Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
DETERMINATION METHOD OF ATTACHMENT POSITION, WORK MACHINE, WORK MACHINERY, AND ATTITUDE DETECTION SENSOR
To provide a work machine capable of reducing detection error on attitude detection caused by taking no deflection into consideration.SOLUTION: A determination method of an attachment position for a work machine 3 having a boom 10 is a determination method of an attachment position of a boom angle sensor 41 detecting an attitude of the boom 10, comprising: acquiring a straight line L1 connecting a boom foot 10a and a boom top 10b of the boom 10 in designing; acquiring a deflection curved line C in a deflected state of the boom 10 obtained based on the straight line L1; acquiring a straight line L2 connecting the boom foot 10a and the boom top 10b on the deflected curve C; acquiring an angle α between the straight line L1 and the straight line L2; acquiring an angle β between the straight line L1 and a tangent line of the deflection curved line C; determining a position on the deflection curved line C when the angle β is equal to the angle α as a reference position P6'; and determining an attachment position P10 of the boom angle sensor 41 on the boom 10 based on position information in a longitudinal direction of the boom 10 among position information of the reference position P6'.SELECTED DRAWING: Figure 8
【課題】撓みを考慮していないことに起因する姿勢検出の検出誤差を低減することが可能な作業機を提供すること。【解決手段】取付位置決定方法は、ブーム１０を有する作業機３の、ブーム１０の姿勢を検出するブーム角度センサ４１の取付位置決定方法であって、設計上におけるブーム１０のブームフート１０ａとブームトップ１０ｂを結ぶ直線Ｌ１を取得し、直線Ｌ１に基づいて求められるブーム１０が撓んだ状態の撓み曲線Ｃを取得し、撓み曲線Ｃにおけるブームフート１０ａとブームトップ１０ｂを結ぶ直線Ｌ２を取得し、直線Ｌ１と直線Ｌ２とのなす角度αを取得し、直線Ｌ１と、撓み曲線Ｃの接線とのなす角度βを取得し、角度βが角度αと等しくなる撓み曲線Ｃ上の位置を基準位置Ｐ６´として決定し、基準位置Ｐ６´の位置情報のうち、ブーム１０の長手方向における位置情報に基づいて、ブーム１０におけるブーム角センサ４１の取付位置Ｐ１０を決定する。【選択図】図８
DETERMINATION METHOD OF ATTACHMENT POSITION, WORK MACHINE, WORK MACHINERY, AND ATTITUDE DETECTION SENSOR
To provide a work machine capable of reducing detection error on attitude detection caused by taking no deflection into consideration.SOLUTION: A determination method of an attachment position for a work machine 3 having a boom 10 is a determination method of an attachment position of a boom angle sensor 41 detecting an attitude of the boom 10, comprising: acquiring a straight line L1 connecting a boom foot 10a and a boom top 10b of the boom 10 in designing; acquiring a deflection curved line C in a deflected state of the boom 10 obtained based on the straight line L1; acquiring a straight line L2 connecting the boom foot 10a and the boom top 10b on the deflected curve C; acquiring an angle α between the straight line L1 and the straight line L2; acquiring an angle β between the straight line L1 and a tangent line of the deflection curved line C; determining a position on the deflection curved line C when the angle β is equal to the angle α as a reference position P6'; and determining an attachment position P10 of the boom angle sensor 41 on the boom 10 based on position information in a longitudinal direction of the boom 10 among position information of the reference position P6'.SELECTED DRAWING: Figure 8
【課題】撓みを考慮していないことに起因する姿勢検出の検出誤差を低減することが可能な作業機を提供すること。【解決手段】取付位置決定方法は、ブーム１０を有する作業機３の、ブーム１０の姿勢を検出するブーム角度センサ４１の取付位置決定方法であって、設計上におけるブーム１０のブームフート１０ａとブームトップ１０ｂを結ぶ直線Ｌ１を取得し、直線Ｌ１に基づいて求められるブーム１０が撓んだ状態の撓み曲線Ｃを取得し、撓み曲線Ｃにおけるブームフート１０ａとブームトップ１０ｂを結ぶ直線Ｌ２を取得し、直線Ｌ１と直線Ｌ２とのなす角度αを取得し、直線Ｌ１と、撓み曲線Ｃの接線とのなす角度βを取得し、角度βが角度αと等しくなる撓み曲線Ｃ上の位置を基準位置Ｐ６´として決定し、基準位置Ｐ６´の位置情報のうち、ブーム１０の長手方向における位置情報に基づいて、ブーム１０におけるブーム角センサ４１の取付位置Ｐ１０を決定する。【選択図】図８
DETERMINATION METHOD OF ATTACHMENT POSITION, WORK MACHINE, WORK MACHINERY, AND ATTITUDE DETECTION SENSOR
取付位置決定方法、作業機、作業機械および姿勢検出センサ
SAKAI TAKASHI (Autor:in) / HISA HAYATO (Autor:in)
10.11.2023
Patent
Elektronische Ressource
Japanisch
IPC:
E02F
Baggern
,
DREDGING
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