Control device for construction machine

Abstract

The invention provides a control device for construction machinery, which can operate the construction machinery in cooperation with an operator while performing appropriate work assistance according to the proficiency of the operator. The control device is provided with a work operation device (40) and a control unit (80). The control unit (80) changes, on the basis of an assistance rate for assisting the operation of the worker, a specified operation amount, which is an operation amount corresponding to a specified operation performed by the worker, and an assistance operation amount, which is an operation amount of an assistance operation for operating the work attachment (14) in accordance with the target operation. An input amount of a command input to a work drive device is set, a work attachment device (14) is controlled, and an assist rate (k) is set so that a difference between a target operation and an actual operation is reduced on the basis of a detection result of the actual operation of the work attachment device (14).

Description

Technical Field

[0001] The present invention relates to a device for controlling the motion of an engineering machine. Background Art

[0002] Conventionally, devices used to assist operators in construction machinery such as hydraulic excavators are known. A hydraulic excavator has a machine body and a work attachment that is movable relative to the machine body. The work attachment includes, for example, a boom, an arm, and a bucket. The operator operates the work attachment to perform excavation work at the work site.

[0003] For example, Patent Document 1 discloses a technology for providing assistance to an operator performing a specific operation in a hydraulic excavator based on the type of operation. Specifically, the hydraulic excavator includes a driving data acquisition unit, an acceleration / deceleration data determination unit, an evaluation data acquisition unit, an evaluation value calculation unit, an operation type determination unit, and a display control unit. The acceleration / deceleration data determination unit determines acceleration data during acceleration and deceleration data during deceleration, respectively, within the driving data. The evaluation data acquisition unit acquires acceleration evaluation data and deceleration evaluation data, respectively. The evaluation value calculation unit calculates an acceleration evaluation value based on the acceleration evaluation data and a deceleration evaluation value based on the deceleration evaluation data. The operation type determination unit determines the operator's operation type based on the acceleration evaluation value and the deceleration evaluation value. The display control unit outputs an operation assistance image containing assistance information corresponding to the operation type. The operator's operation type is determined based on the acceleration evaluation value and the deceleration evaluation value, and the operator is notified of assistance information corresponding to the operation type. The assistance information is information used to indicate the machine state that the operator should pay attention to and is used to indirectly improve skills in performing specific operations.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2022-25976

[0007] The control described in Patent Document 1 determines the operator's operation type based on acceleration and deceleration evaluation values. However, the degree of acceleration and deceleration when operating the work attachment does not always accurately determine whether the operator is skilled or unskilled. Consequently, there is a problem in which the operator cannot receive appropriate assistance. Summary of the Invention

[0008] An object of the present invention is to provide a control device for a construction machine that can operate the construction machine in cooperation with an operator while providing appropriate work assistance according to the operator's proficiency.

[0009] The present invention provides a control device for construction machinery, which controls a construction machinery including a working device and a working drive device, wherein the working drive device is capable of causing the working device to perform a predetermined working action according to an input instruction. The control device includes: a working operation device for a worker to input an operation (designated operation) for designating the working device's action; a target action acquisition unit for acquiring information related to the target action (target action) of the working device's action; an actual action detection unit capable of detecting the actual action of the working device; and a control unit for changing an operation amount (designated operation amount) corresponding to the designated operation and an operation amount (assistance operation amount) of an assisting operation for causing the working device to perform the target action, based on a ratio of assisting the worker's operation (operation assistance rate), thereby setting the input amount of the instruction input to the working drive device and controlling the working device. The control unit sets the operation assistance rate based on the detection result of the actual action so as to minimize the difference between the target action and the actual action. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a side view showing a hydraulic excavator as an example of a construction machine according to an embodiment of the present invention.

[0011] Figure 2 This is a block diagram showing a hydraulic circuit and a control unit mounted on the hydraulic excavator.

[0012] Figure 3 This is a block diagram showing an operation support process performed by a control device for a construction machine according to an embodiment of the present invention.

[0013] Figure 4 This is a flowchart showing an operation support process performed by a control device for a construction machine according to an embodiment of the present invention.

[0014] Figure 5 It is detailed Figure 4 A flowchart of a portion of an operation-assisted process.

[0015] Figure 6 This is a schematic diagram showing a situation where construction machinery is performing sand and soil leveling operations.

[0016] Figure 7 This is a schematic diagram showing a situation where construction machinery is performing sand and soil leveling operations.

[0017] Figure 8 This is a schematic diagram showing a situation where construction machinery is performing sand and soil leveling operations.

[0018] Figure 9This is a schematic diagram showing a situation where construction machinery is performing sand and soil leveling operations.

[0019] Figure 10 This is a graph showing the assistance rate corresponding to the operator's proficiency, calculated by the control device for a construction machine according to one embodiment of the present invention.

[0020] Figure 11 This is a graph showing changes in the assistance rate of an operator having medium proficiency, calculated by a control device for a construction machine according to an embodiment of the present invention.

[0021] Figure 12 This is a schematic diagram for explaining the target input value in the first modified embodiment of the present invention.

[0022] Figure 13 The second variant embodiment of the present invention is Figure 5 Corresponding flow chart.

[0023] Figure 14 This is a block diagram showing an operation support process performed by a control device for a construction machine according to a second modified embodiment of the present invention.

[0024] Figure 15 This is a graph showing skilled worker data for explaining target input values ​​in the third modified embodiment of the present invention. DETAILED DESCRIPTION

[0025] A preferred embodiment of the present invention will be described with reference to the accompanying drawings.

[0026] Figure 1 It is a side view showing a hydraulic excavator 1 (construction machine) according to the present embodiment. Figure 2 This is a block diagram showing the hydraulic circuit and control unit mounted on a hydraulic excavator 1. The hydraulic excavator 1 is equipped with a control device according to this embodiment. The hydraulic excavator 1 includes a lower traveling unit 10 capable of traveling on a ground surface G, an upper swing unit 12 mounted on the lower traveling unit 10, a work attachment 14 (work device) mounted on the upper swing unit 12, and a work drive device.

[0027] The lower traveling body 10 and the upper revolving body 12 constitute a machine body that supports a working attachment 14. The upper revolving body 12 includes a revolving frame 16 and a plurality of components mounted on the revolving frame 16. These components include an engine room 17 that houses an engine and a cab 18 that is a driver's cabin.

[0028] The working attachment 14 can perform an excavation operation, i.e., an excavation operation, or a compaction operation, i.e., an operation for compacting. The excavation operation is the operation of excavating the ground or soil, while the compaction operation is the operation of compacting the ground by moving the compaction operation portion of the working attachment 14 along the construction surface while pressing the compaction operation portion against the construction surface, i.e., applying a compacting force to the construction surface.

[0029] The working attachment 14 includes a boom 21, an arm 22 and a bucket 24. The boom 21 has a base end, namely the boom foot, and a distal end, namely the boom top, on the opposite side of the boom foot. The boom foot is connected to the front end of the revolving frame 16 via a boom foot pin 23B, so that the boom 21 can rise and fall relative to the machine body, that is, it can be rotated in the upward and downward directions relative to the machine body. The arm 22 has a base end, namely the arm foot, and a distal end, namely the arm top, on the opposite side of the arm foot. The arm foot is connected to the distal end of the boom 21 via an arm foot pin 23A, so that the arm 22 can be rotated in the upward and downward directions relative to the boom 21. The bucket 24 is rotatably mounted on the arm top via a bucket pin 23C, so that it can be rotated in the upward and downward directions relative to the arm 22.

[0030] The operation drive device can make the operation attachment 14 operate in a manner that the operation attachment 14 performs a predetermined operation according to the input instruction. Figure 1 and Figure 2 The boom cylinder 26, arm cylinder 27, and bucket cylinder 28 are shown. The boom cylinder 26 is a boom actuator located between the upper slewing body 12 and the boom 21, and is used to extend and retract the boom 21 in the raising and lowering direction relative to the upper slewing body 12. The arm cylinder 27 is an arm actuator located between the boom 21 and the arm 22, and is used to extend and retract the arm 22 in the raising and lowering direction relative to the boom 21. The bucket cylinder 28 is a bucket actuator, and is used to extend and retract the bucket 24 in the upward and downward directions relative to the arm 22.

[0031] The boom cylinder 26, the arm cylinder 27, and the bucket cylinder 28 are all retractable hydraulic cylinders and have structures similar to each other. If the arm cylinder 27 is described as a representative example, the arm cylinder 27 has a head side chamber and a rod side chamber on the opposite side of the head side chamber. The arm cylinder 27 is extended by the supply of working oil to the head side chamber, causing the arm 22 to move in the direction of retracting the arm (the direction in which the top of the arm approaches the boom 21), and the working oil in the rod side chamber is discharged. On the other hand, the arm cylinder 27 is contracted by the supply of working oil to the rod side chamber, causing the arm 22 to move in the direction of pushing the arm (the direction in which the top of the arm leaves the boom 21), and the working oil in the head side chamber is discharged.

[0032] Figure 2 The hydraulic circuit 30, the work operating device 40, a plurality of sensors, and a control unit 80 electrically connected to these components, mounted on the hydraulic excavator 1, are shown. These components include the elements that constitute the control device. The control unit 80, which is composed of, for example, a microcomputer, controls the operation of each element included in the hydraulic circuit 30.

[0033] In addition to the boom cylinder 26 , the arm cylinder 27 and the bucket cylinder 28 , the hydraulic circuit 30 also includes a pump unit 32 , a boom control valve 36 , an arm control valve 37 , a bucket control valve 38 , a boom flow control valve 76 , an arm flow control valve 77 and a bucket flow control valve 78 .

[0034] The pump unit 32 includes a plurality of hydraulic pumps including at least one main pump and a pilot pump. The plurality of hydraulic pumps are connected to an engine (not shown) as a driving source and are driven by the power output by the engine to discharge hydraulic fluid.

[0035] The boom control valve 36 is interposed between the pump unit 32 and the boom cylinder 26, and performs an opening and closing operation to change the direction and flow rate (boom flow rate) of the hydraulic oil supplied from the pump unit 32 to the boom cylinder 26. The boom control valve 36 is a pilot-operated directional switching valve having a boom-raising pilot port and a boom-lowering pilot port. When a pilot pressure is input to the boom-raising pilot port, the boom control valve 36 opens to allow hydraulic oil to be supplied to the head-side chamber of the boom cylinder 26 at a flow rate corresponding to the magnitude of the pilot pressure (boom-raising flow rate). When a pilot pressure is input to the boom-lowering pilot port, the boom control valve 36 opens to allow hydraulic oil to be supplied to the rod-side chamber of the boom cylinder 26 at a flow rate corresponding to the magnitude of the pilot pressure (boom-lowering flow rate).

[0036] The arm control valve 37 is interposed between the pump unit 32 and the arm cylinder 27, and opens and closes to change the direction and flow rate (arm flow rate) of the hydraulic oil supplied from the pump unit 32 to the arm cylinder 27. The arm control valve 37 is a pilot-operated directional switching valve having an arm retraction pilot port and an arm push pilot port. When a pilot pressure is input to the arm retraction pilot port, the arm control valve 37 opens to allow hydraulic oil to be supplied to the head-side chamber of the arm cylinder 27 at a flow rate corresponding to the magnitude of the pilot pressure (arm retraction flow rate). When a pilot pressure is input to the arm push pilot port, the arm control valve 37 opens to allow hydraulic oil to be supplied to the rod-side chamber of the arm cylinder 27 at a flow rate corresponding to the magnitude of the pilot pressure (arm push flow rate).

[0037] The bucket control valve 38 is interposed between the pump unit 32 and the bucket cylinder 28, and opens and closes to change the direction and flow rate (bucket flow rate) of the hydraulic oil supplied from the pump unit 32 to the bucket cylinder 28. The bucket control valve 38 is a pilot-operated directional switching valve comprising a bucket excavation pilot port and a bucket deployment pilot port. When a pilot pressure is input to the bucket excavation pilot port, the bucket control valve 38 opens to allow hydraulic oil to be supplied to the head-side chamber of the bucket cylinder 28 at a flow rate corresponding to the magnitude of the pilot pressure. When a pilot pressure is input to the bucket deployment pilot port, the bucket control valve 38 opens to allow hydraulic oil to be supplied to the rod-side chamber of the bucket cylinder 28 at a flow rate corresponding to the magnitude of the pilot pressure.

[0038] The boom flow control valve 76 includes a boom raising flow control valve and a boom lowering flow control valve (not shown), each of which is composed of a solenoid valve (e.g., a solenoid proportional pressure reducing valve or a solenoid inverse proportional pressure reducing valve). The boom raising flow control valve is interposed between the pilot pump and the boom raising pilot port of the boom control valve 36, and opens by allowing a pilot pressure corresponding to a boom raising command signal input from the control unit 80 to the boom raising flow control valve to be input to the boom raising pilot port. Similarly, the boom lowering flow control valve is interposed between the pilot pump and the boom lowering pilot port of the boom control valve 36, and opens by allowing a pilot pressure corresponding to a boom lowering command signal input from the control unit 80 to the boom lowering flow control valve to be input to the boom lowering pilot port.

[0039] The boom flow control valve 77 includes a boom retracting flow control valve and a boom push flow control valve (not shown), each of which is composed of a solenoid valve (e.g., a solenoid proportional pressure reducing valve or a solenoid inverse proportional pressure reducing valve). The boom retracting flow control valve is interposed between the pilot pump and the boom retracting pilot port of the boom control valve 37, and opens by allowing a pilot pressure corresponding to a boom retracting command signal input from the control unit 80 to the boom retracting flow control valve to be input to the boom retracting pilot port. Similarly, the boom push flow control valve is interposed between the pilot pump and the boom push pilot port of the boom control valve 37, and opens by allowing a pilot pressure corresponding to a boom push command signal input from the control unit 80 to the boom push flow control valve to be input to the boom push pilot port.

[0040] The bucket flow control valve 78 includes a bucket excavation flow control valve and a bucket deployment flow control valve (not shown). Each control valve is comprised of a solenoid valve (e.g., a solenoid proportional pressure reducing valve or a solenoid inverse proportional pressure reducing valve). The bucket excavation flow control valve is interposed between the pilot pump and the bucket excavation pilot port of the bucket control valve 38, and opens to allow a pilot pressure corresponding to a bucket excavation command signal input from the control unit 80 to the bucket excavation flow control valve to be input to the bucket excavation pilot port. Similarly, the bucket deployment flow control valve is interposed between the pilot pump and the bucket deployment pilot port of the bucket control valve 38, and opens to allow a pilot pressure corresponding to a bucket deployment command signal input from the control unit 80 to the bucket deployment flow control valve to be input to the bucket deployment pilot port.

[0041] The work operation device 40 receives an input of a work operation (designation operation) for designating an operation of the work attachment 14 and an operation speed of the operation, and inputs a speed instruction signal corresponding to the work operation to the control unit 80. The work operation device 40 according to this embodiment includes Figure 2 Shown are a boom operator 46 , an arm operator 47 , and a bucket operator 48 .

[0042] The boom operator 46 includes a boom lever, which generates a boom raising operation signal or a boom lowering operation signal corresponding to the boom operation applied to the boom lever, specifically a boom raising operation and a boom lowering operation for moving the boom 21 in the boom raising direction and the boom lowering direction respectively, and inputs the boom raising operation signal or the boom lowering operation signal into the control unit 80.

[0043] The boom operator 47 includes a boom rod, which generates a boom retracting operation signal or a boom pushing operation signal corresponding to the boom operation applied to the boom rod, specifically a boom retracting operation and a boom pushing operation for moving the boom 22 in the boom retracting direction and the boom pushing direction respectively, and inputs the boom retracting operation signal or the boom pushing operation signal into the control unit 80.

[0044] The bucket operator 48 includes a bucket rod, which generates a bucket digging operation signal or a bucket deployment operation signal corresponding to the bucket operation applied to the bucket rod, specifically the bucket digging operation and the bucket deployment operation for moving the bucket 24 in the bucket digging direction and the bucket deployment direction, respectively, and inputs the bucket digging operation signal or the bucket deployment operation signal into the control unit 80.

[0045] The multiple sensors include multiple stroke sensors 66 to 68. These stroke sensors 66 to 68 are mounted on the work attachment 14 to detect the posture of the work attachment 14. Specifically, they are a boom cylinder stroke sensor 66, an arm cylinder stroke sensor 67, and a bucket cylinder stroke sensor 68. These stroke sensors detect the stroke length of each of the boom cylinder 26, the arm cylinder 27, and the bucket cylinder 28. In other words, they detect the relative position of the cylinder rod relative to the cylinder tube in the stroke direction.

[0046] Each of the plurality of sensors generates a detection signal corresponding to the detected physical quantity and inputs the detection signal to the control unit 80 .

[0047] The hydraulic excavator 1 further includes an input unit 45 and a display unit 49 .

[0048] The input unit 45 is arranged in the cockpit 18 and accepts input of various information. As an example, the input unit 45 has various input buttons, switches or a touch screen contained in the display unit 49. In particular, the input unit 45 can accept input of information referenced in the operation assistance processing described below, and accept input of a start signal for starting the operation assistance, etc. In addition, the input unit 45 can perform contactless communication with the ID card carried by the operator (operating personnel), and can also accept input of the operator's ID number (personal identification information) from the ID card. The accepted information is stored in the storage unit 804 of the control unit 80.

[0049] The display unit 49 is a liquid crystal display installed in the cab 18. It displays various information related to the operation of the hydraulic excavator 1, the control results of the control devices, calculation results, and other information, and reports this information to the operator. The display unit 49 receives a predetermined display command signal from the control unit 80 and displays various information for the operator in accordance with this display command signal. This information includes, for example, the assistance rate indicating the operator's proficiency.

[0050] The control unit 80 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores a control program, and a RAM (Random Access Memory) used as a work area for the CPU. The CPU executes the control program stored in the ROM, enabling the control unit 80 to function as a drive control unit 801, a target trajectory determination unit 802 (target motion acquisition unit), an assistance rate calculation unit 803, and a storage unit 804. These functional units are not physically present but serve as units for the functions executed by the control program. Furthermore, all or part of the control unit 80 is not limited to being located within the hydraulic excavator 1. If the hydraulic excavator 1 is remotely controlled, it may be located at a location separate from the hydraulic excavator 1. Furthermore, the control program may be transmitted from a remote server (management device) or cloud to the control unit 80 within the hydraulic excavator 1 and executed. Alternatively, the control program may be executed on the server or cloud, with the generated command signals transmitted to the hydraulic excavator 1.

[0051] The drive control unit 801 performs basic control based on operation command signals input from the boom operator 46 , the arm operator 47 , and the bucket operator 48 . The basic control includes: generating a boom raising command signal or a boom lowering command signal for causing the boom cylinder 26 to extend and retract at a speed corresponding to the boom raising operation command signal or the boom lowering operation command signal (i.e., causing the boom 21 to perform an up-and-down motion), and inputting the boom raising command signal or the boom lowering command signal into the boom flow control valve 76; generating a boom retracting command signal or a boom pushing command signal for causing the arm cylinder 27 to extend and retract at a speed corresponding to the boom retracting operation command signal or the boom pushing operation command signal (i.e., causing the arm 22 to rotate), and inputting the boom retracting command signal or the boom pushing command signal into the arm flow control valve 77; and generating a bucket digging command signal or a bucket expanding command signal for causing the bucket cylinder 28 to extend and retract at a speed corresponding to the bucket digging operation command signal or the bucket expanding operation command signal (i.e., causing the bucket 24 to rotate), and inputting the bucket digging command signal or the bucket expanding command signal into the bucket flow control valve 78.

[0052] The target trajectory determination unit 802 obtains information related to the target of the action of the work attachment 14, that is, the target action, in the operation support processing described below. Specifically, the target trajectory determination unit 802 obtains information related to the movement destination (target value) of the distal end 25 of the bucket 24 of the work attachment 14. As an example, the operator inputs the target value through the input unit 45. Then, based on the target value obtained, the target trajectory determination unit 802 determines the trajectory (target trajectory) of the distal end 25 of the bucket 24 when it moves. The target trajectory information also includes information about the postures of the boom 21, arm 22, and bucket 24 of the work attachment 14 that move together with the distal end 25. In addition, the above-mentioned target value and target trajectory can also be input by the operator through the input unit 45. In addition, they can also be stored in the storage unit 804 in advance through teaching or the like.

[0053] The assistance rate calculation unit 803 calculates the assistance rate (operation assistance rate) corresponding to the current operator during the operation assistance process. This assistance rate corresponds to the ratio of the operator's operation amount to the operation amount of the control unit 80. In other words, the assistance rate is an indicator of the degree to which the control unit 80 assists the operator's operation in the command for operating the work attachment 14 of the hydraulic excavator 1.

[0054] The storage unit 804 stores various parameters, threshold values, graphs, data, and the like that are referred to in the auxiliary processing.

[0055] <About operation support>

[0056] Next, the operation support process executed by the control unit 80 according to the present embodiment will be described. Figure 3 This is a block diagram illustrating the operation assistance processing performed by the control device of the hydraulic excavator 1 according to this embodiment. In this control system, cooperative control is achieved through the operation performed by the operator and the control unit 80 (PID controller C1) that assists in the operation. Here, the well-known FRIT (Fictitious Reference Iterative Tuning) method is used to calculate the assistance rate k (the proportion of assistance provided to the operator's operation) of the PID controller based on the operator's operating characteristics or work results. The FRIT method requires quantitative representation of the operator, so the operator's operating characteristics are quantitatively evaluated, and the operator is considered to be the PID controller C2 based on the operator's work results.

[0057] exist Figure 3 In FIG. 1 , the function of the control unit 80 for calculating the assistance rate k is shown as “shared management (cooperative control)”. Based on the assistance rate k, the driving control unit 801 ( Figure 2) The input amount of the command input to the boom flow control valve 76, the arm flow control valve 77, and the bucket flow control valve 78 of the work drive device is defined as u(t). In addition, the variable t below refers to a variable related to time. The input (assistance operation amount) by which the control unit 80 assists the operator's operation to cause the work attachment 14 to move according to the preset target action (including target value and target trajectory) is defined as u c (t). In addition, the operator's operation amount of the boom operator 46, the arm operator 47, and the bucket operator 48 (the designated operation amount corresponding to the designated operation) is defined as u h (t). The completed shape or the trajectory of the distal end 25 of the bucket 24 as a result of the actual movement of the working attachment 14 is defined as y(t). c (t), and the operation amount u corresponding to the operator's instruction operation h (t) represents the input u(t) that the control unit 80 finally inputs to the work drive device in order to control the work attachment 14 as shown in the following formula 1.

[0058] [Mathematical formula 1]

[0059] u(t)=k·u c (t)+(1-k)u h (t)…(Equation 1)

[0060] In this embodiment, a speed-type I-PD control law is applied. Figure 3 The input u of the control unit 80 in c (t) and the operator's operation amount u h (t) is represented by the following formula 2 and formula 3 respectively.

[0061] [Mathematical formula 2]

[0062] C1:Δu c (t) = K Ic (t)e(t)-K Pc (t)Δy(t)-K Dc (t)Δ 2 y(t)…(Formula 2)

[0063] [Mathematical formula 3]

[0064] C2:Δu h (t) = K Ih (t)e(t)-K Ph (t)Δy(t)-K Dh (t)Δ 2 y(t)…(Formula 3)

[0065] In addition, in Equation 2 and Equation 3, K Pc (t), K Ic (t), K Dc (t) and K Ph (t), K Ih (t), K Dh (t) represents the proportional gain, integral gain, and differential gain at each time t of the control unit 80 and the operator, respectively.

[0066] In addition, Δ is a difference operator, which is defined by the following formula 4.

[0067] [Formula 4]

[0068] Δ:=1-z -1 …(Equation 4)

[0069] In addition, Δu(t) on the left side of Equations 2 and 3 is based on the following Equation 5.

[0070] [Formula 5]

[0071] Δu(t)=u(t)-u(t-1)…(Equation 5)

[0072] Furthermore, u(t) input to the hydraulic excavator can be expressed by the following equations 6 and 7 based on the above equations 2 and 3.

[0073] [Formula 6]

[0074] Δu(t)=Δu h (t)+Δu c (t)…(Equation 6)

[0075] [Formula 7]

[0076]

[0077] Here, e(t) included in Equations 2, 3, and 7 is a control error, which is defined by the following Equations 8 and 9 based on the preset target value r(t) and the system output y(t). In addition, to calculate the assistance rate k using the FRIT method, the operator performs a single operation on the work attachment 14, and the system output and operation amount data obtained are defined as y0(t) and u0(t), respectively. In addition, r ～ (t) is the pseudoreference input calculated based on this data. (Also, unlike in the formulas, in the text, the tilde is placed immediately after the symbol in superscript form.)

[0078] [Formula 8]

[0079]

[0080] [Formula 9]

[0081]

[0082] The reference model is defined as shown in the following equations 10, 11, and 12. In this embodiment, the reference model is expressed as a quadratic equation, but the reference model can be a linear equation or a polynomial equation. In equation 10, d represents wasted time, and it is assumed that d is known.

[0083] [Formula 10]

[0084]

[0085] [Formula 11]

[0086] P(z -1 )=1+p1z -1 +p2z -2 …(Equation 11)

[0087] [Mathematical formula 12]

[0088]

[0089] In Formula 12, Ts represents the sampling time, and σ and δ represent the rise characteristic and the decay characteristic of the control system, respectively, and may be arbitrarily set in advance in accordance with desired characteristics.

[0090] The above reference model is equivalent to a system that includes a velocity component or an acceleration component in the position component. ～ The reference model output of (t) is defined as The reference model can be used to express it using the following equation 13.

[0091] [Mathematical formula 13]

[0092]

[0093] In the FRIT method, an evaluation function J is defined as shown in the following equation 14. The assistance rate calculation unit 803 calculates the assistance rate k that minimizes this evaluation function J. In other words, the assistance rate calculation unit 803 sets the assistance rate k based on the detection results of the actual action corresponding to the designated operation so as to minimize the difference between the target action and the actual action. Furthermore, N is the total number of steps in the input and output data of the target task.

[0094] [Formula 14]

[0095]

[0096] Furthermore, the C1 controller is set to achieve the desired response characteristics set using the reference model. In this case, the simplest method for setting the reference model is to use a transfer function to represent the response characteristics of an experienced operator, as described below. In other words, the C1 controller is set to repeatedly attempt to cause the work attachment 14 to operate in accordance with the operator's operation. Meanwhile, the C2 controller performs system identification and other analysis based on the operator's operating characteristics, and represents these characteristics using the three gains described above.

[0097] Furthermore, a well-known optimization method is used to search for the assistance rate k that minimizes the evaluation function J. A general global search method such as the Nelder-Mead method or a genetic algorithm can be used as a method for searching the assistance rate k. Alternatively, a local search method such as the steepest descent method can be used.

[0098] <About the process of auxiliary operation>

[0099] Figure 4 4 is a flowchart showing the operation support process. Figure 5 It is detailed Figure 4 A flowchart of a portion of an operation-assisted process. Figures 6 to 9 Schematic diagram showing the situation of sand and soil leveling work performed by the hydraulic excavator 1. Figure 6 As shown, there is a pile of sand and soil next to the hydraulic excavator 1, and it is assumed that the work attachment 14 is used to scrape (level, dig) part of the sand and soil. In this case, it is assumed that the operator operates the arm 22 by himself, while the operation of the boom 21 is assisted by the operation of the control unit 80. In addition, it is assumed that the bucket 24 is fixed relative to the arm 22. In this case, Figure 6 As shown, the boom raising operation amount performed by the operator becomes an input u(t), and the boom 21 is appropriately driven and controlled by the operator and the control unit 80 in response to the input u(t).

[0100] For example, the operation assist process is started by receiving a start instruction signal inputted by the operator from the input unit 45. In addition, the assist rate k is initially set to zero. After the operation assist process is started, the target value r(t) (finished shape) is designated ( Figure 4 In this case, the height of the sand pile after the sand is excavated is designated as the target value r(t). This height can also be input by the operator through the input unit 45.

[0101] Next, the target trajectory determination unit 802 of the control unit 80 determines the target operation trajectory y(t) ( Figure 4 Step S2). Figure 7 In FIG, the trajectory of the distal end 25 of the bucket 24 at this time is shown by the dotted line. Figure 4 Between step S1 and step S2, the target operation trajectory y is simply depicted until the target value r(t) is reached. r As described above, the target trajectory determination unit 802 can calculate the target operation trajectory y by using formula 13. r (t).

[0102] Next, the operator operates the work operating device 40 to perform an operation of excavating a portion of the soil pile (steps S3, Figure 8 ). At this time, a message urging the operation may be displayed on the display unit 49. As described above, the assistance rate k is initially set to zero, so the control unit 80 does not assist the operation and drives the working attachment 14 only based on the operator's operation.

[0103] The assistance rate calculation unit 803 obtains the operation data y0(t) and u0(t) based on the operation of the work attachment 14 (step S4). Specifically, the assistance rate calculation unit 803 obtains the operation data u0(t) indicating the amount of operation performed by the operator when operating the work operating device 40, and the data y0(t) indicating the trajectory of movement of the work attachment 14 in response to the amount of operation.

[0104] At this time, the assistance rate calculation unit 803 calculates the posture of the work attachment 14 based on the cylinder stroke detected by the stroke sensors 66-68, and obtains data related to the above trajectory based on the changes in the coordinates of the distal end 25 of the bucket 24 in each posture. Furthermore, in this embodiment, these stroke sensors 66-68 function as an actual motion detection unit. This actual motion detection unit detects the actual motion of the work attachment 14.

[0105] In addition, Figure 4 Directly below step S4 in the figure, the temporal transition of each data is simply illustrated. Furthermore, the posture detection sensor, which is a sensor for detecting the posture of the work attachment 14, is not limited to the stroke sensors 66 to 68 described above. For example, the posture detection sensor may include an angle sensor and a calculation unit that respectively detects the boom angle (the relative angle of the boom 21 with respect to the upper swing body 12), the arm angle (the relative angle of the arm 22 with respect to the boom 21), and the bucket angle (the relative angle of the bucket 24 with respect to the arm 22). The calculation unit calculates the posture of the work attachment 14 based on the detected angles.

[0106] After acquiring the above data in step S4, the assistance rate calculation unit 803 calculates the assistance rate k based on the aforementioned equations (step S5). At this time, if the trajectory of the work attachment 14 (the distal end 25 of the bucket 24) operated by the operator is close to the target trajectory, no significant operator assistance is required, and thus the assistance rate k is reduced. On the other hand, if the trajectory of the work attachment 14 operated by the operator deviates significantly from the target trajectory, significant operator assistance is required, and thus the assistance rate k is increased.

[0107] Then, the operation is performed using the calculated assistance rate k (step S6). That is, the calculated assistance rate k is applied to the second excavation operation. In addition, at the start of the second excavation operation, the target value r(t) and the target operation trajectory y(t) are reset. At this time, the target value r(t) can be manually input or automatically set based on the pre-set operation content. The above operation is repeated until the target value r(t) is reached. Figure 9 As shown, the excavation of the sand pile is completed.

[0108] <Details on calculation of assist rate k>

[0109] Next, refer to Figure 5 Further details Figure 4 The calculation process of the assistance rate k in step S5. Figure 5 Step S11 is equivalent to Figure 4 As described above, in this embodiment, Figure 3 The input u of the control unit 80 in c (t) and the operator's operation amount u h (t) is defined as in equation 2 and equation 3. Here, K in equation 2 related to controller C1 is Pc (t), K Ic (t), K Dc (t) is calculated in advance and stored in the storage unit 804. On the other hand, it is possible to calculate the value of the formula (t) in step S11 ( Figure 4 The operation data obtained in step S4) is substituted into equation 3, and the K of equation 3 related to controller C2 is identified and determined using the well-known least square method or optimization method. Ph (t), K Ih (t), K Dh (t)( Figure 5 Step S12).

[0110] [Mathematical formula 15]

[0111]

[0112] Then, as described above, the assistance rate k ( Figure 4 Step S5, Figure 5 Step S13).

[0113] In addition, in the above statement, it is explained that K of Equation 3 related to the controller C2 is calculated based on Equation 15. Ph (t), K Ih (t), K Dh (t) However, these gains may be preset in the same manner as in the controller C1. Table 1 shows an example of the gains preset according to the operator's skill level.

[0114] [Table 1]

[0115] <![CDATA[K Ph ]]> <![CDATA[K Ih ]]> <![CDATA[K Dh ]]> Skill Level: Medium 1.0 0.025 1.0 Skill level: Low① 0.83 0.015 0.89 Skill level: Low② 0.75 0.019 0.77

[0116] Table 1 shows the data of operators extracted as test subjects from among the operators who actually operated the hydraulic excavator 1, and the operating skills of each test subject are roughly divided into three levels according to the known low, medium and high levels, and the results of verification are obtained for a total of three test subjects, including two test subjects with low skills (low skill level) and one test subject with medium skills (medium skill level). Table 1 shows the PID gain calculated when a person is regarded as the controller C2 in the boom lowering operation. According to Table 1, the value of the PID gain of the test subject with medium skills is higher than that of the test subject with low skills. In particular, the value of the integral gain of the test subject with medium skills is twice the average value of the two test subjects with low skills, and an operation with high follow-up is performed.

[0117] In addition, K of Equation 3 is calculated based on Equation 15. Ph (t), K Ih (t), K Dh (t) This method uses a gain corresponding to the operator who actually operates the hydraulic excavator 1 , and therefore can calculate the assistance rate k with high accuracy.

[0118] <About the display of the assist rate k>

[0119] Figure 10 The graph shows the assistance rate k calculated by the control device of the hydraulic excavator 1 according to the present embodiment and corresponding to the operator's proficiency. Figures 6 to 9 The situation changes with the number of repetitions of the sand pile excavation action shown. Figure 10 The three subjects shown correspond to the above Table 1. Figure 10As shown, for the operator with an intermediate skill level, the assistance rate k fluctuated around 60% during the second and subsequent operations. On the other hand, for the two operators with low skill levels, the assistance rate k fluctuated around 90% during the second and subsequent operations. This confirms that the degree of operation assistance is high for low-skilled test subjects who require operation assistance, while the degree of operation assistance is relatively low for test subjects with an intermediate skill level who can perform the operation independently. The operation assistance processing of this embodiment can automatically calculate the degree of operation assistance corresponding to the operator's skill.

[0120] Figure 11 It means that Figure 10 The graph of the change of the assistance rate k of the operator with medium skill level calculated by the control device of the hydraulic excavator 1 according to the present embodiment until the maximum number of operations. Figure 11 As shown, it is known that an operator with a medium skill level repeatedly performs the operation, and thus the assistance rate k decreases. This means that as the operator becomes accustomed to the operation, his skills are further improved, and the proportion of the operator requiring assistance decreases.

[0121] In addition, in the display unit 49 ( Figure 2 ), it is displayed as Figure 10 、 Figure 11 The image of the graph is such that the operator who operates the hydraulic excavator 1 can understand his own assistance rate k. Figure 11 By checking the changes in the assistance rate k, you can also check the improvement of your own skills and proficiency.

[0122] As described above, in this embodiment, the control unit 80 changes the designated operation amount and the assist operation amount based on the assistance rate k, which represents the rate of assistance provided to the operator's operation. This determines the input amount of the command input to the work drive device and controls the work attachment 14. In particular, the control unit 80 automatically sets the assistance rate k based on the movement (actual movement) of the work attachment 14, thereby providing operational assistance commensurate with the operator's proficiency. Specifically, when an unskilled operator performs an operation significantly different from the target movement, the difference between the target movement and the actual movement increases, and thus the assistance rate k also increases. As a result, the control unit 80 achieves strong control over the operation of the hydraulic excavator 1, allowing even unskilled operators to operate with confidence. On the other hand, when an experienced operator performs an operation that is identical to or close to the target movement, the difference between the target movement and the actual movement decreases, and thus the assistance rate k decreases. As a result, the control unit 80's control over the operation of the hydraulic excavator 1 is weakened, allowing an experienced operator to operate the hydraulic excavator based on their own operations.

[0123] In particular, in the present embodiment, not only the assist operation performed by the control unit 80 but also the designation operation performed by the operator is regarded as the PID controller, thereby making it possible to calculate the assist rate k with high accuracy.

[0124] In the present embodiment, the hydraulic excavator 1 further includes a display unit 49 that can display the assistance rate k set by the control unit 80. With this configuration, the operator can recognize his or her own proficiency by checking the assistance rate k displayed on the display unit 49.

[0125] In particular, the display unit 49 can display the changes in the assistance rate k set by the control unit 80 each time a designated operation is input to the work operating device 40. With this configuration, the operator can recognize changes and progress in their proficiency (skill level) by confirming the changes in the assistance rate k displayed on the display unit 49. Furthermore, managers managing work can understand the operator's proficiency and reflect this information in work instructions.

[0126] Furthermore, in this embodiment, the control unit 80 is configured to control at least the boom actuator in the work drive device based on the assist rate k. This configuration assists boom operation of the hydraulic excavator 1 based on the assist rate k. Therefore, during land leveling operations, for example, the operator can focus on operating the arm 22 and bucket 24 in addition to the boom 21.

[0127] While the control device for the hydraulic excavator 1 according to one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment and includes, for example, the following modified embodiments.

[0128] (1) Figure 12 This is a schematic diagram for explaining the target input value in the first variant embodiment of the present invention. Figure 6 As shown in FIG, the height of the sand pile after excavation is input as the target value r(t), but it can also be, as shown in FIG. Figure 12 As shown, the target value r(t) is, for example, information about a plane containing the components of length, width, and height. Alternatively, an equation for a plane based on a coordinate system with a predetermined origin can be input as the target value r(t). Furthermore, the target value r(t) can be specified based on data used to instruct the hydraulic excavator 1 (work attachment 14) to operate during machine control (autonomous driving).

[0129] (2) Figure 13 The second variant embodiment of the present invention is Figure 5 Corresponding flow chart. Figure 14This is a block diagram showing the operation support processing performed by the control device of the hydraulic excavator 1 according to this modified embodiment. Figure 3 As shown, it is explained that the operator's operation is regarded as a controller based on the PID control law, however, the present invention is not limited to this. Figure 13 and Figure 5 The difference is that step S12 does not exist. Figure 13 Steps S31 and S32 correspond to Figure 5 In this modified embodiment, the following formula 16 is used instead of the above formula 9, thereby calculating the assistance rate k even without using the controller to identify the operator's operation. In addition, in formula 16, u h0 (t) is the data when the operator performs the operation.

[0130] [Mathematical formula 16]

[0131]

[0132] In this case, if Figure 14 As shown in the block diagram, the operation can still be performed collaboratively by the controller C1 and the operator.

[0133] (3) Figure 15 This is a graph showing skilled person data for explaining target input values ​​in the third variant embodiment of the present invention. Figure 6 As shown in FIG, the height of the sand pile after excavation is input as the target value r(t), but it can also be, as shown in FIG. Figure 15 As shown, the target value r(t) is set using the past operation data of a skilled operator (an operator with a low assistance rate k) as a template.

[0134] In this case, the storage unit 804 of the control unit 80 preferably stores associated information, which is information correlating the personal identification information of the operator operating the work attachment 14, the trajectory (actual motion) of the distal end 25 of the work attachment 14 corresponding to the specific operator (specific worker) having the personal identification information, and the assistance rate k set for the specific operator. The target trajectory determination unit 802 then simply obtains, from the associated information, information on the trajectory (response characteristics) of the distal end 25 of the specific operator whose assistance rate k is lower than a predetermined threshold as the target value r(t) (information related to the target motion).

[0135] According to this configuration, the target value r(t) is set based on the operation results of a specific operator corresponding to an experienced person. Thus, the experienced person can set the target value r(t) to an action that suits their preferences. Furthermore, an unskilled person can set the target value r(t) based on the experienced person's behavior.

[0136] (4) In the previous embodiments, as shown in Equations 2 and 3, the controllers C1 and C2 are defined based on a so-called I-PD control law in which only the integral gain acts on the control error. However, the present invention is not limited to this. Alternatively, the controllers C1 and C2 may be defined based on a so-called classic PID control law in which the proportional, integral, and differential gains act on the control error, as shown in Equations 17 and 18.

[0137] [Mathematical formula 17]

[0138] C1:Δu c (t) = K Pc (t)Δe(t)+K IC (t)e(t)+K DC (t)Δ 2 e(t)…(Equation 17)

[0139] [Mathematical formula 18]

[0140] C2:Δu h (t) = K Ph (t)Δe(t)+K Ih (t)e(t)+K Dh (t)Δ 2 e(t))…(Equation 18)

[0141] In this case, the above-mentioned Formula 7 and Formula 9 can be expressed as Formula 19 and Formula 20, respectively.

[0142] [Mathematical formula 19]

[0143] Δu(t)=Δu h (t)+Δu c (t)

[0144] ={(1-k)K Ph (t)+kK Pc (t)}Δe(t)+{(1-k)K Ih (t)+kK lc (t)}e(t)+{(1-k)K Dh (t)+kK Dc (t)}Δ 2 e(t)

[0145] …(Equation 19)

[0146] [Mathematical formula 20]

[0147]

[0148] (5) In the previous embodiment, the assistance rate calculation unit 803 obtains information related to the actual movement of the work attachment 14 by calculating the trajectory of the distal end 25 of the bucket 24. However, the present invention is not limited to this. The assistance rate calculation unit 803 may directly detect the state of the construction surface detected by LiDAR (Light Detection and Ranging) or the like (actual movement detection unit) as the finished shape, thereby obtaining information related to the actual movement of the work attachment 14 and calculating the assistance rate k.

[0149] (6) The work operating device 40 of the present invention may be any work operating device to which a work operation for specifying the movement of the work attachment 14 is applied, and is not limited to a device that converts the work operation into an electrical signal as in the operating devices 46 to 48. The work operating device 40 may be, for example, a remote control valve that opens by allowing a pilot pressure corresponding to the work operation to be input to a pilot-operated control valve connected to the work drive device. In this case, the designated operation amount corresponding to the work operation can still be determined by detecting the pilot pressure output from the remote control valve with a pressure sensor and converting the detected pilot pressure into the designated operation amount.

[0150] (7) Although the assistance object according to the above embodiment is the boom operation, the assistance object may be the arm operation or the bucket operation, or the operation of the entire working attachment 14 .

[0151] (8) The working device according to the present invention is the working attachment 14 , that is, the working device mounted on the hydraulic excavator 1 , and is not limited to the working device including the boom 21 , the arm 22 , and the bucket 24 .

[0152] (9) In the above description, in each of Equations 2, 3, 7, 9, 15, and 20, (t) is added to the PID gain to make time a variable. However, each gain may be a fixed value that does not change with time. In other words, each gain may or may not change with time.

[0153] (10) In addition, in the above embodiment, the hydraulic excavator 1 is operated by the operator in the cab 18. However, the present invention is not limited to this. The device for remotely operating the hydraulic excavator 1 or the device for displaying information about the hydraulic excavator 1 may be a device disposed separately from the hydraulic excavator 1. In this case, the control unit 80 can also change the designated operation amount and the assist operation amount according to the assistance rate k, which is the ratio of assisting the operator's operation, thereby setting the input amount of the command input to the work drive device and controlling the work attachment 14.

[0154] As an example, the work operating device 40, the input unit 45, and the display unit 49 are provided in a remote operating device separate from the hydraulic excavator 1. After the work operating device 40 receives input of a work operation, a speed command corresponding to the work operation is input to the control unit 80 provided in the hydraulic excavator 1 via wireless communication. Similarly, after the input unit 45 receives input of various information, the information is input to the control unit 80 provided in the hydraulic excavator 1 via wireless communication. The display unit 49 receives display command signals input via wireless communication from the control unit 80 and displays various information to be reported to the operator based on the display command signals.

[0155] Furthermore, the device performing remote operation may be a remote operation device or an information terminal such as a smartphone or tablet. Furthermore, the information terminal is not limited to remote operation and may be configured to have only the functions of the input unit 45 and the display unit 49, allowing for external fine adjustments to the machine and confirmation of the machine's operating status for management or maintenance of the hydraulic excavator 1.

[0156] The present invention provides a control device for construction machinery, which controls a construction machinery including a working device and a working drive device, wherein the working drive device is capable of causing the working device to perform a predetermined working action according to an input instruction. The control device includes: a working operation device for a worker to input an operation (designated operation) for designating the working device's action; a target action acquisition unit for acquiring information related to the target action (target action) of the working device's action; an actual action detection unit capable of detecting the actual action of the working device; and a control unit for changing an operation amount (designated operation amount) corresponding to the designated operation and an operation amount (assistance operation amount) of an assisting operation for causing the working device to perform the target action, based on a ratio of assisting the worker's operation (operation assistance rate), thereby setting the input amount of the instruction input to the working drive device and controlling the working device. The control unit sets the operation assistance rate based on the detection result of the actual action so as to minimize the difference between the target action and the actual action.

[0157] According to this structure, the control unit can automatically set the operation assistance rate according to the actual action, thereby performing operation assistance commensurate with the proficiency of the operator. Specifically, when an unskilled person performs an operation that is very different from the target action, the difference between the target action and the actual action becomes larger, and therefore, the operation assistance rate also becomes larger. As a result, the control unit achieves a strong control over the operation of the construction machinery, and even unskilled people can operate it with peace of mind. On the other hand, if a skilled person performs an operation that is the same as or close to the target action, the difference between the target action and the actual action becomes smaller, and therefore, the operation assistance rate becomes smaller. As a result, the control unit's control over the operation of the construction machinery is weakened, reaching a state where skilled operators can operate based on their own operations.

[0158] In the above structure, the variable related to the time may be set to t, and the specified operation amount may be set to u. h (t), the assist operation amount is set to u c (t), the operation assistance rate is set to k, and the input amount of the instruction input to the work drive device is set to u(t), and the control unit satisfies u(t)=k·u c (t)+(1-k)·u h (t) In accordance with this relationship, the input amount is set to control the operating device.

[0159] In the above structure, the control unit may define the designated operation amount u by assigning a proportional gain, an integral gain, and a differential gain based on a PID control law to the designated operation and the assist operation respectively. h (t) and the assist operation amount u c (t).

[0160] According to this configuration, not only the assist operation performed by the control unit but also the designated operation performed by the operator is regarded as the PID controller, thereby making it possible to calculate the operation assist rate with high accuracy.

[0161] The above configuration may further include a display unit capable of displaying the operation assistance rate set by the control unit.

[0162] According to this configuration, the operator can recognize his or her own proficiency by confirming the operation assistance rate displayed on the display unit.

[0163] In the above configuration, the display unit may be capable of displaying a change in the operation assistance rate set by the control unit each time the designated operation is input to the work operation device.

[0164] According to this structure, the operator can recognize the changes and progress of his proficiency (skill level) by confirming the changes in the operation assistance rate displayed on the display unit. In addition, the manager who manages the operation can understand the operator's proficiency and reflect it in the operation guidance.

[0165] In the above structure, it may also include: a storage unit that stores related information, wherein the related information is personal identification information of the operator operating the operation operating device, information on the actual action corresponding to the operator having the personal identification information, i.e., the specific operator, and the operation assistance rate set for the specific operator, which are mutually associated, wherein the target action acquisition unit acquires the information on the actual action of the specific operator whose operation assistance rate in the related information is lower than a specified threshold as information related to the target action.

[0166] According to this structure, the target action is set according to the operation result of the specific operator equivalent to the skilled person, thereby, the skilled person can set the target action to the action corresponding to his or her own preference. In addition, the unskilled person can set the target action with the skilled person as the target.

[0167] In the above structure, it can also be that the construction machinery is a hydraulic excavator, the hydraulic excavator also includes a body, the working device includes a boom connected to the body so as to be able to rise and fall relative to the body, a dipper connected to the boom so as to be able to rotate in the upward and downward directions relative to the boom, and a bucket connected to the distal end of the dipper, the working drive device includes a boom driver for causing the boom to rise and fall, and a dipper driver for causing the dipper to rotate relative to the boom, and the control unit controls at least the boom driver in the working drive device based on the operation assistance rate.

[0168] According to this configuration, the boom operation of the hydraulic excavator can be assisted according to the operation assistance rate. Therefore, in land leveling work, for example, the operator can focus on operating the arm and bucket in addition to the boom.

[0169] According to the present invention, there is provided a control device for a construction machine capable of operating the construction machine in cooperation with an operator while performing appropriate work assistance according to the operator's proficiency.

Claims

1. A control device for construction machinery, configured to control a construction machinery comprising a working device and a working drive device, wherein the working drive device is capable of operating the working device so as to perform a predetermined working action in accordance with an input command, the control device comprising: An operation operating device for an operator to input an operation for specifying an action of the operation device, i.e., a designated operation; a target action acquisition unit that acquires information related to a target action that is a target of an action of the working device; an actual motion detection unit capable of detecting an actual motion of the working device; as well as The control unit changes the operation amount corresponding to the specified operation, namely the specified operation amount, and the operation amount of the assisting operation used to make the working device move according to the target action, namely the assisting operation amount, according to the proportion of assisting the operation of the operator, namely the operation assistance rate. Thus, the input amount of the instruction input to the working drive device is set to control the working device. The control unit sets the operation assistance rate in accordance with the detection result of the actual action so as to reduce the difference between the target action and the actual action.

2. The control device for construction machinery according to claim 1, characterized in that: The variable related to the time is set to t, and the specified operation amount is set to u h (t), the assist operation amount is set to u c (t), the operation assistance rate is set to k, and the input amount of the instruction input to the work drive device is set to u(t), and the control unit satisfies u(t)=k·u c (t)+(1-k)·u h (t) In accordance with this relationship, the input amount is set to control the operating device.

3. The control device for construction machinery according to claim 2, characterized in that: The control unit defines the designated operation amount u by assigning proportional gain, integral gain and differential gain based on PID control law to the designated operation and the assisting operation respectively. h (t) and the assist operation amount u c (t).

4. The control device for construction machinery according to any one of claims 1 to 3, characterized in that Also includes: The display unit is capable of displaying the operation assistance rate set by the control unit.

5. The control device for construction machinery according to claim 4, characterized in that: The display unit can display a change in the operation assistance rate set by the control unit each time the designated operation is input to the work operation device.

6. The control device for construction machinery according to any one of claims 1 to 3, characterized in that Also includes: A storage unit stores associated information, wherein the associated information is information in which personal identification information of an operator operating the operation operating device, information on the actual action corresponding to the operator having the personal identification information, i.e., a specific operator, and the operation assistance rate set for the specific operator are associated with each other, wherein: The target action acquisition unit acquires, as information related to the target action, information on the actual action of the specific worker whose operation assistance rate is lower than a predetermined threshold value in the related information.

7. The control device for construction machinery according to any one of claims 1 to 3, characterized in that: The construction machine is a hydraulic excavator, the hydraulic excavator further comprising a machine body, the working device comprising a boom connected to the machine body so as to be movable relative to the machine body, an arm connected to the boom so as to be rotatable in an upward and downward direction relative to the arm, and a bucket connected to a distal end portion of the arm. The work drive device includes a boom driver that raises and lowers the boom and an arm driver that rotates the arm relative to the boom. The control unit controls at least the boom driver in the work drive device based on the operation assistance rate.

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