Construction machinery control systems, construction machinery, management devices, and control methods for construction machinery

Abstract

The controller of the construction machinery control system stores multiple data sets containing past data of operating skills and past data of control parameters associated with those past data. It determines the operator's operating skills, uses the information containing the operating skills (i.e., operation information) and the multiple data sets to set control parameters, uses the control parameters to calculate auxiliary quantities to assist the operator's operation, uses the operating quantities and auxiliary quantities applied by the operating device to calculate control commands to make the controlled object work, and inputs the control commands to the controlled object.

Description

Technical Field

[0001] This disclosure relates to engineering machinery control systems, engineering machinery, management devices, and control methods for engineering machinery. Background Technology

[0002] Patent documents 1-3 each disclose technologies for assisting operators in improving work efficiency at the work site.

[0003] Patent document 1 discloses a technique that measures or calculates the motion state quantity of the combined center of gravity of the boom, stick, and bucket constituting a working device, and uses feedback control to determine the instruction value for the operating mechanism of the working device in such a way that the motion state quantity follows a predetermined first target value, and adjusts the amount of operation for the operator of the working device based on the instruction value.

[0004] Patent Document 2 discloses a control parameter modification system for construction machinery. This system modifies control parameters listed in a control device that controls the actuators driving the construction machinery, based on the user's expectations. The system's management server stores multiple sets of control parameters with different characteristics, and user expectation information containing expectations related to the operability of the hydraulic excavator. Based on the user expectation information, the management server extracts a set of control parameters consistent with the user's expectations from the control parameter sets and outputs this extracted control parameter set to the hydraulic excavator. The hydraulic excavator's information controller then modifies the control parameter set listed in the control controller to the extracted control parameter set.

[0005] Patent document 3 discloses a system for changing the output characteristics of construction machinery. In the storage device of the system's management server, operator IDs, vehicle IDs, and output characteristic information are stored in association with the desired operability of each operator. The management server extracts output characteristic information consistent with the operator's desired operability based on the operator ID and vehicle ID, and outputs this extracted output characteristic information to the hydraulic excavator. The control device of the hydraulic excavator changes the output characteristics of the hydraulic actuators based on the output characteristic information stored in the memory.

[0006] Furthermore, since each operator has different skills in operating construction machinery, it would be ideal to provide assistance corresponding to those skills. However, the technology in Patent Document 1 does not take into account the operator's skills; therefore, adjusting the work efficiency based on the operator's skills may not always improve the overall efficiency.

[0007] Furthermore, while operators' skills improve with accumulated experience, they can also decline if periods of inactivity increase. In other words, operators' skills can fluctuate. In Patent Document 2, a set of control parameters consistent with user expectations is extracted from a control parameter set based on pre-stored user expectation information containing expectations related to user operability. Therefore, in Patent Document 2, assistance corresponding to the operator's changed skills is sometimes unavailable, resulting in no improvement in work efficiency. Similarly, in Patent Document 3, operator ID, vehicle ID, and output characteristic information are pre-stored in association with the operator's desired operability. Output characteristic information is extracted based on the operator ID and vehicle ID and output to the hydraulic excavator. Therefore, in Patent Document 3, assistance corresponding to the operator's changed skills is sometimes unavailable, resulting in no improvement in work efficiency.

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Publication No. 2020-033815

[0011] Patent Document 2: Japanese Patent Publication No. 2017-075500

[0012] Patent Document 3: International Patent Publication No. 2017 / 168687 Summary of the Invention

[0013] The purpose of this disclosure is to provide a control system, construction machinery, management device, and control method for construction machinery that can appropriately assist the operator's operation on the operating device of the construction machinery according to the operator's operating skills.

[0014] The provided control system for controlling construction machinery includes: an operating device for an operator to apply operations to cause a controlled object in the construction machinery to operate; and a controller, wherein the controller stores multiple data sets related to past operations, each of the multiple data sets including past data on operating skills and past data on control parameters associated with the past data on operating skills; determines the operator's operating skills; sets control parameters using information including the operating skills, i.e., operational information, and the multiple data sets; calculates an auxiliary quantity to assist the operator's operations using the control parameters; calculates a control command to cause the controlled object to operate using the operating quantity of the operation applied by the operating device and the auxiliary quantity, and inputs the control command to the controlled object.

[0015] The provided construction machinery includes: an operating device for an operator to apply operations to cause a controlled object within the construction machinery to operate; and a construction machinery controller, wherein the controller determines the operator's operating skill; sets control parameters using at least one data set selected from multiple data sets related to past operations based on information including the operating skill, i.e., operational information, each of the multiple data sets including past data on the operating skill and past data on control parameters associated with the past data on the operating skill; calculates an auxiliary quantity to assist the operator's operation using the control parameters; and calculates a control command to cause the controlled object to operate using the operation quantity applied by the operating device and the auxiliary quantity, and inputs the control command to the controlled object.

[0016] What is provided is a management device for the control system of the construction machinery, and is configured in a location remote from the construction machinery, which includes a data group memory for storing the plurality of data groups.

[0017] The provided method is a control method for construction machinery that assists an operator in operating a controlled object within the machinery. The method includes the following steps: storing multiple data sets related to past operations, each data set containing past data on operator skills and past data on control parameters associated with the past data on operator skills; determining the operator's operator skills; setting control parameters using information including the operator skills (i.e., operational information) and the multiple data sets; calculating an auxiliary quantity to assist the operator's operation using the control parameters; and calculating a control command to operate the controlled object using the operation quantity and the auxiliary quantity, and inputting the control command to the controlled object. Attached Figure Description

[0018] Figure 1This is a side view illustrating an example of the engineering machinery involved in the embodiments of this disclosure.

[0019] Figure 2 This is a diagram showing a portion of the hydraulic circuit and controller of the engineering machinery.

[0020] Figure 3 This is a conceptual diagram illustrating the engineering machinery control system involved in the embodiments of this disclosure.

[0021] Figure 4 This is a block diagram representing the control flow of the controller in the engineering machinery control system.

[0022] Figure 5 This is a diagram illustrating an example of multiple sets of past data stored in the control system of the engineering machinery.

[0023] Figure 6 This is a diagram illustrating an example of the operational information of the construction machinery.

[0024] Figure 7 This is a flowchart illustrating an example of the computational processing of the engineering machinery controller. Detailed Implementation

[0025] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Figure 1 This is a side view of the construction machinery 100 involved in this embodiment. In this embodiment, the construction machinery 100 is an example of a construction machinery that includes a controlled object, namely a hydraulic excavator. Figure 2 This is a diagram showing a part of the hydraulic circuit of the construction machinery 100 and the controller of the construction machinery system. Figure 3 This is a conceptual diagram illustrating the construction machinery control system according to the embodiment. The construction machinery control system includes construction machinery 100 and a management device 60. In this embodiment, the management device 60 is a server configured in a location remote from the construction machinery 100, capable of receiving commands from the construction machinery 100 and providing specific functions and various data to the construction machinery 100.

[0026] The engineering machinery system involved in this embodiment includes a controller for controlling the operation of the engineering machinery system. In this embodiment, such as... Figure 2As shown, the controller includes the construction machinery controller 50 of the construction machinery 100 and the management device controller 67 of the management device 60. Furthermore, the construction machinery controller 50 may also possess not only the functions of the construction machinery controller 50, but also some or all of the functions of the management device controller 67. When the construction machinery controller 50 possesses some or all of the functions of the management device controller 67, the controller of the construction machinery system only needs to include at least the construction machinery controller 50, and may not include the management device controller 67.

[0027] like Figure 1 and Figure 2 As shown, the construction machinery 100 includes a self-propelled lower walking body 1, an upper rotating body 2 supported on the lower walking body 1 in a manner that allows it to rotate around a Z-axis in the vertical direction, a working device 3, multiple hydraulic actuators, multiple hydraulic pumps, multiple control valves, multiple operating devices, multiple proportional valves, multiple detectors, a target input device 41, a display 42, and a construction machinery controller 50.

[0028] The upper slewing body 2 includes an upper frame that is rotatably supported on the lower traveling body 1, a cockpit supported on the upper frame, and a counterweight located behind the cockpit.

[0029] The working device 3 includes a boom 4 that can be undulatingly supported on the upper frame, a stick 5 that can be rotatably supported on the distal end of the boom 4, and a bucket 6 that can be rotatably supported on the distal end of the stick 5.

[0030] Multiple hydraulic actuators include boom cylinder 7, stick cylinder 8, bucket cylinder 9, and swing motor 11.

[0031] Multiple hydraulic pumps include Figure 2 The hydraulic pump 21 (first hydraulic pump) shown, the second hydraulic pump (not shown), and... Figure 2 The pilot pump 22 is shown. The first hydraulic pump and the second hydraulic pump each supply working oil to at least one of a plurality of hydraulic actuators. The first hydraulic pump 21 and the second hydraulic pump are each, for example, variable capacity hydraulic pumps. The pilot pump 22 supplies pilot pressure to a plurality of control valves. Each of the plurality of hydraulic pumps is, for example, driven by an engine (not shown).

[0032] exist Figure 2 The diagram only shows a representative circuit for actuating the boom cylinder 7; the circuits for actuating the stick cylinder 8, bucket cylinder 9, and swing motor 11 are omitted. The basic structure of the circuits for actuating the stick cylinder 8, bucket cylinder 9, and swing motor 11 is shown below. Figure 2 The circuit shown is the same as the one used to actuate the boom cylinder 7.

[0033] The boom working cylinder 7 is a hydraulic working cylinder that operates in the following manner: it receives power from... Figure 2 The supply of working oil by the hydraulic pump 21, as shown, causes the boom 4 to move up and down relative to the upper slewing body 2. The base end of the boom working cylinder 7 is rotatably mounted to the upper frame of the upper slewing body 2, and the distal end of the boom working cylinder 7 is rotatably mounted to the boom 4. Figure 2 As shown, the boom working cylinder 7 has a rod chamber 7R and a head chamber 7H.

[0034] The stick working cylinder 8 is a hydraulic working cylinder that receives working oil from either the first or second hydraulic pump, causing the stick 5 to rotate relative to the boom 4. The bucket working cylinder 9 is a hydraulic working cylinder that receives working oil from either the first or second hydraulic pump, causing the bucket 6 to rotate relative to the stick 5. The swing motor 11 is a hydraulic motor that receives working oil from either the first or second hydraulic pump, causing the upper slewing body 2 to rotate relative to the lower traveling body 1.

[0035] Multiple control valves include Figure 2 The boom control valve 23, stick control valve (not shown), bucket control valve (not shown), and swing control valve (not shown) are shown. Each of the multiple control valves has a spool valve and a pair of pilot ports that receive pilot pressure from the pilot pump 22.

[0036] The boom control valve 23 is located between the hydraulic pump 21 and the boom working cylinder 7, and opens and closes by changing the direction and flow rate of the working oil supplied to the boom working cylinder 7. The stick control valve is located between either the first or second hydraulic pump and the stick working cylinder 8, and opens and closes by changing the direction and flow rate of the working oil supplied to the stick working cylinder 8. The bucket control valve is located between either the first or second hydraulic pump and the bucket working cylinder 9, and opens and closes by changing the direction and flow rate of the working oil supplied to the bucket working cylinder 9. The swing control valve is located between either the first or second hydraulic pump and the swing motor 11, and opens and closes by changing the direction and flow rate of the working oil supplied to the swing motor 11.

[0037] Multiple operating devices include a boom operating device 27 (see reference) that receives operations for moving the boom 4. Figure 2The system includes a stick operating device (not shown) for receiving operations to move the stick 5, a bucket operating device (not shown) for receiving operations to move the bucket 6, and a slewing operating device (not shown) for rotating the upper slewing body 2 relative to the lower traveling body 1. Each of the multiple operating devices has an operating lever that can be operated by the operator. Each of the multiple operating devices is an electric lever device that outputs a command signal (electrical signal) corresponding to the direction and amount of the operation applied by the operator to the operating lever. The output command signal is input to the construction machinery controller 50.

[0038] Specifically, the boom operating device 27 is configured to be capable of performing a boom raising operation to cause the boom 4 to raise, and a boom lowering operation to cause the boom 4 to lower. A boom raising operation is the movement of the boom 4 so that its distal end is away from the ground, and a boom lowering operation is the movement of the boom 4 so that its distal end is close to the ground. If the boom operating device 27 receives a boom raising operation, it inputs a boom raising command signal corresponding to the amount of the boom raising operation to the construction machinery controller 50. If the boom operating device 27 receives a boom lowering operation, it inputs a boom lowering command signal corresponding to the amount of the boom lowering operation to the construction machinery controller 50. The basic structure and function of the stick operating device, bucket operating device, and slewing operating device are the same as those of the boom operating device 27; therefore, detailed descriptions are omitted.

[0039] Multiple proportional valves, each based on control commands input from the machinery controller 50, reduce the pressure of the pilot pump 22 and output the pressure oil. Each of the multiple proportional valves is, for example, a solenoid proportional valve. The multiple proportional valves include a pair of boom proportional valves 24 and 25, a pair of stick proportional valves (not shown), a pair of bucket proportional valves (not shown), and a pair of swing proportional valves (not shown).

[0040] Specifically, each of the boom proportional valves 24 and 25 reduces the pressure of the oil from the pilot pump 22 according to the control command (command current) input from the construction machinery controller 50, and outputs the pilot pressure corresponding to the control command to the boom control valve 23. One boom proportional valve 24 is configured in a pilot line connecting one pilot port of the pilot pump 22 and the boom control valve 23, and the other boom proportional valve 25 is configured in a pilot line connecting the other pilot port of the pilot pump 22 and the boom control valve 23.

[0041] If the boom operating device 27 accepts a boom lowering operation, a control command from the construction machinery controller 50 is input to the boom proportional valve 24. The boom proportional valve 24 generates a pilot pressure corresponding to the control command, and the generated pilot pressure is supplied to a pilot port of the boom control valve 23 (in... Figure 2(The middle port is the left side of the boom control valve 23). The spool of the boom control valve 23 is offset by a displacement (offset from the neutral position) corresponding to the supplied pilot pressure. As a result, the boom control valve 23 is adjusted to an opening (opening amount) corresponding to the displacement, allowing working oil injected from the hydraulic pump 21 to be supplied to the rod chamber 7R of the boom working cylinder 7 at a flow rate corresponding to the displacement, and allowing working oil to be discharged from the head chamber 7H and returned to the oil tank.

[0042] If the boom operating device 27 accepts a boom raising operation, a control command from the construction machinery controller 50 is input to the boom proportional valve 25. The boom proportional valve 25 generates a pilot pressure corresponding to the control command, and the generated pilot pressure is supplied to another pilot port of the boom control valve 23 (in... Figure 2 (The middle port is the right side of the boom control valve 23). The spool of the boom control valve 23 is offset by a displacement (offset from the neutral position) corresponding to the supplied pilot pressure. As a result, the boom control valve 23 is adjusted to an opening (opening amount) corresponding to the displacement, allowing working oil injected from the hydraulic pump 21 to be supplied to the head chamber 7H of the boom working cylinder 7 at a flow rate corresponding to the displacement, and allowing working oil to be discharged from the rod chamber 7R and return to the oil tank.

[0043] Each of the two boom proportional valves, based on control commands input from the machinery controller 50, reduces the pressure of the oil from the pilot pump 22 and outputs the corresponding pilot pressure to the boom control valve. Similarly, each of the two bucket proportional valves, based on control commands input from the machinery controller 50, reduces the pressure of the oil from the pilot pump 22 and outputs the corresponding pilot pressure to the bucket control valve. The two swing proportional valves, based on control commands input from the machinery controller 50, reduce the pressure of the oil from the pilot pump 22 and output the corresponding pilot pressure to the swing control valve. The basic structure and function of these proportional valves are the same as those of the boom proportional valves 24 and 25; therefore, detailed descriptions are omitted.

[0044] The construction machinery 100 has at least one control object. This at least one control object may, for example, include a control object associated with the boom 4's raising and lowering motion, a control object associated with the stick 5's rotating motion, a control object associated with the bucket 6's rotating motion, and a control object associated with the upper slewing body 2's slewing motion. In this case, each of these control objects may, for example, include a pair of proportional valves, a control valve, a hydraulic actuator, and a movable part. Specifically, the control object associated with the boom 4's raising and lowering motion may include a pair of boom proportional valves 24 and 25, a boom control valve 23, a boom working cylinder 7, and the boom 4 (an example of a movable part). The control object associated with the stick 5's rotating motion may include the pair of stick proportional valves, the stick control valve, the stick working cylinder 8, and the stick 5 (an example of a movable part). The control object associated with the bucket 6's rotating motion may include the pair of bucket proportional valves, the bucket control valve, the bucket working cylinder 9, and the bucket 6 (an example of a movable part). The control objects associated with the rotational movement of the upper rotating body 2 may also include the pair of rotation proportional valves, the rotation control valve, the rotation motor 11, and the upper rotating body 2 (an example of a movable part). However, the control objects in this disclosure are not limited to the specific examples described above.

[0045] Multiple detectors each detect information necessary for the construction machinery controller 50 to control the actions of the construction machinery 100, and input the corresponding electrical signal, i.e., the detection signal, to the construction machinery controller 50. The multiple detectors include: a boom-related motion detector 31, which detects the output of a control object associated with the boom 4's rising and falling motion; a stick-related motion detector 32, which detects the output of a control object associated with the stick 5's rotating motion; a bucket-related motion detector 33, which detects the output of a control object associated with the bucket 6's rotating motion; and a slewing-related motion detector 34, which detects the output of a control object associated with the slewing motion of the upper slewing body 2.

[0046] The boom-related motion detector 31 can be, for example, a boom angle sensor, a stroke sensor that detects the movement of the boom cylinder 7, or other sensors. The boom angle sensor is a sensor that detects the angle of the boom 4 relative to the upper rotating body 2. Examples of such angle sensors include resolvers, rotary encoders, potentiometers, and IMUs (Inertial Measurement Units). The stroke sensor can be a sensor that detects the length of the hydraulic cylinder or a sensor that detects the position of the piston rod relative to the cylinder body.

[0047] Similarly, the stick-related motion detector 32 can be a stick angle sensor that detects the angle of the stick 5 relative to the boom 4, a stroke sensor that detects the movement of the stick working cylinder 8, or other sensors. The bucket-related motion detector 33 can be a bucket angle sensor that detects the angle of the bucket 6 relative to the stick 5, a stroke sensor that detects the movement of the bucket working cylinder 9, or other sensors. The slewing-related motion detector 34 can be, for example, a slewing angle sensor that detects the angle of the upper slewing body 2 relative to the lower traveling body 1, a gyroscope sensor that detects the angular velocity (slewing angular velocity) of the upper slewing body 2 relative to the lower traveling body 1, or other sensors.

[0048] The construction machinery controller 50 can obtain control output information, which is related to the output of the controlled object, based on detection signals input from multiple detectors. The construction machinery controller 50 can calculate, for example, the movement speed of the movable part based on the control output information. Furthermore, the construction machinery controller 50 can calculate, for example, the posture of the movable part based on the control output information. The movement speed of the movable part can be, for example, the movement speed of the boom 4 relative to the upper slewing body 2, the movement speed of the stick 5 relative to the boom 4, the movement speed of the bucket 6 relative to the stick 5, or the movement speed of the upper slewing body 2 relative to the lower traveling body 1. The posture of the movable part can be, for example, the posture of the boom 4 relative to the upper slewing body 2, the posture of the stick 5 relative to the boom 4, the posture of the bucket 6 relative to the stick 5, or the posture of the upper slewing body 2 relative to the lower traveling body 1.

[0049] The engineering machinery controller 50 includes a CPU (Central Processing Unit) and other computing and processing devices, as well as memory. For example... Figure 2 As shown, the construction machinery controller 50 includes an operation skill determiner 51, a work content determiner 52, a target setter 53, a parameter setter 54, an auxiliary quantity calculator 55, a control command calculator 56, a construction machinery memory 57, and a construction machinery communicator 58. The processing unit of the construction machinery controller 50 executes the control program, thereby enabling the operation skill determiner 51, the work content determiner 52, the target setter 53, the parameter setter 54, the auxiliary quantity calculator 55, the control command calculator 56, the construction machinery memory 57, and the construction machinery communicator 58 to function.

[0050] The management device 60 includes a management device controller 67, which includes a CPU or other arithmetic processing unit and a memory. For example... Figure 2As shown, the management device controller 67 of the management device 60 includes a management device communicator 61, a data group memory 62, and a data group setter 63. The arithmetic processing unit of the management device controller 67 executes a control program, thereby enabling the management device communicator 61, the data group memory 62, and the data group setter 63 to function.

[0051] The construction machinery communicator 58 and the management device communicator 61 are configured to enable bidirectional data communication (e.g., wireless communication) between the construction machinery controller 50 and the management device 60 of the construction machinery 100. In this embodiment, the construction machinery communicator 58 and the management device communicator 61 each have a communication antenna that enables bidirectional wireless data communication between the construction machinery controller 50 and the management device 60.

[0052] like Figure 5 As shown, the data group memory 62 of the management device 60 pre-stores multiple data groups, which include data groups A, B, C, D, E, and F related to multiple past operations of multiple construction machines. Each of the multiple data groups contains past data on job content, past data on operating skills, past data on at least one control parameter, and past data on the operator. These past data are stored in the data group memory 62 as a dataset (data group) in relation to each other.

[0053] In this embodiment, such as Figure 6 As shown, the operator of the construction machinery 100 is operator OPC. Figure 5 As shown, multiple data groups contain data about operators OPa and OPb, which are different from operator OPa.

[0054] Past task content data refers to data related to the task content in the past tasks. Past task content data represents the determination result of the task content determined by the task content determiner 52 in the past tasks. Figure 5 The record is titled "Result of Job Content Judgment". For example... Figure 5 As shown, examples of work content include excavation and loading operations, leveling operations, and slope clearing operations, but the work content is not limited to these specific examples. For example, the work content could also be hoisting and transportation operations.

[0055] Operational skill past data refers to data related to the operator's operational skills in the past operations. Operational skill past data represents the judgment results of the operational skills determined by the operational skill determiner 51 in the past operations. Figure 5 The record states "Operational skill assessment result".

[0056] The at least one control parameter past data refers to data relating to control parameters associated with the past data of the operational skill. The at least one control parameter past data may also include, for example, past data related to at least one design parameter used in feedback control (at least one design parameter past data), and past data corresponding to at least one target value used in feedback control (at least one target value corresponding past data). The at least one design parameter past data is, for example, past data relating to the gain of the proportional gain (Kp), integral gain (Ki), and derivative gain (Kd) corresponding to the type of feedback control. The at least one target value corresponding past data may also include, for example, at least one of velocity past data, acceleration past data, torque past data, and position past data (posture past data). Velocity past data is past data relating to the velocity of the movable part's movement in past operations. Acceleration past data is past data relating to the acceleration of the movable part's movement in past operations. Torque past data is past data relating to the torque of the rotary motor 11 in the rotational movement of the upper rotary body 2 in past operations. Position past data (posture past data) is past data relating to the position (posture) of the movable part in past operations.

[0057] Operator past data is data about operators associated with the aforementioned operational skill past data. Operator past data may also include identification information for identifying operators who performed past tasks.

[0058] exist Figure 3 In the specific example shown, the management device controller 67 of the management device 60 also includes an operation information memory 64 and a past data set builder 65. For example... Figure 3As shown, for example, for a past operation of construction machinery A, i.e., past operation A, when past operation A is completed, operation information A related to past operation A is sent from construction machinery A to management device 60. Operation information A includes information related to the operation content of past operation A, information related to the operating skills of the operator of past operation A, information related to the control parameters set in past operation A, and information related to the operator of past operation A. The operation information memory 64 of management device 60 stores operation information A, and the past data group builder 65 constructs a data group A based on operation information A by associating past data related to the operation content of past operation A (i.e., past operation content data), past data related to the operating skills of past operation A (i.e., past operation skill data), past data related to the control parameters of past operation A (i.e., past control parameter data), and past data related to the operator of past operation A (i.e., past operator data), and the data group memory 62 stores data group A. Similarly, for past operations of construction machinery B, when past operation B is completed, the operation information B related to past operation B is sent from construction machinery B to management device 60. The operation information memory 64 of management device 60 stores the operation information B, and the past data group builder 65 constructs a data group B by associating past data of operation content, past data of operating skills, past data of control parameters, and past data of operators based on the operation information B. The data group memory 62 stores the data group B.

[0059] Furthermore, the operational information A and B sent from the construction machinery A and B to the management device 60 may each also include, for example, at least one of the following: speed information, acceleration information, position information (posture information), work load information, and operation amount information. Speed ​​information is information related to the speed of movement of the movable parts in each of the past operations A and B. Acceleration information is information related to the acceleration of movement of the movable parts in each of the past operations A and B. Position information (posture information) is information related to the position (posture) of the movable parts in the past operations A and B. Work load information is information related to the work load (e.g., the weight of the load) in the past operations A and B. Operation amount information is information related to the operation amount applied to the operating device in the past operations A and B, respectively. In each of the data groups A and B constructed by the past data group builder 65, there may be at least one of the following past data: past data related to the speed of the action (i.e., past speed data), past data related to the acceleration of the action (i.e., past acceleration data), past data related to the position (posture) (i.e., past position data, or past posture data), past data related to the workload (i.e., past workload data), and past data related to the amount of work (i.e., past amount of work).

[0060] like Figure 3 As shown, the data group setter 63 uses the plurality of data groups to set an object data group X, which is a data group suitable for the current operating information of the construction machinery 100. Object data group X contains information related to control parameters. The setting of object data group X will be described below.

[0061] Next, the construction machinery controller 50 of the construction machinery 100 will be described.

[0062] The operator skill assessor 51 determines the operator's skill level, i.e., the skill level of the operator performing the operation of the construction machinery 100. The following are specific examples of methods for assessing operator skill. However, the methods for assessing operator skill are not limited to the following specific examples, and various methods can be used.

[0063] The operator skill determiner 51 can determine the start and end times of a task based on the task content determiner 52's determination of the task content (described later). In the case of a task such as excavation and loading, the operator skill determiner 51 can calculate the efficiency of the excavation and loading operation (i.e., the work efficiency) based on the elapsed time from the start to the end of the task and the weight of sand loaded onto the loading platform of a truck or other transport vehicle from the start to the end of the task. Based on the calculated work efficiency and pre-set evaluation criteria such as maps and formulas, the operator's operator skill is determined. Figure 5 and Figure 6 In a specific example, although the operation skill judge 51 determines which level of the operator's operation skill falls within the range of 0 to 100 points, it is not limited to this specific example.

[0064] The work content determiner 52 determines the work content of the construction machinery 100. For example... Figure 5 As shown, examples of work content include excavation and loading operations, leveling operations, and slope clearing operations, but the work content is not limited to these specific examples. Work content can also be, for example, hoisting and handling operations as described above.

[0065] The work content determiner 52 can obtain the postures of multiple movable parts (specifically, the postures of the boom 4, stick 5, bucket 6, and upper slewing body 2) based on the detection signals input to the construction machinery controller 50 from multiple detectors 31-34. For example, in each of the excavation and loading operations, leveling operations, and slope clearing operations, the postures of the multiple movable parts will change characteristically. Therefore, the work content determiner 52 can determine the work content of the construction machinery 100 based on the posture data of the multiple movable parts. Specifically, for example, if the postures of the multiple movable parts are related to a predetermined excavation posture and also meet the conditions related to a predetermined loading posture, the work content determiner 52 determines that the construction machinery 100 is performing an excavation and loading operation. Similarly, if the postures of the multiple movable parts meet the conditions related to a predetermined leveling posture, the work content determiner 52 determines that the construction machinery 100 is performing a leveling operation. When the postures of each of the multiple movable parts meet the conditions related to a predetermined slope clearing posture, the work content determiner 52 determines that the construction machinery 100 is performing slope clearing operations. When the postures of each of the multiple movable parts meet the conditions related to a predetermined hoisting and handling posture, the work content determiner 52 determines that the construction machinery 100 is performing hoisting and handling operations. The postures of each of the multiple movable parts can be represented, for example, by the coordinates of the construction machinery 100 in a coordinate system with a predetermined reference point as the origin, or by the boom angle, stick angle, bucket angle, and swing angle.

[0066] The work content determiner 52 may also determine the work content of the construction machinery 100 based on the load applied to the work device 3, rather than using the posture data of the multiple movable parts as described above. In this case, the work content determiner 52 may, for example, determine the work content of the construction machinery 100 based on the detection result (detection signal) of the load sensor installed on the work device 3.

[0067] The target setter 53 sets the target operating skill in association with the operating skill and related to the target operating skill of the operator.

[0068] The target input device 41 is a device that allows the operator or a person involved in the operation to input a target for the operating skill. Such persons may include, for example, the manager of the operation of the construction machinery 100, the supervisor at the work site, or an assistant to the operation of the construction machinery 100. In this case, the target setter 53 can also use the target of the operating skill input by the operator or a person involved in the operation and the operating skill (the current operating skill) to set the target operating skill, and the parameter setter 54 can also use the operating information and the plurality of data sets to set control parameters corresponding to the target operating skill set in association with the operating skill.

[0069] The parameter setter 54 can also use the operation information and multiple data sets to set control parameters corresponding to the current operating skill. Additionally, the parameter setter 54 can also use the operation information and the multiple data sets to set control parameters corresponding to the current operating skill and the work content. In this embodiment, as... Figure 6 As shown, the operation information includes information related to the operator, information related to the job content, information related to the operation skill, and information related to the target operation skill. Therefore, the parameter setter 54 can use the operation information and the plurality of data sets to set control parameters corresponding to the target operation skill that is set in association with the operation skill, and can also use the operation information and the plurality of data sets to set control parameters corresponding to the target operation skill and the job content.

[0070] Specifically, for example, the parameter setter 54 can be configured such that it sets at least one control parameter using at least one data set selected from multiple data sets based on the current operating information. Thus, the parameter setter 54 can set control parameters commensurate with the current operating skill contained in the current operating information, or control parameters commensurate with the target operating skill contained in the current operating information.

[0071] More specifically, for example, parameter setter 54 may, as described below, use operating information and multiple data sets to set past control parameter data contained in any one of the selected data sets (object data set X) as control parameters. In this case, data set setter 63, described later, may also select from the multiple data sets a data set containing past operating skill data suitable for the current operating skill contained in the current operating information, or past operating skill data suitable for the target operating skill contained in the current operating information, and set the selected data set as object data set X. Then, parameter setter 54 may also set the past control parameter data contained in the selected object data set X as control parameters. Thus, parameter setter 54 can set control parameters commensurate with the operating skill contained in the current operating information, or can set control parameters commensurate with the target operating skill contained in the current operating information.

[0072] Alternatively, the parameter setter 54 can, as described below, use operation information and multiple data sets to set the data contained in the reconstructed object data set X (reconstructed past control parameter data) as control parameters. In this case, the data setter 63, described later, can also select from multiple data sets two or more data sets containing past operation skill data suitable for the current operation skill contained in the current operation information, or past operation skill data suitable for the target operation skill contained in the current operation information. Then, the data setter 63 can also reconstruct (set) the object data set X using the selected two or more data sets. The reconstructed object data set X contains the reconstructed past control parameter data. The reconstructed past control parameter data may, for example, be the average of the past control parameter data contained in the two or more data sets. Alternatively, the reconstructed past control parameter data may, for example, be past data calculated using the past control parameter data contained in the two or more data sets and a linear interpolation method. Then, the parameter setter 54 can also set the reconstructed past control parameter data contained in the reconstructed object data set X as control parameters. Therefore, the parameter setter 54 can set control parameters that are commensurate with the operating skills contained in the current operating information, or it can set control parameters that are commensurate with the target operating skills contained in the current operating information.

[0073] The at least one control parameter may also include at least one design parameter used in feedback control. When the feedback control is P control, the at least one design parameter includes the proportional gain (Kp). Additionally, when the feedback control is PI control, the at least one design parameter includes both the proportional gain (Kp) and the integral gain (Ki). Furthermore, when the feedback control is PID control, the at least one setpoint parameter includes the proportional gain (Kp), the integral gain (Ki), and the derivative gain (Kd).

[0074] Additionally, the at least one control parameter may also include at least one target value used in feedback control. The at least one target value may also include at least one of target velocity, target acceleration, and target position.

[0075] The auxiliary quantity calculator 55 uses the at least one control parameter set by the parameter setter 54 to calculate an auxiliary quantity for assisting the operator's operation.

[0076] The control command arithmetic unit 56 uses the operation amount of the operation applied to the operating device and the auxiliary amount to calculate a control command for making the controlled object work, and inputs the control command to the controlled object. In this embodiment, for example, the control command arithmetic unit 56 uses the operation amount of the operation applied to the boom operating device 27 and the auxiliary amount to calculate a control command for making the controlled object associated with the boom 4's undulating motion work, and inputs the control command to one of the pair of boom proportional valves 24, 25 included in the controlled object.

[0077] A construction machinery controller 50, equipped with a construction machinery memory 57 and a construction machinery communicator 58, is mounted on the construction machinery 100. The construction machinery memory 57 stores the operation information. In this embodiment, the construction machinery memory 57 temporarily stores the operation information.

[0078] When the work of the construction machinery 100 ends or is interrupted, the construction machinery communicator 58 sends the operation information stored in the construction machinery memory 57 to the management device communicator 61 of the management device 60. If the operation information is sent to the management device 60, the construction machinery memory 57 can also delete the operation information. The construction machinery controller 50 can also determine that the work of the construction machinery 100 has ended or been interrupted when preset conditions are met. In addition, when the work of the construction machinery 100 ends or is interrupted, the operator can make a predetermined input, i.e., a work stop input, to an input device (not shown), thereby inputting a signal corresponding to the work stop input from the input device to the construction machinery controller 50.

[0079] The display 42 displays the operating skill based on the operating skill determination result of the operating skill determiner 51. The display 42 may also include, for example, a display disposed in the cockpit of the construction machinery 100. In this embodiment, the display 42 may also be configured, for example, to display such as... Figure 6 The operational information shown includes the work content (work content judgment result), operating skills (operating skill judgment result), and target operating skills.

[0080] The auxiliary control performed by the engineering machinery controller 50 may include at least one of the following: responsive auxiliary control, speed auxiliary control, acceleration auxiliary control, torque auxiliary control, and attitude auxiliary control. Specifically, as described below.

[0081] Responsive auxiliary control is auxiliary control related to the responsiveness of the movement of a movable part. For example, responsive auxiliary control adjusts the responsiveness of the movable part's movement to the operation applied by the operator to the operating device to a level corresponding to the operator's skill level, thereby assisting the operator's operation. Specifically, for example, the higher the operator's skill level, the higher the responsiveness of the movable part's movement can be set. For example, the responsiveness of the movable part's movement can also be adjusted based on the at least one design parameter. Therefore, when the engineering machinery controller 50 is configured to perform responsive auxiliary control, the at least one control parameter includes the at least one design parameter, which includes at least one gain among proportional gain, integral gain, and derivative gain. The at least one control parameter past data includes at least one piece of past data corresponding to the at least one design parameter (the at least one design parameter past data).

[0082] Speed-assisted control is an auxiliary control related to the speed of the movable part's movement. For example, speed-assisted control adjusts the speed of the movable part's movement to a level corresponding to the operator's skill, thereby assisting the operator's operation. Specifically, for example, the higher the operator's skill, the higher the target speed (e.g., upper limit speed) of the movable part's movement can be set. When the engineering machinery controller 50 is configured to perform speed-assisted control, the at least one control parameter includes a target speed (an example of a target value), and the at least one control parameter's past data includes past data corresponding to that target speed, i.e., the speed past data.

[0083] Acceleration-assisted control is an auxiliary control related to the acceleration of the movable part's movement. Acceleration-assisted control, for example, adjusts the acceleration of the movable part's movement to a level corresponding to the operator's skill, thereby assisting the operator's operation. Specifically, when the acceleration is positive, for example, the higher the operator's skill, the larger the target acceleration (e.g., upper limit acceleration) of the movable part's movement can be set. When a braking force is applied to the movable part's movement (when the acceleration is negative), for example, the higher the operator's skill, the smaller the target acceleration of the movable part's movement can be set. When the engineering machinery controller 50 is configured to perform acceleration-assisted control, the at least one control parameter includes a target acceleration (an example of the target value), and the past data of the at least one control parameter includes past data corresponding to the target acceleration, i.e., the past acceleration data.

[0084] Torque-assisted control is an auxiliary control related to the torque in the rotational movement of the upper rotating body 2 relative to the lower traveling body 1. For example, torque-assisted control adjusts the torque generated by the rotary motor 11 for the rotational movement of the upper rotating body 2 to a level corresponding to the operator's skill, thereby assisting the operator's operation. Specifically, for example, the higher the operator's skill, the larger the target torque (e.g., upper limit torque) of the rotational movement can be set. When the engineering machinery controller 50 is configured to perform torque-assisted control, the at least one control parameter includes the target torque (an example of the target value), and the past data of the at least one control parameter includes past data corresponding to the target torque, i.e., the torque past data.

[0085] Posture-assisted control is auxiliary control related to the posture of a movable part. For example, posture-assisted control adjusts the posture of the movable part to a posture corresponding to the operator's operating skills, thereby assisting the operator's operation. In the case where the engineering machinery controller 50 is configured to perform posture-assisted control, the at least one control parameter includes a target position (an example of the target value), and the at least one control parameter past data includes past data corresponding to the target position, i.e., the position past data (the posture past data).

[0086] The following is for reference Figure 7 The flowchart shown illustrates an example of the computational processing of the engineering machinery controller 50.

[0087] If the operator of the construction machinery 100 performs an operation on the system for starting the construction machinery 100, the system starts (step S1).

[0088] The construction machinery controller 50 displays, for example, on the display 42, prompting the operator to input whether to use the construction machinery control system (auxiliary system) according to this embodiment (step S2). If the operator inputs "yes" to the display 42 indicating the use of the auxiliary system (step S2 is "yes"), the construction machinery controller 50 executes the processing after step S3. If the operator inputs "no" to the display 42 indicating the disuse of the auxiliary system (step S2 is "no"), the construction machinery controller 50 executes the normal system instead of the auxiliary system (step S4).

[0089] Next, the construction machinery controller 50 receives input related to the target operating skill in the target input device 41 (step S3). The operator or work-related person inputs the improvement range of the operating skill (target improvement range) as the target of the operating skill in the target input device 41. The input target improvement range is input to the construction machinery controller 50.

[0090] Next, if the operator of the construction machinery 100 starts work, the work content determiner 52 determines the work content of the construction machinery 100 using the method described above (step S5).

[0091] In addition, the operation skill determiner 51 uses, for example, the method described above to determine the operator's current operation skill, i.e., the operation skill (step S6).

[0092] Next, for example, such as Figure 6 As shown, the construction machinery controller 50 generates operation information, which is a collection of data related to information associated with the operator OPC, information related to the determination result of the work content, information related to the determination result of the operation skill, and information related to the target operation skill. As mentioned above, the operation information may also include at least one of speed information, acceleration information, position information (posture information), work load information, and operation quantity information. Next, the construction machinery controller 50 (construction machinery communicator 58) sends the operation information to the management device 60 (step S7). Furthermore, in this embodiment, the target setter 53 of the construction machinery controller 50 calculates the target operation skill by adding the target improvement magnitude input from the target input device 41 to the operation skill determined by the operation skill determiner 51. The information related to the target operation skill in the operation information includes the data of the calculated target operation skill. As mentioned above, the target operation skill is set based on the target improvement magnitude input by the operator. Next, as described below, control parameters are set based on the target operation skill. Therefore, even if the operator has not mastered their own operation skills, this auxiliary control can promote the improvement of the operator's skills. Furthermore, the target skill can be any target skill associated with the determined skill; therefore, the calculation method for the target skill is not limited to the specific example described above. For instance, when the skill enhancement rate (target enhancement rate) is input into the target input device 41 as the target of the skill, the target setter 53 can also calculate the target skill by multiplying the input target enhancement rate by the skill.

[0093] If the management device 60 (management device communicator 61) receives the dataset (current operating information), then as Figure 3 As shown, the data group setter 63 uses multiple data groups stored in the data group memory 62 to set a data group, i.e., object data group X, suitable for the operating information of the construction machinery 100. Specifically, for example, the data group setter 63 may also set or reconstruct the object data group X based on the comparison results between the current operating information and the multiple data groups in the following manner.

[0094] That is, the data group setter 63 can also select a data group suitable for the current operating information and set the selected data group as the object data group X. Alternatively, the data group setter 63 can select two or more data groups suitable for the operating information and use the selected two or more data groups to newly set the object data group X. In this disclosure, the process of the data group setter 63 selecting two or more data groups suitable for the operating information and using the selected two or more data groups to newly set the object data group X is referred to as the reconstruction of the object data group X.

[0095] More specifically, for example, the data group setter 63 can also compare the information related to the judgment result of the work content and the judgment result of the operation skill contained in the current operation information with the plurality of data groups, select a data group from the plurality of data groups that contains past data of the work content corresponding to the work content and past data of the operation skill suitable for the current work skill (preferably past data of the operation skill consistent with the operation skill), and set the selected data group as object data group X.

[0096] In addition, the data group setter 63 can also compare the information related to the judgment result of the work content and the information related to the target operation skill contained in the current operation information with the plurality of data groups, select a data group from the plurality of data groups that contains past data of work content corresponding to the work content and past data of operation skills suitable for the target operation skill (preferably past data of operation skills consistent with the target operation skill), and set the selected data group as object data group X.

[0097] Furthermore, the data group setter 63 may also select a data group as described below. That is, the data group setter 63 may select one of multiple data groups containing past data of the operating skills or target operating skills most closely related to the current operational information, and past data of the work content corresponding to the work content. The past data of control parameters contained in the selected data group are set as control parameters by the parameter setter 54, as described below.

[0098] Alternatively, the data group setter 63 may also set (reconstruct) the object data group X as described below, instead of setting one of the data groups contained in multiple data groups as the object data group X as described above.

[0099] That is, the data group setter 63 can also compare the information related to the judgment result of the work content and the judgment result of the operation skill contained in the current operation information with the multiple data groups, select two or more data groups (e.g., two data groups) that are suitable for the current operation information from the multiple data groups, and use the selected two or more data groups to set (reconstruct) the object data group X.

[0100] In addition, the data group setter 63 can also compare the information related to the judgment result of the work content and the information related to the target operation skill contained in the current operation information with the multiple data groups, select two or more data groups (e.g., two data groups) that are suitable for the current operation information from the multiple data groups, and use the selected two or more data groups to set (reconstruct) the object data group X.

[0101] The data group setter 63 selects two or more data groups, including a first data group and a second data group. Each of the selected data groups contains past data of the work content corresponding to the work content, and also contains past data of the operation skill suitable for the operation skill or target operation skill. Furthermore, the data group setter 63 may also select the two or more data groups as follows: That is, the data group setter 63 may select a data group from among multiple data groups that contains past data of the operation skill closest to the operation skill or target operation skill, and also contains past data of the work content corresponding to the work content, as the first data group. Additionally, the data group setter 63 may select a data group from among multiple data groups that contains past data of the operation skill second closest to the operation skill or target operation skill, and also contains past data of the work content corresponding to the work content, as the second data group.

[0102] Next, the data group setter 63 can also use the past control parameter data contained in the two or more selected data groups to newly set (reconstruct) the past control parameter data. That is, the reconstructed object data group X contains the reconstructed past control parameter data.

[0103] For example, the past control parameter data in object data group X can also be reconstructed as described below. That is, the data group setter 63 can also set the past control parameter data in object data group X to a value calculated by using the past control parameter data contained in the two or more selected data groups and, for example, a linear interpolation method. Alternatively, the data group setter 63 can calculate the average value of the past control parameter data contained in the two or more selected data groups and set this average value as the past control parameter data in object data group X. However, the method for reconstructing the past control parameter data in object data group X is not limited to the linear interpolation and average value calculations described above.

[0104] In this embodiment, when the auxiliary control of the construction machinery controller 50 includes the responsive auxiliary control, the past control parameter data in the object data group X may also include at least one design parameter (at least one of proportional gain, integral gain, and derivative gain). In this case, the past control parameter data contained in each of the multiple data groups may also include past data corresponding to the at least one design parameter (the design parameter past data). Furthermore, in this embodiment, when the auxiliary control of the construction machinery controller 50 also includes the speed auxiliary control, the past control parameter data in the object data group X may also further include the target speed. In this case, the past control parameter data contained in each of the multiple data groups may also further include the speed past data.

[0105] In this embodiment, speed past data is included as control parameter past data in the two or more past data groups selected by the data group setter 63. The data group setter 63 may also calculate the average of the speed past data contained in the two or more data groups and set this average as the control parameter past data in the target data group X, i.e., the target value corresponds to the past data.

[0106] Furthermore, when the auxiliary control of the construction machinery controller 50 includes the acceleration auxiliary control, the past control parameter data in the object data group X may also include the target acceleration. In this case, the past control parameter data contained in each of the multiple data groups may also include the acceleration past data. Additionally, when the auxiliary control of the construction machinery controller 50 includes the torque auxiliary control, the past control parameter data in the object data group X may also include the target torque. In this case, the past control parameter data contained in each of the multiple data groups may also include the torque past data. When the auxiliary control of the construction machinery controller 50 includes the posture auxiliary control, the past control parameter data in the object data group X may also include the target position (the target posture). In this case, the past control parameter data contained in each of the multiple data groups may also include the position past data (the posture past data).

[0107] The management device 60 (management device communicator 61) sends information related to the set object data group X to the construction machinery controller 50 of the construction machinery 100, and the construction machinery controller 50 (construction machinery communicator 58) receives the information related to the object data group X (step S8).

[0108] In this embodiment, the received object data group X contains at least one past data of control parameters, such as information related to at least one design parameter (PID gain: Kp, Ki, Kd) used in feedback control (PID control), and information related to the target speed (an example of a target value). The information related to the target speed (target value) is the past data corresponding to the target value.

[0109] The parameter setter 54 of the construction machinery controller 50, based on information related to the at least one design parameter contained in the object data group X, will be used for... Figure 4 The PID gain of the feedback control (PID control) shown in the block diagram is set as the control parameter (step S9). That is, the parameter setter 54 sets the value of at least one design parameter contained in the object data set X as the PID gain as the control parameter.

[0110] Additionally, the parameter setter 54, based on the target velocity-related information contained in the object data set X (i.e., the target value corresponds to past data), will be used for... Figure 4The target value (target speed) of the feedback control shown in the block diagram is set as the control parameter (step S10). In other words, the parameter setter 54 sets the value of the target value contained in the object data group X, corresponding to the value of the past data, as the target value of the control parameter. By performing speed-assisted control based on the target speed, the speed of the movable part's movement is controlled in a manner close to the target speed. Furthermore, the upper limit speed of the movable part's movement can also be set as the target speed. In this embodiment, the higher the operator's operating skill, the higher the target speed can be set.

[0111] Next, as Figure 4 As shown, the subtractor 59 of the construction machinery controller 50 calculates the deviation between the target value and the control output output from the controlled object. The auxiliary quantity calculator 55 substitutes the PID gain set by the parameter setter 54 and the deviation into the following equation (1) to calculate the auxiliary quantity (S11) used to make the deviation close to zero. In the following equation (1), "u" is the auxiliary quantity, "Kp", "Ki", ​​and "Kd" are the PID gains (proportional gain, integral gain, and derivative gain), and "e" is the deviation between the control output and the target value. In this embodiment, the control output used to calculate the deviation is the actual operating speed of the movable part (e.g., the boom 4), which is detected by a detector such as the boom-related motion detector 31. The target value is the target speed.

[0112] [Mathematical Expression 1]

[0113]

[0114] Next, the control command arithmetic unit 56, for example, uses the operation amount of the operation applied to the boom operating device 27 and the auxiliary amount to calculate a control command for making the controlled object work, and inputs the control command to one of the pair of boom proportional valves 24 and 25 contained in the controlled object (the boom proportional valve corresponding to the operation direction of the operation) (step S12). That is, the control command arithmetic unit 56 calculates the control command obtained by correcting the operation amount of the operation using the auxiliary amount, and inputs the control command to one of the pair of boom proportional valves 24 and 25. Specifically, for example, the control command can also be the value obtained by adding the operation amount of the operation to the auxiliary amount. The construction machinery controller 50 repeatedly performs the control steps S5 to S12.

[0115] Furthermore, regarding the PID gain set as a control parameter by the parameter setter 54, the same PID gain as initially set in step S9 can be used during a job, or the PID gain can be updated multiple times based on preset conditions during a job, or the PID gain can be updated in each cycle of steps S5 to S12.

[0116] As explained above, in the construction machinery control system of this embodiment, for each operation of the construction machinery 100, the operation skill determiner 51 determines the operator's skill, i.e., the operation skill. The parameter setter 54 uses multiple data sets, including the operation skill and a target operation skill set in association with the operation skill, and including pre-stored past operation skill data and past control parameter data associated with the past operation skill data, to set control parameters corresponding to the operation skill. This allows for setting control parameters corresponding to the operator's operation skill at each time point of the operation, i.e., the operation skill, or control parameters corresponding to the target operation skill, for each operation of the construction machinery 100. Furthermore, the auxiliary quantity calculator 55 calculates, and the control command calculator 56 uses the operator's operation quantity and the auxiliary quantity calculated using the set control parameters to calculate the control command that makes the controlled object work. This allows for appropriate assistance to the operator's operation applied to the operation device 27 of the construction machinery based on the operator's operation skill.

[0117] [Variation Example]

[0118] The above describes one example of the construction machinery involved in the embodiments of this disclosure, namely construction machinery 100. However, this disclosure is not limited to the above embodiments and includes, for example, the following variations.

[0119] (A) Regarding target operational skills and the target operational skills setting department

[0120] In the described embodiment, although the controller parameter setter 54 sets control parameters corresponding to the target operating skill that is set in association with the operating skill, this embodiment is not limited to this one. For example, the controller parameter setter 54 may also set control parameters corresponding to the operating skill rather than the target operating skill. In this case, the target operating skill and the target operating skill setting unit can be omitted.

[0121] (B) Regarding the controlled object

[0122] In the described embodiment, the controlled object includes a pair of proportional valves (e.g., boom proportional valves 24, 25), a control valve (e.g., boom control valve 23), a hydraulic actuator (e.g., boom cylinder 7), and a movable part (e.g., boom 4). However, the controlled object in this disclosure is not limited to the specific examples in the described embodiment; for example, it may also include the stick proportional valve, the stick control valve, and the stick cylinder 8. Furthermore, the controlled object in this disclosure may also include, for example, the bucket proportional valve, the bucket control valve, and the bucket cylinder 9. Moreover, the controlled object in this disclosure may also include, for example, the swing proportional valve, the swing control valve, and the swing motor 11.

[0123] (C) Regarding construction machinery

[0124] Construction machinery can also be a type of construction machinery comprising a main body and a remote operator configured at a location remote from the main body. In this case, the main body of the construction machinery includes... Figure 1 The construction machinery 100 shown includes a lower traveling body 1, an upper slewing body 2, and a working device 3. The remote operator includes multiple operating devices, including a boom operating device 27, a stick operating device, a bucket operating device, and a slewing operating device. The main body of the construction machinery may also include part or all of the construction machinery controller 50, and the remote operator may also include part or all of the construction machinery controller 50. The remote operator may also include a display 42. The main body of the construction machinery is configured to operate based on operator input applied to the multiple operating devices of the remote operator.

[0125] (D) About the data set

[0126] In the described embodiment, although the data group memory may contain multiple data groups related to past jobs with different types of job content, it may also contain only multiple data groups related to past jobs with the same job content.

[0127] (E) Information on workload and job load

[0128] When the construction machinery 100 is performing lifting and handling operations, the construction machinery controller 50 can also adjust the opening degree of multiple control valves according to the weight of the load (operating load) and provide auxiliary control to make the movable part move at a speed corresponding to the operator's operating skills. As a result, even an inexperienced operator can perform operations without causing the movable part to stop abruptly, just like an experienced operator.

[0129] As explained above, according to this disclosure, a control system for construction machinery, construction machinery, a management device, and a control method for construction machinery are provided that can appropriately assist the operator's operation on the operating device of the construction machinery based on the operator's operating skills.

[0130] The provided system is a control system for controlling construction machinery, which may also include: an operating device for an operator to apply an operation to make a controlled object in the construction machinery work; and a controller, wherein the controller includes: an operator skill determiner for determining the operator's operating skill; a data set memory for storing multiple data sets related to past operations, each of the multiple data sets including past data on the operating skill in the past operations and past data on control parameters associated with the past data on the operating skill; a parameter setter for setting control parameters using information including the operating skill, i.e., operating information, and the multiple data sets; an auxiliary quantity calculator for calculating an auxiliary quantity to assist the operator's operation using the control parameters; and a control command calculator for calculating a control command to make the controlled object work using the operation quantity of the operation applied by the operating device and the auxiliary quantity, and inputting the control command to the controlled object.

[0131] In this construction machinery control system, the controller assesses the operator's skill level for each operation of the construction machinery and sets control parameters using multiple data sets containing operational information about that skill level and pre-stored past data on the operator's skills and associated control parameter data. This allows for the setting of control parameters corresponding to the operator's skill level at each point in time for each operation. Furthermore, the controller uses the operator's input quantity and auxiliary quantities calculated using the set control parameters to calculate control commands to make the controlled object work. This enables appropriate assistance to the operator's actions applied to the operating devices of the construction machinery based on the operator's skill level.

[0132] Ideally, the controller further includes a task content determiner that identifies the content of the work performed by the construction machinery. The operation information also includes the task content, and each of the multiple data sets includes past data on task content from past operations. In this structure, the controller can use the operation information and multiple data sets to set control parameters corresponding to the operator's skills and the task content. That is, in this structure, the controller determines the task content for each operation of the construction machinery. Therefore, the controller can set control parameters that consider not only the operator's skills but also the task content. This allows for appropriate assistance to the operator's operation based on their skills and the task content.

[0133] Ideally, the controller selects at least one data group from the plurality of data groups that is suitable for the operational information, and sets the control parameters using the past control parameter data contained in the selected at least one data group. More specifically, the controller selects at least one data group from the plurality of data groups that contains past data of the work content corresponding to the work content and is suitable for the determined operating skill or a target operating skill set in association with the operating skill, and sets the control parameters using the past control parameter data contained in the selected at least one data group. In this structure, data groups with low correlation to the work content of the actual ongoing work (the current work content) are omitted from the plurality of data groups, and at least one data group containing past data of the work content corresponding to the current work content is selected. Then, the control parameters are set using the past control parameter data contained in the selected at least one data group. Thus, in auxiliary control that assists the operator's operation, the computational load on the controller can be reduced.

[0134] Ideally, the controller selects two or more data sets from the plurality of data sets that are suitable for the operational information, and sets the control parameters using the past control parameter data contained in the selected two or more data sets. Specifically, ideally, the controller selects two or more data sets from the plurality of data sets that are suitable for the operating skill or a target operating skill set in association with the operating skill, and sets the control parameters using the past control parameter data contained in the selected two or more data sets. In this structure, even if there is no data set among the plurality of data sets that contains past operating skill data consistent with the current operating skill of the operator in the actual ongoing operation, it is still possible to select two or more data sets from the plurality of data sets that contain past operating skill data close to the current operating skill, and set the control parameters using the multiple past control parameter data contained in the two or more data sets.

[0135] Ideally, the controller further includes a target setter, which sets a target operating skill in association with the operating skill, wherein the controller sets the control parameters corresponding to the target operating skill. In this structure, control parameters corresponding to the target operating skill can be set, where the target operating skill is a target operating skill relative to the current operating skill of the operator performing the work on the construction machinery, allowing for the increase or decrease of the level of the operating skill.

[0136] Ideally, the engineering machinery control system further includes a target input device capable of inputting the target of the operational skill, wherein the controller uses the input target of the operational skill and the operational skill to set the target operational skill. In this structure, for example, the operator or a person involved in the operation related to the operator's work can input the target of the operational skill into the target input device, thus enabling the setting of control parameters that reflect the intentions of the operator or the person involved in the operation.

[0137] Ideally, the engineering machinery control system also includes a display showing the operating skills. In this configuration, the operator or other relevant personnel can simultaneously confirm the operating skills displayed on the display and set control parameters reflecting their intentions.

[0138] Ideally, the plurality of data groups includes data groups related to other operators besides the stated operator. In this structure, data groups related to other operators can be utilized, thus enabling efficient accumulation of data groups. Furthermore, even for tasks unfamiliar to the operator, control parameters can be appropriately set using data groups related to other operators. Therefore, even with limited experience with the current task, the operator's actions can be appropriately assisted based on their skill level.

[0139] Ideally, the controller includes: a construction machinery memory mounted on the construction machinery to store the operational information; a construction machinery communicator mounted on the construction machinery; and a data set memory mounted on a management device to store the multiple data sets. The management device is located away from the construction machinery. The construction machinery communicator sends the operational information stored in the construction machinery memory to the management device when the construction machinery's operation ends or is interrupted. In this configuration, even if the construction machinery does not have a data set memory to store multiple data sets, data interaction with the management device when necessary can still appropriately assist the operator's operation based on their skills.

[0140] The provided construction machinery includes: an operating device for an operator to perform operations on a controlled object within the construction machinery; and a construction machinery controller, wherein the controller includes: an operator skill determiner for determining the operator's skill level; a parameter setter for setting control parameters using at least one data set selected from multiple data sets related to past operations, based on information including the operator skill (i.e., operational information), each of the multiple data sets including past operator skill data and past control parameter data associated with the past operator skill data; an auxiliary quantity calculator for calculating an auxiliary quantity to assist the operator's operations using the control parameters; and a control command calculator for calculating a control command to operate the controlled object using the operation quantity of the operation applied by the operating device and the auxiliary quantity, and inputting the control command to the controlled object. This construction machinery can appropriately assist the operator's operations applied to the operating device based on the operator's skill level.

[0141] What is provided is a management device for the control system of the construction machinery, configured in a location remote from the construction machinery, comprising: a data set memory for storing the plurality of data sets. Because the management device includes the data set memory, it is possible to reduce the memory capacity required by the construction machinery.

[0142] Ideally, the management device further includes: a management device communicator for receiving the operation information sent from the construction machinery; and a data group setter for setting a data group, i.e., an object data group, suitable for the operation information of the construction machinery using the plurality of data groups, wherein the management device communicator sends the set object data group to the construction machinery. This management device uses multiple data groups to set a data group, i.e., an object data group, suitable for the operation information of the construction machinery, thus reducing the computational load on the construction machinery.

[0143] The provided method is a control method for construction machinery that assists operator operations in enabling controlled objects within the machinery. The method includes the following steps: storing multiple data sets related to past operations, each data set containing past data on operator skills and past data on control parameters associated with those past data; determining the operator's operator skills; setting control parameters using information including the operator skills (i.e., operational information) and the multiple data sets; calculating an auxiliary quantity to assist the operator's operations using the control parameters; and calculating a control command to enable the controlled object to operate using the operation quantity and the auxiliary quantity, and inputting the control command to the controlled object. This control method for construction machinery can appropriately assist operator operations applied to the operating devices of the construction machinery based on the operator's operator skills.

Claims

1. A control system for engineering machinery, used to control engineering machinery, characterized in that... include: An operating device, which is operated by an operator to make the controlled object in the engineering machinery work; as well as Controller, where The controller Store multiple data sets related to past operations, each of the multiple data sets containing past operational skill data and past control parameter data associated with the past operational skill data; The operator's operational skills are assessed; The target operational skill is set in association with the aforementioned operational skill; Using information including the operational skills, namely operation information, and the multiple data sets, control parameters corresponding to the target operational skills are set. The target operational skills are relative to the current operational skills of the operator performing the work on the construction machinery, and the target operational skills are increased or decreased accordingly. Using the control parameters, an auxiliary amount is calculated to assist the operator's operation; Using the operation quantity of the operation applied by the operating device and the auxiliary quantity, a control command for making the controlled object work is calculated, and the control command is input to the controlled object.

2. The engineering machinery control system according to claim 1, characterized in that, The controller determines the content of the work performed by the construction machinery, i.e., the work content. The operational information also includes the work content. Each of the multiple data groups also contains past data on job content.

3. The engineering machinery control system according to claim 1, characterized in that, The controller selects at least one data group suitable for the operating information from the plurality of data groups, and sets the control parameters using the past data of the control parameters contained in the selected at least one data group.

4. The engineering machinery control system according to claim 1, characterized in that, The controller selects two or more data groups from the plurality of data groups that are suitable for the operation information, and sets the control parameters using the past data of the control parameters contained in the selected two or more data groups.

5. The engineering machinery control system according to claim 1, characterized in that... Also includes: The target input device is capable of inputting the target of the operational skill, wherein... The controller uses the input target of the operation skill and the operation skill to set the target operation skill.

6. The engineering machinery control system according to claim 5, characterized in that... Also includes: The display shows the operational skills.

7. The engineering machinery control system according to any one of claims 1 to 6, characterized in that, The plurality of data groups include data groups about other operators who are different from the operator stated.

8. The engineering machinery control system according to any one of claims 1 to 6, characterized in that, The controller includes: An engineering machinery storage device is mounted on the engineering machinery to store the operational information; A communication device for construction machinery, mounted on the construction machinery; and A data group storage device, mounted on a management device, stores the plurality of data groups. The management device is located in a location remote from the construction machinery. When the construction machinery finishes or is interrupted, the communication device for the construction machinery sends the operation information stored in the construction machinery memory to the management device.

9. An engineering machinery, characterized in that... include: Operating device, which is operated by the operator to make the controlled object in the engineering machinery work; as well as Construction machinery controller, among which, The engineering machinery controller, The operator's operational skills are assessed; The target operational skill is set in association with the aforementioned operational skill; Using at least one data group selected from multiple data groups related to past operations based on information including the operational skill, i.e., operational information, control parameters corresponding to the target operational skill are set. Each of the multiple data groups includes past data of the operational skill and past data of the control parameters associated with the past data of the operational skill. The target operational skill is the operational skill after increasing or decreasing the degree of the operational skill relative to the current operational skill of the operator performing the operation of the construction machinery. Using the control parameters, an auxiliary amount is calculated to assist the operator's operation; Using the operation quantity of the operation applied by the operating device and the auxiliary quantity, a control command for making the controlled object work is calculated, and the control command is input to the controlled object.

10. A management device for use in a construction machinery control system according to any one of claims 1 to 7, configured in a location remote from said construction machinery, characterized in that... include: A data group storage unit stores the plurality of data groups.

11. The management device according to claim 10, characterized in that... Also includes: The management device communicator is a communicator that receives the operation information sent from the engineering machinery; as well as The data group setter uses the multiple data groups to set a data group, i.e., an object data group, suitable for the operating information of the engineering machinery, wherein... The management device communicator sends the set object data group to the engineering machinery.

12. A control method for engineering machinery, which assists the operator in making the controlled object in the engineering machinery work, characterized in that... Includes the following steps: Store multiple data sets related to past operations, each of the multiple data sets containing past operational skill data and past control parameter data associated with the past operational skill data; The operator's operational skills are assessed; The target operational skill is set in association with the aforementioned operational skill; Using information including the operational skills, namely operation information, and the multiple data sets, control parameters corresponding to the target operational skills are set. The target operational skills are relative to the current operational skills of the operator performing the work on the construction machinery, and the target operational skills are increased or decreased accordingly. Using the control parameters, an auxiliary amount is calculated to assist the operator's operation; as well as Using the operation quantity and the auxiliary quantity, a control instruction for making the controlled object work is calculated, and the control instruction is input to the controlled object.

Images