WO2022044601A1 - Method for controlling operation of construction machine, operation control system, and operation control device - Google Patents

Abstract

In past operation control methods, the problem occurred that control precision was inadequate. This operation control method has: an initial motion input model generation step (S1) for generating an initial motion input model for calculating an initial motion input value at which a movable part of a construction machine is caused to begin to move; and a feedback control step (S2) that uses the initial motion input model to specify a control input value having a value greater than or equal to the initial motion input value. The initial motion input model generation step has: a first initial motion input value measurement step for measuring a first initial motion measurement value at which the movable part starts to move in a first state of the movable part; a second initial motion input value measurement step for measuring a second initial motion measurement value at which the movable part starts to move in a second state of the movable part; and a model generation step for generating an initial motion input model in which the gap between the first initial motion measurement value and the second initial motion measurement value is interpolated to derive the initial motion input value in relation to an arbitrary posture of the construction machine.

Description

Work control method, work control system and work control device for construction machinery

The present invention relates to a work control method, a work control system and a work control device of a construction machine, and more particularly to a work control method, a work control system and a work control device of a construction machine having an operation lever for controlling the attitude of the construction machine.

In recent years, many unmanned controls for construction machinery have been proposed. For example, Patent Documents 1 and 2 disclose techniques for controlling construction machinery.

Patent Document 1 discloses a technique relating to a work machine control device for construction machinery. The work machine control device for a construction machine described in Patent Document 1 includes a work machine cylinder for rotationally driving each arm of the work machine, a work machine operation lever provided for each arm, and a command signal from the lever. In a construction machine equipped with a flow control system that controls the flow rate of pressure oil supplied to each work machine cylinder according to the above, the normative model unit that defines the desired operation response characteristics of each work machine and the operation response of this normative model. Using the normative model setting means for setting the characteristics, the cylinder speed detecting means of each working machine, and the detection values of the cylinder speed detecting means as feedback signals, the operation response characteristics of each working machine match the operation response characteristics of the normative model unit. It is equipped with an adaptive control means that executes adaptive control so as to perform, corrects the control command value of the pressure oil supply flow rate for each work machine, and controls the speed of each work machine cylinder by this correction control command value.

Further, Patent Document 2 discloses a technique relating to a solenoid valve control device in a hydraulic circuit of an industrial vehicle. In the solenoid valve control device in the hydraulic circuit of the industrial vehicle described in Patent Document 2, the CPU determines the duty value (%) of the PWM signal input to the transistor provided between the battery and the solenoid valve. Feedback control is performed. The duty output value Dout at the time when a predetermined time (300 ms) has elapsed since the tilt lever was operated (tilt operation) for the first time (first time) after the key-on, and the target current value Iaim at that time are learned values Drec, respectively. Remember as Irec. From the second and subsequent tilt operations after the key-on, using the learning values Drec and Irec learned in the previous tilt operation, Dout = Iaim · Drec / Irec calculated according to the target current value Iaim at that time is the duty output value. Use the initial value.

Japanese Unexamined Patent Publication No. 09-328785 Japanese Unexamined Patent Publication No. 11-171498

In construction machinery, there is a play that causes a gap between the operation start point of the operation lever and the operation start point of the cylinder. However, in the techniques described in Patent Documents 1 and 2, there is a problem that the amount of play of the operating lever is not taken into consideration and the accuracy of unmanned control of the construction machine is not sufficient.

One aspect of the work control method of the construction machine according to the embodiment is the initial input model generation step of generating the initial input model for calculating the initial input value at which the movable part of the construction machine starts to move, and the initial input model. It has a feedback control step for calculating the initial input value corresponding to the attitude of the construction machine and specifying a control input value having a value equal to or higher than the initial input value, and the initial input model generation step has. The first initial input value measurement step for measuring the first initial measurement value at which the movable portion starts to move in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion. In a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion, a second initial motion measurement value at which the movable portion starts to move is measured. The initial input model for deriving the initial input value for an arbitrary posture of the construction machine by complementing between the initial input value measurement step 2 and the first initial measurement value and the second initial measurement value. It has a model generation step to generate.

One aspect of the work control system of a construction machine according to an embodiment includes an initial input model generation unit that generates an initial input model for calculating an initial input value at which a movable part of the construction machine starts to move, and the initial input model. It has a feedback control unit that calculates the initial motion input value corresponding to the attitude of the construction machine and specifies a control input value having a value equal to or higher than the initial motion input value, and the initial motion input model generation unit has. The first initial input value measurement process for measuring the first initial measurement value at which the movable portion starts to move in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion. In a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion, a second initial motion measurement value at which the movable portion starts to move is measured. Generates the initial input model that complements between the initial input value measurement process of 2 and the first initial measurement value and the second initial measurement value to derive the initial input value for an arbitrary posture of the construction machine. Model generation processing to be performed.

One aspect of the work control device for a construction machine according to an embodiment includes an initial input model generation unit that generates an initial input model for calculating an initial input value at which a movable part of the construction machine starts to move, and the initial input model. It has a feedback control unit that calculates the initial input value corresponding to the posture of the construction machine and specifies a control input value having a value equal to or higher than the initial input value, and the initial input model generation unit has. The first initial input value measurement process for measuring the first initial measurement value at which the movable portion starts to move in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion. In a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion, a second initial motion measurement value at which the movable portion starts to move is measured. Generates the initial input model that complements between the initial input value measurement process of 2 and the first initial measurement value and the second initial measurement value to derive the initial input value for an arbitrary posture of the construction machine. Model generation processing to be performed.

According to the work control method, work method system, and work control device of the construction machine according to the embodiment, the attitude control of the construction machine can be performed with high accuracy even if the play size of the operation lever changes.

It is the schematic of the work control system which concerns on Embodiment 1. FIG. It is a schematic block diagram of the work control system which concerns on Embodiment 1. FIG. It is a detailed block diagram of the work control system which concerns on Embodiment 1. FIG. It is a flowchart explaining the operation of the work control system which concerns on Embodiment 1. It is a flowchart explaining the operation of the initial input model generation part which concerns on Embodiment 1. It is a flowchart explaining the operation of the feedback control unit which concerns on Embodiment 1. FIG. It is a block diagram of the work control system which concerns on Embodiment 2. FIG. It is a flowchart explaining the operation of the feedback control unit which concerns on Embodiment 2.

Embodiment 1
Hereinafter, embodiments of the present invention will be described with reference to the drawings. The work control method, work control system, and work control device of the construction machine described below control the construction machine that drives the joints of the machine by using a cylinder. Therefore, in the following description, a backhoe will be taken as an example as a construction machine. Further, in the following description, a work control system in which processing blocks for performing work control processing are distributed and arranged at a plurality of locations through a network will be described, but work in which the processing blocks included in the work control system are used as one device. It may be a control device. Further, the control content performed in the work control system is referred to as a work control method. These specific examples will be described in detail in the description described later.

FIG. 1 shows a schematic diagram of the work control system 1 according to the first embodiment. The construction machine 10 shown in FIG. 1 is a backhoe. The construction machine 10 has a crawler 11, a swivel table 12, a cockpit 13, a boom 14, an arm 15, and a bucket 16. The crawler 11 is an endless track for moving the construction machine 10. The swivel base 12 swivels the chassis on which the cockpit 13, the boom 14, and the like are mounted. The cockpit 13 is an operation room in which an operation lever or the like for operating the posture of the construction machine 10 is arranged. Further, although the illustration is simplified, in the work control system 1, an actuator 17 for operating an operation lever is arranged in the cockpit 13. Further, the boom 14, the arm 15, and the bucket 16 each correspond to a movable portion and are operated by a hydraulic cylinder. This hydraulic cylinder expands and contracts by operating an operating lever provided in the cockpit 13. In addition to the hydraulic cylinder, the portion corresponding to the movable portion includes, for example, a portion driven by a motor, but in the following description, the hydraulic cylinder will be described as an example of the movable portion.

Further, in the work control system 1 according to the first embodiment, posture sensors 181 to 184 for detecting the posture angle are attached to the movable portion of the construction machine 10. In the example shown in FIG. 1, the attitude sensor 181 detects the rotation angle of the swivel table 12, the attitude sensor 182 detects the current angle of the boom 14, and the attitude sensor 183 detects the relative angle between the boom 14 and the arm 15. The attitude sensor 184 detects the relative angle between the arm 15 and the bucket 16.

Then, in the work control system 1 according to the first embodiment, the attitude control device 20 and the work control device 30 are provided corresponding to the construction machine 10. The attitude control device 20 gives a command to operate the actuator 17. Further, the attitude control device 20 generates an attitude detection value based on the angle information acquired from the attitude sensors 181 to 184. The work control device 30 generates a control input value for determining the posture of the construction machine 10 based on the information obtained from the attitude control device 20.

In the work control system 1 according to the first embodiment, the input value at which the movable part such as the boom 14 of the construction machine 10 starts to operate is initially input according to the displacement amount of the operation lever of the construction machine 10 given via the actuator 17. Called a value. Then, the construction machine 10 is controlled using this initial input value as a control reference. Further, this initial input value changes depending on the amount of expansion and contraction of the cylinder due to the characteristics of the cylinder. Therefore, in the work control system 1 according to the first embodiment, the initial motion input model is generated from the expansion / contraction states of different cylinders, and the initial motion input value is updated for each posture at the start of control of the construction machine 10 using the initial motion input model. do. Then, in the work control system 1 according to the first embodiment, the feedback control input value to the construction machine control unit is calculated so as to guarantee the updated initial input value as the minimum value of the input value given to the construction machine 10. Hereinafter, the work control system 1 according to the first embodiment will be described in detail below.

First, the configuration of the processing block of the work control system 1 according to the first embodiment will be described. Therefore, FIG. 2 shows a schematic block diagram of the work control system according to the first embodiment. In addition, in FIG. 2, the construction machine 10 is shown as the one to be controlled by the work control system 1. In the example shown in FIG. 2, the attitude control device 20 is provided with a construction machine control unit 21 and an attitude detection unit 22. The work control device 30 is provided with an initial input model generation unit 31 and a feedback control unit 32. Then, the construction machine 10 is operated by using the attitude control device 20 and the work control device 30.
The example shown in FIG. 2 is an example, and for example, the attitude control device 20 and the work control device 30 can be used as one device, and the construction machine 10 and the attitude control device 20 can be connected by communication. Further, the attitude control device 20 may be provided so as to be integrated with the construction machine 10, and the attitude control device 20 and the work control device 30 may be connected by communication. For example, the work control device 30 can be arranged in the cloud storage and can be connected to the attitude control device 20 by communication. Further, the construction machine 10 is a control target by the work control device 30, and the attitude control device 20 is also regarded as an interface for the work control device 30 to specifically operate the construction machine 10. In that case, the work control device 30 Can be considered as the main part of the work control system 1.

The work control device 30 has an initial input model generation unit 31 and a feedback control unit 32. The initial input model generation unit 31 generates an initial input model that calculates an initial input value at which the movable parts of the construction machine 10 (for example, the swivel base 12, the boom 14, the arm 15, and the bucket 16) start to move. The feedback control unit 32 calculates the initial motion input value corresponding to the posture of the construction machine 10 by using the initial motion input model, and specifies the control input value having a value equal to or higher than the initial motion input value. Here, the initial input model generation unit 31 performs the first initial input measurement process, the second initial input measurement process, and the model generation process. In the first initial motion input measurement process, the first initial motion measurement value at which the movable portion starts to move is measured in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion. In the second initial motion input measurement process, the second initial motion measurement value at which the movable portion starts to move in the second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion. To measure. In the model generation process, an initial input model for deriving an initial input value for an arbitrary posture of the construction machine 10 by complementing between the first initial measurement value and the second initial measurement value is generated.

Subsequently, a more detailed configuration of the work control system 1 according to the first embodiment will be described. Therefore, FIG. 3 shows a block diagram of the work control system 1 according to the first embodiment. In addition, in FIG. 3, the construction machine 10 which is the control target of the work control system 1 is also shown for the sake of explanation. As shown in FIG. 3, the work control system 1 according to the first embodiment includes an attitude control device 20 and a work control device 30. The attitude control device 20 is provided with a construction machine control unit 21 and an attitude detection unit 22. Further, the work control device 30 is provided with an initial input model generation unit 31 and a feedback control unit 32.

The construction machine control unit 21 displaces the operation lever in the construction machine 10 by operating the actuator based on the Fordback control input value calculated by the feedback control unit 32. Further, in the construction machine control unit 21, when the initial input model generation unit 31 generates the initial input model, the control input value is given from the initial input model generation unit 31, and the construction machine 10 is based on the control input value. The operating lever shall be displaced.

The posture detection unit 22 acquires the joint angles of each movable part from sensors 181 to 184 provided on the movable parts such as the arm of the construction machine 10 and outputs them as posture detection values indicating the posture of the construction machine 10. The initial input model generation unit 31 generates an initial input model that calculates an initial input value at which the movable portion of the construction machine 10 starts to move. Further, the feedback control unit 32 calculates the initial motion input value corresponding to the current posture using the initial motion input model, and calculates the feedback control input value that guarantees the initial motion input value as the minimum value.

Here, the initial input model generation unit 31 and the feedback control unit 32 will be described in detail. The initial input model generation unit 31 has an initial input measurement unit 311 and a model generation unit 312. The initial motion input measurement unit 311 outputs an input value given to the construction machine control unit 21 in order to displace the movable portion of the construction machine 10 when generating the initial motion input model, and the attitude detection value output by the attitude detection unit 22. By detecting the movable start state of the movable part based on the above, the initial input value for each posture is measured. More specifically, the initial input measurement unit 311 carries out the first initial input value measurement step and the second initial input value measurement step.

In the first initial motion input measurement step, the first initial motion measurement value at which the movable portion starts to move is measured in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion. In the second initial motion input measurement step, the second initial motion measurement value at which the movable portion starts to move in the second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion. To measure. An example of more specific operation of the first initial input measurement step and the second initial input measurement step is as follows.
In the first initial input value measurement step, an input value that changes stepwise in the first state in which the cylinder driving the movable part is extended is applied to the construction machine control unit 21, and the movable part starts to move. The input value is measured as the first initial measurement value. Further, in the first embodiment, in the first initial input value measurement step, input is made so that the cylinder moves in the positive direction in which the cylinder expands and in the negative direction in which the cylinder contracts with respect to the cylinder in the first state. A value is given and the first initial measurement value is measured in each of the positive direction and the negative direction.

In the second initial input value measurement step, an input value that changes stepwise in the second state in which the cylinder driving the movable part is shortened is applied to the construction machine control unit 21, and the movable part starts to move. The input value is measured as the second initial measurement value. Further, in the first embodiment, in the second initial input value measurement step, input is made so that the cylinder moves in the positive direction in which the cylinder expands and in the negative direction in which the cylinder contracts with respect to the cylinder in the second state. A value is given and the second initial measurement value is measured in each of the positive direction and the negative direction.

The model generation unit 312 implements a model generation step of generating an initial motion input model that complements between the first initial motion measurement value and the second initial motion measurement value and derives the initial motion input value for an arbitrary posture of the construction machine 10. do.

The feedback control unit 32 has an initial input update unit 321, an error update unit 322, and a control input calculation unit 323. The initial motion input update unit 321 acquires the posture of the construction machine 10 based on the position information (for example, the posture detection value) of the movable part of the construction machine 10, and calculates the initial motion input value corresponding to the posture using the initial motion input model. Perform the initial input update step to update with the value. The error update unit 322 implements an error update step for updating the error between the current posture and the target posture of the construction machine 10. The control input calculation unit 323 performs a control input calculation step of calculating a feedback control input value for reducing the error and giving it to the construction machine 10 by using the error and the initial input value as inputs.

Subsequently, the operation of the work control system 1 according to the first embodiment will be described. Therefore, FIG. 4 shows a flowchart illustrating the operation of the work control system according to the first embodiment. As shown in FIG. 4, the work control system 1 according to the first embodiment performs an initial input model generation process before starting operation (step S1). In this step S1, the construction machine control unit 21, the attitude detection unit 22, and the initial input model generation unit 31 are used to generate an initial input model. Further, in the initial input model generation process of step S1, the first initial input measurement process, the second initial input measurement process, and the model generation process are performed. Then, in the work control system 1 according to the first embodiment, the feedback control process for operating the construction machine 10 using the initial input model generated in step S1 is continued until the end of the operation (steps S2 and S3). That is, in the work control system 1 according to the first embodiment, the initial input model is generated in a period other than the operating period in which the construction machine 10 performs the work. By generating the initial input model during a period other than the operating period of the construction machine 10 in this way, the initial input model does not change while the construction machine 10 is in operation, and the construction machine 10 can be stably operated.

Here, the initial input model generation process in step S1 and the feedback control process in step S2 will be described in detail. FIG. 5 is shown in a flowchart illustrating the operation of the initial input model generation unit according to the first embodiment.

First, the initial input model generation unit 31 selects a drive portion for which the initial input measurement unit 311 has not measured the initial input value (step S11). Next, the initial input measurement unit 311 performs the processes of steps S12 and S13 as the first initial input measurement step. The initial motion input measurement unit 311 measures the initial motion input value in the negative direction of the first initial motion input value measurement step for the selected drive portion (step S12). More specifically, in step S12, the initial motion input measuring unit 311 measures the initial motion input value in the negative direction in the maximum posture (for example, the first state) detected by the posture detecting unit. Here, the initial input value measured in step S12 is shown by Eq. (1). In the following description, θ _upper is the posture angle detected by the construction machine control unit 21 from the drive portion when the first state is reached.

Subsequently, the initial motion input measurement unit 311 measures the initial motion input value in the positive direction of the first initial motion input value measurement step for the selected drive portion (step S13). More specifically, in step S13, the initial motion input measuring unit 311 measures the initial motion input value in the positive direction in the maximum posture (for example, the first state) detected by the posture detecting unit. Here, the initial input value measured in step S13 is shown by Eq. (2).

Subsequently, the initial input measurement unit 311 performs the processes of steps S14 and S15 as the second initial input measurement step. The initial motion input measurement unit 311 measures the initial motion input value in the negative direction of the second initial motion input value measurement step for the selected drive portion (step S14). More specifically, in step S14, the initial motion input measuring unit 311 measures the initial motion input value in the negative direction in the minimum posture (for example, the second state) detected by the posture detecting unit. Here, the initial input value measured in step S14 is shown by Eq. (3). In the following description, θ _lower is the posture angle detected by the construction machine control unit 21 from the drive portion when the second state is reached.

Subsequently, the initial motion input measurement unit 311 measures the initial motion input value in the positive direction of the second initial motion input value measurement step for the selected drive portion (step S15). More specifically, in step S15, the initial motion input measuring unit 311 measures the initial motion input value in the positive direction in the minimum posture (for example, the second state) detected by the posture detecting unit. Here, the initial input value measured in step S15 is shown by Eq. (4).

なお、（５）式のα^＋は（６）式で表される。

なお、（７）式のα^－は（８）式で表される。

Subsequently, the initial input model generation unit 31 calculates the initial input model by the model generation unit 312 using the four initial input values acquired by the initial input measurement unit 311 (step S16). There are two initial input models generated in step S16, for example, a positive direction in which the cylinder extends and a negative direction in which the cylinder contracts. Therefore, the initial input models generated by the initial input model generation unit 31 according to the first embodiment are shown in the equations (5) and (7). Equation (5) shows the initial input model Umin_p (θ) when the cylinder is displaced in the positive direction, and equation (7) shows the initial input model Umin_m (θ) when the cylinder is displaced in the negative direction. show. Note that θ indicates the posture angle of the drive portion detected by the posture detection unit 22.

It should be noted that α ⁺ in Eq. (5) is expressed by Eq. (6).

It should be noted that α ⁻ in Eq. (7) is expressed by Eq. (8).

The initial input model generation unit 31 repeats the processes of steps S11 to S16 for all the drive parts of the construction machine 10. Then, the initial input model generation unit 31 ends the initial input model generation process in response to the generation of the initial input model for all the drive parts of the construction machine 10. The model generation unit 312 of the initial input model generation unit 31 updates the initial input model held in the initial input update unit 321 by the generated initial input model.

Subsequently, the feedback control process performed by the feedback control unit 32 will be described. FIG. 6 shows a flowchart illustrating the operation of the feedback control unit 32 according to the first embodiment.

As shown in FIG. 6, the feedback control unit 32 first obtains the posture detection value of the controlled target portion of the construction machine 10 from the posture detection unit 22 by using the initial input update unit 321 and then obtains the posture detection value of the control target portion of the construction machine 10 and the current posture θ of the construction machine 10. (Step S21). Next, the initial motion input update unit 321 updates the initial motion input value associated with the current posture θ using the held initial motion input model (step S22).

Next, the error updating unit 322 updates the error between the current posture θ and the target posture (step S23). After that, the control input calculation unit 323 calculates the feedback control input value for the current posture θ (step S24), and gives the calculated feedback control input value to the construction machine control unit 21 (step S25). The feedback control unit 32 controls until the posture of the construction machine 10 reaches the target posture while repeating the processes of steps S23 to S25.

なお、Ｋｐは（１０）式で表される。

また、ｅは（１１）式で表される。

Here, the method of calculating the feedback control input value in step S24 will be described in detail. First, assuming that the feedback control input value is u, the feedback control input value u is expressed by the equation (9). In the following equation, θ is the current posture, θr is the target posture, Umax is the maximum input value, Umin (θ) is the initial input value (however, the posture direction is omitted), and Emax is the error between the target posture and the current posture. The deceleration start position and Emin are the convergence determination thresholds for the target posture.

Kp is expressed by the equation (10).

Further, e is expressed by the equation (11).

According to the above equation (9), it can be seen that the feedback control input value is a value whose minimum value is the initial input value Umin (θ). That is, it can be seen that the control input calculation unit 323 calculates the feedback control input value compensated with the initial input value calculated for each posture of the construction machine 10 at the start of control as the minimum value.

From the above description, in the work control system 1 according to the first embodiment, the drive parts of the construction machine 10 are set to the first state and the second state having different displacement amounts, and the first state and the second state are set. Measure the initial input value for each. Then, the work control system 1 generates an initial motion input model capable of calculating an appropriate initial motion input value for an arbitrary posture using the measured initial motion input value. The work control system 1 calculates the optimum initial input value for the current posture using the initial input model generated by the initial input model generation unit 31, and inputs the feedback control input value that compensates for this initial input value as the minimum value. The model generation unit 31 calculates.

As a result, the work control system 1 according to the first embodiment has a feedback control input value capable of controlling the construction machine 10 with high accuracy even if the play amount of the operation lever differs depending on the posture of the construction machine 10. The construction machine 10 can be controlled.

Embodiment 2
In the second embodiment, the work control system 2 which is another form of the work control system 1 according to the first embodiment will be described. In the description of the second embodiment, the same components as those of the first embodiment are designated by the same reference numerals as those of the first embodiment, and the description thereof will be omitted.

FIG. 7 shows a block diagram of the work control system 2 according to the second embodiment. As shown in FIG. 7, the work control system 2 according to the second embodiment is obtained by adding a work instruction unit 41 to the work control system 1 according to the first embodiment. Further, the work control system 2 according to the second embodiment replaces the feedback control unit 32 of the work control system 1 according to the first embodiment with a feedback control unit 42. The feedback control unit 42 replaces the error update unit 322 with the error update unit 422. The error update unit 422 is obtained by adding the parameter update unit 422a to the error update unit 322.

The work instruction unit 41 gives information on the content of the work performed by using the construction machine 10 to the feedback control unit 42. When the error updating unit 422 of the feedback control unit 42 recognizes that the work instruction for instructing the construction machine 10 to perform the work is updated based on the instruction given from the work instruction unit 41, the parameter updating unit 422a The parameter update step of updating the control parameter including the target posture of the construction machine 10 is performed. It is assumed that the control parameters include the maximum input amount Umax and the deceleration start threshold value Emax included in the equation (10).

Subsequently, the feedback control process using the feedback control unit 42 according to the second embodiment will be described in detail. Therefore, FIG. 8 shows a flowchart illustrating the operation of the feedback control unit 42 according to the second embodiment. In the description of the flowchart shown in FIG. 8, steps S31 and S32 different from the flowchart of the work control system 1 according to the first embodiment shown in FIG. 6 will be described.

As shown in FIG. 8, in the operation of the feedback control unit 42 according to the second embodiment, the operations of steps S31 and S32 are added to the operation of the feedback control unit 32 according to the first embodiment. The processing of steps S31 and S32 is performed between steps S22 and S23. In step S31, it is determined whether or not the work instruction unit 41 has updated the work content. Then, when it is determined in step S31 that the work content has been updated, the error update unit 422 uses the parameter update unit 422a to control parameters including the target posture, the maximum input amount, and the deceleration start threshold value according to the current work content. To update. Then, in the work control system 2 according to the second embodiment, the error from the current posture is calculated (step S24) and the feedback control input value is calculated based on the target posture, the input maximum amount, and the deceleration start threshold value updated in step S32. (Step SS25) is performed.

From the above description, according to the work control system 2 according to the second embodiment, the work instruction unit 41 instructs the error update unit 422 to update the work content, whereby the construction machine 10 is made to perform various operations. However, it is possible to perform the same high-precision control as the work control system 1 according to the first embodiment. For example, in excavation work, a force for closing the bucket 16 for the bucket 16 to lift the earth and sand is required more than when the bucket 16 is empty. Therefore, in the excavation work, a control parameter that increases the torque applied to the bucket 16 is adopted. Further, as another example, when the earth and sand are unloaded on the truck, it is necessary to control with high position accuracy in order to avoid the collision between the truck and the bucket 16. Therefore, control parameters that improve position accuracy are adopted in the work of loading earth and sand on trucks.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit.

In the above-described embodiment, the present invention has been described as a hardware configuration, but the present invention is not limited thereto. The present invention can also realize arbitrary processing (for example, the processing described with reference to FIGS. 4 to 6 and 8) by causing a CPU (Central Processing Unit) to execute a computer program. Further, the above-mentioned program can be stored and supplied to a computer by using various types of non-transitory computer-readable media (non-transitory computer readable medium). Non-temporary computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, etc. Includes CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be supplied to the computer by various types of temporary computer-readable media. Examples of temporary computer readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

This application claims priority on the basis of Japanese Application Japanese Patent Application No. 2020-144049 filed on August 28, 2020, and incorporates all of its disclosures herein.

Moreover, the above-mentioned embodiment includes the following viewpoints.
(Appendix 1)
The initial input model generation step to generate the initial input model that calculates the initial input value that starts to move the movable part of the construction machine, and
Using the initial motion input model, the feedback control step of calculating the initial motion input value corresponding to the posture of the construction machine and specifying a control input value having a value equal to or higher than the initial motion input value is provided.
The initial input model generation step is
A first initial input value measurement step for measuring a first initial measurement value at which the movable portion starts to move in a first state in which the movable portion is controlled to a first position in the movable range of the movable portion.
A second measurement of a second initial motion measurement value at which the movable portion starts to move in a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion. Initial input value measurement step and
A model generation step for generating the initial input model for deriving the initial input value for an arbitrary posture of the construction machine by complementing between the first initial measurement value and the second initial measurement value.
Work control method with.
(Appendix 2)
In the first initial input value measurement step, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the first state. Given the input value, measure the first initial measurement value in each of the positive direction and the negative direction.
In the second initial input value measurement step, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the second state. Given the input value, measure the second initial measurement value in each of the positive and negative directions.
In the model generation step, the first initial motion measurement value in the positive direction, the first initial motion measurement value in the negative direction, the second initial motion measurement value in the positive direction, and the second initial motion in the negative direction. The work control method according to Appendix 1, further comprising a control input calculation step for generating the initial input model using the measured values.
(Appendix 3)
The feedback control step is
Initial motion input update that acquires the current posture of the construction machine based on the position information of the movable part of the construction machine and updates the initial motion input value corresponding to the current posture with a value calculated using the initial motion input model. Steps and
An error update step for updating the error between the current posture and the target posture of the construction machine, and
The work control method according to Supplementary Note 1 or 2, further comprising a control input calculation step of calculating the control input value for reducing the error by using the error and the initial input value as inputs and giving the control input value to the construction machine.
(Appendix 4)
In the error update step, when the work instruction instructing the work to be performed by the construction machine is updated, the work control according to Appendix 3 is performed in which the parameter update step for updating the control parameter including the target posture of the construction machine is performed. Method.
(Appendix 5)
The work control method according to any one of Supplementary note 1 to 4, wherein the initial input model generation step generates the initial input model during a period other than the operating period in which the construction machine performs work.
(Appendix 6)
The construction machine has an operation lever for operating the posture of the own machine and an actuator attached to the operation lever.
The work control method according to any one of Supplementary note 1 to 5, further comprising a construction machine control step for controlling the construction machine via the operation lever by operating the actuator based on the control input value.
(Appendix 7)
An initial input model generation means for generating an initial input model for calculating an initial input value at which a movable part of a construction machine starts to move,
Using the initial motion input model, the feedback control means for calculating the initial motion input value corresponding to the posture of the construction machine and specifying a control input value having a value equal to or higher than the initial motion input value is provided.
The initial input model generation means
The first initial input value measurement process for measuring the first initial measurement value at which the movable portion starts to move in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion.
A second measurement of a second initial motion measurement value at which the movable portion starts to move in a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion. Initial input value measurement processing and
A model generation process for generating the initial input model for deriving the initial input value for an arbitrary posture of the construction machine by complementing between the first initial measurement value and the second initial measurement value.
Work control system to do.
(Appendix 8)
In the first initial input value measurement process, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the first state. Given the input value, measure the first initial measurement value in each of the positive and negative directions,
In the first initial input value measurement process, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the second state. Given the input value, measure the second initial measurement value in each of the positive and negative directions.
In the model generation process, the first initial motion measurement value in the positive direction, the first initial motion measurement value in the negative direction, the second initial motion measurement value in the positive direction, and the second initial motion in the negative direction. The work control system according to Appendix 7, which generates the initial input model using the measured values.
(Appendix 9)
The feedback control means is
Initial motion input update that acquires the current posture of the construction machine based on the position information of the movable part of the construction machine and updates the initial motion input value corresponding to the current posture with a value calculated using the initial motion input model. Means and
An error updating means for updating the error between the current posture and the target posture of the construction machine,
The work control system according to Supplementary note 7 or 8, further comprising a control input calculation means for calculating a control input value for reducing the error by using the error and the initial input value as inputs and giving the control input value to the construction machine.
(Appendix 10)
The work control according to Appendix 9, wherein the error updating means has a parameter updating means for updating a control parameter including the target posture of the construction machine when the work instruction instructing the work to be performed by the construction machine is updated. system.
(Appendix 11)
The work control system according to any one of Supplementary note 7 to 10, wherein the initial input model generation means generates the initial input model during a period other than the operating period in which the construction machine performs work.
(Appendix 12)
The construction machine has an operation lever for operating the posture of the own machine and an actuator attached to the operation lever.
The work control system according to any one of Supplementary note 7 to 11, further comprising a construction machine control means for controlling the construction machine via the operation lever by operating the actuator based on the control input value.
(Appendix 13)
An initial input model generation means for generating an initial input model for calculating an initial input value at which a movable part of a construction machine starts to move,
Using the initial motion input model, the feedback control means for calculating the initial motion input value corresponding to the posture of the construction machine and specifying a control input value having a value equal to or higher than the initial motion input value is provided.
The initial input model generation means
The first initial input value measurement process for measuring the first initial measurement value at which the movable portion starts to move in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion.
A second measurement of a second initial motion measurement value at which the movable portion starts to move in a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion. Initial input value measurement processing and
A model generation process for generating the initial input model for deriving the initial input value for an arbitrary posture of the construction machine by complementing between the first initial measurement value and the second initial measurement value.
Work control device to do.
(Appendix 14)
In the first initial input value measurement process, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the first state. Given the input value, measure the first initial measurement value in each of the positive and negative directions,
In the first initial input value measurement process, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the second state. Given the input value, measure the second initial measurement value in each of the positive and negative directions.
In the model generation process, the first initial motion measurement value in the positive direction, the first initial motion measurement value in the negative direction, the second initial motion measurement value in the positive direction, and the second initial motion in the negative direction. The work control device according to Appendix 13, which generates the initial input model using the measured values.
(Appendix 15)
The feedback control means is
Initial motion input update that acquires the current posture of the construction machine based on the position information of the movable part of the construction machine and updates the initial motion input value corresponding to the current posture with a value calculated using the initial motion input model. Means and
An error updating means for updating the error between the current posture and the target posture of the construction machine,
The work control device according to Appendix 13 or 14, further comprising a control input calculation means for calculating the control input value for reducing the error by using the error and the initial input value as inputs and giving the control input value to the construction machine.
(Appendix 16)
The work control according to Appendix 15, wherein the error updating means has a parameter updating means for updating a control parameter including the target posture of the construction machine when the work instruction instructing the work to be performed by the construction machine is updated. Device.
(Appendix 17)
The work control device according to any one of Supplementary note 13 to 16, wherein the initial input model generation means generates the initial input model during a period other than the operating period in which the construction machine performs work.
(Appendix 18)
The construction machine has an operation lever for operating the posture of the own machine and an actuator attached to the operation lever.
The work control device according to any one of Supplementary note 13 to 17, further comprising a construction machine control means for controlling the construction machine via the operation lever by operating the actuator based on the control input value.

1 Work control system 2 Work control system 10 Construction machinery 11 Crawler 12 Swing platform 13 Cockpit 14 Boom 15 Arm 16 Bucket 17 Actuator 181 Attitude sensor 182 Attitude sensor 183 Attitude sensor 184 Attitude sensor 20 Attitude control device 21 Construction machine control unit 22 Attitude detection 30 Work control device 31 Initial input model generation unit 311 Initial input measurement unit 312 Model generation unit 32 Feedback control unit 321 Initial input update unit 322 Error update unit 323 Control input calculation unit 41 Work instruction unit 42 Feedback control unit 422 Error update unit 422a Parameter update section

Claims (18)

The initial input model generation step to generate the initial input model that calculates the initial input value that starts to move the movable part of the construction machine, and
Using the initial motion input model, the feedback control step of calculating the initial motion input value corresponding to the posture of the construction machine and specifying a control input value having a value equal to or higher than the initial motion input value is provided.
The initial input model generation step is
A first initial input value measurement step for measuring a first initial measurement value at which the movable portion starts to move in a first state in which the movable portion is controlled to a first position in the movable range of the movable portion.
A second measurement of a second initial motion measurement value at which the movable portion starts to move in a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion. Initial input value measurement step and
A model generation step for generating the initial input model for deriving the initial input value for an arbitrary posture of the construction machine by complementing between the first initial measurement value and the second initial measurement value.
Work control method with. In the first initial input value measurement step, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the first state. Given the input value, measure the first initial measurement value in each of the positive direction and the negative direction.
In the second initial input value measurement step, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the second state. Given the input value, measure the second initial measurement value in each of the positive and negative directions.
In the model generation step, the first initial motion measurement value in the positive direction, the first initial motion measurement value in the negative direction, the second initial motion measurement value in the positive direction, and the second initial motion in the negative direction. The work control method according to claim 1, further comprising a control input calculation step for generating the initial input model using the measured values. The feedback control step is
Initial motion input update that acquires the current posture of the construction machine based on the position information of the movable part of the construction machine and updates the initial motion input value corresponding to the current posture with a value calculated using the initial motion input model. Steps and
An error update step for updating the error between the current posture and the target posture of the construction machine, and
The work control method according to claim 1 or 2, further comprising a control input calculation step of calculating the control input value for reducing the error by using the error and the initial input value as inputs and giving the control input value to the construction machine. .. The work according to claim 3, wherein in the error update step, when the work instruction instructing the work to be performed by the construction machine is updated, the parameter update step for updating the control parameter including the target posture of the construction machine is performed. Control method. The work control method according to any one of claims 1 to 4, wherein the initial input model generation step is to generate the initial input model during a period other than the operating period in which the construction machine performs work. The construction machine has an operation lever for operating the posture of the own machine and an actuator attached to the operation lever.
The work control method according to any one of claims 1 to 5, further comprising a construction machine control step for controlling the construction machine via the operation lever by operating the actuator based on the control input value. An initial input model generation means for generating an initial input model for calculating an initial input value at which a movable part of a construction machine starts to move,
Using the initial motion input model, the feedback control means for calculating the initial motion input value corresponding to the posture of the construction machine and specifying a control input value having a value equal to or higher than the initial motion input value is provided.
The initial input model generation means
The first initial input value measurement process for measuring the first initial measurement value at which the movable portion starts to move in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion.
A second measurement of a second initial motion measurement value at which the movable portion starts to move in a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion. Initial input value measurement processing and
A model generation process for generating the initial input model for deriving the initial input value for an arbitrary posture of the construction machine by complementing between the first initial measurement value and the second initial measurement value.
Work control system to do. In the first initial input value measurement process, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the first state. Given the input value, measure the first initial measurement value in each of the positive and negative directions,
In the first initial input value measurement process, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the second state. Given the input value, measure the second initial measurement value in each of the positive and negative directions.
In the model generation process, the first initial motion measurement value in the positive direction, the first initial motion measurement value in the negative direction, the second initial motion measurement value in the positive direction, and the second initial motion in the negative direction. The work control system according to claim 7, wherein the initial input model is generated using the measured values. The feedback control means is
Initial motion input update that acquires the current posture of the construction machine based on the position information of the movable part of the construction machine and updates the initial motion input value corresponding to the current posture with a value calculated using the initial motion input model. Means and
An error updating means for updating the error between the current posture and the target posture of the construction machine,
The work control system according to claim 7 or 8, further comprising a control input calculation means for calculating a control input value for reducing the error by using the error and the initial input value as inputs and giving the control input value to the construction machine. The work according to claim 9, wherein the error updating means has a parameter updating means for updating a control parameter including the target posture of the construction machine when the work instruction instructing the work to be performed by the construction machine is updated. Control system. The work control system according to any one of claims 7 to 10, wherein the initial input model generation means generates the initial input model during a period other than the operating period in which the construction machine performs work. The construction machine has an operation lever for operating the posture of the own machine and an actuator attached to the operation lever.
The work control system according to any one of claims 7 to 11, further comprising a construction machine control means for controlling the construction machine via the operation lever by operating the actuator based on the control input value. An initial input model generation means for generating an initial input model for calculating an initial input value at which a movable part of a construction machine starts to move,
Using the initial motion input model, the feedback control means for calculating the initial motion input value corresponding to the posture of the construction machine and specifying a control input value having a value equal to or higher than the initial motion input value is provided.
The initial input model generation means
The first initial input value measurement process for measuring the first initial measurement value at which the movable portion starts to move in the first state in which the movable portion is controlled to the first position in the movable range of the movable portion.
A second measurement of a second initial motion measurement value at which the movable portion starts to move in a second state in which the movable portion is controlled to a second position different from the first position in the movable range of the movable portion. Initial input value measurement processing and
A model generation process for generating the initial input model for deriving the initial input value for an arbitrary posture of the construction machine by complementing between the first initial measurement value and the second initial measurement value.
Work control device to do. In the first initial input value measurement process, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the first state. Given the input value, measure the first initial measurement value in each of the positive and negative directions,
In the first initial input value measurement process, the construction machine is moved so as to move in the positive direction of the movable portion and in the negative direction of the movable portion with respect to the movable portion in the second state. Given the input value, measure the second initial measurement value in each of the positive and negative directions.
In the model generation process, the first initial motion measurement value in the positive direction, the first initial motion measurement value in the negative direction, the second initial motion measurement value in the positive direction, and the second initial motion in the negative direction. The work control device according to claim 13, wherein the initial input model is generated using the measured values. The feedback control means is
Initial motion input update that acquires the current posture of the construction machine based on the position information of the movable part of the construction machine and updates the initial motion input value corresponding to the current posture with a value calculated using the initial motion input model. Means and
An error updating means for updating the error between the current posture and the target posture of the construction machine,
The work control device according to claim 13 or 14, further comprising a control input calculation means for calculating the control input value for reducing the error by using the error and the initial input value as inputs and giving the control input value to the construction machine. .. The work according to claim 15, wherein the error updating means has a parameter updating means for updating a control parameter including the target posture of the construction machine when the work instruction instructing the work to be performed by the construction machine is updated. Control device. The work control device according to any one of claims 13 to 16, wherein the initial input model generation means generates the initial input model during a period other than the operating period in which the construction machine performs work. The construction machine has an operation lever for operating the posture of the own machine and an actuator attached to the operation lever.
The work control device according to any one of claims 13 to 17, further comprising a construction machine control means for controlling the construction machine via the operation lever by operating the actuator based on the control input value.

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