Title:
CONSTRUCTION MACHINE
Document Type and Number:
WIPO Patent Application WO/2020/246369
Kind Code:
A1
Abstract:
In order to be able to use a GNSS and calculate accurate azimuth angles regardless of changes in the posture of a construction machine, such as the raising or lowering of a front work machine, a controller 20 has a position/posture calculation unit 20a that: determines that the quality of an azimuth angle for an upper rotation body 2, calculated by a GNSS receiver 17c, is low when at least either the posture angle of the upper rotation body 2 obtained by a body IMU 13 or the posture angle of a front work machine 1 obtained by a boom IMU 14 is at least a threshold value; executes a bias removal calculation on the basis of the azimuth angle quality and on the basis of the azimuth angle of the upper rotation body 2 calculated by the GNSS receiver 17c; calculates a corrected azimuth angle for the upper rotation body 2, on the basis of the azimuth angle for the upper rotation body 2 calculated by the GNSS receiver 17c and on the basis of the gyro bias-removed angular velocity of the upper rotation body 2; and uses this corrected azimuth angle to calculate the three-dimensional position and posture of the front work machine 1.
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Inventors:
ISHIHARA SHINJI (JP)
IZUMI SHIHO (JP)
KOTAKE SHINICHI (JP)
IZUMI SHIHO (JP)
KOTAKE SHINICHI (JP)
Application Number:
PCT/JP2020/021204
Publication Date:
December 10, 2020
Filing Date:
May 28, 2020
Export Citation:
Assignee:
HITACHI CONSTRUCTION MACH CO (JP)
International Classes:
E02F9/20; G01S19/43; G01S19/47; G01S19/54
Domestic Patent References:
WO2014061790A1 | 2014-04-24 |
Foreign References:
JP2016224038A | 2016-12-28 | |||
JP2017110998A | 2017-06-22 | |||
JPH06341847A | 1994-12-13 | |||
US20140122016A1 | 2014-05-01 | |||
JP2004125580A | 2004-04-22 |
Other References:
"Adachi, Maruta: Fundamentals of Kalman Filter", 2012, TOKYO DENKI UNIVERSITY PRESS
See also references of EP 3981923A4
See also references of EP 3981923A4
Attorney, Agent or Firm:
KAICHI IP (JP)
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