Work machine and method of controlling work machine

Abstract

Occurrence of a skid due to revolution of a revolving unit is suppressed. A work machine includes a traveling unit, a revolving unit revolvably mounted on the traveling unit, and a controller that controls operations of the work machine. The controller determines whether or not a skid of the traveling unit has occurred in a revolving operation of the revolving unit during an automatic operation of the work machine. When the controller determines that the skid has occurred, it performs processing for weakening rotational inertial force generated in the revolving operation.

1 . A work machine comprising:
 a traveling unit;   a revolving unit revolvably mounted on the traveling unit; and   a controller that controls operations of the work machine, wherein   the controller determines whether a skid of the traveling unit has occurred in a revolving operation of the revolving unit during an automatic operation of the work machine, and when the controller determines that the skid has occurred, the controller performs processing for weakening rotational inertial force generated in the revolving operation.   
     
     
         2 . The work machine according to  claim 1 , wherein
 when a speed of revolution of the revolving unit with respect to the traveling unit is varied, the controller performs the processing for weakening the rotational inertial force by reducing an amount of variation in revolution speed per unit time.   
     
     
         3 . The work machine according to  claim 1 , further comprising a work implement mounted on the revolving unit, wherein
 the controller performs the processing for weakening the rotational inertial force by bringing the work implement closer to a center of revolution of the revolving unit.   
     
     
         4 . The work machine according to  claim 1 , further comprising a work implement mounted on the revolving unit, wherein
 the work implement includes a bucket for excavation of an object to be excavated,   the controller includes a target excavation amount setting unit that sets a target excavation amount of the object to be excavated, and   when the controller determines that the skid of the traveling unit has occurred, the controller performs processing for weakening next rotational inertial force by changing setting of a next target excavation amount to an amount smaller than a current target excavation amount.   
     
     
         5 . The work machine according to  claim 1 , wherein
 when the controller determines that the skid of the traveling unit has occurred after the controller performed the processing for weakening the rotational inertial force, the controller stops the automatic operation of the work machine.   
     
     
         6 . A method of controlling a work machine, the work machine including a traveling unit and a revolving unit revolvably mounted on the traveling unit, the method comprising:
 determining whether a skid of the traveling unit has occurred in a revolving operation of the revolving unit during an automatic operation of the work machine; and   performing processing for weakening rotational inertial force generated in the revolving operation when it is determined in the determining that the skid has occurred.