JP7472991B2 - Construction machine work control method, work control system, and work control device - Google Patents

Description

The present invention relates to a work control method, a work control system and a work control device for a construction machine, and in particular to a work control method, a work control system and a work control device for a construction machine having an operating lever that controls the posture of the construction machine.

In recent years, many proposals have been made for unmanned control of construction machinery. For example, Patent Documents 1 and 2 disclose technologies related to the control of construction machinery.

Patent Document 1 discloses technology related to a work machine control device for a construction machine. The work machine control device for a construction machine described in Patent Document 1 is a construction machine equipped with each work machine cylinder that rotates and drives each arm of the work machine, a work machine operation lever provided for each arm, and a flow control system that controls the flow rate of pressurized oil supplied to each work machine cylinder in response to a command signal from the lever. The work machine control device is equipped with a reference model section in which the desired operation response characteristics of each work machine are specified, a reference model setting means for setting the operation response characteristics of this reference model, a cylinder speed detection means for each work machine, and an adaptive control means that uses the detection value of the cylinder speed detection means as a feedback signal to perform adaptive control so that the operation response characteristics of each work machine match the operation response characteristics of the reference model section, corrects the control command value of the pressurized oil supply flow rate for each work machine, and controls the speed of each work machine cylinder using this corrected control command value.

Patent Document 2 also discloses technology related to a solenoid valve control device in a hydraulic circuit of an industrial vehicle. In the solenoid valve control device in a hydraulic circuit of an industrial vehicle described in Patent Document 2, a CPU performs feedback control of a duty output value Dout, which determines the duty value (%) of a PWM signal input to a transistor provided between a battery and a solenoid valve. The duty output value Dout at the time when a predetermined time (300 ms) has elapsed since the first tilt lever operation (tilt operation) after the key is turned on and the target current value Iaim at that time are stored as learned values Drec and Irec, respectively. From the second tilt operation onwards after the key is turned on, the learned values Drec and Irec learned from the previous tilt operation are used, and the initial value of the duty output value is calculated according to the target current value Iaim at that time, Dout = Iaim · Drec / Irec.

Japanese Patent Application Laid-Open No. 09-328785 Japanese Patent Application Laid-Open No. 11-171498

In construction machinery, play is provided that creates a discrepancy between the operation start point of the control lever and the operation start point of the cylinder. However, the technology described in Patent Documents 1 and 2 does not take into account the amount of play in the control lever, which results in an insufficient accuracy in the unmanned control of the construction machinery.

One aspect of the method for controlling work of a construction machine according to one embodiment includes an initial input model generation step of generating an initial input model that calculates an initial input value at which a movable part of the construction machine starts to move, and a feedback control step of calculating the initial input value corresponding to the posture of the construction machine using the initial input model and identifying a control input value having a value equal to or greater than the initial input value, wherein the initial input model generation step includes a first initial input value measurement step of measuring a first initial measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within the movable range of the movable part, a second initial input value measurement step of measuring a second initial measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within the movable range of the movable part, and a model generation step of generating the initial input model that interpolates between the first initial measurement value and the second initial measurement value to derive the initial input value for any posture of the construction machine.

One aspect of a construction machine work control system according to one embodiment includes an initial input model generation unit that generates an initial input model that calculates an initial input value at which a movable part of a construction machine starts to move, and a feedback control unit that uses the initial input model to calculate the initial input value corresponding to the posture of the construction machine and identifies a control input value having a value equal to or greater than the initial input value. The initial input model generation unit performs a first initial input value measurement process that measures a first initial measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within the movable range of the movable part, a second initial input value measurement process that measures a second initial measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within the movable range of the movable part, and a model generation process that generates the initial input model that interpolates between the first initial measurement value and the second initial measurement value to derive the initial input value for any posture of the construction machine.

One aspect of a work control device for a construction machine according to one embodiment includes an initial input model generation unit that generates an initial input model that calculates an initial input value at which a movable part of a construction machine starts to move, and a feedback control unit that uses the initial input model to calculate the initial input value corresponding to the posture of the construction machine and identifies a control input value having a value equal to or greater than the initial input value. The initial input model generation unit performs a first initial input value measurement process that measures a first initial measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within the movable range of the movable part, a second initial input value measurement process that measures a second initial measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within the movable range of the movable part, and a model generation process that generates the initial input model that interpolates between the first initial measurement value and the second initial measurement value to derive the initial input value for any posture of the construction machine.

According to the construction machine work control method, work method system, and work control device of the embodiment, the posture of the construction machine can be controlled with high precision even if the amount of play in the operating lever changes.

1 is a schematic diagram of an operation control system according to a first embodiment; 1 is a schematic block diagram of an operation control system according to a first embodiment. FIG. 2 is a detailed block diagram of the operation control system according to the first embodiment. 4 is a flowchart illustrating the operation of the work control system according to the first embodiment. 11 is a flowchart illustrating an operation of an initial movement input model generation unit according to the first embodiment; 10 is a flowchart illustrating an operation of a feedback control unit according to the first embodiment. FIG. 11 is a block diagram of an operation control system according to a second embodiment. 13 is a flowchart illustrating an operation of a feedback control unit according to the second embodiment.

First embodiment
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The construction machine work control method, work control system, and work control device described below control a construction machine that uses a cylinder to drive the joints of the machine. In the following description, a backhoe is used as an example of a construction machine. In addition, in the following description, a work control system in which processing blocks that perform work control processing are distributed and located at multiple locations via a network is described, but the processing blocks included in the work control system may be a work control device that is a single device. In addition, the control content performed in the work control system is referred to as a work control method. Specific examples of these will be described in detail later.

Figure 1 shows a schematic diagram of the work control system 1 according to the first embodiment. The construction machine 10 shown in Figure 1 is a backhoe. The construction machine 10 has a crawler 11, a swivel 12, a cockpit 13, a boom 14, an arm 15, and a bucket 16. The crawler 11 is a caterpillar for moving the construction machine 10. The swivel 12 rotates a chassis on which the cockpit 13 and the boom 14 are mounted. The cockpit 13 is an operation room in which an operation lever for operating the attitude of the construction machine 10 is disposed. Although the illustration is simplified, in the work control system 1, an actuator 17 for operating the operation lever is disposed in the cockpit 13. The boom 14, the arm 15, and the bucket 16 each correspond to a movable part and are operated by a hydraulic cylinder. The hydraulic cylinder extends and retracts by operating an operation lever provided in the cockpit 13. Note that the movable part may include parts other than the hydraulic cylinders, such as parts driven by a motor, but in the following description, the hydraulic cylinder will be described as an example of a movable part.

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

In the work control system 1 according to the first embodiment, an attitude control device 20 and a work control device 30 are provided corresponding to the construction machine 10. The attitude control device 20 issues commands to operate the actuator 17. The attitude control device 20 also generates an attitude detection value based on angle information acquired from the attitude sensors 181-184. The work control device 30 generates a control input value that determines the attitude of the construction machine 10 based on the information acquired from the attitude control device 20.

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

First, the configuration of the processing blocks of the work control system 1 according to the first embodiment will be described. Fig. 2 shows a schematic block diagram of the work control system according to the first embodiment. In Fig. 2, a construction machine 10 is shown as an object to be controlled by the work control system 1. In the example shown in Fig. 2, a construction machine control unit 21 and an attitude detection unit 22 are provided in the posture control device 20. An initial movement input model generation unit 31 and a feedback control unit 32 are provided in the work control device 30. The construction machine 10 is operated using the posture control device 20 and the work control device 30.
The example shown in Fig. 2 is just one example, and for example, the posture control device 20 and the work control device 30 can be made into one device, and the construction machine 10 and the posture control device 20 can be connected by communication. Also, the posture control device 20 can be provided integrally with the construction machine 10, and the posture control device 20 and the work control device 30 can be connected by communication. For example, the work control device 30 can be placed in cloud storage and connected to the posture control device 20 by communication. Also, the construction machine 10 is an object to be controlled by the work control device 30, and the posture control device 20 can also be considered as an interface for the work control device 30 to specifically operate the construction machine 10, in which case the work control device 30 can be considered as a 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 (e.g., the rotating table 12, the boom 14, the arm 15, and the bucket 16) start to move. The feedback control unit 32 uses the initial input model to calculate an initial input value corresponding to the attitude of the construction machine 10 and identifies a control input value having a value equal to or greater than the initial input value. Here, the initial input model generation unit 31 performs a first initial input measurement process, a second initial input measurement process, and a model generation process. In the first initial input measurement process, a first initial measurement value at which the movable part starts to move is measured in a first state in which the movable part is controlled to a first position in the movable range of the movable part. In the second initial input measurement process, a second initial measurement value at which the movable part starts to move is measured in a second state in which the movable part is controlled to a second position different from the first position in the movable range of the movable part. In the model generation process, an initial movement input model is generated that derives an initial movement input value for any posture of the construction machine 10 by interpolating between the first initial movement measurement value and the second initial movement measurement value.

Next, a more detailed configuration of the work control system 1 according to the first embodiment will be described. FIG. 3 shows a block diagram of the work control system 1 according to the first embodiment. Note that, for the sake of explanation, FIG. 3 also shows a construction machine 10 that is the object of control of the work control system 1. As shown in FIG. 3, the work control system 1 according to the first embodiment has a posture control device 20 and a work control device 30. The posture control device 20 is provided with a construction machine control unit 21 and a posture detection unit 22. 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 an operating lever in the construction machine 10 by operating an actuator based on a feedback control input value calculated by the feedback control unit 32. In addition, when the initial movement input model generation unit 31 generates an initial movement input model, the construction machine control unit 21 is provided with a control input value from the initial movement input model generation unit 31, and displaces the operating lever of the construction machine 10 based on the control input value.

The attitude detection unit 22 acquires the joint angles of each movable part from sensors 181-184 provided on movable parts such as the arms of the construction machine 10, and outputs them as attitude detection values representing the attitude of the construction machine 10. The initial movement input model generation unit 31 generates an initial movement input model that calculates an initial movement input value that starts moving the movable parts of the construction machine 10. In addition, the feedback control unit 32 calculates an initial movement input value corresponding to the current attitude using the initial movement input model, and calculates a feedback control input value that compensates for the initial movement input value as a 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. When generating an initial input model, the initial input measurement unit 311 outputs an input value to be given to the construction machine control unit 21 to displace the movable part of the construction machine 10, and measures the initial input value for each posture by detecting the start of movement of the movable part based on the posture detection value output by the posture detection unit 22. More specifically, the initial input measurement unit 311 performs a first initial input value measurement step and a second initial input value measurement step.

In the first initial input measurement step, a first initial measurement value is measured when the movable part starts to move in a first state in which the movable part is controlled to a first position in the movable range of the movable part. In the second initial input measurement step, a second initial measurement value is measured when the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position in the movable range of the movable part. An example of a more specific operation of the first initial input measurement step and the second initial input measurement step is as follows.
In the first initial movement input value measurement step, an input value that changes stepwise in the first state in which the cylinder that drives the movable part is extended is applied to the construction machine control unit 21, and the input value at the time when the movable part starts to move is measured as the first initial movement measurement value. Furthermore, in the first embodiment, in this first initial movement input value measurement step, an input value is applied to the cylinder in the first state so that the cylinder moves in a positive direction in which the cylinder extends and in a negative direction in which the cylinder retracts, and the first initial movement measurement value is measured for each of the positive and negative directions.

In the second initial movement input value measurement step, an input value that changes stepwise in the second state in which the cylinder that drives the movable part is retracted is applied to the construction machine control unit 21, and the input value at the time when the movable part starts to move is measured as the second initial movement measurement value. Furthermore, in the first embodiment, in this second initial movement input value measurement step, an input value is applied to the cylinder in the second state so that the cylinder moves in the positive direction in which the cylinder extends and in the negative direction in which the cylinder retracts, and the second initial movement measurement value is measured for each of the positive and negative directions.

The model generation unit 312 performs a model generation step of generating an initial movement input model that interpolates between the first initial movement measurement value and the second initial movement measurement value to derive an initial movement input value for any posture of the construction machine 10.

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 input update unit 321 acquires the attitude of the construction machine 10 based on position information (e.g., attitude detection value) of the movable part of the construction machine 10, and performs an initial input update step of updating the initial input value corresponding to the attitude with a value calculated using an initial input model. The error update unit 322 performs an error update step of updating the error between the current attitude and the target attitude of the construction machine 10. The control input calculation unit 323 performs a control input calculation step of calculating a feedback control input value that reduces the error using the error and the initial input value as inputs, and providing the control input value to the construction machine 10.

Next, the operation of the work control system 1 according to the first embodiment will be described. FIG. 4 shows a flowchart for explaining 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, an initial input model generation process is performed using the construction machine control unit 21, the attitude detection unit 22, and the initial input model generation unit 31. In addition, in the initial input model generation process of step S1, a first initial input measurement process, a second initial input measurement process, and a 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 operation (steps S2, S3). That is, in the work control system 1 according to the first embodiment, the initial input model is generated during a period other than the operation period in which the construction machine 10 performs work. By generating the initial input model during a period other than the operation period of the construction machine 10 in this way, the initial input model does not change during the operation of the construction machine 10, and the construction machine 10 can be operated stably.

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

The initial input model generating unit 31 first selects a driving part whose initial input value has not been measured by the initial input measuring unit 311 (step S11). Next, the initial input measuring unit 311 performs the processes of steps S12 and S13 as a first initial input measurement step. The initial input measuring unit 311 measures the initial input value in the negative direction of the first initial input value measurement step for the selected driving part (step S12). More specifically, in step S12, the initial input measuring unit 311 measures the initial input value in the negative direction in the maximum attitude (for example, the first state) detected by the attitude detecting unit. Here, the initial input value measured in step S12 is represented by the formula (1). In the following description, θ _upper is the attitude angle detected by the construction machine control unit 21 from the driving part when it is in the first state.

Next, the initial input measurement unit 311 measures the initial input value in the positive direction for the selected drive portion in the first initial input value measurement step (step S13). More specifically, in step S13, the initial input measurement unit 311 measures the initial input value in the positive direction in the maximum orientation (e.g., the first state) detected by the orientation detection unit. Here, the initial input value measured in step S13 is expressed by equation (2).

Next, the initial input measurement unit 311 performs the processes of steps S14 and S15 as a second initial input measurement step. The initial input measurement unit 311 measures the initial input value in the negative direction of the second initial input value measurement step for the selected drive part (step S14). More specifically, in step S14, the initial input measurement unit 311 measures the initial input value in the negative direction in the minimum attitude (e.g., the second state) detected by the attitude detection unit. Here, the initial input value measured in step S14 is represented by equation (3). In the following description, θ _lower is the attitude angle detected by the construction machine control unit 21 from the drive part when it is in the second state.

Next, the initial input measurement unit 311 measures the initial input value in the positive direction for the selected drive portion in the second initial input value measurement step (step S15). More specifically, in step S15, the initial input measurement unit 311 measures the initial input value in the positive direction in the minimum orientation (e.g., the second state) detected by the orientation detection unit. Here, the initial input value measured in step S15 is expressed by equation (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。

Next, in the initial input model generating unit 31, the model generating unit 312 calculates an initial input model using the four initial input values acquired by the initial input measuring unit 311 (step S16). The initial input models generated in this step S16 include, for example, two initial input models, one for the positive direction in which the cylinder extends and one for the negative direction in which the cylinder contracts. The initial input models generated in the initial input model generating unit 31 according to the first embodiment are shown in formulas (5) and (7). Formula (5) shows the initial input model Umin_p(θ) when the cylinder is displaced in the positive direction, and formula (7) shows the initial input model Umin_m(θ) when the cylinder is displaced in the negative direction. θ shows the attitude angle of the driving part detected by the attitude detecting unit 22.

In addition, α ⁺ in equation (5) is expressed by equation (6).

Incidentally, α ⁻ in equation (7) is expressed by equation (8).

The initial input model generation unit 31 repeats the processing of steps S11 to S16 for all drive parts of the construction machine 10. Then, the initial input model generation unit 31 ends the initial input model generation process upon generating initial input models for all 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 with the generated initial input model.

Next, we will explain the feedback control process performed by the feedback control unit 32. Figure 6 shows a flowchart explaining the operation of the feedback control unit 32 according to the first embodiment.

6, the feedback control unit 32 first obtains the attitude detection value of the controlled part of the construction machine 10 from the attitude detection unit 22 using the initial input update unit 321, and grasps the current attitude θ of the construction machine 10 (step S21). Next, the initial input update unit 321 updates the initial input value for the current attitude θ using the held initial input model (step S22).

Next, the error update unit 322 updates the error between the current attitude θ and the target attitude (step S23). After that, the control input calculation unit 323 calculates a feedback control input value for the current attitude θ (step S24) and provides the calculated feedback control input value to the construction machine control unit 21 (step S25). The feedback control unit 32 repeats the processes of steps S23 to S25 to control the attitude of the construction machine 10 until it becomes the target attitude.

なお、Ｋｐは（１０）式で表される。

また、ｅは（１１）式で表される。

Here, a method for 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 equation (9). In the following equation, θ is the current attitude, θr is the target attitude, Umax is the maximum input value, Umin(θ) is the initial input value (however, the attitude direction is omitted), Emax is the deceleration start position for the error between the target attitude and the current attitude, and Emin is the convergence determination threshold for the target attitude.

Incidentally, Kp is expressed by equation (10).

Moreover, e is expressed by the formula (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). In other words, it can be seen that the control input calculation unit 323 calculates a feedback control input value compensated for the initial input value calculated for each posture of the construction machine 10 at the start of control as a minimum value.

From the above explanation, in the work control system 1 according to the first embodiment, the drive part of the construction machine 10 is placed in a first state and a second state which result in different amounts of displacement, and the initial input value is measured for each of the first state and the second state. Then, the work control system 1 generates an initial input model capable of calculating an appropriate initial input value for any posture using the measured initial input value. The work control system 1 calculates an optimal initial input value for the current posture using the initial input model generated by the initial input model generation unit 31, and the initial input model generation unit 31 calculates a feedback control input value which compensates for this initial input value as a minimum value.

As a result, the work control system 1 of embodiment 1 can control the construction machine 10 using a feedback control input value that can control the construction machine 10 with high precision, even if the amount of play in the operating lever differs depending on the posture of the construction machine 10.

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

Figure 7 shows a block diagram of the work control system 2 according to the second embodiment. As shown in Figure 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. Furthermore, the work control system 2 according to the second embodiment is obtained by replacing 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 is obtained by replacing the error update unit 322 with an error update unit 422. The error update unit 422 is obtained by adding a parameter update unit 422a to the error update unit 322.

The work instruction unit 41 provides the feedback control unit 42 with information regarding the content of the work to be performed using the construction machine 10. When the error update unit 422 of the feedback control unit 42 recognizes that the work instruction instructing the work to be performed by the construction machine 10 has been updated based on the instruction provided by the work instruction unit 41, the error update unit 422 performs a parameter update step in which the parameter update unit 422a updates the control parameters including the target attitude of the construction machine 10. Note that the control parameters include the maximum input amount Umax and the deceleration start threshold Emax included in equation (10).

Next, the feedback control process using the feedback control unit 42 according to the second embodiment will be described in detail. FIG. 8 shows a flowchart explaining the operation of the feedback control unit 42 according to the second embodiment. In the explanation of the flowchart shown in FIG. 8, steps S31 and S32 that are different from the flowchart of the work control system 1 according to the first embodiment shown in FIG. 6 will be explained.

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, the work instruction unit 41 judges whether the work content has been updated. Then, when it is judged in step S31 that the work content has been updated, the error update unit 422 updates the control parameters including the target posture, the maximum input amount, and the deceleration start threshold according to the current work content using the parameter update unit 422a. Then, in the work control system 2 according to the second embodiment, the calculation of the error with the current posture (step S24) and the calculation of the feedback control input value (step S25) are performed based on the target posture, the maximum input amount, and the deceleration start threshold updated in step S32 .

As described above, according to the work control system 2 of the second embodiment, the work instruction unit 41 instructs the error update unit 422 to update the work content, and the construction machine 10 can perform various works while performing highly accurate control similar to that of the work control system 1 of the first embodiment. For example, in excavation work, in order for the bucket 16 to lift up soil, a force is required to close the bucket 16 more than when the bucket 16 is empty. Therefore, in excavation work, a control parameter that increases the torque applied to the bucket 16 is adopted. As another example, when unloading soil onto a truck, control must be performed with high positional accuracy to avoid a collision between the truck and the bucket 16. Therefore, in the work of loading soil onto a truck, a control parameter that increases the positional accuracy is adopted.

The present invention is not limited to the above-described embodiments and can be modified as appropriate without departing from the spirit and scope of the invention.

In the above embodiment, the present invention has been described as a hardware configuration, but the present invention is not limited to this. The present invention can also be realized by having a CPU (Central Processing Unit) execute a computer program to perform any process (for example, the process described in Figures 4 to 6 and 8). In addition, the above-mentioned program can be stored using various types of non-transitory computer readable medium and supplied to a computer. Non-transitory computer readable medium includes various types of tangible storage medium. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R/Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be provided to the computer by various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transient computer-readable medium can provide the program to the computer via a wired communication path such as an electric wire or optical fiber, or via a wireless communication path.

This application claims priority to Japanese Patent Application No. 2020-144049, filed on August 28, 2020, the disclosure of which is incorporated herein in its entirety.

The above-described embodiment also includes the following aspects.
(Appendix 1)
an initial movement input model generating step of generating an initial movement input model for calculating an initial movement input value that starts moving a movable part of the construction machine;
a feedback control step of calculating the initial movement input value corresponding to the posture of the construction machine using the initial movement input model, and identifying a control input value having a value equal to or greater than the initial movement input value,
The initial input model generation step includes:
a first initial movement input value measuring step of measuring a first initial movement measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part;
a second initial movement input value measuring step of measuring a second initial movement measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within a movable range of the movable part;
a model generation step of generating the initial movement input model by interpolating between the first initial movement measurement value and the second initial movement measurement value to derive the initial movement input value for an arbitrary posture of the construction machine;
The work control method has the following features.
(Appendix 2)
In the first initial movement input value measuring step, an input value is given to the construction machine so that the movable part in the first state moves in a positive direction of the movable part and a negative direction of the movable part, respectively, and the first initial movement measurement value is measured for each of the positive direction and the negative direction;
In the second initial movement input value measuring step, an input value is given to the construction machine so that the movable part in the second state moves in a positive direction of the movable part and a negative direction of the movable part, respectively, and the second initial movement measurement value is measured for each of the positive direction and the negative direction;
2. The work control method according to claim 1, further comprising a control input calculation step of generating the initial input model using the first initial movement measured value in a positive direction, the first initial movement measured value in a negative direction, the second initial movement measured value in a positive direction, and the second initial movement measured value in a negative direction, in the model generation step.
(Appendix 3)
The feedback control step includes:
an initial input updating step of acquiring a current attitude of the construction machine based on position information of the movable part of the construction machine, and updating the initial input value corresponding to the current attitude with a value calculated using the initial input model;
an error updating step of updating an error between the current attitude and the target attitude of the construction machine;
3. A work control method as described in claim 1 or 2, comprising a control input calculation step of calculating the control input value that reduces the error using the error and the initial input value as inputs, and providing the control input value to the construction machine.
(Appendix 4)
A work control method as described in Appendix 3, in which, in the error update step, when a work instruction instructing the work to be performed by the construction machine is updated, a parameter update step is performed to update control parameters including the target attitude of the construction machine.
(Appendix 5)
The work control method according to any one of appendices 1 to 4, wherein the initial movement input model generating step generates the initial movement input model during a period other than an operating period in which the construction machine performs work.
(Appendix 6)
The construction machine has an operation lever for controlling an attitude of the machine itself and an actuator attached to the operation lever,
6. A work control method according to any one of appendices 1 to 5, comprising a construction machine control step of controlling the construction machine via the operation lever by operating the actuator based on the control input value.
(Appendix 7)
an initial movement input model generating means for generating an initial movement input model for calculating an initial movement input value at which a movable part of a construction machine starts to move;
a feedback control means for calculating the initial movement input value corresponding to the posture of the construction machine using the initial movement input model and specifying a control input value having a value equal to or greater than the initial movement input value,
The initial input model generating means
a first initial movement input value measurement process for measuring a first initial movement measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part;
a second initial movement input value measurement process for measuring a second initial movement measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within a movable range of the movable part;
a model generation process for generating the initial movement input model by interpolating between the first initial movement measurement value and the second initial movement measurement value to derive the initial movement input value for an arbitrary posture of the construction machine;
A work control system that performs the above.
(Appendix 8)
In the first initial movement input value measurement process, an input value is given to the construction machine so that the movable part in the first state moves in a positive direction of the movable part and a negative direction of the movable part, respectively, and a first initial movement measurement value is measured for each of the positive direction and the negative direction;
In the second initial-motion input value measurement process, an input value is given to the construction machine so that the movable part in the second state moves in a positive direction of the movable part and in a negative direction of the movable part, respectively, and the second initial-motion measurement value is measured for each of the positive direction and the negative direction;
The work control system described in Appendix 7, wherein in the model generation process, the initial input model is generated using the first initial movement measurement value in a positive direction, the first initial movement measurement value in a negative direction, the second initial movement measurement value in a positive direction, and the second initial movement measurement value in a negative direction.
(Appendix 9)
The feedback control means
an initial input updating means for acquiring a current attitude of the construction machine based on position information of the movable part of the construction machine, and updating the initial input value corresponding to the current attitude with a value calculated using the initial input model;
an error update means for updating an error between the current attitude and a target attitude of the construction machine;
9. The work control system according to claim 7 or 8, further comprising: a control input calculation means for calculating a control input value that reduces the error using the error and the initial input value as inputs, and providing the control input value to the construction machine.
(Appendix 10)
The work control system according to claim 9, wherein the error update means has a parameter update means for updating control parameters including the target attitude of the construction machine when a work instruction instructing the work to be performed by the construction machine is updated.
(Appendix 11)
The work control system according to any one of appendices 7 to 10, wherein the initial input model generation means generates the initial input model during a period other than an operating period in which the construction machine performs work.
(Appendix 12)
The construction machine has an operation lever for controlling an attitude of the machine itself and an actuator attached to the operation lever,
12. A work control system according to any one of appendices 7 to 11, 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 movement input model generating means for generating an initial movement input model for calculating an initial movement input value at which a movable part of a construction machine starts to move;
a feedback control means for calculating the initial movement input value corresponding to the posture of the construction machine using the initial movement input model and specifying a control input value having a value equal to or greater than the initial movement input value,
The initial input model generating means
a first initial movement input value measurement process for measuring a first initial movement measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part;
a second initial movement input value measurement process for measuring a second initial movement measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within a movable range of the movable part;
a model generation process for generating the initial movement input model by interpolating between the first initial movement measurement value and the second initial movement measurement value to derive the initial movement input value for an arbitrary posture of the construction machine;
A work control device that performs the above.
(Appendix 14)
In the first initial movement input value measurement process, an input value is given to the construction machine so that the movable part in the first state moves in a positive direction of the movable part and a negative direction of the movable part, respectively, and a first initial movement measurement value is measured for each of the positive direction and the negative direction;
In the second initial-motion input value measurement process, an input value is given to the construction machine so that the movable part in the second state moves in a positive direction of the movable part and in a negative direction of the movable part, respectively, and the second initial-motion measurement value is measured for each of the positive direction and the negative direction;
The work control device described in Appendix 13, in which the model generation process generates the initial input model using the first initial movement measurement value in a positive direction, the first initial movement measurement value in a negative direction, the second initial movement measurement value in a positive direction, and the second initial movement measurement value in a negative direction.
(Appendix 15)
The feedback control means
an initial input updating means for acquiring a current attitude of the construction machine based on position information of the movable part of the construction machine, and updating the initial input value corresponding to the current attitude with a value calculated using the initial input model;
an error update means for updating an error between the current attitude and a target attitude of the construction machine;
15. The work control device according to claim 13 or 14, further comprising: a control input calculation means for calculating the control input value that reduces the error using the error and the initial input value as inputs, and providing the control input value to the construction machine.
(Appendix 16)
The work control device described in Appendix 15, wherein the error update means has a parameter update means that updates control parameters including the target attitude of the construction machine when a work instruction that instructs the work to be performed by the construction machine is updated.
(Appendix 17)
17. 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 an operating period in which the construction machine performs work.
(Appendix 18)
The construction machine has an operation lever for controlling an attitude of the machine itself and an actuator attached to the operation lever,
18. A work control device as described in any one of appendices 13 to 17, 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.

REFERENCE SIGNS LIST 1 Work control system 2 Work control system 10 Construction machine 11 Crawler 12 Swivel base 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 unit 30 Work control device 31 Initial action input model generation unit 311 Initial action input measurement unit 312 Model generation unit 32 Feedback control unit 321 Initial action 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 unit

Claims (10)

an initial movement input model generating step of generating an initial movement input model for calculating an initial movement input value that starts moving a movable part of the construction machine;
a feedback control step of calculating the initial movement input value corresponding to the posture of the construction machine using the initial movement input model, and identifying a control input value having a value equal to or greater than the initial movement input value,
The initial input model generation step includes:
a first initial movement input value measuring step of measuring a first initial movement measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part;
a second initial movement input value measuring step of measuring a second initial movement measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within a movable range of the movable part;
a model generation step of generating the initial movement input model by interpolating between the first initial movement measurement value and the second initial movement measurement value to derive the initial movement input value for an arbitrary posture of the construction machine;
The work control method has the following features. In the first initial movement input value measuring step, an input value is given to the construction machine so that the movable part in the first state moves in a positive direction of the movable part and a negative direction of the movable part, respectively, and the first initial movement measurement value is measured for each of the positive direction and the negative direction;
In the second initial movement input value measuring step, an input value is given to the construction machine so that the movable part in the second state moves in a positive direction of the movable part and a negative direction of the movable part, respectively, and the second initial movement measurement value is measured for each of the positive direction and the negative direction;
2. The work control method according to claim 1, wherein the model generation step includes a control input calculation step of generating the initial movement input model using the first initial movement measured value in a positive direction, the first initial movement measured value in a negative direction, the second initial movement measured value in a positive direction, and the second initial movement measured value in a negative direction. The feedback control step includes:
an initial input updating step of acquiring a current attitude of the construction machine based on position information of the movable part of the construction machine, and updating the initial input value corresponding to the current attitude with a value calculated using the initial input model;
an error updating step of updating an error between the current attitude and a target attitude of the construction machine;
3. A work control method according to claim 1, further comprising a control input calculation step of calculating the control input value that reduces the error using the error and the initial input value as inputs, and providing the control input value to the construction machine. The work control method according to claim 3, wherein in the error update step, when a work instruction instructing the work to be performed by the construction machine is updated, a parameter update step is performed to update control parameters including the target attitude of the construction machine. The work control method according to any one of claims 1 to 4, wherein the initial input model generation step generates the initial input model during a period other than an operating period during which the construction machine performs work. The construction machine has an operation lever for controlling an attitude of the machine itself 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 of controlling the construction machine via the operation lever by operating the actuator based on the control input value. an initial movement input model generating means for generating an initial movement input model for calculating an initial movement input value at which a movable part of a construction machine starts to move;
a feedback control means for calculating the initial movement input value corresponding to the posture of the construction machine using the initial movement input model and specifying a control input value having a value equal to or greater than the initial movement input value,
The initial input model generating means
a first initial movement input value measurement process for measuring a first initial movement measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part;
a second initial movement input value measurement process for measuring a second initial movement measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within a movable range of the movable part;
a model generation process for generating the initial movement input model by interpolating between the first initial movement measurement value and the second initial movement measurement value to derive the initial movement input value for an arbitrary posture of the construction machine;
A work control system that performs the above. In the first initial movement input value measurement process, an input value is given to the construction machine so that the movable part in the first state moves in a positive direction of the movable part and a negative direction of the movable part, respectively, and a first initial movement measurement value is measured for each of the positive direction and the negative direction;
In the second initial-motion input value measurement process, an input value is given to the construction machine so that the movable part in the second state moves in a positive direction of the movable part and in a negative direction of the movable part, respectively, and the second initial-motion measurement value is measured for each of the positive direction and the negative direction;
The work control system according to claim 7, wherein in the model generation process, the initial movement input model is generated using the first initial movement measurement value in a positive direction, the first initial movement measurement value in a negative direction, the second initial movement measurement value in a positive direction, and the second initial movement measurement value in a negative direction. an initial movement input model generating means for generating an initial movement input model for calculating an initial movement input value at which a movable part of a construction machine starts to move;
a feedback control means for calculating the initial movement input value corresponding to the posture of the construction machine using the initial movement input model and specifying a control input value having a value equal to or greater than the initial movement input value,
The initial input model generating means
a first initial movement input value measurement process for measuring a first initial movement measurement value at which the movable part starts to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part;
a second initial movement input value measurement process for measuring a second initial movement measurement value at which the movable part starts to move in a second state in which the movable part is controlled to a second position different from the first position within a movable range of the movable part;
a model generation process for generating the initial movement input model by interpolating between the first initial movement measurement value and the second initial movement measurement value to derive the initial movement input value for an arbitrary posture of the construction machine;
A work control device that performs the above. In the first initial movement input value measurement process, an input value is given to the construction machine so that the movable part in the first state moves in a positive direction of the movable part and a negative direction of the movable part, respectively, and a first initial movement measurement value is measured for each of the positive direction and the negative direction;
In the second initial-motion input value measurement process, an input value is given to the construction machine so that the movable part in the second state moves in a positive direction of the movable part and in a negative direction of the movable part, respectively, and the second initial-motion measurement value is measured for each of the positive direction and the negative direction;
The work control device according to claim 9, wherein in the model generation process, the initial movement input model is generated using the first initial movement measurement value in a positive direction, the first initial movement measurement value in a negative direction, the second initial movement measurement value in a positive direction, and the second initial movement measurement value in a negative direction.

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