Operation machine control method and device and operation machine

A work machine and control method technology, applied in the field of devices, work machine control methods, and work machines, can solve problems such as high cost and long time consumption, and achieve the effects of reducing commissioning costs, shortening commissioning time, and improving the level of intelligent construction

CN113684885AActive Publication Date: 2021-11-23SHANGHAI SANY HEAVY IND
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-11-23

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Abstract

The invention provides an operation machine control method and device and an operation machine. The method comprises the following steps: obtaining a current operation state of the operation machine; determining a current decision behavior of the operation machine based on the current operation state and a state behavior decision model; based on the control signal corresponding to the current decision behavior, controlling the operation machine to perform construction operation, wherein the state behavior decision model is obtained by training based on a sample operation state, a sample decision behavior and a reward value corresponding to the sample decision behavior of the operation machine; the reward value is determined based on an actual position curve and a target position curve of an operation part in the operation machine; and the actual position curve is determined based on the sample decision behavior. According to the method, the device and the operation machine provided by the invention, the debugging workload of engineers is reduced, the debugging time is shortened, the debugging cost is reduced, and the intelligent construction level of the operation machine is improved.
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Description

technical field

[0001] The invention relates to the technical field of mechanical engineering, in particular to an operating machine control method, device and operating machine. Background technique

[0002] When the excavator performs compound operations such as leveling or brushing slopes, it is usually completed by experienced operators through combined actions.

[0003] In the prior art, in the development of the intelligent function of the excavator, the traditional control algorithm is usually used for debugging, and many state points of the excavator work need to be defined, and each state point needs to be individually debugged for the control algorithm, so that the flat ground Or the control program for brushing the slope achieves the expected accuracy. Due to the complexity of the excavator system, it is very difficult to debug this type of control algorithm, which requires high engineers and is difficult to complete. And it takes a long time and the labor cost ...

Examples

Embodiment Construction

[0040] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0041] Reinforcement learning is an intelligent algorithm that trains artificial intelligence models based on continuous "trial and error" and rewards for superior strategies. Inspired by this, the technical solution in the embodiment of the present invention is to let the excavator start from some random initial inputs to perform automatic work, define rewards based on the difference between...