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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 crane 1 using a conversion coefficient executes: first calculation processing for executing a derricking operation of a boom 31 according to an independent operation, acquiring a point group of a position coordinate of a tip of the boom 31, and executing main component analysis using the point group, in order to obtain a plane closest to the point group; second calculation processing for mapping the point group on the plane, and obtaining a position coordinate that is a derricking fulcrum of the boom 31 from an arc of the point group; third calculation processing for obtaining a forward direction vector according to an outer product of a normal vector of a horizontal plane of the crane 1, when the crane 1 is horizontally installed, and a normal vector of the plane obtained in the first calculation processing; fourth calculation processing for calculating a turning center from the forward direction vector; and fifth calculation processing for obtaining a rotation angle of the conversion coefficient.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】変換係数を用いるクレーン１であって、単独操作でブーム３１の起伏操作を実行し、ブーム３１の先端部の位置座標の点群を取得し、点群を用いて主成分分析を実行することにより、点群に最も近くなる平面を求める第１算出処理と、平面上に点群を写像し、その円弧からブーム３１の起伏支点となる位置座標を求める第２算出処理と、クレーン１を水平設置した場合に、クレーン１の水平面の法線ベクトルと、第１算出処理で求めた平面の法線ベクトルとの外積により、前方方向ベクトルを求める第３算出処理と、前方方向ベクトルから旋回中心を算出する第４算出処理と、変換係数の回転角度を求める第５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 crane 1 using a conversion coefficient executes: first calculation processing for executing a derricking operation of a boom 31 according to an independent operation, acquiring a point group of a position coordinate of a tip of the boom 31, and executing main component analysis using the point group, in order to obtain a plane closest to the point group; second calculation processing for mapping the point group on the plane, and obtaining a position coordinate that is a derricking fulcrum of the boom 31 from an arc of the point group; third calculation processing for obtaining a forward direction vector according to an outer product of a normal vector of a horizontal plane of the crane 1, when the crane 1 is horizontally installed, and a normal vector of the plane obtained in the first calculation processing; fourth calculation processing for calculating a turning center from the forward direction vector; and fifth calculation processing for obtaining a rotation angle of the conversion coefficient.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】変換係数を用いるクレーン１であって、単独操作でブーム３１の起伏操作を実行し、ブーム３１の先端部の位置座標の点群を取得し、点群を用いて主成分分析を実行することにより、点群に最も近くなる平面を求める第１算出処理と、平面上に点群を写像し、その円弧からブーム３１の起伏支点となる位置座標を求める第２算出処理と、クレーン１を水平設置した場合に、クレーン１の水平面の法線ベクトルと、第１算出処理で求めた平面の法線ベクトルとの外積により、前方方向ベクトルを求める第３算出処理と、前方方向ベクトルから旋回中心を算出する第４算出処理と、変換係数の回転角度を求める第５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) / FUKAMACHI SOICHIRO (author)
2020-09-17
Patent
Electronic Resource
Japanese
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