Construction Machinery

Abstract

Regardless of the posture changes of the construction machinery such as the lifting and lowering of the front working machine, the accurate azimuth angle can be calculated using GNSS. For this purpose, the controller (20) determines in a position and posture calculation unit (20a) that the quality of the azimuth angle of the upper rotating body (2) calculated by the GNSS receiver (17c) is low when at least one of the posture angle of the upper rotating body (2) obtained by the vehicle body IMU (13) and the posture angle of the front working machine (1) obtained by the boom IMU (14) is greater than a threshold value, and performs an offset removal operation based on the quality of the azimuth angle and the azimuth angle of the upper rotating body (2) calculated by the GNSS receiver (17c), calculates a corrected azimuth angle of the upper rotating body (2) based on the azimuth angle of the upper rotating body (2) calculated by the GNSS receiver (17c) and the angular velocity of the upper rotating body (2) from which the gyro offset is removed, and uses the corrected azimuth angle to calculate the three-dimensional position and posture of the front working machine (1).

Description

Technical Field

[0001] The present invention relates to a construction machine such as a hydraulic excavator in which an upper rotating body can rotate relative to a lower traveling body. Background Art

[0002] As measures are being taken towards information-based construction, hydraulic excavators have been developed that have mechanical guidance that displays the position and posture of a multi-jointed front working machine to the operator, and mechanical control functions that control the position and posture of the front working machine so that it moves along a target construction surface.

[0003] In such a hydraulic excavator, in order to cope with three-dimensional information construction (3D information construction), it is necessary to provide the position (coordinates) and orientation (direction of the front working machine) of the hydraulic excavator itself at the construction site. In order to provide this information, in the past, a hydraulic excavator with two GNSS (Global Navigation Satellite System) antennas installed on the upper rotating body for GNSS positioning has been developed.

[0004] In a hydraulic excavator that uses two GNSS antennas for GNSS positioning, if the GNSS antennas cannot capture the required number of satellite signals, GNSS positioning will no longer be performed normally. In this state, since position and orientation information cannot be provided, the machine guidance and machine control operations have to be stopped, and the working efficiency may be reduced.

[0005] Patent document 1 shows the following technology: in addition to implementing GNSS positioning based on two GNSS antennas, it also receives correction data sent using wireless communication with a reference station prepared at the construction site, implements RTK (Real Time Kinematic) positioning for the position information, and is equipped with a yaw angle measuring mechanism such as a gyroscope, thereby calculating the azimuth angle of the hydraulic excavator body (upper rotating body), and can use this azimuth angle to measure the position information when the RTK positioning is abnormal.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2004-125580 Summary of the invention

[0009] When calculating the azimuth of the vehicle body (upper rotating body) using two GNSS antennas, one of the two GNSS antennas is usually used as the main antenna and the other as the sub-antenna, and RTK positioning is performed between the main and sub-antennas. In this way, RTK positioning can be performed on the azimuth of the vehicle body regardless of whether communication with the reference station installed at the construction site is possible.

[0010] Furthermore, since the front working mechanism of the hydraulic excavator is composed of metal parts, it is conceivable that the GNSS satellite signal may be reflected or shielded by the front working mechanism.

[0011] In addition, during the excavation operation of a hydraulic excavator, the front working machine repeatedly moves up and down, which creates a GNSS usage environment where satellite signal reflection or interruption occurs repeatedly. In such a usage environment, the satellite configuration is significantly unbalanced, so the calculation accuracy of the vehicle body azimuth angle will decrease.

[0012] Furthermore, since hydraulic excavators frequently raise and lower the front working device, the azimuth angle of the vehicle body calculated by GNSS may be deviated even though the upper rotating body is not rotating. If this calculation result is used for machine guidance, it will appear that the upper rotating body is moving unsteadily.

[0013] In addition, for RTK positioning, it is sufficient to supplement at least four satellites. Therefore, there are few cases where RTK positioning based on correction data from the reference station cannot be performed simply because the work machine rises and falls, as mentioned above, and the GNSS receiver continues to perform normal positioning (RTK-Fix state).

[0014] Therefore, the technology of Patent Document 1, which implements countermeasures when RTK positioning becomes abnormal, cannot solve the above-mentioned problem. In other words, if it is limited to the calculation of the azimuth angle, the scene where GNSS positioning becomes abnormal is different from that of Patent Document 1, and the technology of Patent Document 1 cannot prevent the decrease in the calculation accuracy of the azimuth angle of the vehicle body (upper rotating body) caused by the posture change of the construction machinery such as the lifting and lowering of the front working machine.

[0015] In addition, if the two GNSS antennas are arranged in a straight line along the front-to-back direction, the shielding area will not be bilaterally symmetrical (see the following Fig. 15B and Fig. 15C ), so the above phenomenon will be alleviated to some extent, but the phenomenon of generating the shielding area itself will not be eliminated. Therefore, the above problem cannot be fundamentally solved.

[0016] In addition, if the GNSS antenna is made higher than the highest point of the front working machine, the shielding effect of the front working machine will disappear. However, if the GNSS antenna is made longer, the GNSS antenna will vibrate structurally, which may reduce the positioning accuracy.

[0017] The present invention has been made to solve the above-mentioned problems and provides a construction machine capable of calculating an accurate vehicle body azimuth angle using GNSS regardless of changes in the posture of the front working machine such as the lifting and lowering of the front working machine.

[0018] In order to solve the above-mentioned problems, the present invention provides a construction machinery comprising: a lower traveling body; an upper rotating body, which can rotate relative to the lower traveling body; a multi-articulated front working machine, which is installed to be rotatable in a vertical direction relative to the upper rotating body; a GNSS system, which has two GNSS antennas installed on the above-mentioned upper rotating body, and a GNSS receiver that calculates the three-dimensional coordinates of the above-mentioned GNSS antennas and the azimuth of the above-mentioned upper rotating body based on satellite signals received by the above-mentioned GNSS antennas; an angular velocity acquisition device, which is installed on the above-mentioned upper rotating body and acquires the angular velocity of the above-mentioned upper rotating body; a vehicle body posture angle acquisition device, which is installed on the above-mentioned upper rotating body and acquires the posture angle of the above-mentioned upper rotating body; a front posture angle acquisition device, which acquires the posture angle of the above-mentioned front working machine; and a controller, which calculates the three-dimensional coordinates of the above-mentioned GNSS antennas and the azimuth of the above-mentioned upper rotating body calculated by the above-mentioned GNSS receiver. The position and posture of the front working machine are calculated based on the posture angle of the upper rotating body acquired by the vehicle body posture angle acquisition device, the angular velocity of the upper rotating body acquired by the angular velocity acquisition device, and the posture angle of the front working machine acquired by the front posture angle acquisition device, and the action of the front working machine is controlled based on the position and posture of the front working machine. In the above-mentioned construction machinery, the controller judges the quality of the azimuth angle of the upper rotating body calculated by the above-mentioned GNSS receiver based on at least one of the posture angle of the upper rotating body acquired by the vehicle body posture angle acquisition device and the posture angle of the front working machine acquired by the above-mentioned front posture angle acquisition device, and performs gyro offset removal from the angular velocity of the upper rotating body acquired by the above-mentioned angular velocity acquisition device based on the judgment result of the quality of the azimuth angle and the azimuth angle of the upper rotating body calculated by the above-mentioned GNSS receiver. The method comprises the steps of: performing a bias removal operation of the upper rotating body and judging whether the upper rotating body has a rotational movement based on the angular velocity of the upper rotating body from which the gyro bias is removed, and calculating a corrected azimuth of the upper rotating body based on the azimuth of the upper rotating body calculated by the GNSS receiver, the angular velocity of the upper rotating body from which the gyro bias is removed, and the judgment result of the rotational movement of the upper rotating body, and calculating the position and posture of the front working machine using the corrected azimuth.

[0019] Effects of the Invention

[0020] According to the present invention, regardless of changes in the posture of the construction machine such as the lifting and lowering of the front working device, the azimuth of the upper rotating body can be accurately calculated using GNSS, and the azimuth of the upper rotating body can be obtained with high accuracy and robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1It is a diagram showing the appearance and part of the internal structure of a hydraulic excavator as an example of the construction machine according to the embodiment of the present invention.

[0022] Figure 2 This is a block diagram showing a part of the processing functions of the controller mounted on the hydraulic excavator according to the first embodiment of the present invention.

[0023] Figure 3 This is a block diagram showing the processing functions of the position and posture calculation unit of the controller which is the characteristic portion of the first embodiment.

[0024] Figure 4 It is a block diagram showing the processing functions of the correction azimuth angle calculation unit.

[0025] Figure 5A FIG. 1 is a diagram showing an example of quality judgment processing by the azimuth quality judgment unit.

[0026] Figure 5B It is a diagram showing another example of the quality judgment processing of the azimuth quality judgment unit.

[0027] Figure 6 This is a flowchart showing the calculation steps of the correction azimuth angle calculation unit.

[0028] Figure 7 It is a block diagram showing the processing functions of the correction azimuth angle calculation unit in the second embodiment of the present invention.

[0029] Figure 8 It is a figure which shows the external appearance of the hydraulic excavator and its surrounding conditions in the third embodiment of the present invention.

[0030] Fig. 9 This is a block diagram showing the processing functions of the controller in the third embodiment.

[0031] Fig.10 It is a block diagram showing the processing functions of the correction azimuth angle calculation unit in the third embodiment.

[0032] Fig.11 It is a block diagram showing the processing functions of the controller in the fourth embodiment of the present invention.

[0033] Fig.12 It is a block diagram showing the processing functions of the correction azimuth angle calculation unit in the fourth embodiment.

[0034] Fig.13 It is a top view of a hydraulic excavator.

[0035] Fig.14A This is a diagram showing a satellite signal reception condition when the front working machine of the hydraulic excavator is lowered.

[0036] Fig. 14B This is a diagram showing a satellite signal reception condition when the front working machine of the hydraulic excavator is lowered.

[0037] Fig. 14C This is a diagram showing a satellite signal reception condition when the front working machine of the hydraulic excavator is lowered.

[0038] Fig.15A The diagram shows the reception status of satellite signals when the front working device of the hydraulic excavator is raised.

[0039] Fig. 15B The diagram shows the reception status of satellite signals when the front working device of the hydraulic excavator is raised.

[0040] Fig. 15C The diagram shows the reception status of satellite signals when the front working device of the hydraulic excavator is raised.

[0041] Fig.15D The diagram shows the reception status of satellite signals when the front working device of the hydraulic excavator is raised.

[0042] Fig.16 The diagram shows a satellite signal reception condition when the hydraulic excavator is placed on an inclined surface.

[0043] Fig.17 The diagram shows a satellite signal reception condition when there is a steep slope on the back of the hydraulic excavator. DETAILED DESCRIPTION

[0044] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0045] <First Embodiment>

[0046] Figure 1 This is a diagram showing the appearance and part of the internal structure of a hydraulic excavator as an example of the construction machine according to the present invention.

[0047] exist Figure 1In the embodiment, the hydraulic excavator 100 includes: a multi-jointed front working machine 1 formed by connecting a plurality of driven parts, namely, a boom 4, an arm 5, and a bucket (working tool) 6, which are respectively rotatable in the vertical direction; and an upper rotating body 2 and a lower traveling body 3 constituting a vehicle body, wherein the upper rotating body 2 is mounted rotatably relative to the lower traveling body 3. In addition, the base end of the boom 4 of the front working machine 1 is supported rotatably in the vertical direction at the front part of the upper rotating body 2, one end of the arm 5 is supported rotatably in the vertical direction at the front end of the boom 4, and the bucket 6 is supported rotatably in the vertical direction at the other end of the arm 5. The boom 4, the arm 5, the bucket 6, the upper rotating body 2, and the lower traveling body 3 are respectively driven by the boom cylinder 4a, the arm cylinder 5a, the bucket cylinder 6a, the rotation motor 2a, and the left and right traveling motors 3a and 3b, which are hydraulic actuators.

[0048] The boom 4, the arm 5 and the bucket 6 move on a plane including the front working machine 1, and this plane is referred to as the action plane in the following. That is, the action plane is a plane orthogonal to the rotation axis of the boom 4, the arm 5 and the bucket 6, and can be set at the center position of the boom 4, the arm 5 and the bucket 6 in the width direction.

[0049] In the operation room 9 (operating room) where the operator sits, operating lever devices 9a and 9b for generating operating signals for operating the hydraulic actuators 2a and 4a to 6a, a monitor 11, and the like are provided.

[0050] The operating lever devices 9a and 9b are so-called electric lever types, and each includes an operating lever that can be tilted forward, backward, left, and right, and a detection device (not shown) that electrically detects the tilting amount of these operating levers, that is, the lever operation amount, and the detection device outputs the detected lever operation amount as an electrical operation signal to the controller 20 as a control device via an electric wire. In addition, the operating instructions of the hydraulic actuators 2a, 4a to 6a are respectively allocated to the front-back direction or the left-right direction of the operating levers of the operating lever devices 9a and 9b.

[0051] The operation control of the swing motor 2a, the boom cylinder 4a, the arm cylinder 5a, and the bucket cylinder 6a is performed by controlling the direction and flow rate of the hydraulic oil supplied from the hydraulic pump device 7 driven by the engine or electric motor 40 to the hydraulic actuators 2a, 4a to 6a by controlling the slide valves in the control valve 8. The slide valves in the control valve 8 are connected to the hydraulic actuators 2a, 4a to 6a by the pilot pump (not shown) via the electromagnetic proportional valves 10a, 10b, etc. (see Figure 2) is operated by the drive signal (pilot pressure) outputted from the operating lever devices 9a and 9b. The controller 20 generates a control signal based on the operation signal outputted from the operating lever devices 9a and 9b, and outputs the control signal to the electromagnetic proportional valves 10a, 10b, etc., thereby outputting the drive signal (pilot pressure) from the electromagnetic proportional valves 10a, 10b, etc. to each slide valve in the control valve 8, thereby controlling the operation of each hydraulic actuator 2a to 6a.

[0052] In addition, the operating lever devices 9a and 9b may also be hydraulic pilot type. In this case, the operating lever devices 9a and 9b respectively generate pilot pressures corresponding to the operating direction and amount of the operating lever, and the pilot pressures are directly supplied to the control valve 8 as drive signals to control the actions of the hydraulic actuators 2a to 6a.

[0053] An inertial measurement unit (IMU) 13 is disposed on the upper rotating body 2 .

[0054] The inertial measurement device 13 is a device for measuring the angular velocity and acceleration of the upper rotating body 2. In the present invention, the inertial measurement device 13 constitutes an angular velocity acquisition device for acquiring the angular velocity of the upper rotating body.

[0055] The angular velocity of the upper rotating body 2 measured by the inertial measurement device 13 includes the angular velocity in the front-rear direction, the angular velocity in the left-right direction, and the angular velocity in the rotation direction of the upper rotating body 2 .

[0056] Furthermore, by integrating the measured angular velocity in the front-rear direction, the angular velocity in the left-right direction, and the angular velocity in the rotation direction of the upper rotating body 2 with time, the inclination in the front-rear direction (pitch angle), the inclination in the left-right direction (roll angle), and the inclination in the rotation direction (yaw angle) of the upper rotating body 2 can be measured. That is, in the present invention, the inertial measurement device 13 constitutes a vehicle body posture angle acquisition device that acquires the posture angle of the upper rotating body 2 in addition to the angular velocity acquisition device.

[0057] In addition, a method using acceleration may be used to obtain the posture angle. Specifically, if the upper rotating body 2 equipped with the inertial measurement device 13 is considered to be stationary, by comparing the vertical direction (i.e., the direction in which the gravitational acceleration acts) in the vehicle body coordinate system set for the inertial measurement device 13 and the acceleration actually detected by the inertial measurement device 13, the inclination (pitch angle) of the upper rotating body 2 in the front and rear direction and the inclination (yaw angle) in the left and right direction can be detected respectively.

[0058] exist Figure 1In FIG. 1 , Σm indicates a vehicle body coordinate system. The vehicle body coordinate system Σm is a three-dimensional orthogonal coordinate system set for the upper rotating body 2. As an example, the vehicle body coordinate system Σm is a coordinate system that sets the axis S (refer to Figure 2 ) and the upper surface of the base frame (rotating frame) of the upper rotating body 2 is set as the origin, and the axis S of the rotation center is set as the z axis (refer to Figure 2 ), an orthogonal coordinate system in which the axis in the front-to-back direction perpendicular to the z-axis is set as the x-axis, and the axis in the left-to-right direction perpendicular to the z-axis and the x-axis is set as the y-axis.

[0059] The angular velocity of the upper rotating body 2 in the front-to-back direction is the angular velocity around the y-axis of the vehicle body coordinate system Σm, the angular velocity in the left-right direction is the angular velocity around its x-axis, and the angular velocity in the rotation direction is the angular velocity around its z-axis. In addition, the inclination of the upper rotating body 2 in the front-to-back direction is the inclination (pitch angle) around the y-axis of the vehicle body coordinate system Σm, the inclination in the left-to-right direction is the inclination (roll angle) around its x-axis, and the inclination in the rotation direction is the inclination (yaw angle) around its z-axis.

[0060] In addition, in the present embodiment, it is envisaged to utilize a sensor having a calculation function for these inclinations (angles) installed in the inertial measurement device. However, in the case where there is no built-in angle calculation function in the inertial measurement device 13, the present invention can of course be implemented as long as the angle calculation function is prepared in the controller 20.

[0061] Two GNSS antennas 17a and 17b are mounted on the upper rotating body 2. Satellite signals received by the GNSS antennas 17a and 17b are transmitted to the GNSS receiver 17c (see Figure 2 and Figure 3 In the GNSS receiver 17c, various positioning operations such as the calculation of the three-dimensional coordinates of the GNSS antennas 17a and 17b and the calculation of the azimuth angle of the upper rotating body 2 are performed. In the GNSS receiver 17c, the three-dimensional coordinates of the GNSS antennas 17a and 17b are calculated as coordinate values ​​of the global coordinate system. In addition, in the present embodiment, one of the two GNSS antennas 17a and 17b is used as the main antenna and the other is used as the sub-antenna, and the GNSS receiver 17c performs RTK (Real Time Kinematic) positioning between the main and sub-antennas. Therefore, even if it is not connected to the reference station set up at the construction site by wireless communication, or whether or not wireless communication with the reference station can be performed, RTK positioning can be performed for the azimuth angle of the upper rotating body 2. On the other hand, for the position information of the three-dimensional coordinates, RTK positioning using the correction information sent from the reference station or the correction information published via the network is performed by connecting to the reference station set up at the construction site by wireless communication, and the position information is acquired.

[0062] In order to simplify the description below, the GNSS antennas 17 a and 17 b and the GNSS receiver 17 c may be collectively referred to as a GNSS system 17 .

[0063] In order to measure the postures (posture angles) of the respective components of the front working machine 1, the boom 4, the arm 5, and the bucket 6 are provided with inertial measuring devices 14, 15, and 16 at appropriate positions. The inertial measuring devices 14 to 16 constitute a front posture angle acquisition device for acquiring the posture angle of the front working machine 1 in the present invention.

[0064] In order to distinguish the inertial measurement units 13, 14, 15, and 16, they are appropriately referred to as the vehicle body IMU 13, the boom IMU 14, the arm IMU 15, and the bucket IMU 16 according to the installation location. In the present invention, the vehicle body IMU 13 constitutes at least one vehicle body tilt sensor installed on the upper rotating body 2, and the boom IMU 14 constitutes at least one front tilt sensor installed on the front working machine 1.

[0065] Figure 2 This is a block diagram showing a part of the processing functions of the controller 20 mounted on the hydraulic excavator 100 according to the first embodiment of the present invention.

[0066] exist Figure 2 The controller 20 has various functions for controlling the operation of the hydraulic excavator 100, and as a part thereof, has the functions of a position and posture calculation unit 20a, a construction target surface calculation unit 20b, a monitor display control unit 20c, and a hydraulic system control unit 20d. The position and posture calculation unit 20a, the construction target surface calculation unit 20b, the monitor display control unit 20c, and the hydraulic system control unit 20d are composed of a CPU.

[0067] The controller 20 also includes a storage device 20e as a database, a storage device (eg, RAM) 20f for storing values ​​in progress of calculations, and a storage device (eg, ROM) (not shown) for storing programs, set values, and the like.

[0068] The position and posture calculation unit 20a inputs the detection results from the inertial measurement devices 13 to 16 (the angular velocity and posture angle (pitch angle) of the upper rotating body 2 and the posture angle of the front working machine 1) and the calculation results from the GNSS receiver 17c (the three-dimensional coordinates of the GNSS antennas 17a and 17b and the azimuth angle of the upper rotating body 2), and based on these input values, performs calculations such as position and posture calculation processing of the three-dimensional position and posture of the front working machine 1 in the vehicle body coordinate system Σm set for the upper rotating body 2.

[0069] The construction target surface calculation unit 20b calculates the construction target surface that defines the target shape of the construction object based on the construction information 21 such as three-dimensional construction drawings pre-stored in the storage device 20e by the construction manager, and the three-dimensional position and posture of the front work machine 1 calculated by the position and posture calculation unit 20a.

[0070] The monitor display control unit 20c controls the display of the monitor 11 provided in the operator's room 9, and calculates the instruction content of the operation support for the operator based on the construction target surface calculated by the construction target surface calculation unit 20b and the position and posture of the front working machine 1 calculated by the position and posture calculation unit 20a, and displays it on the monitor 11 in the operator's room 9. That is, the monitor display control unit 20c is responsible for a part of the function as a machine guidance system that supports the operator's operation by displaying the posture of the front working machine 1 having driven parts such as the boom 4, the arm 5, and the bucket 6, and the front end position and angle of the bucket 6 on the monitor 11.

[0071] The hydraulic system control unit 20d controls the hydraulic system of the hydraulic excavator 100 composed of the hydraulic pump device 7, the control valve 8, the electromagnetic proportional valves 10a, 10b, etc., the hydraulic actuators 2a to 6a, etc., calculates the target motion speed of the driven components of the front working machine 1 based on the operation signals (electrical signals) output from the operating lever devices 9a and 9b, and controls the hydraulic system of the hydraulic excavator 100 in a manner to achieve the target motion speed. In addition, the hydraulic system control unit 20d calculates the target motion speed of the driven components of the front working machine 1 based on the construction target surface calculated by the construction target surface calculation unit 20b and the position and posture of the front working machine 1 calculated by the position and posture calculation unit 20a, and corrects the corresponding operation signals output from the operating lever devices 9a and 9b in a manner to achieve the target motion speed, thereby controlling the hydraulic system of the hydraulic excavator 100. Therefore, the hydraulic system control unit 20d is responsible for a part of the function of the mechanical control system, for example, restricting the movement in such a way that the front end of the working part such as the bucket 6 does not approach the target construction surface closer than a certain distance, or controlling the working part (such as the tooth tip of the bucket 6) to move along the target construction surface.

[0072] In this way, the controller 20 calculates the position and posture of the front working machine 1 based on the three-dimensional coordinates of the GNSS antennas 17a and 17b and the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c, the posture angle of the upper rotating body 2 obtained by the vehicle body IMU13 (vehicle body posture angle acquisition device), the angular velocity of the upper rotating body 2 obtained by the vehicle body IMU13 (angular velocity acquisition device), and the posture angle of the front working machine 1 obtained by the boom IMU14, the arm IMU15 and the bucket IMU16 (front posture angle acquisition device), and controls the movement of the front working machine 1 based on the position and posture of the front working machine 1.

[0073] In addition, as a feature of the present invention, the controller 20 performs the following calculation processing in the position and posture calculation unit 20a.

[0074] First, the controller 20 determines the quality of the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c in the position and posture calculation unit 20a based on at least one of the posture angle of the upper rotating body 2 obtained by the body IMU 13 (body posture angle acquisition device) and the posture angle of the front working machine 1 obtained by the boom IMU 14 (front posture angle acquisition device), and executes the operation of obtaining the upper rotating body 2 from the body IMU 13c based on the judgment result of the azimuth angle quality and the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c. (Angular velocity acquisition device) obtains the angular velocity of the upper rotating body 2 and performs an offset removal operation to remove the gyro bias, and judges whether the upper rotating body 2 has a rotating motion based on the angular velocity of the upper rotating body 2 from which the gyro bias has been removed, calculates a corrected azimuth of the upper rotating body 2 based on the azimuth of the upper rotating body 2 calculated by the GNSS receiver 17c, the angular velocity of the upper rotating body 2 from which the gyro bias has been removed, and the judgment result of the rotating motion of the upper rotating body 2, and uses the corrected azimuth to calculate the position and posture of the front working machine 1.

[0075] In addition, the controller 20 judges the quality of the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c based on at least one of the posture angle of the upper rotating body 2 detected by the body IMU 13 (body tilt sensor) and the posture angle of the front working machine 1 detected by the boom IMU 14 (front tilt sensor), and performs an offset removal operation when it is judged that the quality of the azimuth angle of the upper rotating body 2 is poor. In addition, in this specification, "the quality of the azimuth angle of the upper rotating body 2 is poor" means that when the position and posture calculation unit 20a (the three-dimensional position and posture calculation unit 20a-2 described later) calculates the three-dimensional position and posture of the front working machine 1 using the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c, the quality of the azimuth angle of the upper rotating body 2 is so poor that the calculation accuracy cannot ensure the proper motion control of the front working machine 1 in the hydraulic system control unit 20d. In addition, in the following description, “the quality of the azimuth angle of the upper rotating body 2 is low” may be referred to as “the quality of the azimuth angle of the upper rotating body 2 is low”, “the quality of the azimuth angle of the upper rotating body 2 is poor”, etc., and a situation which is not the case may be referred to as “the quality of the azimuth angle of the upper rotating body 2 is high”, “the quality of the azimuth angle of the upper rotating body 2 is good”, etc.

[0076] In addition, the controller 20 has a storage device 20f (azimuth storage device) for storing the azimuth when the quality of the azimuth of the upper rotating body 2 is judged to be high in the position and posture calculation unit 20a. When the quality of the azimuth of the upper rotating body 2 is judged to be low and it is judged that the upper rotating body 2 has no rotation movement, the azimuth stored in the storage device 20f (azimuth storage device) just before the quality of the azimuth of the upper rotating body 2 is judged to be low is used as a corrected azimuth to calculate the position and posture of the front working machine 1.

[0077] Moreover, after the controller 20 determines in the position posture calculation unit 20a that the quality of the azimuth angle of the upper rotating body 2 is low and the upper rotating body 2 has a rotational movement, when the low quality state of the azimuth angle of the upper rotating body 2 is maintained for a specified time, the controller 20 notifies the user that the accuracy of the azimuth angle of the upper rotating body 2 may be low.

[0078] The following follows Figure 3 The details of the processing content of the above-mentioned position and posture calculation unit 20a will be specifically described. Figure 3 1 is a block diagram showing the processing functions of the position and posture calculation unit 20 a of the controller 20 which is a characteristic portion of the present embodiment.

[0079] exist Figure 3 In FIG. 1 , the position and posture calculation unit 20 a includes a correction azimuth angle calculation unit 20 a - 1 and a three-dimensional position and posture calculation unit 20 a - 2 .

[0080] The corrected azimuth angle calculation unit 20a-1 inputs values ​​(signals) measured or calculated by the vehicle body IMU 13, the boom IMU 14, and the GNSS system 17. More specifically, the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c, the angular velocity and posture angle of the upper rotating body 2 measured by the vehicle body IMU 13, and the posture angle of the boom 4 calculated by the boom IMU 14 are input.

[0081] The corrected azimuth angle calculation unit 20a-1 performs the correction calculation described below on the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c, and calculates the corrected azimuth angle. In addition, when the corrected azimuth angle cannot be calculated with sufficient accuracy, a low-precision warning flag for notifying the operator of this state is calculated. And, when the low-precision warning flag becomes effective, a message is displayed on the monitor 11 via the monitor display control unit 20c to notify the operator.

[0082] The three-dimensional position and posture calculation unit 20a-2 receives inputs of the posture angles detected by the IMUs 13 to 16, the three-dimensional coordinates of the GNSS antennas 17a and 17b calculated by the GNSS receiver 17c, and the corrected azimuth calculated by the corrected azimuth calculation unit 20a-1.

[0083] The three-dimensional position and posture calculation unit 20 a - 2 calculates the position and posture of the hydraulic excavator 100 in the vehicle body coordinate system Σm, for example, based on the three-dimensional coordinates of the GNSS antennas 17 a and 17 b acquired by the GNSS system 17 .

[0084] The three-dimensional position and posture calculation unit 20a-2 calculates the three-dimensional position and posture of, for example, the front working machine 1 in the vehicle body coordinate system Σm based on the position and posture of the hydraulic excavator 100 in the vehicle body coordinate system Σm, the posture angle detected by IMU13~16 and the corrected azimuth calculated by the corrected azimuth calculation unit 20a-1, and sends the calculated value to the construction target surface calculation unit 20b, the monitor display control unit 20c and the hydraulic system control unit 20d as described above.

[0085] The three-dimensional position and posture calculation unit 20a-2 can also calculate the three-dimensional position and posture of the front working machine 1 in the on-site coordinate system set around the hydraulic excavator 100 instead of the vehicle body coordinate system Σm, and can also convert the three-dimensional position and posture of the front working machine 1 calculated in the vehicle body coordinate system Σm into the on-site coordinate system for use in control.

[0086] As described above, the GNSS system 17 in this embodiment performs RTK positioning between the two GNSS antennas 17a and 17b to acquire the azimuth angle of the upper rotating structure 2. Therefore, changes in the posture of the hydraulic excavator 100 affect the quality of the azimuth angle (described later).

[0087] On the other hand, RTK positioning is performed for the three-dimensional coordinate position information by connecting to the reference station installed at the construction site by wireless communication, and using the correction information sent from the reference station or the correction information distributed via the network. Therefore, the influence of the posture change of the hydraulic excavator 100 on the three-dimensional position information is very small compared with the azimuth. In addition, the three-dimensional coordinates used by the three-dimensional posture calculation unit 20a-2 only need to be obtained by the two GNSS antennas 17a and 17b, which will be described later. Fig. 15B and Fig. 15C The GNSS antenna 17a or 17b with the lowest DOP (Dilution Of Precision) degradation rate can be used as the starting point. Fig. 15B and Fig. 15C In such a state where part of the zenith direction is covered, it is sufficient to use a GNSS antenna whose satellite configuration is not biased toward one side of a specific location for position calculation. Therefore, when the quality of the azimuth angle acquired by the GNSS system 17 is reduced due to the change in the posture of the hydraulic excavator 100, the accuracy of the position information of the three-dimensional coordinates acquired by the RTK positioning of the GNSS system 17 will be reduced, and the three-dimensional position information can be used in the three-dimensional position posture calculation unit 20a-2.

[0088] Based on this idea, the present invention uses the corrected azimuth calculated by the corrected azimuth calculation unit 20a-1 for the azimuth of the upper rotating body 2 of the hydraulic excavator 100 in the three-dimensional posture calculation unit 20a-2, and uses the three-dimensional coordinates of the GNSS antennas 17a and 17b with less reduction in positioning accuracy to calculate the three-dimensional position and posture of the front working machine 1. Since the other calculations in the three-dimensional posture calculation unit 20a-2 are not particularly different from the conventional ones, detailed descriptions are omitted.

[0089] Next, the correction azimuth angle calculation unit 20a-1, which is a characteristic of the present invention, is used. Figure 4 Explain in detail. Figure 4 It is a block diagram showing the processing function of the correction azimuth angle calculation unit 20a-1.

[0090] exist Figure 4 The corrected azimuth angle calculation unit 20a-1 has four calculation functions, namely, an azimuth angle quality determination unit MH01, an offset removal execution unit MH02, a rotation operation determination unit MH03, and an azimuth angle integration calculation unit MH04.

[0091] <Azimuth quality judgment unit MH01>

[0092] The azimuth quality determination unit MH01 determines the quality of the azimuth of the upper rotating structure 2 calculated by the GNSS system 17 using the posture information of the hydraulic excavator 100. In the present embodiment, the posture information of the hydraulic excavator 100 uses posture angle information acquired by the vehicle body IMU 13 and the boom IMU 14.

[0093] Here, the necessity of determining the quality of the azimuth angle of the upper rotating structure 2 calculated by the GNSS system 17 will be described first.

[0094] Since the front working machine 1 of the hydraulic excavator 100 is formed of a metal member, it is conceivable that the GNSS satellite signal is reflected or shielded by the front working machine 1 .

[0095] Furthermore, during the excavation operation of the hydraulic excavator 100, since the front working device 1 repeatedly moves up and down, an environment in which satellite signal reflection or interruption repeatedly occurs may occur.

[0096] use Figure 13 to Figure 16 The following describes the problems encountered when GNSS positioning is performed using the GNSS antennas 17 a and 17 b in such a usage environment.

[0097] Fig.13 It is a top view of the hydraulic excavator 100 . Figures 14A to 14C It is a diagram showing the reception status of satellite signals when the front working machine 1 is in a descending state. FIG. 15A to FIG. 15D It is a diagram showing the reception status of satellite signals when the front working machine 1 is in a raised state. Fig.16 The diagram shows a reception status of satellite signals when the hydraulic excavator 100 is placed on an inclined surface.

[0098] like Fig.13 As shown, the GNSS antennas 17 a and 17 b are arranged on the left and right sides of the center line 1 a of the front working machine 1 .

[0099] like Fig.14A As shown, when the boom 4 is in the lowered position and the front working machine 1 is lowered, since the front working machine 1 is at a lower position than the GNSS antennas 17a and 17b, the shielding object becomes an image of the satellite signal receivable area 200 in the zenith direction of the GNSS antennas 17a and 17b. Fig. 14B and Fig. 14C Like that. Fig. 14B with Fig.13 The top view of the GNSS antenna 17a disposed on the left side corresponds to the top view of the GNSS antenna 17a. Fig. 14C with Fig.13 The top view of the GNSS antenna 17b disposed on the right side corresponds to the top view of the GNSS antenna 17b. Fig. 14B and Fig. 14CAs shown, since there is no shielding object above each GNSS antenna 17a, 17b, it is difficult for satellite signals to be shielded or reflected.

[0100] On the other hand, Fig.15A As shown in the figure, when the boom 4 is in the raised position and the front working machine 1 is raised, the front working machine 1 is at a higher position than the GNSS antennas 17a and 17b. In this case, the satellite signal receiving area 200 of the zenith direction of the GNSS antennas 17a and 17b is partially blocked by the front working machine 1, and the GNSS antennas 17a and 17b can no longer receive satellite signals in the direction of the front working machine 1. In addition, since the GNSS antennas 17a and 17b are arranged on the left and right relative to the front working machine 1, it is necessary to Fig. 15B and Fig. 15C Pay attention to the situation where the relationship is symmetrical as shown. Fig. 15B with Fig.13 The top view of the GNSS antenna 17a disposed on the left side corresponds to the top view of the GNSS antenna 17a. Fig. 15C with Fig.13 This corresponds to a top view of the GNSS antenna 17b arranged on the right side.

[0101] In addition, Fig. 15B and 15C The black portion in the middle shows an area where the front working machine 1 blocks the satellite signal at a certain moment, and the gray portion schematically shows an area where the satellite signal is blocked due to continuous posture changes of the front working machine 1.

[0102] In addition, as described above, when the azimuth of the upper rotating body 2 is calculated using the two GNSS antennas 17a and 17b, RTK positioning is performed with one of the GNSS antennas 17a and 17b as the main antenna and the other as the sub-antenna. In this case, only satellites that can be used in common by the two GNSS antennas 17a and 17b are used for positioning, so that Fig.15D As shown in FIG. 1 , the satellite signals are blocked in the area obtained by combining the blocked areas of the respective GNSS antennas 17a and 17b. In other words, there is a concern that half of the satellite signals in the zenith direction cannot be used for positioning simply by raising the front working machine 1. In such a situation, the satellite configuration that can use the satellite signals is significantly unbalanced, so the calculation accuracy of the azimuth angle is reduced.

[0103] In addition, since the front working device 1 is frequently raised and lowered in the hydraulic excavator 100, the azimuth angle calculated by GNSS positioning may deviate even if the upper rotating structure 2 is not rotated. If the calculation result is used for machine guidance, it looks like the upper rotating structure 2 is moving unsteadily.

[0104] Moreover, if Fig.16 As shown in the figure, when the hydraulic excavator 100 is placed on a sloping ground and the body (upper rotating body 2) of the hydraulic excavator 100 is inclined in the front-rear direction, even in the boom-down posture, the zenith direction may be blocked. In such a situation, the satellite arrangement of the satellite signals that can be used is unbalanced, so the calculation accuracy of the azimuth angle is reduced.

[0105] Return to Figure 4 , explaining the judgment conditions of the azimuth quality in the azimuth quality judgment unit MH01.

[0106] like Fig.14A As shown in FIG. 1 , when the boom 4 is in the lowered position, since there are no obstacles above the GNSS antennas 17a and 17b, it is determined that the quality of the azimuth angle of the upper rotating structure 2 calculated by the GNSS system 17 is good. Fig.15A As shown, when the boom 4 is in the raised posture, since the satellite signal in a specific direction is shielded, it is judged that the quality of the azimuth angle of the upper rotating body 2 calculated by the GNSS system 17 is poor. The azimuth angle quality judgment unit MH01 judges the azimuth angle quality based on such a consideration method. That is, the boom angle obtained by the boom IMU 14 is input as the posture angle of the front working machine 1. When the boom angle (posture angle) is above a specified value, it is judged that the quality of the azimuth angle of the upper rotating body 2 is good. If it is smaller than the specified value, it is judged that the quality of the azimuth angle is poor. Here, the specified value is, for example, 30 degrees based on the horizontal plane.

[0107] In addition, if Fig.16 As shown, when the hydraulic excavator 100 is placed on a sloping ground, Fig.14A Therefore, in this case, the azimuth quality judgment unit MH01 inputs the body inclination angle (pitch angle as the inclination in the front-rear direction (around the y-axis) of the upper rotating body 2) acquired by the body IMU 13 as the body posture angle, and judges that the quality of the azimuth of the upper rotating body 2 is good when the body posture angle (pitch angle) is greater than the specified value, and judges that the quality of the azimuth is poor when it is less than the specified value. Here, the specified value is, for example, 15 degrees based on the horizontal plane.

[0108] The predetermined values ​​of the boom angle and the vehicle body tilt angle are stored in a storage device (eg, ROM) of the controller 20 as determination values ​​for determining the quality of the azimuth angle of the upper rotating structure 2 .

[0109] Figure 5A It is a diagram showing another example of the quality judgment processing in the azimuth quality judgment unit MH01.

[0110] The azimuth quality judgment unit MH01 may also have Figure 5A The azimuth quality calculation unit MH01-A is configured as a three-dimensional table based on the above-mentioned judgment conditions, with the boom angle and the body tilt angle (body posture angle, i.e., the pitch angle which is the inclination of the upper rotating body 2 in the front-rear direction (around the y-axis)) as inputs and the azimuth quality as outputs. In this three-dimensional table, the azimuth quality is represented by a numerical value from 0 to 1, and the lower the azimuth quality, the larger the numerical value of the azimuth quality. That is, when the numerical value is 0, it indicates that the azimuth quality is the best, and when it is 1, it indicates that the azimuth quality is the worst.

[0111] The three-dimensional table of the azimuth quality calculation unit MH01-A is constructed as follows.

[0112] First, the three-dimensional table is set so that, for example, even if the boom angle is at the minimum value (the boom is down), the azimuth mass becomes 1 if the vehicle body tilt angle (pitch angle) is large. Also, the three-dimensional table is set so that, even if the vehicle body tilt angle (pitch angle) is at the minimum value (when the vehicle body is level), the azimuth mass becomes 1 if the boom angle is large (when the boom is up). Furthermore, the three-dimensional table is set so that, for example, the azimuth mass value (B) calculated when the vehicle body tilt angle (pitch angle) is 10 degrees and the boom angle is 10 degrees is greater than the azimuth mass value (A) calculated when the vehicle body tilt angle (pitch angle) is 0 degrees and the boom angle is 10 degrees (A<B).

[0113] Figure 5B It is a diagram showing still another example of the quality judgment processing in the azimuth quality judgment unit MH01.

[0114] The azimuth quality judgment unit MH01 may also have Figure 5B The azimuth quality calculation unit MH01-B as shown. Figure 5B As shown, the azimuth quality calculation unit MH01-B has a two-dimensional table T1 that makes the azimuth quality 1 when the boom angle is above a specified position, and a two-dimensional table T2 that makes the azimuth quality 1 when the vehicle body inclination angle (pitch angle) is above a specified value. The azimuth quality is calculated by adding the values ​​of the azimuth qualities calculated by the two two-dimensional tables T1 and T2 and saturating the added value with 1.

[0115] The azimuth quality judgment unit MH01 uses the azimuth quality calculated in the azimuth quality calculation unit MH01-A or BMH01-B, and judges that the azimuth quality is good if it is a specified value, such as 0.8 or above, and judges that the azimuth quality is poor if it is smaller than the specified value.

[0116] <Offset removal execution unit MH02>

[0117] The offset removal execution unit MH02 removes the offset of the angular velocity (angular velocity in the rotation direction (around the z-axis)) detected by the vehicle body IMU 13, or removes the so-called gyro offset.

[0118] Regarding the removal of gyro bias, a method of applying a Kalman filter (KF) or an observer is generally used. In the embodiment of the present invention, only the method of removing the gyro bias using the Kalman filter is described. For details of the Kalman filter, for example, please refer to "Adachi, Maruta: The Foundation of Kalman Filter, Tokyo Denki University Press, 2012".

[0119] Here, if the azimuth angle of the upper rotating body 2 is θ, the actual angular velocity of the upper rotating body is ω, and the angular velocity detected by the vehicle body IMU 13 is ω mes , set the gyro bias to ω b , assuming that the operation cycle of the controller 20 is Δt, the following equations (1) and (2) hold.

[0120]

Number 1

[0121] θ k =θ k-1 +Δtω k-1 ...Formula (1)

[0122]

Number 2

[0123]

[0124] In addition, the subscripts k and k-1 are symbols indicating the time in each operation. k It is defined as formula (3).

[0125]

Number 3

[0126]

[0127] Furthermore, if the azimuth angle θ calculated by the GNSS receiver 17c is set as the observation value y k , then the following equations (4) and (5) can be derived.

[0128]

Number 4

[0129]

[0130]

Number 5

[0131] y k =[1 0]x k ...Formula (5)

[0132] Since KF is applied to equations (4) and (5), the expressions of the matrices in equations (4) and (5) are simplified.

[0133]

Number 6

[0134]

[0135]

Number 7

[0136] y k =H k x k +v k ...Formula (a2)

[0137] Here, the newly added W k-1 、v k are process noise and observation noise respectively. Both process noise and observation noise are noises that obey a normal distribution with a mean value of 0. k The variance is Q k , v k The variance is R k The Q k , R k are treated as design values.

[0138] If the estimated value of the state vector x is set to x^(^ is marked above x) and the covariance matrix of the state vector x is set to P, the prediction formula (a3)~(a6) and update formula (a7)~(a9) of the Kalman filter can be given by the following formulas.

[0139]

Number 8

[0140]

[0141]

Number 9

[0142]

[0143]

Number 10

[0144]

[0145]

Number 11

[0146]

[0147]

Number 12

[0148]

[0149]

Number 13

[0150]

[0151]

Number 14

[0152] P k|k =P k|k -1-K k H k P k|k-1 ...Formula (a9)

[0153] Through the above calculations, it is possible to successively infer the k and gyro bias ω b The resulting state vector x^(^ is marked above x).

[0154] However, when the azimuth quality calculated by the azimuth quality judgment unit MH01 is low, since the observation value y k The azimuth angle has a deviation from the true azimuth angle, so the gyro bias ω b In order to solve this phenomenon, it is desirable to construct logic in such a way that the estimation of the gyro bias is effective only when the azimuth quality is high.

[0155] For example, when using Kalman filtering, the variance R of the observation noise is set to a very large value when the azimuth quality is low. If the variance R of the observation noise is set to a large value, Pxy in equation (a5) takes a large value. Therefore, the inverse matrix of equation (a7) approaches 0, and thus the Kalman gain also approaches 0.

[0156] When the Kalman gain K becomes 0, the update equations (a8) and (a9) generated by the Kalman filter can be simplified as follows.

[0157]

Number 15

[0158]

[0159]

Number 16

[0160] P k|k =P k|k-1 ...Formula (a11)

[0161] Equations (a10) and (a11) are the equations that predict equations (a3) ​​and (a4) and are directly output. Moreover, since equation (a3) ​​is transformed from equations (3) and (4) into

[0162]

Number 17

[0163]

[0164] , so the update of the estimated value of the gyro bias stops.

[0165] The offset removal execution unit MH02 subtracts the gyro offset ω calculated in the above calculation from the angular velocity ωmes calculated by the vehicle body IMU 13. b The value obtained by the estimated value (the value of the above formula (a12)) is output as the angular velocity ω without the gyro bias.

[0166] <Rotation Action Judgment Unit MH03>

[0167] The rotation operation execution judgment unit MH03 uses the angular velocity ω obtained by removing the gyro bias calculated by the bias removal execution unit MH02 to judge whether the upper rotating body 2 is rotating. Specifically, when the absolute value of the angular velocity ω is greater than a predetermined value (e.g., 0.5 deg / s), it is judged that the upper rotating body 2 is rotating. This predetermined value needs to be designed according to the performance of the vehicle body IMU 13.

[0168] The reason why the angular velocity ω is taken as an absolute value is because the upper rotating body 2 can freely rotate to the left (+angular velocity) and to the right (-angular velocity).

[0169] <Azimuth angle integration calculation unit MH04>

[0170] The azimuth angle calculation integration unit MH04 calculates the corrected azimuth angle using the calculation results of the azimuth angle quality determination unit MH01, the offset removal calculation execution unit MH02, and the rotation operation execution determination unit MH03, and the azimuth angle of the upper rotating body 2 output from the GNSS system 17. The specific processing content is shown below.

[0171] First, when the azimuth quality calculated by the azimuth quality judgment unit MH01 is good, the azimuth θ of the upper rotating body 2, which is the calculated value from the GNSS receiver 17c, is directly used as the corrected azimuth θ, regardless of whether the rotation operation is judged to be performed by the rotation operation execution judgment unit MH03. m Output. That is, it becomes θ m =θ.

[0172] However, when the sampling period of the GNSS receiver 17c is slower than the sampling period of the vehicle body IMU 13, the azimuth angle during each sampling period may be interpolated by the angular velocity ω calculated by the offset removal calculation execution unit MH02. For example, it is sufficient to add "Δt×ω" to the azimuth angle θ output by the GNSS system 17 in accordance with the calculation period Δt of the controller 20.

[0173] The following describes the calculation contents of the azimuth angle integration calculation unit MH04 when the azimuth angle quality calculated by the azimuth angle quality determination unit MH01 is poor.

[0174] First, when the rotation operation execution determination unit MH03 determines that there is no rotation operation, the azimuth angle integration calculation unit MH04 uses the azimuth angle θ0 immediately before the azimuth angle quality is determined to be poor as the corrected azimuth angle θ m And output.

[0175] This utilizes the fact that the azimuth angle does not change unless the rotation action is performed. In addition, the controller 20 successively stores the calculated value from the GNSS receiver 17c, that is, the azimuth angle θ of the upper rotating body 2, in the storage device 20f (refer to Figure 2 ), and when the azimuth quality is judged to be poor, the azimuth θ stored in the storage device 20f just before is read as the azimuth θ0, thereby making it possible to use the azimuth θ0 just before the azimuth quality is judged to be poor as the corrected azimuth θ m And output.

[0176] Next, when the rotation operation execution determination unit MH03 determines that there is a rotation operation and the time t from the determination that the azimuth quality is poor is less than the predetermined value Tmax, the azimuth integrated calculation unit MH04 uses the azimuth θ0 immediately before the azimuth quality is determined to be poor as a reference value, and adds the integrated value of the output ω of the gyro bias removal execution unit MH02 to the azimuth θ0 to obtain a corrected azimuth θ. m And output. That is to say, the corrected azimuth angle θ m It is given by the following formula.

[0177]

Number 18

[0178] θ m =θ o +∑Δtω...Formula (6)

[0179] Furthermore, when the rotation operation execution judgment unit MH03 judges that there is a rotation operation and the time t from when the azimuth quality is judged to be poor is greater than the predetermined value Tmax, the azimuth integration calculation unit MH04 enables the low-precision warning flag. This state indicates that the azimuth with sufficient accuracy cannot be calculated using the integral value of the angular velocity calculated by the offset removal execution unit MH02. Therefore, it is desirable to correct the azimuth θ m The value of equation (7) is used to stop. In addition, the integer N is the number of samples until a predetermined time, which is "Tmax÷Δt".

[0180]

Number 19

[0181]

[0182] Follow Figure 6 The flowchart of will explain the calculation steps of the correction azimuth angle calculation unit 20a-1 described above.

[0183] In step FC01 , information is acquired from various sensors (IMUs 13 to 16 , GNSS system 17 ) in each calculation cycle of the controller 20 .

[0184] In step FC02, it is checked whether each posture angle obtained from IMU 13 to 16 is a value that may reduce the azimuth quality. For example, if the boom angle is above a predetermined value (e.g., 30 degrees based on the horizontal plane), a positive determination is made and the process is transferred to step FC03. After transferring to step FC03, the fact that the azimuth quality is good is stored in the storage device 20f (refer to Figure 2 ). On the other hand, when a negative determination is made, the process proceeds to step FC04, and the azimuth quality is stored in the storage device 20f.

[0185] In addition, since steps FC02 to FC04 are the calculation contents of the azimuth quality determination unit MH01, they may be set as table reference as shown in FIG. 5 without going through the determination unit.

[0186] In step FC05, the azimuth quality stored in the storage device 20f in steps FC03 and FC04 is referred to, and if the value is good (yes), the process proceeds to step FC06, and if it is bad (no), the process proceeds to step FC07.

[0187] When the process moves to step FC06, the variance of the observation noise is set to a small value because the reliability of the azimuth angle obtained from the GNSS system 17 is high. On the other hand, when the process moves to step FC07, the variance R of the observation noise is set to a large value because the reliability of the azimuth angle obtained from the GNSS system 17 is low.

[0188] In step FC08 , a Kalman filter (KF) calculation using the variance R determined in steps FC06 and FC07 is performed to estimate the gyro bias.

[0189] When the processing of step FC08 is completed, the process proceeds to step FC21. In step FC21, the gyro bias ω estimated in step FC08 is subtracted from the angular velocity ωmes acquired from the vehicle body IMU 13. b Instead, a gyro bias removal operation is performed.

[0190] The series of calculations in steps FC05 to FC08 described above corresponds to the gyro offset removal execution unit MH02.

[0191] In step FC09, the angular velocity ω calculated by the gyro bias removal execution unit MH02 is compared with a predetermined value. If the absolute value of the angular velocity ω is less than the predetermined value (yes), the process moves to step FC10 and determines that there is no rotational motion. On the other hand, if the absolute value of the angular velocity ω is greater than the predetermined value (no), the process moves to step FC11 and determines that there is rotational motion.

[0192] The series of calculations in steps FC09 to FC11 described above corresponds to the rotation operation execution determination unit MH03.

[0193] In step FC12, the azimuth quality stored in the storage device 20f is referenced again, and if the azimuth quality is good (yes), the process proceeds to step FC13, and if it is bad (no), the process proceeds to step FC15.

[0194] When the process moves to step FC13, since the azimuth quality is good, the azimuth angle θ is corrected. m , the azimuth angle θ output by the GNSS system 17 is used as the corrected azimuth angle θ m Then, the process moves to step FC14, where the flag related to the low-precision warning is disabled, and the operation is terminated.

[0195] When the process moves to step FC15 , the presence or absence of rotation determined in steps FC10 and FC11 is referred to, and when there is no rotation (if yes), the process moves to step FC16 , and when there is rotation (if no), the process moves to step FC17 .

[0196] When the process moves to step FC16, even if the azimuth quality is poor, since no rotation operation is performed, the azimuth angle θ0 immediately before the azimuth quality becomes poor is used as the corrected azimuth angle θ. m Then, the process moves to step FC14, where the flag related to the low-precision warning is disabled, and the operation is terminated.

[0197] When the process moves to step FC17, it is checked whether the time t elapsed from the azimuth quality failure is less than the predetermined time Tmax. If the time t elapsed is less than the predetermined time (yes), the process moves to step FC18. On the other hand, if the time elapsed is greater than the predetermined value (no), the process moves to step FC19.

[0198] When the process moves to step FC18, the azimuth angle θ is corrected. m The calculation is performed by equation (6). Then, the process moves to step FC14, where the flag related to the low-precision warning is disabled, and the calculation is terminated.

[0199] When the process moves to step FC19, the azimuth angle θ is corrected.m The calculation is performed by using the formula (7). Then, the process moves to step FC20, where the flag related to the low-precision warning is enabled, and the calculation is terminated.

[0200] As described above, in this embodiment, the controller 20 determines in the position and posture calculation unit 20a that the quality of the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c is low when at least one of the posture angle of the upper rotating body 2 obtained by the body IMU 13 (body posture angle acquisition device) and the posture angle of the front working machine 1 obtained by the boom IMU 14 (front posture angle acquisition device) is greater than a specified value, and based on the quality of the azimuth angle and the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c, performs an angular velocity calculation of the upper rotating body 2 obtained by the body IMU 13 (angular velocity acquisition device). The gyro bias is removed from the speed by performing an offset removal operation, and the presence or absence of the rotation of the upper rotating body 2 is determined based on the angular velocity of the upper rotating body 2 from which the gyro bias is removed, and the corrected azimuth of the upper rotating body 2 is calculated based on the azimuth of the upper rotating body 2 calculated by the GNSS receiver 17c, the angular velocity of the upper rotating body 2 from which the gyro bias is removed, and the result of the determination of the rotation of the upper rotating body 2. Therefore, regardless of the posture change of the hydraulic excavator 100 such as the lifting and lowering of the front working machine 1, the azimuth of the upper rotating body 2 can be accurately calculated using GNSS, and the azimuth of the upper rotating body 2 can be obtained with high accuracy and stability. Therefore, the frequency of stopping the action of machine guidance or machine control can be reduced, thereby improving the working efficiency.

[0201] <Second Embodiment>

[0202] The first embodiment is a configuration in which only sensors additionally mounted on the hydraulic excavator 100 are used.

[0203] The second embodiment of the present invention makes use of sensors originally mounted on the hydraulic excavator 100 to facilitate or stabilize the calculation contents.

[0204] First, the features of this embodiment will be roughly described as follows.

[0205] In the present embodiment, when the controller 20 judges the quality of the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c, the controller 20 inputs the operation signal of the operating lever device 9a (first operating lever device) indicating the lifting action of the boom 4 (action of the front working machine 1) as a backup for the posture angle of the front working machine 1 acquired by the boom IMU 14 (front posture angle acquisition device), and based on the operation signal of the operating lever device 9a, when the operation of the operating lever device 9a in the lifting direction of the front working machine 1 continues for more than a prescribed time, it is judged that the quality of the azimuth angle of the upper rotating body 2 is low. The prescribed time is, for example, the time elapsed until the angle of the boom 4 reaches the above-mentioned prescribed value by fully operating the operating lever device 9a in the boom raising direction when the front working machine 1 is in the standard posture at the start of boom raising, and is stored in the storage device (for example, ROM) of the controller 20 as a judgment value for judging the quality of the azimuth angle of the upper rotating body 2.

[0206] In addition, when the controller 20 judges whether the upper rotating body 2 is rotating, the controller 20 inputs the operation signal of the operating lever device 9b (second operating lever device) as a backup for the angular velocity of the upper rotating body 2 from which the gyro bias is removed, and based on the operation signal of the operating lever device 9b, when the magnitude of the operation signal of the operating lever device 9b is greater than a predetermined value, it is judged that the upper rotating body 2 is rotating. The predetermined value is the value of the operation signal at which the rotation motor 2a starts rotating when the operation signal is generated, and is stored in the storage device (e.g., ROM) of the controller 20 as a judgment value for whether the upper rotating body 2 is rotating.

[0207] The following is based on Figure 7 The details of the processing contents of the above-mentioned controller 20 will be described. Figure 7 It is a block diagram showing the processing functions of the correction azimuth angle calculation unit 20a-1 in this embodiment.

[0208] In this embodiment, the correction azimuth angle calculation unit 20a-1 is Figure 4 The azimuth quality determination unit MH01 and the rotation operation execution determination unit MH03 shown in the figure further input the operation signal (electrical signal) of the operation lever device 9a, 9b as an additional signal.

[0209] The azimuth quality judgment unit MH01 judges the azimuth quality by using the posture angle information output from the vehicle body IMU 13 and the boom IMU 14, and also judges the azimuth quality by using the boom raising operation signal output from the operating lever device 9a. For example, when the boom raising operation based on the boom raising operation signal output from the operating lever device 9a continues for a predetermined time, the boom cylinder 4a gradually extends and finally reaches the position of Fig.15AThat is, even without acquiring the posture angle of the boom IMU 14, the posture of the front working machine 1 required for determining the azimuth quality can be estimated by using the boom raising operation signal and the elapsed time thereof.

[0210] As described above, by utilizing the operation signal of the operating lever device 9a, even if a situation occurs in which the signal of the boom IMU 14 cannot be utilized due to a malfunction or the like, the azimuth quality can be continuously determined, thereby improving the robustness of the system.

[0211] The rotation operation execution determination unit MH03 in the present embodiment determines the presence or absence of a rotation operation by utilizing a rotation operation signal output from the operating lever device 9b in addition to the determination using the angular velocity ω output from the offset removal execution unit MH02.

[0212] When the value of the operation signal related to the rotation operation is less than the specified value (for example, less than 0.5 MPa according to the pilot pressure conversion value), the upper rotating body 2 will not rotate because the hydraulic oil will not flow into the rotating motor 2a. However, if the value of the operation signal becomes the lower limit value of the operation signal for the rotation of the rotating motor 2a, that is, above the specified value (for example, above 1.0 MPa according to the pilot pressure conversion value), the hydraulic oil will flow into the rotating motor 2a and the upper rotating body 2 will rotate.

[0213] Therefore, as long as the operation signal related to the rotational motion is confirmed, it is possible to determine whether there is a rotational motion before the vehicle body IMU 13 detects a change in angular velocity. The determination of the rotational motion using the rotational operation signal is not sufficient in the gyro bias removal performance in the gyro bias removal execution unit MH02, and cannot fully reduce the gyro bias. Figure 6 This is particularly effective in the case of a threshold value for determining the angular velocity of the rotational motion in step FC09 in the flowchart.

[0214] In addition, in the first and second embodiments, only the posture angle of the boom IMU 14 is input to the azimuth quality judgment calculation unit MH01, but the present invention is not limited to this. In the case of wanting to more accurately judge the posture of the front working machine 1, it is sufficient to change the method of inputting the posture angles of the boom IMU 14, the dipper arm IMU 15, and the bucket IMU 16.

[0215] In addition, in the second embodiment, the case where the operating lever devices 9a and 9b are of the electric lever type is described, but in the case where the operating lever devices 9a and 9b are of the hydraulic pilot type, it is only necessary to provide a pressure sensor for detecting the pilot pressure corresponding to the operating direction and operating amount of each operating lever and input the signal of the pressure sensor.

[0216] As described above, according to this embodiment, since the operation signals of the operating lever devices 9a and 9b are used as a backup for the posture angle of the front working machine 1 or the angular velocity of the upper rotating body 2, the stability of the system can be further improved, thereby improving the working efficiency.

[0217] <Third Embodiment>

[0218] The first and second embodiments are embodiments in which an inclination angle detector represented by an IMU is used for the front working machine 1 , but the present invention can be implemented even without using an inclination angle detector for the front working machine 1 .

[0219] First, the features of this embodiment will be roughly described as follows.

[0220] In the present embodiment, the hydraulic excavator 100 includes an image recognition device 35 (see FIG. 1 ) as a posture angle acquisition device for at least one of the vehicle body IMU 13 (vehicle body posture angle acquisition device) and the boom IMU 14 (front posture angle acquisition device). Figure 8 ), the image recognition device 35 is based on at least one camera 30 or 32 or 33 (refer to Figure 8 ) The controller 20 uses the image information acquired to identify at least one of the posture angles of the upper rotating body 2 and the posture angles of the front working machine 1, and judges the quality of the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c based on at least one of the posture angles of the upper rotating body 2 and the posture angles of the front working machine 1 recognized by the image recognition device 35, and performs an offset removal operation when it is judged that the quality of the azimuth angle of the upper rotating body 2 is low.

[0221] The following uses Figure 8 to Figure 10 The details of the third embodiment will be described.

[0222] Figure 8 1 is a diagram showing the appearance of the hydraulic excavator 100 and its surroundings in this embodiment. Figure 1 The same reference numerals of the components are omitted in the drawings.

[0223] The hydraulic excavator 100 related to the present embodiment is provided with a stereo camera 30 provided on the top front side of the operator's cabin 9, and a wireless communication device 31a provided on the top rear side of the operator's cabin 9. The wireless communication device 31a wirelessly communicates with another wireless communication device 31b provided in the work site. The wireless communication device 31b publishes the image information captured by the management camera 32 provided in the work site to the work site. In addition, the management camera 32 is not limited to a camera fixed in the work site. For example, the camera 33 and the wireless communication device 31c may also be mounted on a drone 34 that can fly freely in the work site.

[0224] Fig. 9 2 is a block diagram showing the processing functions of the controller 20 in this embodiment. Figure 3 The construction target surface calculation unit 20b and the hydraulic system control unit 20d are omitted from the illustration.

[0225] In this embodiment, the processing function of the controller 20 is changed to input the Figure 8 Except for the information of the stereo camera 30 and the wireless communication device 31b of the hydraulic excavator shown in FIG. Figure 3 The processing functions of the controller 20 in the first embodiment shown are the same. As a functional change, the controller 20 is added with an image recognition unit 20g that calculates the posture information of the front working machine based on the acquired image information. The structure obtained by integrating the stereo camera 30, the management camera 32, and the image recognition unit 20g is equivalent to the above-mentioned image recognition device 35.

[0226] The posture information calculated by the image recognition unit 20g of the image recognition device 35 depends largely on the performance (resolution, etc.) of the stereo camera 30 and the management camera 32. In the present invention, as long as there is a function that can determine whether the front working machine 1 is in the raised posture ( Fig.15A ) or descending posture ( Fig.14A ) is sufficient.

[0227] In the present embodiment, the posture information calculated by the above-mentioned image recognition unit 20g is used in the correction azimuth angle calculation unit 20a-1.

[0228] Fig.10 It is a block diagram showing the processing functions of the correction azimuth angle calculation unit 20a-1 in this embodiment.

[0229] exist Fig.10 In the correction azimuth angle calculation unit 20a-1, Figure 4 The azimuth quality determination unit MH01 and the rotation operation execution determination unit MH03 shown in the figure further input the signal from the image recognition unit 20g as an additional signal.

[0230] The azimuth quality determination unit MH01 determines the azimuth quality using the information of the lifting posture and the lowering posture of the front working machine 1 calculated by the image recognition unit 20g in addition to the information of the vehicle body inclination angle obtained by the vehicle body IMU 13. That is, if the front working machine 1 is in the lifting posture in the posture information calculated by the image recognition unit 20g, the azimuth quality is determined to be poor.

[0231] Furthermore, when using the management camera 33 provided in the drone 34, it is possible to obtain not only image information of the hydraulic excavator 100 itself but also image information of the surroundings of the hydraulic excavator 100. In such a case, the azimuth quality calculation unit MH01 may calculate the azimuth quality by considering not only the posture information of the hydraulic excavator 100 itself but also information of surrounding obstacles.

[0232] In addition, in the image recognition unit 20g, it is also possible to calculate not only the posture angle of the front working machine 1 but also the posture angle of the upper rotating body 2, and use the posture angle of the upper rotating body 2 in the azimuth quality calculation unit MH0. However, since the posture angle in this case is posture information obtained based on image processing, the judgment accuracy of the azimuth quality is lower than that of the vehicle body IMU 13, and it is desirable to limit the use to a backup.

[0233] The rotation operation execution judgment unit MH03 may also use the posture information of the upper rotating body 2 acquired by the image recognition unit 20g. However, in this case as well, the judgment accuracy of the presence or absence of a rotation operation based on the posture information obtained by image processing is lower than that of the vehicle body IMU 13, so it is desirable to limit the use thereof to a backup.

[0234] In addition, Figure 8 The hydraulic excavator 100 of the present invention is configured to use both the stereo camera 30 and the management camera 32 , but the present invention can be implemented using either one of them.

[0235] As described above, according to this embodiment, even without using the boom IMU 14 or the vehicle body IMU 13, the azimuth angle of the upper rotating body 2 can be accurately calculated using GNSS regardless of changes in the posture of the hydraulic excavator 100 such as the lifting and lowering of the front working machine 1, thereby obtaining the azimuth angle of the upper rotating body 2 with high precision and stability.

[0236] Furthermore, when the posture information acquired by the image recognition device 35 is used as a backup for the boom IMU 14 or the vehicle body IMU 13 , the robustness of the system can be further improved, thereby improving the working efficiency.

[0237] <Fourth Implementation Method>

[0238] For example, at the valley site, there are Fig.17 As shown in the figure, there is a steep slope behind the hydraulic excavator 100. In such a situation, since the satellite signal at the back of the hydraulic excavator 100 cannot be received, the quality of the azimuth angle will naturally be reduced.

[0239] The fourth embodiment of the present invention has been made in view of such circumstances.

[0240] First, the features of this embodiment will be roughly described as follows.

[0241] In the present embodiment, the controller 20 includes a terrain information storage device 20g (see Fig.11 ), and based on the three-dimensional coordinates of the GNSS antennas 17a and 17b calculated by the GNSS receiver 17c, the terrain information around the hydraulic excavator 100 (construction machinery) stored in the terrain information storage device 20g is read in. In addition to or instead of the quality judgment of the azimuth angle of the upper rotating body 2 based on the posture angle of the upper rotating body 2 obtained by the body IMU 13 (body posture angle acquisition device) and the posture angle of the front working machine 1 obtained by the boom IMU 14 (front posture angle acquisition device), when the surrounding terrain of the hydraulic excavator 100 (construction machinery) is likely to shield the satellite signal receivable area 200 of the GNSS antennas 17a and 17b, it is judged that the quality of the azimuth angle of the upper rotating body 2 calculated by the GNSS receiver 17c is low, and an offset removal operation is performed.

[0242] The following is based on Fig.11 The details of the processing contents of the controller 20 will be described. Fig.11 It is a block diagram showing the processing functions of the controller 20 in this embodiment.

[0243] In the present embodiment, the controller 20 further includes a surrounding terrain reference unit 20h.

[0244] The surrounding terrain reference unit 20h inputs the three-dimensional coordinate information of the GNSS antennas 17a and 17b acquired by the GNSS system 17, refers to the terrain information around the hydraulic excavator, and outputs the referenced terrain information to the corrected azimuth calculation unit 20a-1.

[0245] Fig.12 It is a block diagram showing the processing functions of the correction azimuth angle calculation unit 20a-1 in this embodiment.

[0246] like Fig.12 As shown in the figure, the corrected azimuth angle calculation unit 20a-1 in this embodiment is characterized in that it can determine the azimuth angle quality not only based on the posture information of the hydraulic excavator 100 (such as the lifting and lowering of the front working machine 1) but also based on the surrounding terrain information. In other words, if there is a terrain that blocks satellite signals around the vehicle position ( Fig.17 In the case of a steep slope, etc., the azimuth quality is determined to be poor regardless of the posture of the hydraulic excavator 100.

[0247] According to this embodiment, regardless of changes in the posture of the hydraulic excavator 100 such as raising and lowering the front working device 1 and / or regardless of the surrounding terrain of the hydraulic excavator 100, the azimuth angle of the upper rotating body 2 can be obtained with high accuracy and stability, thereby improving working efficiency.

[0248] Furthermore, although the first to fourth embodiments have been described above, a configuration in which two or more of these embodiments are combined may be used, and such a configuration is of course also within the scope of the present invention.

[0249] Description of Reference Numerals

[0250] 1 Front operating machine

[0251] 2 Upper rotating body

[0252] 3 Lower running body

[0253] 4 Boom

[0254] 5 Stick

[0255] 6 Bucket

[0256] 9. Operation Room

[0257] 9a, 9b Operating lever device

[0258] 11 Monitor

[0259] 13 Inertial measurement unit (body IMU) (angular velocity acquisition device) (body posture angle acquisition device) (body tilt sensor)

[0260] 14 Inertial measurement unit (boom IMU) (front posture angle acquisition device) (front tilt sensor)

[0261] 15 Inertial measurement unit (stick IMU) (front posture angle acquisition device)

[0262] 16 Inertial measurement unit (bucket IMU) (front posture angle acquisition device)

[0263] 17 GNSS system

[0264] 17a, 17b GNSS antenna

[0265] 17c GNSS Receiver

[0266] 20 Controller

[0267] 20a Position and posture calculation unit

[0268] 20a-1 Corrected azimuth calculation unit

[0269] 20a-2 Three-dimensional position and posture calculation unit

[0270] 20b Construction target surface calculation unit

[0271] 20c Monitor display control unit

[0272] 20d Hydraulic system control unit

[0273] 20e Storage Device

[0274] 20f Storage Device

[0275] 20g Image recognition unit

[0276] 20h Surrounding terrain reference

[0277] 30 Stereo Camera

[0278] 31a Wireless communication device

[0279] 31b Wireless communication device

[0280] 31c Wireless communication device

[0281] 32 Management cameras

[0282] 33 Camera

[0283] 34 Drone

[0284] 35 Image recognition device

[0285] 100 Hydraulic Excavator

[0286] 200 Satellite signal receivable area

[0287] Σm Body coordinate system

[0288] MH01 Azimuth quality judgment unit

[0289] MH02 offset removal actuator

[0290] MH03 Rotational motion determination unit

[0291] MH04 Azimuth integrated calculation unit.

Claims

1. An engineering machine having: Lower running body; An upper rotating body capable of rotating relative to a lower traveling body; A multi-jointed front working machine is mounted to be rotatable in a vertical direction relative to the upper rotating body; a GNSS system having two GNSS antennas mounted on the upper rotating body, and a GNSS receiver for calculating the three-dimensional coordinates of the GNSS antennas and the azimuth angle of the upper rotating body based on satellite signals received by the GNSS antennas; An angular velocity acquisition device, which is installed on the upper rotating body and acquires the angular velocity of the upper rotating body; A vehicle body posture angle acquisition device, which is installed on the upper rotating body and acquires the posture angle of the upper rotating body; a front posture angle acquisition device for acquiring a posture angle of the front working machine; as well as Controller, The controller calculates the position and posture of the front working machine based on the three-dimensional coordinates of the GNSS antenna and the azimuth angle of the upper rotating body calculated by the GNSS receiver, the posture angle of the upper rotating body acquired by the vehicle body posture angle acquisition device, the angular velocity of the upper rotating body acquired by the angular velocity acquisition device, and the posture angle of the front working machine acquired by the front posture angle acquisition device, and controls the movement of the front working machine based on the position and posture of the front working machine. The construction machinery is characterized in that: The controller determines the quality of the azimuth angle of the upper rotating body calculated by the GNSS receiver based on at least one of the posture angle of the upper rotating body acquired by the vehicle body posture angle acquisition device and the posture angle of the front working machine acquired by the front posture angle acquisition device, according to whether there is a possibility that the front working machine blocks the satellite signal receivable area of ​​the GNSS antenna, and, When the front working machine is likely to block the satellite signal receivable area of ​​the GNSS antenna, it is judged that the quality of the azimuth angle of the upper rotating body is low, based on the judgment result of the quality of the azimuth angle and the azimuth angle of the upper rotating body calculated by the GNSS receiver, a bias removal operation is performed to remove the gyro bias from the angular velocity of the upper rotating body acquired by the angular velocity acquisition device, and based on the angular velocity of the upper rotating body from which the gyro bias has been removed, it is judged whether the upper rotating body has a rotating motion, A corrected azimuth of the upper rotating body is calculated based on the azimuth of the upper rotating body calculated by the GNSS receiver, the angular velocity of the upper rotating body with the gyro bias removed, and a judgment result of the rotational movement of the upper rotating body, and the position and posture of the front working machine are calculated using the corrected azimuth.

2. The construction machine according to claim 1, characterized in that: The vehicle body posture angle acquisition device is at least one vehicle body tilt sensor installed on the upper rotating body. The front posture angle acquisition device is at least one front tilt sensor installed on the front working machine. The controller judges the quality of the azimuth angle of the upper rotating body calculated by the GNSS receiver based on at least one of the posture angle of the upper rotating body detected by the vehicle body tilt sensor and the posture angle of the front working machine detected by the front tilt sensor, and performs the offset removal operation when it is judged that the quality of the azimuth angle of the upper rotating body is poor.

3. The construction machine according to claim 1, characterized in that: An image recognition device is provided as a posture angle acquisition device of at least one of the vehicle body posture angle acquisition device and the front posture angle acquisition device, The image recognition device recognizes at least one of the posture angle of the upper rotating body and the posture angle of the front working device based on image information acquired from at least one camera, The controller judges the quality of the azimuth angle of the upper rotating body calculated by the GNSS receiver based on at least one of the posture angle of the upper rotating body and the posture angle of the front working machine recognized by the image recognition device, and performs the offset removal operation when it is judged that the quality of the azimuth angle of the upper rotating body is poor.

4. The engineering machine according to claim 1, characterized in that: The controller includes a terrain information storage device storing terrain information of the surroundings of the construction machine. Based on the three-dimensional coordinates of the GNSS antenna calculated by the GNSS receiver, the terrain information of the surroundings of the construction machine stored in the terrain information storage device is read; In addition to or instead of the quality judgment of the azimuth angle of the upper rotating body based on the posture angle of the upper rotating body acquired by the vehicle body posture angle acquisition device and the posture angle of the front working machine acquired by the front posture angle acquisition device, when the surrounding terrain of the construction machinery is likely to shield the satellite signal receivable area of ​​the GNSS antenna, it is judged that the quality of the azimuth angle of the upper rotating body calculated by the GNSS receiver is low, and the offset removal operation is performed.

5. The engineering machine according to claim 1, characterized in that: The controller includes an azimuth angle storage device for storing an azimuth angle when the azimuth angle of the upper rotating body is judged to be of high quality. When it is judged that the quality of the azimuth angle of the upper rotating body is low and it is judged that the upper rotating body has no rotation movement, the azimuth angle stored in the azimuth angle storage device just before the quality of the azimuth angle of the upper rotating body is judged to be low is used as a corrected azimuth angle to calculate the position and posture of the front working machine.

6. The engineering machine according to claim 1, characterized in that: After determining that the quality of the azimuth angle of the upper rotating body is low and that the upper rotating body has a rotating motion, the controller notifies the user that the accuracy of the azimuth angle of the upper rotating body may be low when the low quality state of the azimuth angle of the upper rotating body is maintained for a prescribed time.

7. The engineering machine according to claim 1, characterized in that: It also includes a first operating lever device for instructing the movement of the front working machine. When judging the quality of the azimuth angle of the upper rotating body calculated by the GNSS receiver, the controller inputs the operation signal of the first operating lever device as a backup for the posture angle of the front working machine acquired by the front posture angle acquisition device, and based on the operation signal of the first operating lever device, when the lifting direction operation of the front working machine by the first operating lever device continues for more than a specified time, the controller judges that the quality of the azimuth angle of the upper rotating body is low.

8. The engineering machine according to claim 1, characterized in that: It also includes a second operating lever device for instructing the movement of the upper rotating body. When determining whether the upper rotating body has a rotational motion, the controller inputs an operation signal of the second operating lever device as a backup for the angular velocity of the upper rotating body from which the gyro bias has been removed, and based on the operation signal of the second operating lever device, determines that the upper rotating body has a rotational motion when a magnitude of the operation signal of the second operating lever device is greater than a specified value.

Images