Construction machinery with learning function
Construction machinery with learning function includes an operating part having a working part, a manipulating part, a work-state detecting part, an operation-state detecting part, a reaction detecting part, a learning data memory configured to store a command outputted from the manipulating part in a time series as command data, and store, in a time series as estimation basic data, work-state data, operation-state data, and reaction data, a learning module configured to execute machine learning of command data stored in the learning data memory by using estimation basic data stored in the learning data memory, and, after the machine learning, receive an input of the estimation basic data during the operation of the operating part, and output an estimated command of the command, and a hydraulic drive system configured to drive the operating part based on one of the command and the estimated command, or both of the command and the estimated command.
1. Construction machinery with learning function, comprising:
an operating part having a working part and configured to move the working part to perform a work;
a manipulating part configured to output a command corresponding to operation by an operator;
a work-state detecting part configured to detect a state of the work performed by the working part and output the detected work state as work-state data;
an operation-state detecting part configured to detect a state of the operation of the operating part and output the detected operation state as operation-state data;
a reaction detecting part configured to detect a reaction received by the operating part from a work-target object due to the work performed by the working part, and output the detected reaction as reaction data;
a learning data memory configured to store the command in a time series as command data, and store estimation basic data in a time series, the estimation basic data including the work-state data, the operation-state data, and the reaction data;
a learning module configured to execute machine learning of the command data stored in the learning data memory by using the estimation basic data stored in the learning data memory, and, after the machine learning, receive an input of the estimation basic data during the operation of the operating part, and output an estimated command of the command; and
a hydraulic drive system configured to drive the operating part based on one of the command and the estimated command, or both of the command and the estimated command,
wherein the manipulating part is configured to output, as the command, an operation command corresponding to the operation by the operator,
wherein the learning data memory is configured to store the operation command in a time series as the command data, and store the estimation basic data in a time series, the estimation basic data including the work-state data, the operation-state data, and the reaction data,
wherein the learning module is configured to execute, during the learning, the machine learning of the command data stored in the learning data memory by using the estimation basic data stored in the learning data memory, and during an automatic control after the machine learning, receive the input of the estimation basic data and output an estimated operation command that is the estimated command, and
wherein the hydraulic drive system is configured to drive the operating part according to the operation command or the estimated operation command.
2. The construction machinery with learning function of claim 1 , further comprising a body part provided with the operating part,
wherein the reaction detecting part detects the reaction including at least one of inclination, acceleration, and angular acceleration of the operating part or the body part, and outputs the detected reaction as the reaction data.
3. The construction machinery with learning function of claim 1 , wherein the operation-state detecting part detects a state of a driving source including at least one of an output and operation noise of the driving source, and outputs the detected driving-source state as driving-source state data, the driving source driving a pump configured to pump hydraulic oil of the hydraulic drive system, and
wherein the operation-state data includes the driving-source state data.
4. The construction machinery with learning function of claim 1 , wherein the operation-state data includes the command data.
5. The construction machinery with learning function of claim 1 , wherein the operation-state detecting part further includes a posture detecting part configured to detect a posture of the operating part and output the detected posture as postural data, and
wherein the operation-state data includes the postural data.
6. The construction machinery with learning function of claim 1 , wherein the construction machinery with learning function is skill-inheriting construction machinery provided with a control part,
wherein the manipulating part is configured to output, as the command, a manual operation correcting command according to operation by the operator,
wherein the hydraulic drive system is configured to drive the operating part according to a basic operation command corresponding to operation of the operating part that has not been corrected, an automatic operation correcting command, and the manual operation correcting command,
wherein the control part includes:
a basic-operation commanding module configured to output the basic operation command for causing the working part to take a basic movement by the operating part that positions the working part so as to enable a determination as to whether correction of the basic movement is required;
an operation-correcting-command generating module configured to generate an operation correcting command by adding the manual operation correcting command to the automatic operation correcting command;
the learning data memory comprising an operation-correcting-command memory configured to store the operation correcting command in a time series as the command data and an estimation-basic-data memory configured to store the estimation basic data in a time series; and
the learning module, and
wherein the learning module is configured to execute machine learning of the operation correcting command stored in the operation-correcting-command memory by using the estimation basic data stored in the estimation-basic-data memory, and, after the machine learning, receive the input of the estimation basic data during the operation of the operating part and output the automatic operation correcting command that is the estimated command.
7. The construction machinery with learning function of claim 6 , further comprising a body part provided with the operating part,
wherein the reaction detecting part detects the reaction including at least one of inclination, acceleration, and angular acceleration of the operating part or the body part, and outputs the detected reaction as the reaction data.
8. The construction machinery with learning function of claim 6 , wherein the operation-state detecting part detects a state of a driving source including at least one of an output and operation noise of the driving source, and outputs the detected driving-source state as driving-source state data, the driving source driving a pump configured to pump hydraulic oil of the hydraulic drive system, and
wherein the operation-state data includes the driving-source state data.
9. The construction machinery with learning function of claim 6 , wherein the operation-state detecting part further includes a posture detecting part configured to detect a posture of the operating part and output the detected posture as postural data, and
wherein the operation-state data includes the postural data.
10. The construction machinery with learning function of claim 6 , wherein the manual operation correcting command is an electrical command signal,
wherein the operating part includes a hydraulic actuator configured to drive the working part, and a control valve configured to hydraulically control operation of the hydraulic actuator according to the basic operation command, the automatic operation correcting command, and the manual operation correcting command, and
wherein the control valve is an electromagnetic valve.