Swivel work machine

Abstract

In order to accurately detect a posture angle of a swivel section even when a disturbance acceleration occurs due to the movement of the swivel section, a swivel work machine includes: a swivel section; at least one inertial sensor that is disposed on the swivel section and that is configured to calculate a posture angle of the swivel section on the basis of an angular velocity and an acceleration; a first operation detection section as a detection section configured to detect an operation of causing the swivel section to move; and an IMU instruction section as an output section configured to, in a case where an operation of causing movement has been detected, output a signal corresponding to the operation, to the at least one inertial sensor.

1 . A swivel work machine comprising:
 a swivel section;   at least one inertial sensor which is disposed on the swivel section and which is configured to calculate a posture angle of the swivel section on the basis of an angular velocity and an acceleration;   a detection section configured to detect an operation of causing the swivel section to move; and   an output section configured to, in a case where the operation of causing the swivel section to move has been detected, output a signal corresponding to the operation, to the at least one inertial sensor.   
     
     
         2 . The swivel work machine according to  claim 1 , wherein the signal corresponding to the operation is a signal instructing that a proportion of an angular-velocity component used for calculating the posture angle be increased to be higher than a predetermined proportion of the angular-velocity component used in a case where the operation is not detected. 
     
     
         3 . The swivel work machine according to  claim 1 , further comprising a traveling device on which the swivel section is installed so as to be able to swivel, wherein
 the detection section also detects, as the operation of causing the swivel section to move, an operation of causing the traveling device to travel.   
     
     
         4 . The swivel work machine according to  claim 1 , further comprising an operation device configured to accept the operation of causing the swivel section to move, wherein
 the detection section detects, on the basis of the operation performed on the operation device, the operation of causing the swivel section to move.   
     
     
         5 . The swivel work machine according to  claim 4 , wherein the signal corresponding to the operation is a signal instructing that a proportion of an angular-velocity component used for calculating the posture angle be increased to be higher than a predetermined proportion of the angular-velocity component used in a case where the operation is not detected, and a proportion of the angular-velocity component be increased in a continuous manner or in a stepwise manner in accordance with an amount by which the operation device is operated. 
     
     
         6 . The swivel work machine according to  claim 1 , wherein
 the swivel section moves with use of hydraulic actuators driven, and   the detection section detects, from signals for controlling hydraulic pressures supplied to the hydraulic actuators, the operation of causing the swivel section to move.   
     
     
         7 . The swivel work machine according to  claim 1 , wherein
 the swivel section includes:
 a machine body configured to swivel; and 
 a work device that is mounted to the machine body and that has a plurality of movable sections, 
   the at least one inertial sensor includes a plurality of inertial sensors,   the plurality of inertial sensors are each disposed on corresponding one of the machine body and the plurality of movable sections of the work device, and   the output section is configured to:   in a case where an operation of causing the machine body to move has been detected, output signals corresponding to the operation, to the plurality of inertial sensors each disposed on the corresponding one of the machine body and the plurality of movable sections of the work device; and   in a case where an operation of causing one of the plurality of movable sections to move has been detected, output signals corresponding to the operation, to the inertial sensors disposed on the movable section to be caused to move and on at least one of the other movable sections located closer to a tip of the work device than the movable section to be caused to move.