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A platform for research: civil engineering, architecture and urbanism
WORK VEHICLE, AND POSITION DETECTION METHOD OF WORK VEHICLE
To provide a work vehicle and a position detection method of the work vehicle that can acquire a positioning signal from a satellite without turning a boom, and obtain a conversion coefficient for converting a tip position of the boom from a positioning coordinate system to a vehicle coordinate system.SOLUTION: A work vehicle executes: first calculation processing for executing an independent extension/contraction operation of a boom 31, in order to calculate a vector in a direction from a position coordinate of an antenna 41 when the boom 31 is fully retracted toward a position coordinate of the extended antenna 41; second calculation processing for obtaining a position coordinate that is a derricking fulcrum of the boom 31, on the basis of a geometrical relation between the length of the fully retracted boom 31 and a position coordinate of the antenna when the boom is fully retracted; and third calculation processing for calculating a turning center according to an off-set amount from a position coordinate of the derricking fulcrum of the boom 31 to a turning center of a revolving body 3, and a turning angle of the revolving body 3 on a horizontal plane in a positioning coordinate system.SELECTED DRAWING: Figure 5
【課題】ブームを旋回させずに衛星からの測位信号を取得し、ブームの先端位置を測位座標系から車両座標系に変換するための変換係数を求めることができる作業車両及び作業車両の位置検出方法を提供する。【解決手段】ブーム３１の単独伸縮操作を実行し、ブーム３１の全縮時のアンテナ４１の位置座標から伸長時のアンテナ４１の位置座標に向かう方向のベクトルを算出する第１算出処理と、ブーム３１の全縮時の長さとブームの全縮時のアンテナの位置座標の幾何学的関係に基づいてブーム３１の起伏支点となる位置座標を求める第２算出処理と、ブーム３１の起伏支点の位置座標から旋回体３の旋回中心へのオフセット量と測位座標系における水平面上における旋回体３の旋回角度により旋回中心を算出する第３算出処理と、を実行する。【選択図】図５
WORK VEHICLE, AND POSITION DETECTION METHOD OF WORK VEHICLE
To provide a work vehicle and a position detection method of the work vehicle that can acquire a positioning signal from a satellite without turning a boom, and obtain a conversion coefficient for converting a tip position of the boom from a positioning coordinate system to a vehicle coordinate system.SOLUTION: A work vehicle executes: first calculation processing for executing an independent extension/contraction operation of a boom 31, in order to calculate a vector in a direction from a position coordinate of an antenna 41 when the boom 31 is fully retracted toward a position coordinate of the extended antenna 41; second calculation processing for obtaining a position coordinate that is a derricking fulcrum of the boom 31, on the basis of a geometrical relation between the length of the fully retracted boom 31 and a position coordinate of the antenna when the boom is fully retracted; and third calculation processing for calculating a turning center according to an off-set amount from a position coordinate of the derricking fulcrum of the boom 31 to a turning center of a revolving body 3, and a turning angle of the revolving body 3 on a horizontal plane in a positioning coordinate system.SELECTED DRAWING: Figure 5
【課題】ブームを旋回させずに衛星からの測位信号を取得し、ブームの先端位置を測位座標系から車両座標系に変換するための変換係数を求めることができる作業車両及び作業車両の位置検出方法を提供する。【解決手段】ブーム３１の単独伸縮操作を実行し、ブーム３１の全縮時のアンテナ４１の位置座標から伸長時のアンテナ４１の位置座標に向かう方向のベクトルを算出する第１算出処理と、ブーム３１の全縮時の長さとブームの全縮時のアンテナの位置座標の幾何学的関係に基づいてブーム３１の起伏支点となる位置座標を求める第２算出処理と、ブーム３１の起伏支点の位置座標から旋回体３の旋回中心へのオフセット量と測位座標系における水平面上における旋回体３の旋回角度により旋回中心を算出する第３算出処理と、を実行する。【選択図】図５
WORK VEHICLE, AND POSITION DETECTION METHOD OF WORK VEHICLE
作業車両及び作業車両の位置検出方法
SHINDO MASAKI (author) / KANDA SHINSUKE (author)
2020-09-17
Patent
Electronic Resource
Japanese
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