Revolving work vehicle, and method for detecting position of working end of revolving work vehicle

Abstract

The present invention includes: a base carrier; a revolving superstructure provided above the base carrier in a manner capable of revolving; a boom bracket supported by the revolving superstructure in a horizontally rotatable manner about a center axis of the revolving superstructure and about an axis parallel to the center axis; a work machine supported by the boom bracket in a horizontally rotatable manner about the axis parallel to the center axis and in a vertically rotatable manner; a first position detecting sensor that is installed on the swing body and that detects a horizontal movement of the swing body about the axis; a second position detecting sensor that is installed on the work machine and that detects a vertical movement of the work machine; and a position detecting apparatus detecting a horizontal movement of the revolving superstructure about the center axis of the revolving superstructure.

1 . A revolving work vehicle comprising:
 a base carrier;   a revolving superstructure provided above the base carrier in a manner capable of revolving;   a swing body supported by the revolving superstructure in a horizontally rotatable manner about a center axis of the revolving superstructure and about an axis parallel to the center axis;   a work machine supported by the swing body in a horizontally rotatable manner about the axis parallel to the center axis and in a vertically rotatable manner;   a first position detecting sensor that is installed on the swing body and that detects a horizontal movement of the swing body about the axis;   a second position detecting sensor that is installed on the work machine and that detects a vertical movement of the work machine; and   a position detecting apparatus installed at a predetermined position and detecting a horizontal movement of the revolving superstructure about the center axis of the revolving superstructure to calculate a position of the axis.   
     
     
         2 . A method for detecting a position of a working end of a revolving work vehicle, the method being used for the revolving work vehicle including: a revolving superstructure provided above a base carrier in a manner capable of revolving; a swing body supported by the revolving superstructure in a horizontally rotatable manner about a center axis of the revolving superstructure and about an axis parallel to the center axis; and a work machine supported by the swing body in a horizontally rotatable manner about the axis parallel to the center axis and in a vertically rotatable manner, the method for detecting the position of the working end of the revolving work vehicle comprising:
 detecting a horizontal movement of the swing body about the axis by a first position detecting sensor;   detecting a vertical movement of the work machine by a second position detecting sensor;   detecting a horizontal movement of the revolving superstructure about the center axis of the revolving superstructure to calculate a position of the axis, by a position detecting apparatus; and   calculating the position of the working end based on results of detection by the first position detecting sensor, the second position detecting sensor and the position detecting apparatus.   
     
     
         3 . A control system of revolving work vehicle, comprising:
 a base carrier;   a revolving superstructure provided above the base carrier in a manner capable of revolving;   a swing body supported by the revolving superstructure in a horizontally rotatable manner about a center axis of the revolving superstructure and about an axis parallel to the center axis;   a work machine supported by the swing body in a horizontally rotatable manner about the axis parallel to the center axis and in a vertically rotatable manner;   a first position detecting sensor that is installed on the swing body and that detects a horizontal movement of the swing body about the axis; and   a second position detecting sensor that is installed on the work machine and that detects a vertical movement of the work machine; and   a position detecting apparatus installed at a predetermined position and detecting a horizontal movement of the revolving superstructure about the center axis of the revolving superstructure to calculate a position of the axis,
 wherein an arithmetic unit controller calculates the position of the working end based on results of detection by the first position detecting sensor, the second position detecting sensor and the position detecting apparatus. 
   
     
     
         4 . The method for detecting a position of a working end of a revolving work vehicle according to  claim 2 , the method further comprises: setting the working end as a work start point. 
     
     
         5 . The revolving work vehicle according to  claim 1 , wherein
 the work machine includes: a boom that is attached in a vertically rotatable manner to the swing body; an arm that is attached in a vertically rotatable manner to the boom; and a work attachment that is attached in a vertically rotatable manner to the arm, a working end being included in the work attachment, and   the second position detecting sensor includes: a position sensor that is installed on the boom; a position sensor that is installed on the arm; and a position sensor that is installed on a link for transmitting drive power to the work attachment.   
     
     
         6 . The revolving work vehicle according to  claim 1 , further comprising:
 an arithmetic unit that calculates a position of a working end of the revolving work vehicle based on results of detection by the first and second position detecting sensors.   
     
     
         7 . The revolving work vehicle according to  claim 1 , wherein the work machine performs a swing operation which is operated coupled with a horizontal rotation of the swing body. 
     
     
         8 . The revolving work vehicle according to  claim 1 , wherein the work machine rotates horizontally about a first pivot pin oriented vertically in the swing body, the first pivot pin being coaxial with the axis. 
     
     
         9 . The revolving work vehicle according to  claim 1 , wherein the work machine is rotatably connected to the swing body at a bottom of the work machine. 
     
     
         10 . The method according to  claim 2 , wherein the work machine is rotatably connected to the swing body at a bottom of the work machine. 
     
     
         11 . The method according to  claim 2 , wherein the work machine performs a swing operation which is operated coupled with a horizontal rotation of the swing body. 
     
     
         12 . The method according to  claim 2 , wherein the work machine rotates horizontally about a first pivot pin oriented vertically in the swing body, the first pivot pin being coaxial with the axis.