Shovel, and control device of shovel

Abstract

To detect a state in which motion is stopped.SOLUTION: A shovel includes an inertial measurement device, and a control device for calculating a position of an attachment and an attitude of the shovel itself based on measurement values by the inertial measurement device. The control device has a stop determination unit which, when receiving a request to obtain a measurement value of the inertial measurement device as an initial value in the calculation, determines whether movement of the shovel is stopped or not using operation information indicating an operating state of the shovel at the time the request to obtain is received.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a shovel and a control device for the shovel. [Background technology]

[0002] Conventionally, there is known an excavator that has an IMU (Inertial Measurement Unit) and calculates the position of an attachment and the attitude of the excavator itself using measurement values ​​of the IMU. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 101004 Summary of the Invention [Problem to be solved by the invention]

[0004] It is assumed that the initial values ​​of the IMU measurement values ​​used to calculate the attachment position and the attitude of the vehicle are acquired when the excavator is stopped. However, in the conventional technology, when acquiring the IMU measurement values ​​as the initial values, it is not determined whether the excavator is stopped or not. Therefore, in the conventional technology, there is a possibility that the initial values ​​are acquired when the excavator is moving, which affects the accuracy of the calculation.

[0005] The present disclosure is directed to detecting a state of cessation of motion. [Means for solving the problem]

[0006] A shovel according to an embodiment of the present invention is an shovel having an inertial measurement unit and a control unit that calculates the position of an attachment and the attitude of the shovel itself based on measurement values ​​from the inertial measurement unit, and the control unit has a stop determination unit that, when receiving a request to obtain a measurement value of the inertial measurement unit as an initial value in the calculation, determines whether the movement of the shovel has stopped using operation information that indicates the operating state of the shovel at the time the acquisition request was received.

[0007] A shovel control device according to an embodiment of the present invention is a shovel control device that calculates the position of an attachment and the attitude of the shovel based on measurement values ​​from an inertial measurement unit attached to the shovel, and has a stop determination unit that, when a request to obtain a measurement value of the inertial measurement unit as an initial value in the calculation is received, determines whether the movement of the shovel has stopped using operation information that indicates the operating state of the shovel at the time the request to obtain the measurement value is received. Effect of the Invention

[0008] It is possible to detect when motion has stopped. [Brief description of the drawings]

[0009] [Figure 1] FIG. [Diagram 2] FIG. 2 is a diagram illustrating an outline of the configuration of a shovel. [Diagram 3] FIG. 2 is a diagram illustrating a functional configuration of a controller. [Figure 4] 11 is a first flowchart illustrating a process of a controller. [Diagram 5] 13 is a second flowchart illustrating the process of the controller. [Figure 6] FIG. 2 is a diagram showing a display example of a display device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, a shovel of this embodiment will be described with reference to the drawings. Fig. 1 is a side view of the shovel. In this embodiment, a shovel 100 will be described as an example of a work machine.

[0011] The excavator 100 has a lower traveling body 1, a slewing mechanism 2, and an upper rotating body 3. In the excavator 100, the upper rotating body 3 is rotatably mounted on the lower traveling body 1 via the slewing mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

[0012] The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0013] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"). For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest and increases as the boom 4 is raised.

[0014] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"). For example, the arm angle is at its minimum when the arm 5 is fully closed, and increases as the arm 5 is opened.

[0015] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). For example, the bucket angle is at its minimum when the bucket 6 is fully closed, and increases as the bucket 6 is opened.

[0016] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each include, for example, a rotary encoder, an acceleration sensor, a gyro sensor (angular velocity sensor), a six-axis sensor, an IMU (Inertial Measurement Unit), etc. A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8.

[0017] A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are also collectively referred to as the "cylinder pressure sensors."

[0018] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm bottom pressure").

[0019] The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket bottom pressure").

[0020] The upper rotating body 3 is provided with a cabin 10 serving as a driver's cab, and is equipped with a power source such as an engine 11. In addition, a sensor for detecting the amount of CO2 emissions may be provided near the exhaust mechanism of the engine 11.

[0021] Furthermore, the upper rotating body 3 is equipped with a controller 30, a display device 40, an operation unit 42, a sound output device 43, a storage device 47, a positioning device P1, an aircraft tilt sensor S4, a rotation angular velocity sensor S5, an imaging device S6, and a communication antenna T1.

[0022] The upper rotating body 3 may be equipped with an electricity storage device that supplies electric power, and a motor generator that generates electric power using the rotational driving force of the engine 11. The electricity storage device is, for example, a capacitor or a lithium ion battery. The motor generator may function as an electric motor to drive a mechanical load, or may function as a generator to supply electric power to an electric load.

[0023] The controller 30 functions as a main control unit that performs drive control of the shovel 100. In this embodiment, the controller 30 is configured with a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The various functions of the controller 30 are realized, for example, by the CPU executing a program stored in the ROM. The various functions may include at least one of a machine guidance function and a machine control function.

[0024] The machine guidance function is, for example, a function that guides the operator in manually operating the shovel 100. The machine control function is, for example, a function that automatically operates at least one of the boom 4, the arm 5, and the bucket 6 in response to the operator's manual operation so that the target construction surface and the working portion of the bucket 6 coincide with each other.

[0025] In addition, when realizing a machine control function, for example, the controller 30 calculates the position of the attachment and the attitude of the shovel 100 using the measurement values ​​of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the swing angular velocity sensor S5, as well as the shape and dimensions of each part.

[0026] The position of the attachment includes the current positions of the boom 4, the arm 5, and the bucket 6 included in the attachment. The posture of the shovel 100 may be indicated by the overall direction of the shovel 100 (swing angle), the inclination of the vehicle body, etc.

[0027] Furthermore, the controller 30 of this embodiment determines whether the movement of the shovel 100 has stopped before starting calculation of the attachment position and the posture of the shovel 100. Then, when it is determined that the movement of the shovel 100 has stopped, the controller 30 of this embodiment acquires the measurement values ​​of each sensor as initial values ​​and starts calculation of the attachment position and the posture of the shovel 100.

[0028] Therefore, according to this embodiment, it is possible to detect a state in which the movement of the shovel 100 has stopped. Furthermore, in this embodiment, when the movement of the shovel 100 has stopped, it is possible to acquire initial values ​​used in calculating the position of the attachment and the attitude of the shovel 100, thereby improving the accuracy of the calculation.

[0029] In the following description of the embodiments, the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the vehicle tilt sensor S4, and the turning angular velocity sensor S5 may be collectively referred to as an inertial measurement unit.

[0030] The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as a Controller Area Network (CAN), or may be connected to the controller 30 via a dedicated line.

[0031] The operation unit 42 is configured to enable an operator to input various information to the controller 30. The operation unit 42 includes at least one of a touch panel, a knob switch, a membrane switch, and the like installed in the cabin 10.

[0032] The sound output device 43 is configured to output sound. The sound output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm such as a buzzer. In this embodiment, the sound output device 43 is configured to output various information by sound in response to a sound output command from the controller 30.

[0033] The storage device 47 is configured to store various information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during operation of the shovel 100, or may store information acquired via various devices before the operation of the shovel 100 is started.

[0034] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may be configured to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can also function as an orientation detection device that detects the orientation of the upper rotating body 3. The orientation detection device may be a direction sensor attached to the upper rotating body 3.

[0035] The machine body inclination sensor S4 is configured to detect the inclination of the upper rotating body 3. In this embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the longitudinal inclination angle about the longitudinal axis and the lateral inclination angle about the lateral axis of the upper rotating body 3 with respect to a virtual horizontal plane. The longitudinal axis and the lateral axis of the upper rotating body 3 are perpendicular to each other at, for example, the shovel center point, which is a point on the rotation axis of the shovel 100.

[0036] The imaging device S6 is an example of a spatial recognition device, and is configured to acquire an image of the periphery of the shovel 100. In this embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, a right camera S6R that images the space to the right of the shovel 100, and a rear camera S6B that images the space behind the shovel 100.

[0037] The imaging device S6 is, for example, a monocular camera having an imaging element such as a CCD or CMOS, and outputs a captured image to the display device 40. The imaging device S6 may be a stereo camera, a distance imaging camera, etc. Furthermore, the imaging device S6 may be replaced with other spatial recognition devices (object detection devices) such as a three-dimensional distance image sensor, an ultrasonic sensor, a millimeter wave radar, a LIDAR, or an infrared sensor, or may be replaced with a combination of another spatial recognition device and a camera.

[0038] The front camera S6F is attached, for example, to the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may be attached to the outside of the cabin 10, such as the roof of the cabin 10 or the side of the boom 4. The left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0039] The communication antenna T1 is configured to control communication with an external device outside the shovel 100. In this embodiment, the communication antenna T1 controls communication with the external device via a satellite communication network, a mobile phone communication network, the Internet network, or the like. The external device is, for example, a management device such as a server installed in an external facility, or a support device such as a smartphone carried by a worker in the vicinity of the shovel 100.

[0040] The shovel 100 of this embodiment acquires operation information indicating the operation status of the shovel 100. Specifically, the operation information of the shovel 100 includes position information indicating the current position of the shovel, orientation information indicating the orientation of the shovel, attitude information indicating the attitude of the shovel, work content information indicating the work content, load rate information indicating the load rate, operation time information indicating the operation time of the shovel 100, fuel information including the fuel injection amount, CO2 emission amount, work amount, etc.

[0041] The attitude information indicating the attitude of the excavator itself may include the measurement values ​​(acceleration and angular velocity) of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the swing angular velocity sensor S5. Furthermore, the work content information indicating the work content may include the output value of the operating pressure sensor 29 described later. Operation information of the excavator 100 may be transmitted to an external device via the communication antenna T1.

[0042] The shovel 100 of this embodiment may use an electric motor as a prime mover instead of an engine. In this case, power may be supplied from a power storage device to the electric motor. In this case, the shovel 100 uses an inverter to control the electric motor, thereby rotating and driving the main pump 14 (see FIG. 2) with the power stored in the power storage device.

[0043] Next, an outline of the configuration of the shovel 100 will be described with reference to Fig. 2. Fig. 2 is a diagram for explaining an outline of the configuration of the shovel. In Fig. 2, mechanical power transmission lines are indicated by double lines, hydraulic oil lines by thick solid lines, pilot lines by dashed lines, power lines by thin solid lines, and electrical control lines by dashed lines.

[0044] As shown in FIG. 2, the basic system of the excavator 100 mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, an operating pressure sensor 29, a controller 30, a switching valve 60, a display device 40, a storage battery 70, an engine speed adjustment dial 75, and the like.

[0045] The engine 11 is a diesel engine that employs isochronous control for maintaining a constant engine speed regardless of changes in the load. The amount of fuel injected into the engine 11, the timing of fuel injection, the boost pressure, and the like are controlled by an engine control unit (ECU 74).

[0046] The engine 11 is connected to a main pump 14 and a pilot pump 15, which serve as hydraulic pumps. The main pump 14 is connected to a control valve 17 via a hydraulic oil line.

[0047] The control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator 100. The control valve 17 is connected to hydraulic actuators such as the left traveling hydraulic motor, the right traveling hydraulic motor, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the swing hydraulic motor.

[0048] Specifically, the control valve 17 includes a plurality of spool valves corresponding to the respective hydraulic actuators. Each spool valve is configured to be displaceable in response to the pilot pressure so that the opening area of ​​the PC port and the opening area of ​​the CT port can be increased or decreased. The PC port is a port that communicates between the main pump 14 and the hydraulic actuators. The CT port is a port that communicates between the hydraulic actuators and the hydraulic oil tank.

[0049] The pilot pump 15 is connected to the operating devices 26 via a pilot line. The operating devices 26 include, for example, a left operating lever, a right operating lever, and a travel operating device. The travel operating device includes, for example, a travel lever and a travel pedal. In this embodiment, each of the operating devices 26 is a hydraulic operating device and is connected to a pilot port of a corresponding spool valve in the control valve 17 via a pilot line. However, the operating devices 26 may be electric operating devices.

[0050] In addition, in the operation device 26 of this embodiment, a switch NS (see FIG. 3) is provided on the left operation lever. In this embodiment, the switch NS is a push button switch. In this embodiment, the machine control function may be enabled / disabled (on / off) in response to the operation of pressing the switch NS. Note that the switch NS may be provided on the right operation lever, or may be provided at another position in the cabin 10.

[0051] The operation pressure sensor 29 detects the operation of the operation device 26 in the form of pressure. The operation pressure sensor 29 outputs a detection value indicating the amount of operation on the operation device 26 to the controller 30. However, the operation of the operation device 26 may be detected electrically.

[0052] The switching valve 60 is configured to be able to switch between an enabled state and an disabled state of the operating device 26. The enabled state of the operating device 26 is a state in which the operator can operate the hydraulic actuator using the operating device 26. The disabled state of the operating device 26 is a state in which the operator cannot operate the hydraulic actuator using the operating device 26. In this embodiment, the switching valve 60 is a gate lock valve configured to operate in response to a command from the controller 30.

[0053] Specifically, the switching valve 60 is disposed in a pilot line connecting the pilot pump 15 and the operating device 26, and is configured to be able to switch between open and closed states of the pilot line in response to a command from the controller 30. The operating device 26 is enabled, for example, when the gate lock lever D4 is pulled up to open the switching valve 60 (gate lock valve), and disabled, when the gate lock lever D4 is pushed down to close the switching valve 60 (gate lock valve).

[0054] The display device 40 is configured to display various types of information. The display device 40 may be connected to the controller 30 via a communication network such as a CAN, or may be connected to the controller 30 via a dedicated line. In this embodiment, the display device 40 is configured to display one or more captured images captured by the imaging device S6 and a menu screen. The display device 40 operates by receiving power supply from the storage battery 70. The display device 40 has a control unit 40a, an image display unit 41, and an operation unit 42.

[0055] The control unit 40a controls the image displayed on the image display unit 41. In this embodiment, the control unit 40a is configured as a computer equipped with a CPU, RAM, NVRAM, ROM, etc. In this case, the control unit 40a reads out a program corresponding to each functional element from the ROM and loads it into the RAM, and causes the CPU to execute the corresponding process. However, each functional element may be configured as hardware, or may be configured as a combination of software and hardware. In addition, the image displayed on the image display unit 41 may be controlled by the controller 30 or the imaging device S6.

[0056] The image display unit 41 displays a captured image captured by at least one of the imaging devices S6 and a menu screen. The captured image may be, for example, any one of a rear image captured by the rear camera S6B, a left image captured by the left camera S6L, and a right image captured by the right camera S6R. The captured image may be, for example, an overhead image obtained by combining captured images captured by the rear camera S6B, the left camera S6L, and the right camera S6R. The captured image may be two or more images selected from a rear image, a left image, a right image, and an overhead image. The menu screen includes a status screen showing a status of the shovel 100 and a setting screen showing various settings of the shovel 100.

[0057] The operation unit 42 is a switch panel including hardware switches. The operation unit 42 may be a touch panel. In this embodiment, the operation unit 42 is disposed below the image display unit 41, and includes a switch (e.g., a menu switch) for changing an image displayed by the image display unit 41. However, the location of the operation unit 42 is not limited to the above example, and may be disposed, for example, on an operation lever, or may be disposed on a left-side console or a right-side console on both the left and right sides of the driver's seat.

[0058] Furthermore, the image display unit 41 may be configured to display a menu screen when a menu switch of the operation unit 42 is operated, regardless of whether the shovel 100 is in an operable state or an inoperable state. Furthermore, the image display unit 41 may be configured to display a menu screen when a menu switch of the operation unit 42 is operated, only when the shovel 100 is in an inoperable state.

[0059] Also, for example, these may be configured to be switchable by a switching means such as a change-over switch. The state in which the shovel 100 is operable is, for example, a state in which the gate lock lever D4 is pulled up and the change-over valve 60 is opened, thereby enabling the operation device 26. The state in which the shovel 100 is inoperable is, for example, a state in which the gate lock lever D4 is pushed down and the change-over valve 60 is closed, thereby disabling the operation device 26.

[0060] The storage battery 70 is charged with electricity generated by, for example, the alternator 11a. The power of the storage battery 70 is also supplied to the controller 30, etc. For example, the starter 11b of the engine 11 is driven by the power from the storage battery 70 to start the engine 11.

[0061] The ECU 74 transmits data relating to the state of the engine 11, such as the coolant temperature, to the controller 30. The regulator 14a of the main pump 14 transmits data relating to the swash plate tilt angle to the controller 30. The discharge pressure sensor 14b transmits data relating to the discharge pressure of the main pump 14 to the controller 30. The oil temperature sensor 14c provided in the pipeline between the hydraulic oil tank and the main pump 14 transmits data relating to the temperature of the hydraulic oil flowing through that pipeline to the controller 30. The operating pressure sensor 29 transmits data relating to the pilot pressure generated when the operating device 26 is operated to the controller 30. The controller 30 stores these data in a temporary storage unit (memory) and can transmit them to the display device 40 when necessary.

[0062] The engine speed adjustment dial 75 receives an operation input for adjusting the speed of the engine 11 (hereinafter, "engine speed"). The engine speed adjustment dial 75 is configured to allow the user to adjust the engine speed in 10 stages that are specified in advance. As a result, for example, in light-load work, the engine speed level is adjusted to be relatively low, thereby improving the fuel efficiency of the excavator 100. Also, for example, when lifting work or loading earth and sand into a dump truck is performed, the engine speed level is set relatively low, thereby suppressing the occurrence of load swaying, collapse of the earth and sand on the loading platform, and the like. Also, for example, in the case of a new operator with relatively low operating skills of the excavator 100, the engine speed can be adjusted to be relatively low in order to suppress the influence on the work of unreasonable operation, operating errors, and the like.

[0063] An output signal corresponding to the input received by the engine speed adjustment dial 75 is taken into the controller 30. Note that instead of adjusting the level of the engine speed through the engine speed adjustment dial 75, the engine speed itself may be adjustable. For example, the engine speed may be adjustable using the engine speed adjustment dial 75 continuously or in predetermined value increments.

[0064] The alarm device 50 is a device for attracting the attention of people involved in the work of the shovel 100. The alarm device 50 is configured, for example, by a combination of an indoor alarm device and an outdoor alarm device. The indoor alarm device is a device for attracting the attention of an operator of the shovel 100 in the cabin 10, and includes, for example, at least one of a sound output device, a vibration generating device, and a light emitting device provided in the cabin 10. The indoor alarm device may be the display device 40.

[0065] The exterior alarm device is a device for calling the attention of workers working around the excavator 100, and includes, for example, at least one of a sound output device and a light emitting device provided outside the cabin 10. The sound output device as the exterior alarm device includes, for example, a traveling alarm device attached to the bottom surface of the upper rotating body 3. The exterior alarm device may also be a light emitting device provided on the upper rotating body 3. However, the exterior alarm device may be omitted. The alarm device 50 may, for example, when the imaging device S6 functioning as an object detection device detects a predetermined object, notify a person involved in the work of the excavator 100 of that fact.

[0066] Next, the functional configuration of the controller 30 of this embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram illustrating the functional configuration of the controller.

[0067] The controller 30 is configured to receive signals output from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, vehicle inclination sensor S4, turning angular velocity sensor S5, operation device 26, positioning device P1, imaging device S6, switch NS, etc., perform various calculations, and output control commands to the display device 40, sound output device 43, etc.

[0068] The controller 30 includes an information acquisition unit 30A, an operation control unit 30B, a stop determination unit 30C, and a display control unit 30D. Each of these units may be realized by the controller 30 reading and executing a program stored in a recording device (not shown).

[0069] The information acquiring unit 30A acquires operation information of the shovel 100. In other words, the information acquiring unit 30A acquires a measurement value of an inertial measurement unit provided in the shovel 100. The information acquiring unit 30A also acquires an output value of the operating pressure sensor 29 corresponding to the operation of the operating device 26. Furthermore, the information acquiring unit 30A also acquires image data captured by the imaging device S6.

[0070] The operation control unit 30B controls the operation of the shovel 100. More specifically, the operation control unit 30B controls the operation of the shovel 100 by using the measurement values ​​of the inertial measurement unit acquired by the information acquisition unit 30A.

[0071] Furthermore, when the operation control unit 30B of this embodiment receives a request to acquire a measured value as an initial value, it causes the stop determination unit 30C to determine whether or not the movement of the shovel 100 has stopped. The request to acquire a measured value as an initial value will be described in detail later.

[0072] Next, when the stop determination unit 30C determines that the movement of the shovel 100 has stopped, the operation control unit 30B calculates the initial attachment position and attitude of the shovel 100 using the measurement value of the inertial measurement device acquired by the information acquisition unit 30A as the initial value.

[0073] Furthermore, the operation control unit 30B enables the machine control function after calculating the initial attachment position and the posture of the shovel 100. In other words, the operation control unit 30B disables the machine control function until the initial attachment position and the posture of the shovel 100 are calculated.

[0074] The request to acquire a measured value as an initial value will be described below. In the following description, the request to acquire a measured value as an initial value may be expressed as an initial value acquisition request.

[0075] The operation control unit 30B may receive a request to obtain an initial value when an operation is performed to enable a function that requires calculation of the position of the attachment and the attitude of the shovel 100. The functions that require calculation of the position of the attachment and the attitude of the shovel 100 include a machine control function, a function to calculate the load in the bucket 6, a function to limit the height or depth at which the attachment can operate, and a function to limit the operation of the shovel 100 or to notify the operator when a part of the shovel 100 enters a no-entry area.

[0076] Specifically, for example, the operation control unit 30B may receive a request to obtain the initial values ​​when an operation is performed to enable the machine control function. In other words, the operation control unit 30B may receive a request to obtain the initial values ​​when the switch NS is pressed.

[0077] Moreover, the operation control unit 30B of the present embodiment may accept an acquisition request for the initial values ​​when the controller 30 is started. More specifically, the operation control unit 30B may accept the acquisition request for the initial values ​​when detecting that the state of the shovel 100 has changed from a key-off state to a key-on state.

[0078] Furthermore, the operation control unit 30B of this embodiment may accept the absence of lever operation as a request to obtain an initial value. More specifically, when it detects that the output value of the operating pressure sensor 29 is equal to or less than a minute amount at which the shovel 100 does not operate, the operation control unit 30B may consider that it has accepted the request to obtain an initial value. In other words, the operation control unit 30B may accept the request to obtain an initial value when the lever is not operated or when the amount of operation is so minute that the shovel 100 does not operate.

[0079] In other words, in this embodiment, the controller 30 accepts a request to obtain an initial value at a timing when the attachment position and the posture of the shovel 100 are calculated or at a timing when there is a possibility that the attachment position and the posture of the shovel 100 are calculated.

[0080] By doing this, it is possible to obtain the measurement values ​​(initial values) of the inertial measurement unit output when the shovel 100 is stopped, before calculation of the attachment position and the attitude of the shovel 100 begins.

[0081] The stop determination unit 30C performs a process of determining whether or not the movement of the shovel 100 has stopped in response to the operation control unit 30B accepting a request to obtain an initial value.

[0082] The stop determination unit 30C of this embodiment may determine that the state of the shovel 100 is a state in which the operation has stopped by implementing either one of the following two methods or both of them simultaneously.

[0083] The first method is a method of determining whether or not the movement of the shovel 100 has stopped, depending on the presence or absence of a lever operation on the operating device 26. The second method is a method of determining whether or not the movement of the shovel 100 has stopped, depending on a measurement value of the inertial measurement unit. Details of the processing of the stop determination unit 30C will be described later. In the following description, the first method may be referred to as the first method, and the second method may be referred to as the second method.

[0084] The display control unit 30D controls the display on the display device 40 of the shovel 100. Specifically, while the processing by the stop determination unit 30C is being performed, the display control unit 30D causes the display device 40 to display a message to that effect.

[0085] Next, the process of the stop determination unit 30C of this embodiment will be described with reference to Fig. 4 and Fig. 5. First, an example of determining whether or not the operation of the shovel 100 is in a stopped state by the first method will be described with reference to Fig. 4. Note that in Figs. 4 and 5, it is assumed that when the controller 30 is started, the operation control unit 30B receives a request to acquire the initial value of the inertial measurement unit.

[0086] FIG. 4 is a first flowchart illustrating the process of the controller.

[0087] The controller 30 of this embodiment detects the start-up (step S401). In other words, the controller 30 receives a request from the operation control unit 30B to acquire a measurement value as an initial value of the inertial measurement unit.

[0088] Next, the stop determination unit 30C obtains the output value of the operating pressure sensor 29 included in the operation information by the information acquisition unit 30A (step S402). Next, the stop determination unit 30C determines whether or not the lever is being operated based on the output value of the operating pressure sensor 29 (step S403).

[0089] In step S403, if the lever is not operated, the stop determination unit 30C determines that the movement of the shovel 100 has stopped, and the operation control unit 30B performs the process at the time of start-up of the controller 30 (step S404).

[0090] The startup process in step S404 is a process for calculating the initial attachment position and the attitude of the shovel 100.

[0091] In this embodiment, in this manner, depending on whether or not the lever is operated, it is determined whether or not the movement of the shovel 100 has stopped, and if it is determined that the movement of the shovel 100 has stopped, the initial values ​​of the inertial measurement unit are obtained, and the initial attachment position and attitude of the shovel 100 are calculated.

[0092] Therefore, according to this embodiment, it is possible to confirm that the movement of the shovel 100 has stopped before acquiring the initial value. Also, in this embodiment, the position of the attachment and the attitude of the shovel 100 can be calculated using the initial value acquired after it is confirmed that the movement of the shovel 100 has stopped, and the accuracy of the calculation can be improved.

[0093] It should be noted that the operation control unit 30B of the present embodiment may disable operations on the operating device 26 while the stop determination unit 30C is executing the determination process.

[0094] Specifically, when execution of the process of the stop determination unit 30C is started, the operation control unit 30B may control the switching valve 60 to disable the operation device 26. Furthermore, if the operation device 26 is an electric operation device, the operation control unit 30B may disable the operation device 26 by blocking an electric signal input from the operation device 26 to the controller 30.

[0095] In this embodiment, by controlling the operation in this manner, it is possible to prevent the lever from being operated while the initial attachment position and the attitude of the shovel 100 are being calculated.

[0096] Furthermore, when execution of the process of the stop determination unit 30C is started, the display control unit 30D of this embodiment may display a message indicating that a process for acquiring an initial value of the inertial measurement unit (initialization of the inertial measurement unit) is being performed on the screen displayed on the display unit 40. Details of the display unit 40 will be described later.

[0097] Next, an example of determining whether or not the movement of the shovel 100 has stopped by the second method will be described with reference to Fig. 5. Fig. 5 is a second flowchart illustrating the processing of the controller.

[0098] Step S501 in Fig. 5 is the same as the process of step S401 in Fig. 4. Following step S501, stop determination unit 30C acquires acceleration, which is a measurement value of the inertial measurement unit, included in the operation information by information acquisition unit 30A (step S502).

[0099] Next, the stop determination unit 30C calculates the acceleration norm from the acquired acceleration (step S503). The acceleration norm is a value that satisfies the following formula 1 when the measured values ​​of the acceleration along the three axes are ax, ay, and az, respectively. In formula 1, the acceleration norm is a. In this embodiment, by using the acceleration norm, it is possible to determine whether or not the movement of the shovel 100 has stopped, using the magnitude of the acceleration regardless of the direction.

[0100] a=√(ax 2 +ay2 +az 2 ) (Formula 1) Next, the stop determination unit 30C determines whether or not the calculated acceleration norm is within an allowable range (step S504). The allowable range of the acceleration norm will be described in detail later.

[0101] In step S504, if the acceleration norm is within the allowable range, the controller 30 proceeds to step S505. The process of step S505 is the same as the process of Fig. 4, and therefore a description thereof will be omitted. In step S504, if the acceleration norm is outside the allowable range, the controller 30 returns to step S502.

[0102] Here, the allowable range of the acceleration norm will be described. The allowable range of the acceleration norm in this embodiment is a predetermined range set in advance with the norm of gravitational acceleration as a reference. The allowable range is held in the controller 30.

[0103] When the inertial measurement device is stopped, the norm of the acceleration measured by the inertial measurement device coincides with the norm of the gravitational acceleration. Therefore, in this embodiment, the allowable range of the norm in this embodiment is a predetermined range with the norm of the gravitational acceleration as the median.

[0104] In this embodiment, when the norm of the acceleration acquired from the inertial measurement unit of the shovel 100 is within a predetermined range including the norm of the gravitational acceleration, it is determined that the movement of the shovel 100 has stopped. Therefore, according to this embodiment, it is possible to detect with high accuracy the state in which the movement of the shovel 100 has stopped.

[0105] In the example of FIG. 5, the allowable range is set with respect to the norm of acceleration, but the present invention is not limited to this.

[0106] In this embodiment, the error between the acceleration norm calculated in step S503 and the gravitational acceleration norm may be calculated, and it may be determined whether the calculated error is within a predetermined allowable range. In this case, the allowable range is set for the error between the acceleration norm acquired from the inertial measurement unit and the gravitational acceleration norm.

[0107] Furthermore, in this embodiment, the processing of steps S502 and S503 may be performed multiple times within a predetermined time period, and each time the error from the norm of gravitational acceleration may be calculated, and if the maximum value of the error is within an acceptable range for the error, it may be determined that the movement of the shovel 100 has stopped.

[0108] In this way, by repeating the process multiple times, it is possible to detect with high accuracy the state in which the movement of the shovel 100 has stopped.

[0109] Furthermore, in this embodiment, the stop determination unit 30C uses the acceleration norm output from the inertial measurement device in its determination. Therefore, even if the lever is not being operated, it is possible to detect a state in which the shovel 100 is moving due to some factor, thereby improving the accuracy of the determination as to whether the movement of the shovel 100 has stopped.

[0110] Furthermore, in this embodiment, if the shovel 100 is moving due to some factor, it is not determined that the movement of the shovel 100 has stopped, and the initial values ​​used to calculate the attachment position and the posture of the shovel 100 are not obtained.

[0111] Specifically, examples of factors that may be the result of some kind include cases where vibrations remain in the body of the shovel 100, or cases where the body of the shovel 100 is shaking due to a work site with poor footing, etc.

[0112] Furthermore, the inertial measurement device of this embodiment may be a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, and a rotation angular velocity sensor S5, and is provided on each of the upper rotating body 3 and the attachment.

[0113] For this reason, in this embodiment, a permissible range (first permissible range) for the norm of acceleration acquired by the inertial measurement unit attached to the upper rotating body 3 and a permissible range (second permissible range) for the norm of acceleration acquired by the inertial measurement unit attached to the attachment may be set separately. In this case, the first permissible range may be set to be narrower than the second permissible range.

[0114] In this way, by varying the allowable range depending on the location where the inertial measurement unit is attached, it is possible to determine whether the movement of the shovel 100 has stopped, for example, taking into account external environmental factors. An example of an external environmental factor is wind. In this embodiment, for example, by setting the allowable range of the inertial measurement unit attached to the bucket 6 to a range wider than the allowable range of the inertial measurement unit attached to the upper rotating body 3, it is possible to determine that the movement of the shovel 100 has stopped when the bucket 6 is swaying finely due to wind, for example.

[0115] Furthermore, the processing shown in FIG. 5 may be executed for the inertial measurement units provided on each of the upper rotating body 3 and the attachment, and if the acceleration norms obtained from all the inertial measurement units are within an allowable range, it may be determined that the movement of the shovel 100 has stopped.

[0116] In this embodiment, the shovel 100 may be determined to have stopped moving when the acquired acceleration norms are within an allowable range for a predetermined number of inertial measurement units among the multiple inertial measurement units included in the shovel 100. In this case, the predetermined number may be set in advance and held in the controller 30.

[0117] In addition, in Figures 4 and 5, the first method and the second method are described separately, but in this embodiment, both the first method and the second method may be used to determine whether the movement of the shovel 100 has stopped.

[0118] In that case, for example, a first method may be implemented first, and if it is determined in the first method that the movement of the shovel 100 has stopped, a second method may be implemented, and if it is also determined in the second method that the movement of the shovel 100 has stopped, a process may be performed to calculate the initial attachment position and the posture of the shovel 100.

[0119] In this case, if it is determined in step S403 of FIG. 4 that the lever has not been operated, the controller 30 may proceed to step S502 of FIG.

[0120] In this embodiment, the controller 30 performs the processes in the order of the first method and the second method, but the order in which the processes are performed is not limited to this, and the controller 30 may perform the first method after performing the second method.

[0121] In this embodiment, when both conditions are met, that the lever operation is not being performed and that the acceleration norm is within an allowable range, it is determined that the movement of the shovel 100 has stopped. Therefore, according to this embodiment, it is possible to determine whether the movement of the shovel 100 has stopped after distinguishing between a state in which the shovel 100 is moving due to a lever operation and a state in which the shovel 100 is moving due to a factor other than the lever operation. Furthermore, in this embodiment, it is possible to more accurately detect a state in which the movement of the shovel has stopped by confirming that the operator has no intention of operating the shovel 100 based on the presence or absence of a lever operation and confirming that the shovel 100 is not actually moving based on the acceleration norm, and then performing a shovel stop determination.

[0122] Next, a display example of the display device 40 of this embodiment will be described. Fig. 6 is a diagram showing a display example of the display device. The screen shown in Fig. 6 is an example of a screen displayed on the display device 40 during the execution of the process of Fig. 5.

[0123] The image display section 41 of the display device 40 includes an upper display area 41A, a main display area 41B, and a lower display area 41C. The upper display area 41A is disposed in an upper part of the image display section 41. The lower display area 41C is disposed in a lower part of the image display section 41. The main display area 41B is disposed in the center of the image display section 41. The main display area 41B is disposed between the upper display area 41A and the lower display area 41C. The area of ​​the main display area 41B is, for example, larger than the combined area of ​​the upper display area 41A and the lower display area 41C.

[0124] The upper display area 41A includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel efficiency display area 41d, an engine control status display area 41e, a coolant temperature display area 41g, a remaining fuel amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, and a hydraulic oil temperature display area 41k.

[0125] The main display area 41B includes an image display area 41n. The image display area 41n includes an overhead image display area 41n1, a rear image display area 41n2, and a right image display area 41n3. The overhead image display area 41n1, the rear image display area 41n2, and the right image display area 41n3 occupy most of the image display unit 41. The overhead image display area 41n1, the rear image display area 41n2, and the right image display area 41n3 are disposed below the upper display area 41A.

[0126] The date and time display area 41a is an area for displaying the current date and time. The driving mode display area 41b is an area for displaying the current driving mode. The attachment display area 41c is an area for displaying an image representing the currently attached attachment. The fuel efficiency display area 41d includes an average fuel efficiency display area 41d1 for displaying the lifetime average fuel efficiency or the section average fuel efficiency, and an instantaneous fuel efficiency display area 41d2 for displaying the instantaneous fuel efficiency.

[0127] The coolant temperature display area 41g is an area that displays the current temperature of the engine coolant. The remaining fuel amount display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank. The remaining urea water amount display area 41j is an area that displays the remaining amount of urea water stored in the urea water tank as an image. The hydraulic oil temperature display area 41k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0128] The image display area 41n is an area for displaying an image captured by the imaging device S6. The image display area 41n displays an overhead image FV, a rear image BM, and a right image RM. The overhead image FV is a virtual viewpoint image generated by the display control unit 30D, and is generated based on images captured by the front camera S6F, the rear camera S6B, the left camera S6L, and the right camera S6R. In addition, a shovel figure GE corresponding to the shovel 100 is arranged in the center of the overhead image FV. This is to allow the operator to intuitively grasp the positional relationship between the shovel 100 and objects present around the shovel 100.

[0129] The rear image BM is an image that shows the space behind the shovel 100, and includes an image GC of the counterweight. The rear image BM is a real viewpoint image generated by the display control unit 30D, and is generated based on an image acquired by a rear camera S6B provided at the rear.

[0130] The right image RM is an image that reflects the space to the right of the shovel 100. The right image RM is a real viewpoint image generated by the display control unit 30D, and is generated based on an image acquired by the right camera S6R disposed on the right side.

[0131] The display device 40 displays an overhead image FV in the overhead image display area 41n1, a rear image BM in the rear image display area 41n2, and a right image RM in the right image display area 41n3.

[0132] Furthermore, when the process by the stop determination unit 30C is started, the display control unit 30D of this embodiment may display a display area 45 in the overhead image display area 41n1. The display area 45 displays a message saying "IMU starting" as a message indicating that a process for acquiring an initial value of a measurement value from the inertial measurement unit is being executed.

[0133] In this embodiment, by displaying such a message, the operator operating the shovel 100 can be made aware that the initial values ​​used to calculate the attachment position and the attitude of the shovel 100 are currently being acquired.

[0134] The message displayed in the display area 45 is not limited to the example shown in Fig. 6. For example, instead of the example shown in Fig. 6, the display area 45 may display a message prompting the user to stop the lever operation, a message indicating that the lever operation is disabled while the determination process is being executed by the stop determination unit 30C, a message indicating that the machine control function is being prepared, a message indicating that the shovel 100 needs to be stopped if the shovel 100 is moving due to some factor, or the like.

[0135] The message displayed in the display area 45 may be changed depending on whether the cause of the movement of the shovel 100 is a lever operation or something other than a lever operation.

[0136] Furthermore, in this embodiment, an icon image 41x is displayed in each of the overhead image display area 41n1, the rear image display area 41n2, and the right image display area 41n3. The icon image 41x is an image that represents the relative relationship between the position of the imaging device S6 and the orientation of the attachment of the upper rotating body 3.

[0137] The icon image 41x of this embodiment includes an image 41xM of the shovel 100, an image 41xF showing the front of the shovel 100, and an image 41xB showing the rear of the shovel 100. The icon image 41x also includes an image 41xL showing the left side of the shovel 100, an image 41xR showing the right side of the shovel 100, and an image 41xI showing the inside of the cabin 10.

[0138] The images 41xF, 41xB, 41xL, 41xR, and 41xI correspond to the front camera S6F that images the front of the shovel 100, the rear camera S6B that images the rear of the shovel 100, the left camera S6L that images the left side of the shovel 100, and the right camera S6R that images the right side of the shovel 100. In addition, the image 41xI corresponds to the camera inside the cabin 10.

[0139] In this embodiment, when an image associated with a camera is selected in icon image 41x, image data captured by the camera corresponding to the selected image may be displayed in image display area 41n.

[0140] 6, in the overhead image display area 41n1, the display manner of the images 41xB, 41xL, and 41xR is different from the display manner of the images 41xF and 41xI. Therefore, it can be seen that the overhead image display area 41n1 displays an overhead image represented by image data synthesized from image data captured by the rear camera S6B, left camera S6L, and right camera S6R corresponding to the images 41xB, 41xL, and 41xR, respectively.

[0141] In addition, in the rear image display area 41n2, the display manner of the image 41xB is different from the display manner of the images 41xF, 41xL, 41xR, and 41xI. Therefore, it can be seen that the image represented by the image data captured by the rear camera S6B corresponding to the image 41xB is displayed in the rear image display area 41n2.

[0142] In addition, in the right image display area 41n3, the display manner of the image 41xR is different from the display manner of the images 41xF, 41xL, 41xB, and 41xI. Therefore, it can be seen that an image indicated by image data captured by the right camera S6R corresponding to the image 41xR is displayed in the right image display area 41n3.

[0143] The lower display area 41C includes an engine operation time display area 41f, an air conditioner operation status display area 41m, and a work information display area 43n. The engine operation time display area 41f is an area that displays the accumulated operation time of the engine 11. The air conditioner operation status display area 41m includes an air outlet display area 41m1 that displays the current air outlet position, an air conditioner operation mode display area 41m2 that displays the current operation mode, a temperature display area 41m3 that displays the current set temperature, and an air volume display area 41m4 that displays the current set air volume.

[0144] The work information display area 43n displays information related to the current work status of the excavator 100. In the example of Fig. 6, the work information display area 43n displays the work status of loading earth and sand into a dump truck.

[0145] Specifically, in the work information display area 43n, together with the dump truck image, the ratio of the load of earth and sand loaded on the bed of the dump truck to the maximum load of the dump truck may be displayed. Furthermore, the current load of the bucket 6 may be displayed.

[0146] The work information display area 43n displays a load image 43a, a remaining load 43b, a load 43c, an icon image 43d of the bucket 6, and a weight 43e of the soil in the bucket 6. Furthermore, the work information display area 43n displays icon images 44a1 to 44a7.

[0147] The load capacity image 43a includes an image of the side of the dump truck and a bar graph image indicating the load capacity of the dump truck's bed, and the bar graph image indicates the ratio of the load capacity of the soil and sand loaded in the dump truck's bed to the maximum load capacity of the dump truck.

[0148] In addition, the bar graph image of the load capacity image 43a in this embodiment is marked with multiple scales, and the larger the ratio of the load capacity to the maximum load capacity, the larger the range of variation in the ratio allocated to the spacing between the scales is displayed.

[0149] Therefore, in this embodiment, the greater the ratio of the load amount to the maximum load amount, the more detailed the change in the load amount is displayed.

[0150] The remaining load amount 43b is a numerical value indicating the difference between the maximum load amount and the current load amount, in other words, the remaining weight of earth and sand that can be loaded onto the dump truck.

[0151] The load capacity 43c is a numerical value indicating the amount of cargo carried on the bed of the dump truck.

[0152] Icon image 43d includes image 43d1 of a load in bucket 6, and is an image indicating the presence or absence of a load in bucket 6. In the example of Fig. 6, icon image 43d includes image 43d1, and it can be seen that bucket 6 is in a state before unloading, with a load being loaded therein.

[0153] Furthermore, when the load (soil and sand) in the bucket 6 is discharged onto the bed of the dump truck, the icon image 43d may be an image of only the bucket 6, not including the image 43d1. Furthermore, the display control unit 30D may change the shape of the image 43d1 according to the weight of the load in the bucket 6.

[0154] The weight 43e of the soil in the bucket 6 is a numerical value indicating the weight of the load in the bucket 6. In other words, the weight 43e is the weight of the soil that is about to be unloaded into the dump truck.

[0155] For example, when the weight 43e is greater than the remaining load amount 43b, that is, when unloading the soil in the bucket 6 would result in overloading, the display control unit 30D of this embodiment may change the display manner of the load amount image 43a, the remaining load amount 43b, the load amount 43c, etc. Specifically, the display control unit 30D may change the display color of the load amount image 43a, the remaining load amount 43b, the load amount 43c, etc. to red, for example.

[0156] Furthermore, when the unloading of soil from the bucket 6 does not result in overloading, the display control unit 30D may change the background color of the load amount image 43a, remaining load amount 43b, load amount 43c, etc. to green or the like.

[0157] Furthermore, when the load on the bed of the dump truck exceeds the maximum load, the display control unit 30D may cause the display device 40 to display information instructing the operator to scoop up soil from the bed.

[0158] Each of the icon images 44a1 to 44a7 is for performing various operations in the work information display area 43n. In the present embodiment, the operation unit 42 includes a switch corresponding to each of the icon images 44a1 to 44a7, and the switch included in the operation unit 42 may be operated instead of operating the icon images 44a1 to 44a7.

[0159] For example, when the icon image 44a1 is operated, the display control unit 30D may switch the display content of the work information display area 43n to the display content that was displayed immediately before. When the icon image 44a2 is operated, the display control unit 30D may display various setting screens in the work information display area 43n.

[0160] Furthermore, when the icon image 44a3 is operated, the display control unit 30D may display an input field for a target value of the load amount for the loading operation in the work information display area 43n. Furthermore, when the icon image 44a4 is operated, the display control unit 30D may display an input field for the height of the bed of the dump truck in the work information display area 43n.

[0161] When the icon image 44a5 is operated, a process may be performed to correct a reference value used in calculating the weight of the load in the bucket 6. When the icon image 44a6 is operated, a calculation of the load amount in the bed of the dump truck may be started. When the icon image 44a7 is operated, the display of the work information display area 43n may be switched to the display of the home screen.

[0162] Also, for example, in the above-described embodiment, the controller 30 is mounted on the shovel 100, but this is not limited thereto. The controller 30 may be, for example, a control device installed in a remote control room that remotely controls the shovel 100. In this case, the display device 40 may be set in the remote control room. In that case, the display device 40 may be connected to the control device installed in the remote control room. Furthermore, when the control device installed in the remote control room receives a request to acquire the initial value of the inertial measurement unit of the shovel 100, it may determine whether the movement of the shovel 100 has stopped.

[0163] In this case, the control device may determine whether or not the movement of the shovel 100 has stopped based on the operation of starting the control device, the operation of enabling the machine control function, and the lever operation amount of the operating lever included in the operating device installed in the remote operation room.

[0164] Furthermore, in this embodiment, the shovel 100 is taken as an example of a work machine, but the work machine to which this embodiment is applied is not limited to the shovel 100. This embodiment can be applied to any work machine as long as it is a work machine that calculates the position of an attachment and its own attitude.

[0165] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise. [Explanation of symbols]

[0166] 1 Undercarriage 2 Swivel mechanism 3. Upper rotating body 4. Boom 5 Arm 6 Bucket 30 Controller 30A Information acquisition section 30B Operation control section 30C Stop judgment section 30D Display control unit 40 Display device 100 Shovel

Claims

1. A shovel having an inertial measurement unit and a control unit that calculates a position of an attachment and an attitude of the shovel based on a measurement value by the inertial measurement unit, The control device includes: a stop determination unit that, when receiving a request to obtain a measurement value of the inertial measurement unit as an initial value in the calculation, determines whether or not the movement of the shovel has stopped using operation information that indicates the operating state of the shovel at the time the acquisition request is received.

2. The control device includes: The shovel according to claim 1, wherein the acquisition request is accepted at least when an operation is performed to start up the control device, or when an operation is performed to enable a function that requires calculation of the attachment position and the vehicle's attitude.

3. The operation information includes a lever operation amount for an operation lever of the shovel, The stop determination unit is determining whether the operating lever is operated or not based on the lever operation amount; The shovel according to claim 1 or 2, wherein the shovel is determined to have stopped moving when the operating lever is not operated.

4. the operation information includes an acceleration included in a measurement value by the inertial measurement unit, The stop determination unit is 3. The shovel according to claim 1 or 2, further comprising: a norm of the acceleration being calculated; and, when the norm of the acceleration is within an allowable range, it is determined that the movement of the shovel has stopped.

5. The operation information includes a lever operation amount for an operation lever of the shovel and an acceleration included in a measurement value by the inertial measurement device, The stop determination unit is determining whether or not the operating lever has been operated based on the lever operation amount, and determining whether or not the acceleration norm is within an allowable range; 3. The shovel according to claim 1, wherein when it is determined that there is no operation of the operating lever and that the acceleration norm is within an allowable range, it is determined that the movement of the shovel has stopped.

6. The inertial measurement unit The excavator is attached to an upper rotating body and an attachment of the excavator, The shovel according to claim 4 , wherein the tolerance range differs depending on a portion to which the inertial measurement unit is attached.

7. The shovel has a display device, The shovel according to claim 1 or 2, further comprising a display control unit that causes the display device to display information indicating that the measurement value of the inertial measurement device is being acquired as the initial value while the stop determination unit is making a determination.

8. A control device for a shovel that calculates a position of an attachment and an attitude of the shovel based on a measurement value by an inertial measurement unit attached to the shovel, A control device for a shovel having a stop determination unit that, when receiving a request to obtain a measurement value of the inertial measurement unit as an initial value in the calculation, determines whether or not the movement of the shovel has stopped using operation information that indicates the operating state of the shovel at the time the acquisition request is received.

Images