Construction of the Index to Evaluate the Operating Skill Based on the Motion of CoM for a Hydraulic Excavator

Kozui, Masatoshi; Koiwai, Kazushige; Yamamoto, Toru; Ueda, Koji; Yamashita, Koji; Yamazaki, Yoichiro

doi:10.1541/ieejeiss.139.388

Cited by 3 publications

(3 citation statements)

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“…In addition, maxφ l (m) and minφ l (m) represent the maximum and minimum values of all the l-th elements in the database. Furthermore, among the sorted datasets, the datasets whose distance d s obtained using (15) are smaller than the preset value are acquired as neighborhood datasets. From these neighborhood data, the control parameter K(t) at time t is calculated based on the following linear weighted average:…”

Section: ) Calculation Of Control Parametersmentioning

confidence: 99%

“…Therefore, if operating characteristics are ideally controlled, instead of forced movement control, such as trajectory control, it is possible to assist the operator while maintaining the degree of freedom of the operation. Based on the aforedescribed background, an approach wherein the attachment system is represented by the combined center-ofmass (CoM) was proposed by the authors [15]. Regarding the CoM, many controls that improve robot movements and focus on zero-moment-point (ZMP) to suppress machine falls and improve safety have been proposed [16]- [19].…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, a previous study by the authors clarified that CoM is a useful index to improve the motion of a hydraulic excavator (see Appendix and Ref. [15]).…”

Section: Introductionmentioning

confidence: 99%

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Design of a Database-Driven Excavation Assist Controller Based on the Velocity of the Center-of-Mass for a Hydraulic Excavator

et al. 2021

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In recent years, the working population in the construction industry has been declining. However, the number of construction works projects is increasing because of the increase in development and infrastructure maintenance. Therefore, it is necessary to meet this increasing demand with limited resources. Productivity at construction sites is significantly improved through the extensive use of hydraulic excavators. However, productivity is affected by the skill of excavator operator. In addition, it is difficult and time-consuming to learn the operation of the machines required to achieve an efficient level of work. Therefore, novice operators need support to achieve high productivity. In this study, the behavior of the combined center-of-mass of the excavator attachment as an index that expresses the difference in operating characteristics of operators for hydraulic excavators is focused. In addition, a control system that assists the operation in excavation work based on the velocity of the combined center-of-mass of the attachment is proposed. Furthermore, the database-driven control is applied to correspond to the nonlinear characteristics of a hydraulic excavator. The proposed method is implemented on a hydraulic excavator and its effectiveness is verified.

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Section: ) Calculation Of Control Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design of a Database-Driven Excavation Assist Controller Based on the Velocity of the Center-of-Mass for a Hydraulic Excavator

et al. 2021

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Proposal of Scoring Method of Construction Machinery Operation based on Skill Data of Expert Operator

Henmi

Kozui²,

Koiwai

et al. 2022

IEEJ Trans.EIS

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Application of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM

Kozui

Yamamoto

Akiyama

et al. 2020

JRM

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There are many machines that require human operation in industry, and high operational skills are required to operate these machines efficiently. However, the number of highly skilled workers is decreasing due to the recent trends of falling birthrate and population aging. This decline is particularly pronounced in the construction industry, while the demand for construction workers remains high owing to the increasing number of developed infrastructures. To reduce this mismatch between the supply and the demand, it is important to achieve high efficiency in tasks using hydraulic excavators, because these machines can greatly increase the productivity at construction sites. Accordingly, it is necessary to improve productivity even if unskilled operators use hydraulic excavators. This paper proposes a control system that achieves efficient motions based on the velocity of the center of mass (CoM) of the hydraulic excavator’s attachments, which reflects the characteristics of skilled workers’ operations. The motions of multiple attachments give rise to interference terms owing to the characteristics of the hydraulic system. A two-input two-output control system, in which the input consists of the lever input and the output is the CoM velocity is constructed. The fictitious reference iterative tuning (FRIT) method is used to calculate the controller parameters. The proposed method was verified by comparing the results of a simulated digging motion and an experiment with an actual hydraulic excavator operated by an unskilled operator.

show abstract

Construction of the Index to Evaluate the Operating Skill Based on the Motion of CoM for a Hydraulic Excavator

Cited by 3 publications

References 1 publication

Design of a Database-Driven Excavation Assist Controller Based on the Velocity of the Center-of-Mass for a Hydraulic Excavator

Design of a Database-Driven Excavation Assist Controller Based on the Velocity of the Center-of-Mass for a Hydraulic Excavator

Proposal of Scoring Method of Construction Machinery Operation based on Skill Data of Expert Operator

Application of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM

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