Work machine

Abstract

To provide a work machine capable of controlling the operation of a work device with good accuracy.SOLUTION: A work machine 1 includes a control device 100 for controlling the operation of an actuator that drives a work device 1c. The control device 100 includes: a target locus calculation unit 102 for calculating a target locus of the work device 1c; a vehicle body characteristic calculation unit 103 for calculating a vehicle body characteristic of the work machine 1 including the operation characteristic of the work device 1c; and a target value calculation unit 113 for calculating a control target value of the actuator in such a manner that the work device 1c operates according to the target locus calculated by the target locus calculation unit 102. The target value calculation unit 113 calculates a control target value based on the vehicle body characteristic calculated by the vehicle body characteristic calculation unit 103.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a work machine. [Background technology]

[0002] 2. Description of the Related Art In a work machine such as a hydraulic excavator, a technique has been proposed for controlling the operation of a work implement based on an estimated attitude of the work implement.

[0003] For example, in Patent Document 1, in order to prevent the upper rotating body and the working equipment from departing from a preset working area, the posture of the working equipment during rotation is estimated based on the amount of lever operation by the operator and the speed characteristics of the actuator at that amount of operation. Then, Patent Document 1 calculates the rotation stop position of the upper rotating body based on the estimated posture of the working equipment, and performs control to stop the rotation when approaching this stop position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-143449 A Summary of the Invention [Problem to be solved by the invention]

[0005] The work machine of Patent Document 1 estimates the attitude of the work implement during turning based on the speed characteristics of the actuator that drives the work implement, but this speed characteristic does not take into account the vehicle body characteristics of the work machine 1, such as dead time or response delay. Therefore, the work machine of Patent Document 1 does not estimate the attitude of the work implement with sufficient accuracy, and as a result, there is a possibility that the control accuracy of the work implement will deteriorate.

[0006] In view of the above circumstances, an object of the present invention is to provide a work machine capable of improving the estimation accuracy of the attitude of a work implement and capable of controlling the operation of the work implement with high accuracy. [Means for solving the problem]

[0007] In order to solve the above problems, the working machine of the present invention is a working machine equipped with a control device that controls the operation of an actuator that drives a working implement, and the control device has a target trajectory calculation unit that calculates a target trajectory of the working implement, a vehicle body characteristic calculation unit that calculates vehicle body characteristics of the working machine including the operating characteristics of the working implement, and a target value calculation unit that calculates a control target value of the actuator so that the working implement operates in accordance with the target trajectory calculated by the target trajectory calculation unit, and is characterized in that the target value calculation unit calculates the control target value based on the vehicle body characteristics calculated by the vehicle body characteristic calculation unit. Effect of the Invention

[0008] According to the present invention, it is possible to provide a work machine capable of improving the accuracy of estimating the attitude of a work implement and controlling the operation of the work implement with high accuracy. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a configuration of a work machine. [Diagram 2] FIG. 2 is a block diagram showing the functional configuration of a control device according to the first embodiment. [Diagram 3] 5A to 5C are diagrams for explaining a method of calculating the attitudes of the working implement and the upper rotating body. [Figure 4] 3 is a block diagram showing details of a target value calculation unit shown in FIG. 2. [Diagram 5] FIG. 4 is a diagram showing the relationship between a control target value and an operation command. [Figure 6] 3 is a flowchart showing a process relating to the initial setting of the control device shown in FIG. 2; [Figure 7] 7 is a flowchart showing the process of the control device performed after FIG. 6; [Figure 8] FIG. 8 is a diagram for explaining step S205 in FIG. 7. [Figure 9] FIG. 8 is a diagram for explaining step S207 in FIG. 7. [Figure 10] FIG. 8 is a diagram for explaining step S208 in FIG. 7 (part 1). [Figure 11] FIG. 8 is a diagram (part 2) for explaining step S208 in FIG. 7. [Figure 12] FIG. 8 is a diagram for explaining step S208 in FIG. 7 (part 3). [Figure 13] FIG. 8 is a diagram for explaining step S210 in FIG. 7. [Figure 14] FIG. 11 is a block diagram showing details of a target value calculation unit according to a second embodiment. [Figure 15] 10 is a flowchart showing the processing of a control device according to a second embodiment. [Figure 16] FIG. 16 is a diagram for explaining step S309 in FIG. 15. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Components with the same reference numerals in each embodiment have similar components in each embodiment unless otherwise specified, and the description thereof will be omitted.

[0011] [First embodiment] A construction machine 1 of a first embodiment will be described with reference to Figures 1 to 13. First, the configuration and functions of the construction machine 1 will be described with reference to Figures 1 to 5. Figure 1 is a diagram showing the configuration of the construction machine 1.

[0012] The work machine 1 is a work machine, such as a hydraulic excavator or a wheel loader, that is equipped with a multi-joint type work device 1c configured by connecting a plurality of link members. In this embodiment, a hydraulic excavator will be taken as an example of the work machine 1 to be described.

[0013] The work machine 1 is composed of a lower running body 1a, an upper rotating body 1b rotatably attached to the lower running body 1a via a slewing wheel 3, and a working device 1c rotatably attached to the front part of the upper rotating body 1b.

[0014] The lower traveling structure 1a has a pair of left and right traveling motors 2 for propelling the work machine 1. The upper rotating structure 1b has a swing motor 4 for swinging the upper rotating structure 1b relative to the lower traveling structure 1a.

[0015] The working device 1c is a front working device for excavating earth and sand. The working device 1c has a boom 6 rotatably supported on the upper rotating body 1b, an arm 7 rotatably supported on the boom 6, and a bucket 9 rotatably supported on the arm 7. The working device 1c further has a boom cylinder 10 for rotating the boom 6, an arm cylinder 11 for rotating the arm 7, and a bucket cylinder 12 for rotating the bucket 9. The boom cylinder 10 is connected to the upper rotating body 1b and the boom 6, and can change the rotation angle of the boom 6. The arm cylinder 11 is connected to the boom 6 and the arm 7, and can change the rotation angle of the arm 7. The bucket cylinder 12 is connected to the arm 7 and to the bucket 9 via a bucket link 8, and can change the rotation angle of the bucket 9.

[0016] The upper rotating body 1b also has a hydraulic pump 19 that sends pressure oil to the pair of left and right travel motors 2, the rotating motor 4, the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 (hereinafter also referred to as "actuators"). The hydraulic pump 19 is driven by an engine (or an electric motor) 18, which is a power source.

[0017] Furthermore, the upper rotating body 1b has a control valve 5 that controls the supply of pressure oil to each actuator, and a control device 100 that transmits an operation command to the control valve 5. The control valve 5 controls the supply of pressure oil to each actuator in response to the operation command transmitted from the control device 100, thereby controlling the operating speed or operating direction of each actuator.

[0018] The control device 100 includes a processor such as a CPU and memories such as a ROM and a RAM, and the CPU executes a program stored in the ROM to realize the functions of the control device 100. Note that the relationship between the control valve 5 and the control device 100 is not particularly limited as long as the control device 100 can transmit an operation command to the control valve 5.

[0019] The work machine 1 has pressure measuring devices 14a to 17b that measure the pressure acting on each actuator in order to estimate the load on each actuator. Specifically, the pressure measuring devices 14a to 17b include a boom cylinder bottom pressure sensor 14a that measures the bottom pressure of the boom cylinder 10, a boom cylinder rod pressure sensor 14b that measures the rod pressure of the boom cylinder 10, an arm cylinder bottom pressure sensor 15a that measures the bottom pressure of the arm cylinder 11, an arm cylinder rod pressure sensor 15b that measures the rod pressure of the arm cylinder 11, a bucket cylinder bottom pressure sensor 16a that measures the bottom pressure of the bucket cylinder 12, a bucket cylinder rod pressure sensor 16b that measures the rod pressure of the bucket cylinder 12, and swing motor pressure sensors 17a, 17b that measure the pressure of the inlet / outlet ports of the swing motor 4.

[0020] The work machine 1 has angle measurement devices 20-24 that measure the angles of the joints of the work implement 1c and the rotation angle of the upper rotating body 1b in order to calculate the posture of the work machine 1. Specifically, the angle measurement devices 20-24 include a vehicle body inclination angle sensor 20 that measures the inclination angle of the vehicle body, a boom inclination angle sensor 21 that measures the inclination angle of the boom 6, an arm inclination angle sensor 22 that measures the inclination angle of the arm 7, a bucket inclination angle sensor 23 that measures the inclination angle of the bucket 9, and a rotation angle sensor 24 that measures the rotation angle of the upper rotating body 1b. The angle measurement devices 20-24 are configured, for example, with an IMU (Inertial Measurement Unit). The vehicle body inclination angle sensor 20 measures the ground angle of the vehicle body as the inclination angle of the vehicle body. The boom inclination angle sensor 21 measures the ground angle of the boom 6 as the inclination angle of the boom 6. The arm inclination angle sensor 22 measures the ground angle of the arm 7 as the inclination angle of the arm 7. The bucket inclination angle sensor 23 measures the ground angle of the bucket 9 as the inclination angle of the bucket 9. The swing angle sensor 24 measures the swing angle of the upper swing body 1b with respect to a reference direction.

[0021] In addition, the angle measurement devices 21 to 23 of the present embodiment are configured with the above-mentioned IMU in order to measure the respective ground angles of the boom 6, the arm 7, and the bucket 9, but the configuration of the angle measurement devices 21 to 23 is not limited to this. For example, the angle measurement devices 21 to 23 may measure each rotation angle by attaching a potentiometer to each rotation shaft of the boom 6, the arm 7, and the bucket 9, and measure each ground angle of the boom 6, the arm 7, and the bucket 9 in combination with the vehicle body inclination angle sensor 20 configured with an IMU.

[0022] The upper rotating body 1b also has a setting device 13 in the operator's cab. The setting device 13 is configured with a touch screen. The setting device 13 transmits various setting information input by an operator to the control device 100.

[0023] Fig. 2 is a block diagram showing the functional configuration of the control device 100 of the first embodiment. Fig. 3 is a diagram explaining a method for calculating the attitudes of the working device 1c and the upper rotating body 1b. Fig. 4 is a block diagram showing the details of the target value calculation unit 113 shown in Fig. 2. Fig. 5 is a diagram showing the relationship between the control target value and the operation command.

[0024] The control device 100 calculates a control target value for each actuator, generates an operation command according to the control target value, and transmits the operation command to the control valve 5. In this way, the control device 100 controls the operation of each actuator.

[0025] As shown in FIG. 2, the control device 100 has an attitude calculation unit 101, a target trajectory calculation unit 102, a vehicle body characteristic calculation unit 103, a restriction information acquisition unit 107, an effective power calculation unit 111, a load estimation unit 112, a target value calculation unit 113, and an operation command generation unit 114.

[0026] The attitude calculation unit 101 calculates the attitudes of the working implement 1c and the upper rotating structure 1b based on the measurement results of the angle measurement devices 20 to 24. Specifically, the attitude calculation unit 101 calculates the attitudes of the boom 6, the arm 7, the bucket 9 and the upper rotating structure 1b. The method of calculating the attitude of each part will be described with reference to FIG. 3.

[0027] The coordinate system shown in Fig. 3 has the reference position P0 of the work machine 1 as the origin, the direction of travel of the work machine 1 along the horizontal plane as the x-axis direction, the vertical upward direction as the z-axis direction, and the direction perpendicular to the x-axis direction and the z-axis direction as the y-axis direction. In Fig. 3, the position of the rotation center of the upper rotating body 1b, which is the intersection point between the plane including the ground contact surface of the lower traveling body 1a and the rotation center axis of the upper rotating body 1b, is set as the reference position P0 of the work machine 1. The position of the boom pin, which is the rotation fulcrum of the boom 6, is set as P1, the position of the arm pin, which is the rotation fulcrum of the arm 7, is set as P2, the position of the bucket pin, which is the rotation fulcrum of the bucket 9, is set as P3, and the tip position of the bucket 9 is set as P4. The distance from the reference position P0 of the work machine 1 to the boom pin position P1 is set as L0. The distance from boom pin position P1 to arm pin position P2 is defined as boom length L1, the distance from arm pin position P2 to bucket pin position P3 is defined as arm length L2, and the distance from bucket pin position P3 to toe position P4 is defined as bucket length L3.

[0028] Also, the inclination angle of the work machine 1 in the local coordinate system is defined as θ5. The angle formed by the line segment connecting the reference position P0 to the boom pin position P1 and the vertical direction of the work machine 1 is defined as θ0. The angle formed by the line segment connecting the boom pin position P1 to the arm pin position P2 and the vertical direction of the work machine 1 is defined as boom angle θ1. The angle formed by the line segment connecting the boom pin position P1 to the arm pin position P2 and the line segment connecting the arm pin position P2 to the bucket pin position P3 is defined as arm angle θ2. The angle formed by the line segment connecting the arm pin position P2 to the bucket pin position P3 and the line segment connecting the bucket pin position P3 to the toe position P4 is defined as bucket angle θ3. The rotation angle of the upper rotating body 1b is defined as θ4. The rotation angle θ4 is defined as positive in the counterclockwise direction with the x-axis as the reference.

[0029] It should be noted that boom angle θ1 is a value obtained by subtracting the inclination angle in the pitch direction (around the y-axis) of the vehicle body measured by vehicle body inclination angle sensor 20 from the inclination angle of boom 6 measured by boom inclination angle sensor 21. Arm angle θ2 is a value obtained by subtracting the inclination angle of the boom 6 measured by boom inclination angle sensor 21 from the inclination angle of the arm 7 measured by arm inclination angle sensor 22. Bucket angle θ3 is a value obtained by subtracting the inclination angle of the arm 7 measured by arm inclination angle sensor 22 from the inclination angle of the bucket 9 measured by bucket inclination angle sensor 23.

[0030] In this embodiment, the posture of the working device 1c and the upper rotating body 1b is treated as a vector that stores position information represented by xyz coordinate points of each part and angle information of each part at that time. The posture calculation unit 101 can calculate the arm pin position P2, bucket pin position P3, and toe position P4 using equations 1 to 3. T in the equations indicates a simultaneous transformation matrix.

[0031]

number

[0032]

number

[0033]

number

[0034] The target trajectory calculation unit 102 calculates a target trajectory when the working device 1c and the upper rotating body 1b operate. Specifically, the target trajectory calculation unit 102 calculates a target trajectory of each part based on the operation start position, target position (operation end position), and at least one passing position of each of the boom 6, the arm 7, the bucket 9, and the upper rotating body 1b, which are included in the setting information input to the setting device 13. In this embodiment, spline interpolation that smoothly connects the coordinate points of each position is used as a method of calculating the target trajectory. Note that any calculation method may be used as long as a curve that smoothly connects the coordinate points of each position can be calculated. For example, Lagrange interpolation, Bezier interpolation, Hermite interpolation, etc. may be used.

[0035] The vehicle body characteristic calculation unit 103 calculates vehicle body characteristics of the work machine 1, including the operating characteristics of the work implement 1c and the upper rotating body 1b. The operating characteristics of the work implement 1c and the upper rotating body 1b are characteristics related to the operation of the work implement 1c and the upper rotating body 1b, such as dynamic characteristics, static characteristics, and dead time, and the vehicle body characteristics of the work machine 1 express the operation of the work machine 1 using a mathematical formula including the dynamic characteristics, static characteristics, and dead time of the work implement 1c and the upper rotating body 1b.

[0036] The dynamic characteristics of the work machine 1 refer to the transient relationship between input and output over time that occurs due to a response delay. Taking the rotation operation of the upper rotating body 1b as an example, the dynamic characteristics of the work machine 1 are expressed by the time required for the rotation angular velocity of the upper rotating body 1b to reach a stable speed (constant speed) after the rotation operation lever is operated.

[0037] The static characteristics of the work machine 1 are the relationship between input and output in a steady state when a certain input is applied at a constant level. Taking the rotation operation of the upper rotating body 1b as an example, the static characteristics of the work machine 1 are represented by the rotation angular velocity of the upper rotating body 1b, which becomes a constant speed when the rotation operation lever is operated by a certain amount.

[0038] Dead time is the time it takes for the actuator to start moving after an input is applied.

[0039] The vehicle body characteristic calculation unit 103 includes a vehicle body characteristic acquisition unit 104, a vehicle body characteristic correction unit 105, and a vehicle body characteristic update unit .

[0040] The vehicle body characteristic acquisition unit 104 acquires the vehicle body characteristics of the work machine 1 that are set in advance. Specifically, the vehicle body characteristic acquisition unit 104 acquires the vehicle body characteristics of the work machine 1 included in the setting information from the setting information input to the setting device 13. The vehicle body characteristic acquisition unit 104 uses the attitude of the work implement 1c and the upper rotating body 1b calculated by the attitude calculation unit 101 as an initial value of a mathematical expression that expresses the acquired vehicle body characteristics. Equation 4 is an example of the vehicle body characteristics, and indicates an equation of motion (differential equation) about the rotation axis of the boom 6, the arm 7, the bucket 9, or the upper rotating body 1b. The vehicle body characteristic acquisition unit 104 acquires the vehicle body characteristics such as Equation 4 from the setting device 13, and acquires the attitude of the work implement 1c and the upper rotating body 1b from the attitude calculation unit 101.

[0041]

number

[0042] In Equation 4, I represents the inertia moment matrix of the boom 6, the arm 7, the bucket 9, or the upper rotating body 1b. C represents the viscous resistance matrix of the boom 6, the arm 7, the bucket 9, or the upper rotating body 1b. τ G indicates the gravity term. J indicates a Jacobian matrix derived from the attitudes of the boom 6, the arm 7, the bucket 9, and the upper rotating body 1b. Fact indicates the thrust of each actuator. Fre indicates the load on each actuator. Pact indicates the pressure acting on each actuator. Θ indicates the angle vector of the boom 6, the arm 7, the bucket 9, or the upper rotating body 1b.

[0043] In this embodiment, a differential equation is used as the expression format for the vehicle body characteristics. However, the expression format for the vehicle body characteristics is not particularly limited as long as it can handle the dynamic characteristics, static characteristics, and dead time of the work machine 1. For example, the expression format for the vehicle body characteristics may be a differential equation, a transfer function, a state equation, or the like.

[0044] The vehicle body characteristic correction unit 105 corrects the parameters constituting the vehicle body characteristics acquired by the vehicle body characteristic acquisition unit 104 based on the measurement results of the angle measurement devices 20-24 and the pressure measurement devices 14a-17b. The parameters constituting the vehicle body characteristics are, for example, the moment of inertia or viscous resistance in Equation 4. The vehicle body characteristic correction unit 105 estimates the corrected parameters using an estimation method such as the steepest descent method so that the parameters constituting the vehicle body characteristics acquired by the vehicle body characteristic acquisition unit 104 approach actual measured values.

[0045] The method of estimating the corrected parameters is not particularly limited as long as it reduces the error from the actual measured values. For example, the method of estimating the corrected parameters may be the least squares method, the maximum likelihood estimation method, a genetic algorithm, a simulated annealing method, a particle swarm optimization method, or the like.

[0046] Furthermore, the vehicle body characteristic correcting unit 105 does not have to estimate the corrected parameters for each control cycle. For example, the vehicle body characteristic correcting unit 105 may estimate the corrected parameters when a certain fixed time has elapsed, when a certain fixed number of data items have been accumulated, or when the work machine 1 has completed a specific operation (excavation operation or turning operation).

[0047] The vehicle body characteristic update unit 106 updates the vehicle body characteristics acquired by the vehicle body characteristic acquisition unit 104 using the parameters corrected by the vehicle body characteristic correction unit 105. Specifically, the vehicle body characteristic update unit 106 updates the parameters constituting the vehicle body characteristics acquired by the vehicle body characteristic acquisition unit 104 to the parameters corrected by the vehicle body characteristic correction unit 105.

[0048] The restriction information acquisition unit 107 acquires restriction information that restricts the operation of each actuator. The restriction information is determined in advance according to the specifications of the work machine 1, such as the specifications of each actuator, or the work content of the work machine 1.

[0049] The limit information acquisition unit 107 includes a maximum displacement acquisition unit 108 , a power source characteristic acquisition unit 109 , and a target value range acquisition unit 110 .

[0050] The maximum displacement acquisition unit 108 acquires the maximum displacement of each actuator. Specifically, the maximum displacement acquisition unit 108 acquires the maximum displacement of each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12, which are included in the setting information input to the setting device 13.

[0051] The power source characteristic acquisition unit 109 acquires the power source characteristics including the range of power that the power source that drives each actuator can output. Specifically, the power source characteristic acquisition unit 109 acquires the power source characteristics including the range (e.g., upper limit value) of the power that the engine 18 can output, which is included in the setting information input to the setting device 13.

[0052] The target value range acquisition unit 110 acquires a target value range indicating a settable range of the control target value. Specifically, the target value range acquisition unit 110 acquires a range of the control target value that is included in the setting information input to the setting device 13 and that can be input by the operation command generation unit 114.

[0053] The effective power calculation unit 111 calculates the effective power by subtracting the loss during operation of each actuator from the power source characteristics acquired by the power source characteristic acquisition unit 109. Specifically, the effective power calculation unit 111 calculates the pressure loss of the control valve 5 and the loss of the hydraulic circuit due to the bleed-off flow rate based on the vehicle body characteristics and operation commands as the loss during operation of each actuator. The effective power calculation unit 111 then calculates the effective power by subtracting these losses from the power that the engine 18 can output, which is included in the power source characteristics.

[0054] The load estimation unit 112 estimates the load acting on each actuator based on the measurement results of the pressure measuring devices 14a to 17b.

[0055] The target value calculation unit 113 calculates a control target value for each actuator so that the working implement 1c and the upper rotating body 1b operate according to the target trajectory calculated by the target trajectory calculation unit 102. The control target value for each actuator is, for example, a target pressure or a target flow rate for each actuator. The target value calculation unit 113 calculates the control target value for each actuator based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103 (vehicle body characteristics updated by the vehicle body characteristics update unit 106), the restriction information acquired by the restriction information acquisition unit 107, and the load on each actuator estimated by the load estimation unit 112.

[0056] As shown in FIG. 4, the target value calculation unit 113 has a target attitude calculation unit 1131 and a control target value calculation unit 1132.

[0057] The target attitude calculation unit 1131 calculates the target attitude of the working device 1c and the upper rotating body 1b according to the target trajectory calculated by the target trajectory calculation unit 102. The target attitude calculation unit 1131 evaluates the validity of the calculated target attitude based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103 and the restriction information acquired by the restriction information acquisition unit 107. Specifically, the target attitude calculation unit 1131 estimates the attitude of the working device 1c and the upper rotating body 1b when the working device 1c and the upper rotating body 1b operate based on the vehicle body characteristics and the restriction information. The target attitude calculation unit 1131 evaluates the validity of the target attitude when the error between the estimated attitude and the target attitude is equal to or less than the allowable value, and evaluates the validity of the target attitude when the error is greater than the allowable value.

[0058] If it is evaluated to be valid, the target attitude calculation unit 1131 outputs the calculated target attitude to the control target value calculation unit 1132. If it is evaluated to be invalid, the target attitude calculation unit 1131 corrects the target attitude so that the absolute value of the target attitude becomes smaller until it is evaluated to be valid, and outputs the corrected target attitude to the control target value calculation unit 1132.

[0059] The validity of the target attitude is evaluated based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103, the maximum displacement of each actuator acquired by the maximum displacement acquisition unit 108, the effective power calculated by the effective power calculation unit 111, the target value range acquired by the target value range acquisition unit 110, and the load on each actuator estimated by the load estimation unit 112. The method of evaluating the validity of the target attitude will be described later.

[0060] The control target value calculation unit 1132 calculates a control target value according to the target attitude output from the target attitude calculation unit 1131. That is, the control target value calculation unit 1132 calculates a control target value according to the target attitude evaluated by the target attitude calculation unit 1131 to be valid.

[0061] The operation command generating unit 114 generates an operation command according to the control target value calculated by the target value calculating unit 113, and transmits the generated operation command to the control valve 5. For example, the operation command may be generated by calculating the relationship between the control target value and the operation command in advance and preparing a map or table as shown in FIG. 5. Alternatively, the operation command may be generated based on a control technique such as PID control or optimal regulator. The method of generating the operation command is not particularly limited as long as it is a method that brings the actual measurement value closer to the control target value. The operation command generating unit 114 of this embodiment generates the operation command using a map (FIG. 5) that indicates the relationship between the control target value calculated in advance and the operation command.

[0062] The control valve 5 controls the direction and flow rate of pressurized oil supplied from a hydraulic pump 19 driven by an engine 18 to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swing motor 4 in response to an operation command transmitted from an operation command generating unit 114.

[0063] Next, the processing performed by the control device 100 will be described with reference to Fig. 6 to Fig. 13. Fig. 6 is a flow chart showing the processing related to the initial setting of the control device 100 shown in Fig. 2.

[0064] In step S100, the control device 100 acquires setting information input to the setting device 13. The setting information includes operation start positions, target positions, and passing positions for the boom 6, arm 7, bucket 9, and upper rotating body 1b, as well as the vehicle characteristics of the work machine 1 and limit information for each actuator. Note that the operation start position, target position, and passing position are invariant coordinates that are determined before the start of the operation, and always remain the same coordinates until the operation is completed (until the controlled object reaches the target position).

[0065] In step S101, the vehicle body characteristic acquisition unit 104 acquires the vehicle body characteristics from the setting information, and acquires and sets information relating to the dynamic characteristics, static characteristics and dead time of the work machine 1 included in the vehicle body characteristics.

[0066] In step S102, the maximum displacement acquisition unit 108 acquires the limit information from the setting information, and acquires and sets the maximum displacement of each actuator (the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12) included in the limit information.

[0067] In step S103, the power source characteristics acquisition unit 109 acquires and sets the power source characteristics of the engine 18 contained in the restriction information.

[0068] In step S104, the target value range acquisition unit 110 acquires and sets the target value range contained in the restriction information.

[0069] In step S105, the target trajectory calculation unit 102 acquires the operation start position, the target position, and the passing position from the setting information, and calculates the target trajectories of the working device 1c and the upper rotating body 1b based on these. After that, the control device 100 ends the process shown in FIG.

[0070] FIG. 7 is a flowchart showing the processing of the control device 100 performed after FIG. 6. FIG. 8 is a diagram for explaining step S205 in FIG. 7. FIG. 9 is a diagram for explaining step S207 in FIG. 7. FIG. 10 is a diagram (part 1) for explaining step S208 in FIG. 7. FIG. 11 is a diagram (part 2) for explaining step S208 in FIG. 7. FIG. 12 is a diagram (part 3) for explaining step S208 in FIG. 7. FIG. 13 is a diagram for explaining step S210 in FIG. 7.

[0071] 7 shows a process for one control cycle. The process shown in FIG.

[0072] In step S200, the posture calculation unit 101 calculates the current postures of the working implement 1c and the upper rotating structure 1b based on the measurement results of the angle measurement devices 20 to 24. Furthermore, the posture calculation unit 101 calculates the current speeds of the working implement 1c and the upper rotating structure 1b from the calculated current postures. These speeds indicate the angular velocities of the boom 6, the arm 7, the bucket 9 and the upper rotating structure 1b.

[0073] In step S201, the vehicle body characteristic acquisition unit 104 calculates the current vehicle body characteristics based on the calculated current attitude and speed and preset vehicle body characteristics.

[0074] In step S202, the effective power calculation unit 111 calculates the effective power based on the current vehicle body characteristics calculated by the vehicle body characteristics acquisition unit 104, the past operation commands generated by the operation command generation unit 114, and the power source characteristics previously set by the power source characteristics acquisition unit 109.

[0075] In step S203, the load estimation unit 112 acquires the pressure acting on each actuator from the measurement results of the pressure measuring devices 14a to 17b.

[0076] In step S204, the load estimating unit 112 estimates the load acting on each actuator from the acquired pressure of each actuator.

[0077] In step S205, the vehicle body characteristic correction unit 105 corrects the parameters constituting the vehicle body characteristics based on the measurement results of the angle measuring devices 20 to 24 and the pressure measuring devices 14a to 17b.

[0078] FIG. 8 shows an example of the processing of the vehicle body characteristic correction unit 105. In FIG. 8, for example, εbk_2 indicates the error between the bucket angle (θ^bk_2 on the dashed line) estimated from the current vehicle body characteristic acquired by the vehicle body characteristic acquisition unit 104 at time t2 following time t1 when the operation is started, and the actual measurement value of the bucket angle (θbk_2 on the solid line). The vehicle body characteristic correction unit 105 corrects the parameters constituting the vehicle body characteristic so as to reduce this error based on the measurement results of the pressure measuring devices 14a to 17b. The error εbk_3 at the next time t3 after the correction becomes a smaller value than εbk_2. By repeatedly executing this at each time until time t6, the parameters are corrected, and the vehicle body characteristic information is improved more and more as the time progresses.

[0079] In step S206 , the vehicle body characteristic update unit 106 updates the vehicle body characteristics acquired by the vehicle body characteristic acquisition unit 104 using the parameters corrected by the vehicle body characteristic correction unit 105 .

[0080] In step S207, the target attitude calculation unit 1131 of the target value calculation unit 113 calculates the target attitudes of the work implement 1c and the upper rotating body 1b at each time.

[0081] 9 shows a target attitude of the bucket 9 as an example of a target attitude calculated by the target attitude calculation unit 1131. On a target trajectory S passing through a passing position P_pass from an operation start position P_start to a target position P_tgt, target attitudes X_1 to X_6 including target coordinates set at any time and target angles at those coordinates are calculated. The initial attitude is set as X_0. Each of the target attitudes and the initial attitude is expressed by Equation 5.

[0082]

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[0083] In Equation 5, xi indicates a target x coordinate in the target coordinate X_i. yi indicates a target y coordinate in the target coordinate X_i. zi indicates a target z coordinate in the target coordinate X_i. θ3_i indicates a target bucket angle in the target coordinate X_i.

[0084] In this embodiment, six target coordinates are set for each arbitrary time, but the number is not limited as long as it is two or more. The target posture in Fig. 9 is given arbitrarily. From the given target coordinates, the target angles of the boom 6, arm 7, bucket 9 and upper rotating body 1b at each time from t1 to t6 are calculated.

[0085] In step S208, the target attitude calculation unit 1131 evaluates the validity of the calculated target attitude based on the updated vehicle body characteristics, the maximum displacement of each actuator, the effective power, the target value range, and the load of each actuator. Specifically, the target attitude calculation unit 1131 estimates the attitudes of the work device 1c and the upper rotating body 1b when the work device 1c and the upper rotating body 1b operate based on the updated vehicle body characteristics, the maximum displacement of each actuator, the effective power, the target value range, and the load of each actuator. Then, the target attitude calculation unit 1131 evaluates that the target attitude is valid if the error between the estimated attitude and the target attitude is equal to or smaller than the allowable value, and evaluates that the target attitude is invalid if the error is larger than the allowable value.

[0086] Fig. 10 shows an example of evaluating the validity of a target bucket angle of the bucket 9, which is an example of a target attitude. In Fig. 10, the calculated target bucket angles θ3_1 to θ3_6 are indicated by a solid line X. In contrast to this, the estimation result of the bucket angle (hereinafter also referred to as "estimated bucket angle") when the vehicle body characteristics, the maximum displacement of the bucket cylinder 12, the effective power, the target value range, and the load on the bucket cylinder 12 are taken into consideration is indicated by a dashed dotted line Xest.

[0087] Here, a method for calculating the estimated bucket angle Xest, which is an example of the result of estimating the attitude of the working implement 1c and the upper rotating body 1b when the vehicle body characteristics and the limiting information are taken into consideration, will be described. For the sake of simplicity, the limiting information will be described taking the effective power and the target value range as an example. The estimated bucket angle Xest is calculated from the control target value corresponding to the target bucket angle, the limit due to the effective power, and the limit due to the target value range.

[0088] First, the control target value according to the target bucket angle can be calculated in Equation 4 by using the target angle vector, target angular velocity vector, and target angular acceleration vector calculated from the target bucket angle and times t1 to t6, and the load Fre applied to each actuator. For the load Fre, a load estimated by the load estimator 112 is used. Note that in this embodiment, the control target value at times t1 to t6 is calculated assuming that the load Fre is constant, but the load may be estimated in advance based on a target trajectory obtained in advance, and the estimated value may be used to calculate the control target value. Also, the current attitude and current speed calculated by the attitude calculator 101 are used as initial values ​​for Equation 4.

[0089] Next, a control target value is calculated when a limit due to effective power and a limit due to a target value range are imposed on the control target value corresponding to the target bucket angle. FIG. 11 shows a limit u_est_pq of the control target value when a limit u_pq due to effective power (shaded portion) is imposed on the control target value u_tgt corresponding to the target bucket angle. When a limit u_pq due to effective power is imposed on the control target value u_tgt corresponding to the target bucket angle, the control target value cannot exceed the limit u_pq due to effective power. Therefore, when a limit u_pq due to effective power is imposed on the control target value u_tgt corresponding to the target bucket angle, the limit of the control target value that can actually be set is as shown by the dashed line u_est_pq. FIG. 12 shows a control target value u_est when a limit u_lim (dotted portion) due to a target value range is further imposed on the limit u_est_pq of the control target value when a limit u_pq due to effective power is imposed. When a limit u_lim based on the target value range is imposed on the limit u_est_pq of the control target value, the control target value that can actually be set is as shown by the dotted line u_est. The limit u_lim based on the target value range is determined in advance based on the specifications of the work machine 1 (relief pressure of the relief valve, maximum cylinder capacity, etc.). The attitude at each of times t1 to t6 calculated according to the control target value u_est with these limits imposed becomes the estimated bucket angle Xest shown in Figure 10.

[0090] Next, the error Xe (shaded portion in FIG. 10) between the target bucket angle X and the estimated bucket angle Xest is calculated. If the error Xe is equal to or less than the allowable value η, the target bucket angle X is evaluated to be valid. If the error Xe is larger than the allowable value η, the target bucket angle X is evaluated to be invalid. Note that the method of calculating the error Xe is not particularly limited as long as it is possible to evaluate the error between the target bucket angle X and the estimated bucket angle Xest. The method of calculating the error Xe may be, for example, a method of calculating the root mean square error between the target bucket angle X and the estimated bucket angle Xest.

[0091] In step S209, the target attitude calculation unit 1131 judges whether the calculated target attitude is evaluated as being valid. If it is evaluated as being valid, the target attitude calculation unit 1131 proceeds to step S211. If it is evaluated as being invalid, the target attitude calculation unit 1131 proceeds to step S210.

[0092] In step S210, the target attitude calculation unit 1131 corrects the target attitude so that the absolute value of the target attitude becomes smaller. After that, the target attitude calculation unit 1131 proceeds to step S207. That is, the target attitude calculation unit 1131 corrects the target attitude until it is evaluated as being valid.

[0093] 13 shows the relationship between a corrected target bucket angle X', which is an example of a corrected target attitude, and an estimated bucket angle X'est calculated when evaluating the validity of the target bucket angle X'. The processes of steps S207 to S210 are repeated until the error X'e between the corrected target bucket angle X' and the estimated bucket angle X'est becomes equal to or smaller than the allowable value η.

[0094] In step S211, the control target value calculation unit 1132 of the target value calculation unit 113 calculates a control target value corresponding to the target attitude evaluated by the target attitude calculation unit 1131 to be valid.

[0095] In step S212, the operation command generating unit 114 generates an operation command corresponding to the control target value calculated by the control target value calculating unit 1132, and transmits it to the control valve 5. After that, the control device 100 ends the process shown in FIG.

[0096] As described above, the control device 100 of the first embodiment has a target trajectory calculation unit 102 that calculates a target trajectory of the working implement 1c, a vehicle body characteristic calculation unit 103 that calculates vehicle body characteristics of the working machine 1 including the operating characteristics of the working implement 1c, and a target value calculation unit 113 that calculates control target values ​​for the actuators so that the working implement 1c operates according to the target trajectory calculated by the target trajectory calculation unit 102. The target value calculation unit 113 calculates the control target value based on the vehicle body characteristics calculated by the vehicle body characteristic calculation unit 103.

[0097] This allows the control device 100 to calculate the control target values ​​of the actuators taking into account the vehicle body characteristics while calculating the control target values ​​according to the target trajectory. Therefore, the control device 100 can avoid setting control target values ​​that exceed the vehicle body characteristics while calculating the control target values ​​according to the target trajectory. Therefore, the control device 100 can control the operation of the working device 1c with high precision. Therefore, according to this embodiment, it is possible to provide a working machine 1 that can control the operation of the working device 1c with high precision.

[0098] Furthermore, in the control device 100 of the first embodiment, the target value calculation unit 113 has a target attitude calculation unit 1131 that calculates a target attitude of the working device 1c according to the target trajectory calculated by the target trajectory calculation unit 102, and a control target value calculation unit 1132 that calculates a control target value according to the target attitude output from the target attitude calculation unit 1131. The target attitude calculation unit 1131 evaluates the validity of the target attitude calculated by the target attitude calculation unit 1131 based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103. If the target attitude calculation unit 1131 evaluates that the target attitude is not valid, it corrects the calculated target attitude and outputs it to the control target value calculation unit 1132.

[0099] This allows the control device 100 to evaluate the validity of the target posture in advance and correct an invalid target posture, eliminating the need to set an invalid control target value. Therefore, the control device 100 can accurately estimate in what posture the working device 1c will actually operate, and reliably set a valid control target value. As a result, the control device 100 can reliably control the operation of the working device 1c with high precision. Therefore, according to this embodiment, it is possible to provide a working machine 1 that can reliably and accurately control the operation of the working device 1c.

[0100] Furthermore, the control device 100 of the first embodiment further includes a restriction information acquisition unit 107 that acquires restriction information that restricts the operation of the actuator. The target value calculation unit 113 evaluates the validity of the target attitude based on the restriction information acquired by the restriction information acquisition unit 107.

[0101] This allows the control device 100 to evaluate the validity of the target attitude taking into account the restriction information that restricts the operation of the actuator, and therefore allows the control device 100 to evaluate the validity with high accuracy. Therefore, the control device 100 can set a more valid control target value, and can control the operation of the working device 1c with higher accuracy. Therefore, according to this embodiment, it is possible to provide a work machine 1 that can control the operation of the working device 1c with higher accuracy.

[0102] Furthermore, in the control device 100 of the first embodiment, the target value calculation unit 113 estimates the attitude of the working device 1c when the working device 1c operates based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103 and the restriction information acquired by the restriction information acquisition unit 107, and if the error between the estimated attitude and the target attitude is larger than the allowable value, it evaluates that the target attitude is invalid.

[0103] This allows the control device 100 to accurately estimate in what posture the working device 1c will actually operate, and correct the target posture to one that is valid so that the error is below a certain level. Therefore, the control device 100 can set a more valid control target value, and can control the operation of the working device 1c with more precision. Therefore, according to this embodiment, it is possible to provide a working machine 1 that can control the operation of the working device 1c with more precision.

[0104] Furthermore, in the control device 100 of the first embodiment, the restriction information acquisition unit 107 has a maximum displacement acquisition unit 108 that acquires the maximum displacement of the actuator. The target value calculation unit 113 evaluates the validity of the target attitude based on the maximum displacement of the actuator acquired by the restriction information acquisition unit 107.

[0105] This allows the control device 100 to evaluate the validity of the target attitude taking into account the maximum displacement of the actuator, and therefore allows the control device 100 to evaluate the validity with high accuracy. Therefore, the control device 100 can set a more valid control target value that falls within the maximum displacement, and can control the operation of the working device 1c with even higher accuracy. Therefore, according to this embodiment, it is possible to provide a working machine 1 that can control the operation of the working device 1c with even higher accuracy.

[0106] Furthermore, in the control device 100 of the first embodiment, the limit information acquisition unit 107 has a power source characteristic acquisition unit 109 that acquires power source characteristics including a range of power that the power source of the actuator can output. The control device 100 further includes an effective power calculation unit 111 that calculates an effective power excluding losses during operation of the actuator from the power source characteristics acquired by the power source characteristic acquisition unit 109. A target value calculation unit 113 evaluates the validity of the target attitude based on the effective power calculated by the effective power calculation unit 111.

[0107] This allows the control device 100 to evaluate the validity of the target attitude taking into account the effective power that is actually caused to operate the actuator, and therefore allows for accurate evaluation of the validity. Therefore, the control device 100 can set a more valid control target value that falls within the maximum speed, maximum acceleration, or maximum thrust of the actuator, and can control the operation of the working device 1c with even greater accuracy. Therefore, according to this embodiment, it is possible to provide a working machine 1 that can control the operation of the working device 1c with even greater accuracy.

[0108] Furthermore, in the control device 100 of the first embodiment, the restriction information acquisition unit 107 has a target value range acquisition unit 110 that acquires a target value range indicating a settable range of the control target value. The target value calculation unit 113 evaluates the validity of the target attitude based on the target value range acquired by the target value range acquisition unit 110.

[0109] This allows the control device 100 to evaluate the validity of the target attitude taking into account the settable range of the control target value, and therefore allows the control device 100 to evaluate the validity with high accuracy. Therefore, the control device 100 can set a more valid control target value that falls within the settable range of the control target value, and can control the operation of the working device 1c with even higher accuracy. Therefore, according to this embodiment, it is possible to provide a working machine 1 that can control the operation of the working device 1c with even higher accuracy.

[0110] Furthermore, the control device 100 of the first embodiment further includes a load estimation unit 112 that estimates a load on the actuator. A target value calculation unit 113 evaluates the validity of the target attitude based on the load estimated by the load estimation unit 112.

[0111] This allows the control device 100 to evaluate the validity of the target attitude taking into account the load on the actuator, and therefore allows for accurate evaluation of the validity. Therefore, the control device 100 can set a more valid control target value that takes into account disturbances such as excavation reaction force, and can control the operation of the working implement 1c with even greater accuracy. Therefore, according to this embodiment, it is possible to provide a work machine 1 that can control the operation of the working implement 1c with even greater accuracy.

[0112] Furthermore, the working machine 1 of the first embodiment further includes angle measuring devices 20-24 that measure the angles of each joint of the working device 1c, and pressure measuring devices 14a-17b that measure pressure acting on the actuators. The vehicle body characteristic calculation unit 103 includes a vehicle body characteristic acquisition unit 104 that acquires preset vehicle body characteristics, a vehicle body characteristic correction unit 105 that corrects parameters constituting the vehicle body characteristics based on the measurement results of the angle measuring devices 20-24 and the pressure measuring devices 14a-17b, and a vehicle body characteristic update unit 106 that updates the vehicle body characteristics acquired by the vehicle body characteristic acquisition unit 104 using the parameters corrected by the vehicle body characteristic correction unit 105.

[0113] As a result, even if the vehicle body characteristics change due to aging or environmental changes, the control device 100 can update the vehicle body characteristics in response to the changes, thereby suppressing deterioration in accuracy of the vehicle body characteristics. Therefore, the control device 100 can set more appropriate control target values ​​and can control the operation of the working device 1c with more accuracy. Therefore, according to this embodiment, it is possible to provide a work machine 1 that can control the operation of the working device 1c with more accuracy.

[0114] [Second embodiment] A working machine 1 of the second embodiment will be described with reference to Figures 14 to 16. In the working machine 1 of the second embodiment, explanations of components similar to those of the first embodiment will be omitted.

[0115] FIG. 14 is a block diagram showing the details of the target value calculation unit 113 of the second embodiment.

[0116] In the target value calculation unit 113 of the first embodiment, the target attitude calculation unit 1131 evaluates the validity of the calculated target attitude based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103 and the restriction information acquired by the restriction information acquisition unit 107.

[0117] In contrast, in the target value calculation unit 113 of the second embodiment, the control target value calculation unit 1132 evaluates the validity of the calculated control target value based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103 and the restriction information acquired by the restriction information acquisition unit 107.

[0118] Fig. 15 is a flowchart showing the process of the control device 100 of the second embodiment. The process shown in Fig. 15 corresponds to the process shown in Fig. 7, and is performed after Fig. 6. Fig. 16 is a diagram for explaining step S309 in Fig. 15.

[0119] In steps S300 to S306, the control device 100 of the second embodiment performs the same processes as those in steps S200 to S206 in FIG.

[0120] In step S307, the target attitude calculation unit 1131 in the second embodiment calculates the target attitudes of the work implement 1c and the upper rotating body 1b at each time, similar to step S207 in Fig. 7. Then, the target attitude calculation unit 1131 outputs the calculated target attitudes to the control target value calculation unit 1132.

[0121] In step S308, the control target value calculation unit 1132 of the second embodiment calculates a control target value corresponding to the target attitude calculated by the target attitude calculation unit 1131.

[0122] In step S309, the control target value calculation unit 1132 evaluates the validity of the calculated control target value based on the updated vehicle body characteristics, the maximum displacement, effective power, target value range, and load of each actuator. Specifically, the control target value calculation unit 1132 estimates the control target value of each actuator when the working device 1c and the upper rotating body 1b operate based on the updated vehicle body characteristics, the maximum displacement, effective power, target value range, and load of each actuator. Then, when the error between the estimated control target value and the control target value corresponding to the target attitude is equal to or smaller than the allowable value, the control target value calculation unit 1132 evaluates that the control target value corresponding to the target attitude is valid, and when the error is larger than the allowable value, evaluates that the control target value corresponding to the target attitude is not valid.

[0123] Fig. 16 shows an example of evaluating the validity of a target flow rate of the bucket cylinder 12, which is an example of a control target value for an actuator, but this evaluation method is similarly applicable to actuators other than the bucket cylinder 12, such as the boom cylinder 10, the arm cylinder 11, the traveling motor 2, or the swing motor 4. In Fig. 16, the target flow rate corresponding to the calculated target bucket angle is indicated by a solid line u_tgt. In contrast, the estimated result of the bucket flow rate (hereinafter also referred to as "estimated bucket flow rate") when the vehicle body characteristics, the maximum displacement of the bucket cylinder 12, the effective power, the target value range, and the load on the bucket cylinder 12 are taken into consideration is indicated by a dotted line u_est. The calculation method of the estimated bucket flow rate u_est is the same as in the first embodiment.

[0124] Then, similarly to the first embodiment, the error u_e (shaded portion in FIG. 16) between the target flow rate u_tgt corresponding to the target bucket angle and the estimated bucket flow rate u_est is calculated. If the error u_e is equal to or smaller than the allowable value η, it is evaluated that the target flow rate u_tgt corresponding to the target bucket angle is valid. If the error u_e is larger than the allowable value η, it is evaluated that the target flow rate u_tgt corresponding to the target bucket angle is not valid.

[0125] In step S310, the control target value calculation unit 1132 determines whether the control target value according to the target posture is evaluated as being valid. If it is evaluated as being valid, the control target value calculation unit 1132 proceeds to step S312. If it is evaluated as being invalid, the control target value calculation unit 1132 proceeds to step S311.

[0126] In step S311, the control target value calculation unit 1132 outputs a correction instruction to the target attitude calculation unit 1131 to correct the target attitude so that the absolute value of the target attitude becomes smaller. After that, the control target value calculation unit 1132 proceeds to step S307. In step S307, the target attitude calculation unit 1131 corrects the target attitude in accordance with the correction instruction and outputs it to the control target value calculation unit 1132. That is, the control target value calculation unit 1132 corrects the target attitude until it is evaluated to be valid.

[0127] In step S312, the operation command generating unit 114 generates an operation command corresponding to the control target value evaluated to be valid by the control target value calculating unit 1132, and transmits the operation command to the control valve 5. After that, the control device 100 ends the processing shown in FIG.

[0128] As described above, in the control device 100 of the second embodiment, the target value calculation unit 113 has a target attitude calculation unit 1131 that calculates a target attitude of the working device 1c according to the target trajectory calculated by the target trajectory calculation unit 102, and a control target value calculation unit 1132 that calculates a control target value according to the target attitude output from the target attitude calculation unit 1131. The control target value calculation unit 1132 evaluates the validity of the calculated control target value based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103. If the control target value calculation unit 1132 evaluates that the calculated control target value is invalid, it outputs an instruction to correct the target attitude calculated by the target attitude calculation unit 1131 to the target attitude calculation unit 1131. The target attitude calculation unit 1131 corrects the calculated target attitude according to the correction instruction and outputs the corrected target attitude to the control target value calculation unit 1132.

[0129] This allows the control device 100 to evaluate the validity of the control target value in advance and correct an invalid control target value, thereby eliminating the need to set an invalid control target value. Therefore, the control device 100 can accurately estimate in what posture the working device 1c will actually operate, and reliably set a valid control target value. As a result, the control device 100 can reliably control the operation of the working device 1c with high precision. Therefore, according to this embodiment, it is possible to provide a working machine 1 that can reliably and accurately control the operation of the working device 1c.

[0130] Furthermore, in the control device 100 of the second embodiment, the target value calculation unit 113 estimates a control target value of the actuator when the working device 1c operates based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit 103 and the restriction information acquired by the restriction information acquisition unit 107, and if the error between the estimated control target value and the control target value corresponding to the target attitude is larger than an allowable value, it evaluates that the control target value corresponding to the target attitude is invalid.

[0131] As a result, the control device 100 can accurately estimate what control target value the actuator will actually operate with when the working device 1c operates, and correct the target attitude so that the error is below a certain level, thereby correcting the control target value according to the target attitude to a valid one. Therefore, the control device 100 can set a more valid control target value, and can control the operation of the working device 1c with even greater accuracy. Therefore, according to this embodiment, it is possible to provide a working machine 1 that can control the operation of the working device 1c with even greater accuracy.

[0132] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to each embodiment, and various modifications can be made without departing from the spirit of the present invention. In the present invention, components of one embodiment can be added to components of another embodiment, components of one embodiment can be replaced with components of another embodiment, or some components of one embodiment can be deleted. [Explanation of symbols]

[0133] Reference Signs List 1...working machine, 1a...lower traveling body, 1b...upper rotating body, 1c...working device, 2...traveling motor, 3...swivel ring, 4...swivel motor, 5...control valve, 6...boom, 7...arm, 8...bucket link, 9...bucket, 10...boom cylinder, 11...arm cylinder, 12...bucket cylinder, 13...setting device, 14a...boom cylinder bottom pressure sensor, 14b...boom cylinder rod pressure sensor, 15a...arm cylinder bottom pressure sensor, 15b...arm cylinder rod pressure sensor, 16a...bucket cylinder bottom pressure sensor, 16b...bucket cylinder rod pressure sensor, 17a...swivel motor inlet pressure sensor, 17b...swivel motor outlet pressure sensor, 14a to 17b...pressure gauge measuring device, 18...engine, 19...hydraulic pump, 20...vehicle body inclination angle sensor, 21...boom inclination angle sensor, 22...arm inclination angle sensor, 23...bucket inclination angle sensor, 24...swing angle sensor, 20-24...angle measuring device, 100...control device, 101...attitude calculation unit, 102...target trajectory calculation unit, 103...vehicle body characteristic calculation unit, 104...vehicle body characteristic acquisition unit, 105...vehicle body characteristic correction unit, 106...vehicle body characteristic update unit, 107...restriction information acquisition unit, 108...maximum displacement acquisition unit, 109...power source characteristic acquisition unit, 110...target value range acquisition unit, 111...effective power calculation unit, 112...load estimation unit, 113...target value calculation unit, 1131...target attitude calculation unit, 1132...control target value calculation unit, 114...operation command generation unit

Claims

1. A work machine including a control device that controls the operation of an actuator that drives a work device, The control device includes: a target trajectory calculation unit that calculates a target trajectory of the working device; a vehicle body characteristic calculation unit that calculates vehicle body characteristics of the work machine including the operating characteristics of the work implement; a target value calculation unit that calculates a control target value of the actuator so that the working device operates in accordance with the target trajectory calculated by the target trajectory calculation unit, The target value calculation unit calculates the control target value based on the vehicle body characteristic calculated by the vehicle body characteristic calculation unit. A working machine characterized by:

2. The target value calculation unit a target attitude calculation unit that calculates a target attitude of the working device according to the target trajectory calculated by the target trajectory calculation unit; a control target value calculation unit that calculates the control target value according to the target attitude output from the target attitude calculation unit, The target attitude calculation unit evaluates the validity of the calculated target attitude based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit, and when the validity is evaluated to be inappropriate, corrects the calculated target attitude and outputs it to the control target value calculation unit.

2. A work machine according to claim 1.

3. The target value calculation unit a target attitude calculation unit that calculates a target attitude of the working device according to the target trajectory calculated by the target trajectory calculation unit; a control target value calculation unit that calculates the control target value according to the target attitude output from the target attitude calculation unit, the control target value calculation unit evaluates the validity of the calculated control target value based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit, and when evaluating that the control target value is not valid, outputs an instruction to correct the calculated target attitude to the target attitude calculation unit; The target attitude calculation unit corrects the calculated target attitude in accordance with the correction instruction output from the control target value calculation unit and outputs the corrected target attitude to the control target value calculation unit.

2. A work machine according to claim 1.

4. The control device further includes a restriction information acquisition unit that acquires restriction information that restricts an operation of the actuator, The target attitude calculation unit evaluates the validity based on the restriction information acquired by the restriction information acquisition unit.

3. A work machine according to claim 2.

5. The control device further includes a restriction information acquisition unit that acquires restriction information that restricts an operation of the actuator, The control target value calculation unit evaluates the validity based on the restriction information acquired by the restriction information acquisition unit.

4. A work machine according to claim 3.

6. The target attitude calculation unit is estimating an attitude of the working device when the working device operates based on the vehicle body characteristics calculated by the vehicle body characteristics calculation unit and the restriction information acquired by the restriction information acquisition unit; If the error between the estimated attitude and the target attitude is greater than a tolerance, the target attitude is evaluated as being invalid.

5. A work machine according to claim 4.

7. The control target value calculation unit is estimating the control target value of the actuator when the working device is operated based on the vehicle body characteristic calculated by the vehicle body characteristic calculation unit and the restriction information acquired by the restriction information acquisition unit; When an error between the estimated control target value and the control target value corresponding to the target attitude is larger than an allowable value, the control target value corresponding to the target attitude is evaluated as being invalid.

6. A work machine according to claim 5.

8. the limit information acquisition unit has a maximum displacement acquisition unit that acquires a maximum displacement of the actuator, The target attitude calculation unit evaluates the validity based on the maximum displacement of the actuator acquired by the maximum displacement acquisition unit.

5. A work machine according to claim 4.

9. the limit information acquisition unit has a maximum displacement acquisition unit that acquires a maximum displacement of the actuator, The control target value calculation unit evaluates the validity based on the maximum displacement of the actuator acquired by the maximum displacement acquisition unit.

6. A work machine according to claim 5.

10. the limiting information acquiring unit has a power source characteristic acquiring unit that acquires power source characteristics including a range of power that can be output by the power source of the actuator, the control device further includes an effective power calculation unit that calculates an effective power by excluding a loss during operation of the actuator from the power source characteristics acquired by the power source characteristics acquisition unit, The target attitude calculation unit evaluates the validity based on the effective power calculated by the effective power calculation unit.

5. A work machine according to claim 4.

11. the limiting information acquiring unit has a power source characteristic acquiring unit that acquires power source characteristics including a range of power that can be output by the power source of the actuator, the control device further includes an effective power calculation unit that calculates an effective power by excluding a loss during operation of the actuator from the power source characteristics acquired by the power source characteristics acquisition unit, The control target value calculation unit evaluates the validity based on the effective power calculated by the effective power calculation unit.

6. A work machine according to claim 5.

12. the restriction information acquisition unit includes a target value range acquisition unit that acquires a target value range indicating a settable range of the control target value, The target attitude calculation unit evaluates the validity based on the target value range acquired by the target value range acquisition unit.

5. A work machine according to claim 4.

13. the restriction information acquisition unit includes a target value range acquisition unit that acquires a target value range indicating a settable range of the control target value, The control target value calculation unit evaluates the validity based on the target value range acquired by the target value range acquisition unit.

6. A work machine according to claim 5.

14. The control device further includes a load estimating unit that estimates a load applied to the actuator, The target attitude calculation unit evaluates the validity based on the load estimated by the load estimation unit.

5. A work machine according to claim 4.

15. The control device further includes a load estimating unit that estimates a load applied to the actuator, The control target value calculation unit evaluates the validity based on the load estimated by the load estimation unit.

6. A work machine according to claim 5.

16. the work machine further includes an angle measuring device that measures an angle of each joint of the work device, and a pressure measuring device that measures a pressure acting on the actuator, The vehicle body characteristic calculation unit is A vehicle body characteristic acquisition unit that acquires the vehicle body characteristics that have been set in advance; a vehicle body characteristic correction unit that corrects parameters constituting the vehicle body characteristics based on the measurement results of the angle measuring device and the pressure measuring device; a vehicle body characteristic update unit that updates the vehicle body characteristics acquired by the vehicle body characteristic acquisition unit using the parameters corrected by the vehicle body characteristic correction unit.

2. A work machine according to claim 1.

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