Work machine, control method, and work system

Abstract

To prevent unintended behavior caused by inaccuracy of measurement data.SOLUTION: A main body of a work machine includes a first main body, and a second main body that pivots relative to the first main body. An actuator pivots the second main body relative to the first main body. A first sensor is provided in the main body and acquires first measurement data that is positioning data. A controller executes turning control by the actuator based on the first measurement data. The controller determines whether or not to execute turning control based on accuracy of the first measurement data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a working machine and a control method.

Background Art

[0002] Patent Document 1 discloses a technique related to automatic dumping control of a working machine. The automatic dumping control according to Patent Document 1 automatically controls the working machine to turn so as to face a transport vehicle and the bucket to be positioned above the bed of the transport vehicle based on the measurement data of GNSS indicating the position and orientation of the working machine.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The accuracy of measurement by GNSS varies depending on the number of artificial satellites capable of receiving signals. The number of artificial satellites capable of receiving signals varies depending on the time and the surrounding terrain. In GNSS measurement, when a Fix solution is obtained, the measurement error is several centimeters, while when only a Float solution can be obtained without obtaining a Fix solution, the measurement error is from several tens of centimeters to several meters. When the error is large, the working machine cannot be correctly controlled, and unintended behaviors such as contact between the working machine and the transport vehicle may occur.

[0005] An object of the present disclosure is to provide a working machine, a control method, and a working system capable of preventing unintended behaviors in turning control.

Means for Solving the Problems

[0006] According to one aspect of the present disclosure, a working machine includes a main body including a first main body and a second main body that pivots with respect to the first main body, an actuator that pivotally drives the second main body with respect to the first main body, a GNSS sensor provided on the main body that acquires first measurement data which is positioning data, and a controller that executes pivot control by the actuator based on the first measurement data, the controller determining whether or not to execute the pivot control based on the accuracy of the first measurement data.

Advantages of the Invention

[0007] According to the above aspect, unintended behavior caused by the accuracy of measurement data can be prevented.

Brief Description of the Drawings

[0008]

Figure 1

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Figure 10

Figure 11

Mode for Carrying Out the Invention

[0009] 〈First Embodiment〉 Hereinafter, embodiments will be described in detail with reference to the drawings.

[0010] 《Configuration of the Working Machine 100》 FIG. 1 is a schematic diagram showing the configuration of the working machine 100 according to the first embodiment. The working machine 100 operates at a construction site, excavates a construction target such as earth and sand, and loads it onto a loading platform such as the bed of a loading target T such as a dump truck. Examples of the working machine 100 include a face shovel, a backhoe shovel, a rope shovel, etc. Also, the working machine 100 may be electrically driven or hydraulically driven. The working machine 100 according to the first embodiment is a backhoe shovel. The working machine 100 includes a traveling body 110, a slewing body 120, a working device 130, and a cab 140. Examples of the loading target T include a dump truck, a hopper, etc.

[0011] The traveling body 110 supports the working machine 100 so as to be capable of traveling. The traveling body 110 includes two endless tracks 111 provided on the left and right, and two traveling motors 112 for driving each endless track 111. The traveling body 110 is an example of a support portion. The traveling body 110 is an example of a first main body. The slewing body 120 is supported by the traveling body 110 so as to be slewed around a slewing center. The slewing body 120 is an example of a second main body. The traveling body 110 and the slewing body 120 form the main body of the working machine 100. The working device 130 is driven by hydraulic pressure. The working device 130 is supported by the front portion of the slewing body 120 so as to be driven in the vertical direction. The cab 140 is a space for an operator to board and operate the working machine 100. The cab 140 is provided at the left front portion of the slewing body 120. Here, the portion of the revolving body 120 to which the working machine 130 is attached is referred to as the front portion. Also, with respect to the revolving body 120, based on the front portion, the opposite side portion is called the rear portion, the left side portion is called the left portion, and the right side portion is called the right portion.

[0012] 《Configuration of the Revolving Body 120》 The revolving body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a slewing motor 124. The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source. The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil to each actuator (boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, travel motor 112, and slewing motor 124) via the control valve 123. The control valve 123 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 122. The slewing motor 124 is driven by the hydraulic oil supplied from the hydraulic pump 122 via the control valve 123 to slew the revolving body 120.

[0013] 《Configuration of the Working Machine 130》 The working machine 130 includes a boom 131, an arm 132, a bucket 133 as a working tool, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C. Other examples of working tools include tip attachments such as a clam bucket, tilt bucket, tilt-rotate bucket, grapple, and lifting magnet.

[0014] The base end portion of the boom 131 is rotatably attached to the revolving body 120 via a boom pin. In the construction machine 100 shown in FIG. 1, the boom 131 is provided at the front center portion of the revolving body 120. However, the present invention is not limited to this, and the boom 131 may be attached with an offset in the left-right direction. In this case, the center of rotation of the revolving body 120 is not located on the operation plane of the working machine 130. The boom 131 may be a two-piece boom that can be bent or an offset boom that can be extended and retracted. The arm 132 connects the boom 131 and the bucket 133. The base end portion of the arm 132 is rotatably attached to the tip end portion of the boom 131 via an arm pin. The bucket 133 is rotatably attached to the tip end portion of the arm 132 via a pin. The boom 131 and the arm 132 are members that support the bucket 133. The bucket 133 functions as a container for storing the excavated earth and sand. The bucket 133 is attached such that the opening faces the revolving body 120 side (rearward).

[0015] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. The base end portion of the boom cylinder 131C is attached to the revolving body 120. The tip end portion of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The base end portion of the arm cylinder 132C is attached to the boom 131. The tip end portion of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. The base end portion of the bucket cylinder 133C is attached to the arm 132. The tip end portion of the bucket cylinder 133C is attached to a link mechanism that rotates the bucket 133.

[0016] 《Configuration of the driver's cab 140》 FIG. 2 is a diagram showing the internal configuration of the driver's cab 140 according to the first embodiment. Inside the driver's cab 140, a driver's seat 141, an operation terminal 142, and an operation device 143 are provided. The operation terminal 142 is provided near the driver's seat 141 and serves as a user interface with a control device 160 described later. The operation terminal 142 is, for example, a display device configured with a touch panel, and may have an operation unit operated by an operator and an input reception unit for receiving operations. Further, measurement data such as an engine water temperature gauge and a fuel gauge are displayed on the display device. Also, the operation terminal 142 may include a display unit such as an LCD. The touch panel is an example of the display unit.

[0017] The operation device 143 is a device for driving the traveling body 110, the slewing body 120, and the working machine 130 by manual operation of the operator. The operation device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left traveling lever 143LT, a right traveling lever 143RT, a teaching switch 143TS, and a start switch 143SW.

[0018] The left operation lever 143LO is provided on the left side of the driver's seat 141. The right operation lever 143RO is provided on the right side of the driver's seat 141.

[0019] The left operation lever 143LO is an operation mechanism for performing the slewing operation of the slewing body 120 and the excavation / dumping operation of the arm 132. Specifically, when the operator of the working machine 100 tilts the left operation lever 143LO forward, the arm 132 performs a dumping operation. Also, when the operator of the working machine 100 tilts the left operation lever 143LO backward, the arm 132 performs an excavation operation. Further, when the operator of the working machine 100 tilts the left operation lever 143LO to the right, the slewing body 120 slews to the right. Also, when the operator of the working machine 100 tilts the left operation lever 143LO to the left, the slewing body 120 slews to the left. In other embodiments, when the left operation lever 143LO is tilted in the front-rear direction, the slewing body 120 may slew to the right or left, and when the left operation lever 143LO is tilted in the left-right direction, the arm 132 may perform an excavation operation or a dumping operation.

[0020] The right operation lever 143RO is an operation mechanism for performing the excavation / dumping operation of the bucket 133 and the raising / lowering operation of the boom 131. Specifically, when the operator of the work machine 100 tilts the right operation lever 143RO forward, the lowering operation of the boom 131 is executed. When the operator of the work machine 100 tilts the right operation lever 143RO backward, the raising operation of the boom 131 is executed. When the operator of the work machine 100 tilts the right operation lever 143RO to the right, the dumping operation of the bucket 133 is performed. When the operator of the work machine 100 tilts the right operation lever 143RO to the left, the excavation operation of the bucket 133 is performed. In other embodiments, when the right operation lever 143RO is tilted in the front-rear direction, the bucket 133 may perform a dumping operation or an excavation operation, and when the right operation lever 143RO is tilted in the left-right direction, the boom 131 may perform a raising operation or a lowering operation.

[0021] The left foot pedal 143LF is disposed on the left side of the floor surface in front of the driver's seat 141. The right foot pedal 143RF is disposed on the right side of the floor surface in front of the driver's seat 141. The left travel lever 143LT is pivotally supported by the left foot pedal 143LF and is configured such that the inclination of the left travel lever 143LT and the depression of the left foot pedal 143LF are interlocked. The right travel lever 143RT is pivotally supported by the right foot pedal 143RF and is configured such that the inclination of the right travel lever 143RT and the depression of the right foot pedal 143RF are interlocked.

[0022] The left foot pedal 143LF and the left travel lever 143LT correspond to the rotational drive of the left crawler of the traveling body 110. Specifically, when the operator of the work machine 100 tilts the left foot pedal 143LF or the left travel lever 143LT forward, the left crawler rotates in the forward direction. When the operator of the work machine 100 tilts the left foot pedal 143LF or the left travel lever 143LT backward, the left crawler rotates in the reverse direction.

[0023] The right foot pedal 143RF and the right travel lever 143RT correspond to the rotational drive of the right crawler of the traveling body 110. Specifically, when the operator of the work machine 100 tilts the right foot pedal 143RF or the right travel lever 143RT forward, the right crawler rotates in the forward direction. Also, when the operator of the work machine 100 tilts the right foot pedal 143RF or the right travel lever 143RT backward, the right crawler rotates in the reverse direction.

[0024] The teaching switch 143TS is provided, for example, on the handle portion of the right operation lever 143RO. Note that the teaching switch 143TS may be arranged so as to be located near the operator seated in the driver's seat 141. When the teaching switch 143TS is pressed, the control device 160 stores the posture of the work machine 100 at the time of pressing as a reference for automatic control.

[0025] The start switch 143SW is provided, for example, on the handle portion of the right operation lever 143RO. Note that the start switch 143SW may be arranged so as to be located near the operator seated in the driver's seat 141. When the start switch 143SW is pressed, an automatic control instruction signal is output to the control device 160. When the control device 160 receives the input of the automatic control instruction signal, it starts automatic control.

[0026] Automatic control is for the work machine 100 to autonomously control the driving of the working device 130 and the slewing body 120 in order to realize a predetermined operation. The automatic control in the first embodiment is a series of operations of slewing from the state where the bucket 133 is positioned on the side of the loading target T by excavation of the excavation target to the azimuth facing the loading target T while raising the boom 131, which is the first slewing, and a series of operations of slewing from the state where the bucket 133 is positioned on the loading target T by loading to a predetermined azimuth while lowering the boom 131, which is the second slewing. The work machine 100 autonomously performs the control. The side of the loading target T refers to the outside of the loading platform such as a vessel for loading loads. Note that the automatic control according to other embodiments may perform only the second slewing. In the first embodiment, the target azimuth of the slewing body 120 and the target posture of the bucket 133 in the first slewing and the second slewing are respectively the previously specified azimuth and posture. Usually, the excavation target is at a position lower than the height of the loading target T. Therefore, the work machine 100 controls the driving of the working device 130 so that the loading target T and the working device 130 do not come into contact with each other during the first slewing and the second slewing. Details of the automatic control will be described later. The automatic control executed each time the start switch 143SW is pressed switches between the first slewing and the second slewing. Also, in other embodiments, the operation device 143 may include two start switches 143SW, and the first slewing and the second slewing may be assigned to each of them.

[0027] 《Configuration of the measurement system》 As shown in FIG. 1, the work machine 100 includes a position and azimuth calculator 151, an inclinometer 152, a boom stroke sensor 153, an arm stroke sensor 154, and a bucket stroke sensor 155.

[0028] The position and orientation calculator 151 calculates the position of the slewing body 120 and the orientation in which the slewing body 120 faces. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites constituting the Global Navigation Satellite System (hereinafter GNSS). The two receivers are installed at different positions of the slewing body 120, respectively. Note that the mounting positions of the two receivers shown in FIG. 1 are merely examples, and the mounting positions of the two receivers may be any positions as long as they are known to the position and orientation calculator 151. For example, the two receivers may be mounted on the diagonal of the slewing body 120. The position and orientation calculator 151 detects the position of the representative point (the origin of the excavator coordinate system) of the slewing body 120 in the local coordinate system based on the positioning signals received by the receivers. The position and orientation calculator 151 calculates the orientation in which the slewing body 120 faces as the relationship between the installation positions of the two receivers with respect to the installation position of one receiver using the respective positioning signals received by the two receivers. The orientation in which the slewing body 120 faces is the direction orthogonal to the front of the slewing body 120. The position and orientation calculator 151 is an example of a first sensor that acquires positioning data.

[0029] The tilt meter 152 measures the acceleration and angular velocity of the slewing body 120, and detects the attitude (roll angle, pitch angle) and slewing speed of the slewing body 120 based on the measurement results. The tilt meter 152 is installed, for example, on the lower surface of the slewing body 120. The tilt meter 152 can use, for example, an inertial measurement unit (IMU).

[0030] The boom stroke sensor 153 is attached to the boom cylinder 131C and detects the cylinder length of the boom cylinder 131C. The cylinder length of the boom cylinder 131C can be converted into the relative angle of the boom 131 with respect to the slewing body 120. The arm stroke sensor 154 is attached to the arm cylinder 132C and detects the cylinder length of the arm cylinder 132C. The cylinder length of the arm cylinder 132C can be converted into the relative angle of the arm 132 with respect to the boom 131. The bucket stroke sensor 155 is attached to the bucket cylinder 133C and detects the cylinder length of the bucket cylinder 133C. The cylinder length of the bucket cylinder 133C can be converted into the relative angle of the bucket 133 with respect to the arm 132. The working machine 100 according to the first embodiment identifies the angles of the respective link components of the working device 130 using the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155, but is not limited thereto in other embodiments. For example, in other embodiments, instead of the stroke sensor, a potentiometer that detects the relative rotation angle of the link component may be provided, or an inclination sensor that detects the angle of each link component with respect to the ground may be provided.

[0031] 《Configuration of the control device 160》 FIG. 3 is a schematic block diagram showing the configuration of the control device 160 according to the first embodiment. The working machine 100 includes a control device 160. The control device 160 may be mounted on the operation terminal 142, or may be provided separately from the operation terminal 142 and receive input / output from the operation terminal 142. The control device 160 receives an operation signal from the operation device 143. The control device 160 drives the working device 130, the slewing body 120, and the traveling body 110 by outputting the received operation signal or an operation signal generated for automatic control to the control valve 123. Hereinafter, the operation signal received from the operation device 143 is also referred to as a manual operation signal, and the operation signal generated for automatic control is also referred to as an automatic operation signal. Note that the automatic operation signal consists of operation signals for driving the slewing body 120 and the working device 130 and does not include an operation signal for driving the traveling body 110. When a manual operation signal from the operator is received during automatic control, the control device 160 may stop the automatic control.

[0032] The control device 160 is a computer including a processor 610, a main memory 630, a storage 650, and an interface 670. The storage 650 stores programs. The processor 610 reads a program from the storage 650, expands it in the main memory 630, and executes processing according to the program.

[0033] Examples of the storage 650 include a semiconductor memory, a magnetic disk, a magneto-optical disk, an optical disk, etc. The storage 650 may be an internal medium directly connected to the common communication line of the control device 160, or may be an external medium connected to the control device 160 via the interface 670. The main memory 630 and the storage 650 are non-transitory tangible storage media.

[0034] By executing a program, the processor 610 includes a measurement data acquisition unit 611, an azimuth accuracy determination unit 612, an alternative azimuth calculation unit 613, an operation signal input unit 614, a work implement position identification unit 615, a reference identification unit 616, an angle identification unit 617, a movement control unit 618, and an operation signal output unit 619.

[0035] The measurement data acquisition unit 611 acquires measurement data from the measurement system of the work machine 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from the position and azimuth calculator 151, the inclination meter 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155.

[0036] The alternative azimuth calculation unit 613 calculates alternative azimuth data indicating the azimuth toward which the rotating body 120 faces at the current time based on the GNSS measurement data when the Fix solution was last obtained and the measurement data of the inclinometer 152 acquired from the time when the Fix solution was last obtained to the current time. The alternative azimuth data is azimuth data to be used in place of the GNSS measurement data when the accuracy of the azimuth represented by the latest GNSS measurement data is not sufficient for automatic control (when it is not a Fix solution). The alternative azimuth calculation unit 613 can obtain the turning angle from the time when the Fix solution was last obtained to the current time by integrating the yaw angular velocity represented by the measurement data of the inclinometer 152 acquired from the time when the Fix solution was last obtained to the current time. By adding the turning angle to the GNSS measurement data when the Fix solution was last obtained, alternative azimuth data indicating the azimuth toward which the rotating body 120 faces at the current time can be calculated.

[0037] The azimuth accuracy determination unit 612 determines whether the accuracy of the GNSS measurement data is sufficient for automatic control based on the GNSS measurement data acquired by the measurement data acquisition unit 611. The azimuth accuracy determination unit 612 determines that the accuracy of the GNSS measurement data is sufficient for automatic control when the calculation results of the horizontal position and height indicated by the GNSS measurement data acquired from the position and azimuth calculator 151 are Fix solutions. On the other hand, the azimuth accuracy determination unit 612 determines that the accuracy of the GNSS measurement data is insufficient for automatic control when the calculation result of the horizontal position or height indicated by the GNSS measurement data acquired from the position and azimuth calculator 151 is not a Fix solution (when it is a Float solution). Further, the azimuth accuracy determination unit 612 determines whether the accuracy of the alternative azimuth data calculated by the alternative azimuth calculation unit 613 is sufficient for automatic control. The azimuth accuracy determination unit 612 determines that the accuracy of the alternative azimuth data is insufficient when a predetermined time has elapsed since the Fix solution could no longer be obtained. The predetermined time is set to, for example, a time such that the cumulative error of the inclinometer 152 does not exceed the margin considered for the reference point of automatic control.

[0038] The operation signal input unit 614 receives an operation signal manually operated by an operator from the operation device 143. The operation signal includes a drive signal for raising or lowering the boom 131, a drive signal for raising or lowering the arm 132, a drive signal for dumping or excavating the bucket 133, a drive signal for right or left turning of the slewing body 120, a drive signal for traveling operation of the traveling body 110, and an automatic control instruction signal for the working machine 100.

[0039] Based on the measurement data acquired by the measurement data acquisition unit 611, the work implement position specifying unit 615 specifies the position of the tip P of the arm 132 (FIG. 4) and the position of the lowest point Q of the bucket 133 (FIG. 4) in the vehicle body coordinate system with the slewing body 120 as a reference. The lowest point Q of the bucket 133 refers to the point on the outer shape of the bucket 133 where the distance from the ground surface is the shortest.

[0040] The working machine position specifying unit 615 obtains the vertical component and the horizontal component of the length of the boom 131 based on the tilt angle of the boom 131 and the known length of the boom 131 (the distance from the pin at the base end to the pin at the tip end). Similarly, the working machine position specifying unit 615 obtains the vertical component and the horizontal component of the length of the arm 132. The working machine position specifying unit 615 specifies, as the position of the tip P of the arm 132, a position that is separated from the position of the working machine 100 by the sum of the vertical components and the sum of the horizontal components of the lengths of the boom 131 and the arm 132 in the direction specified from the orientation and posture of the working machine 100. Further, the working machine position specifying unit 615 specifies the position of the lowest point Q of the bucket 133 based on the tilt angle of the bucket 133 and the known shape of the bucket 133. For example, the working machine position specifying unit 615 calculates the position of each of a plurality of points on the outer shell of the bucket 133 based on the tilt angle of the bucket 133, and specifies the point with the lowest height among the plurality of points as the lowest point Q. Further, for example, the working machine position specifying unit 615 may specify, as the lowest point Q, a point obtained by offsetting the distance between the point farthest from the bucket pin in the bucket 133 and the bucket pin downward in the height direction. Further, for example, the working machine position specifying unit 615 may specify, as the lowest point Q, a point obtained by offsetting the maximum amount of the bucket movable range downward in the height direction from the bucket pin. Further, the working machine position specifying unit 615 may specify, as the lowest point Q, a point obtained by offsetting a height with a margin from the height specified above in consideration of a control error and a measurement error of GNSS.

[0041] Before executing the automatic control, the reference specifying unit 616 receives, as the reference points for the automatic control, the teaching of the excavation preparation position, the interference avoidance position, and the loading position of the bucket 133 from the operator. The teaching is performed, for example, according to the following procedure. The reference specifying unit 616 causes the operation terminal 142 to display an instruction to move the bucket 133 to the excavation preparation position. The operator operates the operating device 143 to move the bucket 133 to the excavation preparation position and presses the teaching switch 143TS. When the teaching switch 143TS is pressed, the reference specifying unit 616 sets the posture of the working machine 130 specified by the working machine position specifying unit 615 as the target posture of the second swing, the position of the tip P of the arm 132 as the target position of the second swing, and the direction in which the revolving body 120 faces as the target direction of the second swing, and records them in the storage 650. Next, the reference specifying unit 616 causes the operation terminal 142 to display an instruction to move the cutting edge of the bucket 133 to an interference avoidance position that has the height of the upper end of the wall of the vessel of the loading target T and at which the working machine 130 and the loading target T do not overlap in a plan view from above. Note that the wall of the vessel used for teaching may be any of the side wall, front wall, and rear wall of the vessel. The operator operates the operating device 143 to move the cutting edge of the bucket 133 to the interference avoidance position and presses the teaching switch 143TS. The interference avoidance position is input for both the right end and the left end of the loading target T. Thereby, the reference specifying unit 616 can specify the range of the loading platform of the loading target T. Note that the height of the interference avoidance position may be offset upward by a height with a margin in consideration of control errors and measurement errors. When the teaching switch 143TS is pressed, the reference specifying unit 616 sets the height of the lowest point Q of the bucket 133 specified by the working machine position specifying unit 615 as the wall height Ht of the loading target T, and sets the direction in which the revolving body 120 faces as the interference avoidance direction, and records them in the storage 650. The wall height Ht is an example of the height of the loading target T. Next, the reference specifying unit 616 causes the operation terminal 142 to display an instruction to move the bucket 133 to a loading position above the loading target T. The operator operates the operating device 143 to move the bucket 133 to the loading position and presses the teaching switch 143TS. The reference specifying unit 616 sets the posture of the working machine 130 when the teaching switch 143TS is pressed as the target posture of the first swing, the position of the tip P of the arm 132 as the target position of the first swing, and the azimuth in which the slewing body 120 faces as specified by the working machine position specifying unit 615 as the target azimuth of the first swing, and records them in the storage 650. Also, the height of the lowest point Q of the bucket 133 specified at the loading position may be set as the wall height Ht. Further, in other embodiments, the height of the loading target T does not necessarily have to be the wall height Ht which is the height of the side wall of the loading platform, and may be the height of the highest point among the entire loading target T.

[0042] The angle specifying unit 617 specifies the angle between the initial azimuth in which the slewing body 120 faces when an automatic control instruction signal is input to the operation signal input unit 614 and the target azimuth recorded in the storage 650 as the target slewing angle. The angle specifying unit 617 specifies the angle between the initial azimuth in which the slewing body 120 faces when an automatic control instruction signal is input to the operation signal input unit 614 and the interference avoidance azimuth recorded in the storage 650 as the interference avoidance angle. The interference avoidance angle is the slewing angle when the working machine 130 and the loading target T do not overlap in a plan view from above.

[0043] When the operation signal input unit 614 receives an input of an automatic control instruction signal, the movement control unit 618 generates an automatic operation signal for realizing automatic control. When an automatic control instruction signal is input, it executes automatic control for realizing a first turning for moving the bucket 133 to the loading position or a second turning for moving the bucket 133 to the excavation preparation position. The movement control unit 618 determines whether to execute the first turning or the second turning in the automatic control based on whether the bucket 133 is within the range of the loading target T in a plan view from above at the time of input of the automatic control instruction signal. When the bucket 133 is not within the range of the loading platform of the loading target T, the movement control unit 618 executes the first turning, and when the bucket 133 is within the range of the loading platform of the loading target T, the movement control unit 618 executes the second turning. At this time, the movement control unit 618 controls the slewing body 120 and the working machine 130 so that the loading target T and the working machine 130 do not come into contact based on the wall height Ht and the interference avoidance angle stored in the storage 650.

[0044] Specifically, in the first turning, the movement control unit 618 realizes a combined operation of the slewing body 120 and the working machine 130 until the first interference avoidance angle θ1 (FIG. 4) is reached. In the first turning, when the height of the bucket 133 does not reach the height of the loading position until the turning angle of the slewing body 120 reaches the first interference avoidance angle θ1 (FIG. 4), the movement control unit 618 does not generate a turning operation signal for the slewing body 120 and generates only an operation signal for the working machine 130. On the other hand, when the height of the bucket 133 reaches the height of the loading position until the turning angle due to turning reaches the first interference avoidance angle θ1, the movement control unit 618 generates a turning operation signal for the slewing body 120 and an operation signal for the working machine 130, and realizes a combined operation of the slewing body 120 and the working machine 130. After the height of the bucket 133 reaches the height of the loading position at the first interference avoidance angle θ1 (FIG. 4), the movement control unit 618 turns the slewing body 120 without moving the working machine 130. Further, in the second turning that turns in the opposite direction to the first turning, the movement control unit 618 controls so that the lowest point of the bucket 133 does not drop until the turning angle of the turning body 120 reaches the second interference avoidance angle θ2 (Fig. 5). The control to prevent the lowest point from dropping may be control to turn the turning body 120 without moving the working machine 130 and maintain the height of the lowest point, or control to provide a gap between the loading target T and the bucket 133 by making the lowest point higher than the lowest point before control. After the turning angle reaches the second interference avoidance angle θ2, the movement control unit 618 generates a turning operation signal for the turning body 120 and an operation signal for the working machine 130, and realizes a combined operation of the turning body 120 and the working machine 130. However, when the movement control unit 618 receives an input of an automatic control instruction signal during the second turning, if the height of the lowest point of the bucket 133 is lower than the wall height Ht of the loading target T, before turning the turning body 120, the bucket 133 is moved upward.

[0045] The operation signal output unit 619 outputs the manual operation signal input to the operation signal input unit 614 or the automatic operation signal generated by the movement control unit 618 to the control valve 123.

[0046] 《Operation during Automatic Control》 Here, with reference to the drawings, the movement of the working machine 100 during automatic control according to the first embodiment will be described. Fig. 4 is a diagram showing an example of the movement of the working machine 100 in the first turning according to the first embodiment. Fig. 5 is a diagram showing an example of the movement of the working machine 100 in the second turning according to the first embodiment.

[0047] When the automatic control related to the first turn is started, as shown in FIG. 4, the control device 160 first starts driving the working machine 130 (boom 131, arm 132, and bucket 133), and moves the bucket 133 upward by raising the boom 131. The target position of the bucket 133 related to the first turn is the loading position above the loading target T. Subsequently, the control device 160 starts turning the revolving body 120. The control device 160 adjusts the turning start timing according to the following procedure. The control device 160 calculates the remaining operation amount of the working machine 130 based on the target posture of the working machine 130 and the posture of the working machine 130 at the current time. The control device 160 adjusts the turning operation amount based on the remaining operation amount of the working machine 130, and performs turning control so that the working machine 130 reaches the target posture by the time the turning angle of the revolving body 120 reaches the first interference avoidance angle θ1. When the posture of the working machine 130 becomes the target posture in the first turn before the turning angle of the revolving body 120 coincides with the first interference avoidance angle θ1, that is, when the height of the lowest point Q of the bucket 133 is higher than the wall height Ht of the loading target T, the working machine 130 will not contact the loading target T due to the turning of the revolving body 120. When the working machine 130 is driven simultaneously with the turning and the posture of the working machine 130 becomes the target posture in the first turn by the time the turning angle coincides with the first interference avoidance angle θ1, the control device 160 may start driving and turning the working machine 130 simultaneously. After that, when the bucket 133 reaches the loading position, the automatic control is terminated.

[0048] After that, the operator performs a dumping operation to rotate the bucket 133 in the dumping direction by manual operation. In the manual dumping operation, the operator may load the cargo at a low position in order to suppress the impact applied to the loading target T. In addition, the operator may operate the work machine 100 to level the cargo loaded on a loading platform such as a vessel. At this time, the lowest point Q of the bucket 133 may be lower than the wall of the loading target T. Therefore, if the control device 160 turns the work machine 100 as it is, the bucket 133 will contact the inner wall of the loading target T.

[0049] When the automatic control related to the second swing is started, the control device 160 determines whether the lowest point of the bucket 133 is higher than the wall of the loading target T. As shown in FIG. 5, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the boom 131 is raised. When the lowest point Q of the bucket 133 becomes higher than the wall height Ht, the control device 160 starts the swing of the swing body 120. The control device 160 swings the swing body 120 without moving the work machine 130 until the swing angle of the swing body 120 exceeds the second interference avoidance angle θ2, and maintains the height of the lowest point of the bucket 133. In the first embodiment, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the control device 160 only raises the work machine 130 and does not swing the swing body 120, but in other embodiments, it is not limited to this. For example, in other embodiments, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the control device 160 may swing the swing body 120 at a speed such that the bucket 133 does not contact the wall of the loading target T while raising the work machine 130.

[0050] When the turning angle of the revolving body 120 exceeds the second interference avoidance angle θ2, the control device 160 drives the boom 131, the arm 132, and the bucket 133. At this time, the control device 160 may drive all of the boom 131, the arm 132, and the bucket 133, or may drive a part of the boom 131, the arm 132, and the bucket 133, depending on the relationship between the posture at the start of turning and the target posture. When the turning angle of the revolving body 120 reaches the target turning angle θ0, the control device 160 ends the drive of the revolving body 120. Also, when the posture of the working machine 130 becomes the target posture at the start of excavation, the control device 160 ends the drive of the working machine 130. The control device 160 according to the first embodiment does not move the working machine 130 and turns the revolving body 120 until the turning angle of the revolving body 120 exceeds the second interference avoidance angle θ2 in the second turn, but is not limited thereto. For example, the control device 160 according to another embodiment may turn the revolving body 120 while moving the working machine 130 so that the height of the lowest point of the bucket 133 does not change. Also, the control device 160 according to the embodiment may turn the revolving body 120 while lowering the working machine 130 so that the height of the lowest point of the bucket 133 does not fall below the wall height Ht when the bucket 133 is higher than the wall height Ht. Note that FIGS. 4 and 5 show an example in which the positional relationship between the excavation position and the loading target T is about 90 degrees around the revolving body 120, but other embodiments are not limited thereto. For example, in other embodiments, the positional relationship between the excavation position and the loading target T may be other turning angle positions, such as about 180 degrees around the revolving body 120.

[0051] 《Operation of Control Device 160》 FIG. 6 is a flowchart showing data collection processing by the control device 160 according to the first embodiment. The control device 160 collects data used for controlling the work machine 100 at each predetermined collection cycle. First, the measurement data acquisition unit 611 of the control device 160 acquires various measurement data from the measurement system (step S1). The azimuth accuracy determination unit 612 determines whether or not the analysis results of the horizontal position and height indicated by the GNSS measurement data acquired in step S1 are Fix solutions (step S2). When both the analysis results of the horizontal position and height are Fix solutions (step S2: YES), the azimuth accuracy determination unit 612 determines whether or not two antennas provided in the position azimuth calculator 151 are receiving signals from a predetermined number or more common satellites (step S3). When the two antennas are receiving signals from a predetermined number or more common satellites (step S3: YES), the azimuth accuracy determination unit 612 determines that the accuracy of the GNSS measurement data is sufficient for automatic control, and determines to use the GNSS measurement data as the azimuth data of the slewing body 120 (step S4). The azimuth accuracy determination unit 612 resets a timer that measures the elapsed time from the time when the accuracy of the azimuth indicated by the GNSS measurement data becomes insufficient (step S5).

[0052] On the other hand, when either the analysis result of the horizontal position or the height is not a Fix solution (step S2: NO), or when the number of common satellites receiving signals by the two antennas of the position azimuth calculator 151 is less than a predetermined number (step S3: NO), the azimuth accuracy determination unit 612 counts up a timer that measures the elapsed time from the time when the accuracy of the azimuth indicated by the GNSS measurement data becomes insufficient (step S6).

[0053] The azimuth accuracy determination unit 612 determines whether the elapsed time from the time when the accuracy of the azimuth indicated by the GNSS measurement data becomes insufficient exceeds a predetermined time (step S7). When the elapsed time does not exceed the predetermined time (step S7: NO), the alternative azimuth calculation unit 613 calculates alternative azimuth data based on the GNSS measurement data that was last determined to have sufficient GNSS accuracy and the measured yaw angular velocity data from the time when the GNSS accuracy was last determined to be sufficient until the current time (step S8). Note that the alternative azimuth calculation unit 613 may calculate the alternative azimuth data by adding the turning angle calculated from the measured yaw angular velocity data acquired in step S1 to the previous azimuth data (GNSS measurement data or alternative azimuth data). Further, the alternative azimuth calculation unit 613 may calculate the alternative azimuth data by adding the turning angle calculated from the yaw angular velocity from the start time of automatic control to the GNSS measurement data that was determined to have sufficient accuracy at the time when the start switch 143SW was pressed, that is, at the start of automatic control. The azimuth accuracy determination unit 612 determines that the accuracy of the alternative azimuth data is sufficient for automatic control, and decides to use the alternative azimuth data as the azimuth data of the rotating body 120 (step S9).

[0054] On the other hand, when the elapsed time from the time when the GNSS accuracy was last determined to be sufficient exceeds the predetermined time (step S7: YES), the azimuth accuracy determination unit 612 determines that the accuracy of the alternative azimuth data is insufficient for automatic control (step S10).

[0055] FIG. 7 is a flowchart showing the automatic control by the control device 160 according to the first embodiment. When the start switch 143SW is pressed by the operator, the operation signal input unit 614 of the control device 160 receives the input of the automatic control instruction signal. When the automatic loading instruction signal is input, the control device 160 determines whether to execute the first turning or the second turning based on whether the bucket 133 is within the range on the loading platform of the loading target T in a plan view from above. When executing the first turning, the control device 160 performs automatic control based on the first interference avoidance angle θ1 and the target turning angle θ0. When executing the second turning, the control device 160 performs automatic control based on the second interference avoidance angle θ2 and the target turning angle θ0.

[0056] The control device 160 executes the data collection process shown in FIG. 6 (step S51). The control device 160 determines whether the accuracy of the azimuth data is insufficient for automatic control (step S52). If it is determined in step S10 of the data collection process that the accuracy of the azimuth data is insufficient for automatic control (step S52: YES), the control device 160 ends the process without starting automatic control. At this time, the control device 160 may cause the operation terminal 142 to display that automatic control cannot be performed because the accuracy of GNSS positioning is low. For example, the control device 160 may cause the operation terminal 142 to display "Initializing GNSS positioning".

[0057] When the accuracy of the azimuth data is not insufficient (step S52: NO), the angle specifying unit 617 specifies the target turning angle and the interference avoidance angle based on the azimuth data (GNSS measurement data or alternative azimuth data) and the target azimuth and interference avoidance azimuth recorded in the storage 650 (step S53). The angle specifying unit 617 records the azimuth data determined in step S51 as the initial azimuth.

[0058] Thereafter, the movement control unit 618 generates an automatic operation signal for moving the bucket 133 above the loading target T. Specifically, the movement control unit 618 generates an automatic operation signal according to the following procedure.

[0059] First, the working machine position specifying unit 615 specifies the position of the tip P of the arm 132, the position of the lowest point Q of the bucket 133, and the attitude of the bucket 133 based on the measurement data (step S54). The movement control unit 618 determines whether the position of the tip of the arm 132 approximates the target position (loading position or excavation position) related to the teaching (step S55). That is, the movement control unit 618 determines whether the attitude of the working machine 130 approximates the target attitude and whether the turning angle of the revolving body 120 approximates the target turning angle. For example, the movement control unit 618 determines that the attitude of the working machine 130 approximates the target attitude when the difference between the position of the tip of the arm 132 in the target attitude and the current position of the tip of the arm 132 is equal to or less than a predetermined value. The movement control unit 618 according to the first embodiment specifies the turning angle based on the difference between the azimuth indicated by the GNSS measurement data or the alternative azimuth data and the initial azimuth.

[0060] When the tip of the arm 132 does not approximate the target position (step S55: NO), the movement control unit 618 generates an automatic operation signal (step S56). The movement control unit 618 outputs the automatic operation signal to the control valve 123 (step S57).

[0061] Next, the control device 160 executes the data collection process shown in FIG. 6 (step S58). The control device 160 determines whether the accuracy of the azimuth data is insufficient for automatic control (step S59). When it is determined in step S7 of the data collection process that the accuracy of the GNSS measurement data or the alternative azimuth data is sufficient for automatic control (step S59: NO), the control device 160 returns the process to step S54 and continues the automatic control. On the other hand, when it is determined in step S7 of the data collection process that the accuracy of the azimuth data is insufficient for automatic control (step S59: YES), the control device 160 aborts the automatic control and ends the process. At this time, the control device 160 may cause the operation terminal 142 to display that automatic control cannot be performed because the accuracy of GNSS positioning is low. For example, the control device 160 may cause the operation terminal 142 to display "Initializing GNSS positioning".

[0062] On the other hand, in step S55, when the position of the tip of the arm 132 approximates the target position related to teaching (step S55: YES), the control device 160 ends the turning process.

[0063] 《Function and Effect》 As described above, the working machine 100 according to the first embodiment has the following configuration. The working machine 100 includes a main body including a traveling body 110 and a revolving body 120 that revolves with respect to the traveling body 110. The working machine 100 includes a turning motor 124 that turns the revolving body 120 with respect to the traveling body 110. The working machine 100 includes a position and orientation calculator 151 provided on the main body that acquires first measurement data which is GNSS measurement data. The working machine 100 includes a control device 160 that executes turning control by the turning motor 124 based on the first measurement data. The control device 160 determines whether or not to start turning control based on the accuracy of the first measurement data. Thereby, the working machine 100 determines not to start turning control when the accuracy of the GNSS measurement data becomes insufficient for turning control. Therefore, the working machine 100 can prevent unintended behavior caused by the accuracy of the GNSS measurement data.

[0064] Further, the control device 160 according to the first embodiment determines whether or not to continue turning control based on the first measurement data acquired during turning control. That is, the working machine 100 stops turning control when the accuracy of the GNSS measurement data becomes insufficient during turning control. Therefore, the working machine 100 can prevent unintended behavior caused by the accuracy of the GNSS measurement data.

[0065] Further, the control device 160 according to the first embodiment stops turning control when a predetermined time has elapsed since the accuracy of the first measurement data no longer satisfies the conditions related to turning control. Thereby, the control device 160 can prevent frequent stoppage of turning control due to a short-term decrease in the accuracy of the first measurement data.

[0066] Further, the working machine 100 according to the first embodiment includes an inclination measuring device 152 that acquires second measurement data, which is measurement data related to the turning angles of the traveling body 110 and the revolving body 120. The yaw angular velocity measured by the inclination measuring device 152 can be integrated to obtain the turning angle. The control device 160 according to the first embodiment executes turning control based on the second measurement data until a predetermined time elapses from the time when the accuracy of the first measurement data no longer satisfies the conditions related to turning control. Thereby, the control device 160 can prevent the turning control from becoming impossible when the accuracy of the first measurement data deteriorates.

[0067] 〈Second Embodiment〉 The alternative azimuth calculation unit 613 according to the first embodiment calculates alternative azimuth data based on the GNSS measurement data that was last determined to have sufficient GNSS accuracy and the yaw angular velocity measurement data from the time when the GNSS accuracy was last determined to be sufficient until the current time. On the other hand, since the error included in the yaw angular velocity measurement data is amplified by integrating the yaw angular velocity measurement data, the accuracy of the alternative azimuth data gradually decreases. In contrast, the alternative azimuth calculation unit 613 according to the second embodiment can calculate alternative azimuth data with the influence of errors suppressed by using a Kalman filter.

[0068] The alternative azimuth calculation unit 613 according to the second embodiment has a Kalman filter that calculates the position, azimuth, and tilt angle of the working machine 100. The alternative azimuth calculation unit 613 estimates the current position, azimuth, and tilt angle of the working machine 100 based on the previous estimation result and the current measurement data.

[0069] The alternative orientation calculation unit 613 according to the second embodiment estimates the position, orientation, and tilt angle at time t, taking the estimation results of the position, orientation, and tilt angle at time t - 1 as the "state (posterior belief)", the angular velocity of the working machine 100 at time t indicated by the measurement data of the tilt meter 152 as the "control value", and the position and orientation at time t indicated by the measurement data of the position and orientation calculator 151 and the tilt angle at time t indicated by the measurement data of the tilt meter 152 as the "observation value". Note that the alternative orientation calculation unit 613 may estimate the position, orientation, and tilt angle using a Kalman gain based on the covariance matrix indicating the uncertainty of the estimation result.

[0070] As described above, the control device 160 according to the second embodiment can accurately calculate alternative orientation data by using a Kalman filter.

[0071] Note that the control device 160 according to the second embodiment determines that the accuracy of the alternative orientation data is insufficient and stops the automatic control after a predetermined time has elapsed since the accuracy of the GNSS measurement data became insufficient during the automatic control, as in the first embodiment, but is not limited thereto. For example, in other embodiments, when the estimation accuracy of the orientation by the alternative orientation calculation unit 613 is sufficiently high, the control device 160 may continue the automatic control based on the alternative orientation data without stopping the automatic control.

[0072] <Third Embodiment> The working machine 100 according to the first embodiment and the second embodiment sets a reference point for automatic control by teaching. In contrast, the working machine 100 according to the third embodiment sets a reference point for automatic control without teaching.

[0073] FIG. 8 is a schematic diagram showing the configuration of the working machine 100 according to the third embodiment. The working machine 100 according to the third embodiment further includes a rotary encoder 156 as a measurement system. The rotary encoder 156 is provided at the turning center of the traveling body 110 and the slewing body 120, and outputs measurement data indicating the turning angle of the slewing body 120 with respect to the traveling body 110.

[0074] FIG. 9 is a schematic block diagram showing the configuration of the control device 160 according to the third embodiment. In addition to the configuration of the first embodiment, the control device 160 according to the third embodiment further includes a position receiving unit 620. The position receiving unit 620 receives the GNSS measurement data of the loading target T by communication. That is, the loading target T according to the third embodiment is configured to include a GNSS positioning device and a communication device and be capable of transmitting GNSS measurement data. The position receiving unit 620 may receive the measurement data directly from the loading target T, or may receive the measurement data from a control system that remotely controls the loading target T. Note that the positioning device included in the loading target T is an example of a positioning sensor provided in the loading target T.

[0075] The reference specifying unit 616 according to the third embodiment specifies the interference avoidance position and the loading position based on the GNSS measurement data of the loading target T. For example, when an automatic control instruction signal is input, the reference specifying unit 616 specifies the loading position based on the position and orientation of the loading target T indicated by the GNSS measurement data received by the position receiving unit 620 and the known shape of the loading target T. The reference specifying unit 616 specifies the planar position of the vessel of the loading target T based on the position and orientation of the loading target T. The reference specifying unit 616 specifies, as the loading position, a position that is a predetermined distance from the planar position and higher than the height of the loading target T specified from the known shape of the loading target T.

[0076] Based on the position and orientation of the loading target T and the known shape of the loading target T, the reference specifying unit 616 specifies, as the interference avoidance position, the position on the circle centered on the turning center of the swivel body 120 and having a radius equal to the distance between the turning center and the dumping position, where the outer shape of the bucket 133 does not interfere with the loading target T in a plan view and is the closest to the loading position.

[0077] 《Operation of the control device 160》 FIG. 10 is a flowchart showing data collection processing by the control device 160 according to the third embodiment. The control device 160 collects data used for controlling the working machine 100 at a predetermined collection cycle. First, the measurement data acquisition unit 611 of the control device 160 acquires various measurement data from the measurement system (step S101). Also, the position reception unit 620 receives GNSS measurement data from the loading target T (step S102).

[0078] The azimuth accuracy determination unit 612 determines whether the analysis results of the horizontal position and height of the working machine 100 indicated by the GNSS measurement data acquired in step S101 are Fix solutions (step S103). When both the analysis results of the horizontal position and height of the working machine 100 are Fix solutions (step S103: YES), the azimuth accuracy determination unit 612 determines whether two antennas provided in the position azimuth calculator 151 are receiving signals from a predetermined number or more common satellites (step S104).

[0079] When the two antennas are receiving signals from a predetermined number or more common satellites (step S104: YES), that is, when the accuracy of the GNSS measurement data of the working machine 100 is sufficient, the azimuth accuracy determination unit 612 determines whether the analysis results of the horizontal position and height of the loading target T indicated by the GNSS measurement data of the loading target T received in step S102 are Fix solutions (step S105). When both the analysis results of the horizontal position and height of the working machine 100 are Fix solutions (step S105: YES), the azimuth accuracy determination unit 612 determines whether two antennas provided in the loading target T are receiving signals from a predetermined number or more common satellites (step S106). When the two antennas of the loading target T are receiving signals from a predetermined number or more common satellites (step S106: YES), that is, when the accuracy of the GNSS measurement data of both the working machine 100 and the loading target T is sufficient, the azimuth accuracy determination unit 612 determines that the accuracy of the GNSS measurement data is sufficient for automatic control (step S107).

[0080] If the analysis result of either the horizontal position or the height of the other party, the working machine 100, or the loading target T is not a Fix solution (step S103 or S105: NO), and the number of common satellites for receiving signals with the two antennas of the position and orientation calculator 151 or the loading target T is less than a predetermined number (step S104 or S106: NO), the orientation accuracy determination unit 612 determines that the accuracy of the alternative orientation data is insufficient for automatic control (step S108). More specifically, if any of the analysis result of the horizontal position of the measurement data related to the first antenna of the position and orientation calculator 151, the analysis result of the height of the measurement data related to the first antenna, the analysis result of the horizontal position of the measurement data related to the second antenna, and the analysis result of the height of the measurement data related to the second antenna is not a Fix solution, the orientation accuracy determination unit 612 determines that the accuracy of the alternative orientation data is insufficient for automatic control.

[0081] Figure 11 is a flowchart showing the automatic control by the control device 160 according to the third embodiment. When the start switch 143SW is pressed by the operator, the operation signal input unit 614 of the control device 160 receives the input of the automatic control instruction signal. First, the control device 160 executes the data collection process shown in FIG. 10 (step S151). The control device 160 determines whether the accuracy of the orientation data is insufficient for automatic control (step S152). If it is determined in step S108 of the data collection process that the accuracy of the orientation data is insufficient for automatic control (step S152: YES), the control device 160 ends the process without starting the automatic control. At this time, the control device 160 may cause the operation terminal 142 to display that automatic control cannot be performed because the accuracy of GNSS positioning is low. For example, the control device 160 may cause the operation terminal 142 to display "During initialization of GNSS positioning".

[0082] When the accuracy of the orientation data is not insufficient (step S152: NO), the reference specifying unit 616 specifies the reference position (loading position, interference avoidance position, excavation position) for automatic control based on the GNSS measurement data of the object T to be loaded (step S153). Next, the angle specifying unit 617 specifies the target turning angle and the interference avoidance angle based on the reference position for automatic control and the GNSS measurement data acquired by the position orientation calculator 151 (step S154).

[0083] Thereafter, the movement control unit 618 generates an automatic operation signal for moving the bucket 133 above the object T to be loaded. Specifically, the movement control unit 618 generates an automatic operation signal according to the following procedure.

[0084] First, the work machine position specifying unit 615 specifies the position of the tip P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133 based on the measurement data (step S155). The movement control unit 618 determines whether the position of the tip of the arm 132 approximates the target position related to the teaching (step S156). That is, the movement control unit 618 determines whether the posture of the work machine 130 approximates the target posture and whether the turning angle of the slewing body 120 approximates the target turning angle. For example, the movement control unit 618 determines that the posture of the work machine 130 approximates the target posture when the difference between the position of the tip of the arm 132 in the target posture and the current position of the tip of the arm 132 is equal to or less than a predetermined value. The movement control unit 618 according to the third embodiment specifies the turning angle based on the measurement data of the rotary encoder 156.

[0085] When the tip of the arm 132 does not approximate the target position (step S156: NO), the movement control unit 618 generates an automatic operation signal (step S157). The movement control unit 618 outputs the automatic operation signal to the control valve 123 (step S158).

[0086] Next, the measurement data acquisition unit 611 acquires measurement data from the measurement system (step S159). Note that, unlike the inclinometer 152, the control device 160 according to the third embodiment does not accumulate an error in the turning angle because it specifies the turning angle based on the measurement data of the rotary encoder 156. Further, the control device 160 may specify the turning angle by integrating the yaw angular velocity from the time when the start switch 143SW is pressed to the current time. Also in this case, since the error in the turning angle is reset at the start of automatic control, the error accumulated in the turning angle is small. Therefore, the control device 160 according to the third embodiment does not have to stop the automatic control even if the accuracy of the GNSS measurement data deteriorates during the automatic control.

[0087] In step S156, when the position of the tip of the arm 132 approximates the target position (step S156: YES), the control device 160 ends the turning process.

[0088] 〈Other Embodiments〉 Although one embodiment has been described in detail with reference to the drawings above, the specific configuration is not limited to the above, and various design changes and the like are possible. That is, in other embodiments, the order of the above-described processes may be appropriately changed. Also, some processes may be executed in parallel. The control device 160 according to the above-described embodiment may be configured by a single computer, or the configuration of the control device 160 may be divided and arranged in a plurality of computers, and the plurality of computers may function as the control device 160 by cooperating with each other. At this time, some of the computers constituting the control device 160 may be mounted inside the working machine 100, and other computers may be provided outside the working machine 100. For example, the working machine 100 may be operated by remote control, and in this case, the computers constituting the control device 160 may be divided and provided in the working machine 100, the remote control device, and the control server.

[0089] The construction machine 100 according to the first and second embodiments calculates alternative azimuth data based on the measurement data of the inclinometer 152, and the construction machine 100 according to the third embodiment identifies the turning angle based on the measurement data of the rotary encoder 156, but is not limited thereto. For example, the control device 160 according to other embodiments may calculate the azimuth or the turning angle based on the processing of the imaging data by the imaging device provided in the construction machine 100 (for example, SLAM processing using the point cloud data of LIDAR) or the measurement data of the geomagnetic sensor.

[0090] Also, the construction machine 100 according to the above-described embodiments is a hydraulic excavator, and the revolving body 120 revolves with respect to the traveling body 110, but is not limited thereto. For example, the construction machine 100 according to other embodiments may be a work vehicle such as a wheel loader or a dump truck having an articulated mechanism. The main body of the work vehicle having the articulated mechanism is divided into a front part and a rear part, and the front part is driven to revolve with respect to the rear part. Also, the construction machine 100 according to other embodiments may be fixedly installed on the ground and not travel. Further, when the working machine 130 of the construction machine 100 according to other embodiments has a rotatable configuration such as an offset boom or a tiltrotator, the control device 160 may determine whether or not the rotation control of the working machine 130 is possible. In this case, the rotatable working machine 130 is an example of the second main body, and the vehicle body to which the working machine 130 is attached is an example of the first main body.

[0091] The control device 160 according to the first and second embodiments continues the automatic control using the alternative azimuth data calculated from other measurement data when the accuracy of the GNSS measurement data becomes insufficient during the automatic control, but is not limited thereto. For example, the control device 160 according to other embodiments may estimate the turning angle based on the turning speed calculated from the change in azimuth until the accuracy of the GNSS measurement data becomes insufficient, and continue the automatic control.

[0092] The control device 160 according to the first embodiment and the second embodiment terminates the automatic control when the accuracy of the GNSS measurement data and the alternative azimuth data becomes insufficient during the automatic control, but is not limited thereto. For example, the control device 160 according to another embodiment interrupts the automatic control when the accuracy of the GNSS measurement data and the alternative azimuth data becomes insufficient during the automatic control, and automatically resumes the automatic control when the accuracy of the GNSS measurement data becomes sufficient for the automatic control again.

Explanation of Signs

[0093] 100... Work machine 110... Traveling body 111... Infinite track 112... Traveling motor 120... Slewing body 121... Engine 122... Hydraulic pump 123... Control valve 124... Slewing motor 130... Working machine 131... Boom 131C... Boom cylinder 132... Arm 132C... Arm cylinder 133... Bucket 133C... Bucket cylinder 140... Cab 141... Driver's seat 142... Operation terminal 143... Operating device 151... Position and azimuth calculator 152... Inclinometer 153... Boom stroke sensor 154... Arm stroke sensor 155... Bucket stroke sensor 156... Rotary encoder 160... Control device 610... Processor 611... Measurement data acquisition unit 612... Azimuth accuracy determination unit 613... Alternative azimuth calculation unit 614... Operation signal input unit 615... Working machine position specifying unit 616... Reference specifying unit 617... Angle specifying unit 618... Movement control unit 619... Operation signal output unit 620... Position receiving unit 630... Main memory 650... Storage 670... Interface T... Loading target

Claims

1. A main body including a first main body and a second main body that pivots with respect to the first main body, an actuator that pivotally drives the second main body with respect to the first main body, a first sensor provided on the main body for acquiring first measurement data which is positioning data, a controller that executes pivot control by the actuator based on the first measurement data, and determines whether to execute the pivot control based on the accuracy of the first measurement data, A working machine comprising the above.

2. The controller determines whether to continue the pivot control based on the first measurement data acquired during the pivot control The working machine according to Claim 1.

3. The controller stops the pivot control when a predetermined time has elapsed since the accuracy of the first measurement data no longer satisfies the conditions related to the pivot control The working machine according to Claim 2.

4. Comprising a second sensor for acquiring second measurement data which is measurement data related to the pivot angles of the first main body and the second main body, The controller executes the pivot control based on the second measurement data until a predetermined time has elapsed since the accuracy of the first measurement data no longer satisfies the conditions related to the pivot control The working machine according to Claim 3.

5. The first measurement data includes data indicating the position of the first sensor with respect to the satellite The working machine according to Claim 1.

6. The controller permits the start of the pivot control when the position indicated by the first measurement data is a Fix solution The working machine according to Claim 5.

7. An acquisition unit for acquiring third measurement data which is measurement data of a positioning sensor provided on the loading target, The controller determines the target pivot angle of the pivot control based on the first measurement data and the third measurement data, and determines whether to start the pivot control based on the accuracy of the first measurement data and the accuracy of the third measurement data The working machine according to Claim 1.

8. A main body including a first main body and a second main body that pivots with respect to the first main body, an actuator that pivotally drives the second main body with respect to the first main body, a first sensor provided on the main body for acquiring first measurement data which is positioning data, A controller, A control method for a working machine comprising the above, The step in which the controller determines whether to execute turning control by the actuator based on the accuracy of the first measurement data; The step in which the controller executes the turning control based on the first measurement data when the start of the turning control is permitted; A control method comprising the above steps.

9. A main body including a first main body and a second main body that turns with respect to the first main body; An actuator that turns the second main body with respect to the first main body; A first sensor provided on the main body for acquiring first measurement data which is positioning data; A controller that executes turning control by the actuator based on the first measurement data, the controller determining whether to execute the turning control based on the accuracy of the first measurement data; A work system comprising the above components.

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