bucket length L 3 . To do. Further, the angle between the Y axis and the boom length L 1 is the boom angle θ 1 , and the angle between the extension line of the boom length L 1 and the arm length L 2 is the bucket angle θ 2 and the extension of the arm length L 2 . The angle formed by the line and the bucket length L 3 is referred to as the bucket angle θ 3 . A boom angle sensor 7 for measuring the boom angle θ 1 is provided at the boom foot A portion, and an arm angle sensor 8 for measuring the arm angle θ 2 is provided at the boom top B portion. A bucket angle sensor 9 for measuring θ 3 is provided at the arm top C portion.
【０００４】而して、バケット６の先端部位Ｄの座標位
置ｘ、ｙは次式によって求められる。 ｘ＝Ｌ1 sin θ1 ＋Ｌ2 sin(θ1 ＋θ2)＋Ｌ3 sin(θ1
＋θ2 ＋θ3)…（１式） ｙ＝ｙ0 ＋Ｌ1 cos θ1 ＋Ｌ2 cos ( θ1 ＋θ2 )＋Ｌ
3 cos(θ1 ＋θ2 ＋θ3) …（２式） 尚、ｙo はブームフートＡと、該ブームフートＡからの
垂線が地表と交わる点との間の線分をいう。The coordinate positions x and y of the tip portion D of the bucket 6 are obtained by the following equation. x = L 1 sin θ 1 + L 2 sin (θ 1 + θ 2 ) + L 3 sin (θ 1
+ Θ 2 + θ 3 ) ... (Equation 1) y = y 0 + L 1 cos θ 1 + L 2 cos (θ 1 + θ 2 ) + L
3 cos (θ 1 + θ 2 + θ 3) ... (2 expression) Note, y o refers to the line segment between the points of intersection and Bumufuto A, a perpendicular from the Bumufuto A is the surface.
【０００５】ここで、前記ブーム角θ1 、アーム角θ2
及びバケット角θ3 は、前記ブーム角度センサ７、アー
ム角度センサ８及びバケット角度センサ９からの夫々の
検出値α1 ，α2 ，α3 に基づき、次式の算出によって
求められる。 θ1 ＝Ｇ1 α1 ＋δ1 …（３式） θ2 ＝Ｇ2 α2 ＋δ2 …（４式） θ3 ＝Ｇ3 α3 ＋δ3 …（５式） 但し、δ1 ，δ2 及びδ3 は、夫々の角度センサの取付
誤差を補正する角度である。Here, the boom angle θ 1 and the arm angle θ 2
And the bucket angle θ 3 are calculated by the following equation based on the detected values α 1 , α 2 , and α 3 from the boom angle sensor 7, the arm angle sensor 8, and the bucket angle sensor 9, respectively. θ 1 = G 1 α 1 + δ 1 (Equation 3) θ 2 = G 2 α 2 + δ 2 (Equation 4) θ 3 = G 3 α 3 + δ 3 (Equation 5) where δ 1 , δ 2 and δ 3 is an angle for correcting the mounting error of each angle sensor.
【０００６】そして、ブーム角ゲインＧ1 、アーム角ゲ
インＧ2 及びバケット角ゲインＧ3は、使用される角度
センサ、アンプ及びコントローラ等の理論値から求めら
れる係数であり、該係数は機器の取付時に設定され、そ
の後の補正は行なわれずに使用されている。The boom angle gain G 1 , the arm angle gain G 2 and the bucket angle gain G 3 are coefficients obtained from theoretical values of the angle sensor, amplifier, controller, etc. used, and these coefficients are attached to the equipment. It is set at the time and is used without any subsequent correction.
【０００７】[0007]
【発明が解決しようとする課題】従来のバケットの先端
部位の位置測定は上述せる如く、各角度センサの検出値
の係数が適正な数値でない場合があり、その場合、前記
位置計測結果に誤差が生じる。しかも、該角度センサの
測定角度によって誤差の値が増減したり、夫々の角度セ
ンサからの誤差が合算されることがある。As described above, in the conventional position measurement of the tip portion of the bucket, the coefficient of the detection value of each angle sensor may not be an appropriate numerical value. In that case, there is an error in the position measurement result. Occurs. Moreover, the value of the error may increase or decrease depending on the angle measured by the angle sensor, or the errors from the respective angle sensors may be summed up.
【０００８】そこで、バケットの先端部位の座標位置の
計測誤差を可及的に低減するために解決せらるべき技術
的課題が生じてくるのであり、本発明は該課題を解決す
ることを目的とする。Therefore, there arises a technical problem to be solved in order to reduce the measurement error of the coordinate position of the tip portion of the bucket as much as possible, and the present invention aims to solve the problem. To do.
【０００９】[0009]
【課題を解決するための手段】本発明は上記目的を達成
するために提案するものであり、上部旋回体にブーム、
アーム及びバケットを有するパワーショベルにおける該
バケットの先端部位の座標位置を、ブームフートとブー
ムトップとを結ぶ線分ブーム長Ｌ1 、ブームトップとア
ームトップとを結ぶ線分アーム長Ｌ2 及びアームトップ
とバケット先端部位とを結ぶ線分バケット長Ｌ3 と、ブ
ーム角θ1 、アーム角θ2 及びバケット角θ3 とを用い
て演算部で算出し、該算出値を表示部に表示する掘削位
置表示装置において、前記バケットの先端部位の座標位
置の算出値と実測値との差異に基づき、前記ブーム角θ
1 、アーム角θ2 及びバケット角θ3 を計測する各角度
センサの検出値の係数を補正する手段を前記演算部に設
けたパワーショベルの掘削位置表示装置を提供するもの
である。DISCLOSURE OF THE INVENTION The present invention is proposed in order to achieve the above-mentioned object.
The coordinate position of the tip end portion of the bucket in a power shovel having an arm and a bucket is defined by a line segment boom length L 1 connecting the boom foot and the boom top, a line segment arm length L 2 connecting the boom top and the arm top, and an arm top. A line segment bucket length L 3 connecting the bucket tip portion, a boom angle θ 1 , an arm angle θ 2, and a bucket angle θ 3 are calculated by the calculation unit, and the calculated value is displayed on the display unit. In the device, based on the difference between the calculated value and the actual measured value of the coordinate position of the tip portion of the bucket, the boom angle θ
(1) An excavation position display device for a power shovel, which is provided with means for correcting a coefficient of a detection value of each angle sensor that measures an arm angle θ 2 and a bucket angle θ 3 .
【００１０】[0010]
【作用】掘削位置表示装置の演算部は、ブーム長Ｌ1 、
アーム長Ｌ2 及びバケット長Ｌ 3 の定数と、各角度セン
サにより測定されたブーム角θ1 、アーム角θ2 及びバ
ケット角θ3 の変数とを用いてバケット先端部位の座標
位置を算出し、該算出値と実測値とを対比し、差異があ
る場合は、各角度センサの検出値の係数を変化させ、前
記算出値が実測値と一致したときの該係数を従来の係数
に代えて前記演算部に記憶させる。The operation unit of the excavation position display device is the boom length L.1,
Arm length L2And bucket length L 3Constant and each angle sensor
Boom angle θ measured by the1, Arm angle θ2And
Ket angle θ3Coordinates of the bucket tip part using
The position is calculated, and the calculated value and the measured value are compared and there is a difference.
When changing the angle, change the coefficient of the detection value of each angle sensor,
The coefficient when the calculated value matches the measured value is the conventional coefficient
Instead, it is stored in the arithmetic unit.
【００１１】[0011]
【実施例】以下、本発明の一実施例を図１乃至図４及び
後記の数式によって説明する。尚、前述した従来例と同
一構成部分については同一符号を付してその説明を省略
する。図１は従来例において解説した前記バケット角度
センサ９のバケット角ゲインＧ3 を調整する場合の解説
図を示し、１はパワーショベルであり、該パワーショベ
ル１の走行台車２上に上部旋回体３が搭載される。又、
該上部旋回体３にはブーム４、アーム５及びバケット６
が設けられる。そして、ブームフートＡとブームトップ
Ｂとを結ぶ線分をブーム長Ｌ1 、ブームトップＢとアー
ムトップＣとを結ぶ線分をアーム長Ｌ2 及びアームトッ
プＣとバケット６の先端部位Ｄとを結ぶ線分をバケット
長Ｌ3 とし、Ｙ軸とブーム長Ｌ1 とのなす角をブーム角
θ1 、ブーム長Ｌ1 の延長線とアーム長Ｌ2 とのなす角
をバケット角θ2 及びアーム長Ｌ 2 の延長線とバケット
長Ｌ3 とのなす角をバケット角θ3 とする。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS.
This will be described using the mathematical formulas described below. The same as the conventional example described above.
The same reference numerals are given to one component and the description thereof is omitted.
To do. FIG. 1 shows the bucket angle explained in the conventional example.
Bucket angle gain G of sensor 93When adjusting
1 shows a power shovel, and the power shovel
The upper swing body 3 is mounted on the traveling carriage 2 of the vehicle 1. or,
The upper swing body 3 includes a boom 4, an arm 5 and a bucket 6.
Is provided. Boom foot A and boom top
Boom length L is the line connecting B1, Boom Top B and A
The line connecting the top C with the arm length L2And arm
The line segment connecting the point C and the tip portion D of the bucket 6 to the bucket
Long L3And Y axis and boom length L1Boom angle
θ1, Boom length L1Extension line and arm length L2Angle between
Bucket angle θ2And arm length L 2Extension line and bucket
Long L3The angle formed by the bucket angle θ3And
【００１２】更に、上部旋回体３内には掘削位置表示装
置の演算部、表示部（共に図示せず）が設けられてい
る。そして、該演算部はバケット６の先端部位Ｄの座標
位置の算出を行い、前記表示部に該座標位置を表示する
とともに、該演算部への表示内容選択用データの入力に
よりブーム角θ1 、アーム角θ2 及びバケット角θ3 の
夫々を選択し、表示部に表示できる構成となっている。
又、ブーム角ゲインＧ1、アーム角ゲインＧ2 及びバケ
ット角ゲインＧ3 と各角度センサの取付誤差の補正角度
δ1 ，δ2 ，δ3 については、前述と同様に、前記演算
部へ表示内容選択用データを入力することにより、所望
の夫々のアーム角ゲイン又は角度センサ取付誤差の補正
角度を表示部に表示させ、該表示部上のデータを目視・
確認しながら修正入力ができるようになっており、該修
正データは該演算部のメモリに書き替えて記憶される。Further, in the upper revolving superstructure 3, there is provided an arithmetic unit and a display unit (both not shown) of the excavation position display device. Then, the calculation unit calculates the coordinate position of the tip portion D of the bucket 6, displays the coordinate position on the display unit, and inputs the display content selection data to the calculation unit to input the boom angle θ 1 , The arm angle θ 2 and the bucket angle θ 3 can be selected and displayed on the display unit.
Further, the boom angle gain G 1 , the arm angle gain G 2, the bucket angle gain G 3, and the correction angles δ 1 , δ 2 , and δ 3 of the mounting error of each angle sensor are displayed on the calculation unit in the same manner as described above. By inputting the data for content selection, the desired arm angle gain or the correction angle of the angle sensor mounting error is displayed on the display unit, and the data on the display unit is visually checked.
Correction input can be performed while checking, and the correction data is rewritten and stored in the memory of the arithmetic unit.
【００１３】ここで、具体例の説明に入る前に、基本的
な考え方を図２によって説明する。同図において、△Ｔ
ＵＶは二等辺三角形であり、辺ＴＵとＴＶとの長さは等
しい。然るとき、辺ＴＵとＴＶとのなす角θは、辺ＵＶ
と対応しており、該角θが求まれば辺ＵＶも自動的に求
められる。そして、本発明は上記原理を応用したもので
ある。Here, the basic idea will be described with reference to FIG. 2 before the description of a specific example. In the figure, ΔT
UV is an isosceles triangle, and the sides TU and TV have the same length. In that case, the angle θ formed by the side TU and the TV is the side UV.
If the angle θ is obtained, the side UV is automatically obtained. The present invention is an application of the above principle.
【００１４】而して、図１に示す如く、ブーム４、アー
ム５が同一の位置、即ち、ブーム角θ1 とアーム角θ2
とが変化せず、バケット６の先端部Ｄが図示の如く、左
右の２個所の点に夫々接地したときの該バケット６の先
端部位をＤP 及びＤQ とする。その時の該ＤP ，ＤQ 間
の長さ、即ち、線分ＸPQは次式によって求められる。 ＸPQ＝ＸP −ＸQ ＝Ｌ1 sin θ1 ＋Ｌ2 sin(θ1 ＋θ2 ) ＋Ｌ3 sin(θ1 ＋θ2 ＋θ3 ) −｛Ｌ1 sin θ1 ＋Ｌ2 sin(θ1 ＋θ2 ) ＋Ｌ3 sin(θ1 ＋θ2 ＋θ3Q) ｝ …（６式） 而して、５式及び６式より ＸPQ＝Ｌ3 sin(θ1 ＋θ2 ＋θ3 ) −Ｌ3 sin(θ1 ＋θ2 ＋θ3Q) ＝Ｌ3 sin(θ1 ＋θ2 ＋( Ｇ3 α3 ＋δ3)） −Ｌ3 sin(θ1 ＋θ2 ＋( Ｇ3 α3Q＋δ3)) …（７式） 然る後、前記７式の算出式に基づき演算部で算出され、
表示部で表示されたＸ PQの算出値と、巻尺等により測定
された該ＸPQの実測値との差異を求め、該差異を解消す
るため次によりバケット角ゲインＧ3 を演算部における
操作によって変化させる。Then, as shown in FIG.
The positions of the booms 5 are the same, that is, the boom angle θ1And arm angle θ2
Does not change, and the tip D of the bucket 6 is left as shown in the figure.
The tip of the bucket 6 when touching the two points on the right
D at the endPAnd DQAnd The D at that timeP, DQwhile
Length of line segment XPQIs calculated by the following equation. XPQ= XP-XQ = L1sin θ1+ L2sin (θ1+ Θ2 ) + L3sin (θ1+ Θ2+ Θ3 )-{L1sin θ1+ L2sin (θ1+ Θ2 ) + L3sin (θ1+ Θ2+ Θ3Q)} (Equation 6) Then, from Equations 5 and 6, XPQ= L3sin (θ1+ Θ2+ Θ3) -L3sin (θ1+ Θ2+ Θ3Q) = L3sin (θ1+ Θ2 ＋ (G3α3+ Δ3))-L3sin (θ1+ Θ2＋ (G3α3Q+ Δ3)) (Equation 7) After that, it is calculated by the calculation unit based on the calculation equation of the above Equation 7,
X displayed on the display PQMeasured with the calculated value and tape measure
The XPQFind the difference from the actual measurement value and eliminate the difference
Therefore, the bucket angle gain G3In the calculation section
Change by operation.
【００１５】そして、ＸPQの算出値＞ＸPQの実測値のと
きはＧ3 を減少させる。ＸPQの算出値＜ＸPQの実測値の
ときはＧ3 を増加させる。而して、ＸPQの算出値＝ＸPQ
の実測値となったときのＧ3 を演算部内で従来の値に置
き替えて記憶させる。次に、アーム角度センサ８のアー
ム角ゲインＧ2 の調整方法について、図３に従って説明
する。同図に示す如く、ブーム４が同じ位置、即ちブー
ム角θ1 は変化せずにバケット先端部Ｄが図中の左右か
ら夫々接地したときの該バケット先端部位を夫々ＤR ，
ＤS とする。その時のＤR ，ＤS 間の長さ、即ちＸRSは
次式によって求められる。[0015] Then, when the measured value of the calculated value> X PQ of X PQ reducing G 3. Calculated value of X PQ <When the actual measurement value of X PQ increasing G 3. And Thus, the calculated value of the X PQ = X PQ
G 3 when it becomes the actual measured value is replaced with the conventional value in the arithmetic unit and stored. Next, a method of adjusting the arm angle gain G 2 of the arm angle sensor 8 will be described with reference to FIG. As shown in the figure, when the boom 4 is at the same position, that is, the boom angle θ 1 does not change and the bucket tip portions D are respectively grounded from the left and right sides in the figure, the bucket tip portions are respectively D R ,
Let D S. The length between D R and D S at that time, that is, X RS is obtained by the following equation.
【００１６】ＸRS＝ＸR −ＸS ＝Ｌ1 sin θ1 ＋Ｌ2 sin ( θ1 ＋θ2 ) ＋Ｌ3 sin(θ1 ＋θ2 ＋θ3 ) −｛Ｌ1 sin θ1 ＋Ｌ2 sin(θ1 ＋θ2S ) ＋Ｌ3 sin(θ1 ＋θ2S＋θ3 ) ｝ …（８式） 而して、４式及び８式より ＸRS＝Ｌ2 ( θ1 ＋θ2 ) −Ｌ2 ( θ1 ＋θ2S ) ＋Ｌ3 sin(θ1 ＋θ3 ＋θ2 ) −Ｌ3 sin(θ1 ＋θ3 ＋θ2S) ＝Ｌ2 ( θ1 ＋（Ｇ2 α2 ＋δ2)) −Ｌ2 ( θ1 ＋（Ｇ2 α2S＋δ2)) ＋Ｌ3 sin(θ1 ＋θ3 ＋（Ｇ2 α2 ＋δ2)) −Ｌ3 sin(θ1 ＋θ3 ＋（Ｇ2 α2S＋δ2)) …（９式） 然る後、前記９式の算出式に基づき、演算部で算出さ
れ、表示部で表示されたＸRSの算出値と、該ＸRSの実測
値との差異を求め、該差異を解消するため次によりアー
ム角ゲインＧ2 を演算部の操作によって変化させる。X RS = X R −X S = L 1 sin θ 1 + L 2 sin (θ 1 + θ 2 ) + L 3 sin (θ 1 + θ 2 + θ 3 ) − {L 1 sin θ 1 + L 2 sin (θ 1 + Θ 2S ) + L 3 sin (θ 1 + θ 2S + θ 3 )} (Equation 8) Then, from Equation 4 and Equation 8, X RS = L 2 (θ 1 + θ 2 ) −L 2 (θ 1 + θ 2S ). + L 3 sin (θ 1 + θ 3 + θ 2 ) −L 3 sin (θ 1 + θ 3 + θ 2S ) = L 2 (θ 1 + (G 2 α 2 + δ 2 )) −L 2 (θ 1 + (G 2 α 2S + δ 2 )) + L 3 sin (θ 1 + θ 3 + (G 2 α 2 + δ 2 ))-L 3 sin (θ 1 + θ 3 + (G 2 α 2S + δ 2 )) (Equation 9) The difference between the calculated value of X RS calculated by the calculation unit and displayed on the display unit and the actual measured value of X RS is calculated based on the calculation formula of the above-mentioned 9 formula, and the arm is removed by the following to eliminate the difference. The angular gain G 2 is changed by operating the arithmetic unit.
【００１７】そして、ＸRSの算出値＞ＸRSの実測値のと
きはＧ2 を減少させる。ＸRSの算出値＜ＸRSの実測値の
ときはＧ2 を増加させる。而して、ＸRSの算出値＝ＸRS
の実測値となったときのＧ2 を演算部内で従来の値に置
き替えて記憶させる。更に、ブーム角度センサ７のブー
ム角ゲインＧ1 の調整方法について、図４に従って説明
する。同図に示す如く、Ｙ座標上におけるＢT ，ＢU 間
の線分、即ちＹTUは次式によって求められる。[0017] Then, when the measured value of the calculated value> X RS of X RS reducing G 2. Calculated value of X RS <When the actual measurement value of X RS increasing G 2. And Thus, the calculated value of X RS = X RS
G 2 when it becomes the actual measurement value is replaced with the conventional value in the arithmetic unit and stored. Further, a method of adjusting the boom angle gain G 1 of the boom angle sensor 7 will be described with reference to FIG. As shown in the figure, the line segment between B T and B U on the Y coordinate, that is, Y TU is obtained by the following equation.
【００１８】ＹTU＝ＹT −ＹU ＝ＹO ＋Ｌ1cosθ1 −( ＹO ＋Ｌ1cosθ1U ) ＝Ｌ1cosθ1 −Ｌ1cosθ1U …（１０式） ３式及び１０式より ＹTU＝Ｌ1 cos （Ｇ1 α1 ＋δ1)−Ｌ1cos（Ｇ1 α1U＋
δ1) …（１１式） 然る後、１１式の算出式に基づき演算部で算出され、表
示部で表示されたＹTUの算出値と、該ＹTUの実測値との
差異を求め、該差異を解消するため次によりブーム角ゲ
インＧ1 を演算部の操作によって変化させる。[0018] Y TU = Y T -Y U = Y O + L 1 cosθ 1 - (Y O + L 1 cosθ 1U) = L 1 cosθ 1 -L 1 cosθ 1U ... (10 type) 3 Formula and Y TU from equation (10) = L 1 cos (G 1 α 1 + δ 1 ) −L 1 cos (G 1 α 1U +
[delta] 1) ... (11 type) Thereafter, calculated by the calculation unit based on the calculation equation of equation (11), obtains a calculated value of Y TU displayed on the display unit, the difference between the actual measurement value of the Y TU, In order to eliminate the difference, the boom angle gain G 1 is changed by the operation of the calculation unit as follows.
【００１９】そして、ＹTUの算出値＞ＹTUの実測値のと
きＧ1 を減少させる。ＹTUの算出値＜ＹTUの実測値のと
きＧ1 を増加させる。而して、ＹTUの算出値＝ＹTUの実
測値となったときのＧ1 を演算部内で従来の値に置き替
えて記憶させる。尚、図１におけるＸPQ、図３における
ＸRS及び図４におけるＹTUの夫々の実測値は、ＸPQの場
合はバケット、ＸRSの場合はアームとバケット及びＹTU
の場合はブームの夫々の長さに合わせて、予め、演算部
内で設定されているが、表示内容選択用データの入力に
よって夫々の長さを表示部で表示させ、該長さを表示部
上で目視・確認しながらデータ入力により変更可能とな
っている。[0019] Then, to reduce the G 1 when the measured value of the calculated value> Y TU of Y TU. Y calculated value of the TU <increasing G 1 when the measured value of Y TU. And Thus, the G 1 to be stored therein replaced the conventional value calculation portion when a measured value of the calculated value = Y TU of Y TU. The measured values of X PQ in FIG. 1, X RS in FIG. 3 and Y TU in FIG. 4 are the bucket for X PQ , the arm and bucket and Y TU for X RS.
In the case of, the length is set in advance in the calculation unit according to the length of each boom, but each length is displayed on the display unit by inputting display content selection data, and the length is displayed on the display unit. It is possible to make changes by entering data while visually checking and checking.
【００２０】斯くして、上述の手順により、ブーム角ゲ
インＧ1 、アーム角ゲインＧ2 及びバケット角ゲインＧ
3 の修正を行うことにより、バケットの先端部位の座標
位置の計測誤差が解消されるので、パワーショベル１の
設置場所の２点間の距離を計測する場合においても、測
定精度の向上がはかられる。尚、この発明は、この発明
の精神を逸脱しない限り種々の改変を為すことができ、
そして、この発明が該改変せられたものに及ぶことは当
然である。Thus, the boom angle gain G 1 , the arm angle gain G 2 and the bucket angle gain G are obtained by the above-mentioned procedure.
The correction of 3 eliminates the measurement error of the coordinate position of the tip of the bucket, so the measurement accuracy is improved even when measuring the distance between two points where the power shovel 1 is installed. Be done. The present invention can be modified in various ways without departing from the spirit of the present invention.
And, it goes without saying that the present invention extends to the modified one.
【００２１】[0021]
【発明の効果】本発明は上記一実施例にて詳述せる如
く、各角度センサの検出値から各回転角を算出する過程
における誤差を夫々低減することにより、個々の回転角
の誤差が低減されるとともに、更に、それ等による複合
誤差も可及的に減少する。斯くして、簡単、且つ、経済
的な方法で回転角算出の精度向上が画られることによ
り、正確なバケット先端部位の座標位置が把握できるの
で、掘削工事の品質が向上する等、正に諸種の効果を奏
する発明である。As described in detail in the above one embodiment, the present invention reduces the error in the individual rotation angle by reducing the error in the process of calculating each rotation angle from the detection value of each angle sensor. In addition, the composite error due to them is also reduced as much as possible. Thus, since the accuracy of the rotation angle calculation can be improved by a simple and economical method, the accurate coordinate position of the bucket tip portion can be grasped, so that the quality of excavation work can be improved and various types of operations can be performed. It is an invention that produces the effect of.
【図１】本発明の一実施例を示し、バケット角ゲインの
補正方法の解説図。FIG. 1 is an explanatory diagram of a bucket angle gain correction method according to an embodiment of the present invention.
【図２】本発明の原理である二等辺三角形の解説図。FIG. 2 is an explanatory diagram of an isosceles triangle that is the principle of the present invention.
【図３】本発明の一実施例を示し、アーム角ゲインの補
正方法の解説図。FIG. 3 is an explanatory diagram of an arm angle gain correction method according to an embodiment of the present invention.
【図４】本発明の一実施例を示し、ブーム角ゲインの補
正方法の解説図。FIG. 4 is an explanatory diagram of a boom angle gain correction method according to an embodiment of the present invention.
【図５】従来例を示し、水平面上に設置されたパワーシ
ョベルの解説図。FIG. 5 is an explanatory view of a power shovel installed on a horizontal plane, showing a conventional example.
１ パワーショベル ３ 上部旋回体 ４ ブーム ５ アーム ６ バケット ７ ブーム角度センサ ８ アーム角度センサ ９ バケット角度センサ Ｌ1 ブーム長 Ｌ2 アーム長 Ｌ3 バケット長 θ1 ブーム角 θ2 アーム角 θ3 バケット角 Ｇ1 ブーム角ゲイン Ｇ2 アーム角ゲイン Ｇ3 バケット角ゲイン1 Power shovel 3 Upper revolving structure 4 Boom 5 Arm 6 Bucket 7 Boom angle sensor 8 Arm angle sensor 9 Bucket angle sensor L 1 Boom length L 2 Arm length L 3 Bucket length θ 1 Boom angle θ 2 Arm angle θ 3 Bucket angle G 1 Boom angle gain G 2 Arm angle gain G 3 Bucket angle gain
Claims (1)
トを有するパワーショベルにおける該バケットの先端部
位の座標位置を、ブームフートとブームトップとを結ぶ
線分ブーム長Ｌ1 、ブームトップとアームトップとを結
ぶ線分アーム長Ｌ2 及びアームトップとバケット先端部
位とを結ぶ線分バケット長Ｌ3 と、ブーム角θ1 、アー
ム角θ2 及びバケット角θ3 とを用いて演算部で算出
し、該算出値を表示部に表示する掘削位置表示装置にお
いて、前記バケットの先端部位の座標位置の算出値と実
測値との差異に基づき、前記ブーム角θ1 、アーム角θ
2及びバケット角θ3 を計測する各角度センサの検出値
の係数を補正する手段を前記演算部に設けたことを特徴
とするパワーショベルの掘削位置表示装置。1. A power shovel having a boom, an arm and a bucket on an upper revolving structure has a coordinate position of a tip end portion of the bucket as a line segment boom length L 1 connecting a boom foot and a boom top, and a boom top and an arm top. The line segment arm length L 2 and the line segment bucket length L 3 connecting the arm top and the bucket tip portion, and the boom angle θ 1 , the arm angle θ 2, and the bucket angle θ 3 are calculated by the calculation unit, In the excavation position display device that displays the calculated value on the display unit, the boom angle θ 1 and the arm angle θ are based on the difference between the calculated value and the actual measured value of the coordinate position of the tip portion of the bucket.
2. An excavation position display device for a power shovel, wherein the arithmetic unit is provided with means for correcting the coefficient of the detection value of each angle sensor that measures 2 and the bucket angle θ 3 .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29701893A JP2905065B2 (en) | 1993-11-26 | 1993-11-26 | Excavator excavation position display device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29701893A JP2905065B2 (en) | 1993-11-26 | 1993-11-26 | Excavator excavation position display device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07150596A true JPH07150596A (en) | 1995-06-13 |
| JP2905065B2 JP2905065B2 (en) | 1999-06-14 |
Family
ID=17841181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29701893A Expired - Fee Related JP2905065B2 (en) | 1993-11-26 | 1993-11-26 | Excavator excavation position display device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2905065B2 (en) |
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