Work machine control system, and work machine control method

Abstract

To improve productivity in drilling works.SOLUTION: A work machine control system includes a work device and a controller. The work device has a boom, an arm connected to the boom, and a bucket connected to the arm, and performs a drilling work with the bucket. The controller acquires control parameters related to operation of the work device when performing drilling work from at least one adjusted control parameter that is stored in advance and information acquired during an initial stage of drilling work. The controller controls the drilling work using the acquired control parameters.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present disclosure relates to a control system for a work machine and a control method for a work machine. [Background technology]

[0002] Patent Publication No. 2022-170840 (Patent Document 1) discloses a work vehicle that calculates reliability for multiple types of excavation targets based on excavation reaction forces, determines the type of excavation target based on the calculated reliability and a preset correction value, and controls the lift arm and bucket based on the determined type to perform excavation operations. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-170840 Summary of the Invention [Problem to be solved by the invention]

[0004] Among the operations performed by work machines, excavation work, which involves digging an excavation target, is an operation that requires a high level of skill in order to respond to various on-site conditions. Furthermore, excavation work consumes a lot of fuel. In order to improve the productivity of excavation work, it is desirable to perform excavation work by operating the work machine appropriately in accordance with the on-site conditions.

[0005] The present disclosure proposes techniques for improving productivity in excavation operations. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, a work machine control system includes a work machine and a controller. The work machine has a boom, an arm connected to the boom, and a bucket connected to the arm, and performs excavation work with the bucket. The controller acquires control parameters related to the operation of the work machine when performing excavation work from at least one adjusted control parameter stored in advance and information acquired in an early stage of the excavation work. The controller controls the excavation work using the acquired control parameters.

[0007] According to one aspect of the present disclosure, a work machine control system includes a work machine and a controller. The work machine has a bucket at its tip and performs excavation work with the bucket. The controller acquires control parameters related to the operation of the work machine when performing excavation work from adjusted control parameters that have been adjusted in advance and stored using an evaluation function that includes the weight of a load to be loaded into the bucket during excavation work and a cost that is an index of the cost of the excavation work, and from information acquired in an early stage of the excavation work. The controller controls the excavation work using the acquired control parameters.

[0008] A method for controlling a work machine according to one aspect of the present disclosure includes the following steps: a first step of acquiring control parameters related to the operation of a work machine having a boom, an arm connected to the boom, and a bucket connected to the arm, which performs excavation work with the bucket, from pre-stored adjusted control parameters and information acquired in an early stage of the excavation work; and a second step of controlling the excavation work using the acquired control parameters. [Effects of the Invention]

[0009] According to the present disclosure, when controlling excavation operations, appropriate control parameters according to the excavation conditions are used, thereby improving productivity of the excavation operations. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is an external view of a hydraulic excavator. [Figure 2] FIG. 2 is a side view of the hydraulic excavator showing the configuration of sensors attached to the work equipment. [Figure 3] 1 is a block diagram showing a schematic configuration of a control system for a work machine. [Figure 4] FIG. 2 is a schematic diagram of a work machine for explaining moment balance. [Figure 5] 10A and 10B are diagrams illustrating the operation of a work machine by automatic excavation. [Figure 6] 10 is a flowchart showing the flow of a process for optimizing a control parameter. [Figure 7] FIG. 1 is a diagram illustrating a first example of a Gaussian process model. [Figure 8] FIG. 10 is a diagram illustrating a second example of a Gaussian process model. [Figure 9] FIG. 10 is a diagram showing a convergence curve of an evaluation function. [Figure 10] FIG. 10 is a diagram showing the relationship between the amount of soil and the amount of work for each weighting coefficient. [Figure 11] FIG. 10 is a diagram showing an optimal solution of control parameters for each weighting coefficient. [Figure 12] 10 is a flowchart showing a process flow for executing automatic excavation according to the excavation situation. [Figure 13] FIG. 10 is a diagram showing an example of the progress of cutting edge speed during excavation work. [Figure 14] FIG. 10 is a diagram illustrating an example of a correspondence relationship between cutting edge speed and soil type. [Figure 15] FIG. 1 is a schematic diagram showing the configuration of a simple N-value meter. [Figure 16] FIG. 4 is a diagram showing a first example of adjusted control parameters stored in a storage unit. [Figure 17] FIG. 10 is a diagram showing an example of the position of the cutting edge at the initial stage of an excavation operation. [Figure 18] FIG. 10 is a diagram showing a second example of adjusted control parameters stored in the storage unit. [Figure 19] FIG. 10 is a diagram illustrating an outline of interpolation of adjusted control parameters. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, the embodiments will be described with reference to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated. In the drawings, configurations may be omitted or simplified for the sake of convenience. It is also intended from the beginning that any configurations may be extracted from the embodiments and arbitrarily combined.

[0012] <Work machine configuration> In the embodiment, the work machine will be described by taking as an example a hydraulic excavator 100. Fig. 1 is an external view of a hydraulic excavator 100 as an example of a work machine.

[0013] As shown in Fig. 1, the hydraulic excavator 100 has a main body 1 and a hydraulically operated work machine 2. The main body 1 has a revolving body 3 and a running body 5. The running body 5 has a pair of tracks 5Cr and a traveling motor 5M. The traveling motor 5M is provided as a drive source for the running body 5. The traveling motor 5M is a hydraulic motor that is hydraulically operated.

[0014] The running body 5, more specifically the crawler belt 5Cr, is in contact with the ground during operation of the hydraulic excavator 100. The running body 5 can travel on the ground by rotation of the crawler belt 5Cr.

[0015] The rotating unit 3 is disposed on the running unit 5 and is supported by the running unit 5. The rotating unit 3 is movable relative to the running unit 5. The rotating unit 3 is mounted on the running unit 5 so as to be rotatable relative to the running unit 5 around a rotation axis RX. The rotating unit 3 is attached to the running unit 5 via a rotating circle portion, so that the rotating unit 3 is rotatable relative to the running unit 5.

[0016] The rotating unit 3 has a cab 4. An occupant (operator) of the hydraulic excavator 100 sits in this cab 4 to operate the hydraulic excavator 100. A driver's seat 4S is provided in the cab 4 where the operator sits. From within the cab 4, the operator can operate the work implement 2, can operate the rotating unit 3 relative to the traveling unit 5, and can also operate the traveling of the hydraulic excavator 100 using the traveling unit 5. In the present disclosure, the hydraulic excavator 100 is operated from within the cab 4, but it may also be remotely controlled by wireless from a location away from the hydraulic excavator 100.

[0017] In the embodiment, the positional relationship of each part in the rotating body 3 of the hydraulic excavator 100 will be described with reference to an operator seated in the driver's seat 4S in the cab 4. The front-to-rear direction refers to the front-to-rear direction of the operator seated in the driver's seat 4S. The direction facing the operator seated in the driver's seat 4S is the forward direction, and the direction behind the operator seated in the driver's seat 4S is the rearward direction. The left-to-right direction refers to the left-to-right direction of the operator seated in the driver's seat 4S. The right and left sides of the operator seated in the driver's seat 4S when facing directly ahead are the right and left directions, respectively. The up-to-down direction refers to the up-to-down direction of the operator seated in the driver's seat 4S. The side near the feet of the operator seated in the driver's seat 4S is the down side, and the side above the head is the up side.

[0018] In the front-to-back direction, the side where the work implement 2 protrudes from the swivel body 3 is the front direction, and the opposite direction is the rear direction. Looking forward, the right and left sides in the left-right direction are the right and left directions, respectively. In the up-down direction, the side with the ground is the bottom side, and the side with the sky is the top side.

[0019] The rotating body 3 has an engine room 9 that houses an engine, and a counterweight provided at the rear of the rotating body 3. The engine room 9 contains an engine that generates driving force, a hydraulic pump that receives the driving force generated by the engine and supplies hydraulic oil to a hydraulic actuator, and other components.

[0020] The work implement 2 is mounted on the rotating structure 3 and supported by the rotating structure 3. The work implement 2 has a boom 6, an arm 7, and a bucket 8. The boom 6 is rotatably connected to the rotating structure 3. The arm 7 is rotatably connected to the boom 6. The bucket 8 is rotatably connected to the arm 7. The bucket 8 is disposed at the tip of the work implement 2. The tip of the bucket 8 is called the cutting edge 8a. The bottom surface 8b is part of the outer surface of the bucket 8. The bottom surface 8b is formed as a flat surface.

[0021] The base end of the boom 6 is connected to the rotating unit 3 via a boom foot pin 13. The boom 6 is rotatable relative to the rotating unit 3 around the boom foot pin 13. The base end of the arm 7 is connected to the tip of the boom 6 via an arm connecting pin 14. The arm 7 is rotatable relative to the boom 6 around the arm connecting pin 14. The bucket 8 is connected to the tip of the arm 7 via a bucket connecting pin 15. The bucket 8 is rotatable relative to the arm 7 around the bucket connecting pin 15. The boom foot pin 13, arm connecting pin 14, and bucket connecting pin 15 extend substantially in the left-right direction.

[0022] The work implement 2 has a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. The boom cylinder 10 drives the boom 6. The arm cylinder 11 drives the arm 7. The bucket cylinder 12 drives the bucket 8. The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are each a hydraulic cylinder driven by hydraulic oil. The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 constitute a work implement actuator that drives the work implement 2.

[0023] FIG. 2 is a side view of the hydraulic excavator 100 showing the configuration of sensors attached to the work implement 2.

[0024] A pressure sensor 10A is attached to the head side of the boom cylinder 10. The pressure sensor 10A can detect the pressure (head pressure) of the hydraulic oil in the cylinder head-side oil chamber of the boom cylinder 10. A pressure sensor 10B is attached to the bottom side of the boom cylinder 10. The pressure sensor 10B can detect the pressure (bottom pressure) of the hydraulic oil in the cylinder bottom-side oil chamber of the boom cylinder 10.

[0025] A pressure sensor 11A is attached to the head side of the arm cylinder 11. The pressure sensor 11A can detect the head pressure of the arm cylinder 11. A pressure sensor 11B is attached to the bottom side of the arm cylinder 11. The pressure sensor 11B can detect the bottom pressure of the arm cylinder 11.

[0026] A pressure sensor 12A is attached to the head side of the bucket cylinder 12. The pressure sensor 12A can detect the head pressure of the bucket cylinder 12. A pressure sensor 12B is attached to the bottom side of the bucket cylinder 12. The pressure sensor 12B can detect the bottom pressure of the bucket cylinder 12.

[0027] A stroke sensor 18A is attached to the boom cylinder 10. A stroke sensor 18B is attached to the arm cylinder 11. A stroke sensor 18C is attached to the bucket cylinder 12. The stroke sensors 18A, 18B, and 18C detect the displacement of the cylinder rod in each cylinder.

[0028] 2, in a side view, the angle formed by a line passing through the boom foot pin 13 and the arm connecting pin 14 and a line passing through the boom foot pin 13 and parallel to the ground G is defined as the boom angle θ1. The boom angle θ1 is calculated based on the sensor output of the stroke sensor 18A in the boom cylinder 10.

[0029] In a side view, the angle formed by a line passing through the boom foot pin 13 and the arm connecting pin 14 and a line passing through the arm connecting pin 14 and the bucket connecting pin 15 is defined as the arm angle θ2. The arm angle θ2 is calculated based on the sensor output of the stroke sensor 18B in the arm cylinder 11.

[0030] In a side view, the angle formed by a line passing through the arm connecting pin 14 and the bucket connecting pin 15 and a line passing through the bucket connecting pin 15 and the cutting edge 8a of the bucket 8 is defined as the bucket angle θ3. The bucket angle θ3 is calculated based on the sensor output of the stroke sensor 18C in the bucket cylinder 12.

[0031] The boom angle θ1, the arm angle θ2, and the bucket angle θ3 may be calculated using an inertial measurement unit (IMU) attached to the boom 6, the arm 7, and the bucket 8. Alternatively, the boom angle θ1, the arm angle θ2, and the bucket angle θ3 may be calculated using angle sensors attached to the boom foot pin 13, the arm connecting pin 14, and the bucket connecting pin 15. The angle sensors may be, for example, potentiometers, rotary encoders, etc.

[0032] Bucket ground angle θ B is the angle of the bucket 8 with respect to the ground G. The bucket bottom extension line Ex shown in FIG. 2 is a straight line extending the bottom surface 8b of the bucket 8 as viewed from the side. Bucket ground angle θ B is the angle between the ground surface G and the extension line Ex of the bottom surface of the bucket. When the bottom surface 8b of the bucket 8 is in a position parallel to the ground surface G, the bucket ground angle θ B When the bucket 8 is moved in the excavation direction (the direction in which the cutting edge 8a approaches the arm 7), the bucket ground angle θ B When the bucket 8 is moved in the dump direction (the direction in which the cutting edge 8a moves away from the arm 7), the bucket ground angle θ B is taken as negative.

[0033] <Outline of the construction machine control system> Next, the general configuration of the control system for the work machine will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the general configuration of the control system for the work machine shown in Fig. 1.

[0034] The control system in this embodiment includes a hydraulic excavator 100 as an example of a work machine shown in FIG. 1, and a main controller 50 and an optimization controller 60 shown in FIG.

[0035] The engine 31 is, for example, a diesel engine. An output shaft of the engine 31 is connected to a hydraulic pump 34. The engine 31 generates driving force to rotate the hydraulic pump 34. The governor 32 adjusts the amount of fuel injected by a fuel injection device in the engine 31.

[0036] The engine controller 41 outputs a command value for the fuel injection amount based on the command rotation speed of the engine 31 to the governor 32, and controls the amount of fuel injected by the fuel injection device, thereby adjusting the rotation speed of the engine 31. A rotation sensor 33 is provided on the output shaft of the engine 31. The rotation sensor 33 detects the rotation speed of the engine 31. The rotation sensor 33 outputs the detection result of the rotation speed of the engine 31 to the engine controller 41.

[0037] The hydraulic pump 34 is driven by the rotational driving force of the engine 31, and discharges pressurized oil for generating hydraulic pressure that drives the hydraulic actuators. The hydraulic actuators include hydraulic cylinders also shown in FIG. 1, namely, the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12, and hydraulic motors, namely, the travel motor 5M and the swing motor also shown in FIG. 1. The hydraulic actuators are connected to the hydraulic pump 34 via an operation valve 35.

[0038] The hydraulic pump 34 is a variable displacement hydraulic pump that has, for example, a swash plate and changes the discharge capacity by changing the tilt angle of the swash plate. A swash plate drive unit 39 is connected to the hydraulic pump 34. The swash plate drive unit 39 changes the tilt angle of the swash plate of the hydraulic pump 34. A pressure sensor 36 detects the pressure of the oil discharged from the hydraulic pump 34. The pressure sensor 36 outputs the oil pressure detection result to a pump controller 42. A portion of the oil discharged from the hydraulic pump 34 is supplied to the operation valve 35 as hydraulic oil. A portion of the oil discharged from the hydraulic pump 34 is reduced to a constant pressure by a pressure-reducing valve 37 and used as pilot oil.

[0039] The operating valve 35 is, for example, a spool-type valve that switches the direction of hydraulic oil flow by moving a rod-shaped spool. The amount of hydraulic oil supplied to the hydraulic actuator is adjusted by the axial movement of the spool. The operating valve 35 is provided with a stroke sensor 35a that detects the movement distance of the spool (spool stroke). By controlling the supply and discharge of hydraulic pressure to the hydraulic actuator, the operation of the work implement 2, the rotation of the revolving unit 3, and the traveling operation of the traveling unit 5 are controlled.

[0040] In this example, the oil supplied to the hydraulic actuator to operate the hydraulic actuator is referred to as hydraulic oil. Also, the oil supplied to the operating valve 35 to operate the spool of the operating valve 35 is referred to as pilot oil. Also, the pressure of the pilot oil is referred to as pilot oil pressure.

[0041] The hydraulic pump 34 may be one that delivers both the hydraulic oil and the pilot oil as described above. The hydraulic pump 34 may have a hydraulic pump that delivers the hydraulic oil (main hydraulic pump) and a hydraulic pump that delivers the pilot oil (pilot hydraulic pump) separately.

[0042] An EPC (electromagnetic proportional control) valve 38 is provided in the path of the pilot oil. The EPC valve 38 outputs pilot oil pressure to the operation valve 35 in accordance with a command current from the main controller 50. The operation valve 35 controls the hydraulic actuator in accordance with the pilot oil pressure.

[0043] The engine controller 41 and the pump controller 42 are mounted on the hydraulic excavator 100. The engine controller 41 and the pump controller 42 are electrically connected to each other and can transmit and receive information to and from each other. The engine controller 41 and the pump controller 42 are also electrically connected to the main controller 50.

[0044] The main controller 50 is a controller that controls the entire hydraulic excavator 100, and is configured with a CPU (Central Processing Unit), a non-volatile memory, a timer, etc. The main controller 50 controls the engine controller 41 and the pump controller 42. The main controller 50, the engine controller 41, and the pump controller 42 may be configured with one piece of hardware, or may be configured with two or more pieces of hardware.

[0045] Detection signals from the stroke sensors 18A, 18B, and 18C and the pressure sensors 10A, 10B, 11A, 11B, 12A, and 12B are input to the main controller 50. The main controller 50 may be electrically connected to each sensor by wire, or may be capable of communicating with each sensor wirelessly.

[0046] The work implement attitude acquisition unit 51 acquires the attitude of the work implement 2 based on the detection results of the stroke sensors 18A, 18B, and 18C. The work implement attitude acquisition unit 51 acquires the attitude of the work implement 2 based on the boom angle θ1, the arm angle θ2, the bucket angle θ3, and the bucket ground angle θ BWork implement attitude acquisition unit 51 acquires the position of cutting edge 8a of bucket 8 based on the calculated angles and the dimensions of boom 6, arm 7, and bucket 8. The dimensions of boom 6, arm 7, and bucket 8 are stored in memory unit 59.

[0047] The excavation volume calculation unit 52 calculates the weight Q (Figure 2) of the load loaded on the bucket 8 based on the difference between the head pressure of the boom cylinder 10 detected by the pressure sensor 10A and the bottom pressure of the boom cylinder 10 detected by the pressure sensor 10B.

[0048] An example of a method for calculating the load weight Q will be described. Fig. 4 is a schematic diagram of the work implement 2 for explaining moment balance. As shown in Fig. 4, in this embodiment, the current load weight Q in the bucket 8 is detected from the balance of each moment around the boom foot pin 13. Here, the balance of each moment around the boom foot pin 13 is expressed by the following equation (1).

[0049]

number

[0050] In equation (1), Mboomcyl is the moment around the boom foot pin 13 generated by the pressure of the hydraulic oil supplied to the boom cylinder 10. Mboom is the moment around the boom foot pin 13 due to the weight of the boom 6. Marm is the moment around the boom foot pin 13 due to the weight of the arm 7. Mbucket is the moment around the boom foot pin 13 due to the weight of the bucket 8. Q is the weight of the current load in the bucket 8. Ds is the horizontal distance from the boom foot pin 13 to the center of gravity C4 of the load in the bucket 8. Here, the center of gravity C4 of the load when a load of the rated load is loaded in the bucket 8 is stored in the memory unit 59 of the main controller 50. Q×Ds is the moment around the boom foot pin 13 due to the load in the bucket 8.

[0051] Mboomcyl is calculated from the load on the boom cylinder 10 (head pressure and bottom pressure, i.e., the pressure of the hydraulic oil supplied to the boom cylinder 10). The head pressure of the boom cylinder 10 is detected by pressure sensor 10A. The bottom pressure of the boom cylinder 10 is detected by pressure sensor 10B. The excavated soil volume calculation unit 52 calculates the moment Mboomcyl around the boom foot pin 13 generated by the load on the boom cylinder 10 based on the head pressure and bottom pressure of the boom cylinder 10.

[0052] Mboom is calculated by multiplying the distance r1 between the center of gravity C1 of the boom 6 and the boom foot pin 13 by the weight M1 of the boom 6 (r1 × M1). The position of the center of gravity C1 of the boom 6 is calculated from the boom angle θ1 and other factors. The weight M1 of the boom 6 and other factors are stored in the memory unit 59.

[0053] Marm is calculated as the product (r2 × M2) of the distance r2 between the center of gravity C2 of the arm 7 and the boom foot pin 13 and the weight M2 of the arm 7. The position of the center of gravity C2 of the arm 7 is calculated from the arm angle θ2 and other factors. The weight M2 of the arm 7 and other factors are stored in the memory unit 59.

[0054] Mbucket is calculated as the product (r3 × M3) of the distance r3 between the center of gravity C3 of the bucket 8 and the boom foot pin 13 and the weight M3 of the bucket 8. The position of the center of gravity C3 of the bucket 8 is calculated from the bucket angle θ3 and the like. The weight M3 of the bucket 8 and the like are stored in the memory unit 59.

[0055] In calculating the weight Q of the load in the bucket 8, the excavated soil volume calculation unit 52 calculates the positions of the centers of gravity C1, C2, C3, and C4 based on the boom angle θ1, arm angle θ2, and bucket angle θ3 calculated by the work machine attitude acquisition unit 51. The excavated soil volume calculation unit 52 calculates the distances r1, r2, and r3 between the centers of gravity C1, C2, and C3 and the boom foot pin 13.

[0056] Excavation volume calculation unit 52 reads out the weight M1 of boom 6 from memory unit 59, and calculates the product of distance r1 and weight M1 as moment Mboom of boom 6 about boom foot pin 13. Excavation volume calculation unit 52 reads out the weight M2 of arm 7 from memory unit 59, and calculates the product of distance r2 and weight M2 as moment Marm of arm 7 about boom foot pin 13. Excavation volume calculation unit 52 reads out the weight M3 of bucket 8 from memory unit 59, and calculates the product of distance r3 and weight M3 as moment Mbucket of bucket 8 about boom foot pin 13.

[0057] The excavated soil volume calculation unit 52 reads the dimensions of the boom 6, the dimensions of the arm 7, and the center of gravity C4 of the load in the bucket 8 at the rated load from the memory unit 59. The excavated soil volume calculation unit 52 calculates the horizontal distance Ds from the boom foot pin 13 to the center of gravity C4 of the load based on the boom angle θ1, the arm angle θ2, the bucket angle θ3, the dimensions of the boom 6 and the arm 7, and the center of gravity C4 of the load.

[0058] The excavation volume calculation unit 52 substitutes the moments Mboomcyl, Mboom, Marm, Mbucket and distance Ds calculated as above into the above equation (1). In this way, the excavation volume calculation unit 52 calculates the weight Q of the load loaded in the bucket 8. The weight Q of the load in the bucket 8 is calculated based on the load on the boom cylinder 10 and the attitude of the work implement 2.

[0059] Returning to FIG. 3 , the workload calculation unit 53 calculates the workload required for excavation work to excavate an excavation target with the bucket 8. Specifically, the workload calculation unit 53 acquires the head pressure of the boom cylinder 10 detected by pressure sensor 10A and the bottom pressure of the boom cylinder 10 detected by pressure sensor 10B. The workload calculation unit 53 reads out the dimensions or specifications of the boom cylinder 10 from the memory unit 59. The workload calculation unit 53 acquires the inner diameter of the cylinder and the diameter of the cylinder rod of the boom cylinder 10. The workload calculation unit 53 acquires the bore area of ​​the cylinder and the cross-sectional area of ​​the cylinder rod.

[0060] The workload calculation unit 53 calculates the thrust of the boom cylinder 10 using the following equation (2): In equation (2), Fboomcyl is the thrust of the boom cylinder 10, Pb is the bottom pressure of the boom cylinder 10, Ph is the head pressure of the boom cylinder 10, S is the cylinder bore area of ​​the boom cylinder 10, and D is the cross-sectional area of ​​the cylinder rod of the boom cylinder 10.

[0061]

number

[0062] Similarly, the work amount calculation unit 53 calculates the thrust of the arm cylinder 11 and the thrust of the bucket cylinder 12. As shown in Fig. 1, the work implement 2 has two boom cylinders 10. The work amount calculation unit 53 calculates the amount of work during excavation work by integrating the integrated values ​​of the thrust of the two boom cylinders 10, the thrust of the arm cylinder 11, and the thrust of the bucket cylinder 12 from the start to the end of the excavation work.

[0063] The work implement control unit 58 controls the work implement 2, which performs excavation work with the bucket 8. A command current is output from the work implement control unit 58 to the EPC valve 38. In accordance with this command current, the EPC valve 38 outputs pilot oil pressure to the operation valve 35. In accordance with this pilot oil pressure, the operation valve 35 supplies a predetermined amount of hydraulic oil to each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. The boom cylinder 10 extends and retracts, causing the boom 6 to move up and down. The arm cylinder 11 extends and retracts, causing the arm 7 to move in the excavation direction (towards the revolving unit 3) and the dumping direction (away from the revolving unit 3). The bucket cylinder 12 extends and retracts, causing the bucket 8 to move in the excavation direction and the dumping direction.

[0064] The spool of the operating valve 35 is not limited to a type that is operated by supplying pilot hydraulic pressure, but may be a solenoid-driven type. The work implement control unit 58 may control the work implement 2 by outputting a control signal to the solenoid-driven spool to control the position of the spool.

[0065] The optimization controller 60 is electrically connected to the main controller 50. The optimization controller 60 adjusts control parameters for automatically controlling the excavation work performed by the hydraulic excavator 100.

[0066] The optimization controller 60 may be mounted on the hydraulic excavator 100. The optimization controller 60 may be connected to the main controller 50 by wire.

[0067] The optimization controller 60 may be installed outside the hydraulic excavator 100. The optimization controller 60 may be wirelessly connected to the main controller 50. The optimization controller 60 may be located at the work site of the hydraulic excavator 100, or may be located in a remote location away from the work site of the hydraulic excavator 100. The optimization controller 60 may be a portable device. The optimization controller 60 may be a portable device that can be carried and used by an operator, such as a laptop computer, a tablet computer, or a smartphone.

[0068] <Automatic control of excavation work, control parameters> 5 is a diagram showing the operation of the work machine 2 during automatic excavation. Before automatic excavation begins, the work machine 2 is manually set to an initial position. The initial position is a position in which the length of the arm cylinder 11 is minimized, the arm 7 is farthest from the rotating body 3, and the cutting edge 8a of the bucket 8 contacts the ground G. In the initial position, the cutting edge 8a of the bucket 8 may be located on a straight line passing through the arm connecting pin 14 and the bucket connecting pin 15 in a side view.

[0069] As the arm 7 moves in the excavation direction from the initial position and the bucket 8 moves in the excavation direction, a penetration sweeping operation is performed in which the cutting edge 8a of the bucket 8 penetrates the ground and scoops up earth and sand into the bucket 8, as shown in (a) of Figure 5. At this time, the arm 7 moves in the same way as when the amount of operation of the arm operating lever is constant. The arm 7 may also move in the same way as when the amount of operation of the arm operating lever for moving the arm 7 in the excavation direction is maximum.

[0070] Bucket ground angle θ B The penetration sweeping operation continues until the bucket ground angle θ becomes greater than the threshold value TH_BK1 or the arm angle θ2 becomes smaller than the threshold value TH_A. B The threshold value TH_BK1 for the arm angle θ2 may be 0°. The threshold value TH_A for the arm angle θ2 may be 80°.

[0071] Bucket ground angle θ B becomes larger than the threshold value TH_BK1, or the arm angle θ2 becomes smaller than the threshold value TH_A, a scooping operation is performed in which the bucket 8 is moved in the excavation direction while the boom 6 is raised, as shown in (b) of FIG. 5.

[0072] The cutting edge height refers to the vertical position of the cutting edge 8a of the bucket 8 relative to the boom foot pin 13. When the cutting edge 8a and the boom foot pin 13 are in the same vertical position, the cutting edge height is defined as 0. The cutting edge height is considered positive when the cutting edge 8a is located higher in the vertical direction than the boom foot pin 13 and is farther from the ground G than the boom foot pin 13. The cutting edge height is considered negative when the cutting edge 8a is located lower in the vertical direction than the boom foot pin 13 and is closer to the ground G than the boom foot pin 13.

[0073] Bucket ground angle θ B The scooping operation continues until the bucket angle θ becomes greater than the threshold value TH_BK2 or the blade height becomes greater than the threshold value TH_H. BThe threshold value TH_BK2 for the cutting edge height may be 40°. The threshold value TH_H for the cutting edge height may be −1.0 m.

[0074] Bucket ground angle θ B becomes larger than the threshold value TH_BK2 or the cutting edge height becomes larger than the threshold value TH_H, the excavation work under automatic control is terminated.

[0075] The weight of the load to be loaded into the bucket 8 during this automatic excavation is calculated by the excavation volume calculation unit 52. The workload during automatic excavation is calculated by the workload calculation unit 53. The calculated weight of the load and workload are output from the main controller 50 to the optimization controller 60.

[0076] The optimization controller 60 adjusts the control parameters x for automatically controlling the excavation operation. Five control parameters x shown in Fig. 5 are set.

[0077] The first parameter is the "arm bottom pressure threshold for load release." The second parameter is the "boom lever operation amount for load release." If the arm 7 becomes stuck during excavation, for example because the bucket 8 gets caught on hard ground, the bottom pressure of the arm cylinder 11 increases. When the bottom pressure of the arm cylinder 11 increases to a predetermined threshold, the boom 6 is raised to release the arm 7 from the stuck state. As the arm 7 returns to a movable state, the bottom pressure of the arm cylinder 11 decreases.

[0078] At this time, the boom 6 operates in the same manner as when the amount of operation of the boom operation lever is constant. The control parameter x includes the condition for starting the raising operation of the boom 6 during the penetration sweeping operation and the amount of operation of the boom operation lever when the boom 6 is raised.

[0079] The third parameter is the "bucket lever operation amount" during the penetration sweeping operation. During the penetration sweeping operation, the bucket 8 operates in the excavation direction. At this time, the bucket 8 operates in the same manner as when the operation amount of the bucket operation lever is constant. The control parameter x includes the operation amount of the bucket operation lever when the bucket 8 performs an excavation operation during the penetration sweeping operation.

[0080] The fourth parameter is the "boom lever operation amount" during the scooping operation. The fifth parameter is the "bucket lever operation amount" during the scooping operation. During the scooping operation, the boom 6 performs a raising operation, and the bucket 8 performs a digging operation. At this time, the boom 6 performs the same operation as when the operation amount of the boom operation lever is constant, and the bucket 8 performs the same operation as when the operation amount of the bucket operation lever is constant. The control parameter x includes the operation amount of the boom operation lever when the boom 6 performs a raising operation during the scooping operation, and includes the operation amount of the bucket operation lever when the bucket 8 performs a digging operation.

[0081] The control parameter x includes a command value for operating the work machine actuator, which is output to the work machine actuator that drives the work machine 2. The control parameter x includes a command value for operation of the work machine actuator during excavation work. The control parameter x includes an operation amount of an operating lever for operating the work machine 2 during excavation work. The control parameter x includes a set value for the flow rate of hydraulic oil supplied to the work machine actuator during excavation work. The control parameter x includes a set value for the speed at which the work machine actuator operates during excavation work. If the work machine actuator is a hydraulic cylinder, the control parameter x includes a set value for the extension / retraction speed of the hydraulic cylinder during excavation work.

[0082] The control parameter x includes a set value for the amount of change in the angle of the boom 6 relative to the rotating structure 3 during excavation work. The control parameter x includes a set value for the amount of change in the angle of the bucket 8 relative to the arm 7 during excavation work.

[0083] The optimization controller 60 adjusts the control parameter x using an evaluation function expressed as a linear combination of multiple indexes including the weight of the load loaded into the bucket 8 during excavation work and the cost of the excavation work. The optimization controller 60 may adjust the control parameter x so as to maximize or minimize the evaluation function. The evaluation function is sometimes referred to as an objective function. The cost includes the amount of work required for the excavation work.

[0084] The cost includes the workload of the work equipment actuator. The cost may include the workload (discharge pressure and discharge flow rate) of the hydraulic pump 34 (FIG. 2). The cost may include fuel consumption (work workload of the engine 31). The workload required for excavation work includes at least one of the workload of the work equipment actuator, the workload of the hydraulic pump 34, and the workload of the engine 31. The cost may include excavation time. The cost may include the magnitude of sway of the vehicle body (swinging unit 3). The cost may include the number of times hydraulic pressure is relieved. If the traveling body 5 has tires instead of tracks 5Cr, the cost may include the number of times the tires slip.

[0085] The cost is an index that is desired to be reduced in excavation work. The evaluation function may include multiple costs. A different weighting coefficient may be set for each of the multiple costs.

[0086] In this embodiment, the evaluation function is expressed by the following equation (3). In equation (3), E(x) is the evaluation function, Q(x) is the weight of the load loaded into the bucket 8 during excavation work, w is a weighting coefficient, and P(x) is the amount of work from the start to the end of excavation. The evaluation function E(x) is a function of the control parameter x. The load weight Q(x) is a function of the control parameter x. The amount of work P(x) is a function of the control parameter x.

[0087]

number

[0088] The evaluation function E(x) is expressed as the linear sum of the load weight Q(x) as the reward for excavation work and the workload P(x) as the cost of excavation work. The weighting coefficient w is an arbitrarily set value. When the weighting coefficient w is small, the load weight Q(x) is emphasized, and the control parameter x is adjusted to increase the load weight Q(x). When the weighting coefficient w is large, the workload P(x) is emphasized, and the control parameter x is adjusted to decrease the workload P(x). By changing the weighting coefficient w, it is possible to change the balance between the load weight Q(x) and workload P(x), which are in a trade-off relationship.

[0089] The optimization controller 60 outputs the adjusted control parameter x to the main controller 50. The work machine control unit 58 of the main controller 50 uses the input control parameter x to perform excavation work under automatic control. The following steps are repeated: adjustment of the control parameter x for automatically controlling the excavation work by the optimization controller 60; automatic excavation by the main controller 50 (work machine control unit 58); and calculation of the load weight Q(x) and the workload P(x) during automatic excavation. In this way, an appropriate control parameter x is determined.

[0090] <Bayesian optimization> Because the shape and properties of the objects excavated by work machines change continuously, control parameters must also be continuously adapted when performing automatic excavation. It is necessary to automatically search for the most productive excavation method for the site conditions with minimal test excavation. To obtain the optimal solution without exhaustive test excavation, it is necessary to strike a balance between improving the provisional solution obtained at a given point in time and exploring unknown areas.

[0091] In this embodiment, the optimization controller 60 uses Bayesian optimization to obtain control parameters x that maximize an evaluation function E(x), which is composed of multiple indexes including the load weight Q(x) and the workload P(x). Bayesian optimization is a type of "experimental design" that optimizes experimental conditions from a relatively small number of experimental data sets by alternately performing experiments, model estimation from experimental data, searching for optimal solutions, and determining the next experimental conditions.

[0092] Bayesian optimization is a method for estimating the expected value and uncertainty of an unknown function through repeated trials. Bayesian optimization is composed of Gaussian process regression, which estimates the expected value and variance of a function from the trial data set obtained up to that point, and an algorithm that determines the next trial conditions based on this. It can be used as a type of dynamic experimental design. In the process of adjusting the control parameters, the optimization controller 60 determines the next control parameter x to be evaluated, taking into account both the predicted mean value of the evaluation function E(x) and the uncertainty in the prediction of the evaluation function E(x).

[0093] A confidence upper bound function (UCB) is used to search for the optimal control parameter x while taking into account the uncertainty of the evaluation function E(x). The confidence upper bound function in Bayesian optimization is an example of an acquisition function for determining the next point to be evaluated in the optimization process. The confidence upper bound function determines the next point to be evaluated by taking into account both the predicted value of the evaluation function and its uncertainty (variance). Specifically, the confidence upper bound function is expressed by the following equation (4). In equation (4), μ(ξ) is the predicted mean value of the evaluation function at point ξ, σ(ξ) is the standard deviation (uncertainty) of the prediction at point ξ, and β is an adjustment parameter for adjusting the balance between exploration and exploitation.

[0094]

number

[0095] The reliability upper bound function strikes a balance between utilizing known areas with high predicted mean values ​​and exploring unknown areas with high uncertainty. This balance is adjusted by the value of the adjustment parameter β. Increasing the adjustment parameter β places emphasis on reducing uncertainty (variance), while decreasing the adjustment parameter β places emphasis on more detailed exploration of known areas. The adjustment parameter β allows for flexible adjustment of the tendency between exploration and exploitation. By actively exploring areas with high uncertainty, the risk of falling into a local optimum is reduced.

[0096] <Optimization flow of control parameter x for automatic excavation> 6 is a flowchart showing the flow of processing for optimizing the control parameter x for automatic excavation. The optimization controller 60 optimizes the control parameter x for automatically controlling the excavation work in accordance with the flow of processing shown in FIG.

[0097] As shown in FIG. 6, in step S1, an initial data set is prepared. The initial data set includes at least one data item indicating the results of excavation attempts that have already been made. Each data item includes a control parameter x when excavation was attempted and a value of the evaluation function E(x) corresponding to that control parameter x. Each data item indicates the relationship between input and output, i.e., the result of the evaluation function E(x) when the control parameter x during automatic excavation was set to a certain value. The initial data set may include any number of data items, but preferably includes multiple data items. The optimization controller 60 acquires the initial data set.

[0098] In step S2, the optimization controller 60 estimates a Gaussian process model of the evaluation function E(x) using the initial data set.

[0099] 7A and 7B are diagrams showing a first example of a Gaussian process model. The horizontal axis of the graph shown in Fig. 7A is a set of control parameters x, and the vertical axis is an evaluation function E(x). The horizontal axis of the graph shown in Fig. 7B is a set of control parameters x, and the vertical axis is an acquisition function, specifically, a reliability upper limit function. The set of control parameters x includes the first to fifth parameters shown in Fig. 5.

[0100] The two crosses shown in the graph of FIG. 7(A) represent plots of the sets of control parameters x and the evaluation function E(x) corresponding to the two pieces of data included in the initial data set. The optimization controller 60 uses the two pieces of data previously acquired to estimate the predicted average value of the evaluation function E(x) and the prediction uncertainty of the evaluation function E(x). The curve shown in FIG. 7(A) represents the predicted average value of the evaluation function E(x). The hatched area shown in FIG. 7(A) represents the prediction uncertainty (variance) of the evaluation function E(x).

[0101] In step S3, the optimization controller 60 calculates the control parameters x for the next trial that maximize the evaluation value according to the reliability upper limit function (UCB). The optimization controller 60 creates the graph shown in FIG. 7(B) using the predicted average value of the evaluation function E(x) estimated as shown in FIG. 7(A) and the prediction uncertainty of the evaluation function E(x), as well as the above-mentioned equation (4). The optimization controller 60 calculates the set of control parameters x that maximizes the acquisition function (reliability upper limit function) shown in FIG. 7(B) as the set of control parameters x to be used in the next trial of automatic excavation. The white circles shown in FIG. 7(A) indicate the control parameters x for the next trial. The optimization controller 60 outputs the control parameters x for the next trial to the main controller 50.

[0102] In step S4, the main controller 50 executes a trial of automatic excavation using the set of control parameters x calculated by the optimization controller 60. The work implement control unit 58 outputs a command current based on the set of control parameters x input from the optimization controller 60 to the EPC valve 38. In accordance with the command current, the EPC valve 38 outputs pilot oil pressure to the operation valve 35. In accordance with this pilot oil pressure, the operation valve 35 supplies a predetermined amount of hydraulic oil to each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. The work implement 2 operates, and a trial of excavation work is executed using automatic control.

[0103] The excavation volume calculation unit 52 calculates the weight Q(x) of the load to be loaded on the bucket 8 during the trial excavation work. The work amount calculation unit 53 calculates the work amount P(x) during the excavation work. The main controller 50 outputs the calculated load weight Q(x) and work amount P(x) to the optimization controller 60.

[0104] In step S5, the optimization controller 60 calculates the value of the evaluation function E(x) by substituting the input load weight Q(x) and work amount P(x) into equation (3).

[0105] In step S6, the optimization controller 60 adds the set of control parameters x and the calculation result of the evaluation function E(x) corresponding to the set of control parameters x to the data set.

[0106] In step S7, the optimization controller 60 determines whether the number of attempts of automatic excavation performed so far has reached a predetermined maximum number of attempts. The optimization controller 60 also determines whether the value of the evaluation function E(x) calculated in step S5 has reached a predetermined target performance.

[0107] If the number of trials has not reached the maximum number of trials and the evaluation function E(x) has not reached the target performance (NO in step S7), the process returns to step S2. The optimization controller 60 estimates a Gaussian process model of the evaluation function E(x) using the data set to which the new evaluation results have been added.

[0108] Figure 8 shows a second example of a Gaussian process model. As in Figure 7, the horizontal axis of the graph shown in Figure 8(A) represents the set of control parameters x, and the vertical axis represents the evaluation function E(x). The horizontal axis of the graph shown in Figure 8(B) represents the set of control parameters x, and the vertical axis represents the acquisition function (reliability upper limit function).

[0109] The multiple x's shown in the graph of FIG. 8(A) represent plots of the sets of control parameters x and the evaluation function E(x) included in the data set to which evaluation results from previous trials have been added. The optimization controller 60 estimates the predicted average value of the evaluation function E(x) and the prediction uncertainty of the evaluation function E(x) using the data acquired so far. The curve shown in FIG. 8(A) indicates the predicted average value of the evaluation function E(x). The hatched area shown in FIG. 8(A) indicates the prediction uncertainty (variance) of the evaluation function E(x).

[0110] The optimization controller 60 creates the graph shown in Figure 8(B) using the predicted average value of the evaluation function E(x) estimated as shown in Figure 8(A) and the prediction uncertainty of the evaluation function E(x), as well as the above-mentioned equation (4). The optimization controller 60 calculates the set of control parameters x that maximizes the acquisition function (reliability upper limit function) shown in Figure 8(B) as the set of control parameters x to be used in the next trial of automatic excavation. The white circles shown in Figure 8(A) indicate the control parameters x for the next trial.

[0111] If the number of trials reaches the maximum number of trials or the evaluation function E(x) reaches the target performance (YES in step S7), the process proceeds to step S8, where the optimization controller 60 ends the optimization of the control parameter x.

[0112] <Bayesian optimization results> Fig. 9 is a diagram showing the convergence curve of the evaluation function E(x). The horizontal axis of Fig. 9 represents the number of trials of automatic excavation, and the vertical axis represents the evaluation function E(x). The square marks in Fig. 9 represent plots of the values ​​of the evaluation function E(x) for each trial. The broken line in Fig. 9 represents the maximum point set of the evaluation function E(x).

[0113] Figure 9 shows that the evaluation function E(x) converges sufficiently after about 20 trials. By using Bayesian optimization, the control parameter x for automatically controlling excavation work can be adjusted with a small number of trials, which is useful for saving money and time.

[0114] FIG. 10 is a diagram showing the relationship between the amount of soil and the amount of work for each weighting coefficient w. The horizontal axis of the graph shown in FIG. 10 is the weight Q(x) (amount of soil) of the load loaded into the bucket 8 during excavation work, and the vertical axis is the amount of work P(x) from the start to the end of excavation. The circles in FIG. 10 represent plots of the values ​​of the weight Q(x) of the load and the amount of work P(x) when automatic excavation is performed using the calculated control parameter x, calculated by changing the weighting coefficient w shown in equation (3) above. FIG. 11 is a diagram showing the optimal solution for the control parameter x for each weighting coefficient w.

[0115] As shown in Figures 10 and 11, when the weighting coefficient w is reduced, excavation is performed with emphasis on the amount of soil. When the weighting coefficient w is reduced, during the penetration sweeping operation, the boom 6 is not raised very much and excavation is performed by the movement of the arm 7 and bucket 8, so that a large amount of the excavation target is scooped up into the bucket 8. In order not to spill the scooped excavation target, the speed of the boom 6 during the scooping operation is reduced and the bucket 8 is raised slowly. This increases the amount of soil. In this case, the excavation time becomes longer, and the workload increases.

[0116] When the weighting coefficient w is increased, excavation is performed with emphasis on the amount of work. When the weighting coefficient w is increased, the excavation target is excavated shallowly to avoid placing a large load on the bucket 8, thereby shortening the excavation time, and therefore reducing the amount of work and the amount of soil.

[0117] By changing the weighting coefficient w, it is possible to converge to excavation control that has a good balance between the load weight Q(x) and the workload P(x). The weighting can be used to adjust which of the multiple indices included in the evaluation function E(x) is emphasized. The weighting coefficient w can be changed so that the weight of the index that is emphasized is increased and the weight of the index that is not emphasized is decreased. A user (for example, an in-house tester, on-site supervisor, or operator) who optimizes the control parameter x can determine a target value for the weighting coefficient w based on the relationship between the soil volume and workload shown in Figure 10.

[0118] The optimal relationship between the amount of soil and the amount of work varies depending on the site conditions. When the model of work machine excavating the target changes, or when the soil changes, the optimal excavation method will change. It is necessary to optimally adjust the control parameter x to suit the site conditions. By applying Bayesian optimization to the adjustment of the control parameter x, it is possible to appropriately adjust the control parameter x for automatically controlling the excavation work with a small number of trials.

[0119] <Use of control parameter x according to excavation conditions> The conditions at a work site where a work machine performs excavation work change from moment to moment. For example, the weather at the work site changes the soil quality of the excavation target. Typically, the hardness of the soil material to be excavated changes. Furthermore, the topography of the work site changes as the excavation work progresses. For example, when performing repeated excavation by continuing to excavate the remains of a previous excavation, the position dug into the surface of the excavation target during the first excavation will be the position on the surface of the excavation target during the second excavation. Therefore, the position of cutting edge 8a of bucket 8 during the initial stages of excavation work changes between the first and second excavations.

[0120] When controlling excavation work, by properly checking the situation at the work site and using an appropriate control parameter x according to the situation at the work site, it is possible to operate the work machine 2 appropriately and improve the productivity of the excavation work. Figure 12 is a flowchart showing the flow of a process for executing automatic excavation according to the excavation situation.

[0121] First, as a preliminary preparation, at least one adjusted control parameter is prepared in step S11. The adjusted control parameter is a set of control parameters x. As described with reference to FIGS. 6 to 8, the adjusted control parameter is adjusted in advance using an evaluation function E(x) that includes the weight Q(x) of the load loaded on the bucket 8 during excavation work and the cost, which is an index that is desired to be reduced in excavation work. The adjusted control parameter is stored in advance in storage unit 59 (FIG. 3).

[0122] In the process of adjusting the adjusted control parameters, the optimization controller 60 determines the next control parameter x to be evaluated, taking into consideration both the predicted average value of the evaluation function E(x) and the prediction uncertainty of the evaluation function E(x). The cost, which is an index that should be reduced in excavation work, includes the amount of work P(x) required for the excavation work. The optimization controller 60 adjusts which of the multiple indexes included in the evaluation function E(x) is to be emphasized by weighting. As shown in FIG. 5, the control parameter x includes a command value for the operation of the work equipment actuator during excavation work. The control parameter x includes the amount of change in the angle of the bucket 8 during excavation work.

[0123] The optimization controller 60 optimizes the control parameter x and prepares at least one adjusted control parameter. The optimization controller 60 can prepare a plurality of adjusted control parameters corresponding to different work site conditions by optimizing the control parameter x for each work site condition. The optimization controller 60 can store the plurality of adjusted control parameters in advance in the memory unit 59 of the main controller 50.

[0124] In step S12, the work implement 2 is set to its initial posture. The initial posture is a posture in which the length of the arm cylinder 11 is minimized, the arm 7 is farthest from the revolving body 3, and the cutting edge 8a of the bucket 8 is in contact with the ground G. The work implement 2 may be set to its initial posture by manual operation. The work implement control unit 58 of the main controller 50 may output a command current to the EPC valve 38 to operate the work implement 2, thereby setting the work implement 2 to its initial posture.

[0125] In step S13, automatic excavation is started. Automatic excavation may be started by an operator inputting a command to start automatic excavation. Alternatively, when cutting edge 8a of bucket 8 comes into contact with the excavation target, the head pressure of boom cylinder 10 increases. The head pressure of boom cylinder 10 is detected by pressure sensor 10A, and it can be determined that cutting edge 8a has come into contact with the excavation target from the start of the head pressure increase. Automatic excavation may be started by being triggered by the start of the increase in head pressure of boom cylinder 10.

[0126] When cutting edge 8a of bucket 8 comes into contact with the excavation target, the bottom pressure of arm cylinder 11 increases, and the bottom pressure of bucket cylinder 12 increases. The start of the increase in the bottom pressure of arm cylinder 11 or the start of the increase in the bottom pressure of bucket cylinder 12 may be used as a trigger for starting automatic excavation. When automatic excavation starts, arm 7 moves in the excavation direction from the initial posture, and bucket 8 moves in the excavation direction as well.

[0127] In step S14, the main controller 50 acquires predetermined information in the initial stage of the excavation work. In step S15, the main controller 50 acquires a control parameter x related to the operation of the work machine 2 when performing the excavation work, from at least one adjusted control parameter stored in advance and information acquired in the initial stage of the excavation work.

[0128] An example of information obtained in the early stages of excavation work is the soil quality of the excavation target to be excavated by the bucket 8. For example, the main controller 50 estimates hardness, which is one of the parameters of the soil quality, immediately after the cutting edge 8a penetrates into the excavation target. For example, the main controller 50 can determine the soil quality within the first 0.5 seconds after the start of excavation work until the cutting edge 8a penetrates into the excavation target.

[0129] Main controller 50 can determine the soil type of the object to be excavated from operation data related to the operation of work implement 2 in the initial stage of excavation work. This operation data includes the attitude of work implement 2 acquired based on the detection results of stroke sensors 18A, 18B, 18C, and also includes the speed of cutting edge 8a of bucket 8 obtained by calculating the attitude of work implement 2. A correspondence relationship between the speed of cutting edge 8a and soil type is stored in memory unit 59 in advance, and main controller 50 can determine the soil type of the object to be excavated from the speed of cutting edge 8a in the initial stage of excavation work based on this correspondence relationship.

[0130] Fig. 13 is a diagram showing an example of the progress of the cutting edge speed during excavation work. The horizontal axis of the graph shown in Fig. 13 represents time, and the vertical axis represents the cutting edge speed. At time zero, excavation work begins.

[0131] As shown in Figure 13, the speed of the cutting edge 8a reaches a peak value immediately after the excavation work begins. After passing the peak, the cutting edge 8a continues to move at a low speed until the excavation work ends, that is, until the movement of the cutting edge 8a stops. The speed of the cutting edge 8a from passing the peak until it stops is much smaller than the maximum speed of the cutting edge 8a.

[0132] The speed of the cutting edge 8a over the time from when excavation starts to when it ends varies depending on the soil type of the object to be excavated. The speed of the cutting edge 8a over the time from when excavation starts to when it ends varies depending on the simplified N value. As shown in Figure 13, by obtaining the speed of the cutting edge 8a immediately after the start of excavation work, it is possible to accurately determine the soil type of the object to be excavated.

[0133] Data on the speed of the cutting edge 8a during the previous excavation may be accumulated, and the accumulated data may be used to determine the type of soil to be excavated.

[0134] FIG. 14 is a diagram showing an example of the correspondence relationship between the speed of the cutting edge 8a and soil type. The horizontal axis of the graph shown in FIG. 14 is the simplified N value, and the vertical axis is the speed of the cutting edge 8a during excavation work (unit: mm / sec). A data table shown in FIG. 14, which associates the speed of the cutting edge 8a with the simplified N value, is stored in the memory unit 59. The simplified N value is an example of an index of the hardness of the soil material to be excavated. The simplified N value is measured using a simplified N value meter. FIG. 15 is a schematic diagram showing the configuration of a simplified N value meter 200.

[0135] The simplified N-value meter 200 comprises a tip cone 201, a hammer 202, a penetration rod 203, a guide rod 204, and a knocking head 205. The tip cone 201 is attached to the lower end of the penetration rod 203. The lower end of the tip cone 201 has a pointed shape. The tip cone 201 has a cone (circular) shape as a whole. The knocking head 205 is attached to the upper end of the penetration rod 203. The tip cone 201 and the knocking head 205 are fixed to the penetration rod 203 so as not to be able to move relative to the penetration rod 203.

[0136] The lower end of the guide rod 204 is attached to the knocking head 205. The knocking head 205 and the guide rod 204 are fixed so as not to move relative to each other. The penetration rod 203 and the guide rod 204 extend in the same straight line. The hammer 202 is attached to the guide rod 204 so as to be movable relative to the guide rod 204. The hammer 202 is movable relative to the knocking head 205 along the guide rod 204. The lower surface of the hammer 202 is flat, and the upper surface of the knocking head 205 is also flat.

[0137] The simplified N value is measured as follows: Simplified N value meter 200 is positioned so that the lower end of tip cone 201 is abutted against the ground G, and penetration rod 203 and guide rod 204 extend in a direction perpendicular to the ground G. In this state, hammer 202 is lifted a specified height from knocking head 205, and hammer 202 is allowed to fall freely along guide rod 204.

[0138] The hammer 202 falls along the guide rod 204 and collides with the knocking head 205. When the knocking head 205 is struck by the hammer 202 and an impact is applied to the knocking head 205, the knocking head 205 attempts to move downward toward the ground G. The tip cone 201 and the penetration rod 203 also attempt to move downward together with the knocking head 205. The tip cone 201 that has moved downward penetrates into the ground. The number of times the hammer 202 is dropped until the tip cone 201 penetrates to a predetermined depth (for example, a depth of 10 cm from the ground G) is counted, and this number is taken as the simplified N value.

[0139] As shown in Figure 14, there is a good correlation between the speed of the cutting edge 8a during excavation work and the simplified N value. In the early stages of excavation work, the main controller 50 acquires the attitude of the work implement 2 and calculates the speed of the cutting edge 8a. The main controller 50 reads the data table shown in Figure 14 from the memory unit 59 and calculates the simplified N value corresponding to the calculated speed of the cutting edge 8a. In this way, the main controller 50 can calculate the simplified N value, which is an index of the hardness of the object to be excavated, from the speed of the cutting edge 8a. The main controller 50 can determine that the lower the speed of the cutting edge 8a, the harder the object to be excavated.

[0140] Fig. 16 is a diagram showing a first example of adjusted control parameters stored in memory unit 59. In the example shown in Fig. 16, two adjusted control parameters optimized for each soil type of the excavation target are stored in memory unit 59. The adjusted control parameters include a hard soil control parameter set CP1 optimized for excavating a relatively hard excavation target, and a soft soil control parameter set CP2 optimized for excavating a relatively soft excavation target.

[0141] The main controller 50 selects one of the hard soil control parameter set CP1 and the soft soil control parameter set CP2 based on the soil quality of the excavation target to be excavated by the bucket 8. The main controller 50 sets the selected adjusted control parameter as the control parameter x to be used for controlling the excavation work. The main controller 50 switches the control parameter x depending on the soil quality of the excavation target. For example, the main controller 50 may select the hard soil control parameter set CP1 if the simplified N value is 10 or more, and may select the soft soil control parameter set CP2 if the simplified N value is less than 10.

[0142] In this way, the main controller 50 can acquire the appropriate control parameter x according to the condition of the excavation target. By controlling the excavation work using the acquired control parameter x, it is possible to operate the work machine 2 appropriately according to the condition of the excavation target. Therefore, it is possible to improve the productivity of the excavation work.

[0143] Two adjusted control parameters, a hard soil control parameter set CP1 and a soft soil control parameter set CP2, are stored in advance in the storage unit 59. The main controller 50 can obtain an appropriate control parameter x from these two adjusted control parameters according to the conditions of the excavation target that is actually to be excavated. The main controller 50 can easily obtain the appropriate control parameter x by selecting the more appropriate one of the two adjusted control parameters according to the conditions of the excavation target.

[0144] By obtaining the control parameter x from the pre-stored adjusted control parameter and the soil quality of the excavation target, it is possible to obtain an appropriate control parameter x according to the soil quality of the excavation target (for example, hardness, which is one of the parameters of soil quality).The soil quality of the excavation target can be easily estimated by obtaining the speed of the cutting edge 8a in the early stage of the excavation work and determining the soil quality based on the correspondence between the speed of the cutting edge 8a and the soil quality.

[0145] Another example of information acquired in the early stages of excavation work is the position of the cutting edge 8a in the early stages of excavation work. The information acquired in the early stages of excavation work includes the position of the cutting edge 8a in the up-down direction in the early stages of excavation work. Typically, the information acquired in the early stages of excavation work includes the depth position of the cutting edge 8a from the ground surface G in the early stages of excavation. When automatic excavation is started by an operator's operation, the position of the cutting edge 8a at the time the operator's operation is input is acquired. When automatic excavation is started automatically when the cutting edge 8a comes into contact with the excavation target, the position of the cutting edge 8a at the time the head pressure of the boom cylinder 10 starts to increase is acquired. The position of the cutting edge 8a at the time the bottom pressure of the arm cylinder 11 or the bottom pressure of the bucket cylinder 12 starts to increase may also be acquired.

[0146] FIG. 17 is a diagram showing an example of the position of the cutting edge 8a in the initial stage of excavation work. The example in FIG. 17 shows the procedure for a test in which the ground surface G is repeatedly excavated five times. During the first excavation, the vertical position of the cutting edge 8a in the initial stage of excavation work is at the ground surface G. During the second and third excavations, the cutting edge 8a is located below the ground surface G in the initial stage of excavation work, and the vertical position of the cutting edge 8a in the initial stage of excavation work is at an excavation depth h1. During the fourth and fifth excavations, the cutting edge 8a is located even lower in the initial stage of excavation work, and the vertical position of the cutting edge 8a in the initial stage of excavation work is at an excavation depth h2.

[0147] FIG. 18 is a diagram showing a second example of adjusted control parameters stored in memory unit 59. In the example shown in FIG. 18, three adjusted control parameters optimized for each position of cutting edge 8a in the initial stage of excavation work are stored in memory unit 59. The adjusted control parameters include a control parameter set CP3 for the first excavation work, which was optimized under the condition that the position of cutting edge 8a in the initial stage of excavation work is at ground level G. The adjusted control parameters include a control parameter set CP4 for the second and third excavation work, which was optimized under the condition that the position of cutting edge 8a in the initial stage of excavation work is at excavation depth h1. The adjusted control parameters include a control parameter set CP5 for the fourth and fifth excavation work, which was optimized under the condition that the position of cutting edge 8a in the initial stage of excavation work is at excavation depth h2.

[0148] The main controller 50 acquires the position of the cutting edge 8a in the initial stage of the excavation work based on the attitude of the work machine 2 in the initial stage of the excavation work. If the acquired position of the cutting edge 8a is at the position of the ground surface G, the main controller 50 selects the control parameter set CP3 for the first excavation. If the acquired position of the cutting edge 8a is at the position of excavation depth h1, the main controller 50 selects the control parameter set CP4 for the second and third excavations. If the acquired position of the cutting edge 8a is at the position of excavation depth h2, the main controller 50 selects the control parameter set CP5 for the fourth and fifth excavations. The main controller 50 sets the selected adjusted control parameter as the control parameter x to be used for controlling the excavation work. The main controller 50 switches the control parameter x depending on the position of the cutting edge 8a in the initial stage of the excavation work.

[0149] The main controller 50 can also interpolate multiple adjusted control parameters based on the position of the cutting edge 8a in the initial stage of excavation work. Fig. 19 is a diagram showing an overview of the interpolation of adjusted control parameters. Fig. 19 schematically shows five control parameters x when the position of the cutting edge 8a in the initial stage of excavation work is at an excavation depth h1 and when the position of the cutting edge 8a in the initial stage of excavation work is at an excavation depth h2. The five control parameters x are represented by an open circle, an open triangle pointing up, an open triangle pointing down, an open square, and an open diamond, respectively.

[0150] Assume that the position of the cutting edge 8a obtained in the early stage of the excavation work is an intermediate position between excavation depth h1 and excavation depth h2, for example, a position at a depth of (h1+h2) / 2 from the ground surface G. In this case, the control parameter set CP4 for the second and third excavation times corresponding to excavation depth h1 and the control parameter set CP5 for the fourth and fifth excavation times corresponding to excavation depth h2 are interpolated. This makes it possible to obtain the control parameter x used to control the excavation work.

[0151] For example, a straight line is drawn connecting the circle for digging depth h1 and the circle for digging depth h2. The point on that line, indicated by a black circle and corresponding to digging depth (h1 + h2) / 2, can be obtained as the control parameter when the depth position of the cutting edge 8a is (h1 + h2) / 2. Similarly, the control parameters indicated by the black upward triangle, black downward triangle, black square, and black diamond when the depth position of the cutting edge 8a is (h1 + h2) / 2 can be obtained.

[0152] In this way, the main controller 50 can acquire the appropriate control parameter x according to the condition of the excavation target. By controlling the excavation work using the acquired control parameter x, it is possible to operate the work machine 2 appropriately according to the condition of the excavation target. Therefore, it is possible to improve the productivity of the excavation work.

[0153] Three adjusted control parameters, namely, a control parameter set CP3 for the first excavation, a control parameter set CP4 for the second and third excavations, and a control parameter set CP5 for the fourth and fifth excavations, are stored in advance in the storage unit 59. The main controller 50 can obtain an appropriate control parameter x from these three adjusted control parameters according to the conditions of the excavation target that is actually to be excavated. The main controller 50 can easily obtain the appropriate control parameter x by selecting the most appropriate one of the three adjusted control parameters according to the conditions of the excavation target.

[0154] By acquiring the control parameter x from the adjusted control parameter stored in advance and the position of the cutting edge 8a in the initial stage of the excavation work, it is possible to acquire the control parameter x appropriate for the position of the cutting edge 8a. By acquiring the control parameter x from the depth position of the cutting edge 8a in the initial stage of the excavation work, it is possible to acquire the control parameter x appropriate for the depth position of the cutting edge 8a.

[0155] The position of the cutting edge 8a in the initial stage of excavation work can be obtained with high accuracy by obtaining the position of the cutting edge 8a when the head pressure of the boom cylinder 10 fluctuates. By interpolating a plurality of adjusted control parameters stored in advance, an appropriate control parameter x that more accurately corresponds to the position of the cutting edge 8a when excavation work is actually performed can be obtained.

[0156] Returning to FIG. 12, next in step S16, the main controller 50 executes automatic excavation using the acquired control parameter x. The work implement control unit 58 outputs a command current based on the acquired set of control parameter x to the EPC valve 38. In accordance with the command current, the EPC valve 38 outputs pilot oil pressure to the operation valve 35. In accordance with this pilot oil pressure, the operation valve 35 supplies a predetermined amount of hydraulic oil to each of the boom cylinder 10, arm cylinder 11, and bucket cylinder 12. The work implement 2 operates, and excavation work is performed under automatic control. In step S17, the excavation work under automatic control ends.

[0157] In the embodiment, an example has been described in which the evaluation function E(x) used to adjust the control parameter x is expressed as a linear sum of the load weight Q(x) and the workload P(x), which is the cost of the excavation work. However, the evaluation function E(x) may include other indicators. For example, an evaluation function E(x) including the work machine speed and the excavation reaction force may be used. Furthermore, in the embodiment, an example has been described in which Bayesian optimization is applied to the adjustment of the control parameter x. However, the control parameter x may be adjusted using other methods. For example, the control parameter x that has been adjusted in advance by machine learning may be stored in the storage unit 59.

[0158] In the explanation so far, a hydraulic excavator 100 has been given as an example of a work machine. The work machine is not limited to the hydraulic excavator 100 having a backhoe-type work implement 2 in which the opening of the bucket 8 faces rearward. The work machine may also be a loading shovel. The work machine may also be a wheel loader. The work implement actuator that drives the work implement is not limited to a hydraulic type, but may also be an electric type, a pneumatic type, or the like.

[0159] <Additional Notes> The above description includes the following additional features.

[0160] (Appendix 1) a work machine having a boom, an arm connected to the boom, and a bucket connected to the arm, the work machine performing excavation work with the bucket; a controller that acquires control parameters related to the operation of the work machine when performing the excavation work from at least one adjusted control parameter that is stored in advance and information acquired in an initial stage of the excavation work, and controls the excavation work using the acquired control parameters; A work machine control system comprising:

[0161] (Appendix 2) the at least one adjusted control parameter includes a plurality of adjusted control parameters; 2. A work machine control system as described in Appendix 1, wherein the controller selects one of the plurality of adjusted control parameters based on the information as the control parameter to be used for controlling the excavation operation.

[0162] (Appendix 3) 3. A work machine control system as described in Appendix 2, wherein the information includes the soil type of the excavation target to be excavated by the bucket.

[0163] (Appendix 4) The bucket has a cutting edge at its tip, 4. The construction machine control system according to claim 3, wherein the controller determines the soil type based on a correspondence relationship between the speed of the cutting edge in the initial stage of the excavation work and the soil type.

[0164] (Appendix 5) The bucket has a cutting edge at its tip, 3. A work machine control system as described in Appendix 2, wherein the information includes the position of the cutting edge at an initial stage of the excavation operation.

[0165] (Appendix 6) 6. The work machine control system according to claim 5, wherein the position of the cutting edge includes the position of the cutting edge in the vertical direction.

[0166] (Appendix 7) Further provided is a boom cylinder that hydraulically drives the boom, The work machine control system according to claim 5 or 6, wherein the information includes the position of the cutting edge when the cutting edge comes into contact with an excavation target being excavated by the bucket and the pressure of the hydraulic oil supplied to the boom cylinder fluctuates.

[0167] (Appendix 8) 8. The work machine control system of claim 2, wherein the controller interpolates the plurality of adjusted control parameters based on the information to obtain the control parameters used to control the excavation operation.

[0168] (Appendix 9) 9. The construction machine control system according to any one of Supplementary Note 1 to Supplementary Note 8, wherein the adjusted control parameters are adjusted in advance using an evaluation function including a weight of a load to be loaded onto the bucket during the excavation operation and a cost associated with the excavation operation.

[0169] (Appendix 10) A work machine control system as described in Appendix 9, wherein, in the process of adjusting the adjusted control parameters, the control parameters to be evaluated next are determined taking into consideration both the predicted average value of the evaluation function and the prediction uncertainty of the evaluation function.

[0170] (Appendix 11) 11. The work machine control system according to claim 9 or 10, wherein the cost includes an amount of work required for the excavation operation.

[0171] (Appendix 12) Further provided is a work machine actuator that drives the work machine, 12. A work machine control system according to any one of claims 9 to 11, wherein the control parameters include a command value for operation of the work machine actuator during the excavation operation.

[0172] (Appendix 13) 13. The work machine control system of any one of Supplementary Note 9 to Supplementary Note 12, wherein the control parameter includes an amount of change in angle of the bucket during the excavation operation.

[0173] The embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0174] REFERENCE SIGNS LIST 1 main body, 2 work implement, 3 swivel body, 5 travel body, 6 boom, 7 arm, 8 bucket, 8a cutting edge, 8b bottom, 10 boom cylinder, 10A, 10B, 11A, 11B, 12A, 12B pressure sensor, 11 arm cylinder, 12 bucket cylinder, 13 boom foot pin, 14 arm connecting pin, 15 bucket connecting pin, 18A, 18B, 18C stroke sensor, 31 engine, 33 rotation sensor, 34 hydraulic pump, 35 operation valve, 38 EPC valve, 50 main controller, 51 work implement attitude acquisition unit, 52 excavation volume calculation unit, 53 work volume calculation unit, 58 work implement control unit, 59 memory unit, 60 optimization controller, 100 hydraulic excavator, 200 simple N value meter, CP1 to CP5 control parameter set, G ground, h1, h2 Drilling depth.

Claims

1. a work machine having a boom, an arm connected to the boom, and a bucket connected to the arm, the work machine performing excavation work with the bucket; a controller that acquires control parameters related to the operation of the work machine when performing the excavation work from at least one adjusted control parameter that is stored in advance and information acquired in an initial stage of the excavation work, and controls the excavation work using the acquired control parameters; A work machine control system comprising:

2. the at least one adjusted control parameter includes a plurality of adjusted control parameters; The work machine control system according to claim 1 , wherein the controller selects one of the plurality of adjusted control parameters based on the information as the control parameter to be used for controlling the excavation operation.

3. The control system for a work machine according to claim 2 , wherein the information includes the type of soil to be excavated by the bucket.

4. The bucket has a cutting edge at its tip, 4. The control system for a work machine according to claim 3, wherein the controller determines the soil type based on a correspondence relationship between the speed of the cutting edge in an initial stage of the excavation work and the soil type.

5. The bucket has a cutting edge at its tip, The work machine control system of claim 2 , wherein the information includes the position of the cutting edge during an initial stage of the digging operation.

6. The control system for a work machine according to claim 5 , wherein the position of the cutting edge includes a position of the cutting edge in the up-down direction.

7. Further provided is a boom cylinder that hydraulically drives the boom, 6. The work machine control system according to claim 5, wherein the information includes the position of the cutting edge when the cutting edge comes into contact with an excavation target being excavated by the bucket and the pressure of the hydraulic oil supplied to the boom cylinder fluctuates.

8. The work machine control system according to claim 2 , wherein the controller obtains the control parameter used to control the excavation operation by interpolating the plurality of adjusted control parameters based on the information.

9. 2. The work machine control system according to claim 1, wherein the adjusted control parameters are adjusted in advance using an evaluation function including a weight of a load to be loaded on the bucket during the excavation operation and a cost required for the excavation operation.

10. 10. The work machine control system according to claim 9, wherein in the process of adjusting the adjusted control parameters, the control parameters to be next evaluated are determined taking into consideration both the predicted average value of the evaluation function and the prediction uncertainty of the evaluation function.

11. The work machine control system according to claim 9 , wherein the cost includes an amount of work required for the excavation operation.

12. Further provided is a work machine actuator that drives the work machine, The work machine control system according to claim 9 , wherein the control parameters include command values ​​for operation of the work machine actuator during the excavation operation.

13. 10. The work machine control system according to claim 9, wherein the control parameter includes an amount of change in angle of the bucket during the excavation operation.

14. a work machine having a bucket at a tip thereof and performing excavation work with the bucket; a controller that acquires control parameters related to the operation of the work machine when performing the excavation work from adjusted control parameters that have been adjusted in advance and stored using an evaluation function that includes the weight of a load to be loaded on the bucket during the excavation work and a cost associated with the excavation work, and from information acquired in an early stage of the excavation work, and controls the excavation work using the acquired control parameters; A work machine control system comprising:

15. acquiring control parameters related to the operation of a work machine having a boom, an arm connected to the boom, and a bucket connected to the arm, which performs excavation work with the bucket, when performing the excavation work, from adjusted control parameters stored in advance and information acquired in an initial stage of the excavation work; Controlling the excavation operation using the obtained control parameters; A method for controlling a work machine, comprising:

16. The method for controlling a work machine according to claim 15, wherein the information includes soil properties of an excavation target to be excavated by the bucket.

17. The bucket has a cutting edge at its tip, 17. A control method for a work machine according to claim 16, wherein the soil type is determined based on a correspondence relationship between the speed of the cutting edge in an initial stage of the excavation work and the soil type.

18. The bucket has a cutting edge at its tip, The method for controlling a work machine according to claim 15, wherein the information includes the position of the cutting edge at an initial stage of the excavation operation.

19. Further provided is a boom cylinder that hydraulically drives the boom, 19. The control method for a work machine according to claim 18, wherein the information includes a position of the cutting edge when the cutting edge comes into contact with an excavation target being excavated by the bucket and the pressure of hydraulic oil supplied to the boom cylinder fluctuates.

20. 16. The control method for a work machine according to claim 15, wherein the adjusted control parameters are adjusted in advance using an evaluation function including the weight of a load to be loaded on the bucket during the excavation operation and a cost required for the excavation operation.

Images