Work machine control system, work machine, management device, and work machine control method

Abstract

To provide a work machine control system, a work machine, a management device, and a work machine control method capable of appropriately assisting an operator's operation given to an operating device of the work machine according to the operator's operating skill.SOLUTION: A work machine control system comprises an operation skill determiner 51 for determining the operating skill of an operator, a data group memory 62 for storing a plurality of data groups including past operating skill data and past control parameter data associated with the past operating skill data, a parameter setting device 54 for setting control parameters using operation information, which is information including operating skill, and a plurality of data groups, an assist amount calculator 55 for calculating the assist amount using control parameters, and a control command calculator 56 that computes a control command for operating a controlled object using an operation amount and an assist amount of an operation given to an operating device, and inputs the control command to the controlled object.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Each of Patent Documents 1 to 3 discloses a technique for assisting an operator in performing an operation in order to improve work efficiency at a work site.

[0003] Patent Document 1 discloses a technology for measuring or calculating the motion state quantity of the combined center of gravity of the boom, arm, and bucket that make up a working device, determining an instruction value for an operating mechanism of the working device using feedback control so that the motion state quantity follows a predetermined first target value, and adjusting the amount of operation of the operator on the working device based on the instruction value.

[0004] Patent Document 2 discloses a construction machine control parameter changing system that changes control parameters built into a control device that controls equipment that drives actuators of the construction machine in accordance with the needs of the user of the construction machine. A storage device of a management server of this system stores multiple control parameter sets with different characteristics and user request information including requests from the user regarding the operability of the hydraulic excavator. Based on the user request information, the management server extracts a control parameter set that meets the user's needs from the control parameter sets and outputs the extracted extracted control parameter set to the hydraulic excavator. An information controller of the hydraulic excavator changes the control parameter set built into the control controller to the extracted control parameter set.

[0005] Patent Document 3 discloses an output characteristic changing system for construction machinery. An operator ID, a vehicle ID, and output characteristic information are stored in a storage device of a management server of this system in association with the operability desired by each operator. The management server extracts output characteristic information that matches the operability desired by the operator from the operator ID and vehicle ID, and outputs the extracted output characteristic information to a hydraulic excavator. A control device of the hydraulic excavator changes the output characteristics of a hydraulic actuator based on the output characteristic information stored in memory. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2020-033815 [Patent Document 2] JP 2017-075500 A [Patent Document 3] International Publication No. 2017 / 168687 Summary of the Invention [Problem to be solved by the invention]

[0007] Since the operating skill level for operating a work machine differs from operator to operator, it is desirable to provide assistance according to the operating skill level. However, the technology in Patent Document 1 does not take the operating skill level of the operator into consideration, and therefore work efficiency may not necessarily improve depending on the operator's operating skill level.

[0008] Furthermore, while each operator's operational skill improves as they gain experience in various tasks, it can also decline, for example, if they are not performing tasks for a long period of time. In other words, each operator's operational skill may fluctuate. In the technology of Patent Document 2, a control parameter set that meets a user's requirements is extracted from among control parameter sets based on pre-stored user request information, including the user's requests regarding operability. Therefore, with the technology of Patent Document 2, if the operator's operational skill fluctuates, assistance appropriate to the operator's operational skill may not be provided, and work efficiency may not be improved. Similarly, with the technology of Patent Document 3, an operator ID, a vehicle ID, and output characteristic information are pre-stored in association with each operator's desired operability. The output characteristic information is extracted from these operator IDs and vehicle IDs, and the extracted output characteristic information is output to the hydraulic excavator. Therefore, with the technology of Patent Document 3, if the operator's operational skill fluctuates, assistance appropriate to the operator's operational skill may not be provided, and work efficiency may not be improved.

[0009] An object of the present disclosure is to provide a work machine control system, a work machine, a management device, and a work machine control method that are capable of appropriately assisting an operator's operations applied to an operating device of a work machine in accordance with the operator's operating skill. [Means for solving the problem]

[0010] What is provided is a control system for controlling a work machine, comprising: an operating device in which an operator provides an operation to operate a controlled object in the work machine; an operating skill determiner for determining the operating skill of the operator; a data group memory for storing a plurality of data groups related to past work, each of the plurality of data groups including past operating skill data for the past work and past control parameter data associated with the past operating skill data; a parameter setter for setting control parameters using operation information that is information including the operating skill and the plurality of data groups; an assist amount calculator for calculating an assist amount to assist the operation by the operator using the control parameters; and a control command calculator for calculating a control command to operate the controlled object using the operation amount of the operation provided to the operating device and the assist amount, and inputting the control command to the controlled object.

[0011] In this work machine control system, an operating skill determiner determines the operator's operating skill for each task performed by the work machine, and a parameter setter sets control parameters using operating information including this operating skill and multiple data groups including pre-stored past operating skill data and past control parameter data associated therewith. This makes it possible to set control parameters according to the operator's operating skill at that time for each task performed by the work machine. Then, a control command calculator calculates a control command for operating a controlled object using the amount of operation by the operator and an assist amount calculated using the set control parameters. This makes it possible to appropriately assist the operator's operation applied to the operating device of the work machine according to the operator's operating skill.

[0012] Preferably, the work machine control system further includes a work content determiner that determines work content, which is the content of work being performed by the work machine, the operation information further including the work content, and each of the plurality of data groups further including past work content data for the past work. In this configuration, the parameter setter can set control parameters based on operating skill and work content using the operation information and the plurality of data groups. That is, in this configuration, the work content determiner determines the work content for each work performed by the work machine, so the parameter setter can set control parameters that take into account not only operating skill but also work content. This makes it possible to more appropriately assist the operator in operations according to the operator's operating skill and work content.

[0013] Preferably, the parameter setter selects at least one data group from the plurality of data groups, the data group including the historical work content data corresponding to the work content and suitable for the determined operating skill, and sets the control parameters using the historical control parameter data included in the at least one selected data group. In this configuration, data groups that are less relevant to the work content of the work actually being performed (current work content) are excluded from the plurality of data groups, and at least one data group including historical work content data corresponding to the current work content is selected. Then, the control parameters are set using the historical control parameter data included in the selected at least one data group. This reduces the computational load on the controller in assist control that assists the operator in operation.

[0014] It is preferable that the parameter setter selects two or more data groups suitable for the operating skill from the plurality of data groups, and sets the control parameters using the past control parameter data included in the selected two or more data groups. In this configuration, even if there is no data group including past operating skill data that matches the operator's current operating skill in the work actually being performed, two or more data groups including past operating skill data close to the current operating skill can be selected from the plurality of data groups, and the control parameters can be set using the past control parameter data included in the two or more data groups.

[0015] Preferably, the work machine control system further includes a target setter that sets a target operating skill in association with the operating skill, and the parameter setter sets the control parameter based on the target operating skill. With this configuration, it is possible to set a control parameter based on a target operating skill that increases or decreases the degree of operating skill relative to the current operating skill of the operator performing work using the work machine.

[0016] It is preferable that the work machine control system further includes a target input device into which a target for the operating skill can be input, and that the target setter sets the target operating skill using the input target for the operating skill and the operating skill. In this configuration, for example, an operator or a related worker involved in the work to be performed by the operator can input the target for the operating skill into the target input device, making it possible to set control parameters that reflect the intentions of the operator or related workers.

[0017] It is preferable that the work machine control system further includes a display that displays the operating skill level. With this configuration, the operator or other relevant personnel can set control parameters that reflect their own intentions while checking the operating skill level displayed on the display.

[0018] Preferably, the plurality of data groups includes data groups related to other operators different from the operator. In this configuration, since data groups related to operators other than the operator can be used, data groups can be efficiently accumulated, and control parameters can be appropriately set even for work content that the operator has no experience with. As a result, even if the operator has little experience with the current work content, the system can appropriately assist the operator in the operation according to the operator's operating skill.

[0019] Preferably, the work machine control system further comprises a work machine memory mounted on the work machine and storing the operation information, and a work machine communication device mounted on the work machine, the data group memory being mounted on a management device located remotely from the work machine, and the work machine communication device transmitting the operation information stored in the work machine memory to the management device when work by the work machine has finished or been interrupted. With this configuration, even if the work machine does not have a data group memory that stores multiple data groups, it can exchange data with the management device when necessary to appropriately assist the operator in operation according to the operator's operating skill.

[0020] The provided work machine comprises an operating device in which an operator provides an operation to operate a controlled object of the work machine, an operating skill determiner that determines the operating skill of the operator, a parameter setter that sets control parameters using operation information that is information including the operating skill and a plurality of data groups related to past work, wherein each of the plurality of data groups includes past operating skill data for the past work and past control parameter data associated with the past operating skill data, an assist amount calculator that calculates an assist amount to assist the operation by the operator using the control parameters, and a control command calculator that calculates a control command to operate the controlled object using the operation amount and the assist amount provided to the operating device, and inputs the control command to the controlled object. This work machine can appropriately assist the operation by the operator provided to the operating device of the work machine in accordance with the operator's operating skill.

[0021] What is provided is a management device for use in the work machine control system, located at a location remote from the work machine, and including the data group storage device. Because this management device includes the data group storage device, it is possible to reduce the memory capacity required for the work machine.

[0022] Preferably, the management device further comprises a management device communicator that receives the operation information transmitted from the work machine, and a data group setter that uses the plurality of data groups to set a target data group that is a data group suitable for the operation information of the work machine, and the management device communicator transmits the set target data group to the work machine. Because this management device uses a plurality of data groups to set a target data group that is a data group suitable for the operation information of the work machine, the calculation load on the work machine can be reduced.

[0023] Provided is a control method for a work machine for assisting an operator's operation to operate a controlled object in the work machine, the method comprising: storing a plurality of data groups related to past work, each of the plurality of data groups including past operating skill data for the past work and past control parameter data associated with the past operating skill data; determining the operating skill of the operator; setting control parameters using operation information including the operating skill and the plurality of data groups; calculating an assist amount for assisting the operation by the operator using the control parameters; calculating a control command for operating the controlled object using the operation amount and the assist amount; and inputting the control command to the controlled object. This control method for a work machine can appropriately assist an operator's operation applied to an operating device of the work machine in accordance with the operator's operating skill. [Effects of the Invention]

[0024] According to the present disclosure, a work machine control system, a work machine, a management device, and a work machine control method are provided that are capable of appropriately assisting an operator's operation applied to an operating device of a work machine in accordance with the operator's operating skill. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a side view illustrating an example of a work machine according to an embodiment of the present disclosure. FIG. [Figure 2] FIG. 2 is a diagram showing a part of a hydraulic circuit and a controller of the work machine. [Figure 3] 1 is a conceptual diagram illustrating a work machine control system according to an embodiment of the present disclosure. [Figure 4] FIG. 3 is a block diagram showing a flow of control by a controller of the work machine. [Figure 5] FIG. 3 is a diagram showing an example of a plurality of past data groups stored in the work machine control system. [Figure 6]FIG. 3 is a diagram showing an example of operation information of the work machine. [Figure 7] 4 is a flowchart illustrating an example of a calculation process performed by the controller. DETAILED DESCRIPTION OF THE INVENTION

[0026] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a side view showing a work machine 100 according to this embodiment. In this embodiment, the work machine 100 is a hydraulic excavator, which is an example of a work machine that includes a control target. FIG. 2 is a diagram showing part of the hydraulic circuit of the work machine 100 and a controller 50. FIG. 3 is a conceptual diagram showing a work machine control system according to an embodiment. This work machine control system comprises the work machine 100 and a management device 60. In this embodiment, the management device 60 is a server that is located at a location remote from the work machine 100 and is capable of receiving commands from the work machine 100 and providing specific functions and various data to the work machine 100.

[0027] As shown in Figures 1 and 2, the work machine 100 comprises a self-propelled lower running body 1, an upper rotating body 2 supported on the lower running body 1 so as to be rotatable around the Z axis in the vertical direction, a work device 3, a plurality of hydraulic actuators, a plurality of hydraulic pumps, a plurality of control valves, a plurality of operating devices, a plurality of proportional valves, a plurality of detectors, a target input device 41, a display device 42, and a controller 50.

[0028] The upper rotating body 2 includes an upper frame rotatably supported on the lower traveling body 1, a cabin supported by the upper frame, and a counterweight arranged behind the cabin.

[0029] The work implement 3 includes a boom 4 supported on the upper frame so that it can be raised and lowered, an arm 5 supported rotatably at the tip of the boom 4, and a bucket 6 supported rotatably at the tip of the arm 5.

[0030] The plurality of hydraulic actuators include a boom cylinder 7 , an arm cylinder 8 , a bucket cylinder 9 , and a swing motor 11 .

[0031] The multiple hydraulic pumps include a hydraulic pump 21 (first hydraulic pump) shown in FIG. 2, a second hydraulic pump not shown, and a pilot pump 22 shown in FIG. 2. Each of the first and second hydraulic pumps supplies hydraulic oil to at least one of the multiple hydraulic actuators. Each of the first hydraulic pump 21 and the second hydraulic pump is configured, for example, by a variable displacement hydraulic pump. The pilot pump 22 supplies pilot pressure to each of the multiple control valves. Each of the multiple hydraulic pumps is driven, for example, by an engine not shown.

[0032] 2 representatively illustrates only the circuit for operating the boom cylinder 7, and does not illustrate the circuits for operating the arm cylinder 8, bucket cylinder 9, and swing motor 11. The basic structure of the circuits for operating each of the arm cylinder 8, bucket cylinder 9, and swing motor 11 is similar to the circuit for operating the boom cylinder 7 shown in FIG.

[0033] The boom cylinder 7 is a hydraulic cylinder that receives hydraulic oil from a hydraulic pump 21 shown in Fig. 2 and operates to raise and lower the boom 4 relative to the upper rotating body 2. A base end of the boom cylinder 7 is rotatably attached to an upper frame of the upper rotating body 2, and a tip end of the boom cylinder 7 is rotatably attached to the boom 4. As shown in Fig. 2, the boom cylinder 7 has a rod chamber 7R and a head chamber 7H.

[0034] The arm cylinder 8 is a hydraulic cylinder that receives a supply of hydraulic oil from either the first or second hydraulic pump and operates to rotate the arm 5 relative to the boom 4. The bucket cylinder 9 is a hydraulic cylinder that receives a supply of hydraulic oil from either the first or second hydraulic pump and operates to rotate the bucket 6 relative to the arm 5. The swing motor 11 is a hydraulic motor that receives a supply of hydraulic oil from either the first or second hydraulic pump and operates to rotate the upper swing structure 2 relative to the lower traveling structure 1.

[0035] The control valves include a boom control valve 23 shown in Fig. 2, an arm control valve (not shown), a bucket control valve (not shown), and a swing control valve (not shown). Each of the control valves has a spool and a pair of pilot ports that receive pilot pressure from the pilot pump 22.

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

[0037] The multiple operation devices include a boom operation device 27 (see FIG. 2) that receives an operation to operate the boom 4, an arm operation device (not shown) that receives an operation to operate the arm 5, a bucket operation device (not shown) that receives an operation to operate the bucket 6, and a swing operation device (not shown) that swings the upper swing structure 2 relative to the lower traveling structure 1. Each of the multiple operation devices has an operation lever that can be operated by an operator. Each of the multiple operation devices is an electric lever device that outputs a command signal (electrical signal) corresponding to the direction of operation and the amount of operation applied by the operator to the operation lever. The output command signal is input to a controller 50.

[0038] Specifically, the boom operation device 27 is configured to be able to provide a boom-raising operation for causing the boom 4 to perform a boom-raising operation, and a boom-lowering operation for causing the boom 4 to perform a boom-lowering operation. The boom-raising operation is a movement of the boom 4 such that the tip of the boom 4 moves away from the ground, and the boom-lowering operation is a movement of the boom 4 such that the tip of the boom 4 moves closer to the ground. When receiving a boom-raising operation, the boom operation device 27 inputs a boom-raising command signal corresponding to the amount of operation of the boom-raising operation to the controller 50. When receiving a boom-lowering operation, the boom operation device 27 inputs a boom-lowering command signal corresponding to the amount of operation of the boom-lowering operation to the controller 50. The basic configurations and functions of the arm operation device, bucket operation device, and swing operation device are similar to those of the boom operation device 27, so detailed description thereof will be omitted.

[0039] Each of the plurality of proportional valves reduces the pressure of the pressure oil in the pilot pump 22 and outputs the pressure oil in response to a control command input from the controller 50. Each of the plurality of proportional valves is configured, for example, by an electromagnetic proportional valve. The plurality of proportional valves include a pair of boom proportional valves 24, 25, a pair of arm proportional valves (not shown), a pair of bucket proportional valves (not shown), and a pair of swing proportional valves (not shown).

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

[0041] When the boom operating device 27 receives a boom-lowering operation, a control command from the controller 50 is input to the boom proportional valve 24. The boom proportional valve 24 generates a pilot pressure according to the control command, and the generated pilot pressure is supplied to one pilot port of the boom control valve 23 (the left port of the boom control valve 23 in FIG. 2). The spool of the boom control valve 23 shifts by a displacement amount (amount of shift from the neutral position) corresponding to the supplied pilot pressure. As a result, the boom control valve 23 is adjusted to an opening (amount of opening) corresponding to the displacement amount, allowing hydraulic oil discharged from the hydraulic pump 21 to be supplied to the rod chamber 7R of the boom cylinder 7 at a flow rate corresponding to the displacement amount, and allowing hydraulic oil to be discharged from the head chamber 7H to return to the tank.

[0042] When the boom operating device 27 receives a boom-raising operation, a control command from the controller 50 is input to the boom proportional valve 25. The boom proportional valve 25 generates a pilot pressure according to the control command, and the generated pilot pressure is supplied to the other pilot port of the boom control valve 23 (the right-hand port of the boom control valve 23 in FIG. 2). The spool of the boom control valve 23 shifts by a displacement amount (amount of shift from the neutral position) corresponding to the supplied pilot pressure. As a result, the boom control valve 23 is adjusted to an opening (amount of opening) corresponding to the displacement amount, allowing hydraulic oil discharged from the hydraulic pump 21 to be supplied to the head chamber 7H of the boom cylinder 7 at a flow rate corresponding to the displacement amount, and allowing hydraulic oil to be discharged from the rod chamber 7R to return to the tank.

[0043] Each of the pair of arm proportional valves reduces the pressure of the pressure oil from the pilot pump 22 in response to a control command input from the controller 50, and outputs a pilot pressure corresponding to the control command to the arm control valve. Each of the pair of bucket proportional valves reduces the pressure of the pressure oil from the pilot pump 22 in response to a control command input from the controller 50, and outputs a pilot pressure corresponding to the control command to the bucket control valve. Each of the pair of swing proportional valves reduces the pressure of the pressure oil from the pilot pump 22 in response to a control command input from the controller 50, and outputs a pilot pressure corresponding to the control command to the swing control valve. The basic configurations and functions of these proportional valves are similar to those of the boom proportional valves 24, 25, so detailed description thereof will be omitted.

[0044] The work machine 100 has at least one control object. The at least one control object may include, for example, a control object related to the raising and lowering operation of the boom 4, a control object related to the pivoting operation of the arm 5, a control object related to the pivoting operation of the bucket 6, and a control object related to the swinging operation of the upper rotating body 2. In this case, each of these control objects may include, for example, a pair of proportional valves, a control valve, a hydraulic actuator, and a movable part. Specifically, the control object related to the raising and lowering operation of the boom 4 may include a pair of boom proportional valves 24, 25, a boom control valve 23, a boom cylinder 7, and the boom 4 (an example of a movable part). The control object related to the pivoting operation of the arm 5 may include the pair of arm proportional valves, the arm control valve, the arm cylinder 8, and the arm 5 (an example of a movable part). The control object related to the pivoting operation of the bucket 6 may include the pair of bucket proportional valves, the bucket control valve, the bucket cylinder 9, and the bucket 6 (an example of a movable part). Controlled objects related to the swing operation of the upper swing body 2 may include the pair of swing proportional valves, the swing control valve, the swing motor 11, and the upper swing body 2 (an example of a movable part). However, the controlled objects in the present disclosure are not limited to the specific examples described above.

[0045] Each of the multiple detectors detects information necessary to enable controller 50 to control the operation of work machine 100, and inputs a detection signal, which is an electrical signal corresponding to the information, to controller 50. The multiple detectors include a boom-related operation detector 31 that detects the output of a controlled object related to the raising and lowering operation of boom 4, an arm-related operation detector 32 that detects the output of a controlled object related to the rotational operation of arm 5, a bucket-related operation detector 33 that detects the output of a controlled object related to the rotational operation of bucket 6, and a swing-related operation detector 34 that detects the output of a controlled object related to the swing operation of upper swing body 2.

[0046] The boom-related operation detector 31 may be, for example, a boom angle sensor, a stroke sensor that detects the operation of the boom cylinder 7, or another sensor. The boom angle sensor is a sensor that detects the angle of the boom 4 relative to the upper rotating body 2. Examples of such angle sensors include a resolver, a rotary encoder, a potentiometer, and an IMU (inertial measurement unit). The stroke sensor may be one that detects the cylinder length of the hydraulic cylinder, or one that detects the position of the piston rod relative to the cylinder tube.

[0047] Similarly, arm-related movement detector 32 may be an arm angle sensor that detects the angle of arm 5 relative to boom 4, a stroke sensor that detects movement of arm cylinder 8, or another sensor. Bucket-related movement detector 33 may be a bucket angle sensor that detects the angle of bucket 6 relative to arm 5, a stroke sensor that detects movement of bucket cylinder 9, or another sensor. Swing-related movement detector 34 may be, for example, a swing angle sensor that detects the angle of upper swing structure 2 relative to lower running structure 1, a gyro sensor that detects the angular velocity (swing angular velocity) of upper swing structure 2 relative to lower running structure 1, or another sensor.

[0048] The controller 50 can acquire control output information, which is information related to the output of a controlled object, based on detection signals input from a plurality of detectors. The controller 50 can calculate, for example, the operating speed of the movable unit based on the control output information. The controller 50 can also calculate, for example, the attitude of the movable unit based on the control output information. The operating speed of the movable unit may be, for example, the operating speed of the boom 4 relative to the upper rotating body 2, the operating speed of the arm 5 relative to the boom 4, the operating speed of the bucket 6 relative to the arm 5, or the operating speed of the upper rotating body 2 relative to the lower traveling body 1. The attitude of the movable unit may be, for example, the attitude of the boom 4 relative to the upper rotating body 2, the attitude of the arm 5 relative to the boom 4, the attitude of the bucket 6 relative to the arm 5, or the attitude of the upper rotating body 2 relative to the lower traveling body 1.

[0049] The controller 50 includes an arithmetic processing device such as a CPU, and a memory. As shown in Fig. 2, the controller 50 includes an operation skill determiner 51, a task content determiner 52, a target setter 53, a parameter setter 54, an assist amount calculator 55, a control command calculator 56, a work machine memory 57, and a work machine communicator 58. The operation skill determiner 51, the task content determiner 52, the target setter 53, the parameter setter 54, the assist amount calculator 55, the control command calculator 56, the work machine memory 57, and the work machine communicator 58 are realized by the arithmetic processing device executing a control program.

[0050] The management device 60 includes a processing unit such as a CPU and a memory. As shown in Fig. 2, the management device 60 includes a management device communicator 61, a data group memory 62, and a data group setter 63. The management device communicator 61, the data group memory 62, and the data group setter 63 are realized by the processing unit executing a control program.

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

[0052] 5, the data group memory 62 of the management device 60 pre-stores a plurality of data groups including data groups A, B, C, D, E, and F relating to a plurality of past tasks that are a plurality of past tasks performed by a plurality of work machines. Each of the plurality of data groups includes past task content data, past operation skill data, past control parameter data, and past operator data. These past data are associated with each other and stored in the data group memory 62 as a single data set (data group).

[0053] In this embodiment, the operator who operates the work machine 100 is an operator OPc as shown in Figure 6. As shown in Figure 5, the plurality of data groups includes data groups relating to operators OPa and OPb who are different from operator OPc.

[0054] The past work content data is data relating to the work content of the past work. The past work content data is data indicating the determination result of the work content determined by the work content determiner 52 in the past work, and is represented as "work content determination result" in FIG. 5. As shown in FIG. 5, examples of the work content include excavation and loading work, ground leveling work, and slope leveling work, but the work content is not limited to these specific examples. For example, the work content may be lifted load carrying work.

[0055] The past operation skill data is data relating to the operation skill of the operator in the past work. The past operation skill data is data indicating the determination result of the operation skill determined by the operation skill determiner 51 in the past work, and is represented as "operation skill determination result" in Fig. 5.

[0056] The control parameter past data is data related to control parameters associated with the operation skill past data. The control parameter past data may include, for example, past data related to design parameters used in feedback control (design parameter past data) and past data corresponding to target values ​​used in feedback control (target value corresponding past data). The design parameter past data is, for example, past data related to gains corresponding to the type of feedback control, from among proportional gain (Kp), integral gain (Ki), and differential gain (Kd). The target value corresponding past data may include, for example, at least one of speed past data, acceleration past data, torque past data, and position past data (posture past data). The speed past data is past data related to the speed of the operation of the movable part in a past work. The acceleration past data is past data related to the acceleration of the operation of the movable part in a past work. The torque past data is past data related to the torque of the swing motor 11 in the swing operation of the upper swing body 2 in a past work. The position past data (posture past data) is past data related to the position (posture) of the movable part in a past work.

[0057] The operator past data is data relating to the operator associated with the operational skill past data. The operator past data may include identification information for identifying the operator who performed the previous work.

[0058] 3, the management device 60 further includes an operation information storage device 64 and a past data group constructor 65. For example, when past work A, which is past work performed by work machine A, is completed, operation information A relating to the past work A is transmitted from work machine A to the management device 60. The operation information A includes information relating to the work content of the past work A, information relating to the operating skill of the operator of the past work A, information relating to the control parameters set in the past work A, and information relating to the operator of the past work A. The operation information storage device 64 of the management device 60 stores operation information A, and the past data group constructor 65 constructs, based on the operation information A, the following data groups by relating them to one another: past work content data, which is past data related to the work content of past work A; past operating skill data, which is past data related to the operating skill of past work A; past control parameter data, which is past data related to the control parameters of past work A; and past operator data, which is past data related to the operator of past work A; and the data group storage device 62 stores this data group A. Similarly, for past work B, which is past work performed by work machine B, when past work B is completed, operation information B related to past work B is transmitted from work machine B to the management device 60. The operation information memory 64 of the management device 60 stores the operation information B, and the past data group constructor 65 constructs a single data group B by relating the work content past data, the operation skill past data, the control parameter past data, and the operator past data based on the operation information B, and the data group memory 62 stores the data group B.

[0059] Each of the pieces of operation information A, B transmitted from the work machines A, B to the management device 60 may further include at least one of, for example, speed information, acceleration information, position information (posture information), workload information, and operation amount information. Speed ​​information is information relating to the speed of operation of the movable part in each of the past tasks A, B. Acceleration information is information relating to the acceleration of operation of the movable part in each of the past tasks A, B. Position information (posture information) is information relating to the position (posture of the movable part) of the movable part in each of the past tasks A, B. Workload information is information relating to the workload (e.g., the weight of a suspended load) in each of the past tasks A, B. Operation amount information is information relating to the operation amount given to the operation device in each of the past tasks A, B. Each of the data groups A and B constructed by the past data group constructor 65 includes at least one of past speed data which is past data regarding the speed of the movement, past acceleration data which is past data regarding the acceleration of the movement, past position data (past posture data) which is past data regarding the position (posture), past workload data which is past data regarding the workload, and past operation amount data which is past data regarding the operation amount.

[0060] 3, the data group setter 63 uses the plurality of data groups to set a target data group X, which is a data group suitable for the current operation information of the work machine 100. The target data group X includes information related to control parameters. The setting of the target data group X will be described later.

[0061] Next, the controller 50 of the work machine 100 will be described.

[0062] The operation skill determiner 51 determines the operation skill, which is the operation skill of the operator who operates the work machine 100. A specific example of a method for determining operation skill is shown below. However, the method for determining operation skill is not limited to the following specific example, and various methods can be adopted.

[0063] The operation skill determiner 51 can identify the start and end points of the operation content based on the determination of the operation content by the operation content determiner 52 described below. If the operation content is, for example, excavation and loading, the operation skill determiner 51 calculates the operation efficiency, which is the efficiency of the excavation and loading work, based on the elapsed time from the start to the end of the operation and the weight of earth and sand loaded onto the bed of a transport vehicle such as a truck from the start to the end of the operation, and can determine the operation skill of the operator based on the calculated operation efficiency and evaluation criteria such as a preset map, calculation formula, etc. In the specific examples of FIGS. 5 and 6, the operation skill determiner 51 determines to which level the operator's operation skill falls within a range of 0 to 100 points, but the example is not limited to such specific examples.

[0064] The work content determiner 52 determines the work content, which is the content of work performed by the work machine 100. As shown in Fig. 5, examples of the work content include excavation and loading work, ground leveling work, and slope leveling work, but the work content is not limited to these specific examples. The work content may also be, for example, the above-mentioned lifted load transport work.

[0065] The work content determiner 52 can acquire the postures of the multiple movable parts (specifically, the posture of the boom 4, the posture of the arm 5, the posture of the bucket 6, and the posture of the upper rotating body 2) based on detection signals input to the controller 50 from the multiple detectors 31-34. For example, the postures of the multiple movable parts change characteristically during each of excavation and loading work, ground leveling work, and slope leveling work, so the work content determiner 52 can determine the work content of the work machine 100 based on the posture data of the multiple movable parts. Specifically, for example, if each of the postures of the multiple movable parts satisfies a predetermined condition related to the excavation posture and a predetermined condition related to the loading posture, the work content determiner 52 determines that the work machine 100 is performing excavation and loading work. Similarly, if each of the postures of the multiple movable parts satisfies a predetermined condition related to the ground leveling posture, the work content determiner 52 determines that the work machine 100 is performing ground leveling work. When each of the postures of the multiple movable parts satisfies a predetermined condition related to the slope grading posture, the work content determiner 52 determines that the work machine 100 is performing slope grading work. When each of the postures of the multiple movable parts satisfies a predetermined condition related to the lifted load carrying posture, the work content determiner 52 determines that the work machine 100 is performing lifted load carrying work. Each of the postures of the multiple movable parts may be represented, for example, by coordinates in a coordinate system having a predetermined reference point on the work machine 100 as the origin, or may be represented by a boom angle, an arm angle, a bucket angle, and a swing angle.

[0066] The work content determiner 52 may determine the work content of the work machine 100 based on the load applied to the work implement 3, instead of the posture data of the multiple movable parts as described above. In this case, the work content determiner 52 may determine the work content of the work machine 100 based on the detection results (detection signals) of a load sensor attached to the work implement 3, for example.

[0067] The target setter 53 sets a target operating skill relating to the target of the operator's operating skill in association with the operating skill.

[0068] The target input device 41 is a device that allows the operator or other related workers involved in the work to input a target operating skill. The related workers may include, for example, a manager of the work using the work machine 100, a work site supervisor, and an assistant for the work using the work machine 100. In this case, the target setter 53 sets the target operating skill using the target operating skill inputted into the target input device 41 by the operator or other related workers and the operating skill (current operating skill), and the parameter setter 54 sets the control parameter based on the target operating skill set in association with the operating skill, using the operation information and the multiple data groups.

[0069] The parameter setter 54 sets a control parameter based on at least the operating skill using operation information and a plurality of data groups. The parameter setter 54 may set the control parameter based on the operating skill and the work content using the operation information and the plurality of data groups. In the present embodiment, as shown in FIG. 6 , the operation information is information including an operator, a work content, an operating skill, and a target operating skill. Therefore, the parameter setter 54 may set the control parameter based on the target operating skill set associated with the operating skill using the operation information and the plurality of data groups, or may set the control parameter based on the target operating skill and the work content using the operation information and the plurality of data groups.

[0070] The control parameters may include design parameters used in feedback control. When the feedback control is P control, the design parameters include a proportional gain (Kp). When the feedback control is PI control, the design parameters include a proportional gain (Kp) and an integral gain (Ki). When the feedback control is PID control, the setting parameters include a proportional gain (Kp), an integral gain (Ki), and a differential gain (Kd).

[0071] The control parameters may include target values ​​used in feedback control, and the target values ​​may include at least one of a target speed, a target acceleration, and a target position.

[0072] The assist amount calculator 55 uses the control parameters set by the parameter setter 54 to calculate the amount of assist for assisting the operation by the operator.

[0073] The control command calculator 56 uses the operation amount and the assist amount of the operation applied to the operation device to calculate a control command for operating the controlled object, and inputs the control command to the controlled object. In the present embodiment, for example, the control command calculator 56 uses the operation amount and the assist amount of the operation applied to the boom operation device 27 to calculate a control command for operating a controlled object related to the hoisting operation of the boom 4, and inputs the control command to one of the pair of boom proportional valves 24, 25 included in the controlled object.

[0074] The work machine memory 57 is mounted on the work machine 100 and stores the operation information. In this embodiment, the work machine memory 57 temporarily stores the operation information.

[0075] The work machine communication device 58 is mounted on the work machine 100. When work by the work machine 100 has been completed or interrupted, the work machine communication device 58 transmits the operation information stored in the work machine memory 57 to the management device communication device 61 of the management device 60. When the operation information is transmitted to the management device 60, the work machine memory 57 may erase the operation information. The controller 50 may be configured to determine that work by the work machine 100 has been completed or interrupted when preset conditions that can determine that work by the work machine 100 has been completed or interrupted are satisfied. Furthermore, when work by the work machine 100 has been completed or interrupted, the operator may input a work stop input, which is a predetermined input, to an input device (not shown), and a signal corresponding to the work stop input is input from the input device to the controller 50.

[0076] The display device 42 displays the operating skill based on the determination result of the operating skill by the operating skill determiner 51. The display device 42 may include, for example, a display arranged inside the cabin of the work machine 100. In this embodiment, the display device 42 may be configured to display, for example, the work content (work content determination result), operating skill (operating skill determination result), and target operating skill included in the operation information as shown in Fig. 6.

[0077] The assist control performed by the controller 50 may include, for example, at least one of responsiveness assist control, speed assist control, acceleration assist control, torque assist control, and attitude assist control. Specifically, the assist control is as follows.

[0078] The responsiveness assist control is an assist control related to the responsiveness of the operation of the movable part. The responsiveness assist control assists the operation of the operator, for example, by adjusting the responsiveness of the operation of the movable part in response to an operation by the operator applied to the operating device to a level corresponding to the operator's operating skill. Specifically, the responsiveness of the operation of the movable part may be set higher, for example, as the operator's operating skill increases. The responsiveness of the operation of the movable part may be adjusted based on, for example, the design parameters. Therefore, when the controller 50 is configured to perform the responsiveness assist control, the control parameters include design parameters including at least one of a proportional gain, an integral gain, and a differential gain, and the control parameter past data includes past data (the design parameter past data) corresponding to the design parameters included in the control parameters.

[0079] Speed ​​assist control is an assist control related to the speed of the movement of the movable part. Speed ​​assist control assists the operation by the operator, for example, by adjusting the speed of the movement of the movable part to a magnitude corresponding to the operating skill of the operator. Specifically, the target speed (e.g., upper limit speed) of the movement of the movable part may be set to a higher value, for example, the higher the operating skill of the operator. When the controller 50 is configured to perform speed assist control, the control parameters include a target speed (an example of the target value), and the control parameter past data includes the speed past data, which is past data corresponding to the target speed.

[0080] Acceleration assist control is assist control related to the acceleration of the movement of the movable part. Acceleration assist control assists the operation by the operator, for example, by adjusting the acceleration of the movement of the movable part to a magnitude corresponding to the operator's operating skill. Specifically, when the acceleration is a positive value, the target acceleration of the movement of the movable part (e.g., upper limit acceleration) may be set to be larger, for example, the higher the operator's operating skill. When a braking force is applied to the movement of the movable part (when the acceleration is negative), the target acceleration of the movement of the movable part may be set to be smaller, for example, the higher the operator's operating skill. When the controller 50 is configured to perform acceleration assist control, the control parameters include a target acceleration (an example of the target value), and the control parameter past data includes the acceleration past data, which is past data corresponding to the target acceleration.

[0081] Torque assist control is assist control related to torque in the swing operation of the upper swing body 2 relative to the undercarriage 1. Torque assist control assists the operation by the operator, for example, by adjusting the torque generated by the swing motor 11 for the swing operation of the upper swing body 2 to a magnitude according to the operator's operating skill. Specifically, the target torque for the swing operation (e.g., upper limit torque) may be set to a larger value, for example, the higher the operator's operating skill. When the controller 50 is configured to perform torque assist control, the control parameters include a target torque (an example of the target value), and the control parameter past data includes the torque past data, which is past data corresponding to the target torque.

[0082] Attitude assist control is assist control regarding the attitude of a movable part. Attitude assist control assists an operator's operation, for example, by adjusting the attitude of the movable part to an attitude that corresponds to the operator's operating skill. When the controller 50 is configured to perform attitude assist control, the control parameters include a target position (an example of the target value), and the control parameter past data includes the position past data (the attitude past data), which is past data corresponding to the target position.

[0083] An example of the calculation process performed by the controller 50 will be described below with reference to the flowchart shown in FIG.

[0084] When the operator of the work machine 100 gives the work machine 100 an operation to start up the system of the work machine 100, the system starts up (step S1).

[0085] The controller 50 displays, for example, on the display 42, a message prompting the operator to input whether or not to use the work machine control system (assist system) according to this embodiment (step S2). When the operator inputs to the display 42 that the assist system will be used (YES in step S2), the controller 50 executes the processing from step S3 onwards. When the operator inputs to the display 42 that the assist system will not be used (NO in step S2), the controller 50 executes the normal system instead of the assist system (step S4).

[0086] Next, the controller 50 receives an input relating to a target operating skill in the target input device 41 (step S3). The operator or a person involved in the work inputs an increase range (target increase range) of the operating skill as a target of the operating skill in the target input device 41. The input target increase range is input to the controller 50.

[0087] Next, when the operator starts work using the work machine 100, the work content determiner 52 determines the work content, which is the content of the work being performed by the work machine 100, for example, using the method described above (step S5).

[0088] Further, the operation skill determiner 51 determines the operation skill, which is the operator's current operation skill, for example, by the method described above (step S6).

[0089] Next, the controller 50 generates operation information, which is a set of data associating information about the operator OPc, information about the work content determination result, information about the operating skill determination result, and information about the target operating skill, as shown in FIG. 6, for example. As described above, the operation information may further include at least one of speed information, acceleration information, position information (posture information), workload information, and operation amount information. The controller 50 (work machine communicator 58) then transmits the operation information to the management device 60 (step S7). In this embodiment, the target setter 53 of the controller 50 calculates the target operating skill by adding the target increase amount input from the target input unit 41 to the operating skill determined by the operating skill determiner 51. The information about the target operating skill in the operation information includes data on the calculated target operating skill. The target operating skill is set based on the target increase amount input by the operator as described above. Then, as will be described later, control parameters are set based on this target operating skill. Therefore, this assist control can promote the improvement of the operator's skill even if the operator does not know his or her own operating skill.

[0090] When the management device 60 (management device communicator 61) receives the data set (current operation information), as shown in Fig. 3, the data group setter 63 uses a plurality of data groups stored in the data group memory 62 to set a target data group X, which is a data group suitable for the operation information of the work machine 100. Specifically, for example, the data group setter 63 may select at least one data group from the plurality of data groups that includes the work content past data corresponding to the work content and that is suitable for the current work skill, based on information on the work content determination result and information on the operating skill determination result, which are included in the current operation information, and set the control parameters using the control parameter past data included in the at least one selected data group. The target data group X includes information on the set control parameters.

[0091] Furthermore, the data group setter 63 may select two or more data groups (two or more past data groups) from the plurality of data groups, including the past work content data corresponding to the work content and a first data group and a second data group suitable for the operating skill, based on information on the result of the work content judgment and information on the result of the operating skill judgment included in the current operation information, and reconstruct (set) the control parameters using the past control parameter data included in the selected two or more data groups. The target data group X includes information on the set control parameters. The control parameters in the data group X can be reconstructed, for example, by linearly interpolating the past control parameter data included in the two or more data groups, but the reconstruction method is not limited to linear interpolation.

[0092] In this embodiment, the assist control by the controller 50 includes the responsive assist control, so the control parameters in the target data group X include the design parameters (proportional gain, integral gain, and differential gain), and the control parameter past data includes past data (the design parameter past data) corresponding to the design parameters included in the control parameters. Also, in this embodiment, the assist control by the controller 50 further includes the speed assist control, so the control parameters in the target data group X further include the target speed, and the control parameter past data further includes the speed past data.

[0093] Past speed data is included as past control parameter data in each of the two or more past data groups selected by the data group setter 63. The data group setter 63 may calculate an average value of the past speed data included in the two or more data groups, and set this average value as the control parameter of the target data group X.

[0094] When the assist control by the controller 50 includes the acceleration assist control, the control parameters in the target data group X include the target acceleration, and the control parameter past data includes the acceleration past data. When the assist control by the controller 50 includes the torque assist control, the control parameters in the target data group X include the target torque, and the control parameter past data includes the torque past data. When the assist control by the controller 50 includes the attitude assist control, the control parameters in the target data group X include the target position (the target attitude), and the control parameter past data includes the position past data (the attitude past data).

[0095] The management device 60 (management device communicator 61) transmits information relating to the set target data group X to the controller 50 of the work machine 100, and the controller 50 (work machine communicator 58) receives the information relating to the target data group X (step S8).

[0096] In this embodiment, the control parameters included in the received target data group X include, for example, information on design parameters (PID gains: Kp, Ki, Kd) used in feedback control (PID control) and information on a target speed (an example of a target value). The parameter setter 54 of the controller 50 sets PID gains for feedback control (PID control) shown in the block diagram of Fig. 4 as control parameters based on the information on the design parameters included in the target data group X (step S9).

[0097] Furthermore, the parameter setter 54 sets the target speed as a control parameter, which is a target value for feedback control shown in the block diagram of FIG. 4, based on information about the target speed included in the target data group X (step S10). By performing speed assist control based on the target speed, the speed of the movement of the movable part is controlled to approach the target speed. In other words, the upper limit speed of the movement of the movable part is set to the target speed. In this embodiment, the target speed is set to be higher as the operator's operating skill increases.

[0098] Next, as shown in Fig. 4, a subtractor 59 of the controller 50 calculates the deviation between the target value and the control output output from the controlled object. An assist amount calculator 55 substitutes the PID gain set by the parameter setter 54 and the deviation into the following equation (1) to calculate an assist amount for bringing the deviation closer to zero (S11). In the following equation (1), "u" is the assist amount, "Kp", "Ki", ​​and "Kd" are PID gains (proportional gain, integral gain, and differential gain), and "e" is the deviation between the control output and the target value. In this embodiment, the control output used to calculate the deviation is the actual operating speed of a movable part (e.g., the boom 4), and the target value is the target speed.

[0099]

number

[0100] Next, the control command calculator 56 calculates a control command for operating the controlled object using, for example, the operation amount and the assist amount of the operation applied to the boom operation device 27, and inputs the control command to one of the pair of boom proportional valves 24, 25 included in the controlled object (the boom proportional valve corresponding to the operating direction of the operation) (step S12). The controller 50 repeats the control of steps S5 to S12.

[0101] The PID gain as a control parameter set by the parameter setter 54 may be the same as the value initially set in step S9 and used while one task is being performed, or may be updated multiple times based on preset conditions while one task is being performed, or may be updated every cycle of steps S5 to S12.

[0102] As explained above, in this work machine control system, the operating skill determiner 51 determines the operating skill, which is the operator's operating skill, for each task performed by the work machine 100, and the parameter setter 54 sets control parameters based on the operating skill using operation information including this operating skill and multiple data groups including pre-stored past operating skill data and past control parameter data associated with this. This makes it possible to set control parameters according to the operating skill, which is the operator's operating skill at that time, for each task performed by the work machine 100. Then, the assist amount calculator 55 The amount of assistance for assisting the operation by the operator is calculated using the control parameters. The control command calculator 56 calculates a control command for operating the controlled object using the amount of operation by the operator and the amount of assistance calculated using the set control parameters. This makes it possible to appropriately assist the operation by the operator given to the operating device 27 of the work machine in accordance with the operator's operating skill.

[0103] [Variations] The work machine 100, which is an example of a work machine according to an embodiment of the present disclosure, has been described above, but the present disclosure is not limited to the above embodiment and includes, for example, the following modified examples.

[0104] (A) Target operation skill and target operation skill setting section The target operation skill and the target operation skill setting unit may be omitted.

[0105] (B) Controlled Objects In the above-described embodiment, the controlled objects include a pair of proportional valves (e.g., boom proportional valves 24, 25), a control valve (e.g., boom control valve 23), a hydraulic actuator (e.g., boom cylinder 7), and a movable part (e.g., boom 4). However, the controlled objects in the present disclosure are not limited to the specific examples in the above-described embodiment, and may include, for example, the arm proportional valve, the arm control valve, and the arm cylinder 8. Furthermore, the controlled objects in the present disclosure may include, for example, the bucket proportional valve, the bucket control valve, and the bucket cylinder 9. Furthermore, the controlled objects in the present disclosure may include, for example, the swing proportional valve, the swing control valve, and the swing motor 11.

[0106] (C) About work machines The work machine may include a work machine main body and a remote control arranged at a position remote from the work machine main body. In this case, the work machine main body includes the undercarriage 1, upper rotating body 2, and work implement 3 of the work machine 100 shown in FIG. 1 , and the remote control includes a plurality of operation devices including a boom operation device 27, an arm operation device, a bucket operation device, and a swing operation device. The work machine main body may include a part or all of the controller 50, and the remote control may include a part or all of the controller 50. The remote control may include a display 42. The work machine main body is configured to operate based on operations by an operator applied to the plurality of operation devices of the remote control.

[0107] (D) About the data set In the above embodiment, the multiple data groups stored in the data group memory include data groups relating to multiple past tasks of different types of work content, but may also include only data groups relating to multiple past tasks of the same work content.

[0108] (E) Operation volume information and workload information When the work machine 100 is performing work to transport a suspended load, the controller 50 may adjust the opening of multiple control valves according to the weight of the suspended load (work load) and perform assist control so that the moving parts operate at a speed according to the operating skill of the operator. This allows even an unskilled operator to perform work that does not cause the moving parts to suddenly stop, just like an experienced operator. [Explanation of symbols]

[0109] 4: Boom (an example of a control target) 7: Boom cylinder (an example of a control target) 21: Hydraulic pump 22: Pilot pump 23: Boom control valve (an example of a control object) 24, 25: A pair of boom proportional valves (an example of a controlled object) 27: Boom operation device (an example of an operation device) 31: Boom-related motion detector (an example of a detector) 41: Target input device 42:Display unit 50: Controller 51: Operation skill judgement device 52: Work content judger 53: Goal setting device 54: Parameter setting device 55: Assist amount calculator 56: Control command calculator 57: Work machine memory 58: Work machine communication device 59: Subtractor 60: Management device 61: Management device communication device 62: Data group memory 63: Data group setting device 64: Operation information storage device 65: Past data group constructor 100: Work machines

Claims

1. 1. A control system for controlling a work machine, comprising: an operating device that is operated by an operator to operate a controlled object in the work machine; an operation skill determiner for determining the operation skill of the operator; a data group storage device that stores a plurality of data groups related to past work, each of the plurality of data groups including past data of operation skill in the past work and past data of control parameters associated with the past data of operation skill; a parameter setter that selects at least one data group suitable for the current operating skill determined by the operating skill determiner from the plurality of data groups, and sets control parameters including at least one of a gain and a target value for feedback control using the control parameter past data included in the at least one selected data group; an assist amount calculator that calculates an assist amount for assisting the operation by the operator using the control parameters; a control command calculator that uses the operation amount of the operation and the assist amount given to the operating device to calculate a control command for operating the controlled object, and inputs the control command to the controlled object.

2. 2. A work machine control system according to claim 1, a work content determiner for determining the work content being performed by the work machine, A work machine control system, wherein each of the plurality of data groups further includes past work content data for the past work.

3. 3. A work machine control system according to claim 2, The parameter setter selects at least one data group from the plurality of data groups that includes the work content past data corresponding to the work content and that is suitable for the determined operating skill, and sets the control parameters using the control parameter past data included in the selected at least one data group.

4. 3. A work machine control system according to claim 1 or 2, The parameter setter selects two or more data groups suitable for the operating skill from the plurality of data groups, and sets the control parameters using the past control parameter data included in the selected two or more data groups.

5. A work machine control system according to any one of claims 1 to 4, a target setting device for setting a target operation skill in association with the operation skill; The parameter setter sets the control parameters based on the target operation skill.

6. 6. A work machine control system according to claim 5, a goal input device capable of inputting a goal for the operation skill; The target setter sets the target operating skill using the input target for the operating skill and the operating skill.

7. 7. A work machine control system according to claim 6, The work machine control system further comprises a display that displays the operation skill.

8. A work machine control system according to any one of claims 1 to 7, The plurality of data groups include data groups relating to other operators different from the operator. Included are work machine control systems.

9. A work machine control system according to any one of claims 1 to 8, a work machine memory device that is mounted on the work machine and stores operation information including the operating skill; a work machine communication device mounted on the work machine, the data group storage device is mounted on a management device that is located at a location remote from the work machine, A work machine control system wherein the work machine communication device transmits the operation information stored in the work machine memory to the management device when work by the work machine is completed or interrupted.

10. an operating device that is operated by an operator to operate a controlled object in the work machine; an operation skill determiner for determining the operation skill of the operator; a parameter setter that selects at least one data group suitable for the current operating skill determined by the operating skill determiner from a plurality of data groups including past data of operating skills in past tasks and past control parameter data associated with the past data of operating skills, and sets control parameters including at least one of a gain and a target value for feedback control using the past control parameter data included in the at least one selected data group; an assist amount calculator that calculates an assist amount for assisting the operation by the operator using the control parameters; a control command calculator that uses the operation amount of the operation and the assist amount given to the operating device to calculate a control command for operating the controlled object, and inputs the control command to the controlled object.

11. A management device used in the work machine control system according to any one of claims 1 to 8, the management device being located at a location remote from the work machine, the management device comprising the data group storage device.

12. The management device according to claim 11, a management device communicator that is a communicator that receives operation information including the operating skill transmitted from the work machine; a data group setting device that uses the plurality of data groups to set a target data group that is a data group suitable for the operation information of the work machine, The management device communicator transmits the set target data group to the work machine.

13. A work machine control method for assisting an operator in operating a controlled object in the work machine, comprising: storing a plurality of data groups related to past work, each of the plurality of data groups including past data of operation skill in the past work and past data of control parameters associated with the past data of operation skill; determining the operator's operating skill; selecting at least one data group suitable for the determined current operating skill from the plurality of data groups, and setting control parameters including at least one of a gain and a target value for feedback control using the control parameter past data included in the at least one selected data group; calculating an assist amount for assisting the operation by the operator using the control parameters; calculating a control command for operating the controlled object using the operation amount and the assist amount, and inputting the control command to the controlled object.

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