| 主权项 |
1. A hydraulic shovel calibration device for calibrating work implement parameters and antenna parameters in a hydraulic shovel, the hydraulic shovel including
a vehicle body, a work implement including a boom swingably attached to the vehicle body, an arm swingably attached to the boom, and a work tool swingably attached to the arm, an angle detection unit configured to detect a swing angle of the boom with respect to the vehicle body, a swing angle of the arm with respect to the boom, and a swing angle of the work tool with respect to the arm, a position detection unit including an antenna and configured and arranged to detect a current position of the antenna in a global coordinate system, a first current position computation unit configured to compute a current position of a working point included in the work tool in a vehicle body coordinate system based on a plurality of work implement parameters that indicate dimensions and the swing angles of the boom, the arm, and the work tool, and a second current position computation unit configured to compute the current position of the working point in the global coordinate system from the antenna parameters that indicate a positional relationship of the antenna and the boom, the current position of the antenna in the global coordinate system which is detected by the position detection unit, and the current position of the working point in the vehicle body coordinate system which is computed by the first current position computation unit, the hydraulic shovel calibration device comprising: an input unit configured and arranged to input working point position information indicating coordinates of the working point at a plurality of positions which are measured by an external measurement device and antenna position information indicating coordinates of a position of the antenna which are measured by the external measurement device; a vehicle body coordinate system computation unit configured to compute coordinate conversion information based on the working point position information input into the input unit, the coordinate conversion information being information to convert a coordinate system with respect to the external measurement device to the vehicle body coordinate system; a first calibration computation unit configured and arranged to compute calibration values of the work implement parameters by numerical analysis based on the working point position information input into the input unit; and a second calibration computation unit configured and arranged to calibrate the antenna parameters by setting coordinates converted to the vehicle body coordinate system as calibration values of the antenna parameters based on the coordinate conversion information and the antenna position information input into the input unit. |
