Positioning calibration method for construction working machines and its positioning calibration controller

Abstract

A positioning calibration controller for measuring and calibrating the configuration dimensions of a construction working machine having an machine body including a first surveying device for surveying the position coordinates and a movable working tool including one or more angle detecting devices, wherein the positioning calibration method and the positioning calibration controller of the construction working machine having the feature of specifying the configuration dimensions and the configuration positions of the movable business tool by the position measurement data and the angle data detected by the angle detecting device by measuring the position coordinates of the plurality of posture positions of the movable business tool by a second surveying device.

Claims

1. A positioning calibration method for a construction working machine comprising: measuring and determining a constituent length and a constituent position of a movable working tool of the construction working machine, the construction working machine including: a first surveying device provided on a machine body for surveying a position coordinate of the machine body, a first angle detecting device provided on the machine body for detecting an angle of the machine body, at least one second angle detecting device provided on the movable working tool and for the movable working tool, and a second surveying device provided outside the construction working machine for surveying the position coordinates of a plurality of posture positions of the movable working tool, wherein: the position coordinates of the plurality of posture positions of the movable working tool are measured by the second surveying device, and the constituent length and the constituent position of the movable working tool are determined based on at least one rotational center of the movable working tool calculated using data of the measured position coordinates of the movable working tool and data of the angles of the movable working tool detected by the second angle detecting device.

2. The positioning calibration method for the construction working machine set forth in claim 1, wherein based on the constituent length and the constituent position and during operation of the construction working machine, the constituent position and the position coordinate of the movable working tool and a tip of the movable working tool during operation time are positioned and determined from operation time position measurement data and operation time posture data of the machine body measured by the first angle detecting device and the first surveying device of the machine body, respectively and operation time angle data of the movable working tool measured by the second angle detecting device.

3. The positioning calibration method for the construction working machine set forth in any of claim 2, wherein: in case that the construction working machine is a backhoe or a construction working machine in which the configuration of a movable working tool is similar to that of the backhoe, the movable working tool includes a bucket, an arm and a boom or an attachment of the arm or the boom, or in case that the construction working machine is a bulldozer, the movable working tool is a blade, or in case that the construction working machine is a crane, the movable working tool is a tip hook, the second surveying device is an optical surveying device including a total station (TS), a measurement target position of the movable working tool is taken as a measurement position of the optical surveying device, the position measurement is performed in a world geodetic system coordinate, and the first surveying device is a Global Positioning Satellite System (GNSS), the position measurement is performed in the world geodetic system, the position measured with the GNSS can be corrected by a reference base station outside the construction working machine or correction information contained in satellite signals, and the first and second angle detecting devices are angle sensors including an IMU (Inertial Measurement Unit).

4. The positioning calibration method for the construction working machine set forth in claim 3, wherein: in case that the construction working machine is a backhoe or a construction working machine in which the configuration of a movable working tool is similar to that of the backhoe, and the constituent length of the movable working tool is positioned and measured by the optical measuring device as the second measuring device, a prism is attached to a tip of the bucket, measurement of a plurality of the posture positions of the movable working tool are measurements of positions of the prism at posture positions, with the optical surveying device, at a plurality of positions including two locations when the bucket is rotated vertically, two locations when the arm is rotated vertically, and two locations when the boom is rotated vertically, and the constituent lengths of the bucket, the arm, and the boom are determined, respectively, by using measured values obtained by measurement of the positions at a plurality of the locations and angle values of the rotations measured at a plurality of the locations by the second angle detecting devices respectively provided on the bucket, the arm and the boom.

5. The positioning calibration method for the construction working machine set forth in claim 3, wherein: in case that the construction working machine is a backhoe or a construction working machine in which the configuration of the movable working is similar to that of the backhoe, and the position coordinate of the machine body is measured as a position coordinate in the world geodetic system by the first surveying device, and the GNSS receiver is provided at an upper rotating body of the machine body, and a rotation center position of the upper rotating body is determined and positioned as a place in the world geodetic system of the machine body by using positioned values measured at any three locations under rotation of the upper rotating body with the GNSS receiver and angular values measured by the first angle detecting device provided on the upper rotating body.

6. The positioning calibration method for the construction working machine set forth in claim 5, wherein: in case that the construction working machine is the backhoe or a construction working machine in which the configuration of a movable working tool is similar to that of the backhoe, the method of positioning and determining the constituent position and the position coordinate of the tip of the bucket of the movable working tool during operation by the first surveying device, the rotation center position of the upper rotation body is positioned as a position coordinate of the machine body in the world geodetic system, the rotation center position of the boom as the movable working tool is positioned as the position coordinate in the world geodetic system from the position of the machine body in the world geodetic system, and the position coordinate of the tip of the movable working tool is determined as the position coordinate in the world geodetic system from the position coordinate of the rotation center position of the boom in the world geodetic system.

7. The positioning calibration method for the construction working machine set forth in claim 6, wherein: in case that the construction working machine is the backhoe and a construction working machine in which the configuration of a movable working tool is similar to that of the backhoe, the method of the calibrating the constituent position of the movable working tool in the machine body is that: the bucket, the arm, and the boom are made stationary in prescribed positions, respectively, the position coordinates of the constituent of the movable working tool in the machine body is determined by matching positioned values of the measured prism of the bucket of the movable working tool are measured by using the optical surveying device as said second surveying device, a coordinate of the constituent position of the movable working tool in the machine body is obtained by matching measured values of the measured position coordinate of the prism of the bucket of the measured movable working tool, a position coordinate in the world geometric system of the rotation center of the boom, and a position coordinate in the world geometric system of the GNSS receiver provided on the upper rotation body, and the constituent position of the movable working tool in the machine body is determined based on the determined constituent position coordinate during operation.

8. The positioning calibration method for the construction working machine set forth in claim 3, wherein: in case that the construction working machine is the bulldozer or a construction working machine in which the configuration of a movable working tool is similar to that of the bulldozer, the method of position measuring and determining the constituent length of the movable working tool with the optical type surveying device as the second surveying device, wherein a prism is attached to right/left tip of the blade, measurements at a plurality of the posture positions of the movable working tool are positional measurements of the prism with the optical surveying device at plural positions including two or more locations when the blade is rotated vertically in pitch directions and at two or more locations when the blade is rotated in rolling directions, and a constituent length of a frame of the blade is determined by using the measured values obtained through the positional measurements at a plurality of the positions and angle values of the rotations at a plurality of the locations, respectively, by the second angle detecting devices provided on the blade.

9. The positioning calibration method for the construction working machine set forth in claim 8, wherein: in case that the construction working machine is the bulldozer or a construction working machine in which the configuration of a movable working tool is similar to that of the bulldozer, the method for measuring the position of the machine body as a position coordinate in the world geodetic system of the machine body with the first surveying device, and the position and the moving direction of the machine body is determined and positioned as position coordinate in the world geodetic system by using the positioned value measured with the GNSS receiver provided in the machine body, and change amounts in the angular values and the movement values measured with the first angle detecting device provided in the machine body.

10. The positioning calibration method for the construction working machine set forth in claim 9, wherein: in case that the construction working machine is the bulldozer or a construction working machine in which the configuration of a movable working tool is similar to that of the bulldozer, the method for positioning and determining the constituent position and the coordinate of the constituent position during operation of the tip of the movable working tool with the first surveying device, wherein the position of the machine body is positioned as the position coordinate of the machine body in the world geodetic system, the position coordinate of a rotational center of the frame of the moving working tool is determined and positioned as a position coordinate in the world geodetic system from the position coordinate of the machine body in the world geodetic system, and the position coordinate of an edge of the blade is determined and positioned as a position coordinate in the world geodetic system from the position coordinate of the rotational center of the frame in the world geodetic system.

11. The positioning calibration method for the construction working machine set forth in claim 10, wherein: in case that the construction working machine is the bulldozer or a construction working machine in which the configuration of a movable working tool is similar to that of the bulldozer, the method in which the constituent position of the movable working tool in the machine body is calibrated, wherein the blade is made stationary at a determined position, and the position of the prism of the blade of the movable working tool is measured with the optical type surveying device as the second surveying device, the constituent position of the movable working tool in the machine body is determined by matching measured values of the measured position coordinate of the prism of the blade of the movable working tool, the position coordinate of the rotational center of the frame in the world geodetic system, the position coordinate of the machine body in the world geodetic system, and the position coordinate of the GNSS receiver provided on the machine body in the world geodetic system, and the constituent position of the movable working tool in the machine body is determined in reference to the determined constituent position during operation.

12. The positioning calibration method for the construction working machine set forth in claim 1, wherein the construction working machine is a backhoe, a bulldozer, a crane, a loader, a scrapper, a wheel loader, or a work ladder car.

13. A positioning calibration controller for a construction working machine for performing a positioning calibration method for a construction working machine according to claim 1.

14. A construction working machine comprising the positioning calibration controller according to claim 13.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a perspective conceptual figure showing an image of the entire backhoe in the positioning calibration method for general construction working machines.

(2) FIG. 2 is a perspective conceptual figure showing an image of the entire bulldozer in the positioning calibration method for general construction working machines.

(3) FIG. 3 is a perspective conceptual figure showing an image of the coordinate systems in the entire backhoe of a construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to an embodiment of the present invention.

(4) FIG. 4 is a perspective conceptual figure showing an image of the coordinate systems of the entire bulldozer of a construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(5) FIG. 5 is a conceptual figure showing an image of the setting and calibration of coordinate system of a machine body of the construction working machine incorporating the positioning calibration method and the positioning calibration controller for the construction working machine according to a furthermore embodiment of the present invention.

(6) FIG. 6 is a conceptual figure showing an image of the setting and calibration of the coordinate system of a machine body of the construction working machine incorporating the positioning calibration method and the positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(7) FIG. 7 is a conceptual figure showing an image of a prism attachment position in a construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(8) FIG. 8 is a conceptual figure showing an image of the movement of a drive working tool of the backhoe of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(9) FIG. 9 is a conceptual figure showing an image of the movement of the drive working tool of the backhoe of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(10) FIG. 10 is a conceptual figure showing an image of the setting of the coordinate system of the bulldozer of the machine body of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(11) FIG. 11 is a conceptual figure showing an image of prism attachment positions of the bulldozer of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(12) FIG. 12 is a conceptual figure showing an image of the movement of the blade of the bulldozer of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(13) FIG. 13 is a conceptual figure showing an image of the movement of the blade of the bulldozer of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(14) FIG. 14 is a conceptual figure showing an image of the movement of the blade of the bulldozer of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(15) FIG. 15 is a conceptual figure showing an image of the movement of the blade of the bulldozer of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(16) FIG. 16 is a conceptual figure showing an image of the movement of the blade of the bulldozer of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

(17) FIG. 17 is a conceptual figure showing an image of the movement of the blade of the bulldozer of the construction working machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to a further embodiment of the present invention.

EXPLANATION OF REFERENCE NUMERALS

Reference Numerals in the Drawings

(18) 1—backhoe, 2—bulldozer, 3—World geodetic system (Absolute Coordinate System), 4—machine body coordinate system, 5—working tool coordinate system (drive working machine coordinate system), 6—total stations (TS), 10—control compartment, 11—upper rotating body (main part of machine body), 12—boom, 13—arm, 14—bucket, 15—lower moving body (caterpillar), 16—GNSS (Global Navigation Satellite System/whole sphere positioning satellite system) receiver (antenna), 17—tilt angle sensor (tilt sensor), 18—controller, 19—control box, 20—GNSS fixed station, 21—main body of upper machine body, 22—grade, 23—frame, 24—blade edge, 25—bucket tip, 30—IMUs consisting of a 3-axis accelerometer and a 3-axis gyro sensor (Inertial Measurement Unit), 31—axis of rotation, 32—prism, 33—upper part of the machine body,

EMBODIMENTS FOR CARRYING OUT THE INVENTION

(19) Hereinafter, explanation will be given to the embodiments for carrying out the present invention with reference to the drawings. Incidentally, the following description schematically shows a range necessary for explanation to achieve the object of the present invention, and mainly explains the range necessary for the description of the corresponding portions of the present invention, while portions for which explanation is omitted rely on the known art.

(20) FIG. 1 is a perspective conceptual figure showing an image of the entire backhoe as a construction working machine (herein referred to also construction machine) incorporating a calibration method and a positioning method for a general construction machine. As shown in the figure, the backhoe 1 as a construction machine comprises an upper rotation body (a main body of a machine body) 11 including a control compartment 10, a boom 12, an arm 13 and a bucket 14 as a drive working tool (herein referred to also as movable working tool), and a lower moving body 15 as a caterpillar.

(21) GNSS receivers (antennas) 16 are attached to the back of an upper rotator 11, and tilt sensors as inclination angle sensors 17 are attached to the boom 12, the arm 13, the bucket 14, and the back of the upper rotator 11, respectively. A controller 18 and a control box 19, which are liquid crystal display screens, are installed in a control compartment 10. Also, there is a GNSS fixed station 20 outside.

(22) FIG. 2 is a perspective conceptual figure showing the entire bulldozer as a construction machine incorporating a calibration method and a positioning method for a general construction machine. As shown in the figure, it comprises an upper machine body 21 including a control compartment 10 of a bulldozer 2 as a construction machine, a blade (soil removal plate) 22 as a drive working tool, frames 23 for moving the blade 22, and a lower moving body 15 as a caterpillar.

(23) GNSS receivers (antennas) 16 are attached at both ends of the blade 22, and a tilt sensor as a tilt angle sensor 17 is attached to a substantially central portion of the blade 22. A controller 18 and a control box 19 (not shown), which are liquid crystal screens, are installed in the control compartment 10. Also, there is a GNSS fixed station 20 (not shown) outside.

(24) First, the coordinate systems will be described.

(25) The coordinate system of the GNSS is the coordinate system of the world geodesic system (absolute coordinate system), and each point on the earth is shown in the coordinate system. The zenith is taken as the Z-axis, north as the X-axis, and east as the Y-axis. It is finally required to obtain the position of a tip of the bucket of the backhoe and that of a blade edge 24 of the bulldozer 2 as the construction machines in this world geodesic system. A design plane in a construction site for the construction machine is in the coordinate system of the world geodesic system (Generally, the coordinate system is a right screw system, while the world geodesic system is a left screw system).

(26) The coordinate system of the machine body of the construction machine is the coordinate system of a main portion of the machine body, the backhoe 1 takes the rotation axis of the upper rotation body (including the control compartment) 11 as the coordinate system of the main body 11 of the machine body, and the bulldozer 2 also takes the upper part including the control compartment as the coordinate system of the main body 21 of the machine body. These coordinate systems take the zenith as the Z-axis, the forward direction as the X-axis, and the left direction as the Y-axis as viewed in the left direction from the control compartment 10. However, in positioning in the world geodetic system (absolute coordinate system), only the axes names are converted.

(27) The coordinate system for the drive working tool is related to that for the machine body. That is, the coordinate system for the boom 12, the arm 13, and the bucket 14 of the backhoe 1 and the coordinate system for the blade 22 of the bulldozer 2 are associated with that of the machine body, and at the same time they are positioned by converting them to the world geodetic system (absolute coordinate system).

(28) Next, a specific embodiment of the backhoe will be explained.

(29) FIG. 3 is a perspective conceptual figure showing an image of the coordinate system of the entire backhoe of the construction machine incorporating the positioning calibration method and the positioning calibration controller for the construction working machine according to an embodiment of the present invention. As shown in the figure, the GNSS receiver 16 and the antenna are installed as one set on the upper rotation body 11. The antenna is installed at a location away from the rotation axis of the upper rotation body 11. The GNSS receiver 16 and the antenna may be integral. On the upper rotating body 11, an IMU (Inertial Measurement Unit, inertial measuring device) 30 consisting of a 3-axis acceleration sensor and a 3-axis gyro sensor is installed. (An IMU consisting of the three-axis acceleration sensor and the three-axis gyroscope sensor (Inertial Measurement Unit, inertial measurement device is hereinafter abbreviated as “IMU”.)

(30) The IMU is a device which measures acceleration and angular velocity with an acceleration sensor and a gyroscope sensor (=gyroscope=angular velocity sensor), thereby recognizing the position and posture. The angle sensor is specialized for the detection of the rotation angle of the IMU, and obtains the rotation angle by integrating the angular velocity.

(31) At that time, the gravitational acceleration is detected with the acceleration sensor, so that a drift (deviation) in the angle detection can be offset. In the present application, the IMU is defined and described as a concept including an angle sensor. Of course, the same applies to a tilt sensor or the like. That is, the present application includes an angle sensor in the IMU.

(32) A similar IMU is set for each of the boom 12, the arm 13, and the bucket 14. (When the amount of rotation plane of each of the boom 12, the arm 13 and the bucket 14, which is inclined from the vertical, is small, and the accuracy of the position of the tip 25 is not severe, only an IMU consisting of a one-axis acceleration sensor and a one-axis gyroscope may be mounted. In that case, the calculation described below handles one-axis rotation only.)

(33) First, the coordinate system for the machine body is set as an initial calibration as follows. For example, this setting may be performed at the time of the installation of the measuring device or at the time of the factory shipment. FIG. 5 is a conceptual figure showing an image of the setting and the calibration of a machine body coordinate system incorporating the calibration method and the positioning method for the construction machine and its controller according to an embodiment of the present invention. It will be described with reference to FIGS. 3 and 5.

(34) As shown in FIG. 3, the lower moving body 15 is made and kept stationary for a time period in which the GNSS receiver 16 is stabilized, while rotating the upper rotator 11, and positions P1, P2, P3 of the GNSS antenna 16 are measured in the world geodetic system at three locations (see FIG. 5). When turning, the rotation angles among respective P1, P2, P3 are measured with IMU30 (measured by integrating the angular velocity of the gyroscope sensor of the IMU).

(35) On the P1P2P3 plane, the center of rotation can be obtained from an isosceles triangles determined by each two points and the angles therebetween. The average position among the three rotation centers obtained is taken as the rotation center, which is taken as the origin O of the machine body coordinate system 4. If the dispersion of the three rotation centers is large, it may be determined by measurement points at which errors are stabilized by increasing the number of points to be measured.

(36) The method of measuring the position P1, P2, P3 of the GNSS antenna 16 in the world geodetic system is not particularly limited, it may be that for example, a prism is attached to GNSS antenna, and positions P1, P2, P3 of the GNSS antenna 16 are measured in the world geodetic system at three locations by the total station (TS) 20. The method of determining the origin O of the coordinate system 4 of the machine body (herein, also referred to as “main body coordinate system”) is not particularly limited. For example, on P1P2P3 plane, a point equidistant from the positions P1, P2, P3 of GNSS antenna 16 may be used as the origin O of the machine body coordinate system 4.

(37) The P1P2P3 plane is taken as an xy plane of the machine body coordinate system. Of these, the axis, which is parallel to the horizontal rotation plane of working tool coordinate system 5 to be described later, is taken as an x axis. (This may be a method of transforming the coordinate system by setting an x-axis and a y-axis in any orthogonal direction.) The zenith direction be z.

(38) This determines the position of the GNSS antennae 16 in the machine body coordinate system 4

(39) In the same condition, the present state of the IMU30 is held as the original posture of the IMU30. That is, the direction of the gravitational acceleration of the IMU acceleration sensor is held.

(40) Next, the measurement is performed when the machine body is in operation.

(41) FIG. 6 is a conceptual figure showing an image of the setting and the calibration in the machine body coordinate system of the construction machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to an embodiment of the present invention It will be described with reference to FIGS. 3 and 6.

(42) The GNSS antenna deviates from the position of GNSS16, the position of the antenna is grasped by the GNSS fixed station 20 and the GNSS16.

(43) The relative position between the machine body coordinate system 4 and the world geodetic system 3 is recognized by the position of the GNSS antenna 16 in the machine body coordinate system 4 and the posture recognition recognized with the IMU30. The relative movement of the posture from the original posture can be recognized from the rotation at each axis in three dimensions.

(44) The position of the origin in the machine body coordinate system 4 in the world geodetic system and the rotation angle of each axis for the machine body coordinate system 4 and the world geodetic system 3 are grasped. The deviation of the posture due to IMU30 can be obtained by integrating the angular velocity values of the gyro sensor in each axis from the value of the original posture.

(45) The above is prepared as a coordinate transformation calculation between the machine body coordinate system 4 and the world geodetic system 3.

(46) When the origin O is stationary, there is no movement of the lower moving body 15 of the machine body and the antenna position can be stably taken at two or more locations, the recalibration at the time of operation can be reset by resetting the original posture of IMU30, and thereafter the relative moment can be recognize the relative movement from that posture.

EXAMPLES

(47) Setting and calibration of the working tool coordinate system will be explained.

(48) FIG. 7 is a conceptual figure showing an image of the attachment position of a prism in a construction machine incorporating the calibration method and the positioning method and its controller for the construction machine according to an embodiment of the present invention

(49) FIG. 8 is a conceptual figure showing an image of the movement of a drive working tool of the backhoe of the construction machine incorporating the positioning calibration method for the construction working machine and its controller according to an embodiment of the present invention. The setting and the calibration of the coordinate system 5 for the drive working tool (boom 12, arm 13, bucket 14) will be described with reference to FIGS. 7 and 8.

Example 1

(50) First, measurement of the drive working tool is performed under rotation. This will be performed continuously to the setting and the calibration of the machine body coordinate system. As shown in FIG. 7, for example, the prism is held on a blade tip 25 of the bucket, and the world geodesic coordinate 3 of the blade tip is measured by the total station (TS) 6. The measurements is made from a side of the backhoe. Stability of accuracy can be expected, because only the side position is measured from TS at the same depth.

(51) As shown in FIG. 8, while the boom 12 and the arm are fixed, the bucket 14 only is rotated, and two P.sub.i of the blade tip 25 of the bucket are measured in the global geodesic system.

(52) Then, the arm 13 is rotated, the above is performed. The total number of measurement points is 4.

(53) Next, the boom 12 is rotated, and the above is repeated. The total number of measurement points is 8.

(54) O.sup.2, O.sup.3, P.sub.i are measured and determined in advance at the upper limits of rotation of the boom 12, the arm 13 and the bucket 14 (which may be used with P.sub.8). This is the original postures of the working tool.

(55) Rotation planes of the boom 12, the arm 13 and the bucket 14 are determined based on the above eight points or more.

(56) On the rotation plane, O.sup.3.sub.4 as a vertex of an isosceles triangle and the bucket length L.sub.3 are obtained from P.sub.8, P.sub.7 and δ.sub.4.

(57) In the following, the rotation center O.sup.1 of the boom, the boom length L.sub.1, the arm length L.sub.2, and the bucket length L.sub.3 are determined as in the same manner. If each value is not stable due to error, the number of measurement points may be increased.

(58) There is no particular limitation on how to determine the rotation centers and length L.sub.1, length L.sub.2, and length L.sub.3 of the boom 12, the arm 13, and the bucket 14, respectively.

(59) For example, the boom 12 and the arm 13 are fixed, the bucket 14 only is rotated, P.sub.i of the bucket blade tip 25 is measured in the world geodetic system, a point equidistant from these three points on the rotation plane of the boom 12, the arm 13, and the bucket 14 is taken as the rotation center of the bucket, and the distance between the rotation center of the bucket and P.sub.i may be taken as L.sub.3 of the bucket. In the following, the boom rotation center O.sup.1, the boom length L.sub.1, and the arm length L.sub.2 are obtained in the same way.

(60) Next, in the machine body coordinate system 4, the rotation face of a rotation center O.sup.1 of the boom 12, the boom 12, the arm 13, and the bucket 14 is determined. At the time of calibration, the machine body coordinate system 4 and these values are also determined in the world geodetic system 3, so they can be combined.

(61) The coordinate system with the rotation center O.sup.1 of the boom 12 as the origin, the axis parallel to the xy plane of the machine body coordinate system 4 and toward the bucket 14 as x, and the axis perpendicular to it and in the zenith direction as y is taken as the working tool coordinate system 5. (The coordinate system may be converted by setting the x-axis and the y-axis in any orthogonal directions.)

(62) Values of O.sup.2, O.sup.3, and P.sub.i are determined in the working tool coordinate system 5 at the upper rotation limits shown in FIG. 8. They can be used for the calibration at the time of operation. The setting of this coordinate system may be performed at a low frequency.

(63) It may be performed in the same way as the setting of the machine body coordinate system 4.

(64) The setting and the calibration of the machine body coordinate system 4 and the working tool coordinate system 5 may be performed again when mechanical errors or distortion occurs in the machine body or the rotator and they are accumulated. These can be done at the working sites.

(65) As described above, measurement and calibration of the construction machine can be easily performed in the field during the operation of the construction machine by performing the calibration method and the positioning method for the construction machine according to the one embodiment of the present invention. The measurement at the time of the operation of the machine body is as follows.

(66) Rotation of each of the boom 12, the arm 13 and the bucket 14 is measured to determine the position of the blade tip 25 of the bucket in the working tool coordinate system 5.

(67) The position of the bucket blade tip 25 in the machine body coordinate system 4 is obtained by converting the coordinate system from the working tool coordinate system 5 to the machine body coordinate system 4.

(68) From the position of the GNSS antenna 16 and the rotation of the machine body recognized with the MU30, the position of the blade tip 25 of the bucket in the world geodetic system 3 can be determined by convert the coordinate system from the machine body coordinate system 4 to the world geodetic system 3.

(69) The calibrations are below during the operation of the machine body. FIG. 9 is a conceptual figure showing an image of the movement of the drive working tool of the backhoe in the positioning calibration method and its positioning calibration controller for the construction working machine according to an embodiment of the present invention. It will be described with reference to FIG. 9.

(70) As shown in FIG. 9, the boom 12, arm 13 and the bucket 14 are made stationary at the upper rotation limits, and their respective points are set to O.sup.2, O.sup.3, and P.sub.i at the start of the machine.

(71) When errors in the IMU's angle recognition are accumulated, the above-mentioned resetting is performed. For example, the time period for error accumulation is grasped by prior evaluation, thereby being able to persuade the operator to reset.

(2) Example 2

(72) Next, an embodiment of a bulldozer will be described.

(73) FIG. 4 is a perspective conceptual figure showing an image of the coordinate system of the entire bulldozer in the positioning calibration method and its positioning calibration controller for the construction working machine according to the embodiment of the present invention. As shown in the figure, a set of GNSS receivers 16 and antennas is installed on the machine body. (As shown in the figure, An integrated type of the GNSS receiver 16 and the antenna may be acceptable.) The IMU (Inertial Measurement Unit, inertial measuring device) 30 consisting of the 3-axis accelerometer and the 3-axis gyroscope sensor is installed on the machine body. They are mounted on the upper machine body 21 on the machine body.

(74) As shown in FIG. 4, the similar IMU is set on top of the blade (soil removal plate) 22. According to the operating structure of the blade, the frames (push arms) 23 are rotated in reference to a rotation axis near a central portion of the machine body, so that the entire blade 22 moves up and down. (This movement is called “pitch”.) Also, the blade so rotates that the heights at the left and right sides of the blade 22 may change. (This movement is called “roll”.) Although the right and left sides of the blade 22 also rotate forward or backward (this movement is called “yaw”), this rotation needs not be considered from the characteristics of the bulldozer 2 that discharges soil while advancing.

(75) First, the setting and calibration of the machine body coordinate system 4 will be described.

(76) FIG. 10 is a conceptual figure showing an image of setting of the machine body coordinate system of a bulldozer of a construction machine incorporating the positioning calibration method and its positioning calibration controller for the construction working machine according to the embodiment of the present invention. As shown in the figure, an auxiliary device as a turntable is set. In other words, in the case of the bulldozer, because the main body 21 of the upper machine body does not circle.

(77) The rotary table, which is the auxiliary device, is mounted on the upper main body 21 of the machine body. (FIG. 10 shows only the movement with no turn table.) The antenna of GNSS receiver 16 is installed, so that receptions can be made at a plurality of locations only by turning the turntable. The turntable is adapted to be turned about 60 degrees or 120 degrees to the left and right.

(78) Initial calibration and setting of the machine body coordinate system will be explained. This initial calibration may be performed, for example, at the time of installation of the measuring device, or at the time of the factory shipment.

(79) The machine body is made stationary, the turn table is rotated, and kept stationary for a time period in which the GNSS reception 16 becomes table, then the antenna positions P.sub.1, P.sub.2, and P.sub.3 are measured at three locations in the world geodetic system 3 and the rotation angles are measured by the IMU. Calculation is made in the same way as the backhoe. (Of course, it should be fixed at one place during the operation of the machine body.)

(80) The plane of P.sub.1P.sub.2P.sub.3 is taken as a plane xy in the machine body coordinate system 4. Of these, the axis to be parallel to the pitch rotation plane of the working tool coordinate system 5 described later is taken as x. (The x-axis and y-axis may be set in any orthogonal directions to convert the coordinate system.) The zenith direction is set to z. This determines the position of the antenna in the machine body coordinate system 4.

(81) Under the same conditions, the present state of the IMU30 is held as the original posture of the IMU. That is, the direction of the gravitational acceleration of the IMU acceleration sensor is held.

(82) Use of the machine body coordinate system will be explained.

(83) Measurement at the operation of the machine body is the same as that of the backhoe. Regarding the re-calibration during the operation, O is stationary (when there is no movement of the lower part of the machine body), and the antenna positions are stably acquired at two or more locations by turning the turntable, the original posture of the IMU is reset, and after that, the relative movement from that posture is recognized.

(84) Setting and calibration of the working tool coordinate system 5 of the bulldozer 2 will be described. FIG. 11 is a conceptual figure showing an image of a prism attachment position in the bulldozer of the construction machine incorporating the calibration method and the positioning method and their controller for the construction machine according to the embodiment of the present invention. FIG. 12 is a conceptual figure illustrating an image of the movement of the blade of the bulldozer of the construction machine incorporating the positioning calibration method and its positioning calibration controller according to the embodiment of the present invention. FIG. 13 is also a conceptual figure illustrating an image of the movement of the blade of the bulldozer in the positioning calibration method and its positioning calibration controller for the construction working machine according to an embodiment of the present invention.

(85) First, referring to FIGS. 11, 12 and 13, measurements of the rotations of the pitch and the roll of the blade 22 as an operation working tool are performed. Prisms are held at both ends of the lower side of the blade 22, and the prism positions are measured in the world geodesic coordinate 3 with the total station (TS).

(86) The pitch is fixed by the push arms 23, the blade 22 is rolled, and changed point P.sub.1R P.sub.2R and P.sub.1L, P.sub.2L etc. at both ends of the blade are measured in the world geodetic system 3.

(87) A rotation plane of P.sub.1R, P.sub.2R, P.sub.1L, and P.sub.2L is determined.

(88) On the rotation plane, O.sup.2.sub.1 as the vertex of the isosceles triangle and the length L.sub.2 on the blade are determined from P.sub.1R, P.sub.2R and the rotational angle δ.sub.1.

(89) Similarly, the length L.sub.3 is obtained from P.sub.1L, P.sub.2L and the rotation angle δ.sub.1.

(90) The push arms are rotated (pitch), and the above procedure is performed twice in the same manner.

(91) A rotating plane of the pitch is determined from O.sup.2.sub.1, O.sup.2.sub.2, O.sup.2.sub.3.

(92) O.sup.1 as vertexes of two isosceles triangles and the push arm length L.sub.3 are determined from O.sup.2.sub.1, O.sup.2.sub.2, and O.sup.2.sub.3.

(93) O.sup.2 at the upper pitch limit and P.sub.i at either of the roll limits (which may be used with P.sub.4R or P.sub.3L) are determined in advance by measurement, and this is taken as the original posture of the working tool. If each value is not stabilized due to errors, the number of measurement points is increased. With respect to the center of the roll, if the blade is expected to be symmetrical, the prism may be one on one side. At that time, three Ps are taken for each roll, and O.sup.2 is determined on that plane.

(94) How to determine the rotation centers of the push arm 23 and the blade 22 is not particularly limited. For example, the pitch is fixed by the push arms 23, the blade 22 is rolled, and changed points of the ends of the blade are measured at three locations in the world geodetic system 3, a point equidistant from each of the three points on the rotation plane, such as the rotation center may be set at O.sup.2.sub.1 of the blade.

(95) Similarly, on the pitch rotation plane of O.sup.2.sub.1, O.sup.2.sub.2, O.sup.2.sub.3, a point equidistant from O.sup.2.sub.1, O.sup.2.sub.2, O.sup.2.sub.3 may be the rotation center may be taken as the rotation center O.sup.1 of the push arm 23.

(96) The setting of the working tool coordinate system 5 will be explained.

(97) In the machine body coordinate system, the rotation center O.sup.1 and a pitch rotation plane of the push arm 23 are obtained. At the time of calibration, the machine body coordinate system and these values are also obtained in the world geodetic system 3, so they can be combined.

(98) A coordinate system in which O.sup.1 is taken as the origin, an axis parallel to the xy-plane of the machine body coordinate system and toward the center of the roll of the blade as x, and an axis perpendicular to it and in the zenith direction as z, and a y-axis determined by the right-hand thread system is taken as the working tool coordinate system.

(99) (The x-axis and y-axis may be set in any orthogonal directions to convert the coordinate system.)

(100) Values of O.sup.2, and P.sub.i at the upper rotation limit are determined in advance in the working tool coordinate system 5. Because, it is used for calibration at the time of operation.

(101) The setting of this coordinate system may be performed at a low frequency. (It may be done in the same way as the setting of the machine body coordinate system.)

(102) The setting and calibration of the machine body coordinate system 4 and the working tool coordinate system 5 may be performed again when mechanical errors or distortion occurs in the machine body or the rotation members and they accumulate.

(103) This can be done at a working site.

(104) The measurement of the bulldozer when the machine body is in operation will be explained below.

(105) Each of rotations of the pitch and the roll is measured, and the blade edges of the blade are determined at both ends thereof in the working tool coordinate system.

(106) The positions of edges 24 at both ends of the blade in the machine body coordinate system 4 is obtained by converting the coordinate system from the working tool coordinate system 5 to the machine body coordinate system 4.

(107) From the position of GNSS antenna 16 and the rotation of the machine body recognized by the IMU, the positions of the blade edges 24 at both ends of the blade are obtained in the world geodetic system by converting the machine body coordinate system 4 to the world geodetic system 3.

(108) Next, the calibration of the bulldozer when the machine body is in operation will be explained. FIG. 14 is a conceptual figure showing an image of a movement of the blade of the bulldozer in the construction machine incorporating the calibration method and positioning method and its positioning calibration method for the construction machine according to the embodiment of the present invention.

(109) As illustrated in FIG. 14, at machine start-up, the push arm 23 and the blade 22 are made stationary at upper rotation limits, and their respective points are set to a O.sup.2 and P.sub.i.

(110) When the errors accumulate in the recognition of the angles with IMU, the above-mentioned resetting is performed. For example, the time period for which errors accumulate is grasped by prior evaluation, thereby persuading a pilot to reset.

(111) In addition, further embodiments will be described below for setting and calibrating the working tool coordinate systems of the bulldozer. Since the upper part of the machine body of the bulldozer does not rotate, the machine body coordinate system and the working tool coordinate system can be integrally treated, so that the position of the GNSS antenna is also specified in that coordinate system at the time of the setting of the working tool coordinate system. In other words, the setting of the machine body coordinate system is incorporated into the setting of the working tool coordinate system.

(112) Therefore, then the machine body is advanced, and the posture of the IMU can be judged at that time from changes of the antenna position and the deviation between the acceleration and the angle detected by the IMU. During the operation of the machine body, the coordinate of the blade edge of the blade can be recognized by grasping the absolute position in the working tool coordinate system (world geodetic coordinate system) from the position of the antenna and the posture of the IMU and further recognizing the posture of the blade with the IMU.

(113) FIG. 15 is a conceptual figure showing an image of the movement of a blade of a bulldozer of a construction working machine incorporating the positioning calibration method and its positioning calibration controller for a construction working machine according to a further embodiment of the present invention. It is shown below with reference to FIGS. 15 and 12.

(114) First, turnings of the pitch and the roll of the blade 22 as a working tool are measured.

(115) The pitch of the push arm (frame) 23 is fixed, the blade 22 is rolled, and the change points: P.sub.1R, P.sub.2R and P.sub.1L, P.sub.2L, at both ends of the blade are measured in the world geodetic system.

(116) A rotation plane of P.sub.1R, P.sub.2R P.sub.1L, and P.sub.2L is obtained.

(117) Next, O.sup.2.sub.1 as the vertex of an isosceles triangle and the length L.sub.2 on the blade are obtained from P.sub.1R P.sub.2R and the rotation angle δ.sub.1 on the rotation plane.

(118) Similarly, the length L.sub.3 is determined from P.sub.1L, P.sub.2L and the rotational angle δ.sub.1.

(119) Similarly to the above, the push arm (frame) 23 is rotated (pitch rotation), and the above is performed once again.

(120) On a plane perpendicular to the rolling plane of the blade, O.sup.1 of the vertex of the two isosceles triangles and the push arm length L.sub.1 are determined from O.sup.2.sub.1, O.sup.2.sub.2 and a rotation angle θ.sub.1. If each value is not stable due to error, it is sufficient to increase the number of measurement points. To measure the original posture of the working tool, O.sup.2 at the upper limit of the pitch, and P.sub.i at either of the limits of the roll have only to be measured.

(121) P.sub.4R or P.sub.3L may be used in common.

(122) How to determine the rotation centers of the push arm (frame) 23 and the blade 22 is not particularly limited. For example, the pitch is fixed by the push arms 23, the blade 22 is rolled, change points of the blade end are measured at three points in the world geodetic system 3, and a point equidistant from each of three points on the rotating surface may be set to such as the rotation center O.sup.2.sub.1 of the blade. The push arm (frame) 23 is rotated (pitch rotation), and a point on a plane perpendicular to the roll rotation plane of the blade equidistant from the rotation centers of the blade, O.sup.2.sub.1, O.sup.2.sub.2, O.sup.2.sub.3 obtained further twice similarly to the above, may be a rotation center O.sup.1 of the push arm (frame) 23.

(123) Next, the setting of the working tool coordinate system will be explained.

(124) O.sup.1 is taken as the original point. In the pitch plane of the blade set perpendicular to the roll plane of the blade, the coordinate system consisting of the x-axis perpendicular to the direction of gravitational acceleration of IMU and extending toward the blade from O.sup.1, the axis-z in the zenith direction and perpendicular to x-axis, and the y-axis determined by the right-hand screw system, is defined as the working tool coordinate system. Regardless of the gravitational acceleration, an arbitrary axis in the pitch plane of the blade may be taken as the x-axis. The position of the GNSS antenna (world geodetic system) to be measured in setting up the tool work system is determined as a position in the working tool coordinate system, as well as in the working tool coordinate system.

(125) Setting of the original posture of the working tool will be explained.

(126) As shown in FIGS. 14 and 15 (also see FIG. 17), O.sup.2, P.sub.i in the upper rotation limit (world geodetic system) are calculated in the working tool coordinate system. This is taken as the original posture of the working tool. (This is used in calibration during the operation hereafter.) If errors accumulate due to repeated angle measurement during the operation, the original posture of the working tool is set again in the upper rotation limit field.

(127) The working tool coordinate system may be set at a low frequency. For example, setting may be done at the time of shipment or when a GNSS and an IMU as the measuring devices is attached. Setting and calibration of the working tool coordinate system may be performed again when mechanistic errors or distortions occur in the machine body or the rotating members and they accumulate. That setting can be done in the work field is a big merit.

(128) The posture setting (initial setting) of the IMU will be explained.

(129) FIG. 16 is a conceptual figure showing an image of the movement of a bulldozer as a construction working machine including the positioning calibration method and its positioning calibration controller for the construction working machine according to an embodiment of the present invention. It will be explained with reference to the figure.

(130) The machine body is made stationary to grasp the position of the GNSS antenna on the upper main body 21 of the upper machine body 21 and the angular information of the IMUs.

(131) The machine body is moved by a predetermined distance (for example, 3 m forward along a straight line as much as possible to suppress errors) to grasp the position of the GNSS antenna and the acceleration information and the angular information of the IMUs leading to the movement.

(132) The direction of the movement of the machine body at an arrival point is calculated from positional information on the locations of the starting point and the arrival point (global geodesic coordinates with the GNSS) and changes in acceleration and angular velocity related to the movement of the IMUs.

(133) From the vector of this moving direction and the vector of gravitational acceleration detected by the IMU, the posture of the IMU can be determined.

(134) In the positioning during the operation, the posture of this IMU is taken as the original posture of the machine body, and the posture at the positioning point of time is recognized by the angular change based on the original posture.

(135) Recalibration during the operation will be explained.

(136) Drifts (accumulation of errors through a stack of calculations) occur in recognition of the posture due to the angle changes from the reference posture. Since the machine body often stops in operation, it is sufficient to repeat the above-described setting and reset the reference posture of the IMU at the point of time when linear movement and stable stopping are continued.

(137) Measurements during the operation of the machine body will be explained.

(138) FIG. 17 is a conceptual figure illustrating an image of the motion of a blade of a bulldozer of a construction working machine incorporating the positioning calibration method and its positioning calibration controller thereof for a construction working machine according to another embodiment of the present invention. It will be explained with reference to FIG. 17.

(139) Each rotation in the pitch and the roll is measured by the IMU on the blade, and the blade edges at both ends of the blade in the working tool coordinate system are determined by the change from the working tool original posture.

(140) The blade edges at both the ends of the blade in the machine body coordinate system are obtained by converting from the working tool coordinate system to the machine body coordinate system.

(141) From the position of the GNSS antenna, the angular change of the IMU from the original posture of the machine body, and the blade edges at both the ends of the blade in the working tool coordinate system, the blade edges at both the ends of the blade in the world geodetic system are obtained by converting the machine body coordinate system to the world geodetic system.

(142) Calibration during the operation of the machine body will be explained. See FIG. 17.

(143) At the start of the machine, the push arm and the blade are held stationary at their upward rotation limits and their respective points are set to O2 and Pi.

(144) When the errors in the angle recognition of the IMU on the blade accumulate, the above-mentioned resetting is performed. For example, a prior evaluation may determine the time period for the error accumulation, so that it can persuade the operator to reset.

(145) Thus, according to the positioning calibration method and its positioning calibration controller for the construction working machine according to the embodiments of the present invention, the following effects can be obtained.

(146) It is sufficient to attach the prism at one place with the backhoe and at two or one place with the bulldozer.

(147) The attachment points are reduced, and the calibration accuracy is high, because they are stuck at the positions to be determined finally, such as the tip of the blade and the blade edge.

(148) After the prism is measured by TS, the system automatically makes calculations, which saves inputting labor.

(149) Even when calibration is required at the construction site, only the above-mentioned measures may be taken, so that calibration work can be performed without expertise, such as data setting based on the structure of the machine.

(150) Such calibration of the machine body coordinates of the backhoe and the like can be done automatically.

(151) Daily start-up calibration can be performed accurately with a simple and fuss-free process, such as placing the tool in the upper rotation limits.

(152) Accuracy eliminates sticking errors and its accumulation due to sticking plural prisms.

(153) Accuracy is improved because it is not affected by irregularities on the structure of the machine body, and measurement and calibration can be performed along the axis of the coordinate system.

(154) Regardless of the external means, the calibration process can be performed only by measuring a plurality of locations with TS and setting the lengths thereof separately. Further, since the calibration is performed by the positioning system itself, the calibration result can be used as it is in the positioning, and the calibration and the positioning become high accuracy.

(155) By eliminating the low-precision methods in which the machine body is placed as horizontally as possible, high-precision calibration can be performed by the positioning system which the machine body possesses.

(156) Since only one set of the GNSS and the antennas is required, the calibration can be performed by an inexpensive system.

(157) The present invention is not limited to the embodiments described above, the present invention can be performed with various changes within the scope not departing from the scope of the present invention. All of them are part of this technical idea.

INDUSTRIAL APPLICABILITY

(158) According to the present invention, the measurement instrument for calibration is made the same as the measuring instrument for positioning, so that the calibration can be simplified and accuracy of the calibration can be improved. Thus, the invention is aimed at the object that the cost of the entire measuring instruments can be reduced. Also, since the system of positioning including calibration can be set later on existing machines, the invention can provide the simple positioning calibration method in the construction working machine in which the corrected amount can be easily and reliably obtained by the inclination sensor disposed on the rotatable drive working portion in the construction working machine and the GNSS antenna disposed on the machine body.

(159) Specifically, according to the present invention, the measuring instrument for the calibration is made the same as the measuring instrument for the positioning, so that the calibration can be easily performed, and the accuracy in the calibration can be performed. Also, the cost of the entire instruments can be reduced, and the positioning system, including calibration can provide the positioning calibration method that can be set later on existing machines.

(160) According to the present invention, in the positioning and calibration of the construction machine, while significantly improving the safety and workability in the work process, and the positioning and calibration, which can significantly improve economic efficiency, are realized. The present invention can be used and applied regardless of the work sites. Therefore, this application brings great benefits to various industries involving the construction industry and the civil engineering industry.