Control system for a working machine

Abstract

This invention provides a control system capable of suppressing deviations between a target path and the actual movement of a controlled object contained in engineering machinery. The control system includes an actuator for moving the controlled object and a controller. The actuator is controlled so that the controlled object moves along a target trajectory containing information about the target path and target speed. The required capability of the actuator to make the controlled object move along the target trajectory is calculated. If the required capability deviates from the actuator's capability range, the target path is not changed; instead, the target speed is changed to a corrected target speed. The corrected target speed is a speed that brings the capability required by the actuator to make the controlled object move at the corrected target speed within the actuator's capability range.

Description

Technical Field

[0001] This invention relates to a control system for controlling the movement of engineering machinery. Background Technology

[0002] Patent document 1 describes a technology for controlling the movement of construction machinery based on a work plan.

[0003] However, the capability required of the actuator to perform the control may exceed the actuator's capability range (e.g., below the maximum output capability of the actuator). This can cause a deviation between the target path, i.e., the path the controlled object is to move, and the actual movement of the controlled object using the actuator.

[0004] Existing technical documents Patent documents Patent Document 1: Japanese Patent Publication No. 2022-118445. Summary of the Invention

[0005] The purpose of this invention is to provide a control system for controlling the movement of a controlled object contained in engineering machinery along a target path, which can suppress deviation between the target path and the actual movement of the controlled object.

[0006] What is provided is a control system for controlling the movement of a controlled object contained in engineering machinery. The control system includes an actuator for moving the controlled object and a controller. The controller controls the actuator so that the controlled object moves along a target trajectory containing information about a target path and a target speed of the controlled object. The controller calculates the required capability (demand capability) of the actuator to make the controlled object move along the target trajectory. If the required capability deviates from the actuator's determined capability range, the controller does not change the target path, but instead changes the target speed to a corrected target speed. The corrected target speed is a speed that brings the corrected required capability within the actuator's capability range; this corrected required capability is the capability required by the actuator to make the controlled object move at the corrected target speed. Attached Figure Description

[0007] Figure 1 This is a side view of the engineering machinery involved in the embodiments of the present invention.

[0008] Figure 2 It is a block diagram representing the elements included in the control system and the like in the described embodiment.

[0009] Figure 3 This is a diagram showing the hydraulic circuit of the engineering machinery.

[0010] Figure 4 It is a graph showing the relationship between the target point location and the target arrival time in the work plan set for the engineering machinery.

[0011] Figure 5 It is a graph showing an example of the relationship between the range of actuator capabilities determined by the actuator in the said engineering machinery and the required capability.

[0012] Figure 6 This is a flowchart representing the process performed by the controller. Detailed Implementation

[0013] Reference Figures 1-6 The embodiments of the present invention are described below.

[0014] Figure 1 This refers to the construction machinery 10 involved in the described embodiment. The construction machinery 10 is machinery used for operations. Figure 1 The illustrated construction machinery 10 is a construction machine used for construction operations, specifically a hydraulic excavator. The construction machinery 10 can also be other types of construction machinery, such as a crane. The construction machinery 10 is configured such that its operation can be automatically controlled. Specifically, the construction machinery 10 can be automatically driven or semi-automatically driven. The semi-automatic driving mode is, for example, mechanical control described later. The construction machinery 10 can not only have a mode where its operation is automatically controlled, but also a mode where it operates according to operator commands, and a mode where it operates according to remote operation from an external source.

[0015] Figure 1 The illustrated engineering machinery 10 includes a main body 10a and auxiliary devices 15. Figure 2 The actuator drive unit 17, multiple actuators, and engine 39 are shown.

[0016] The mechanical body 10a is the main body of the engineering machinery 10, and includes a lower body 11 and an upper rotating body 13.

[0017] The lower main body 11 can rotatably support the upper rotating body 13. Figure 1 The illustrated lower body 11 is a lower walking body capable of walking on a walking surface (ground, etc.), and has a walking device including a pair of left and right tracks. The walking device may also include multiple wheels instead of the pair of tracks.

[0018] The upper slewing body 13 is rotatably mounted on the lower main body 11. The upper slewing body 13 includes a cab 13c, which allows an operator to operate the construction machinery 10 from within the cab 13c.

[0019] The auxiliary device 15 is a working device capable of performing working actions. The auxiliary device 15 is installed on the main body of the machine 10a, and in this embodiment, it is installed on the upper rotating body 13. Figure 1 The illustrated auxiliary device 15 includes a boom 15a, a stick 15b, and a distal auxiliary device 15c.

[0020] The boom 15a has a base end and a distal end on the opposite side, the base end being rotatably connected to the upper slewing body 13 about a left-right axis. The stick 15b has a base end and a distal end on the opposite side, the base end being rotatably connected to the distal end of the boom 15a about a left-right axis.

[0021] The distal attachment 15c constitutes the distal end of the attachment 15. The distal attachment 15c is rotatably connected to the distal end of the stick 15b about a left-right axis. Figure 1 The illustrated remote attachment 15c is a bucket capable of digging and excavating. Alternatively, the remote attachment 15c can be a device for clamping the captured object (grab bucket, shear, etc.), a device for crushing the captured object (breaker hammer, etc.), or a magnet for attracting captured objects containing metal. The captured object by the remote attachment 15c is the work object that becomes the object of operation of the construction machinery 10. The captured object can be sand, stone, wood, metal, resin, waste, or a structure (concrete block, etc.).

[0022] The accessory device 15 includes a pre-defined control target CT. The control target CT is the part that will be controlled to move along the target path PA described later. Figure 1 The control object CT illustrated is the distal attachment 15c, i.e., the distal end 15s of the bucket. However, the control object CT can be arbitrarily set and can also be the base end of the distal attachment 15c, in other words, it can also be the distal end of the boom 15b.

[0023] The plurality of actuators are configured to actuate a plurality of movable components contained in the engineering machinery 10. The plurality of actuators are hydraulic actuators. Alternatively, the plurality of actuators may also include electric actuators. Figure 1The plurality of actuators 30 shown include a pair of travel motors 31, a slewing motor 33, a boom cylinder 35a, a stick cylinder 35b, and a remote auxiliary device cylinder 35c.

[0024] The pair of travel motors 31 and the rotary motor are hydraulic motors. The pair of travel motors 31 respectively actuate the pair of tracks, thereby causing the lower main body 11 to travel. The rotary motor 33 causes the upper rotating body 13 to rotate relative to the lower main body 11. The pair of travel motors 31 and the rotary motor can also be electric motors.

[0025] The boom cylinder 35a, the stick cylinder 35b, and the distal attachment cylinder 35c are hydraulic cylinders for extending and retracting. The boom cylinder 35a is configured to cause the boom 15a to undulate relative to the upper rotating body 13, i.e., to rotate about a left-right axis. The stick cylinder 35b is configured to cause the stick 15b to rotate relative to the boom 15a about a left-right axis. The distal attachment cylinder 35c is configured to cause the distal attachment 15c to rotate relative to the stick 15b about a left-right axis. If the distal attachment 15c itself includes a movable member, such as a clamping device, the plurality of actuators may also include actuators for actuating the movable member contained in the distal attachment 15c.

[0026] Figure 2 The actuator drive unit 17 shown drives the plurality of actuators respectively. The actuator drive unit 17 includes a hydraulic circuit 20, which drives the actuators by supplying hydraulic pressure to the plurality of actuators respectively.

[0027] like Figure 3 As shown, the hydraulic circuit 20 includes a working oil tank 20t, a pump 21, a pump capacity control unit 23, and multiple control valves 25.

[0028] The working oil tank 20t is an oil tank (container) used to store working oil.

[0029] The pump 21 is driven by the engine 39, thereby drawing in working oil from the working oil tank 20t and supplying it to the plurality of actuators. The hydraulic circuit 20 may also include multiple pumps 21. Figure 3 The pump 21 shown has a variable capacity.

[0030] The pump capacity control unit 23 controls the capacity of the pump 21 according to the capacity command input to the pump capacity control unit 23. The capacity command may be a pilot hydraulic pressure applied by the regulator constituting the pump capacity control unit 23, or it may be an electrical signal. The pump capacity control unit 23 controls the capacity of the pump 21, for example, by changing the tilt angle of the pump 21.

[0031] The plurality of control valves 25 are respectively located between the pump 21 and the plurality of actuators, and open and close in a manner that controls the operation of the plurality of actuators. Each control valve 25 switches the direction of operation (e.g., rotation or extension) of the corresponding actuator by changing the flow direction of the working oil supplied to that actuator. The control valve 25 also changes the operating speed of the corresponding actuator by altering the flow rate of the working oil supplied to it.

[0032] Each of the control valves 25 is a pilot-operated hydraulic switching valve, which opens and closes according to a pilot pressure input to the control valve 25 from a pilot hydraulic source (not shown). Solenoid valves (not shown) are located between the plurality of control valves 25 and the pilot hydraulic source. Each solenoid valve opens to an opening degree corresponding to the electrical signal input to it, i.e., a pilot pressure command signal, thereby allowing a pilot pressure corresponding to that opening degree to be input to the control valve 25. That is, the solenoid valve controls the opening action of the control valve 25 by inputting the pilot pressure command signal, thereby enabling control of the operation of the corresponding actuator of the control valve 25.

[0033] In cases where the plurality of actuators include an electric actuator, the actuator drive unit 17 may also include circuitry for driving the electric actuator. The circuitry supplies power to the electric actuator corresponding to a target speed.

[0034] The engine 39 is the power source of the construction machinery 10, driving the pump 21 to spray working oil, thereby enabling the individual actuators to drive the plurality of actuators. If the plurality of actuators include electric actuators, the engine 39 may also drive a generator. The power source of the construction machinery 10 is not limited to the engine 39; for example, it may be a combination of an electric motor for driving the pump 21 and a power source for that electric motor.

[0035] Figure 2 The various elements shown, namely the detection unit 40, the input unit 60, the controller 70, and the output unit 80, are mounted on the engineering machinery 10.

[0036] The detection unit 40 includes multiple detectors for detecting the state of the construction machinery 10. The multiple detectors may also include detectors disposed externally on the construction machinery 10. Specifically, the detection unit 40 includes a pump pressure detector 40p, a position detector 41, a camera device 43, and a posture detection unit 50.

[0037] The pump pressure detector 40p detects from... Figure 3 The pressure of the working oil ejected by the pump 21 is the pump pressure. The pump pressure detector 40p can be installed either inside or outside the pump 21. The pump pressure detector 40p can be connected, for example, to an oil passage through which the working oil ejected from the pump 21 flows, such as a piping, or it can be installed in a section of the oil passage through which the working oil ejected from the pump 21 generates hydraulic pressure that is the same as or substantially the same as the hydraulic pressure at the pump 21's outlet. The pump pressure detector 40p can also be installed between the pump 21 and the plurality of control valves 25. In the case where the hydraulic circuit 20 includes a plurality of pumps 21, the pump pressure detector 40p is installed for each of the plurality of pumps 21.

[0038] The position detector 41 detects the position of the measurement object part set for the engineering machinery 10. Figure 1 The illustrated position detector 41 detects the position of a specific part of the upper rotating body 13. Alternatively, the position detector 41 may also detect the position of a specific part of the auxiliary device 15. The position detector 41 may be a position detector that uses electromagnetic waves such as light or radio waves to detect position, or it may be a position detector that uses a satellite positioning system such as GNSS (global navigation satellite system). The position detector 41 may also be a position detector that includes a (ground) transmitter and receiver without using satellites, such as a position detector using a total station. The position detector 41 may also detect the direction (orientation) of the object being measured.

[0039] The detection unit 40 may include a direction detector in addition to the position detector 41. The direction detector may also use geomagnetism to detect the orientation of the object being measured. The position detector 41 may also include multiple position detection sensors that acquire position information, and a calculator that calculates the position and orientation of the object being measured based on the position information acquired by the multiple position detection sensors.

[0040] The camera device 43 captures images of the object being photographed. The object may include the engineering machinery 10 or its surroundings. The camera device 43 may include a device for generating two-dimensional images, such as a single-lens camera, or a device for generating three-dimensional images (distance images), such as a stereo camera, which also includes positional information related to the depth direction. The camera device 43 may be passive or active. The camera device 43 may also irradiate the object with electromagnetic waves and detect its reflected waves, thereby obtaining three-dimensional information about the object. The camera device 43 may include a Time-of-Flight (TOF) sensor that detects distance based on the time from the time the wave is irradiated to the time the reflected wave returns, or a sensor that detects distance based on the frequency of the reflected wave. The camera device 43 may also include a device that uses light, such as lasers, to obtain three-dimensional information, such as LiDAR (Light Detection and Ranging). The camera device 43 may also include a device that uses radio waves to acquire three-dimensional information, such as millimeter-wave radar. The camera device 43 may also acquire three-dimensional information of the object being photographed based on a combination of three-dimensional images (distance images) and two-dimensional images.

[0041] The posture detection unit 50 detects the posture of the construction machinery 10. The posture detection unit 50 includes at least one detector. The posture detection unit 50 may also include a detector, such as a rotary encoder, that detects information about the angle of a second element relative to a first element among multiple elements contained in the construction machinery 10. The posture detection unit 50 may also include a stroke sensor that detects the stroke of the hydraulic working cylinder, such as the boom working cylinder 35a, that actuates the auxiliary device 15. The posture detection unit 50 may also include a tilt sensor that detects the angle of a specific element relative to the horizontal direction, i.e., the tilt angle. The posture detection unit 50 may include an angular velocity sensor, such as a gyroscope sensor, that detects the angular velocity of a specific element relative to the work site, and may also include an accelerometer sensor that detects the acceleration of a specific element relative to the work site. The posture detection unit 50 may also include a device for measuring the inertia of a specific element. The posture detection unit 50 may also determine the posture of the construction machinery 10 based on the position information detected by the position detector 41. The posture detection unit 50 may also determine the posture of the construction machinery 10 based on two-dimensional and / or three-dimensional images acquired by the camera device 43.

[0042] The posture detection unit 50 according to this embodiment includes Figure 1The multiple detectors shown are the reference position detector 51, tilt detector 52, slewing detector 53, boom detector 55a, stick detector 55b, and remote auxiliary device detector 55c.

[0043] The reference position detector 51 detects the position of a reference part relative to the work site, i.e., the reference position, and the orientation of the reference part. The reference part is a part of the construction machinery 10 that serves as a reference, such as a specific part of the upper slewing body 13 or the lower main body 11. More specifically, the reference part can be the part of the boom 15a connected to the upper slewing body 13, i.e., the boom foot, or it can be a specific part located on the central axis of rotation of the upper slewing body 13 relative to the lower main body 11. The reference position detector 51 can also determine the position and orientation of the reference part relative to the work site based, for example, information obtained by at least one of the position detector 41 and the camera device 43. Figure 1 In the example shown, the reference position detector 51 and the position detector 41 are detectors using a positioning system that includes GNSS, and the position of the GNSS antenna is representatively represented by the position of the reference position detector 51 and the position detector 41.

[0044] The tilt detector 52 detects the slope of the construction machinery 10 relative to the horizontal direction. The tilt detector 52 may determine the slope of the construction machinery 10 based on information obtained by at least one tilt sensor, such as a gyroscope sensor, an accelerometer sensor, or an inertial measurement device, or it may detect the slope of the construction machinery 10 relative to the horizontal direction based on information obtained by at least one of the position detector 41 and the camera device 43.

[0045] The rotation detector 53 detects rotation information, such as rotation angle, rotation angular velocity, and rotation angular acceleration, as information related to the rotation of the upper rotating body 13 relative to the lower body 11. The rotation detector 53 may also include, for example, an angle sensor mounted on a rotation center axis that serves as the center of rotation of the upper rotating body 13 relative to the lower body 11, or a component supporting the rotation center axis, such as a rotation bearing, and determines the rotation information based on information related to the angle detected by the angle sensor. The rotation detector 53 may also determine the rotation information based on information obtained by at least one of the position detector 41 and the camera device 43.

[0046] The boom detector 55a detects the posture of the boom 15a. The boom detector 55a detects at least one of the following: boom angle, boom angular velocity, and boom angular acceleration. The boom angle is the angle of the boom 15a relative to the horizontal direction (i.e., tilt angle) or the angle of the boom 15a relative to the upper rotating body 13 (i.e., undulation angle). The boom angular velocity is the angular velocity of the boom 15a relative to the upper rotating body 13, and the boom angular acceleration is the angular acceleration of the boom 15a relative to the upper rotating body 13. The boom detector 55a may also determine the posture of the boom 15a based on information obtained from at least one of the position detector 41 and the camera device 43.

[0047] The stick detector 55b detects the posture of the stick 15b. The stick detector 55b detects at least one of the stick angle, stick angular velocity, and stick angular acceleration. The stick angle is the angle of the stick 15b relative to the horizontal direction (i.e., the tilt angle), or the angle of the stick 15b relative to the boom 15a. The stick angular velocity is the angular velocity of the stick 15b relative to the boom 15a, and the stick angular acceleration is the angular acceleration of the stick 15b relative to the boom 15a. The stick detector 55b can also determine the posture of the stick 15b based on information obtained from at least one of the position detector 41 and the camera device 43.

[0048] The remote accessory detector 55c detects the posture of the remote accessory 15c. The remote accessory detector 55c detects at least one of the following: remote accessory angle, remote accessory angular velocity, and remote accessory angular acceleration. The remote accessory angle is the angle of the remote accessory 15c relative to the horizontal direction (i.e., the tilt angle), or the angle of the remote accessory 15c relative to the stick 15b. The remote accessory angular velocity is the angular velocity of the remote accessory 15c relative to the stick 15b. The remote accessory angular acceleration is the angular acceleration of the remote accessory 15c relative to the stick 15b. The remote accessory detector 55c may also determine the posture of the remote accessory 15c based on information obtained from at least one of the position detector 41 and the camera device 43.

[0049] The input unit 60 is an input device for inputting information required by the controller 70. The input unit 60 allows an operator to perform operations on it and generates and outputs signals corresponding to the operations. The input unit 60 may include, for example, at least a portion of a touchscreen, mouse, keyboard, and switch. The input unit 60 may be included, for example, in at least a portion of a tablet computer, smartphone, or personal computer. The input unit 60 may be located in a suitable location on the construction machinery 10, such as within the cab 13c, or it may be located on a remote control device for remotely operating the construction machinery 10.

[0050] like Figure 2 As shown, the input unit 60 includes the operation unit 61 and the automatic control switch 63. The operation unit 61 allows operations to be performed on the operation unit 61 to activate the construction machinery 10. The operation unit 61 includes, for example, at least one of an operating lever and an operating pedal. The automatic control switch 63 allows an automatic control selection operation to be performed on the automatic control switch 63. The automatic control selection operation allows the operator to select whether to automatically control the operation of the construction machinery 10. Details of the automatic control will be described below.

[0051] The controller 70 is a computer and includes an interface for inputting and outputting signals, an arithmetic unit for performing necessary calculations, and a storage unit for storing information. The arithmetic unit executes the program stored in the storage unit, thereby realizing the function of the controller 70. The controller 70 can also be connected to other devices via wireless or wired communication. The various components of the controller 70 can also be connected to each other via wireless or wired communication. Information is input from the detection unit 40 and the input unit 60 to... Figure 2 The illustrated controller 70.

[0052] The controller 70 controls the plurality of actuators respectively. Specifically, the controller 70 generates instructions (signals) for operating the plurality of actuators respectively and inputs them to the actuator drive unit 17. The controller 70 can be mounted on the construction machinery 10 or disposed outside the construction machinery 10. The controller 70 can also be distributed among multiple parts, that is, it can also form a distributed system.

[0053] The controller 70, together with at least one object actuator included in the plurality of actuators, constitutes a control system. The object actuator is one of the plurality of actuators that assists in the movement of the controlled object CT.

[0054] Figure 2 The illustrated controller 70 includes an automatic control controller 71 and a vehicle body controller 73.

[0055] The automatic control controller 71 is an automatic driving controller that performs processing related to autonomous driving. The automatic control controller 71 automatically controls the drive of the plurality of actuators, causing the construction machinery 10 to operate according to the work plan described later. Specifically, the automatic control controller 71 inputs commands to the actuator drive unit 17 via the vehicle body controller 73, causing the construction machinery 10 to operate according to the work plan. The automatic control controller 71 controls the operation of the construction machinery 10 based on the posture detected by the posture detection unit 50.

[0056] Specifically, the automatic control controller 71 includes Figure 2 The multiple functions shown are the detection information processing unit 71a, the work plan setting unit 71b, the work plan modification unit 71c, and the target instruction calculation unit 71d.

[0057] The detection information processing unit 71a reads the information input from the detection unit 40 and the automatic control switch 63 of the input unit 60, and processes the information.

[0058] The work plan setting unit 71b sets the work plan based on the information processed by the detection information processing unit 71a.

[0059] The work plan modification unit 71c modifies the work plan as needed. The work plan modification unit 71c functions as a work plan modification processing unit based on equipment capability. That is, the work plan modification unit 71c has the function of modifying the work plan based on the capability of the equipment included in the construction machinery 10. The modification of the work plan performed by the work plan modification unit 71c includes... Figure 1 The target velocity V shown below is a target velocity change that is modified to a target velocity Vrv.

[0060] The target instruction calculation unit 71d calculates the target instruction to be input to the vehicle controller 73 and inputs the target instruction to the vehicle controller 73. The target instruction includes instructions regarding the target speed V. That is, the target instruction calculation unit 71d functions as a target speed instruction calculation unit.

[0061] The vehicle body controller 73 controls the actions of the construction machinery 10 based on commands input from the operation unit 61 and the automatic control controller 71. Specifically, the vehicle body controller 73 includes... Figure 2 The multiple functions shown are the target instruction processing unit 73a, the drive instruction arithmetic unit 73b, and the output restriction processing unit 73c.

[0062] The target command processing unit 73a receives the target command input from the automatic control controller 71 and processes the command. The target command processing unit 73a functions as a target speed command processing unit that processes commands regarding the target speed V.

[0063] The drive command calculation unit 73b calculates the drive command to be input to the actuator drive unit 17. Specifically, since the plurality of actuators involved in this embodiment are hydraulic actuators, the drive command calculation unit 73b calculates the command to be input to the hydraulic circuit 20 that drives the plurality of actuators as the drive command. More specifically, the drive command calculation unit 73b functions as a solenoid valve command calculation unit that calculates the command to be input to the plurality of solenoid valves included in the hydraulic circuit 20. The hydraulic circuit 20 can change the distribution of the flow rate of the working oil ejected from the pump 21 to the plurality of actuators according to the target speed V of each of the plurality of actuators. When the plurality of actuators are electric actuators that operate by electricity, the drive command calculation unit 73b calculates a command for controlling the circuit that drives the plurality of actuators, i.e., the circuit included in the actuator drive unit 17.

[0064] The output limiting processing unit 73c performs output limiting control, which limits the output of each of the plurality of actuators. The output limiting control will be described in detail below.

[0065] The output unit 80 is a device for outputting information. The output unit 80 outputs information based on signals input from the controller 70. The output unit 80 outputs information to the operator, specifically, providing notification or guidance. The output unit 80 may also output any of light, sound, and vibration for display. In the case of outputting light, the output unit 80 may also include a display unit for display, such as a monitor. The output unit 80 may also be installed, for example, in a tablet computer, smartphone, or personal computer. The output unit 80 may be installed, for example, in the cab 13c, or in a remote control device for remotely operating the construction machinery 10. For example, the output unit 80 may also output the content of the work performed by automatically controlling the construction machinery 10. The output unit 80 may also output information regarding changes in the target speed.

[0066] The construction machinery 10 is machinery that utilizes information and communication technology (ICT), such as ICT construction machinery.

[0067] The controller 70 performs mechanical control (MC) to control the movement of the construction machinery 10. That is, it enables the construction machinery 10 to operate semi-automatically. Specifically, the controller 70 stores a work plan. When the operator applies an operation to the operating unit 61 related to the operating object element (e.g., the boom 15a) included in the auxiliary device 15, the controller 70 automatically controls the movement of elements of the auxiliary device 15 other than the operating object element (e.g., the stick 15b and the remote auxiliary device 15c), causing the construction machinery 10 to operate according to the work plan. In this mechanical control, the controller 70 controls the movement of the construction machinery 10 based on information detected by the posture detection unit 50, thereby enabling semi-automatic operation and causing the construction machinery 10 to operate according to the work plan.

[0068] Alternatively, the construction machinery 10 can also operate via automatic driving. Specifically, the controller 70 can also control the movement of the construction machinery 10 based on the information detected by the posture detection unit 50, so that the construction machinery 10 operates automatically according to the work plan.

[0069] Figure 2 The work plan setting unit 71b of the controller 70 shown sets the work plan. The work plan contains information related to the objectives of the work performed by the construction machinery 10. The work plan includes information related to the objectives of the operation of the auxiliary device 15. The work plan may also include information related to the objectives of the walking movement of the construction machinery 10.

[0070] The work plan setting unit 71b sets an example of the work plan, namely the target track. The target track includes... Figure 1 The information shown is about the target path PA and the target velocity V.

[0071] The target path PA is the path along which the controlled object CT moves. Alternatively, the target path PA can also be the path along which a predetermined part of the engineering machinery 10, i.e., the controlled object, will move when the engineering machinery 10 is traveling. The target path PA may include, for example, information (coordinates) related to the positions of multiple target points P1 to PN (N is a natural number greater than 2) arranged along the target path PA, i.e., the target point positions, and information related to the order of the multiple target points P1 to PN.

[0072] The target trajectory includes not only information about the target path PA, but also time information. This time information can be about the time between two points, or it can be about the target arrival time. The time between two points is the target value of the time it takes for the controlled object CT to move between two adjacent (sequentially consecutive) target points among the plurality of target points P1 to PN. The target arrival time is the target value of the time when the controlled object CT arrives at each of the plurality of target points P1 to PN.

[0073] Thus, the target trajectory, by including information about the location of the target point and the time information, essentially contains information related to the target velocity V of the controlled object CT. For example... Figure 4 As shown, the target speed V can be adjusted by adjusting the time information. The target trajectory is not limited to what is described above; it may indirectly contain information about the target speed V because it includes information about the target point's position and the time information, or it may directly contain information about the target speed V. Furthermore, the target speed V can be a target value for the speed of the controlled object CT itself, or it can be a target value for the operating speed of the actuator among the plurality of actuators that moves the controlled object CT.

[0074] The parameters representing the position of the work plan, specifically the parameters representing the target point position, i.e., the position parameters, can be set in various ways. The coordinates representing the position parameters, i.e., the parameter coordinates, can be arbitrarily set. Specifically, the parameter coordinates can be absolute coordinates based on the work site, or mechanical coordinates based on the construction machinery 10. For example, the origin of the mechanical coordinates can be set at a location in the boom 15a connected to the upper slewing body 13, such as the boom foot pin, or it can be set at the position on the central axis of rotation of the upper slewing body 13 relative to the lower body 11. Specifically, the work plan may also include at least one of the following: the forward / backward direction of the upper slewing body 13, the up / down direction, the rotation angle of the upper slewing body 13 relative to the lower body 11, and the tilt angle (posture) of the distal auxiliary device 15c. The position parameters may also include the positions of the plurality of actuators used to move the construction machinery 10, such as the stroke position of the hydraulic cylinder and the rotation angle of the hydraulic motor.

[0075] The work plan can be set by teaching the operator to operate the construction machinery 10, or by manually operating the input unit 60 by the operator. Alternatively, the work plan can be set automatically by the controller 70. For example, the work plan can also be set automatically by the work plan setting unit 71b of the controller 70 based on information detected by the detection unit 40 (information on obstacles, etc.). Alternatively, the work plan can be stored in the controller 70 at a point in time before the construction machinery 10 leaves the factory.

[0076] The work plan can also be corrected before the target speed changes. The work plan can be corrected, for example, by manual operation by an operator applying appropriate operation to the input unit 60, or automatically by the controller 70, for example, the work plan modification unit 71c, based on information detected by the detection unit 40, such as obstacle information.

[0077] Figure 4 This is an example of a graph representing information about the work plan, showing the relationship between the target point location and the time in the work plan. Specifically, the vertical axis of the graph represents... Figure 1 The coordinates (e.g., X-axis, Y-axis, Z-axis, etc.) of the multiple target points P1 to PN of the controlled object CT shown in the auxiliary device 15 are represented by the coordinates of the multiple target points P1 to PN. The horizontal axis of the graph represents the time in the work plan. The multiple times t1, t2, t3, and t4 arranged along the horizontal axis are the target values, i.e., the target arrival times, when the controlled object CT will arrive at the target points P1, P2, P3, and P4 respectively. The time t4a, which is later than time t4, corresponds to the modified target arrival time t4 when the target speed V of the controlled object CT from time t3 to time t4 is changed to a corrected target speed Vrv through the target speed change.

[0078] The target speed change is performed by the controller 70. The target speed change refers to changing the target speed V to a modified target speed Vrv without altering the target path PA contained in the target track and the target path PA in the target speed V. In this embodiment, the target speed change includes target speed changes based on device capabilities and target speed changes corresponding to output limit control.

[0079] The target speed change based on the device's capabilities is used to enable... Figure 5The change in target speed V is shown as a change in the required capability Ar within the actuator capability range Ra. The required capability Ar is the capability demanded on the object actuator by which the controlled object CT moves along the target trajectory. The object actuator is one of the plurality of actuators described above that facilitates the movement of the controlled object CT. The actuator capability range Ra is the range of capabilities of the object actuator. The target speed change based on the device capability is performed when the required capability Ar deviates from the actuator capability range Ra. If the required capability Ar deviates from the actuator capability range Ra, the object actuator cannot move the controlled object CT along the target trajectory, i.e., the target trajectory cannot be achieved. For example, if the required capability Ar exceeds the maximum capability of the object actuator, the controlled object CT cannot follow the target trajectory. Conversely, even if the required capability Ar is below the minimum capability of the object actuator, the target trajectory cannot be achieved. Furthermore, even if the required capability Ar is above the minimum capability and below the maximum capability of the object actuator, if it is less than the capability range that allows full utilization of the object actuator's capability, the efficiency of the operation performed by the engineering machinery 10 will still decrease.

[0080] In order to eliminate the problems mentioned above, Figure 2 The work plan modification unit 71c of the controller 70 shown changes the target speed V to a modified target speed Vrv, so that... Figure 5 The required capability Ar shown is within the actuator capability range Ra.

[0081] The controller 70 sets the actuator capability range Ra. The capability of the object actuator depends not only on the capability of the object actuator itself, but also on the capability of the device driving the object actuator, i.e., the actuator driving device. Therefore, the controller 70 sets the actuator capability range Ra based on both the capability of the object actuator itself and the capability of the actuator driving device. The actuator capability range Ra can also be pre-stored in the controller 70 at a point in time before the construction machinery 10 leaves the factory.

[0082] In this embodiment, where the actuator is a hydraulic actuator, the capability of the actuator drive device includes the capability of the pump 21 for supplying working oil to the actuator and the capability of the engine 39 for driving the pump 21. The capability of the pump 21 is defined, for example, by its minimum flow rate, maximum flow rate, or a more ideal flow rate range. The capability of the engine 39 is defined, for example, by its minimum output, maximum output, or a more ideal output range. In the case where the actuator is an electric actuator, the capability of the actuator drive device includes, for example, the capability of the power supply (minimum output, maximum output, more ideal output range, etc.).

[0083] The factors that determine the capability associated with the actuator's capability range Ra can also be detailed below, including any one of the following: the capability of the actuator itself, the output of the actuator drive device (e.g., torque, thrust, etc.), acceleration, speed, and required time.

[0084] The actuator capability range Ra can be the maximum range within which the capability of the object actuator can be used, i.e., the range from the minimum to the maximum capability of the object actuator, or it can be a more restricted range, such as, ideally, the range within which the object actuator can be used, i.e., an appropriate range. The appropriate range can be determined from various perspectives. For example, the appropriate range can be set considering the operability of the construction machinery 10, or it can be set considering the energy consumed by the construction machinery 10.

[0085] The actuator capability range Ra can be pre-stored in a storage unit (not shown) of the controller 70, or it can be determined based on information input to the controller 70 via the input unit 60, i.e., information manually input by the operator. Alternatively, as described below, the actuator capability range Ra can also be estimated by the controller 70 based on information related to the capability of the actuator driving device or other information.

[0086] The actuator capability range Ra may also include the range of output of the target actuator, such as the range of torque or thrust. In this case, the minimum value of the actuator capability range Ra may be 0 or a value greater than 0. In the case where the target actuator is a hydraulic actuator, as in this embodiment, the minimum value of the actuator capability range Ra may also be set based on the output of the target actuator when working oil is supplied to the target actuator from the pump 21 at a minimum flow rate. Conversely, the maximum value of the actuator capability range Ra may be set based on the maximum output (e.g., maximum torque, maximum thrust) that the target actuator can output, or it may be the upper limit of a more ideal range of the output of the target actuator.

[0087] The actuator capability range Ra can also include the range of acceleration. For example, the actuator capability range Ra can also include the range of acceleration of the controlled object CT that moves using the object actuator. In this case, the minimum value of the actuator capability range Ra can be 0 or a value greater than 0. Conversely, the maximum value of the actuator capability range Ra can also be the maximum acceleration that can move the controlled object CT using the object actuator, i.e., the maximum output acceleration. Alternatively, the actuator capability range Ra can also be a more ideal range of acceleration of the controlled object CT that moves using the object actuator.

[0088] For example, the controller 70 may also calculate the actuator capability range Ra (e.g., maximum output acceleration) with respect to the acceleration based on information related to the inertia of the movable member containing the controlled object CT, i.e., object movable member, i.e., inertial information, and information related to the maximum output of the object actuator.

[0089] When the movable member of the object can rotate, the inertia information includes, for example, information related to the inertial torque of the movable member. When the movable member translates, the inertia information includes, for example, information related to the inertial mass of the movable member. When the object actuator is the rotary motor 33 and the movable member is the upper rotating body and the auxiliary device 15, the inertia information includes, for example, the inertial torque of the upper rotating body 13 and the auxiliary device 15 relative to the rotation center of the upper rotating body 13 with respect to the lower body 11.

[0090] When at least a portion of the movable component of the object is included in the mechanical body 10a, and the mechanical body 10a is tilted relative to the horizontal direction, it is ideal that the inertial information takes into account information related to the tilt of the mechanical body 10a, i.e., tilt information. The tilt information includes information related to the direction of the tilt and information related to the angle of the tilt.

[0091] When at least a portion of the movable component of the object is included in the accessory device 15, it is preferable that the inertia information is information that takes into account the inertia of the captured object captured by the accessory device 15.

[0092] The actuator capability range Ra may also include a range of speeds. More specifically, the actuator capability range Ra may also include a range of speeds of the controlled object CT that moves using the object actuator 30. For example, similar to the actuator capability range Ra with respect to acceleration, the controller 70 may also calculate the actuator capability range Ra with respect to speed based on the output of the object actuator and the inertial information of the movable member of the object.

[0093] The actuator capability range Ra may also include a range of required time. Specifically, the actuator capability range Ra may also include a range of the time required for the object actuator to move the controlled object CT to a specific position. Additionally, the actuator capability range Ra may also include a range of the time required for the object actuator to change the velocity of the controlled object CT to a predetermined velocity, or the time required for the velocity of the controlled object CT to change to a predetermined acceleration. Similar to the actuator capability range Ra regarding acceleration, the controller 70 may also calculate the actuator capability range Ra regarding the required time based on the output of the object actuator and the inertial information of the movable object component.

[0094] The controller 70 calculates the required capability Ar to change the target velocity V so that the required capability Ar is within the actuator capability range Ra. As described above, the required capability Ar is the capability required by the object actuator 30 to move the controlled object CT along the target trajectory; in other words, it is the capability of the object actuator expected to be utilized when the object actuator moves the controlled object CT along the target trajectory. Similar to the capability regarding the actuator capability range Ra, the required capability Ar can also be any one of the object actuator output, the acceleration of the controlled object CT, the velocity of the controlled object CT, and the required time. For example, the required capability Ar can also be the required acceleration of the controlled object CT for the object actuator to move the controlled object CT along the target trajectory. The required acceleration is the expected acceleration of the controlled object CT when the object actuator moves the controlled object CT along the target trajectory. The actuator capability range Ra and the required capability Ar need to be comparable to each other. For example, if the actuator capability range Ra is the range of the acceleration, the required capability Ar also needs to be represented by the acceleration.

[0095] The controller 70 is not limited in the method by which it calculates the required capability Ar. The controller 70 may also calculate the required capability Ar based on information contained in the target trajectory. For example, the controller 70 may calculate the required capability Ar based on information about the target velocity V, such as information about the relationship between the target point position and the time information; it may also calculate the required capability Ar based on information about the target path PA, specifically, based on information about the positions of each target point. Alternatively, the controller 70 may also calculate the required capability Ar based on both information about the target trajectory and the inertial information of the controlled object CT.

[0096] As described above, when the required capability Ar deviates from the actuator capability range Ra, the controller 70 does not change the target path PA, but instead performs a target speed change, transforming the target speed V into a corrected target speed Vrv. The corrected target speed is determined such that the required capability Ar corresponding to the corrected target speed Vrv, i.e., the corrected required capability Arv, is within the actuator capability range Ra.

[0097] Specifically, when the required capability Ar is greater than the actuator capability range Ra, the controller 70 changes the target speed V to a corrected target speed Vrv, which is lower than the target speed V, so that the corrected required capability Arv is within the actuator capability range Ra. For example, the work plan modification unit 71c of the controller 70 reduces the target speed V so that the corrected required capability Arv reaches a maximum allowable value set based on the maximum value of the actuator capability range Ra. The maximum allowable value can be equal to the maximum value or a value smaller than the maximum value.

[0098] When the required capability Ar is less than the actuator capability range Ra, the controller 70 changes the target speed V to a corrected target speed Vrv, which is higher than the target speed V, so that the corrected required capability Arv is within the actuator capability range Ra. For example, the controller 70 increases the target speed V so that the corrected required capability Ar reaches a minimum allowable value set based on the minimum value of the actuator capability range Ra. The minimum allowable value can be a value equal to the minimum value or a value greater than the minimum value.

[0099] When the required acceleration is used to determine the required capability Ar, and the maximum value of the actuator capability range Ra is the maximum output acceleration, if the required acceleration is greater than the maximum output acceleration, the capability of the object actuator is insufficient to move the controlled object CT along the target trajectory, i.e., the target trajectory cannot be achieved. To enable the controlled object CT to move along the target trajectory as described above, the controller 70 changes the target speed V to a corrected target speed Vrv, so that the corrected required acceleration is below the maximum output acceleration. The corrected required acceleration is the acceleration required to achieve the corrected target speed Vrv. The controller 70 calculates the acceleration after the target speed change, i.e., the corrected acceleration, based on information such as the output of the object actuator. The controller 70 may also further calculate the corrected acceleration based on the inertial information of the controlled object CT. The controller 70 calculates the corrected target speed Vrv based on the corrected acceleration. This target speed change enables the controlled object TC to move along the target path PA of the target trajectory with the equipment capability of the engineering machinery 10.

[0100] In this embodiment, in addition to changing the target speed based on the device's capabilities, the controller 70 also changes the target speed corresponding to the output limit control.

[0101] The output limiting control is performed by the output limiting processing unit 73c of the vehicle body controller 73 in the controller 70. The output limiting control is a control that limits the output of the object actuator. The output limiting control limits the output of the object actuator based on the capability of the actuator driving device, and also limits the output based on interference effects. The output limiting control is performed instantaneously (in real-time) according to the condition of the engineering machinery 10 during operation.

[0102] In this embodiment, the hydraulic actuator, i.e., the object actuator, operates using working oil supplied from the pump 21, which is driven by the engine 39. Therefore, the output limiting processing unit 73c performs output limiting control to restrict the output of the pump 21 to prevent it from exceeding a set value (e.g., maximum output) of the engine 39. Specifically, one example of the output limiting control performed by the output limiting processing unit 73c is PQ control. PQ control limits the flow rate of the working oil ejected from the pump 21, i.e., the pump flow rate, based on the pressure of the working oil ejected from the pump 21, i.e., the pump pressure. The pump pressure is detected by the pump pressure detector 40p. The pump flow rate is controlled by the pump capacity control unit 23. By limiting the flow rate of the working oil supplied from the pump 21 to the object actuator through PQ control, the output limiting processing unit 73c limits the speed (output) of the object actuator. When the object actuator is an electric actuator, as part of the output limiting control, the output limiting processing unit 73c limits the output of the object actuator based on the output of the power supply (electricity) and the like.

[0103] The work plan modification unit 71c of the controller 70 modifies the target speed V based on the output of the object actuator, which is modified according to the output limit control. In this case, similar to the target speed modification based on equipment capability described above, the controller 70 does not modify the target path PA in the target track, but only modifies the target speed V to a modified target speed Vc. As described above, the output limit control is performed instantaneously (in real time) according to the condition of the engineering machinery 10 during operation (e.g., pump pressure), therefore, the target speed modification corresponding to the output limit control is also performed instantaneously according to the output limit control.

[0104] For example, the output limit processing unit 73c of the vehicle controller 73 generates a corrected target speed command corresponding to the change in target speed of the output limit control, and inputs it to the operation plan modification unit 71c of the automatic control controller 71. Specifically, the vehicle controller 73 performs output limit control in real time based on the status of the actuator that causes the controlled object CT to move along the target trajectory. Specifically, the vehicle controller 73 inputs (feeds back) the corrected target speed command corresponding to the change in target speed of the output limit control to the operation plan modification unit 71c. Based on the corrected target speed command, the operation plan modification unit 71c changes the target speed V of the actuator to the corrected target speed Vc. Specifically, the operation plan modification unit 71c reduces the target speed V.

[0105] As described above, the controller 70 performs target speed changes based on device capabilities and target speed changes corresponding to output limit control. Specifically, as Figure 4 As shown, the controller 70 changes the target speed V by altering the time information in the target trajectory. More specifically, the controller 70 can change the target speed V by extending or shortening the time between two adjacent target points among the plurality of target points P1 to PN, or by delaying or advancing the target arrival time of the controlled object CT as it passes through each target point; that is, it can also calculate the corrected target arrival time. If the target trajectory contains information about the target speed V itself, the controller 70 can also directly change the target speed V. If the target speed V is represented by multiple coordinates, such as X, Y, and Z coordinates, the controller 70 calculates the coordinates for correcting the target speed Vc.

[0106] The controller 70 does not change the target path PA in the target track, but instead changes the target speed V to a modified target speed Vc, thereby appropriately maintaining the target path PA. That is, as long as the target path PA before the target speed change is appropriately set, the path of the object CT, which moves according to the target track after the target speed change via the object actuator, will also become an appropriate path. For example, if the target path PA before the target speed change is set in a way that prevents the controlled object CT from interfering with obstacles, it will also prevent the controlled object TC, which moves according to the target track after the target speed change via the object actuator, from interfering with obstacles.

[0107] The following are specific examples of the target speed change.

[0108] When the controlled object CT moves only by a single object actuator, the controller 70 can change the target trajectory without changing the target path PA simply by changing the operating speed of the single object actuator.

[0109] When the controlled object CT is actuated by multiple object actuators, for example, when the controlled object CT moves by the pair of travel motors 31, or when the controlled object CT moves with the movement of two or more of the upper slewing body 13, the boom 15a, the stick 15b, and the distal auxiliary device 15c, the controller 70 performs the following processing for the target speed change: That is, the controller 70 calculates, for each of the multiple object actuators, the amount of change in the target speed required to keep the required capability Ar within the actuator capability range Ra. The controller 70 changes the target speed V of all the multiple object actuators based on the maximum required speed change among the multiple object actuators 30. More ideally, the controller 70 performs the target speed change while maintaining the ratio between the speeds of the multiple object actuators. This target speed change allows the target speed V to be appropriately corrected without changing the target path PA.

[0110] More specifically, the controller 70 calculates, for example, the required change ratio for each of the plurality of object actuators. The required change ratio is the ratio (=Vrvt / Vo) of the temporary corrected target speed Vrvt estimated based on the required speed correction amount to the target speed V before the target speed change, i.e., the target speed Vo before the correction.

[0111] In reducing the target speed V, the controller 70 determines the minimum of the required change ratios (=Vrvt / Vo) among the plurality of object actuators, i.e., the minimum required change ratio, and changes (in this example, reduces) the target speed V of all the plurality of object actuators based on this minimum required change ratio. Specifically, the controller 70 sets the product of the original target speed Vo of each of the plurality of object actuators and the minimum required change ratio as the corrected target speed Vrv of each object actuator.

[0112] In the target speed change of increasing the target speed V, the controller 70 determines the maximum value among the required change ratios (=Vrvt / Vo) of the plurality of object actuators, namely the maximum required change ratio, and changes (in this case increases) the target speed V of the plurality of object actuators based on the maximum required change ratio. Specifically, the controller 70 sets the product of the original target speed V1 of each of the plurality of object actuators and the maximum required correction ratio as the corrected target speed Vrv of each object actuator.

[0113] Ideally, the controller 70, such as the automatic control controller 71, instructs the output unit 80 to output information about the change in the target speed. Specifically, ideally, the output unit 80 notifies the operator of the information about the change in the target speed.

[0114] Even if the target speed change is not performed, the output unit 80 may also output information related to the absence of the target speed change. The output unit 80 may also output information related to whether or not a target speed change has occurred.

[0115] Ideally, the output unit 80 outputs and notifies the operator that the target speed V has been changed due to the target speed change. This is to prevent the operator from believing that the object actuator has malfunctioned because the object actuator and the controlled object CT operate at a speed different from their pre-target speed change. By notifying the operator of the target speed change via the output unit 80, the operator can prevent the operator from mistakenly believing that the object actuator has malfunctioned because the actions (behaviors) of the object actuator and the controlled object CT differ from the actions set in the work plan before the target speed change.

[0116] The output unit 80 can also output the reason for the target speed change. Specifically, the output unit 80 can also output whether the ongoing target speed change is a target speed change based on the device's capabilities or a target speed change corresponding to output limit control.

[0117] The output unit 80 can also output the content of changing the target speed V from the original target speed Vo to the corrected target speed Vrv. Specifically, the output unit 80 can also output whether the target speed change increases or decreases the target speed V.

[0118] The output unit 80 can also output the change in the target speed V. For example, the output unit 80 can output the difference between the target speed Vo before the change and the corrected target speed Vrv, or the ratio between the two. The output unit 80 can also output information related to the time required for the controlled object CT to move from its previous position, such as its current position, to its current position, i.e., the movement time. For example, the output unit 80 can output the difference between the movement time before the target speed change and the movement time after the target speed change, or the ratio between the two.

[0119] The timing at which the output unit 80 outputs information about the target speed change can be set in various ways. For example, the target speed change based on equipment capabilities can occur before the construction machinery 10 operates via automatic control. When the target speed V is changed before the construction machinery 10 operates, the output unit 80 can output information about the target speed change before the construction machinery 10 operates, or it can output information about the target speed change during the operation of the construction machinery 10. Alternatively, when the target speed V is changed during the operation of the construction machinery 10, the output unit 80 outputs information about the target speed change during the operation of the construction machinery 10.

[0120] The output unit 80 can also provide an output to remind the operator whether to change the target speed. For example, if it is not ideal for the change to increase the target speed V to be executed automatically, it is more ideal to execute the target speed change after confirming the operator's intention regarding whether to make the change. For this confirmation, it is more ideal for the output unit 80 to provide an output to remind the operator whether to increase the target speed V, for example, by displaying a confirmation button for the operator to operate. The controller 70 will only perform the target speed change if, for example, a selection allowing the increase of the target speed is input through the input unit 60, thereby preventing the target speed V from increasing against the operator's wishes. Conversely, the output unit 80 can also provide an output to remind the operator whether to decrease the target speed V.

[0121] The controller 70 can also automatically determine whether the target speed V can be increased. For example, if the target speed V before the change is too low, causing the controlled object CT to be unable to move along the target trajectory, the controller 70 can also automatically determine to perform a target speed change to increase the target speed V.

[0122] Next, refer to Figure 6 The flowchart shown illustrates a specific example of the processing performed by the controller 70.

[0123] In step S11, the operation plan setting unit 71b of the controller 70 sets the operation plan including the target track. At this time, Figure 1 The construction machinery 10 shown is in an idling state. In this idling state, although the drive source (in this embodiment, the engine 39) is capable of being driven, the plurality of actuators are stationary. If the drive source is a power source, the power supply is turned on.

[0124] In step S12, the job plan modification unit 71c of the controller 70 determines whether the job plan needs to be modified. Specifically, the modification of the job plan is based on a target speed change of equipment capacity, not a target speed change corresponding to output limit control.

[0125] If it is determined that the work plan needs to be changed (step S12 is "Yes"), the work plan modification unit 71c of the controller 70 performs a target speed change based on equipment capabilities (step S13), the automatic control controller 71 of the controller 70 determines the work plan including the target track, and instructs the output unit 80 to notify the operator of the determined work plan information (step S14). Specifically, the output unit 80 notifies the operator of the determined work plan information by outputting the information. If it is determined that the work plan does not need to be changed (step S12 is "No"), the controller 70 determines the current work plan and instructs the output unit 80 to notify the operator of the work plan information.

[0126] In step S21, the automatic control controller 71 of the controller 70 is based on Figure 2 The state of the automatic control switch 63 shown indicates whether automatic control should be performed. Specifically, before the automatic control switch 63 is switched on (step S21 is "No"), the automatic control controller 71 does not start automatically controlling the construction machinery 10. At the point when the automatic control switch 63 is switched on (step S21 is "Yes"), automatic control of the construction machinery 10 begins. From the time the construction machinery 10 is activated by the automatic control until the automatic control switch 63 is switched off (step S25 is "No"), the controller 70 repeatedly performs the following steps S22 to S25 according to a predetermined control cycle.

[0127] In step S22, the work plan modification unit 71c of the controller 70 performs a target speed change corresponding to the output limit control. The work plan modification unit 71c calculates the operating speed of the object actuator corresponding to the modified target speed Vrv. The target speed change is performed instantaneously (in real time) based on the condition of the construction machinery 10 during operation (e.g., pump pressure).

[0128] In step S23, the operation plan modification unit 71c of the controller 70 calculates the time information of the corrected target trajectory based on the corrected target speed Vrv. The time information may be, for example, the time between the two points or the arrival time of the target.

[0129] In step S24, the controller 70 calculates time information about each coordinate (e.g., X coordinate, Y coordinate, and Z coordinate). Figure 4 The target arrival time is shown. For example, the controller 70 replaces the time information (e.g., target arrival time) related to the coordinates (e.g., X coordinate, Y coordinate, and Z coordinate) of the multiple target points P1 to PN in the target path PA with the corrected time information (e.g., corrected target arrival time).

[0130] The controller 70 repeatedly performs steps S22 to S25 until the automatic control switch 63 is switched off (step S25 is "No"), and at the point when the automatic control switch 63 is switched on (step S25 is "Yes"), the automatic control ends (step S31). Thus, the construction machinery 10 stops its actions performed by the automatic control, for example, entering an idling state. The controller 70 can restart after the automatic control ends. Figure 6 The process shown can also be completely terminated.

[0131] According to the control system described above, when the required capability Ar deviates from the actuator capability range Ra, the controller 70 does not change the target path PA, but instead changes the target speed V to the corrected target speed Vrv, so that the corrected required capability Arv is within the actuator capability range Ra. Therefore, even when a target trajectory is set that causes the required capability Ar to deviate from the actuator capability range Ra, the controller 70 can move the controlled object CT along the target path PA within the actuator capability range Ra without changing the target path PA. This allows for the suppression of deviation between the target path PA and the actual movement of the controlled object CT while maintaining the target path PA set before the target speed change. Therefore, by appropriately setting the target path PA before the target speed change, the controlled object CT can move along an appropriate path within the actuator capability range Ra. For example, as long as the target path PA is set before the target speed changes in a way that prevents the controlled object TC from interfering with the obstacle, even if the object actuator causes the controlled object CT to move along the target track after the target speed changes, the interference between the controlled object CT and the obstacle can be suppressed.

[0132] Specifically, for example, such as Figure 5As shown in Example 1, when the required capability Ar is greater than the actuator capability range Ra, the controller 70 reduces the target speed V so that the corrected required capability Arv is within the actuator capability range Ra. Therefore, even when a target track is set that makes the required capability Ar greater than the actuator capability range Ra, for example, even when a target track is set that requires a capability exceeding the maximum capability of the object actuator, the controller 70 can make the controlled object CT follow the target path PA within the actuator capability range Ra without changing the target path PA.

[0133] Conversely, when the required capability Ar is less than the actuator capability range Ra, for example, as Figure 5 As shown in Example 2, the controller 70 increases the target speed V so that the modified required capability Arv is within the actuator capability range Ra. Therefore, even when a target track is set that makes the required capability Ar less than the actuator capability range Ra, for example, even when a target track is set that cannot fully utilize the capability of the target actuator, the controller 70 can make the controlled object CT follow the target path PA without changing the target path PA, while appropriately utilizing the capability of the target actuator. Furthermore, even when a target track is set that requires a capability less than the minimum output capability of the target actuator, the controller 70 can make the controlled object CT follow the target path PA without changing the target path PA, while ensuring that the target actuator 30 operates normally within the actuator capability range Ra.

[0134] The controller 70 calculates the maximum output acceleration based on information related to the inertia of the movable component of the object containing the controlled object, i.e., inertial information, and information related to the maximum output of the object actuator. Thus, the controller can appropriately calculate the maximum output acceleration taking into account the inertia. This appropriately calculated maximum output acceleration is set as the maximum value of the actuator capability range Ra, thereby setting the actuator capability range Ra to an appropriate range. The controller 70 (without changing the target path PA) changes the target velocity V so that the corrected required capability Ar is within the actuator capability range Ra determined as described above. This allows for the calculation of an appropriate corrected target velocity Vrv, i.e., preventing the corrected target velocity Vrv from becoming too large or too small.

[0135] The control system includes a notification unit that notifies the operator of the target speed change. In this embodiment, the output unit 80 is included. This allows the operator to know that the target speed has been changed, thereby preventing the operator from mistaking the change in the action of the object actuator accompanying the target speed change as a malfunction of the object actuator.

[0136] The controller 70 performs the target speed change based on the output of the object actuator, which is modified by the output limit control, thereby enabling the target speed V to be changed to an appropriate modified target speed Vrv regardless of how the output of the object actuator changes due to the output limit control.

[0137] Various modifications can be made to the above embodiments. For example, the modifications of the above embodiments can be combined with each other in various ways. For example, the number of the constituent elements (including modifications) of the above embodiments can be changed, or some of the constituent elements can be omitted. For example, the modifications can also be made... Figure 2 The connections between the constituent elements are shown. For example, the arrangement of the constituent elements can be changed. For example, the inclusion relationship of the constituent elements can be changed in various ways. For example, a constituent element described as a subordinate constituent element contained in a superior constituent element may not be included in that superior constituent element, or it may be included in other constituent elements. For example, a constituent element described as multiple distinct components or parts may be set as a single component or part. For example, a constituent element described as a single component or part may be divided into multiple distinct components or parts. For example, the connections between the constituent elements can be changed. Figure 6 The steps in the flowchart shown may be performed in any order, or some steps may be omitted. For example, threshold values, setpoint values, etc., may be preset to the controller 70, or may be set directly through manual operation by the operator (operation of the input unit 60). Threshold values, setpoint values, etc., may be calculated by the controller 70 based on information set through manual operation by the operator, or may be calculated by the controller 70 based on information detected by the detection unit 40. For example, threshold values, setpoint values, etc., may not be changed, may be changed through manual operation, or may be automatically changed by the controller 70 according to certain conditions. For example, the controller 70 may also perform processing (calculation, determination, etc.) that is substantially the same as that described in the above-described embodiments (including variations). Various processing methods may also be combined in various ways. For example, each component may only have a portion of its respective characteristics (function, configuration, shape, operation, etc.).

[0138] As described above, a control system is provided that controls the movement of a controlled object contained in engineering machinery along a target path, and is capable of suppressing deviations between the target path and the actual movement of the controlled object. The control system includes an actuator for moving the controlled object and a controller. The controller controls the actuator so that the controlled object moves along a target trajectory containing information about the target path and target speed of the controlled object. It calculates the required capability (demand capability) of the actuator to make the controlled object move along the target trajectory. If the required capability deviates from the actuator's determined capability range, the target path is not changed; instead, the target speed is changed to a corrected target speed. The corrected target speed is a speed that brings the corrected required capability within the actuator's capability range; the corrected required capability is the capability required by the actuator to make the controlled object move at the corrected target speed.

[0139] According to the control system, even when a target trajectory is set that causes the required capability of the actuator to deviate from the range of the actuator's capability, the deviation between the target path and the actual action of the controlled object can be suppressed without changing the target path in the target trajectory.

[0140] Specifically, ideally, when the required capability exceeds the upper limit of the actuator's capability range, the controller reduces the target speed so that the corrected required capability falls within the actuator's capability range.

[0141] Ideally, conversely, if the required capability is less than the lower limit of the actuator's capability range, the controller increases the target speed so that the corrected required capability is within the actuator's capability range.

[0142] The required capability is the acceleration of the controlled object required to move along the target trajectory, i.e., the required acceleration. The upper limit of the actuator's capability range can also be the acceleration of the controlled object that moves using the actuator's maximum output, i.e., the maximum output acceleration. In this case, ideally, the controller calculates the maximum output acceleration based on inertial information related to the inertia of the movable component containing the controlled object and information about the actuator's maximum output.

[0143] Ideally, the control system also includes a notification unit to notify the operator that the target speed has been changed to the corrected target speed.

[0144] The controller can also perform output limiting control to restrict the output of the actuator. In this case, ideally, the controller changes the target speed based on the output of the actuator, which is limited by the output limiting control.

Claims

1. A control system for controlling the actions of controlled objects contained in engineering machinery, characterized in that... include: The actuator that causes the controlled object to move, and Controller, where The controller The actuator is controlled so that the controlled object moves along a target trajectory containing information about the target path and target speed of the controlled object. Calculate the required capability of the actuator to make the controlled object move along the target trajectory. If the required capability deviates from the actuator's capability range determined by the actuator, the target path is not changed. Instead, the target speed is changed to a corrected target speed, which is the speed that makes the corrected required capability within the actuator's capability range. The corrected required capability is the capability required by the actuator to make the controlled object move at the corrected target speed.

2. The control system according to claim 1, characterized in that, If the required capability exceeds the upper limit of the actuator's capability range, the controller reduces the target speed so that the corrected required capability is within the actuator's capability range.

3. The control system according to claim 1, characterized in that, If the required capability is less than the lower limit of the actuator's capability range, the controller increases the target speed so that the corrected required capability is within the actuator's capability range.

4. The control system according to claim 1, characterized in that, The required capability is the acceleration required of the controlled object to make it move according to the target trajectory. The upper limit of the actuator's capability range is the acceleration of the controlled object that actuates using the actuator's maximum output, i.e., the maximum output acceleration. The controller calculates the maximum output acceleration based on inertial information related to the inertia of the movable component containing the controlled object and information about the maximum output of the actuator.

5. The control system according to claim 1, characterized in that, Also includes: The notification department informs the operator that the target speed has been changed to the revised target speed.

6. The control system according to claim 1, characterized in that, The controller is capable of performing output limiting control to restrict the output of the actuator, and changing the target speed based on the output of the actuator that is limited by the output limiting control.

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