JP2024004211A - Rotating work machine, and orientation detection method of rotating work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotation work machine detecting an orientation of a rotation base with a single position detection device.

SOLUTION: A rotational work machine is provided with: a rotational base rotatable around a rotational axis center extending in a vertical direction; a work device arranged on the rotational base; a position detection device arranged on the rotational base and detecting a position; and a calculation section calculating an orientation of the rotational base based on a detected position detected with the position detection device, wherein the calculation section calculates an axis center position of the rotational axis center based on a plurality of detected positions at the time when the rotational base rotates around the rotational axis center and calculates an orientation of the rotational base based on the axis center position and the detected position.

SELECTED DRAWING: Figure 8

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a swing work machine and a method for detecting the orientation of a swing work machine.

Conventionally, a loading machine disclosed in Patent Document 1 has been known.
The loading machine disclosed in Patent Document 1 is, for example, a backhoe such as a hydraulic excavator equipped with a working device that is rotatably provided in the vertical direction with respect to the machine body, and measures the orientation of the loading machine. It has a loading machine orientation sensor. The loading machine orientation sensor is, for example, a dual-antenna GPS that includes two antennas and measures the orientation from the relative positions of the antenna positions acquired by each antenna.

JP2022-75200A

In the loading machine of Patent Document 1, the orientation of the loading machine can be measured by the loading machine orientation sensor configured with a dual antenna GPS.
Here, in order to improve the measurement accuracy of the orientation of the loading machine, it is conceivable to employ a device such as a GNSS receiver with high position detection accuracy as the position detection device that constitutes the dual antenna GPS. However, since GNSS receivers and the like are relatively expensive, there is a problem in that providing a plurality of GNSS receivers and the like as a dual antenna GPS increases the manufacturing cost of the loading machine.

The present invention has been made to solve the problems of the prior art, and is directed to a swing work machine and a swing work machine orientation detection system that can detect the direction of a swing base with a single position detection device. The purpose is to provide a method.

A swing work machine according to one aspect of the present invention includes a swing base that is rotatable around a pivot axis that extends in the vertical direction, a working device provided on the swing base, and a working device that is provided on the swing base and detects a position. a position detection device that calculates the orientation of the swivel base based on the detected position detected by the position detection device, and the swivel base rotates around the rotation axis. An axial center position of the pivot axis is calculated based on the plurality of detected positions when performing the above operation, and an azimuth of the swivel base is calculated based on the axial center position and the detected position.

According to the above-described swing work machine and direction detection method for a swing work machine, the direction of the swing base can be detected with a single position detection device.

FIG. 2 is a schematic side view showing the swing working machine. FIG. 2 is a schematic plan view showing a swing work machine. FIG. 2 is a diagram illustrating a system of a swing work machine. FIG. 3 is a plan view showing a case where the swivel base is rotating around the swivel axis. FIG. 6 is a plan view showing detection positions when the swivel base rotates around the swivel axis. FIG. 1 is a diagram illustrating an example of filtering by a filter processing section. FIG. 2 is a second diagram illustrating an example of filtering by a filter processing unit. FIG. 1 is a diagram illustrating an example of an approximate line calculated by a second calculation unit. FIG. 2 is a second diagram showing an example of an approximate line calculated by a second calculation unit. It is a figure which shows an example of the reference azimuth calculated by the 3rd calculation part, and the current azimuth calculated by the 4th calculation part. FIG. 2 is a diagram illustrating a series of steps in which a calculation unit calculates an orientation. FIG. 6 is a diagram illustrating calculation of the position of a rocking body. It is a figure explaining the calculation of the direction in a 1st modification. FIG. 7 is a diagram illustrating a part of a series of flows in which the calculation unit calculates the orientation in the first modification. It is a figure explaining the system of the turning work machine in a 1st modification. FIG. 7 is a diagram illustrating a part of a series of flows in which a calculation unit calculates an orientation in a second modification. It is a figure explaining the system of the turning work machine in the 3rd modification. FIG. 12 is a diagram illustrating a part of a series of flows in which a calculation unit calculates an orientation in a third modification.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
First, the overall configuration of the swing work machine 1 will be explained. FIG. 1 is a schematic side view showing a swing working machine 1. As shown in FIG. Moreover, FIG. 2 is a schematic plan view showing the swing working machine 1. As shown in FIG. As shown in FIGS. 1 and 2, the swing work machine 1 is, for example, a backhoe or the like that includes a swing base 2, a cabin 5, an undercarriage 10, and a work device 20. A driver's seat 6 is provided on the swivel base 2.

Hereinafter, the direction in which the worker (operator) seated in the driver's seat 6 of the swing work machine 1 faces (direction of arrow A1 in FIGS. 1, 2, etc.) is the forward direction, and the opposite direction (direction of arrow A2 in FIGS. 1, 2, etc.) ) is called backward. Further, the left side of the worker (the front side in FIG. 1, the direction of arrow B1 in FIG. 2) is called the left side, and the right side of the worker (the back side in FIG. 1, the direction of arrow B2 in FIGS. 2 and 2) is called the right side. Further, the horizontal direction, which is a direction perpendicular to the front-rear direction, is referred to as the width direction (see FIG. 2).

The swivel base 2 is rotatable around a swivel axis (vertical axis) X extending in the vertical direction. The swivel base 2 has a swivel base 17 and a weight 18. The swing base plate 17 is supported on the lower traveling body 10 via the swing bearing 3 so as to be able to swing left and right. The center of the swing bearing 3 is a swing axis X, and a swing motor MT is attached to the swing base plate 17. The swing motor MT is a hydraulic device driven by hydraulic oil discharged by a hydraulic pump (not shown) provided on the swing base plate 17, and is a motor that drives the swing base board 17 to rotate around the swing axis X. The weight 18 is provided at the rear of the swivel base 2.

The lower traveling body 10 includes a traveling frame (track frame) 11 and a traveling mechanism 12. The traveling frame 11 is a structure to which the traveling mechanism 12 is attached and supports the swivel base 2 on the upper part.
The traveling mechanism 12 is, for example, a crawler type traveling device. The traveling mechanism 12 includes an idler 13, a driving wheel 14, a plurality of rolling wheels 15, an endless crawler belt 16, and traveling motors ML and MR driven by hydraulic fluid discharged by a hydraulic pump. The travel motors ML and MR are constituted by hydraulic motors, and drive the drive wheels 14 to circulate the crawler belt 16 in the circumferential direction. A dozer device 29 is provided at the front of the traveling mechanism 12.

A support bracket 7 is provided at the front of the swivel base 2. A swing bracket 8 is attached to the support bracket 7. The swing bracket 8 is supported by the support bracket 7 so as to be swingable about an axis in the vertical direction. Swinging of the swing bracket 8 is performed by expansion and contraction of a swing cylinder (not shown) attached to the swivel base 2. In the example shown in FIGS. 1 and 2, as shown in FIG. It is located in a position that is biased towards the side.

As shown in FIG. 1, the working device 20 is provided on the swivel base 2. As shown in FIG. The working device 20 has a swinging body and a bucket 25. In this embodiment, the rocking body includes a boom 21 and an arm 23. A bucket 25 is attached to the tip of an arm 23, which is a swinging body, so that its posture can be changed.
A bracket 27 is provided at the base end of the bucket 25. The bucket 25 is attached to the tip of the arm 23 via a bracket 27. The bucket 25 has a side wall 25A, a bottom wall 25B, and a bucket claw 25C. The side wall 25A includes a left side wall and a right side wall. The bottom wall 25B connects the left side wall and the right side wall. The bucket claw 25C is provided at the tip of the bucket 25.

The work device 20 has a boom cylinder 21a, an arm cylinder 23a, and a bucket cylinder 25a as a drive mechanism (hydraulic actuator or the like) for the boom 21, arm 23, and bucket 25. The boom cylinder 21a, the arm cylinder 23a, and the bucket cylinder 25a are constituted by hydraulic cylinders.
A base end portion of the boom 21 is pivotally supported to the swing bracket 8 about a first rotation shaft 22 . The base end of the arm 23 is pivotally supported to the distal end of the boom 21 about a second rotating shaft 24 . The base end of the bucket 25 is pivotally supported to the distal end of the arm 23 about a third rotating shaft 26 . The boom 21 swings up and down due to expansion and contraction of the boom cylinder 21a. The arm 23 swings up and down due to the expansion and contraction of the arm cylinder 23a. The bucket 25 performs a scoop/dump operation by expanding and contracting the bucket cylinder 25a.

On the right side of the swivel base 2, there is a control valve (not shown) that controls the supply of hydraulic oil to a hydraulic actuator for rotating the swivel base 2, driving the traveling mechanism 12, driving the working device 20, etc. It is installed. A prime mover 4, a hydraulic pump (not shown), and the like are mounted at the rear of the swivel base 2. The prime mover 4 is an internal combustion engine such as a diesel engine or a gasoline engine, or an electric motor. The prime mover 4 may be a hybrid type having both an internal combustion engine and an electric motor.

A cabin 5 is mounted on the top of the swivel base 2. The cabin 5 is a driver's seat protection device that protects the driver's seat 6. A canopy may be installed in place of the cabin 5 as a driver's seat protection device.
An operating device 40 is provided around the driver's seat 6, including a turning lever for turning the turning base 2, a traveling lever for operating the traveling mechanism 12, an operating lever for operating the working device 20 (all not shown), and the like. ing.

FIG. 3 is a diagram illustrating the system of the swing work machine 1. As shown in FIG. 3, the swing work machine 1 includes a control device 30, a storage device 34, and a display device 35. The control device 30, the storage device 34, and the display device 35 can communicate with each other through an in-vehicle communication network N such as a CAN (Controller Area Network) or FlexRay.
The control device 30 is a device that controls various devices included in the swing work machine 1. The control device 30 is composed of electrical/electronic components, programs, and the like. The storage device 34 is a non-volatile memory or the like, stores an operating system and various application software, and can store various programs and various information regarding the swing work machine 1. .

The display device 35 includes a display screen 35a that displays various information about the swing work machine 1, such as information regarding the swing work machine 1. For example, the swing work machine 1 includes a vehicle speed detection device (vehicle speed sensor) 53 that detects the speed (vehicle speed) of the traveling mechanism 12, and the display device 35 displays the vehicle speed detected by the vehicle speed detection device 53 on the display screen 35a. can do. The vehicle speed detection device 53 is connected to the control device 30 and outputs a signal related to the detected vehicle speed (vehicle speed signal) to the control device 30. The control device 30 causes the display device 35 to display the vehicle speed based on the vehicle speed signal. The display screen 35a of the display device 35 is arranged at a position (for example, in front of, diagonally in front of, or to the side of the driver's seat 6) that is visible to the operator seated in the driver's seat 6 inside the cabin 5. Note that the display screen 35a may be able to perform various settings regarding the swing work machine 1.

The swing work machine 1 can calculate the orientation D of the swing base 2 based on the position information of the detection position Pd detected by the position detection device 50 provided on the swing base 2. Furthermore, the swing work machine 1 can calculate the position Pw of the swinging body based on the calculated orientation D of the swing base 2. Here, the orientation D of the swivel base 2 is, for example, the direction in the horizontal plane that the working device 20 faces on the swivel base 2, and is the tip of the working device 20 within the straight line SL extending in the front-rear direction passing through the swivel axis X. This is the direction indicated by the side (bucket 25 side). Note that the orientation D of the swivel base 2 may be any direction within a horizontal plane that points to a predetermined point on the swivel base 2 with reference to the rotation axis Not limited to direction.

Hereinafter, the calculation of the orientation D of the swivel base 2 by the swivel work machine 1 will be explained in detail. As shown in FIG. 3, the swinging work machine 1 includes a position detection device 50, an inclination detection device 51, an angle detection device 52, and a calculation section (azimuth calculation section) 31.
The position detection device 50 is a device that detects a detection position Pd that is its own position. The position detection device 50 outputs position information (positioning information including latitude and longitude, and position coordinates in this embodiment) of the detected position Pd to the control device 30 as a signal (position signal). In the present embodiment, the position detection device 50 detects the detection position Pd using the well-known GPS (Global Positioning System), which is an example of the Global Navigation Satellite System (GNSS). As shown in FIGS. 1 and 2, the position detection device 50 is arranged at a position away from the pivot axis X. As shown in FIGS.

FIG. 4 is a plan view showing the case where the turning table 2 is rotating around the turning axis X. As shown in FIG. 4, when the undercarriage 10 stops traveling and the swivel base 2 rotates around the swivel axis X, a position P' of the position detection device 50 corresponding to the detection position Pd draws an arc-shaped locus whose radius R1 is the distance L1 between the rotation axis X and the position P'. FIG. 5 is a plan view showing the detection position Pd when the turning table 2 rotates around the turning axis X. FIG.

Note that the x-axis direction in FIG. 5 and the like corresponds to the longitude direction, and the y-axis direction corresponds to the latitude direction. In addition, in FIG. 5 and the like, for convenience of explanation, a case is illustrated in which the traveling direction (back and forth direction) of the undercarriage body 10 is oriented in the y-axis direction, and the width direction of the undercarriage body 10 is oriented in the x-axis direction. ing.
As shown in FIGS. 1 and 2, in this embodiment, the position detection device 50 is attached to the rear upper part of the cabin 5 via a bracket 50a. Further, in the example shown in FIG. 2, the position detection device 50 is provided at the center of the swing board 17 in the width direction.

Note that the mounting position of the position detection device 50 is not limited to the positions shown in FIGS. good. For example, the position detection device 50 may be attached to the roof 5a of the cabin 5, or may be attached to the weight 18 provided on the swivel base 2, a frame (not shown), or the exterior cover 9. However, in order to improve the reception accuracy of the GNSS positioning signal, it is preferable to provide the position detection device 50 at a relatively high position on the swivel base 2. Furthermore, in order to improve the detection accuracy of the orientation D, it is preferable to provide the position detection device 50 at a position with a large horizontal distance from the rotation axis X.

Hereinafter, for convenience of explanation, a case will be described in which the position detection device 50 is attached to the rear upper part of the cabin 5, as shown in FIG. Let's explain with an example.
The inclination detection device 51 is a device that detects the inclination angle of the swivel base 2 with respect to a horizontal plane. The inclination detection device 51 outputs the detected inclination angle of the swivel base 2 to the control device 30 as a signal (inclination signal). In this embodiment, the tilt detection device 51 is an inertial measurement unit (IMU). The inertial measurement device includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement device is provided below the swivel base 2, for example, the driver's seat 6, and can detect the roll angle, pitch angle, yaw angle, etc. of the swivel base 2. Incidentally, the inclination detection device 51 only needs to be able to detect a roll angle and a pitch angle as the inclination angle of the swivel base 2, and is not limited to the above-mentioned inertial measurement device, but may be a two-axis tilt sensor. .

The angle detection device 52 is a device that detects the turning angle θ of the turning base 2 about the turning axis X with respect to the lower traveling body 10. The angle detection device 52 outputs the detected turning angle θ to the control device 30 as a signal (angle signal). In this embodiment, the angle detection device 52 is a rotary encoder. In the present embodiment, the turning angle θ is the straight line SL when the turning table 2 is at the initial position (for example, the position of the turning table 2 when the front part of the working device 20 and the front part of the undercarriage body 10 are aligned). This is the angle formed by and the straight line SL at the position after the swivel base 2 has rotated.

Further, the angle detection device 52 is an incremental type rotary encoder. Therefore, the angle detection device 52 outputs a pulse corresponding to the amount of rotational displacement of the shaft to the control device 30 as an angle signal indicating the turning angle θ. Note that the angle detection device 52 is not limited to an incremental type rotary encoder, but may be an absolute type rotary encoder. In such a case, the angle detection device 52 outputs a code corresponding to the rotation angle of the absolute position from the origin to the control device 30 as an angle signal indicating the rotation angle θ.

Note that the angle detection device 52 is not limited to a rotary encoder as long as it can detect the turning angle θ. Furthermore, the angle detection device 52 may be provided on the swivel base 2 or may be provided on the lower traveling body 10.
The calculation unit 31 is composed of electrical/electronic components provided in the control device 30, programs incorporated in the storage device 34, and the like. The calculation unit 31 calculates the orientation D of the swivel base 2 based on the detected position Pd detected by the position detection device 50. Specifically, when the lower traveling body 10 travels and then stops, and the swivel base 2 first rotates around the rotation axis An approximate line AL of a circle or an ellipse is calculated based on the plurality of detection positions Pd until the rotation is stopped (completed). The calculation unit 31 calculates the axial center position of the rotation axis X (position coordinates of the rotation axis X) Px based on the approximate line AL. Further, the calculation unit 31 calculates the orientation D of the swivel base 2 (the azimuth of the swivel base 2 When the rotation of the working device 20 stops, a reference direction D1) is calculated, which is the direction in which the distal end side of the working device 20 points out of the straight line SL2 passing through the pivot axis X and extending in the front-rear direction. In the present embodiment, the calculation unit 31 calculates the average of either the shaft center position Px or the detected position Pd used to calculate the shaft center position Px, and also calculates the average of the shaft center position Px and the detection position Pd used for calculating the shaft center position Px, and A reference orientation D1 is calculated based on a reference position Pp indicating the position. Then, the calculation unit 31 calculates the turning angle θ from the turning position corresponding to the reference orientation D1 to the current turning position (the difference between the turning angle θ when the turning base 2 stops rotating and the current turning angle θ). , the reference orientation D1, and the current orientation D2 of the swivel base 2 (the direction in which the tip end side of the working device 20 points on the straight line SL3 passing through the rotation axis X and extending in the front-rear direction) is calculated.

As shown in FIG. 3, the calculation unit 31 includes a first acquisition unit 31a, a second acquisition unit 31b, a third acquisition unit 31c, a fourth acquisition unit 31d, a first calculation unit 31e, and a filter processing unit. 31f, a second calculation section 31g, a third calculation section 31h, and a fourth calculation section 31i. The first acquisition unit 31a, the second acquisition unit 31b, the third acquisition unit 31c, the fourth acquisition unit 31d, the first calculation unit 31e, the filter processing unit 31f, the second calculation unit 31g, the third calculation unit 31h, and the fourth The calculation unit 31i is composed of electrical/electronic components provided in the control device 30, programs incorporated in the storage device 34, and the like.

The first acquisition unit 31a acquires the vehicle speed of the lower traveling body 10 based on the vehicle speed signal output from the vehicle speed detection device 53 to the control device 30. The first acquisition unit 31a acquires the vehicle speed based on the vehicle speed signal and the calculation formula or calculation map stored in the storage device 34. For example, among the vehicle speeds detected by the vehicle speed detection device 53, the first acquisition unit 31a sets the vehicle speed when the lower traveling body 10 is moving forward as a positive value, and sets the vehicle speed when it is moving backward as a negative value. get.

The second acquisition unit 31b acquires position information (position coordinates) of the detected position Pd by the position detection device 50 based on the position signal acquired by the control device 30. The second acquisition unit 31b acquires the detected position Pd detected by the position detection device 50 as position coordinates based on the position signal and the calculation formula stored in the storage device 34. Note that the second acquisition unit 31b stores the position information and the time at which the position detecting device 50 detects the detected position Pd in the storage device 34 in association with each other.

The third acquisition unit 31c acquires the roll angle and pitch angle of the swivel base 2 based on the tilt signal output from the tilt detection device 51 to the control device 30. The third acquisition unit 31c acquires the roll angle and pitch angle based on the tilt signal and the calculation formula stored in the storage device 34.
The fourth acquisition unit 31d acquires the rotation direction and rotation angle θ of the rotation base 2 based on the rotation signal output from the angle detection device 52 to the control device 30. The fourth acquisition unit 31d acquires the rotation direction and rotation angle θ of the swivel base 2 based on the rotation signal and the calculation formula stored in the storage device 34.

For example, the fourth acquisition unit 31d acquires the rotation direction of the swivel base 2 based on the output timing of the A-phase pulse and the B-phase pulse input from the angle detection device 52. Further, the fourth acquisition unit 31d acquires the rotation angle θ by counting the pulses input from the angle detection device 52, with the value being zero when the rotation base 2 is located at a predetermined initial position. Therefore, the fourth acquisition unit 31d can redefine the initial position by initializing (resetting) the count. The initial position is a predetermined position, and is the rotational position of the swivel base 2 when the fourth acquisition unit 31d initializes the count at an arbitrary timing. Further, the fourth acquisition unit 31d sets the rotation angle θ at the initial position to zero, sets the rotation angle θ when the swivel base 2 is rotating counterclockwise in a plan view as a positive value, and sets the rotation angle θ at the initial position to a positive value, The turning angle θ when the object is rotated clockwise in view is obtained as a negative value.

The first calculation unit 31e extracts a detection position Pd that satisfies a predetermined condition from the detection position Pd detected by the position detection device 50 as the detection position Pd (candidate position Pc) used for calculating the orientation D. In this embodiment, the candidate position Pc is the detected position Pd from when the lower traveling body 10 travels and then stops and when the swivel base 2 rotates for the first time, from when it starts to when it stops rotating. It is.

When the absolute value of the vehicle speed acquired by the first acquisition unit 31a exceeds a predetermined first threshold value (for example, zero), the first calculation unit 31e determines the state in which the undercarriage body 10 is traveling (driving state). It is determined that Further, the first calculation unit 31e determines that the lower traveling body 10 is in a stopped state (travel stopped state) when the absolute value of the vehicle speed acquired by the first acquisition unit 31a is less than or equal to a predetermined first threshold value. to decide.

Here, when performing work with the swing work machine 1, the worker operates the swing work machine 1, moves the lower traveling body 10 to the work place, and then first rotates the swing base 2, so that the worker can perform the work. The first calculation unit 31e can extract the candidate position Pc that satisfies the above-mentioned conditions while the worker performs the usual work without undergoing any special operations before performing the above.
If the absolute value of the amount of change in the turning angle θ acquired by the fourth acquiring unit 31d exceeds a predetermined second threshold, the first calculating unit 31e calculates a state in which the swivel base 2 is rotating (rotating state). It is determined that When the absolute value of the amount of change in the turning angle θ acquired by the fourth acquisition unit 31d is less than or equal to a predetermined second threshold, the first calculation unit 31e determines that the undercarriage 10 is in a stopped state (rotation stopped state). It is determined that In this embodiment, the second threshold value is zero, and when a pulse is input from the angle detection device 52, the first calculation unit 31e determines that the swivel base 2 is in a rotating state, and If no pulse is input from 52, it is determined that the rotation base 2 is in a stopped state.

Therefore, the first calculation unit 31e determines that the swivel base 2 has started rotating when the lower traveling body 10 transitions from the rotation stop state to the rotation state and a pulse is input from the angle detection device 52. On the other hand, the first calculation unit 31e determines that the swivel base 2 has stopped rotating when the lower traveling body 10 transitions from the rotating state to the rotating stopped state and the pulse is no longer input from the angle detecting device 52.

Note that the conditions for the candidate position Pc are not limited to the conditions described above, and the first calculation unit 31e calculates the detected position Pd within a predetermined time before the swivel base 2 starts rotating, and the position Pd when the swivel base 2 stops rotating. The detected position Pd within a predetermined time after the detection may be calculated as the candidate position Pc.
In the following explanation, when the first calculation unit 31e calculates the candidate position Pc, the amount of change in the turning angle θ from when the turning base 2 starts rotating until it stops the rotation is defined as the “reference angle θb”. ” may be explained as. That is, as shown in FIG. 5, the reference angle θb is an angle formed by a straight line SL1 extending in the front-rear direction passing through the pivot axis X and a straight line SL2 when the rotating base 2 starts rotating.

In addition, in the following description, the detection position Pd acquired by the second acquisition unit 31b at the time when the first calculation unit 31e determines that the rotation of the swivel base 2 has stopped is referred to as the “stop position Pe”. There is.
Furthermore, in the example described above, the first calculation unit 31e determines whether or not the lower traveling body 10 has transitioned from the running state to the running stopped state based on the vehicle speed acquired by the first acquisition unit 31a. When the device 30 can acquire the operation information of the operating device 40, the first calculation unit 31e may determine the state of the undercarriage 10 (running state and running stopped state) based on the operating information. The first calculation unit 31e also determines whether the rotation base 2 has started rotating based on the rotation signal output from the angle detection device 52 to the control device 30, and determines whether the rotation has stopped. However, if the control device 30 can acquire the operation information of the operating device 40, the first calculation unit 31e may determine the state of the swivel base 2 (rotation state and rotation stop state) based on the operation information. .

The filter processing unit 31f performs filtering (filter processing) on a plurality of candidate positions Pc (detected positions Pd) when the swivel base 2 rotates. The filter processing unit 31f excludes candidate positions Pc located outside the predetermined area E. FIG. 6A is a first diagram illustrating an example of filtering by the filter processing section 31f. FIG. 6B is a second diagram illustrating an example of filtering by the filter processing section 31f.

Area E is a region of position coordinates indicated by latitude and longitude, and as shown in FIG. 6A, is a circular arc with a radius of length R1 from the rotation axis This is an approximately arc-shaped area that includes Note that in FIGS. 6A and 6B, candidate positions Pc located within area E are indicated by black dots, and candidate positions Pc located outside area E are indicated by white dots.
Further, the size of the central angle θe of the area E corresponds to the reference angle θb. Note that the magnitude of the central angle θe of the area E only needs to correspond to the reference angle θb, and may be larger than the reference angle θb by a predetermined value. The radial length (width W) of the area E is a size defined according to the error of the detection position Pd detected by the position detection device 50. For example, the width W is twice as large as the error size of the detected position Pd detected by the position detecting device 50.

Note that the width W is preferably a value that corresponds to the magnitude of the error in the detection position Pd, and is not limited to twice. Further, the width W may be a value stored in advance in the storage device 34, and can be arbitrarily changed by the operator by operating the display device 35 or the like. Therefore, by operating the display device 35 or the like to reduce the width W, the operator can make settings to improve the accuracy of calculation of the axial center position Px.

The filter processing unit 31f calculates the area E based on the calculation formula (first calculation formula) and various parameters (length R1, width W, reference angle θb, etc.) stored in the storage device 34. The arithmetic expression is a mathematical expression defined based on a circle or ellipse equation and various parameters. Furthermore, the filter processing unit 31f corrects the area E based on the inclination angle (roll angle and pitch angle) detected by the inclination detection device 51. The filter processing unit 31f corrects the area E based on the arithmetic expression (second arithmetic expression) stored in the storage device 34 and the inclination angle.

Therefore, when the swivel base 2 is horizontal and the inclination angle acquired by the third acquisition unit 31c is zero, as shown in FIG. 6A, the radius R2 of the area E is smaller than the width W than the length R1. It is surrounded by a circle (outer circle) C1 that is 1/2 larger and a circle (inner circle) C2 whose radius R3 is smaller than the length R1 by 1/2 of the width W, and the size of the central angle θe is the reference angle θb. This is the same area as . The outer circle C1 and the inner circle C2 are arranged concentrically and each draw a perfect circle.

The filter processing unit 31f sets the area E when the swivel base 2 is horizontal as a reference area Eb, and corrects the reference area Eb based on the inclination angle. Therefore, when the swing work machine 1 is located on a slope, the swing base 2 is tilted, and the tilt angle (roll angle and pitch angle) acquired by the third acquisition section 31c is other than zero, the filter processing section 31f , the reference area Eb is corrected to an area tilted by the tilt angle. That is, the outer circle C1 and the inner circle C2 are arranged concentrically and each draw an ellipse.

Furthermore, the filter processing unit 31f moves the calculated area E so that more candidate positions Pc are located within the area E, and eliminates candidate positions Pc located outside the area E, thereby performing sweeping.
Note that in the embodiment described above, the filter processing unit 31f calculates the reference area Eb based on the first calculation formula and various parameters, and corrects the reference area Eb based on the second calculation formula and the inclination angle. However, the storage device 34 stores a single arithmetic expression that is a combination of the first arithmetic expression and the second arithmetic expression, and the filter processing unit 31f stores the single arithmetic expression and various parameters (length R1, width W, reference angle θb, and inclination angle).

The second calculation unit 31g calculates (operates) a circular or elliptical approximate line AL based on the plurality of candidate positions Pc (detected positions Pd) filtered by the filter processing unit 31f. The second calculation unit 31g calculates the approximate line AL using an approximate formula of a coordinate system indicated by latitude and longitude. FIG. 7A is a first diagram showing an example of the approximate line AL calculated by the second calculation unit 31g. FIG. 7B is a second diagram showing an example of the approximate line AL calculated by the second calculation unit 31g.

The second calculation unit 31g calculates an approximate line AL for the plurality of detection positions Pd when the swivel base 2 rotates, using the least squares method of a circle or ellipse equation. The least squares model function is an arithmetic expression that corrects the ellipse equation based on the inclination angle, and is used by substituting various parameters (length R1, inclination angle).
Therefore, when the swivel base 2 is horizontal and the inclination angle acquired by the third acquisition unit 31c is zero, as shown in FIG. 7A, the approximate line AL calculated by the second calculation unit 31g has a radius of It becomes a perfect circle with length R1. On the other hand, when the swivel base 2 is tilted and the tilt angle (roll angle and pitch angle) acquired by the third acquisition unit 31c is other than zero, as shown in FIG. 7B, the approximation calculated by the second calculation unit 31g The line AL is an ellipse whose radius is a perfect circle with a length R1 corrected by the inclination angle.

The third calculation unit 31h calculates (calculates) the center position (center position) Po of the approximate line AL as the axis position Px of the turning axis X based on the approximate line AL calculated by the second calculation unit 31g. do. Further, the third calculation unit 31h calculates a straight line SL2 passing through the axis position Px and the reference position Pp based on the calculated axis position Px and the reference position Pp, as the orientation D of the swivel base 2 (reference orientation D1). Calculated as FIG. 8 is a diagram showing an example of the reference orientation D1 calculated by the third calculation unit 31h and the current orientation D2 calculated by the fourth calculation unit 31i.

The third calculation unit 31h calculates the reference direction D1 using a formula of a coordinate system indicated by latitude and longitude. The third calculation unit 31h extracts a detection position Pd (end position Pa) including at least the stop position Pe from the detection position Pd detected by the position detection device 50, and calculates a reference position Pp based on the detection position Pd. The end position Pa is a plurality of detection positions Pd acquired by the second acquisition unit 31b within a predetermined time period before and after the first calculation unit 31e determines that the rotation of the swivel base 2 has stopped. The third calculation unit 31h calculates the reference position Pp based on the average value of the position information of the plurality of end positions Pa.

In FIG. 8, the end position Pa is indicated by a white dot, and the reference position Pp is indicated by a black dot.
Further, in the present embodiment, the third calculation unit 31h calculates the average value of the plurality of position information as the reference position Pp, but the third calculation unit 31h calculates the average value of the plurality of position information as the reference position Pp. It is sufficient to calculate the reference position Pp, and the detection position Pd (end position Pa) referred to by the third calculation unit 31h may be only the stop position Pe, or two or more detection positions Pd including the stop position Pe. It may be.

When the third calculation unit 31h calculates the reference orientation D1, the third calculation unit 31h initializes the count of the fourth acquisition unit 31d and redefines the initial position. That is, at the redefined initial position, the straight line passing through the rotation axis X and extending in the front-rear direction is the straight line SL2.
The fourth calculation unit 31i calculates (computes) the current orientation D2 of the swivel base 2 based on the reference orientation D1 and the turning angle θ. The fourth calculation unit 31i calculates the turning angle θ from the turning position corresponding to the reference orientation D1 to the current turning position (the difference between the turning angle θ when the turning base 2 stops rotating and the current turning angle θ). , the reference orientation D1, and the current orientation D2 of the swivel base 2. Note that in this embodiment, the third calculation unit 31h initializes the count of the fourth acquisition unit 31d and redefines the initial position, so the rotation angle θ when the rotation base 2 stops rotating is , is zero.

The fourth calculation unit 31i calculates the current orientation D2 of the swivel base 2 based on the current turning angle θ and the reference orientation D1 using a formula of a coordinate system indicated by latitude and longitude. In the present embodiment, the current turning angle θ is an angle formed by a straight line SL3 that passes through the turning axis X at the current position and extends in the front-rear direction, and a straight line SL2. Based on the current turning angle θ and the reference azimuth D1, the current azimuth D2 of the swivel base 2 is calculated using a formula of a coordinate system indicated by latitude and longitude. That is, when the turning angle θ acquired by the second acquisition unit 31b is a positive value, the fourth calculation unit 31i tilts the reference orientation D1 counterclockwise by the amount of change around the axis position Px. Calculate the current direction D2. On the other hand, when the turning angle θ acquired by the second acquisition unit 31b is a negative value, the fourth calculation unit 31i tilts the reference orientation D1 clockwise around the axis position Px by the amount of change. Calculate the direction D2.

FIG. 9 is a diagram illustrating a series of steps in which the calculation unit 31 calculates the orientation D. Hereinafter, using FIG. 9, extraction of the candidate position Pc by the first calculation unit 31e, filtering of the candidate position Pc by the filter processing unit 31f, calculation of the approximate line AL by the second calculation unit 31g, and axis by the third calculation unit 31h. A series of steps for calculating the heart position Px and the reference orientation D1, and calculating the current orientation D2 by the fourth calculation unit 31i will be described.

First, the first calculation unit 31e determines whether the lower traveling body 10 is in a running state based on the vehicle speed acquired by the first acquisition unit 31a (S10). When the first calculation unit 31e determines that the undercarriage body 10 is in a running state (S10, Yes), the first calculation unit 31e determines whether the undercarriage body 10 is running based on the vehicle speed acquired by the first acquisition unit 31a. It is determined whether or not the state has shifted to the running stopped state (S11). If the first calculation unit 31e determines that the undercarriage body 10 has not transitioned from the running state to the running stop state (S11, No), it continues the process of S11, and the undercarriage body 10 changes from the running state to the running stop state. If it is determined that the rotation base 2 has started to rotate (S11, Yes), it is determined whether the rotation base 2 has started rotating based on the rotation signal acquired by the fourth acquisition unit 31d (S12).

When the first calculation unit 31e determines that the swivel base 2 has not started rotating (S12, No), it continues the process of S12, and when it determines that the swivel base 2 has started rotating (S12, Yes), The position detection device 50 detects the detection position Pd (S13). The second acquisition unit 31b causes the storage device 34 to store the position information detected by the position detection device 50. The first calculation unit 31e determines whether the rotation base 2 has stopped rotating based on the rotation signal acquired by the fourth acquisition unit 31d (S14).

When the first calculation unit 31e determines that the swivel base 2 has not stopped rotating (S14, No), that is, until the swivel base 2 stops rotating, it executes the process of S13. On the other hand, when the first calculation unit 31e determines that the swivel base 2 has stopped rotating (S14, Yes), the first calculation unit 31e determines that the swivel base 2 has started rotating (S12, Yes). , until it is determined that the rotation base 2 has stopped rotating (S14, Yes) (swing period), the position information acquired by the second acquisition unit 31b is extracted from the storage device 34 and calculated as a candidate position Pc. (S15). For this reason, the first calculation unit 31e can calculate the candidate position Pc by turning the swivel base 2 when the lower traveling body 10 travels and then stops.

In the following description, steps such as S12 to S14, in which the swivel base 2 is rotated around the swivel axis X and the position detection device 50 detects a plurality of detection positions Pd, will be referred to as the first step. be.
When the first calculation unit 31e performs the process of S15, the filter processing unit 31f calculates the area E based on the first calculation formula and various parameters (S16). After calculating the area E (S16), the filter processing unit 31f moves the area E so that more candidate positions Pc are located within the area E (S17). The filter processing unit 31f performs sweeping by excluding candidate positions Pc located outside the area E (S18).

When the filter processing unit 31f performs the process of S18, the second calculation unit 31g calculates an approximate line using the least squares method of a circle or ellipse equation for the plurality of candidate positions Pc filtered by the filter processing unit 31f. Calculate AL (S19).
When the second calculation unit 31g performs the process of S19, the third calculation unit 31h moves the center position Po of the approximate line AL to the axis of the rotation axis X based on the approximate line AL calculated by the second calculation unit 31g. The heart position Px is calculated (S20). In other words, S20 is a step (second step) of calculating the axis position Px of the rotation axis X based on the plurality of detection positions Pd detected by the position detection device 50 in the first step (S13). . Further, the third calculation unit 31h extracts a detection position Pd (end position Pa) including at least the stop position Pe from the detection position Pd detected by the position detection device 50, and calculates a reference position Pp based on the detection position Pd. (S21).

The third calculation unit 31h calculates a straight line passing through the axial center position Px and the reference position Pp based on the axial center position Px calculated in S20 and the reference position Pp calculated in S21, in the direction D (reference) of the swivel base 2. azimuth D1), and the reference azimuth D1 is stored in the storage device 34 (S22). That is, S22 is a step of calculating the orientation D of the swivel base 2 based on the axial center position Px calculated in the second step and the reference position Pp (third step).

When the third calculation unit 31h calculates the reference orientation D1 (S22), the third calculation unit 31h initializes the count of the fourth acquisition unit 31d and redefines the initial position (S23). When the third calculation unit 31h stops the process in S23, the first calculation unit 31e executes the process in S10.
Further, when the first calculation unit 31e determines that the undercarriage body 10 is in a traveling stopped state (S10, No), the fourth calculation unit 31i determines that the axis position Px and the reference orientation D1 are stored in the storage device 34. It is determined whether or not there is one (S24). When the fourth calculation unit 31i determines that the axial center position Px and the reference orientation D1 are stored in the storage device 34 (S24, Yes), the axial center position Px and the reference orientation D1 stored in the storage device 34, The current orientation D2 is also calculated based on the turning angle θ acquired by the fourth acquisition unit 31d (S25).

When the fourth calculation unit 31i calculates the current orientation D2 (S25), the series of processes is stopped. Note that when the fourth calculation unit 31i determines that the axial center position Px and the reference orientation D1 are not stored in the storage device 34 (S24, No), the first calculation unit 31e executes the process of S10.
Therefore, when the undercarriage body 10 enters the running state (S10, Yes), the reference orientation D1 is redefined through the processes of S11 to S22. On the other hand, when the undercarriage body 10 is maintained in a stopped state (S10, No) and the axial center position Px and the reference orientation D1 are stored in the storage device 34 (S24, Yes), the fourth calculation unit 31i The current orientation D2 is calculated based on the reference orientation D1 calculated through the processes of S11 to S22 (S25).

Thereby, even if the rotating work machine 1 has a single position detection device 50, the orientation D of the rotating base 2 can be calculated. Therefore, the function of calculating the orientation D of the swivel base 2 (swivel work machine 1) can be introduced at low cost. In addition, since the current orientation D2 is calculated based on the reference orientation D1 and the turning angle θ, a detection error of the position detection device 50 does not occur after the reference orientation D1 is calculated, and the calculation unit 31 The current orientation D2 can be calculated with high accuracy.

Next, the calculation of the position Pw of the swinging body in the swing work machine 1 will be explained in detail. As shown in FIG. 3, the swing work machine 1 has a position calculation section 32. The position calculation section 32 is composed of electrical/electronic components provided in the control device 30, programs incorporated in the storage device 34, and the like. The position calculation unit 32 determines the position Pw of the swinging body based on the signal detected by the sensor provided in the swing work machine 1 and the orientation D (current orientation D2) of the swivel base 2 calculated by the calculation unit 31. can be calculated. The position Pw of the rocking body calculated by the position calculation unit 32 is displayed on the display device 35, for example. Alternatively, the swing work machine 1 may be configured to perform work autonomously based on the position Pw of the rocking body calculated by the position calculation unit 32 and the position information stored in the storage device 34.

FIG. 10 is a diagram illustrating calculation of the position Pw of the rocking body. As shown in FIG. 10, in this embodiment, the position calculation unit 32 calculates a position (work position) Pw where the work device 20 performs work as the position Pw of the rocking body. In particular, the position calculation unit 32 calculates the position coordinates of the bucket claw 25C in the swinging body as the work position Pw. Note that the work position Pw calculated by the position calculation unit 32 is not limited to the position coordinates of the bucket claw 25C, but may be the center of the bottom wall 25B of the bucket 25, etc.

For example, the working device 20 includes angle sensors 54 (boom angle sensor 54a, arm angle sensor 54b, work implement angle sensor 54c and a swing angle sensor 54d). The angle sensor 54 is, for example, a potentiometer that is connected to the control device 30 and outputs the detected rotation angle to the control device 30 as a signal.

Specifically, the boom angle sensor 54a detects the swing angle (rotation position) of the boom 21, and the arm angle sensor 54b detects the swing angle (rotation position) of the arm 23. The work implement angle sensor 54c detects the swing angle (rotation position) of the bucket 25 with respect to the tip side of the arm 23, and the swing angle sensor 54d detects the swing angle (rotation position) of the swing bracket 8 with respect to the support bracket 7. Detect.

The position calculation unit 32 calculates the length from the rotation axis X to the working position Pw (the length in the front-rear direction) based on the rotation angle detected by the angle sensor 54 and the calculation formula stored in the storage device 34. L2 and the length L3 in the width direction are calculated. The position calculation unit 32 calculates the working position Pw based on the calculated lengths L2 and L3, the inclination angle acquired by the third acquisition unit 31c, the formula indicating the current orientation D2, and the axial center position Px. calculate.

Note that the position calculation unit 32 only needs to be able to calculate the working position Pw, and the angle sensor 54 is not limited to a potentiometer, and for example, the stroke (extension position) of the boom cylinder 21a, arm cylinder 23a, bucket cylinder 25a, and swing cylinder. may be detected, and the swing angles of the boom 21, arm 23, bucket 25, and swing bracket 8 may be calculated from the detection results. Alternatively, the swing angles of the boom 21, the arm 23, the bucket 25, and the swing bracket 8 may be detected using an imaging device (camera) that captures images of the surroundings of the work device 20.

In the embodiment described above, when the undercarriage body 10 enters the running state (S10, Yes), the calculation unit 31 redefines the reference orientation D1 through the processes of S11 to S22. If the condition is satisfied, a configuration may be adopted in which the reference orientation D1 is not initialized. FIG. 11 is a diagram illustrating calculation of the direction D in the first modification. As shown in FIG. 11, when the undercarriage body 10 transitions from the running stopped state to the running state and moves straight forward or backward from the position when the calculation unit 31 calculates the reference direction D1, the rotation base 2 When the turning angle θ is maintained, the calculation unit 31 may correct the axis position Px without updating the reference orientation D1.

FIG. 12 is a diagram illustrating a part of a series of steps in which the calculation unit 31 calculates the orientation D in the first modification. As shown in FIG. 12, in S10, the first calculation unit 31e determines that the undercarriage body 10 is in the running state, and then determines that the undercarriage body 10 has transitioned from the running state to the running stopped state (S11, If the undercarriage body 10 continues to move forward or backward in the straight direction during the period up to (Yes) (movement period) and does not perform a turning operation, the calculation unit 31 executes a process of correcting the axial center position Px. .

FIG. 13 is a diagram illustrating a system of the swing working machine 1 in the first modification. As shown in FIG. 13, the calculation section 31 includes a correction section 31j. When the undercarriage 10 continues to travel straight without the swivel base 2 rotating during the movement period, the correction unit 31j calculates the position detected by the position detection device 50 at the start point S and the end point G of the movement period. The axial center position Px is corrected based on the position information of the detected position Pd.

The correction unit 31j determines whether the rotation angle θ of the swivel base 2 is maintained based on the rotation angle θ acquired by the fourth acquisition unit 31d. Further, the correction unit 31j determines whether the undercarriage body 10 is maintaining straight running or turning based on the operation information of the operating device 40. The correction unit 31j acquires the position information of the detection position Ps at the start point S of the movement period and the position information of the detection position Pg at the end point G, based on the position information of the detection position Pd acquired by the second acquisition unit 31b. do.

Further, the correction unit 31j calculates the distance traveled by the undercarriage 10 during the movement period (the distance traveled in the longitude direction) based on the position information of the detection position Ps at the starting point S and the position information of the detection position Pg at the end point G. Lx and the moving distance Ly in the latitudinal direction are calculated. Then, the correction unit 31j corrects the axial center position Px by offsetting the axial center position Px by the same amount as the moving distances Lx and Ly that the lower traveling body 10 has moved. The correction unit 31j overwrites and stores the corrected axial center position Px on the axial center position Px stored in the storage device 34.

Hereinafter, the correction of the axial center position Px by the correction section 31j will be explained using FIG. 12.
As shown in FIG. 12, when the first calculation unit 31e determines that the undercarriage body 10 is in a running state (S10, Yes), the correction unit 31j calculates the rotation angle θ based on the turning angle θ acquired by the fourth acquisition unit 31d. , it is determined whether the turning angle θ of the turning table 2 is maintained (S31). When the correction unit 31j determines that the turning angle θ of the turning base 2 is maintained (S31, Yes), the correction unit 31j determines whether the undercarriage body 10 is traveling straight or not based on the operation information of the operating device 40. A judgment is made (S32).

When the correction unit 31j determines that the undercarriage body 10 is traveling straight (S32, Yes), the undercarriage body 10 shifts from the running state to the running stopped state based on the vehicle speed acquired by the first acquisition unit 31a. It is determined whether or not it has been done (S33). When the correction unit 31j determines that the lower traveling body 10 has not transitioned from the running state to the running stopped state (S33, No), it executes the process of S31. On the other hand, when the correction unit 31j determines that the undercarriage body 10 has transitioned from the running state to the running stopped state (S33, Yes), the correction unit 31j updates the position information acquired by the second acquisition unit 31b and stored in the storage device 34. Based on this, the positional information of the detected position Ps at the starting point S of the moving period and the positional information of the detected position Pg at the ending point G are acquired (S34).

The correction unit 31j calculates the moving distances Lx and Ly that the undercarriage body 10 has moved during the movement period based on the position information of the detection position Ps at the starting point S and the position information of the detection position Pg at the end point G, and The axial center position Px is corrected by offsetting the axial center position Px by the same amount as the moving distances Lx and Ly of the axis 10 (S35). When the correction unit 31j corrects the axial center position Px (S35), the fourth calculation unit 31i executes the process of S24.

Note that when the correction unit 31j determines that the turning angle θ of the turning base 2 is not maintained (S31, No), and when the correction unit 31j determines that the undercarriage 10 is turning (S32, No), the first calculation unit 31e executes the process of S11.
In the example shown in FIG. 12, in S31, it is determined whether or not the rotation angle θ of the swivel base 2 is maintained. The correction unit 31j determines whether the turning angle θ at the starting point S and the turning angle θ at the ending point G of the movement period are the same value between S33 and S34 instead of S31. Good too. In such a case, if the correction unit 31j determines that the turning angle θ at the start point S of the movement period and the turning angle θ at the end point G are the same value, it executes the process of S34, and if it determines that they are not the same value, the correction unit 31j performs the first calculation. The unit 31e executes the process of S11.

The calculation unit 31 calculates the reference orientation D1 by the rotation of the swivel base 2 when the undercarriage body 10 travels and then stops. If the angle θb) is less than or equal to a predetermined third threshold value, the calculation process of the reference orientation D1 may be redone. FIG. 14 is a diagram illustrating a part of a series of steps in which the calculation unit 31 calculates the orientation D in the second modification. Hereinafter, the processing of the first calculation unit 31e in the second modification will be described using FIG. 14.

Specifically, as shown in FIG. 14, the lower traveling body 10 runs and then stops (S11, Yes), the swivel base 2 starts rotating (S12, Yes), and the swivel base 2 starts rotating. Even if it stops (S14, Yes), if the first calculation unit 31e determines that the absolute value of the reference angle θb is less than or equal to the third threshold (S41, No), the process returns to S12. In such a case, the control device 30 may notify the operator that the calculation of the reference direction D1 will be recalculated.

On the other hand, when the swivel base 2 stops rotating (S14, Yes) and the first calculation unit 31e determines that the absolute value of the reference angle θb exceeds the third threshold (S41, Yes), the first calculation unit 31e performs S15. Proceed to processing. The third threshold value is a value stored in advance in the storage device 34, and is, for example, 5° or 10°. Note that the third threshold may be configured to be arbitrarily changed by the operator by operating the display device 35 or the like.

The notification device is, for example, a device connected to the control device 30, and is the display device 35 in this embodiment.
As shown in FIG. 3, the calculation section 31 includes a notification control section 33. When the first calculation unit 31e determines that the absolute value of the reference angle θb is equal to or less than the third threshold (S41, No), the notification control unit 33 acquires the determination result and controls the notification device, The notification device is made to notify the worker. The notification control unit 33 is composed of electrical/electronic components provided in the control device 30, programs incorporated in the storage device 34, and the like. For example, the notification control unit 33 displays a notification screen (not shown) on the display device 35 to notify that the calculation of the reference direction D1 will be recalculated. Specifically, the notification screen displays a message (notification message) urging the operator to rotate the swivel base 2 by operating the operating device 40.

In the above-described embodiment, the case where the notification device is the display device 35 has been described as an example, but the notification device is not limited to the display device 35, and may include a speaker that provides notification by voice or warning sound, lighting or blinking. It may also be a lamp that provides notification. In such a case, if the first calculation unit 31e determines that the absolute value of the reference angle θb is less than or equal to the third threshold (S41, No), the notification control unit 33 outputs a notification message from the speaker, or outputs a notification message from the lamp. blinking.

Further, the swing work machine 1 includes an operating tool 41 that receives an operation, and the calculation unit 31 performs the same processing as S11 to S12 instead of or in addition to S11 to S22 according to the operation of the operating tool 41. The reference orientation D1 may be redefined (initialized) by performing the following steps. FIG. 15 is a diagram illustrating a system of the swing working machine 1 in the third modification. As shown in FIG. 15, the operating tool 41 is a switch that is communicably connected to the control device 30 and accepts operations. Upon receiving the operation, the operating tool 41 outputs an instruction signal to the control device 30 to instruct the rotating base 2 to rotate by a predetermined turning angle θ (for example, 5 degrees or more, or 10 degrees or more). The operating tool 41 is, for example, a push switch that can be operated by pressing. Note that the operating tool 41 is not limited to a push switch, and may be a display image such as an icon displayed on the display device 35 when the display device 35 is a touch panel that accepts operations.

Further, the calculation section 31 has a turning control section 31k. The swing control unit 31k controls a control valve in accordance with the operation of the operating tool 41, and causes the swing motor MT to rotate the swing base 2 in a predetermined direction by a predetermined swing angle θ. The direction in which the swing control unit 31k rotates the swing base 2 in accordance with the operation of the operating tool 41 and the swing angle θ are stored in advance in the storage device 34 as setting information, and the direction in which the swing control unit 31k rotates the swing base 2 according to the operation of the operating tool 41 is stored in advance in the storage device 34 as setting information, and the direction in which the swing control unit 31k rotates the swing base 2 according to the operation of the operating tool 41 is stored in advance in the storage device 34 as setting information. The configuration may be such that it can be changed arbitrarily. Note that the swing control unit 31k may rotate the swing base 2 in a predetermined direction by a predetermined swing angle θ based on the instruction signal input from the operating tool 41, and then maintain the swing angle θ. However, after the process of S54, which will be described later, is completed, the swivel base 2 may be rotated in the opposite direction to the predetermined direction so as to return to the original rotation angle θ.

FIG. 16 is a diagram illustrating a part of a series of steps in which the calculation unit 31 calculates the orientation D in the third modification. Hereinafter, using FIG. 16, the calculation of the direction D by the calculation unit 31 when the operating tool 41 is operated will be described.
When the first calculation unit 31e determines in S10 that the undercarriage body 10 is in a traveling stopped state (S10, No), the turning control unit 31k determines whether an instruction signal is input from the operating tool 41 ( S51). When the swing control unit 31k determines that an instruction signal is input from the operating tool 41 (S51, Yes), the swing control unit 31k controls the swing motor MT based on the setting information stored in the storage device 34, and controls the swing base 2. Rotation is started in a predetermined direction (S52).

When the rotation control unit 31k starts rotating the rotation base 2 (S52), the position detection device 50 detects the detection position Pd (S53). The second acquisition unit 31b causes the storage device 34 to store the position information detected by the position detection device 50. The first calculation unit 31e determines whether the rotation base 2 has stopped rotating based on the rotation signal acquired by the fourth acquisition unit 31d (S54).
If the first calculation unit 31e determines that the swivel base 2 has not stopped rotating (S54, No), that is, until the swivel base 2 stops rotating, it executes the process of S53. On the other hand, when the first calculation unit 31e determines that the swivel base 2 has stopped rotating (S54, Yes), the swivel control unit 31k starts the rotation of the swivel base 2 (S52), and then the swivel base 2 rotates. During the period (turning period) until it is determined that the vehicle has stopped (S54, Yes), the position information acquired by the second acquisition unit 31b is extracted from the storage device 34 and calculated as a candidate position Pc (S55). Therefore, the first calculating section 31e can calculate the candidate position Pc by causing the turning control section 31k to rotate the turning base 2 in accordance with the operation of the operating tool 41. When the first calculation unit 31e executes the process of S55, the filter processing unit 31f executes the process of S16.

Further, when the turning control section 31k determines that the instruction signal is not input from the operating tool 41 (S51, No), the fourth calculation section 31i executes the process of S24.
Note that S52 to S54 can be said to be the first step because the turning table 2 is rotated around the turning axis X and the position detection device 50 detects a plurality of detection positions Pd.
The above-described swing work machine 1 includes a swing base 2 that is rotatable around a pivot axis X that extends in the vertical direction, a working device 20 that is installed on the swing base 2, and that detects a position. The calculation unit 31 includes a position detection device 50 and a calculation unit 31 that calculates the orientation D of the swivel base 2 based on the detected position Pd detected by the position detection device 50. The axial center position Px of the turning axis X is calculated based on the plurality of detected positions Pd when rotating around the swivel base 2 based on the axial center position Px and the detected position (reference position) Pp. The direction D of is calculated.

According to the above configuration, even if the swing work machine 1 has a single position detection device 50, the orientation D of the swing base 2 can be calculated. Therefore, the function of calculating the orientation D of the swivel base 2 (swivel work machine 1) can be introduced at low cost.
Further, the calculation unit 31 calculates the axial center position Px of the rotation axis X based on a plurality of detected positions Pd from when the swivel base 2 starts rotating until it stops rotating.

According to the above configuration, among the detection positions Pd during rotation of the swivel base 2, there are many detection positions Pd used for calculation, and the distance between them can be increased. The axis position Px can be calculated with high accuracy.
Further, the swing work machine 1 includes an angle detection device 52 that is provided on the swing base 2 and detects a swing angle θ around the pivot axis , one of the detected positions Pd used to calculate the axis position Px, and the reference direction D1, with the direction D of the turning base 2 calculated based on the reference direction D1, and the turning position corresponding to the reference direction D1. The current orientation D2 of the turning base 2 is calculated based on the turning angle θ from to the current turning position.

According to the above configuration, since the current orientation D2 is calculated based on the reference orientation D1 and the turning angle θ, even if an error occurs in the position detection by the position detection device 50 after the calculation of the reference orientation D1, the current orientation D2 is calculated based on the reference orientation D1 and the turning angle θ. Since the direction D2 is not affected, the calculation unit 31 can calculate the current direction D2 with higher accuracy.
Further, the calculation unit 31 calculates the axis position Px of the rotation axis X based on the plurality of detected positions Pd from when the rotation base 2 starts rotating to when the rotation base 2 stops, so that the rotation base 2 rotates. The current orientation D2 of the swivel base 2 is calculated based on the reference orientation D1 and the difference between the rotation angle θ when the rotation base 2 is stopped and the current rotation angle θ.

According to the above configuration, the calculation unit 31 can calculate the current orientation D2 with high accuracy through relatively simple processing.
Further, the calculation unit 31 includes a filter processing unit 31f that filters a plurality of detected positions Pd when the swivel base 2 rotates, and the filter processing unit 31f filters the position detected by the position detection device 50 from the rotation axis X. Detection positions Pd located outside a substantially circular arc-shaped area E including a circular arc whose radius is the length up to are excluded.

According to the above configuration, among the detected positions Pd detected by the position detection device 50, it is possible to exclude the detected positions Pd where an error has occurred in position detection. Therefore, the calculation accuracy of the direction D can be improved.
Further, the swing work machine 1 includes a tilt detection device 51 that detects the tilt angle of the swing base 2, and the filter processing section 31f corrects the area E based on the tilt angle detected by the tilt detection device 51.

According to the above configuration, the filter processing unit 31f can improve the accuracy of filtering even when the swing work machine 1 is located on a slope.
Further, the calculation unit 31 calculates a circular or elliptical approximation line AL based on the plurality of detected positions Pd when the swivel base 2 rotates, and calculates the axial center position Px based on the approximation line AL. .
According to the above configuration, the calculation unit 31 can calculate the axial center position Px of the rotation axis X with high accuracy.

Further, the calculation unit 31 calculates an approximate line AL for the plurality of detection positions Pd when the swivel base 2 rotates, using the least squares method of a circle or ellipse equation.
According to the above configuration, the calculation unit 31 can calculate the axial center position Px of the rotation axis X with high accuracy through relatively simple processing.
Further, the swing work machine 1 includes an undercarriage body 10 that supports the swivel table 2 around the rotation axis X and is movable, and the calculation unit 31 is configured to calculate, when the undercarriage body 10 travels and then stops. , the axial center position Px is calculated based on a plurality of detected positions Pd when the swivel base 2 first rotates.

According to the above configuration, when working with the swing work machine 1, the swing base 2 is first rotated after traveling to the work site, so that the work can be carried out during normal work without having to undergo any special operations before starting the work. Then, the axial center position Px can be calculated.
Further, the position detection device 50 is arranged at a position horizontally away from the rotation axis X.
According to the above configuration, since the position detection device 50 can detect a distant position, the calculation unit 31 can calculate the direction D with higher accuracy.

Further, the position detection device 50 is arranged at the end of the swivel base 2.
According to the above configuration, since the position detection device 50 can detect a remote position, the calculation unit 31 can calculate the direction D with higher accuracy.
In addition, the direction detection method of the swing work machine 1 is such that the swing base 2 on which the work device 20 is installed is rotated around the pivot axis X extending in the vertical direction, and the position detection device 50 provided on the swing base 2 is a first step of detecting the detection position Pd of the rotation axis X, a second step of calculating the axial center position Px of the rotation axis X based on the plurality of detection positions Pd detected by the position detection device 50; and a third step of calculating the orientation D of the swivel base 2 based on the axial center position Px and the reference position Pp.

Although the present invention has been described above, the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

1 Swinging work machine 2 Swivel base 10 Undercarriage 20 Working device 31 Calculation unit 31f Filter processing unit 50 Position detection device 51 Inclination detection device 52 Angle detection device AL Approximate line D Direction D1 Reference direction D2 Current direction E Area Pd Detection position Px Axis position X Rotation axis θ Rotation angle

Claims (12)

a swivel table that is rotatable around a swivel axis that extends in the vertical direction;
a working device provided on the swivel base;
a position detection device that is provided on the swivel base and detects the position;
a calculation unit that calculates the orientation of the swivel base based on the detected position detected by the position detection device;
Equipped with
The arithmetic unit is
calculating the axial position of the pivot axis based on the plurality of detected positions when the pivot table rotates around the pivot axis;
A turning work machine that calculates an orientation of the turning base based on the axis position and the detected position. The swivel according to claim 1, wherein the calculation unit calculates the axial center position of the swivel axis based on the plurality of detected positions from when the swivel table starts the rotation until it stops the rotation. work equipment. an angle detection device provided on the swivel base and configured to detect a rotation angle of the swivel base around the pivot axis;
The arithmetic unit is
The azimuth of the swivel base calculated based on the axial center position and one of the detected positions used for calculating the axial center position is set as a reference azimuth,
The rotating work machine according to claim 1, wherein the current orientation of the swivel base is calculated based on the reference orientation and a rotation angle from a rotation position corresponding to the reference orientation to a current rotation position. The calculation unit calculates the axial center position of the rotation axis based on the plurality of detected positions from when the rotation base starts the rotation until it stops the rotation,
The turning operation according to claim 3, wherein the current direction of the turning table is calculated based on the reference direction and a difference between the turning angle when the turning table stops the rotation and the current turning angle. Machine. The calculation unit includes a filter processing unit that filters the plurality of detected positions when the swivel base rotates,
2. The filter processing unit excludes detection positions located outside a substantially arc-shaped area including an arc having a radius of a length from the rotation axis to the position detected by the position detection device. Swivel work machine. comprising an inclination detection device that detects an inclination angle of the swivel base,
The swing work machine according to claim 5, wherein the filter processing section corrects the area based on the inclination angle detected by the inclination detection device. 1 . The calculation unit calculates an approximation line of a circle or an ellipse based on the plurality of detected positions when the swivel base rotates, and calculates the axial center position based on the approximation line. Work equipment described in. The working machine according to claim 7, wherein the calculation unit calculates the approximate line using a least squares method of a circle or an ellipse equation for the plurality of detected positions when the swivel base rotates. . The swivel base is supported around the swivel axis, and includes a movable lower running body;
2. The calculation unit calculates the axial center position based on the plurality of detected positions when the swivel base first rotates when the lower traveling body travels and then stops. The swing work machine described. The swing working machine according to claim 1, wherein the position detection device is arranged at a position horizontally apart from the swing axis center. The swing work machine according to claim 10, wherein the position detection device is arranged at an end of the swing base. a first step of rotating a swivel base provided with a working device around a pivot axis extending in the vertical direction and detecting a plurality of detection positions with a position detection device provided on the swivel base;
a second step of calculating the axis position of the pivot axis based on the plurality of detection positions detected by the position detection device;
a third step of calculating the orientation of the swivel base based on the axis position calculated in the second step and the current detected position;
A direction detection method for a swing work machine equipped with

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