# US 12,180,673 B2 · Control system for construction machine, construction machine, and control method for construction machine incorporating bucket weight data

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- Number: US 12,180,673 B2
- Document ID: US12180673B2
- Status: Granted
- Kind: B2
- Application number: 17/420,572
- Filed: 2019-12-19
- Published: 2022-04-07
- Granted: 2024-12-31
- Earliest claimed: 2019-02-01
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Yoshiro Iwasaki; Jun Sasaki
- Web page: https://patentgrep.com/patent/US12180673B2

## CPC

- E02F 3/435: {for dipper-arms, backhoes or the like}
- E02F 9/2296: {Systems with a variable displacement pump}
- E02F 9/2029: {Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence)}
- E02F 9/2221: {Control of flow rate; Load sensing arrangements (E02F9/2203 take precedence over E02F9/2221)}
- E02F 9/262: {with follow-up actions to control the work tool, e.g. controller}
- E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)}
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)

## 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 the working equipment, a prediction model storage unit configured to store a prediction model for the working equipment, a weight data acquisition unit configured to acquire weight data of the bucket, a prediction model update unit configured to update the prediction model based on the weight data, a prediction unit configured to calculate a predicted value of the amount of control of the working equipment based on the target value and the prediction model, 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 to control the working equipment based on the amount of drive.

## Claims

### Claim 1

A control system for a construction machine including working equipment that includes an arm and a bucket removable from the arm, the control system comprising:
a processor, the processor being configured to:
acquire a position of the working equipment;
acquire a design surface indicating a target shape of a construction target;
generate a target value of an amount of control of the working equipment based on the position of the working equipment and the design surface;
store a prediction model, including a dynamic model, for the working equipment;
acquire weight data of the bucket, which is a weight of the bucket, the bucket being interchangeable with another bucket of a different weight, which has a different weight data;
update the prediction model based on the weight data;
calculate a predicted value of the amount of control of the working equipment based on the target value and the prediction model, and calculate an amount of drive to control the working equipment based on the predicted value; and
output a control command to control the working equipment based on the amount of drive,
wherein the amount of control includes a moving speed of the bucket and a position of a predetermined portion of the bucket, and
a second constraint condition relating to a position of the bucket relative to the design surface of the construction machine is calculated, and
the amount of drive is calculated by changing the prediction model so as to satisfy the second constraint condition.

### Claim 2 (depends on 1)

The control system for the construction machine according to claim 1, wherein the processor is further configured to:
acquire operation data of an operation device operating the working equipment, and
wherein the target value is generated based on the operation data.

### Claim 3 (depends on 1)

The control system for the construction machine according to claim 1, wherein
the amount of control includes a position of a predetermined portion of the bucket, and
wherein the amount of drive is calculated so as to maintain a distance between the predetermined portion of the bucket and the design surface.

### Claim 4 (depends on 1)

The control system for the construction machine according to claim 1, wherein
the amount of drive is calculated so that the predicted value of the amount of control follows the target value.

### Claim 5 (depends on 1)

The control system for the construction machine according to claim 1, wherein
the amount of drive is calculated so as to minimize a value of an evaluation function defined by the target value and predicted value of the amount of control.

### Claim 6 (depends on 5)

The control system for the construction machine according to claim 5, wherein the processor is further configured to:
calculate a first constraint condition relating to performance of the construction machine,
wherein the amount of drive is calculated so as to satisfy the first constraint condition and the second constraint condition.

### Claim 7 (depends on 1)

A construction machine comprising:
a swing body configured to support the working equipment; and
the control system for the construction machine according to claim 1.

### Claim 8

A control method for a construction machine including working equipment that includes an arm and a bucket removable from the arm, the control method comprising:
acquiring a position of the working equipment;
acquiring a design surface indicating a target shape of a construction target;
acquiring weight data of the bucket, which is a weight of the bucket, the bucket being interchangeable with another bucket of a different weight, which has a different weight data;
updating a prediction model, including a dynamic model, for the working equipment based on weight data of the bucket;
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 the updated prediction model;
calculating an amount of drive to control the working equipment based on the predicted value;
calculating a second constraint condition relating to a position of the bucket relative to the design surface of the construction machine is calculated, and
outputting a control command to control the working equipment based on the amount of drive,
the amount of drive being calculated by changing the prediction model so as to satisfy the second constraint condition, and
wherein the amount of control includes a moving speed of the bucket and a position of a predetermined portion of the bucket.