Construction machine
A hydraulic excavator includes: a multijoint type front implement that is configured by coupling a plurality of driven members including a bucket; inertial measurement units that detect posture information about the plurality of driven members; and a calibration value computing section that computes calibration parameters used in calibration of detection results of the inertial measurement units; and a work position computing section that computes a relative position of the bucket to the machine body on the basis of the detection results of the inertial measurement units and the computation result of the calibration value computing section, and the calibration value computing section computes the calibration parameters on the basis of the detection results of the inertial measurement units in a plurality of postures of the front implement in which a reference point set on any of the plurality of driven members in advance matches a reference position.
1. A construction machine comprising:
a multijoint type front work implement that is configured by coupling a plurality of driven members including a work tool and that is supported by a machine body of the construction machine in such a manner as to be rotatable in a perpendicular direction;
posture information sensors that detect posture information about the plurality of driven members; and
a front posture computing device that computes a posture of the multijoint type front work implement on the basis of detection information from the posture information sensors,
an action of the multijoint type front work implement being controlled on the basis of the posture of the front work implement computed by the front posture computing device, wherein
the front posture computing device includes
a reference position setting section that sets a reference position specified relatively to the machine body;
a calibration value computing section that computes calibration parameters used in calibration of the detection information from the posture information sensors; and
a work position computing section that computes a relative position of the work tool to the machine body on the basis of the detection information from the posture information sensors and a computation result of the calibration value computing section, and
the calibration value computing section computes the calibration parameters on the basis of the detection information from the posture information sensors in a plurality of postures of the front work implement in which a reference point set on any of the plurality of driven members in advance matches the reference position set by the reference position setting section, which differ in a posture of at least one of the plurality of driven members, and the number of which corresponds to the number of the driven members.
2. The construction machine according to claim 1 , wherein
the reference position setting section sets a reference plane parallel to a horizontal surface as the reference position, and
the calibration value computing section computes the calibration parameters on the basis of the detection information from the posture information sensors in a plurality of postures of the front work implement in which the reference point set on any of the plurality of driven members in advance matches any of positions on the reference plane, which differ in the posture of at least one of the plurality of driven members, and the number of which corresponds to the number of the driven members.
3. The construction machine according to claim 2 , including:
a machine body sloping detection section that detects a slope angle of the machine body with respect to the horizontal surface; and
a sloping reference plane computing section that computes a sloping reference plane obtained by sloping the reference plane on the basis of the slope angle of the machine body detected by the machine body sloping detection section, wherein
the calibration value computing section computes the calibration parameters on the basis of the detection information from the posture information sensors in a plurality of postures of the front work implement in which the reference point set on any of the plurality of driven members in advance matches any of positions on the sloping reference plane, which differ in the posture of at least one of the plurality of driven members, and the number of which corresponds to the number of the driven members.
4. The construction machine according to claim 2 , wherein
the reference position is made to match a position on the reference plane by causing the reference point set on any of the plurality of driven members in advance to match a reference plane index that visually indicates a position of the reference plane.
5. The construction machine according to claim 1 , wherein
the calibration value computing section computes the calibration parameters on the basis of the detection information from the posture information sensors in a plurality of postures of the front work implement in which a reference point relative index that indicates a position apart from the reference point set on any of the plurality of driven members in advance in a vertically downward direction matches the reference position, which differ in the posture of at least one of the plurality of driven members, and the number of which corresponds to the number of the driven members.
6. The construction machine according to claim 1 , wherein
the calibration value computing section creates a calibration parameter table to which the detection information from the posture information sensors is input and which outputs the calibration parameters that are the computation result of the calibration value computing section, and
the work position computing section computes relative positions of the plurality of driven members to the machine body on the basis of the detection information from the posture information sensors and on the basis of the calibration parameters output from the calibration parameter table on the basis of the detection information from the posture information sensors.