Work control method of construction machine, work control system, and work control apparatus

Abstract

A work control method according to the present invention includes: an initial motion input model generation step; and a feedback control step, in which the initial motion input model generation step includes: a first initial motion input value measurement step of measuring a first initial motion measurement value at which the movable part is caused to start to move in a first state of the movable part; a second initial motion input value measurement step of measuring a second initial motion measurement value at which the movable part is caused to start to move in a second state of the movable part; and a model generation step of generating an initial motion input model that complements between the first initial motion measurement value and the second initial motion measurement value and derives the initial motion input value with respect to a desired posture of the construction machine.

What is claimed is: 
     
         1 . A work control method comprising:
 an initial motion input model generation step of generating an initial motion input model for computing an initial motion input value at which a movable part of a construction machine is caused to start to move; and   a feedback control step of computing the initial motion input value that corresponds to the posture of the construction machine using the initial motion input model and determining a control input value equal to or larger than the initial motion input value, wherein   the initial motion input model generation step comprises:
 a first initial motion input value measurement step of measuring a first initial motion measurement value at which the movable part is caused to start to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part; 
 a second initial motion input value measurement step of measuring a second initial motion measurement value at which the movable part is caused to start to move in a second state in which the movable part is controlled to a second position that is different from the first position within the movable range of the movable part; and 
 a model generation step of generating the initial motion input model that complements between the first initial motion measurement value and the second initial motion measurement value and derives the initial motion input value with respect to a desired posture of the construction machine. 
   
     
     
         2 . The work control method according to  claim 1 , wherein
 in the first initial motion input value measurement step, an input value is provided for the construction machine in such a way that the movable part moves in each of a positive direction of the movable part and a negative direction of the movable part with respect to the movable part which is in the first state, and the first initial motion measurement value is measured for each of the positive direction and the negative direction,   in the second initial motion input value measurement step, an input value is provided for the construction machine in such a way that the movable part moves in each of the positive direction of the movable part and the negative direction of the movable part with respect to the movable part which is in the second state, and the second initial motion measurement value is measured for each of the positive direction and the negative direction, and   the model generation step includes a control input computation step of generating the initial motion input model using the first initial motion measurement value of the positive direction, the first initial motion measurement value of the negative direction, the second initial motion measurement value of the positive direction, and the second initial motion measurement value of the negative direction.   
     
     
         3 . The work control method according to  claim 1 , wherein
 the feedback control step comprises:   an initial motion input update step of acquiring the current posture of the construction machine based on positional information of the movable part of the construction machine and updating the initial motion input value that corresponds to the current posture by the value computed using the initial motion input model;   an error update step of updating the error between the current posture and a target posture of the construction machine; and   a control input computation step of receiving the error and the initial motion input value, computing the control input value that reduces the error, and provides the computed control input value for the construction machine.   
     
     
         4 . The work control method according to  claim 3 , wherein, in the error update step, when a work instruction for instructing a work to be performed by the construction machine has been updated, a parameter update step of updating a control parameter including the target posture of the construction machine is performed. 
     
     
         5 . The work control method according to  claim 1 , wherein the initial motion input model generation step generates the initial motion input model in a period other than an operation period during which the construction machine performs work. 
     
     
         6 . The work control method according to  claim 1 , wherein
 the construction machine includes a manipulation lever for manipulating the posture of the construction machine and an actuator attached to the manipulation lever, and   the work control method includes a construction machine control step of controlling the construction machine via the manipulation lever by manipulating the actuator based on the control input value.   
     
     
         7 . A work control system comprising:
 initial motion input model generation means for generating an initial motion input model for computing an initial motion input value at which a movable part of a construction machine is caused to start to move; and   feedback control means for computing the initial motion input value that corresponds to the posture of the construction machine using the initial motion input model and determining a control input value equal to or larger than the initial motion input value, wherein   the initial motion input model generation means performs:
 first initial motion input value measurement processing for measuring a first initial motion measurement value at which the movable part is caused to start to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part; 
 second initial motion input value measurement processing for measuring a second initial motion measurement value at which the movable part is caused to start to move in a second state in which the movable part is controlled to a second position that is different from the first position within the movable range of the movable part; and 
 model generation processing for generating the initial motion input model that complements between the first initial motion measurement value and the second initial motion measurement value and deriving the initial motion input value with respect to a desired posture of the construction machine. 
   
     
     
         8 . The work control system according to  claim 7 , wherein
 in the first initial motion input value measurement processing, an input value is provided for the construction machine in such a way that the movable part moves in each of a positive direction of the movable part and a negative direction of the movable part with respect to the movable part which is in the first state, and the first initial motion measurement value is measured for each of the positive direction and the negative direction,   in the second initial motion input value measurement processing, an input value is provided for the construction machine in such a way that the movable part moves in such a way that the movable part moves in each of the positive direction of the movable part and the negative direction of the movable part with respect to the movable part which is in the second state, and the second initial motion measurement value is measured for each of the positive direction and the negative direction, and   in the model generation processing, the initial motion input model is generated using the first initial motion measurement value of the positive direction, the first initial motion measurement value of the negative direction, the second initial motion measurement value of the positive direction, and the second initial motion measurement value of the negative direction.   
     
     
         9 . The work control system according to  claim 7 , wherein the feedback control means comprises:
 initial motion input update means for acquiring the current posture of the construction machine based on positional information of the movable part of the construction machine and updating the initial motion input value that corresponds to the current posture by the value computed using the initial motion input model;   error update means for updating the error between the current posture and a target posture of the construction machine; and   control input computation means for receiving the error and the initial motion input value, computing the control input value that reduces the error, and providing the computed control input value for the construction machine.   
     
     
         10 . The work control system according to  claim 9 , wherein the error update means includes parameter update means for updating a control parameter including the target posture of the construction machine when a work instruction for instructing a work to be performed by the construction machine has been updated. 
     
     
         11 . The work control system according to  claim 7 , wherein the initial motion input model generation means generates the initial motion input model in a period other than an operation period during which the construction machine performs work. 
     
     
         12 . The work control system according to  claim 7 , wherein
 the construction machine includes a manipulation lever for manipulating the posture of the construction machine and an actuator attached to the manipulation lever, and   the work control system includes construction machine control means for controlling the construction machine via the manipulation lever by manipulating the actuator based on the control input value.   
     
     
         13 . A work control apparatus comprising:
 initial motion input model generation means for generating an initial motion input model for computing an initial motion input value at which a movable part of a construction machine is caused to start to move; and   feedback control means for computing the initial motion input value that corresponds to the posture of the construction machine using the initial motion input model and determining a control input value equal to or larger than the initial motion input value, wherein   the initial motion input model generation means performs:
 first initial motion input value measurement processing for measuring a first initial motion measurement value at which the movable part is caused to start to move in a first state in which the movable part is controlled to a first position within a movable range of the movable part; 
 second initial motion input value measurement processing for measuring a second initial motion measurement value at which the movable part is caused to start to move in a second state in which the movable part is controlled to a second position that is different from the first position within the movable range of the movable part; and 
 model generation processing for generating the initial motion input model that complements between the first initial motion measurement value and the second initial motion measurement value and deriving the initial motion input value with respect to a desired posture of the construction machine. 
   
     
     
         14 . The work control apparatus according to  claim 13 , wherein
 in the first initial motion input value measurement processing, an input value is provided for the construction machine in such a way that the movable part moves in each of a positive direction of the movable part and a negative direction of the movable part with respect to the movable part which is in the first state, and the first initial motion measurement value is measured for each of the positive direction and the negative direction,   in the second initial motion input value measurement processing, an input value is provided for the construction machine in such a way that the movable part moves in each of the positive direction of the movable part and the negative direction of the movable part with respect to the movable part which is in the second state, and the second initial motion measurement value is measured for each of the positive direction and the negative direction, and   in the model generation processing, the initial motion input model is generated using the first initial motion measurement value of the positive direction, the first initial motion measurement value of the negative direction, the second initial motion measurement value of the positive direction, and the second initial motion measurement value of the negative direction.   
     
     
         15 . The work control apparatus according to  claim 13 , wherein
 the feedback control means comprises:   initial motion input update means for acquiring the current posture of the construction machine based on positional information of the movable part of the construction machine and updating the initial motion input value that corresponds to the current posture by the value computed using the initial motion input model;   error update means for updating the error between the current posture and a target posture of the construction machine; and   control input computation means for receiving the error and the initial motion input value, computing the control input value that reduces the error, and providing the computed control input value for the construction machine.   
     
     
         16 . The work control apparatus according to  claim 15 , wherein the error update means includes parameter update means for updating a control parameter including the target posture of the construction machine when a work instruction for instructing a work to be performed by the construction machine has been updated. 
     
     
         17 . The work control apparatus according to  claim 13 , wherein the initial motion input model generation means generates the initial motion input model in a period other than an operation period during which the construction machine performs work. 
     
     
         18 . The work control apparatus according to  claim 13 , wherein
 the construction machine includes a manipulation lever for manipulating the posture of the construction machine and an actuator attached to the manipulation lever, and   the work control system includes construction machine control means for controlling the construction machine via the manipulation lever by manipulating the actuator based on the control input value.