JP7030149B2 - Work machine - Google Patents

Description

The present invention relates to a working machine.

In the field of work machines represented by hydraulic excavators, GNSS (Global Navigation Satellite System) is used to receive signals (satellite signals) from multiple positioning satellites and the global position of the work machine (global coordinate system (geographic)). The position in the coordinate system) is calculated by the receiver, and the calculated position data is used to execute control (excavation support control) that supports the operator's excavation operation so that the desired target excavation surface is formed by the work machine. Techniques for excavating and presenting various information to operators are known. For example, the target excavation surface that defines the completed shape of the excavation target of the work machine is generated based on the three-dimensional design data and the position data of the work machine. Therefore, if the accuracy of the position data based on GNSS deteriorates or the position data calculation becomes impossible and the positioning result by the receiver becomes unusable, an appropriate target excavation surface cannot be generated from the design data. , Drilling support control of work machines and presentation of information can be difficult. In addition, if the excavation support control is temporarily interrupted due to a decrease in the accuracy of the position data, the operation to restart the excavation support control is required, which may increase the burden on the operator or reduce the work efficiency. ..

Regarding this kind of problem, Patent Document 1 describes target excavation because the position detection device cannot receive reference position data (satellite signal) while excavation control (excavation support control) by a work machine (front work device) is being executed. When the topography information (target excavation surface) cannot be generated, the running of the work machine (hydraulic excavator) is stopped, and when the turning of the work machine is stopped, before the reference position data cannot be received. A control system for a work machine is disclosed that continues the excavation control using the target excavation topography information and terminates the excavation control when the work machine is running or turning.

International Publication No. 2015/181990

In Patent Document 1, even if the satellite signal (reference position data) cannot be received, the excavation support control can be continued when the turning of the working machine is stopped and the running of the working machine is stopped. However, the turning motion of the working machine (in other words, the turning motion of the upper swing body to which the working machine is attached) is when changing the excavation point in the left-right direction of the machine, when excavated earth and sand, etc. are discharged to a dump truck, etc. This is an operation that is performed more frequently than the running operation during excavation work. Therefore, in the technique of Patent Document 1, the excavation support control is terminated each time the turning motion is performed. That is, in the technique of Patent Document 1, the scene where the excavation support control can be executed is very limited, and it is difficult to remarkably improve the work efficiency as compared with the conventional technique.

The present invention has been made in view of the above circumstances, and an object of the present invention is that even if the swivel body has a swivel motion in a situation where the position data of the work machine calculated based on the satellite signal cannot be used for excavation support control. The purpose is to provide work machines that can continue excavation support control.

The present application includes a plurality of means for solving the above problems, and one example thereof is a traveling body.
A plurality of positionings include a swivel body mounted on the traveling body so as to be able to swivel, a working device attached to the swivel body, and an operating device for instructing the traveling operation of the traveling body and the turning operation of the swivel body. Based on the plurality of antennas for receiving satellite signals transmitted from the satellite and the satellite signals received by the plurality of antennas, the position of at least one of the plurality of antennas and the azimuth angle of the swivel body. The target excavation surface is calculated based on the position of at least one antenna positioned by the receiver and the azimuth angle of the swivel body, and the work is performed during the operation of the operating device. In a work machine including a controller for outputting a control signal for controlling the work device so that the device does not exceed the target excavation surface, the angle sensor for detecting the turning angle of the turning body with respect to the traveling body is provided. When the positioning result by the receiver is available and the operation for the traveling body is not input to the operating device, the controller inputs the operation for the swivel body to the operating device. The swivel body is based on the numerical values of the first azimuth angle measured by the receiver and the first swivel angle detected by the angle sensor when the first azimuth angle is positioned. The correspondence between the turning angle and the azimuth angle of the turning body is calculated and stored, and the position of the turning center axis of the turning body has not changed since the correspondence was stored, and the positioning is performed by the receiver. When the operation for the swivel body is input to the operating device when the result is not available and the operation for the traveling body is not input to the operating device, the angle sensor is used. Based on the detected second turning angle and the stored correspondence, the second azimuth angle, which is the azimuth angle of the swivel body when the positioning result by the receiver is unavailable, is calculated, and the receiver It is assumed that the target excavation surface is calculated based on the position of the at least one antenna positioned by the receiver and the second azimuth angle when the positioning result is available.

According to the present invention, the excavation support control can be continued even if the swivel body performs a swivel operation in a situation where the position data of the work machine calculated based on the satellite signal cannot be used for the excavation support control.

The block diagram of the hydraulic excavator which concerns on embodiment of this invention. The figure which shows the controller of the hydraulic excavator of FIG. 1 together with the hydraulic drive device. A side view showing a coordinate system (excavator reference coordinate system) in a hydraulic excavator. The figure of the rear view which shows the coordinate system (excavator reference coordinate system) in a hydraulic excavator. Configuration diagram of the excavation support control system. The figure which shows the example of the excavator operation by excavation support control. The figure which shows the addition of the difference of the turning angle with respect to the azimuth. Correlation diagram of the target surface distance d used in excavation support control and the correction coefficient k. The schematic diagram which shows the velocity vector of the bucket tip before and after the correction according to the target plane distance d. The figure which shows the flowchart about 1st Embodiment. The figure which shows the flowchart about 2nd Embodiment. The figure which shows the relationship between the azimuth angle and the turning angle which concerns on 2nd Embodiment. The figure which shows the flowchart of the process which stores the correspondence relation of an angle in 2nd Embodiment. The figure which shows the flowchart about 3rd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, a hydraulic excavator having a bucket as a work tool (attachment) at the tip of the work device will be illustrated as a work machine, but the present invention may be applied to a work machine having an attachment other than the bucket. Further, if the structure has an articulated work device configured by connecting a plurality of link members (attachments, booms, arms, etc.) on a structure that can be swiveled, the work machine other than the hydraulic excavator can be used. Can also be applied.

Further, in the following description, when a plurality of the same components exist, an alphabet may be added at the end of the reference numeral, but the alphabet may be omitted and the plurality of components may be collectively described. For example, when the same three pumps 190a, 190b, and 190c exist, they may be collectively referred to as pump 190.

<First Embodiment>
FIG. 1 is a configuration diagram of a hydraulic excavator according to an embodiment of the present invention, and FIG. 2 is a diagram showing a controller (control device) 40 of the hydraulic excavator according to the embodiment of the present invention together with a hydraulic drive device.

In FIG. 1, the hydraulic excavator 1 is composed of an articulated front working device (working device) 1A and a vehicle body (machine body) 1B. The vehicle body (machine body) 1B is mounted on the lower traveling body 11 traveling by the left and right traveling hydraulic motors 3a and 3b (see also FIG. 4 below) and the lower traveling body 11, and is driven by the turning hydraulic motor 4. It is composed of an upper swivel body 12 that can swivel in the left-right direction.

The lower traveling portion 11 has a pair of left and right crawler belts 13a and 13b (see FIG. 4), and the pair of crawler belts 13a and 13b are driven by a pair of traveling hydraulic motors 3a and 3b.

The front working device 1A is configured by connecting a plurality of front members (boom 8, arm 9, and bucket 10) that rotate in the vertical direction, and is attached to the upper swivel body 12. The base end of the boom 8 is rotatably supported at the front of the upper swing body 12 via a boom pin 8a (see FIG. 3). The arm 9 is rotatably connected to the tip of the boom 8 via an arm pin 9a (see FIG. 3), and the bucket 10 rotates to the tip of the arm 9 via a bucket pin 10a (see FIG. 3). It is connected as possible. The boom 8 is driven by the boom cylinder 5, the arm 9 is driven by the arm cylinder 6, and the bucket 10 is driven by the bucket cylinder 7.

(Position and posture sensor of hydraulic excavator)
Here, the posture of the hydraulic excavator 1 and the coordinate system defining the posture will be described with reference to FIGS. 3 and 4. As a premise, a plane that passes through the center of each front member 8, 9, 10 in the width direction and in which each front member 8, 9, 10 operates and that rotates with the turning operation of the upper swivel body 12 is a front plane (a front plane). Or the operating plane of the working device 1A). In the case of FIG. 3, the paper surface is the front plane. The posture of the hydraulic excavator 1 can be defined on the excavator reference coordinate system shown in FIGS. 3 and 4. This excavator reference coordinate system (also referred to as a vehicle body coordinate system) is a coordinate system set in the hydraulic excavator 1, and the origin is set at a point where the lower traveling body 11 touches the ground on the turning center axis of the upper turning body 12. Has been done. The Z-axis is set on the turning center axis of the upper turning body 12, and the direction from the origin to the upper part of the vehicle body on the Z-axis is positive. An X-axis is set on a straight line parallel to the front-rear direction (traveling direction) of the lower traveling pair 11 and orthogonal to the Z-axis at the origin, and the front of the vehicle body (lower traveling body 11) is set on the X-axis from the origin. The direction toward (forward direction) is positive. The Y-axis is set so that the above-mentioned X-axis and Z-axis form a right-handed coordinate system. In the example of FIG. 3, the postures of the upper swivel body 12 and the lower traveling body 11 are set so that the front plane and the XZ plane are parallel to each other and the extending direction of the working device 1A and the forward direction of the lower traveling body 11 coincide with each other. It is being held. Regarding the turning angle, the state in which the front working device 1A is parallel to the X axis (the state in FIG. 3) is set to 0 degrees, and the clockwise direction is set to positive. The rotation angle of the boom 8 with respect to the X axis is the boom angle θbm, the rotation angle of the arm 9 with respect to the boom 8 is the arm θam, the rotation angle of the tip of the bucket 10 with respect to the arm 9 is the bucket angle θbk, and the rotation of the upper swivel body 12 with respect to the lower traveling body 11. The angle was defined as the angle of rotation θsw.

The boom pin 8a has a boom angle sensor 30, the arm pin 9a has an arm angle sensor 31, and a bucket so that the rotation angles (rotation angles) θbm, θam, and θbk (see FIG. 3) of the boom 8, arm 9, and bucket 10 can be measured. A bucket angle sensor 32 is attached to the link 14 (see FIG. 1).

A vehicle body IMU (IMU: Inertial Measurement Unit (Inertial Measurement Unit)) 33 is installed on the upper swing body 12 as a posture sensor of the upper swing body 12. The vehicle body IMU 33 can detect the inclination of the upper swing body 12 in the front-rear direction (pitch angle θp) and the inclination in the left-right direction (roll angle θr, see FIG. 4) with respect to the gravity direction. Further, the vehicle body IMU 33 can detect the angular velocity (yaw angular velocity) when the upper swing body 12 is turned. Further, the vehicle body IMU 33 can detect the acceleration of the upper swing body 12 in the front-rear direction or the left-right direction.

The angle sensors 30, 31, and 32 of the front member can be replaced with angle sensors (for example, IMU) that detect angles with respect to a reference plane (for example, a horizontal plane), respectively. Alternatively, the cylinder stroke sensor that detects the strokes of the hydraulic cylinders 5, 6 and 7 may be substituted, and the obtained cylinder stroke may be converted into an angle.

A turning angle sensor 19 capable of detecting the relative turning angle (turning angle θsw) of the upper turning body 12 with respect to the lower running body 11 is attached to the vicinity of the rotation center of the upper turning body 12 and the lower traveling body 11. As the turning angle sensor 19, for example, a potentiometer can be used.

The five angle sensors 30, 31, 32, 33, 19 may be collectively referred to as a posture sensor 53 (see FIG. 4) that detects posture information of the upper swing body (machine body) 12 and the front work device 1A.

(GNSS system 17)
Two GNSS antennas 17a and 17b are attached to the upper swing body 12. The two GNSS antennas 17a and 17b are connected to the GNSS receiver 17c (see FIG. 4). The GNSS receiver 17c uses a plurality of satellite signals received by the two GNSS antennas 17a and 17b, respectively, to position the two GNSS antennas 17a and 17b in the global coordinate system (sometimes referred to as "global position data"). And, the azimuth angle φ of the upper swivel body 12 (in other words, the azimuth angle of the working device 1A) is determined.

Further, the positioning result by the GNSS receiver 17c (specifically, the position of at least one GNSS antenna among the positions of the two GNSS antennas 17a and 17b and the azimuth angle φ of the upper swivel body 12) is controlled by the controller 40 (specifically, the position is controlled by the controller 40. For example, when it becomes unavailable for excavation support control), the GNSS receiver 17c outputs a communication error to the controller 40. In the above "when the positioning result by the GNSS receiver 17c becomes unusable", the case where the GNSS antennas 17a and 17b cannot receive the satellite signal (when the positioning calculation itself is impossible), the positioning accuracy or its own. The case where the index value is lower than the predetermined threshold value dp1 is included. The index value of positioning accuracy includes variation in the value of the positioning result, the type of GNSS positioning solution (for example, Fix solution, Float solution), the number of captured satellites, the DOP value, and the like. Regarding the GNSS positioning solution, the case where the positioning solution is lower than the threshold value dp1 is the case where the positioning solution is the Float solution, and the case where the positioning solution is above the threshold value dp1 is the case where the positioning solution is the Fix solution. In the following, a case where the positioning accuracy by the GNSS receiver 17c becomes unavailable and the positioning accuracy is lower than the predetermined threshold value dp1 will be described as an example.

As for the positioning by the receiver 17c, a radio (not shown) for receiving GNSS correction data generated based on satellite signals received from a plurality of positioning satellites by a reference station (not shown) installed outside the vehicle body. It may be mounted on the upper swivel body 12 and RTK (Real Time Kinetic) positioning using the GNSS correction data received by the radio may be performed. Further, the moving that calculates the relative position between the two GNSS antennas 17a and 17b by transmitting the GNSS correction data received from the reference station by the radio from one GNSS antenna 17a (17b) to the other GNSS antenna 17b (17a). You may use the base RTK. From the calculated relative position, the direction and distance (that is, vector) from one GNSS antenna 17a (17b) to the other GNSS antenna 17b (17a) can be calculated. Since the positions where the two GNSS antennas 17a and 17b are fixed to the swivel body 12 are the default positions and the coordinate values in the excavator reference coordinate system are known, the azimuth angle φ of the swivel body 12 can be calculated. If the moving base RTK is used, the azimuth angle φ of the swivel body 12 can be calculated by calculating the position of one of the two GNSS antennas 17a and 17b. In the present embodiment, the positions of the two antennas 17a and 17b are calculated by the common receiver 17c, but a receiver may be mounted on each of the antennas 17a and 17b.

In this paper, the above-mentioned GNSS antennas 17a and 17b and the GNSS receiver 17c may be collectively referred to as a GNSS system 17 (see FIG. 4).

(Operating device (operation levers 22 and 23))
In the cab provided in the upper swing body 12, operating levers 22 and 23 are installed as operating devices for operating the plurality of hydraulic actuators 3a, 3b, 4, 5, 6, 7. Of these, the operating levers 23a and 23b instruct the traveling operation of the lower traveling body 11, and the operating lever 22b instructs the turning operation of the upper rotating body 12. Specifically, a traveling right lever 23a for operating the traveling right hydraulic motor 3a (lower traveling body 11), a traveling left lever 23b for operating the traveling left hydraulic motor 3b (lower traveling body 11), and a boom. Operation right lever 22a for operating the cylinder 5 (boom 8) and bucket cylinder 7 (bucket 10), operation left for operating the arm cylinder 6 (arm 9) and swivel hydraulic motor 4 (upper swivel body 12). The lever 22b is installed. Hereinafter, these may be collectively referred to as operation levers 22 and 23.

The engine 18, which is a prime mover mounted on the upper swing body 12, drives the hydraulic pump 2 and the pilot pump 48. As shown in FIG. 2, a variable capacity pump can be selected as the hydraulic pump 2, and a fixed capacity pump can be selected as the pilot pump 48. There may be a plurality of each pump 2, 48.

In the present embodiment, as shown in FIG. 2, an electric lever system can be used for the operation levers 22 and 23. The controller 40 uses the operator-operated amount sensors 52a, 52b, 52c, such as rotary encoders and potentiometers attached to the operation levers 22 and 23, to transmit the operation information (for example, the operation amount and the operation direction) of the operation levers 22 and 23 by the operator. It is read by 52d, 52e, 52f, and the current command according to the read operation information is read by the electromagnetic proportional valves 47a, 47b, 47c, 47d, 47e, 47f, 47g, 47h, 47i, 47j, 47k, 47l (hereinafter, electromagnetic). It is output to the proportional valve 47a-l).

The electromagnetic proportional valve 47a-l is provided in the pilot line 150, is driven when a command from the controller 40 is input, and outputs a pilot pressure to the flow rate control valve (control valve) 15, thereby controlling the flow rate. The valve 15 is driven.

The flow control valve 15 has operation information (electromagnetic proportional valve) of operating levers 22 and 23 for each of the swing hydraulic motor 4, the arm cylinder 6, the boom cylinder 5, the bucket cylinder 7, the traveling right hydraulic motor 3a, and the traveling right hydraulic motor 3b, respectively. It is configured to be able to supply hydraulic pressure from the pump 2 according to the pilot pressure) from 47a-47f to the flow control valve 15.

The electromagnetic proportional valve 47a-b is used for the swing hydraulic motor 4, the electromagnetic proportional valve 47cd is used for the arm cylinder 6, the electromagnetic proportional valve 47ef is used for the boom cylinder 5, and the electromagnetic proportional valve 47g-h is used for the bucket cylinder 7. The electromagnetic proportional valve 47i-j supplies the pilot pressure to the traveling right hydraulic motor 3a, and the electromagnetic proportional valve 47kl supplies the pilot pressure to the flow control valve 15 that supplies pressure oil to the traveling right hydraulic motor 3b.

In the pilot line 150, a lock valve 39 connected to the controller 40 is provided between the pilot pump 48 and the electromagnetic proportional valve 47a-l. When the position detector of the gate lock lever (not shown) in the driver's cab is connected to the controller 40 and the gate lock lever is in the locked position, the lock valve 39 is locked and the pilot line 150 is not supplied with pressure oil and is locked. When in the release position, the lock valve 39 is released and pressure oil is supplied to the pilot line 150.

The pressure oil discharged from the hydraulic pump 2 passes through the flow control valve 15 driven by the pilot pressure, the traveling right hydraulic motor 3a, the traveling left hydraulic motor 3b, the turning hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the traveling right hydraulic motor 3a. It is supplied to the bucket cylinder 7. The boom cylinder 5, arm cylinder 6, and bucket cylinder 7 expand and contract due to the supplied pressure oil, so that the boom 8, arm 9, and bucket 10 rotate respectively, and the position and posture of the bucket 10 change. Further, the swivel hydraulic motor 4 is rotated by the supplied pressure oil, so that the upper swivel body 12 is swiveled with respect to the lower traveling body 11. Then, the traveling right hydraulic motor 3a and the traveling left hydraulic motor 3b are rotated by the supplied pressure oil, so that the lower traveling body 11 travels. Hereinafter, the traveling hydraulic motor 3, the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 may be collectively referred to as a hydraulic actuator 3-7.

(System configuration)
FIG. 5 is a configuration diagram of an excavation support control system included in the hydraulic excavator of the present embodiment. The excavation support control system includes a controller 40, a plurality of operator operation amount sensors 52, a plurality of attitude sensors 53 composed of a turning angle sensor 19, angle sensors 30, 31, 32, and a vehicle body IMU 33, and GNSS antennas 17a, 17b. A GNSS system 17 including a GNSS receiver 17c, a notification device 46 for notifying an operator of the state of excavation support control, and a plurality of electromagnetic proportional valves 47 are provided.

(Controller 40)
The controller (control device) 40 includes, for example, an arithmetic processing device (not shown) such as a CPU, a storage device (not shown) including a semiconductor storage device such as a RAM or ROM, or a magnetic storage device such as an HDD. A computer equipped with an input / output interface (not shown) for exchanging information with various sensors and actuators can be used, and can be configured as a single computer or a plurality of computers. Further, a part or all of the controller 40 may be configured by an external computer such as a server that is communicably connected to various devices on the hydraulic excavator 1 via a network.

The controller 40 causes the calculation processing device to execute the program stored in the storage device in the controller, so that the posture calculation unit 71, the bucket position information calculation unit 72, the sensor error processing unit 73, the global position information selection unit 74, and the target. It functions as a topographical data storage unit 75, a target excavation surface information extraction unit 76, a target operation calculation unit 77, an electromagnetic proportional valve control unit 78, and a notification control unit 79. That is, each part shown by a rectangle in the controller 40 in FIG. 5 is a block classification of the functions that the controller 40 performs arithmetic processing and exerts.

The controller (control device) 40 is used when the positioning result by the GNSS receiver 17c is not available, when the operation for the lower traveling body 11 is not input to the traveling operation levers 23a and 23b, and for the upper turning body 12. When the operation is input to the operation lever 22b, the first azimuth angle φ1 and the first azimuth angle φ1 positioned by the GNSS receiver 17c are positioned when the positioning result by the GNSS receiver 17c is available. Based on the first turning angle θsw1 detected by the turning angle sensor 19 and the second turning angle θsw2 detected by the turning angle sensor 19 when the positioning result by the GNSS receiver 17c is unavailable. The second azimuth angle ψ of the upper swivel body 12 is calculated when the positioning result by the receiver 17c is not available, and the GNSS receiver 17c is used when the positioning result by the second azimuth angle ψ and the GNSS receiver 17c is available. The target drilling surface 60 is calculated based on the position of at least one GNSS antenna positioned.

The function of the receiver 17c that performs GNSS positioning using the two GNSS antennas 17a and 17b may be incorporated as a part of the function in the controller 40, or may be a device independent of the controller 40 as described above. ..

Hereinafter, the details of the processing performed in each part in the controller 40 will be described.

(Posture calculation unit 71)
The posture calculation unit 71 calculates the swivel angle θsw of the upper swivel body 12 in the shovel reference coordinate system based on the output signal from the swivel angle sensor 19 included in the posture sensor 53. Similarly, based on the output signals from the boom angle sensor 30, the arm angle sensor 31, and the bucket angle sensor 32 included in the attitude sensor 53, the attitude of the work device 1A in the excavator reference coordinate system (each front member 8, 9, 10). Attitude) is calculated.

(Bucket position information calculation unit 72)
The bucket position information calculation unit 72 calculates the position of the bucket 10 in the shovel reference coordinate form. The bucket position information calculation unit 72 can calculate, for example, the toe position of the bucket 10 on the front plane. As described above, the front plane is a virtual plane on which the front members 8, 9 and 10 operate, and is a plane that rotates with the turning operation of the upper swing body 12. The bucket position information calculation unit 72 includes the length Lbm of the boom 8, the length Lam of the arm 9, the length Lbk of the bucket 10, and the posture calculation unit stored in advance in the storage device in the controller 40. Using the boom angle θbm, arm angle θam, and bucket angle θbk acquired from 71, the position of the bucket 10 in the shovel reference coordinate form (for example, the position of the bucket tip on the front plane) can be calculated.

(Sensor error processing unit 73)
The sensor error processing unit 73 inputs a signal indicating the operation amount of the operation levers 22 and 23 output from the operation amount sensor 52 and a communication error output from the GNSS system 17, and the communication error is issued. After that, the azimuth angle ψ of the upper swivel body 12 is calculated. Hereinafter, the azimuth angle calculated by the sensor error processing unit 73 in this way may be referred to as an alternative azimuth angle ψ.

The method of calculating the azimuth angle ψ by the sensor error processing unit 73 after the notification of the communication error is classified into the following four patterns according to the combination of the contents of the traveling operation and the turning operation. In the following, the time before the communication error is issued (however, it is preferable that the time is closer to the time when the communication error is issued) and the positioning accuracy is held at the threshold value dp1 or higher is referred to as time t1, and the sensor error processing unit 73. Is the time for calculating the alternative directional angle ψ, and the time after the communication error is issued is referred to as time t2 (t2> t1). The time t1 may be when a communication error is issued.

(Pattern 1) When the operation for the lower traveling body 11 is not input to the traveling operation levers 23a and 23b (no traveling operation), and when the operation for the turning body 12 is input to the operation lever 22b (with turning operation). )
In this case, the sensor error processing unit 73 receives the signal at time t1 before the communication error is issued (that is, when the positioning accuracy is equal to or higher than the threshold value dp1 and the positioning result by the receiver 17c is available (the same applies hereinafter)). The azimuth φ1 (first azimuth) calculated by the machine 17c and the turning angle θsw1 detected by the turning angle sensor 19 at time t1 before the notification of the communication error (that is, when the positioning accuracy is the threshold value dp1 or more). Based on (first turning angle), at time t2 after the communication error is issued (that is, when the positioning accuracy is less than the threshold value dp1 and the positioning result by the receiver 17c cannot be used (the same applies hereinafter)). The azimuth angle ψ (second azimuth angle) of the upper swivel body 12 is calculated by substituting the receiver 17c.

Specifically, the sensor error processing unit 73 substitutes for the turning angle θsw1 (first turning angle) detected by the turning angle sensor 19 at time t1 and the time after the positioning accuracy drops below the threshold value dp1. The difference Δθsw from θsw2 (second turning angle) detected by the turning angle sensor 19 is calculated at the time t2 when the azimuth angle ψ (second azimuth) is calculated, and the calculated difference Δθsw is calculated by the receiver 17c at the time t1. The alternative azimuth angle ψ (second azimuth angle) is calculated by adding to the calculated azimuth angle φ1. This can be expressed as the following equation (1).
ψ = φ1 + (θsw2-θsw1)… Equation (1)

When the pitch angle θp and the roll angle θr of the upper swing body 12 detected by the vehicle body IMU 33 are not zero, it is preferable to correct the swing angles θsw1 and θsw2 in consideration of them. This point is the same even when the turning angles θsw1 and θsw2 are used in the equations (including other embodiments) appearing below.

FIG. 7 shows a conceptual diagram when the sensor error processing unit 73 calculates the azimuth angle (alternative azimuth angle ψ) after the communication error occurs. When a communication error occurs in the GNSS system 17 at time t1, the sensor error processing unit 73 calculates the turning angle from time t1 to time t2 in order to calculate the directional angle of the upper turning body 12 at time t2 after time t1. The alternative directional angle ψ is calculated by adding the difference Δθsw of the above to the directional angle φ1 calculated by the receiver 17c at time t1.

(Pattern 2) When the super-credit turning operation for the lower traveling body 11 is input to the traveling operation levers 23a and 23b (with super-credit turning operation), and the operation for the upper rotating body 12 is input to the operation lever 22b. If not (no turning operation)
In this case, the sensor error processing unit 73 determines the time at which the azimuth angle φ1 (first azimuth angle) is calculated by the receiver 17c based on the yaw angular velocity ω of the upper swing body 12 detected by the vehicle body IMU 33 (angular velocity sensor). The integrated value of the yaw angular velocity ω of the upper swivel body 12 from t1 (first time) to the time t2 (second time) after the positioning accuracy drops below the threshold dp1 is calculated, and the calculated integrated value is calculated at time t1. The alternative azimuth angle ψ (second azimuth angle) is calculated by substituting the receiver 17c by adding it to the azimuth angle φ1 (first azimuth angle). This can be expressed as the following equation (2). However, "∫ωdt" in the equation (2) indicates the integrated value of the yaw angular velocity ω of the upper swing body 12 from the time t1 to the time t2.
ψ = φ1 ＋ ∫ωdt… Equation (2)

The presence or absence of the super-credit turning operation is determined as follows by detecting the operation amount of the traveling operation levers 23a and 23b with the operation amount sensors 52e and 52f. That is, when the left and right traveling operation levers 23a and 23b are input with operations having opposite directions and substantially the same size, the super-credit turning operation is input to the traveling operation levers 23a and 23b. Judgment is made, and in the case of other operations, it is determined that the operation is not input. To determine whether the operation amounts of the left and right travel operation levers 23a and 23b are substantially equal, for example, the operation amount is divided into a plurality of sections and the operation amounts of the left and right travel operation levers 23a and 23b are determined. It can be determined whether or not they are located in the same section.

In the super-credit turning (spin turn), since the lower traveling body 11 rotates with the turning center of the upper turning body 12 as the central axis, the position of the turning center axis of the hydraulic excavator (hereinafter referred to as "turning center axis position"). ) Does not change with respect to the global coordinate system, but the azimuth angle of the upper swivel body 12 can change. Therefore, the alternative azimuth angle ψ can be calculated by the above equation (2).

(Pattern 3) When the super-credit turning operation for the lower traveling body 11 is input to the traveling operation levers 23a and 23b (with super-credit turning operation), and the operation for the upper rotating body 12 is input to the operation lever 22b. If it is (with turning operation)
In this case, the sensor error processing unit 73 determines the time at which the azimuth angle φ1 (first azimuth angle) is calculated by the receiver 17c based on the yaw angle velocity ω of the upper swing body 12 detected by the vehicle body IMU 33 (angular velocity sensor). The integrated value of the yaw angular velocity ω of the upper swivel body 12 from t1 (first time) to the time t2 (second time) after the positioning accuracy drops below the threshold dp1 is calculated. Then, the difference between the turning angle θsw1 (first turning angle) detected by the turning angle sensor 19 at time t1 and the turning angle θsw2 (second turning angle) detected by the turning angle sensor 19 at time t2 is calculated. , The calculated integrated value and the calculated difference are added to the azimuth angle φ1 (first azimuth angle) at time t1 to substitute the alternative azimuth angle ψ (second azimuth angle) for the receiver 17c. This can be expressed as the following equation (3). That is, it is a combination of the above equations (1) and (2).
ψ = φ1 + (θsw2-θsw1) + ∫ωdt… Equation (3)

(Pattern 4) When the operation for the lower traveling body 11 is not input to the traveling operation levers 23a and 23b (no traveling operation), and when the operation for the turning body 12 is not input to the operation lever 22b (no turning operation). )
In this case, since the hydraulic excavator 1 does not travel and turn, there is no change in the azimuth angle and the turning center axis position of the turning body 12 before and after the notification of the communication error. Therefore, the sensor error processing unit 73 calculates the azimuth angle φ calculated by the receiver 17c at the time of issuing the communication error or immediately before that as the alternative azimuth angle. For example, if there is no running and turning from the time t1 before the communication error is issued, the alternative azimuth angle ψ = φ1.

(Global location information selection unit 74)
The global position information selection unit 74 is a unit for selecting the global position data and the azimuth of the upper swivel body 12 to be output to the target excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

-Selection of azimuth angle First, selection of the azimuth angle of the upper swivel body 12 will be described. In the normal case where there is no abnormality in communication with the positioning satellite (that is, there is no communication error reported from the GNSS system 17), the azimuth angle φ output by the GNSS system 17 (receiver 17c) is selected and output. do.

On the other hand, when a communication error is issued, the global position information selection unit 74 selects and outputs the alternative azimuth angle ψ calculated at time t2 in the sensor error processing unit 73.

-Selection of global position data Next, selection of global position data of the upper swivel body 12 will be described. In the normal case where the communication error 17 is not issued, the global position data output by the GNSS system 17 (receiver 17c) is selected and output.

On the other hand, when a communication error is issued, the receiver 17c (GNSS system 17) is set at the calculation time t1 of the azimuth angle φ1 (first azimuth angle) used by the sensor error processing unit 73 to calculate the alternative azimuth angle ψ. Selects and outputs the global position data P1 calculated by. That is, the global position data P2 calculated by the receiver 17c is not output at time t2. However, if the movement of the upper swivel body 12 accompanied by the change in the swivel center axis position is detected after the notification of the communication error, the selection and output of the global position data P1 (global position data at time t1) is interrupted. , Outputs the excavation support uncontrollable flag. When the excavation support control impossible flag is output, the processing related to the excavation support control performed by the target terrain data storage unit 75, the target excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, etc. is interrupted ( Later).

The presence or absence of "movement of the upper turning body 12 with a change in the turning center axis position" is determined by the input operation to the traveling operation levers 23a and 23b and the acceleration in the front-rear direction or the left-right direction of the upper turning body 12 detected by the vehicle body IMU33. It can be used from the integrated value of. Regarding the former, when a traveling operation other than super-credit turning was detected by the operation amount sensors 52e and 52f (for example, forward movement), the upper turning body 12 was moved with a change in the turning center axis position. The selection and output of the global position data P1 are interrupted. Regarding the latter, when the integrated value of the acceleration detected by the vehicle body IMU 33 exceeds the predetermined speed threshold value V1, the movement of the upper turning body 12 accompanied by the change in the turning center axis position (movement due to slipping or the like without running operation) occurs. If there is, the selection and output of the global position data P1 are interrupted.

In the following, the global position data P1 at the time t1 before the communication error is issued and the alternative azimuth angle ψ at the time t2 after the communication error is issued, which are output by the global position information selection unit 74 after the communication error is issued, are referred to as “ It may be collectively referred to as "communication error correspondence position information".

(Target terrain data storage unit 75)
The target terrain data storage unit 75 stores target terrain data, which is three-dimensional design data at the work site. The target terrain data storage unit 75 stores target terrain data in the vicinity of the hydraulic excavator 1 (for example, a predetermined range based on the excavator reference coordinate system) based on the global position data output from the global position information selection unit 74 and the azimuth angle. It can be extracted and output to the target excavation surface information extraction unit 76.

However, when the excavation support control impossible flag is input from the global position information selection unit 74, the target terrain data storage unit 75 shall interrupt the output of the target terrain data.

In the following, the target terrain data will be described as being defined in the global coordinate system, but may be defined in a coordinate system independently set (for example, a site coordinate system in which the coordinate origin is set at the site).

(Target excavation surface information extraction unit 76)
The target excavation surface information extraction unit 76 calculates the line of intersection between the target terrain data acquired from the target terrain data storage unit 75 and the front surface (the operating plane of the work device 1A), and sets the intersection as the target excavation surface 60. Extract. If the target terrain data and the position of the front surface are converted to a common coordinate system, it is easy to calculate the target excavation surface 60, which is the line of intersection between the two. Here, as an example, the position of the front surface in the global coordinate system is used. By calculating, the coordinate system is shared with the target topography data. The position of the front surface in the global coordinate system is the position of the front surface in the excavator reference coordinate system that can be acquired from the bucket position information calculation unit 72 and the position of the upper swivel body 12 in the global coordinate system input from the global position information selection unit 74 ( It can be calculated from the global position data) and the azimuth.

However, when the excavation support control impossible flag is input from the global position information selection unit 74, the target excavation surface information extraction unit 76 shall suspend the extraction of the target excavation surface 60.

As described above, since the global position data and azimuth of the upper swivel body 12 are used for extracting the target excavation surface 60 (in other words, calculating the position of the front surface), the accuracy of satellite positioning by the GNSS system 17 deteriorates. If accurate global position data and azimuth cannot be obtained, the front plane cannot be set to the correct position. As a result, the accurate target excavation surface 60 is not extracted, and there is a high possibility that the desired target shape cannot be shaped at the originally required position.

(Target motion calculation unit 77)
The target motion calculation unit 77 prevents the work device 1A from exceeding the target excavation surface 60 while the operation levers 22a and 22b are being operated (for example, when the work device 1A is located above the target excavation surface 60). In the part where the target speeds of a plurality of actuators (hydraulic cylinders) 5, 6 and 7 related to the operation of the work device 1A can be calculated (so that the operation range of the work device 1A is limited to the target excavation surface 60 and above the target excavation surface 60). It is possible to calculate the target speeds of the actuators 5, 6 and 7 required to execute the excavation support control.

However, when the target motion calculation unit 77 acquires the excavation support control impossible flag from the global position information selection unit 74, each actuator 5, 6 so that each actuator 5, 6 and 7 follows the actuator speed based on the operator operation amount. , 7 target speeds are output to the electromagnetic proportional valve control unit 78.

The target velocities of the actuators 5, 6 and 7 at the time of executing the excavation support control can be calculated based on the target surface distance d between the target excavation surface 60 and the toe of the bucket 10. The target surface distance d can be calculated from the position of the bucket toe and the position of the target excavation surface 60. For example, the target speed during excavation support control can be calculated by the following calculation.

First, the target motion calculation unit 77 first calculates the required speed (boom cylinder required speed) from the operation amount sensor 52c to the boom cylinder 5 by the operation lever 22a from the detection signal (boom operation amount), and the operation amount sensor 52b The required speed to the arm cylinder 6 is calculated from the detection signal (arm operation amount), and the required speed to the bucket cylinder 7 is calculated from the detection signal (bucket operation amount) of the operation amount sensor 52d. From the postures of the front members 8, 9 and 10 of the work device 1A calculated by the three required speeds and the posture calculation unit 71, the speed vector (required speed vector) V0 of the work device 1A at the tip of the bucket (left of FIG. 9). (See the figure in). Then, the velocity component V0z in the vertical direction (vertical direction of the target surface) to the target excavation surface 60 in the velocity vector V0 and the velocity component V0x in the horizontal direction (horizontal direction to the target surface) to the target excavation surface 60 in the velocity vector V0 are also calculated.

Next, the target motion calculation unit 77 calculates a correction coefficient k determined according to the distance d. FIG. 8 is a graph showing the relationship between the distance d between the bucket toe and the target excavation surface 60 and the velocity correction coefficient k. The distance d is positive, where the distance when the bucket tip (control point of the work device 1A) is located above the target excavation surface 60 is positive, and the distance when it is located below the target excavation surface 60 is negative. When is, a positive correction coefficient is output, and when the distance d is negative, a negative correction coefficient is output as a value of 1 or less. The velocity vector is positive in the direction approaching the target excavation surface 60 from above the target excavation surface 60.

Next, the target motion calculation unit 77 multiplies the speed component V0z in the vertical direction of the target surface of the speed vector V0 by the correction coefficient k determined according to the distance d, so that the speed component V1z (see the figure on the right of FIG. 9). ) Is calculated. The combined velocity vector (target velocity vector) V1 is calculated by synthesizing the velocity component V1z and the velocity component V0x in the horizontal direction of the target surface of the velocity vector V0, and the boom cylinder speed capable of generating this combined velocity vector V1 is used. , The arm cylinder speed (Va1) and the bucket cylinder speed are calculated as the target speeds, respectively. When calculating the target speed, the postures of the front members 8, 9 and 10 of the work apparatus 1A calculated by the posture calculation unit 71 may be used. The target operation calculation unit 77 outputs the calculated target speeds of the hydraulic cylinders 5, 6 and 7 to the electromagnetic proportional valve control unit 78.

FIG. 9 is a schematic diagram showing a velocity vector before and after correction according to the distance d at the toe of the bucket. By multiplying the component V0z in the vertical direction of the target surface of the required velocity vector V0 (see the figure on the left in FIG. 9) by the velocity correction coefficient k, the velocity vector V1z in the vertical direction of the target surface of V0z or less (see the figure on the right in FIG. 9). ) Is obtained. The combined speed vector V1 of V1z and the component V0x in the horizontal direction of the target surface of the required speed vector V0 is calculated, and the arm cylinder target speed capable of outputting V1, the boom cylinder target speed, and the bucket cylinder target speed are calculated. To.

(Electromagnetic proportional valve control unit 78)
The electromagnetic proportional valve control unit 78 calculates a control signal (pilot pressure) to the corresponding flow control valve 15 based on the target speeds of the hydraulic cylinders 5, 6 and 7 calculated by the target operation calculation unit 77. The electric signals to the electromagnetic proportional valves 47c, 47d, 47e, 47f, 47g, 47h required to generate the calculated pilot pressure are calculated, and the calculated electric signals are used as the corresponding electromagnetic proportional valves 47c, 47d, 47e. , 47f, 47g, 47h, which controls the electromagnetic proportional valves 47c, 47d, 47e, 47f, 47g, 47h. The electromagnetic proportional valve 47c, 47d, 47e, 47f, 47g, 47h controlled by the electromagnetic proportional valve control unit 78 causes each of the hydraulic cylinders 5, 6 and 7 to operate according to the target speed calculated by the target operation calculation unit 77.

FIG. 6 shows an example of a horizontal excavation operation by machine control (excavation support control), which is a function of semi-automatically controlling the work device 1A by the controller 40 and shaping the target excavation surface 60. When the operator operates the operation lever 22a to perform horizontal excavation by pulling the arm 9 in the direction of arrow A, the boom is prevented so that the tip (toe) of the bucket 10 does not enter below the target excavation surface 60. The electromagnetic proportional valve 47e is controlled so that the raising operation of 8 is automatically performed. Further, in order to realize a predetermined excavation speed or a predetermined excavation accuracy, the electromagnetic proportional valve 47c may be controlled to adjust the speed (that is, increase or decrease) of the pulling operation (cloud operation) of the arm 9. Further, even if the electromagnetic proportional valves 47g and 47h are controlled so that the bucket 10 automatically rotates so that the angle B with respect to the target excavation surface 60 on the back surface of the bucket 10 becomes a constant value and the leveling work becomes easy. Good (in the example of FIG. 7, the electromagnetic proportional valve 47h is controlled to rotate the bucket 10 in the arrow C direction (dump direction)). In this way, at least one actuator (that is, at least one actuator) among the plurality of actuators 5, 6 and 7 that drives the working device 1A so that the working device 1A does not exceed the target excavation surface 60 during the operation of the operating levers 22a and 22b by the operator (that is). The control that outputs the control signal for controlling the work device 1A) is the excavation support control.

(Notification control unit 79)
When the alternative azimuth angle ψ is calculated by the sensor error processing unit 73, the notification control unit 79 notifies the notification device 46 that the positioning accuracy is less than the threshold value dp1 (that is, a communication error has occurred). A command signal is output to the notification device 46 so as to output. The notification device 46 that has input the output command signal outputs the notification content specified by the command signal. As the notification device 46, for example, a monitor (display device), a speaker (voice output device), a lamp (warning light), etc. installed in the cab of the hydraulic excavator 1 can be used, and one or more of these can be used. The notification device 46 can be configured from the combination of the above.

In the notification control unit 79, since a communication error has occurred, the excavation support control is performed using the alternative azimuth calculated by the sensor error processing unit 73, and the excavation support control is performed by a running operation other than the super-credit turning operation. A command signal may be output so that the notification device 46 outputs information indicating the interruption or the positional relationship between the bucket 10 and the target excavation surface 60.

(Flow chart (Fig. 10))
FIG. 10 shows a flowchart regarding excavation support control by the controller 40 according to the first embodiment. Here, for the sake of simplicity, the time t1 is set as the time when the communication error is issued. As described above, the time t2 is the time (t2> t1) in which the alternative azimuth angle ψ is calculated by the sensor error processing unit 73.

In step S100, the controller 40 (sensor error processing unit 73) determines whether or not a communication error has been issued from the GNSS system 17 (that is, whether or not the positioning result by the GNSS receiver 17c is unavailable). ). If a communication error is issued from the GNSS system 17 (that is, if the positioning result by the GNSS receiver 17c is not available), the process proceeds to step S101, and if no communication error is issued (positioning by the GNSS receiver 17c). If the result is available), the process proceeds to step S110.

In step S101, the controller 40 (sensor error processing unit 73) determines whether or not the traveling operation for the traveling body 11 is input by the operator based on the detection signals of the operation amount sensors 52e and 52f. Whether or not the traveling operation is input to the operation levers 23a and 23b can be determined by, for example, whether or not at least one of the operation amounts calculated from the detection signals of the operation amount sensors 52e and 52f exceeds a predetermined threshold value. .. If there is no travel operation input, the process proceeds to step S103, and if there is a travel operation input, the process proceeds to step S102.

In step S103, the controller 40 (sensor error processing unit 73) determines whether or not the turning operation for the turning body 12 is input by the operator based on the detection signal of the operation amount sensor 52a. Whether or not the turning operation is input to the operation lever 22b can be determined, for example, by whether or not the operation amount calculated from the detection signal of the operation amount sensor 52a exceeds a predetermined threshold value. If there is a turning operation input, the process proceeds to step S105, and if there is no turning operation input, the process proceeds to step S120.

In step S105, since it corresponds to the above (pattern 1), the controller 40 (sensor error processing unit 73) calculates the alternative azimuth angle ψ of the upper swivel body 12 based on the above equation (1). For example, the controller 40 (sensor error processing unit 73) has a turning angle θsw1 (first turning angle) detected by the turning angle sensor 19 at the time t1 when the communication error is issued, and an alternative azimuth angle ψ (second azimuth). The difference Δθsw from θsw2 (second turning angle) detected by the turning angle sensor 19 at the time t2 (in other words, when step S105 is executed) for calculating the angle) is calculated, and the calculated difference Δθsw is reported as a communication error. The alternative azimuth angle ψ (second azimuth angle) is calculated by adding to the azimuth angle φ1 calculated by the receiver 17c at the time t1 of the hour. The calculated alternative azimuth angle ψ is selected by the global position information selection unit 74 and is output to the target terrain data storage unit 75, the target excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

Further, in step S105, the controller 40 (global position information selection unit 74) selects the global position data P1 calculated by the receiver 17c at the time t1 when the communication error is issued, and the target terrain data storage unit 75 and the target. It is output to the excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

As described above, the communication error correspondence position information calculated by the controller 40 in step S105 is the alternative azimuth angle ψ at time t2 calculated based on the equation (1) and the global position data P1 at time t1.

In step S108, the controller 40 (target terrain data storage unit 75, target excavation surface information extraction unit 76, target operation calculation unit 77, and electromagnetic proportional valve control unit 78) has a communication error calculated in S105, S106, S107, or S120. The excavation support control is executed based on the corresponding position information (global position data and alternative azimuth angle ψ). As a result, as described above with reference to FIG. 6, at least one of the hydraulic cylinders 5, 6 and 7 is controlled so that the front working device 1A does not exceed the target excavation surface 60, and the excavation support control is executed. The details of excavation support control have already been explained above, so they will be omitted.

In step S109, the controller 40 (for example, the target motion calculation unit 77) determines whether or not there is an end instruction for the excavation support control. The end instruction of the excavation support control can be given, for example, via an excavation support control ON / OFF switch (not shown) provided in the cab of the hydraulic excavator 1. When the operator presses the excavation support control ON / OFF switch while the excavation support control is ON, the excavation support control end instruction is output to the controller 40. The excavation support control ON / OFF switch can be provided on the screen of the operation lever 22 or the monitor (notifying device 46). When there is an instruction to end the excavation support control, the controller 40 (for example, the target motion calculation unit 77) proceeds to step S112.

On the other hand, if there is no instruction to end the excavation support control, the process returns to step S108 to continue the excavation support control. However, the communication error correspondence position used at that time shall be calculated by using the process performed immediately before reaching step S108 for the first time (that is, any one of steps S105, S106, S107, and S120).

In step S112, the controller 40 ends the excavation support control and ends the processing of the flowchart. However, if the excavation support control ON / OFF switch is in the ON state when the process proceeds to step S112 (that is, when NO is determined in step S102), the switch is switched to the OFF state. That is, in order to restart the excavation support control in this case, it is necessary to turn the excavation support control ON / OFF switch into the ON state.

Next, a case where it is determined in step S101 that there is a traveling operation (that is, a case where the process proceeds to step S102) will be described.

In step S102, the controller 40 (sensor error processing unit 73) determines whether or not the traveling operation determined to have an input in step S101 is a super-credit turning operation based on the detection signals of the operation amount sensors 52e and 52f. Is determined. Since an example of the determination method in this case has already been mentioned above, the description thereof will be omitted. If it is determined that the traveling operation is a super-credit turning operation, the process proceeds to step S104, and if it is determined that the traveling operation is not a super-credit turning operation, the process proceeds to step S112.

In step 104, the controller 40 (sensor error processing unit 73) determines whether or not the turning operation for the turning body 12 is input by the operator based on the detection signal of the operation amount sensor 52a, as in step S103. .. If there is no turning operation input, the process proceeds to step S106, and if there is a turning operation input, the process proceeds to step S107.

In step S106, since it corresponds to the above (pattern 2), the controller 40 (sensor error processing unit 73) calculates the alternative azimuth angle ψ of the upper swivel body 12 based on the above equation (2). For example, the controller 40 (sensor error processing unit 73) has an alternative azimuth angle ψ (alternative azimuth angle ψ) from the time t1 when the communication error is issued, based on the yaw angular velocity ω of the upper turning body 12 detected by the vehicle body IMU 33 (angular velocity sensor). Calculate the integrated value of the yaw angular velocity ω of the upper swivel body 12 up to the time t2 (in other words, when step S106 is executed) for calculating the second azimuth angle), and use the calculated integrated value as the time when the communication error is issued. The alternative yaw angle ψ (second yaw angle) is calculated by adding to t1 to the yaw angle φ1 (first yaw angle) calculated by the receiver 17c. The calculated alternative azimuth angle ψ is selected by the global position information selection unit 74 and is output to the target terrain data storage unit 75, the target excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

Further, in step S106, the controller 40 (global position information selection unit 74) selects the global position data P1 calculated by the receiver 17c at the time t1 when the communication error is issued, and the target terrain data storage unit 75 and the target. It is output to the excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

As described above, the communication error correspondence position information calculated by the controller 40 in step S106 is the alternative azimuth angle ψ at time t2 calculated based on the equation (2) and the global position data P1 at time t1.

In step S107, since it corresponds to the above (pattern 3), the controller 40 (sensor error processing unit 73) calculates the alternative azimuth angle ψ of the upper swivel body 12 based on the above equation (3). Since it has already been explained, the details of the calculation of the alternative azimuth angle ψ will be omitted, but the alternative azimuth angle ψ calculated here is selected by the global position information selection unit 74, and the target terrain data storage unit 75 and the target excavation surface are selected. It is output to the information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

Further, in step S107, the controller 40 (global position information selection unit 74) selects the global position data P1 calculated by the receiver 17c at the time t1 when the communication error is issued, and the target terrain data storage unit 75 and the target. It is output to the excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

As described above, the communication error correspondence position information calculated by the controller 40 in step S107 is the alternative azimuth angle ψ at time t2 calculated based on the equation (3) and the global position data P1 at time t1.

Next, a case where it is determined in step S103 that there is no turning operation (that is, a case where the process proceeds to S120) will be described.

Since the step S120 corresponds to the above (pattern 4), for example, the controller 40 (sensor error processing unit 73) substitutes the azimuth angle φ1 calculated by the receiver 17c at the time t1 when the communication error is issued. Calculated as the azimuth angle ψ. The calculated alternative azimuth angle ψ (φ1) is selected by the global position information selection unit 74 and output to the target terrain data storage unit 75, the target excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like. Will be done.

Further, the controller 40 (global position information selection unit 74) selects the global position data P1 calculated by the receiver 17c at the time t1 when the communication error is issued, and the target terrain data storage unit 75 and the target excavation surface information. It is output to the extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

As described above, the communication error correspondence position information calculated by the controller 40 when proceeding to S120 is the alternative azimuth angle ψ (= azimuth angle φ1) at time t2 and the global position data P1 at time t1.

Next, a case where it is determined in step S100 that no communication error has been issued (that is, a case where the process proceeds to S110) will be described. In this case, since the normal pattern has no communication error, the sensor error processing unit 73 does not calculate the alternative azimuth angle ψ, and the azimuth angle φ2 calculated by the receiver 17c (GNSS system 17) at time t2 is the global position. It is selected by the information selection unit 74 and output to the target terrain data storage unit 75, the target excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like. Further, the controller 40 (global position information selection unit 74) selects the global position data P2 calculated by the receiver 17c (GNSS system 17) at time t2, and selects the target topography data storage unit 75 and the target excavation surface information extraction unit. It is output to 76, the target motion calculation unit 77, the notification control unit 79, and the like. That is, excavation support control is performed based on the azimuth angle φ2 and the global position data P2.

In step S111, the controller 40 (for example, the target motion calculation unit 77) determines whether or not there is an end instruction for excavation support control as in step S109. When there is an instruction to end the excavation support control, the controller 40 (for example, the target motion calculation unit 77) proceeds to step S112. On the other hand, if there is no instruction to end the excavation support control, the process returns to step S100, and if no communication error is issued, the normal excavation support control is continued in step S110.

(effect)
In the hydraulic excavator 1 configured as described above, the azimuth angle φ1 (first azimuth angle) at time t1 and the turning angle θsw1 (first turning angle) at time t1 even when there is no traveling operation and there is a turning operation. ), The turning angle θsw2 (second turning angle) at time t2, and the azimuth angle at time t2 (alternative azimuth angle ψ (second azimuth angle)) can be calculated based on the above equation (1). Then, by using the global position data P1 at the time t1 calculated by the GNSS system 17 together with the calculated azimuth at the time t2, the excavation support control can be continued even after the communication error is issued. As a result, the excavation support control can be maintained in the ON state even if the excavation location is changed by turning operation or loading work is performed on the dump truck during the excavation work after the communication error is issued, and the excavation support is promptly performed even after the turning operation. Since the control can be executed, the excavation work efficiency by the hydraulic excavator 1 can be improved more than before.

Further, in the above hydraulic excavator 1, even when there is a super-credit turning operation and there is no turning operation, the directional angle φ1 at time t1 and the yaw angular velocity of the upper turning body 12 detected by the vehicle body IMU 33 are measured from time t1. Based on the integrated value up to time t2 and the above equation (2), the directional angle of time t2 (alternative directional angle ψ (second directional angle)) can be calculated, and the calculated directional angle of time t2 and time t1 The excavation support control can be continued by using the global position data P1 of.

Further, in the above-mentioned hydraulic excavator 1, even when both the super-credit turning operation and the turning operation are performed, the azimuth angle φ1 (first azimuth angle) at time t1 and the turning angle θsw at time t2 and time t1 are used. Based on the difference (difference between the first turning angle and the second turning angle), the integrated value of the yaw angle velocity of the upper turning body 12 detected by the vehicle body IMU33 from time t1 to time t2, and the above equation (3). , The azimuth angle at time t2 (alternative azimuth angle ψ (second azimuth angle)) can be calculated, and the excavation support control can be continued by using the calculated azimuth angle at time t2 and the global position data P1 at time t1.

That is, when the hydraulic excavator 1 is configured as described above and the center position of the swivel axis of the upper swivel body 12 does not move with respect to the global coordinate system, communication with the positioning satellite deteriorates and a communication error occurs. In addition, it becomes possible to maintain excavation support control. That is, it is possible to maintain the excavation support control even if there is a turning operation of the upper turning body 12 or a super-credit turning (spin turn) operation, and the work efficiency can be improved.

<Second Embodiment>
This embodiment is different from the first embodiment in that the sensor error processing unit 73 calculates the alternative azimuth angle ψ after the communication error is issued. The present embodiment is the same as the first embodiment with respect to other configurations including the hardware configuration, and different points will be described below.

The sensor error processing unit 73 of the present embodiment turns with the azimuth angle φ calculated (detected) at the same time without a communication error (that is, when the positioning result by the receiver 17c is available) and without a traveling operation. A mathematical correspondence between the two is derived in advance from the numerical value of the angle θsw, and the azimuth at a certain time is used as an alternative azimuth based on the correspondence and the value of the turning angle θsw at a certain time. Second azimuth). However, the derived correspondence can be used only while the position of the turning center axis of the upper turning body 12 does not change. Therefore, when the turning center axis position changes due to a traveling operation or the like, the correspondence between the azimuth angle and the turning angle is derived again.

(Derivation of the correspondence between the alternative azimuth angle ψ and the turning angle θsw)
An example of a method in which the controller 40 derives and stores the correspondence between the alternative azimuth angle ψ and the turning angle θsw will be described with reference to FIG. FIG. 13 is a flowchart of a process for calculating the correspondence between the alternative azimuth angle ψ and the turning angle θsw.

In step S200, the controller 40 (sensor error processing unit 73) initializes (for example, erases) the correspondence between the alternative azimuth angle ψ and the turning angle θsw stored in the storage device.

In step S201, the controller 40 (sensor error processing unit 73) determines whether or not a communication error has been issued from the GNSS system 17. If no communication error has been reported from the GNSS system 17, the process proceeds to step S202, and if a communication error has been reported, the process returns to step S200.

In step S202, the controller 40 (sensor error processing unit 73) determines whether or not the traveling operation for the traveling body 11 is input by the operator based on the detection signals of the operation amount sensors 52e and 52f. If there is no travel operation input, the process proceeds to step S203, and if there is a travel operation input, the process returns to step S200.

In step S203, the controller 40 (sensor error processing unit 73) calculates an integrated value based on the front-back or left-right acceleration of the upper swivel body 12 detected by the vehicle body IMU 33, and the calculated integrated value is a predetermined speed threshold value V1. Determine if it is less than. If it is less than the speed threshold value V1, it is determined that the upper swivel body 12 does not move without operating the lower traveling body 11 (for example, when the lower traveling body 11 slides on the ground). The process proceeds to step S204, and if the speed threshold value is V1 or higher, it is determined that the position of the turning center axis of the upper turning body 12 has changed, and the process returns to step S200. Since the lower traveling body 11 may not slide on the ground, step S203 may be omitted.

In step S204, the controller 40 (sensor error processing unit 73) determines whether or not the turning operation for the turning body 12 is input by the operator based on the detection signal of the operation amount sensor 52a. If there is a turning operation input, the process proceeds to step S205, and if there is no turning operation input, the process returns to step S200.

In step S205, the controller 40 (sensor error processing unit 73) derives a mathematical correspondence between the two from the numerical values of the azimuth angle φ and the turning angle θsw during the turning operation and stores them in the storage device in the controller 40. End the process.

As a method of deriving the "correspondence relationship", for example, a 360-degree turning operation is performed without a running operation before a communication error is issued, and the values of the azimuth angle φ and the turning angle θsw acquired during that period are used to obtain the general values of both. There is something that prescribes a specific correspondence. FIG. 12 shows an example of the correspondence between the turning angle and the azimuth. The correspondence may be expressed by a function f (θsw) of the turning angle θsw. Since the function f (θsw) can be approximated by a linear function as shown in FIG. 12, when the linear function does not have an intercept (constant term) as shown in FIG. 12, the azimuth angle φ and the turning angle θsw at a certain time are If the numerical values (for example, φ1 and θsw1 at time t1 in FIG. 12) can be acquired, the correspondence can be defined, and even if the linear function has an intercept, the numerical values of the azimuth angle φ and the turning angle θsw can be acquired at two times. If possible, the correspondence can be specified.

(Pattern for calculating the alternative azimuth angle ψ (only the pattern different from the first embodiment))
When the sensor error processing unit 73 of the present embodiment calculates the alternative azimuth angle ψ by using the above correspondence and the turning angle at a certain time (for example, θsw2 at time t2), the following two patterns (pattern 5 and pattern) are used. 6). Pattern 5 is a pattern that substitutes for pattern 1 of the first embodiment, and pattern 6 is a pattern that substitutes for pattern 3. In the following, a case where the correspondence is expressed by a function f (θsw) of the turning angle θsw will be described as an example.

(Pattern 5) When the correspondence relationship between the alternative azimuth angle ψ and the turning angle θsw (hereinafter, may be referred to as “angle correspondence relationship”) is stored, and the operation on the lower traveling body 11 is performed by the traveling operation lever 23a. , 23b (no running operation) and the operation for the turning body 12 is input to the operation lever 22b (with turning operation).
In this case, the sensor error processing unit 73 is detected by the turning angle sensor 19 at time t2 after the communication error is issued (that is, when the positioning accuracy is less than the threshold dp1) and the correspondence relationship of the angles stored in advance. Based on the turning angle θsw1, the azimuth angle ψ (second azimuth angle) of the upper turning body 12 at time t2 after the communication error is issued (that is, when the positioning accuracy is less than the threshold value dp1) is replaced with the receiver 17c. calculate.

For example, the sensor error processing unit 73 detects by the turning angle sensor 19 at time t2 for calculating the alternative azimuth angle ψ (second azimuth angle) after the communication error is issued (that is, when the positioning accuracy is less than the threshold value dp1). The alternative azimuth angle ψ (second azimuth angle) is calculated based on the calculated θsw2 (second turning angle) and the corresponding angle f (θsw). This can be expressed as the following equation (4). However, in the following equations (4) and (5), f (θsw2) is a value obtained by substituting θsw = θsw2 into the function f (θsw).
ψ = f (θsw2)… Equation (4)

(Pattern 6) When the correspondence between the alternative azimuth angle ψ and the turning angle θsw is stored, and when the super-credit turning operation for the lower traveling body 11 is input to the traveling operation levers 23a and 23b (super-credit). (With ground turning operation), and when the operation for the upper turning body 12 is input to the operation lever 22b (with turning operation)
In this case, the sensor error processing unit 73 determines the time at which the azimuth angle φ1 (first azimuth angle) is calculated by the receiver 17c based on the yaw angle velocity ω of the upper swing body 12 detected by the vehicle body IMU 33 (angular velocity sensor). The integrated value of the yaw angular velocity ω of the upper swivel body 12 from t1 (first time) to the time t2 (second time) after the positioning accuracy drops below the threshold dp1 is calculated. Then, the value of f (θsw2) is calculated based on the correspondence relationship f (θsw) between the θsw2 (second turning angle) detected by the turning angle sensor 19 at time t2, and the calculated integrated value is used as the integrated value. By adding, the alternative azimuth angle ψ (second azimuth angle) is replaced with the receiver 17c and calculated. This can be expressed as the following equation (5). That is, it is a combination of the above equation (4) and equation (2).
ψ = f (θsw2) + ∫ωdt… Equation (5)

(Flow chart (Fig. 11))
FIG. 11 shows a flowchart regarding excavation support control by the controller 40 according to the second embodiment. In the figure, the processes with the same reference numerals as those in FIG. 10 are the same as those in FIG. 10, and the processes different from those in FIG. 10 will be mainly described below.

If it is determined in step S103 that there is a turning operation input, the process proceeds to step S113, and if there is no turning operation input, the process proceeds to step S120.

In step S113, the controller 40 (sensor error processing unit 73) determines whether or not the corresponding angle correspondence is stored in the storage device in the controller 40 at the current turning center axis position of the upper turning body 12. If the angle correspondence is stored, the process proceeds to step S115, and if the angle correspondence is not stored, the process proceeds to step S112 to end the excavation support control.

In step S115, since it corresponds to the above (pattern 5), the controller 40 (sensor error processing unit 73) calculates the alternative azimuth angle ψ of the upper swivel body 12 based on the above equation (4). For example, the controller 40 (sensor error processing unit 73) has θsw2 (second) detected by the turning angle sensor 19 at time t2 (in other words, when step S115 is executed) for calculating the alternative azimuth angle ψ (second azimuth angle). The alternative azimuth angle ψ (second azimuth angle) at time t2 is calculated based on the correspondence between the turning angle) and the angle stored in advance. The calculated alternative azimuth angle ψ is selected by the global position information selection unit 74 and is output to the target terrain data storage unit 75, the target excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

Further, in step S115, the controller 40 (global position information selection unit 74) selects the global position data P1 positioned by the receiver 17c at the time t1 when the communication error is issued, and the target terrain data storage unit 75 and the target. It is output to the excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

As described above, the communication error correspondence position information calculated by the controller 40 in step S115 is the alternative azimuth angle ψ at time t2 calculated based on the equation (4) and the global position data P1 at time t1.

Next, if it is determined in step S104 that there is an input for the turning operation, the process proceeds to step S114, and if there is no input for the turning operation, the process proceeds to step S106.

In step S114, similarly to step S113, whether or not the controller 40 (sensor error processing unit 73) has stored the correspondence of the angles in the storage device in the controller 40 at the current rotation center axis position of the upper swing body 12. To judge. If the angle correspondence is stored, the process proceeds to step S117, and if the angle correspondence is not stored, the process proceeds to step S112 to end the excavation support control.

In step S117, since it corresponds to the above (pattern 6), the controller 40 (sensor error processing unit 73) calculates the alternative azimuth angle ψ of the upper swivel body 12 based on the above equation (5). The alternative azimuth angle ψ calculated here is selected by the global position information selection unit 74 and output to the target terrain data storage unit 75, the target excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like. To.

Further, in step S117, the controller 40 (global position information selection unit 74) selects the global position data P1 calculated by the receiver 17c at the time t1 when the communication error is issued, and the target terrain data storage unit 75 and the target. It is output to the excavation surface information extraction unit 76, the target motion calculation unit 77, the notification control unit 79, and the like.

As described above, the communication error correspondence position information calculated by the controller 40 in step S115 is the alternative azimuth angle ψ at time t2 calculated based on the equation (5) and the global position data P1 at time t1.

(effect)
In the hydraulic excavator 1 configured as described above, the azimuth angle φ1 (first azimuth angle) at time t1 and the turning angle θsw1 (first turning angle) at time t1 even when there is no traveling operation and there is a turning operation. ), The turning angle θsw2 (second turning angle) at time t2, and the above equation (4), the azimuth angle at time t2 (alternative azimuth angle ψ (second azimuth angle)) can be calculated, and the calculation thereof. The excavation support control can be continued by using the azimuth angle at the time t2 and the global position data P1 at the time t1 calculated by the GNSS17 system.

That is, according to the hydraulic excavator 1 of the present embodiment, as in the first embodiment, when the swivel center axis position of the upper swivel body 12 does not change, communication with the positioning satellite deteriorates and a communication error occurs. At that time, it becomes possible to maintain the excavation support control. That is, even if there is a turning operation of the upper turning body 12 or an operation of a super-credit turning (spin turn), the excavation support control can be maintained and the work efficiency can be improved.

(Notification to memorize the correspondence of angles)
If excavation work is performed at the same position after the change in the center position of the upper swivel body 12 (for example, if there is no running operation at the same position for a predetermined time after the running operation), the alternative azimuth angle ψ and turning at that position are performed. Notification that prompts the operator to perform an operation (perform a turning operation without a running operation) for calculating and storing the correspondence between the alternative azimuth angle ψ and the turning angle θsw so that the correspondence relationship of the angle θsw can be calculated and stored. (For example, display on a monitor in the driver's cab) may be performed via the notification device 46. If such notification is performed, the number of situations where the correspondence between angles is not memorized can be reduced, which can contribute to the improvement of the accuracy of excavation support control and the efficiency of excavation work. If the operator is instructing the execution of the excavation support control (when the ON / OFF switch of the excavation support control is in the ON state), this notification is executed by a running operation other than the super-credit turning. , May be done every time it finishes.

<Third Embodiment>
As mentioned in the explanation of the flowchart of FIG. 13, even when the traveling operation is not input, the lower traveling body 11 may slide on the ground and the turning center axis position of the upper turning body 12 may change. Therefore, in the present embodiment, it is determined whether or not such movement has occurred by using the integrated value of the acceleration detected by the vehicle body IMU 33.

FIG. 14 shows a flowchart regarding excavation support control by the controller 40 according to the third embodiment. In the figure, the processes with the same reference numerals as those in FIG. 10 are the same as those in FIG. 10, and the processes different from those in FIG. 10 will be mainly described below.

In step S118, the controller 40 (sensor error processing unit 73) calculates an integrated value based on the front-back or left-right acceleration of the upper swivel body 12 detected by the vehicle body IMU 33, and the calculated integrated value is a predetermined speed threshold value V1. Determine if it is less than. If it is less than the speed threshold value V1, the process proceeds to step S104, and if the speed threshold value is V1 or more, it is determined that the position of the turning center axis of the upper swivel body 12 has changed, and the process proceeds to step S112 to end the excavation support control.

When the hydraulic excavator is configured in this way, when the turning center axis position of the upper turning body 12 changes when the running operation is not input (for example, the lower running body 11 slides on the ground or due to super-credit turning). Since it is possible to prevent the alternative azimuth angle ψ from being calculated when the position of the turning center axis of the upper turning body 12 changes), the accuracy of the excavation support control is improved.

In the example of FIG. 14, step S118 is executed between steps S102 and S104, but the position of step S118 is not limited to this location. For example, it may be executed between steps S100 and S101, between steps S101 and S103, between steps S103 and S105, between steps S103 and S120, between steps S104 and S107, and between steps S104 and S106. You may also execute it.

<Others>
The present invention is not limited to the above-described embodiment, and includes various modifications within the range not deviating from the gist thereof. For example, the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, it is possible to add or replace a part of the configuration according to one embodiment with the configuration according to another embodiment.

For example, in the flowchart of FIG. 10 of the first embodiment, at least one of steps S105, S106, S107, and S120 is omitted, and the flowchart is changed so that the excavation support control is terminated when the omitted process is performed. May be. This also applies to FIG. 11 of the second embodiment and FIG. 14 of the third embodiment.

Further, in each of the above embodiments, the vehicle body IMU33 is used to detect the yaw angle of the upper swing body 12 and the acceleration in the front-rear and left-right directions, but the yaw angle dedicated sensor and the acceleration dedicated sensor are used instead. You may.

In each of the above embodiments, the case where the GNSS system 17 (GNSS receiver 17c) outputs a communication error has been described, but it is based on the communication status with the GNSS receiver 17c and the positioning result (positioning result of the GNSS receiver 17c). The controller 40 (for example, the sensor error processing unit 73) may issue a communication error.

Even if each configuration related to the controller 40 and the functions and execution processes of each configuration are realized by hardware (for example, designing the logic for executing each function with an integrated circuit) in part or all of them. good. Further, the configuration related to the controller 40 may be a program (software) that realizes each function related to the configuration of the controller 40 by being read and executed by an arithmetic processing unit (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.

Further, in the description of each of the above embodiments, the control lines and information lines are understood to be necessary for the description of the embodiment, but all the control lines and information lines related to the product are not necessarily included. Does not always indicate. In practice, it can be considered that almost all configurations are interconnected.

1 ... hydraulic excavator, 1A ... front work device (working device), 1B ... vehicle body (machine body), 2 ... hydraulic pump, 3 ... traveling hydraulic motor, 4 ... swivel hydraulic motor, 5 ... boom cylinder, 6 ... arm cylinder, 7 ... bucket cylinder, 8 ... boom, 9 ... arm, 10 ... bucket, 11 ... lower traveling pair, 12 ... upper swivel body, 13 ... cuffs, 15 ... flow control valve (control valve), 17 ... GNSS system, 17a ... GNSS antenna, 17b ... GNSS antenna, 17c ... GNSS receiver, 18 ... engine, 19 ... turning angle sensor, 22 ... operating lever, 23 ... operating lever, 30 ... boom angle sensor, 31 ... arm angle sensor, 32 ... bucket angle Sensor, 33 ... Body IMU, 39 ... Lock valve, 40 ... Controller (control device), 46 ... Notification device, 47 ... Electromagnetic proportional valve, 48 ... Pilot pump, 52 ... Operator operation amount sensor, 53 ... Attitude sensor, 60 ... Target excavation surface, 71 ... Attitude calculation unit, 72 ... Bucket position information calculation unit, 73 ... Sensor error processing unit, 74 ... Global position information selection unit, 75 ... Target topography data storage unit, 76 ... Target excavation surface information extraction unit, 77 ... Target operation calculation unit, 78 ... Electromagnetic proportional valve control unit, 79 ... Notification control unit

Claims (5)

With the running body,
A swivel body mounted on the traveling body so as to be swivel,
The working device attached to the swivel body and
An operating device that instructs the traveling operation of the traveling body and the turning operation of the turning body, and
Multiple antennas for receiving satellite signals transmitted from multiple positioning satellites,
A receiver that positions the position of at least one of the plurality of antennas and the azimuth angle of the swivel body based on the satellite signals received by the plurality of antennas.
The target excavation surface is calculated based on the position of at least one antenna positioned by the receiver and the azimuth angle of the swivel body, and the working device exceeds the target excavation surface during the operation of the operating device. In a work machine equipped with a controller that outputs a control signal for controlling the work device so as not to be present.
An angle sensor for detecting the turning angle of the turning body with respect to the traveling body is provided.
The controller
While the positioning result by the receiver is available and the operation for the traveling body is not input to the operating device, while the operation for the swivel body is input to the operating device. The turning angle of the swivel body and the turning angle are based on the numerical values of the first azimuth measured by the receiver and the first turning angle detected by the angle sensor when the first azimuth is positioned. Calculates and stores the correspondence with the azimuth of the swivel body, and stores it.
A state in which the position of the turning center axis of the turning body has not changed since the correspondence was memorized, a state in which the positioning result by the receiver cannot be used, and an operation on the traveling body is input to the operating device. When an operation for the swivel body is input to the operating device when the swivel body is not in the state, the reception is based on the second swivel angle detected by the angle sensor and the stored correspondence relationship. The second azimuth , which is the azimuth of the swivel body when the positioning result by the machine is unavailable, is calculated , and the at least one antenna positioned by the receiver when the positioning result by the receiver is available. A work machine characterized in that the target excavation surface is calculated based on the position of the above and the second azimuth angle . In the work machine of claim 1 ,
An acceleration sensor for detecting acceleration in the front-rear direction or the left-right direction of the swivel body is provided.
The controller is a working machine characterized in that when the integrated value of acceleration detected by the acceleration sensor is less than a predetermined speed threshold value, it is determined that there is no change in the turning center axis position of the turning body. With the running body,
A swivel body mounted on the traveling body so as to be swivel,
The working device attached to the swivel body and
An operating device that instructs the traveling operation of the traveling body and the turning operation of the turning body, and
Multiple antennas for receiving satellite signals transmitted from multiple positioning satellites,
A receiver that positions the position of at least one of the plurality of antennas and the azimuth angle of the swivel body based on the satellite signals received by the plurality of antennas.
The target excavation surface is calculated based on the position of at least one antenna positioned by the receiver and the azimuth angle of the swivel body, and the working device exceeds the target excavation surface during the operation of the operating device. In a work machine equipped with a controller that outputs a control signal for controlling the work device so as not to be present.
It is equipped with an angular velocity sensor that detects the yaw angular velocity of the swivel body.
In the controller, when the positioning result by the receiver is not available and the operation for the turning body is not input to the operating device, the super-credit turning operation for the traveling body is performed by the operating device. When input to, the integral of the yaw angular velocity detected by the angular velocity sensor from the time when the first azimuth is positioned as the azimuth angle of the swivel when the positioning result by the receiver is available. It is characterized in that a second azimuth , which is the azimuth of the swivel body when the positioning result by the receiver is unavailable , is calculated by calculating a value and adding the integrated value to the first azimuth. Work machine to do. In the work machine of claim 3 ,
Further, a pair of left and right hydraulic motors for driving the pair of left and right tracks of the traveling body are further provided.
When the controller inputs to the operating device an operation in which the directions are opposite to each other and the sizes are substantially the same for the pair of left and right hydraulic motors, a super-credit turning operation for the traveling body is input to the operating device. A work machine characterized by determining that it is present. In the work machine of claim 1,
A work machine comprising a notification device for notifying that a positioning result by the receiver is unavailable when the second azimuth angle is calculated by the controller.

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