TOOL POSITION MEASURING DEVICE OF CONSTRUCTION MACHINE, YAW ANGLE DETECTING DEVICE, WORK MACHINE AUTOMATIC CONTROL DEVICE AND CALIBRATION DEVICE

摘要

PROBLEM TO BE SOLVED: To measure the position and the direction of a tool on the head of a work machine without turning a car body.;SOLUTION: This tool position measuring device of a construction machine measuring the position and the direction of the tool 8, based on signals from plural sensors 26, 27, 28 for detecting attitude of the work machine 5 and signals from three-dimensional position measuring devices 48, 49 installed on the work machine 5. The device is equipped with a turning detecting means for detecting whether the car body 2 turns or not, and a positioning controller 40 for measuring the three-dimensional positions of three or more plural points on a moving plane of the work machine, when the car body 2 does not turn and only the work machine 5 is driven, to thereby determine the moving plane of the work machine 5 based thereon, and by determining the three-dimensional positions of a base point C1 of a link mechanism 6, 7 of the work machine 5, based on attitude data of the work machine 5 on the points of time corresponding to each three-dimensional position, to thereby calculate the position and the direction of the tool 8.;COPYRIGHT: (C)2001,JPO