Control system for construction machine, construction machine, and control method for construction machine
AssigneeKomatsu Ltd.
InventorYoshiro Iwasaki
Life of this patent
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Abstract
A control system for a construction machine includes a target value generation unit configured to generate a target value of an amount of control of working equipment, a prediction unit configured to calculate a predicted value of the amount of control of the working equipment based on the target value and a prediction model for the working equipment, and calculate an amount of drive to control the working equipment based on the predicted value, and a command unit configured to output a control command for control of the working equipment based on the amount of drive.
Claims15
A control system for a construction machine including working equipment including a plurality of devices relatively movable that have the same or similar functions, the control system comprising:
- a processor configured to perform the following and configured with the following components:
- a target value generation unit configured to generate a target value of an amount of control of the working equipment;
- a prediction unit configured to calculate a predicted value of the amount of control of the working equipment based on the target value and a prediction model for the working equipment, and calculate an amount of drive to control the working equipment based on the predicted value;
- and
- a command unit configured to output a control command for control of the working equipment based on the amount of drive,
- calculating a predicted value of an operation amount of each of the devices in a functional range of the device, based on the target value and the prediction model;
- determining whether a first device of the devices reaches a limit value of the functional range;
- and
- calculating an amount of drive to control the operation amount of a second device of the devices so as to prevent the first device of the devices from approaching the limit value of the functional range when it is determined that the first device of the devices is to reach the limit value of the functional range,
- wherein the first device includes a bucket, and
- the second device includes one or both of a boom and an arm.
A control method for a construction machine including a working equipment, comprising:
- providing a processor configured to perform the following:
- calculating a predicted value of an amount of control of the working equipment based on a target value of the amount of control of the working equipment and a prediction model for the working equipment;
- calculating an amount of drive to control the working equipment based on the predicted value;
- and
- outputting a control command for control of the working equipment based on the amount of drive,
- calculating a predicted value of an operation amount of each of the devices in a functional range of the device, based on the target value and the prediction model;
- determining whether a first device of the devices reaches a limit value of the functional range;
- and
- calculating an amount of drive to control the operation amount of a second device of the devices so as to prevent the first device of the devices from approaching the limit value of the functional range when it is determined that the first device of the devices is to reach the limit value of the functional range,
- wherein the first device includes a bucket, and
- the second device includes one or both of a boom and an arm.
Dependencies are inferred from the claim text.