Design of a Database-Driven Assist Control for a Hydraulic Excavator Considering Human Operation

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI:10.20965/jrm.2023.p0703

Keisuke Hiraoka, Toru Yamamoto, Masatoshi Kozui, K. Koiwai, K. Yamashita

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Abstract

In recent years, there has been strong focus on sustainable development goals (SDGs). In Japan, Society 5.0, which is proposed as a future vision to be achieved towards the realization of SDGs, is being promoted by various organizations. In particular, “i-Construction” is being promoted in the construction industry. As a result, hydraulic excavators are becoming increasingly automated and semi-automated. Furthermore, if operators achieve high productivity, it helps them maintain a sense of accomplishment and motivation to work. In this study, a control system that results in the desired output is proposed for a hydraulic excavator; in this system, the degree of interference depends on the human input and controller input. Attachments on hydraulic excavators cause interference owing to the characteristics of the hydraulic system. Therefore, a control system that can adaptively adjust the controller input to the human operation, considering the interference with information caused by human operation stored in the database, was constructed. The proposed method was implemented on a hydraulic excavator and its effectiveness was verified.

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考虑人操作的液压挖掘机数据库驱动辅助控制设计

近年来，可持续发展目标(sdg)备受关注。在日本，为了实现可持续发展目标(SDGs)而提出的未来愿景“社会5.0”正在被各团体推进。特别是建设行业正在推进“i-Construction”。因此，液压挖掘机正变得越来越自动化和半自动化。此外，如果作业人员实现了高生产率，这有助于他们保持成就感和工作动力。在本研究中，提出了一种液压挖掘机的控制系统，使其产生期望的输出;在该系统中，干扰程度取决于人工输入和控制器输入。由于液压系统的特性，液压挖掘机上的附件会产生干扰。因此，考虑到数据库中存储的人为操作引起的信息干扰，构建了一种能够自适应调整控制器输入以适应人为操作的控制系统。在一台液压挖掘机上进行了仿真，验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

J. Robotics Mechatronics

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