WO2023149307A1

WO2023149307A1 - Automatic driving system for work machine, work machine, and automatic driving program

Info

Publication number: WO2023149307A1
Application number: PCT/JP2023/002282
Authority: WO
Inventors: 龍之介宮嵜; 展弘福尾
Original assignee: コベルコ建機株式会社
Priority date: 2022-02-07
Filing date: 2023-01-25
Publication date: 2023-08-10
Also published as: JP2023114799A

Abstract

Provided is a system capable of appropriately setting the position of a work machine attachment (15) during a series of operations. The system is equipped with an automatic driving unit (53), a work upper limit position setting unit (61) and a work position change unit (63). The automatic driving unit (53) automatically drives the attachment (15) through multiple cycles of a series of operations which include an operation in which the control target position (16) of the tip end attachment (15d) moves along a target path (Pth). The work upper limit position setting unit (61) sets the work upper limit position (PWU). The work position change unit (63) changes the work position (PW) in the vertical direction according to the progress in the series of operations throughout multiple cycles thereof. After the work upper limit position (PWU) is set by the work upper limit position setting unit (61), the work position change unit (63) sets the work position during the series of operations in the cycle to be performed first to a position which is below the work upper limit position (PWU).

Description

Automated Driving Systems for Work Machines, Work Machines, and Automated Driving Programs

The present invention relates to an automatic operation system for work machines, work machines, and an automatic operation program.

Patent Document 1 discloses a working machine that can be automatically operated. A series of operations to be performed by the work machine (a series of operations from excavation to dumping in the document) is set (instructed) in the controller. The controller executes automatic operation for causing the work machine to perform the series of operations.

JP-A-11-264155

When the series of actions includes the action of releasing the work object (discharging soil in the same document), it is desirable that the action be performed at an appropriate height position.

An object of the present invention is to provide an automatic operation system, a work machine, and an automatic operation program that can cause a tip attachment of a work machine to perform an appropriate series of operations.

What is provided is an automated driving system that includes a working machine main body, an attachment, and a controller. The attachment is attached to the machine body so as to be operable to perform work. The attachment includes an attachment body and a tip attachment. The tip attachment includes a part to be controlled, and is attached to the tip of the attachment body so as to be capable of performing a release operation for performing the work of releasing the work object. The attachment main body operates to change the position of the control target portion. The controller includes a target route setting section, an automatic driving section, a work upper limit position setting section, and a work position changing section. The target path setting unit sets a target path, and the target path is defined between a work position where the tip attachment performs the releasing operation and a path end position away from the work position. is the target of the path traveled. The automatic operation unit automatically controls the operation of the attachment such that the attachment performs a series of operations including an operation of moving the control target portion along the target path over the plurality of cycles. The work upper limit position setting unit sets a work upper limit position that is the upper limit of the work position. The working position changing unit vertically changes the working position according to the progress of the series of operations over the plurality of cycles. The work position changing unit changes the work position within the work upper limit position or within a range below the work upper limit position, and the work upper limit position setting unit changes the work upper limit position among the plurality of cycles. The work position in the series of operations in the first cycle after the position is set is set to a position below the work upper limit position.

Also provided is a working machine that includes a machine body, an attachment, and a controller. The attachment is attached to the machine body so as to be operable to perform work. The attachment includes an attachment body and a tip attachment. The tip attachment includes a part to be controlled, and is attached to the tip of the attachment body so as to be capable of performing a release operation for performing the work of releasing the work object. The attachment main body operates to change the position of the control target portion. The controller is mounted on at least one of the machine body and the attachment. The controller includes a target route setting section, an automatic driving section, a work upper limit position setting section, and a work position changing section. The target path setting unit sets a target path, and the target path is defined between a work position where the tip attachment performs the releasing operation and a path end position away from the work position. is the target of the path traveled. The automatic operation unit automatically controls the operation of the attachment such that the attachment performs a series of operations including an operation of moving the control target portion along the target path over the plurality of cycles. The work upper limit position setting unit sets a work upper limit position that is the upper limit of the work position. The working position changing unit vertically changes the working position according to the progress of the series of operations over the plurality of cycles. The work position changing unit changes the work position within the work upper limit position or within a range below the work upper limit position, and the work upper limit position setting unit changes the work upper limit position among the plurality of cycles. The work position in the series of operations in the first cycle after the position is set is set to a position below the work upper limit position.

In addition, an automatic operation program used for work machines with machine bodies and attachments is provided. The attachment is attached to the machine body so as to be operable to perform work. The attachment includes an attachment body and a tip attachment. The tip attachment includes a part to be controlled, and is attached to the tip of the attachment body so as to be capable of performing a release operation for performing the work of releasing the work object. The attachment main body operates to change the position of the control target portion. The automatic operation program causes the computer to execute a target route setting step, an automatic operation step, a work upper limit position setting step, and a work position changing step. The target path step is a step of setting a target path, and the target path is set between a work position where the tip attachment performs the release operation and a path end position away from the work position. It is the goal of the path along which the target part moves. The automatic operation step is a step of automatically controlling the operation of the attachment so that the attachment performs a series of operations over the plurality of cycles, including the operation of moving the control target portion along the target path. The work upper limit position setting step is a step of setting a work upper limit position that is the upper limit of the work position. The work position changing step is a step of changing the work position in the vertical direction according to the progress of the series of operations over the plurality of cycles. The work position changing step changes the work position within the work upper limit position or within a range lower than the work upper limit position; It includes setting the work position in the series of operations in the first cycle after setting the upper limit position to a position below the upper limit position for work.

A recording medium on which the automatic driving program is recorded is also provided. The automatic driving program can be read by the computer.

1 is a side view of a working machine according to an embodiment of the present invention; FIG. It is a block diagram which shows the automatic driving system which concerns on the said embodiment. It is a flowchart which shows the control action performed by the said automatic driving system. FIG. 4 is a side view showing an example of working positions set by the automatic driving system;

An embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG.

FIG. 1 shows a work machine 10 according to the embodiment. The working machine 10 constitutes an automatic driving system 1 shown in FIG. The automatic driving system 1 includes the working machine 10 , a posture detector 31 , a reference position detector 32 , a peripheral object position detector 33 , an input device 35 and a controller 50 . Each of the attitude detector 31, the reference position detector 32, the peripheral object position detector 33, the input device 35, and the controller 50 may be arranged inside the working machine 10, or the working machine 10 may be located externally (eg, at a work site, etc.).

The work machine 10 is a machine for performing work. The working machine 10 illustrated in FIG. 1 is a construction machine for performing construction work, specifically a shovel. The working machine 10 can be operated automatically. The work machine 10 may be operated by an operator riding thereon, or may be remotely controlled at a location away from the work machine 10 .

The work machine 10 includes a machine main body 10a, an attachment 15, a drive section 21 shown in FIG. 2, and a drive control section 17.

The machine main body 10a is a main body portion of the working machine 10. The machine body 10a includes a lower body 11 and an upper revolving body 13 shown in FIG. The lower body 11 supports the upper revolving body 13 . The lower main body 11 illustrated in FIG. 1 is a lower running body capable of performing a running motion. Specifically, the lower body 11 includes a running body. The traveling body may be a pair of crawlers illustrated in FIG. 1, or may be a plurality of wheels. The upper swivel body 13 is mounted on the lower body 11 so as to be swivelable with respect to the lower body 11 . The upper revolving body 13 includes an operator's cab 13a, in which an operator can operate the work machine 10 to operate.

The upper rotating body 13 has a vertical direction Z and a longitudinal direction X indicated by double arrows in FIG. The vertical direction Z is the direction in which the central axis of rotation (central axis of rotation) of the upper rotating body 13 with respect to the lower body 11 extends. The upper revolving body 13 has an upper side Za and an opposite lower side Zb in the vertical direction Z, and the upper side Za is the side opposite to the lower main body 11 with the upper revolving body 13 interposed therebetween. The vertical direction Z is, for example, the vertical direction. The vertical direction Z is perpendicular to the turning direction, and the upper turning body 13 turns in the turning direction with respect to the lower main body 11 . The longitudinal direction X is a direction orthogonal to the vertical direction Z and the turning direction, and is therefore equivalent to the turning radial direction. . The longitudinal direction X is the longitudinal direction of the attachment 15 when viewed along the vertical direction Z, that is, the direction in which the center axis of the attachment 15 extends in the width direction. In the longitudinal direction X, there is a front side Xa of the upper revolving body 13 and a rear side Xb opposite thereto.

The attachment 15 is capable of carrying out work operations, and includes an attachment body 15a and a tip attachment 15d attached to the tip of the attachment body 15a.

The attachment body 15a includes a boom 15b and an arm 15c, and operates to change the position of the control target portion 16 of the tip attachment 15d. The boom 15b is attached to the upper revolving body 13 so that it can be raised and lowered with respect to the upper revolving body 13, that is, rotatable in the vertical direction Z. As shown in FIG. The arm 15c is connected to the boom 15b so as to be rotatable with respect to the boom 15b.

The tip attachment 15d is attached to the tip of the attachment body 15a so as to be operable with respect to the attachment body 15a. 15c. The tip attachment 15d shown in FIG. 1 is a bucket and is attached to the tip of the attachment body 15a so as to be able to perform catching and releasing operations. The catching operation is an operation for catching the work object WO (e.g., scooping up earth and sand and excavating work), and the releasing operation is an operation for releasing the work object WO (e.g., earth dumping work). It is an action for Said tip attachment 15d may alternatively be a device for clamping the work object WO, such as a grapple or a nibbler, or a device for crushing the work object WO, such as a breaker. The tip attachment 15d includes the control target portion 16, and the control target portion 16 can be arbitrarily set in the tip attachment 15d. For example, as shown in FIG. 1, the control target portion 16 may be a connecting portion (proximal portion) of the tip attachment 15d, which is a portion connected to the arm 15c, or the tip attachment 15d. , i.e. the end opposite to said proximal end. The work object WO is a work object to be worked by the attachment 15 of the work machine 10 . Examples of the work object WO include structures such as earth and sand, stone, wood, metal, waste, and blocks.

The drive unit 21 drives a plurality of movable parts of the work machine 10 to cause the work machine 10 to operate. The drive section 21 drives the attachment 15 . The drive unit 21 includes a plurality of actuators corresponding to the plurality of movable parts, respectively. The plurality of actuators includes a swing motor 21a and a plurality of hydraulic cylinders, and the plurality of hydraulic cylinders includes a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The turning motor 21 a turns the upper turning body 13 with respect to the lower body 11 . The swing motor 21a may be a hydraulic motor or an electric motor. The boom cylinder 21b extends and contracts so as to raise and lower the boom 15b with respect to the upper rotating body 13. As shown in FIG. The arm cylinder 21c extends and contracts so as to rotate the arm 15c with respect to the boom 15b. The tip attachment cylinder 21d expands and contracts so as to rotate the tip attachment 15d with respect to the arm 15c. When the tip attachment 15d itself includes a movable portion, for example, a portion capable of pinching an object, the driving section 21 is an actuator (for example, a cylinder or a motor) for moving the movable portion of the tip attachment 15d. ) may be included.

The drive control section 17 controls the operation of the drive section 21, that is, controls the drive of the movable portion. Specifically, the drive control unit 17 controls operations of the swing motor 21a, the boom cylinder 21b, the arm cylinder 21c, and the tip attachment cylinder 21d. When the drive section 21 includes a hydraulic actuator, the drive control section 17 includes a hydraulic circuit for controlling the hydraulic actuator. When the drive section 21 includes an electric actuator, the drive control section 17 includes an electric circuit for controlling the electric actuator.

The attitude detector 31 detects the attitude of the working machine 10 . Specifically, the attitude detector 31 acquires information about the attitude of the attachment 15 and the attitude (turning attitude) of the upper rotating body 13 with respect to the lower body 11 .

The attitude detector 31 includes a turning sensor 31a, a boom sensor 31b, an arm sensor 31c, and a tip attachment sensor 31d in this embodiment.

The turning sensor 31a detects the angle of the turning direction of the upper turning body 13 with respect to the lower body 11 (or the work site), that is, the turning angle. The boom sensor 31b detects the posture of the boom 15b. For example, the boom sensor 31b detects the angle (inclination angle) of the boom 15b in the hoisting direction with respect to the horizontal direction or the upper swing structure 13. As shown in FIG. The arm sensor 31c detects the posture of the arm 15c. The arm sensor 31c detects, for example, the horizontal direction or the angle of the arm 15c with respect to the boom 15b. The tip attachment sensor 31d detects the posture of the tip attachment 15d. The tip attachment sensor 31d detects, for example, the angle of the tip attachment 15d with respect to the horizontal direction or the arm 15c.

The reference position detector 32 detects the position and orientation of the reference portion set in the work machine 10 shown in FIG. 1 with respect to the work site. The reference portion can be arbitrarily set, and is, for example, a specific portion of the upper revolving body 13 or the lower body 11 . Specifically, the reference portion may be a portion (boom foot) of the boom 15b that is connected to the upper swing body 13, or a portion positioned on the swing center axis of the upper swing body 13. good. The reference position detector 31e may be included in a positioning system. The positioning system may be, for example, a satellite positioning system such as GNSS (global navigation satellite system), or may use a total station. The reference position detector 32 according to this embodiment includes an antenna 32a as shown in FIG. 1 and is capable of communicating with a satellite positioning system.

The peripheral object position detector 33 acquires information on the position of peripheral objects that are objects existing around the work position PW, that is, peripheral object position information. Examples of the peripheral object position information include information on the position of the ground, information on the position of the released work object WOa (FIG. 4) as described later, and information on the position of obstacles. The peripheral object position detector 33 may include an imaging device. Examples of the imaging device include those that acquire two-dimensional information (for example, the position and shape in an image) of an object to be imaged, cameras that generate two-dimensional information (monocular cameras), those that acquire distance images, and those that acquire distance images. based on which three-dimensional information (e.g., three-dimensional coordinates and three-dimensional shape) of the object to be imaged is generated, and three-dimensional information is generated using laser light, such as LIDAR (Light Detection and Ranging) or TOF (Time (of flight) sensor, a device that detects three-dimensional information using radio waves (for example, a millimeter wave radar), and a stereo camera. The imaging device may generate three-dimensional information of the imaging target based on the distance image and the two-dimensional image. The peripheral object position detector 33 may include a plurality of imaging devices.

The input device 35 is a device that enables an operator to input information to the controller 50 through the input device 35 . Specifically, the input device 35 allows an operation by an operator to be given to the input device 35 and inputs an instruction corresponding to the given operation to the controller 50 . When the input device 35 is arranged in the working machine 10, it may be a display device or an operation lever provided in the operator's cab 13a. The input device 35 may be a mobile terminal (tablet, smart phone, etc.) or a personal computer. The input device 35 may be included in a device installed outside the work machine 10, such as a server. The input device 35 communicates with the controller 50, and this communication may be wireless communication or wired communication.

The controller 50 includes a computer that performs signal input/output, calculation (processing), and information (calculation results, etc.) storage. For example, the controller 50 includes a storage unit that stores a program that is a program for realizing the function of the controller 50 and includes an automatic driving program, and a storage unit that executes the program stored in the storage unit to perform the function. and a computing unit to implement. The controller 50 may be mounted on the work machine 10, more specifically, at least one of the machine main body 10a and the attachment 15, or may be provided outside the work machine 10, for example, in a server. As shown in FIG. 2, the information obtained by the detectors 31 to 33 is input to the controller 50 . Instructions and other information corresponding to operations by an operator are input to the controller 50 from the input device 35 . The controller 50 performs control for automatic operation of the work machine 10 . Specifically, the controller 50 inputs to the drive control section 17 a command for causing the drive section 21 to drive and the working machine 10 to perform a predetermined operation.

Specifically, as shown in FIG. , a work position changing unit 63, and a target trajectory correction unit (target trajectory correction unit) 65, and these functions are realized by executing the automatic operation program as shown in the flowchart of FIG.

The target trajectory setting unit 51 executes the target route setting step (step S10 shown in FIG. 3), and specifically sets the target route Pth and the target trajectory Tr shown in FIG. As shown in FIG. 4, the target path Pth is the target of the path of the controlled portion 16 of the tip attachment 15d. The target route Pth includes a plurality of target points P(i) (i is a natural number from 1 to a predetermined maximum number N). Each of the plurality of target points P(i) is information about the target position of the control target portion 16, and specifically, is three-dimensional position coordinates. The target trajectory Rt is information, a so-called ordered set, including information on the position of each of the plurality of target points P(i) and information on the order of the plurality of target points P(i). Specifically, the target trajectory Rt is information obtained by adding time information to the information relating to the target route Pth. The "time information" is, for example, the target interval time Tst shown in Table 1, which will be detailed later. The target interval time Tst is a target value of the time required for the control target portion 16 to move in an interval between two target points P(n) and P(n+1) adjacent to each other (in consecutive order). Instead of the target trajectory setting unit 51, the controller 50 may include a target route setting unit that sets only the target trajectory that does not include the target section time Tst, that is, the target route Pth.

A parameter representing the target trajectory Rt can specify, for example, the posture of the work machine 10 at each of the plurality of target points P(i). The coordinate axes of the parameters and their origins (reference positions) are arbitrarily set. The origin may be set at the work site, or may be set at a specific portion of the work machine 10 , such as an appropriate portion of the upper revolving body 13 . For example, the origin may be set at a portion where the upper rotating body 13 and the boom 15b are connected, that is, a boom foot pin, or may be set at a portion on the central axis of rotation of the upper rotating body 13. may be Table 1 below shows an example of information given to each of the plurality of target points P(i) on the target trajectory Rt. , a target coordinate Zt that is a target of coordinates (Z coordinate) corresponding to the coordinate axis in the vertical direction Z, a target turning angle θt that is a target of the turning angle of the upper turning body 13, and the target It includes a segment time Tst and a target tip attachment angle φt, which is the target tip attachment angle φ. The tip attachment angle φ is the angle of the tip attachment 15d with respect to the vertical direction Z in the example shown in Table 1 and FIG. The tip attachment angle φ may be the angle of the tip attachment 15d with respect to the front-rear direction X, or may be the rotation angle of the tip attachment 15d with respect to the arm 15c from the position where the tip attachment 15d is most open. Alternatively, it may be the angle of the tip attachment 15d with respect to the horizontal direction.

The plurality of target points P(i) included in the target trajectory Rt include the path end position PE and the work position PW shown in FIG. Each of the path end position PE and the work position PW is a target point at both ends of the target trajectory Rt. In other words, one of both ends of the target trajectory Rt is the path end position PE, and the other is the work position PW.

The work position PW is the position where the tip attachment 15d performs the release operation, and the release operation is an operation for releasing (for example, dumping) the work object WO. The working position PW is set at a position directly above the ground as shown in FIG. 1 in this embodiment. Alternatively, the work position PW may be set directly above a container (not shown) containing the work object WO, for example, the bed of a transport vehicle.

The path end position PE is a position away from the work position PW and can be arbitrarily set. The path end position PE is the position where the tip attachment 15d performs the catching operation in this embodiment. In this case, the path end position PE is set at a place where the work objects WO are gathered (for example, a mound of sand, a sand pit, etc.).

The controller 50 controls the drive control section 17 so that the tip attachment 15d moves along the target path Pth between the work position PW and the path end position PE. The controller 50 may control the drive control section 17 so that the upper swing body 13 swings with respect to the lower body 11 when the tip attachment 15d moves along the target path Pth. The movement of the tip attachment 15d from the position (path end position PE) where the tip attachment 15d captures the work object WO to the position (work position PW) where the tip attachment 15d releases the work object WO is lifting. It is a turning motion. The movement of the tip attachment 15d from the work position PW to the path end position PE is the return turning movement. A catching operation for catching the work object WO, the lifting turning operation, a releasing operation for releasing the work object WO, and the return turning operation constitute one cycle of a series of operations. The drive control unit 17 is controlled so that the operation is repeated, that is, the series of operations is performed over a plurality of cycles.

The turning of the upper turning body 13 with respect to the lower body 11 accompanying the movement of the tip attachment 15d along the target path Pth is arbitrary. In other words, the turning of the upper turning body 13 does not have to be included in the "series of operations". For example, the series of motions includes only motions in which the controlled portion 16 of the tip attachment 15d moves in at least one of the longitudinal direction X and the vertical direction Z, and the controlled portion 16 turns. It may be one that does not include movement in a direction.

The target trajectory setting unit 51 of the controller 50 sets a reference target trajectory Rtb, which serves as a reference for the target trajectory Rt, before the work by automatic operation of the work machine 10 (work by the tip attachment 15d) is performed. (Step S10 in FIG. 3). For example, the reference target trajectory Rtb may be set by teaching and input to the target trajectory setting unit 51, or may be set by a method other than the teaching (for example, input of a numerical value by an operator through the input device 35). may

For example, the teaching is performed as follows. An operator rides on the work machine 10 and operates the work machine 10, or remotely operates the work machine 10 to set the reference target trajectory Rtb along the route desired to be set as the reference target trajectory Rtb. is moved at a speed desired to be set for . The target trajectory setting unit 51 stores the trajectory along which the control target part 16 has actually moved by the operation of the operator, and sets this as the reference target trajectory Rtb. For example, the position coordinates of the control target portion 16 are calculated and stored every predetermined time (for example, every second) while the control target portion 16 is moving. The position coordinates of the control target part 16 can be calculated based on the attitude of the working machine 10 detected by the attitude detector 31 . The position coordinates stored in this manner are set as the position coordinates of the plurality of target points P(i).

The automatic operation section 53 of the controller 50 executes automatic operation of the work machine 10 (automatic operation steps; steps S20, S21, S22, S23, and S51 in FIG. 3). More specifically, the automatic operation unit 53 causes the series of operations to be performed by moving the control target part 16 of the tip attachment 15d along the target path Pth (according to the target path Rt), and The operation of the work machine 10 is automatically controlled so that a series of operations are repeated over the plurality of cycles. The object of automatic control by the automatic operation unit 53 may be only the operation of the attachment 15, or both the operation of the attachment 15 and the turning operation of the upper turning body 13 with respect to the lower body 11. good too. Specifically, the automatic driving section 53 operates the driving section 21 by generating a command for the automatic control and inputting it to the drive control section 17 . The automatic driving unit 53 generates the commands based on the values detected by the attitude detector 31 .

Specifically, the automatic operation section 53 according to this embodiment is composed of an operation of catching the work object WO, the lifting turning operation, an operation of releasing the work object WO, and the return turning operation. The work machine 10 is automatically operated so as to cause the work machine 10 to perform the series of operations performed over the plurality of cycles. The automatic operation unit 53 performs the operation of catching the work object WO in a state where the control target portion 16 of the tip attachment 15d is at the path end position PE (step S21 in FIG. 3). After completing the work at the path end position PE, the automatic driving unit 53 moves the attachment 15 so that the control target part 16 moves from the path end position PE to the work position PW along the target trajectory Rt. is operated (step S22). The automatic operation unit 53 causes the work object WO to be released in a state in which the control target part 16 is at the work position PW (step S23). After completing the work at the work position PW, the automatic operation unit 53 moves the attachment 15 so that the control target part 16 moves from the work position PW to the path end position PE along the target trajectory Rt. make it work. The automatic operation unit 53 causes the attachment 15 to repeat the series of operations (steps S21, S22, S23, and S51). In the example shown in FIG. 3, the return operation control (step S51) for returning the tip attachment 15d including the control target portion 16 to the path end position PE changes the work position PW (steps S40 to S43) as will be described later. ), the return operation control (step S30) may be performed before changing the working position PW (step S40).

After completion of the release work at the work position PW, the work end determination unit 55 of the controller 50 determines whether or not work end conditions are satisfied (work end determination step; step S30 in FIG. 3). . The work end condition is set in advance as a condition for ending the work by the series of operations over the plurality of cycles. In this embodiment, the work end condition is the series of actions composed of the action of catching the work object WO, the lifting turning action, the action of releasing the work object WO, and the return turning action. is a condition for terminating the work done by performing (repeating) over the plurality of cycles. The work end condition can be set variously. The work end condition may consist of only a single unit condition, or may include a plurality of unit conditions. When the work end condition includes the plurality of unit conditions, at least one of the plurality of unit conditions may be satisfied, or two or more (for example, all) of the plurality of unit conditions may be satisfied. It may be that

In this embodiment, the work end condition is that the work position PW shown in FIG. 4 reaches the work upper limit position PWU set by the work upper limit position setting section 61 of the controller 50 shown in FIG. including. More specifically, the work position changing unit 63 of the controller 50 changes the work position PW as the series of operations of one cycle ends, and the work end condition is changed as needed in this way. The condition that the work position PW reached the work upper limit position PWU, that is, the condition that the work position PW calculated by the work position changing unit 63 is the work upper limit position PWU or a position above it ,including.

The work end condition may include a condition different from the work position condition instead of or in addition to the work upper limit position condition that the work position PW has reached the work upper limit position PWU. For example, the work end condition may include that the number of times (the number of cycles) of performing the series of operations reaches a preset "set number of times". Alternatively, the work end condition may include that the work position PW reaches a "set position" which is a preset position and is different from the work upper limit position PWU. The "set number of times" and the "set position" are set in the controller 50 in advance, more specifically, before the work end determination unit 55 determines the work end condition.

When the work end determination unit 55 determines that the work end condition is satisfied (YES in step S30 shown in FIG. 3), the automatic operation unit 53 ends the work by the series of operations over the plurality of cycles. When the work end determination unit 55 determines that the work end condition is not satisfied (NO in step S30), the automatic operation unit 53 causes the work machine 10 to continue the work by the series of operations.

The work upper limit position setting unit 61 of the controller 50 sets the work upper limit position PWU (work upper limit position setting step; step S11 in FIG. 3). The work upper limit position PWU is the upper limit of the work position PW, and more specifically, the limit of the upper side Za of the range that can be set as the work position PW.

The work upper limit position setting unit 61 may set the work upper limit position PWU in various ways.

The work upper limit position setting unit 61 may set the work upper limit position PWU based on the position where the tip attachment 15d is actually arranged (the taught position). For example, when the operator operates the work machine 10 to position the tip attachment 15d at a position to be set as the work upper limit position PWU, the work upper limit position setting unit 61 sets the control target portion of the tip attachment 15d. 16 may be set as the work upper limit position PWU. In this example, the work upper limit position PWU can be reliably set at a position physically reachable by the tip attachment 15d. Further, the operator can easily (intuitively) set the work upper limit position PWU.

The teaching may be performed only for the purpose of setting the upper work position PWU, or may be teaching for setting the reference target trajectory Rtb and also setting the work upper limit position PWU. good. Specifically, the teaching for setting the reference target trajectory Rtb involves setting the work position PW included in the reference target trajectory Rtb. The work position PW included can be set as the work upper limit position PWU.

Alternatively, the work upper limit position setting unit 61 may set a position designated by a method other than the teaching, such as input of a numerical value by an operator, as the work upper limit position PWU.

The work upper limit position PWU may be set at various positions. Preferably, the work upper limit position PWU is set at a position such that an appropriate amount of the work object WO is released in the series of operations. For example, if the release operation of the tip attachment 15d at the working position PW is an operation for loading the work object WO into a container (carrying platform or the like), excess or deficiency of the work object WO loaded into the container. The work upper limit position PWU may be set at a position that can suppress .

The work position changing unit 63 of the controller 50 changes the work position PW, that is, corrects it (work position change step; step S40 in FIG. 3). The work position changing unit 63 sets the work position PW in a series of operations (series of operations in the first cycle) performed for the first time after the work upper limit position PWU is set by the work upper limit position setting unit 61 as the initial work position PW1. set. The work position changing unit 63 sets the initial work position PW1 to a position Zb below the work upper limit position PWU. The work position changing unit 63 is positioned such that the work object WO released from the initial work position PW1 can be prevented from falling vigorously, that is, the work object WO can be prevented from falling at a speed and impact. It is preferable to set the initial work position PW1 to a position For example, the work position changing unit 63 may set the initial work position PW1 based on information acquired by the peripheral object position detector 33, as will be described later. The work position changing unit 63 may set the initial work position PW1 based on information (numerical value, etc.) input by the operator through the input device 35 . Alternatively, the work upper limit position PWU may be a value (initial value) stored in advance in the controller 50 .

The work position changing unit 63 changes the work position PW in the vertical direction Z, that is, changes the height of the work position PW, according to the progress of the series of operations over the plurality of cycles. The work position changing unit 63 may change the work position PW each time the series of operations for one cycle is completed, or may change the work position PW each time a series of operations for a predetermined number of cycles is completed. may be changed. In this case, the predetermined number of cycles may always be constant or may vary. The working position changing section 63 may change the working position PW not only in the vertical direction Z but also in at least one of the longitudinal direction X and the turning direction.

The work position changing unit 63 is the work object WO already released from the tip attachment 15d by changing the work position PW to the upper side Za according to the progress of the series of operations of the plurality of cycles. It is possible to prevent the tip attachment 15d from coming into contact with the released work object WOa (for example, the piled up work object WO). Depending on the situation around the working position PW, the working position changing section 63 may change the working position PW to the lower side Zb. For example, when the released work object WOa decreases due to landslides or the like, the work position changing unit 63 may change the work position PW to the lower side Zb according to the decrease.

The manner in which the working position PW is changed by the working position changing section 63 is not limited. Examples of such changes are shown below.

[Example D1] The work position changing unit 63 may shift the work position PW by a constant shift amount Csf stored in the controller 50 according to the progress of the series of operations. In this example, the work position PW can be changed by setting a simple parameter, that is, by setting the shift amount Csf.

[Example D2] The work position changing unit 63 exists around the information acquired by the surrounding object position detector 33, for example, the work position PW (for example, the work position PW immediately after the previous work was performed). The work position PW may be set based on information about the position of the object.

For example, the working position changing unit 63 preferably sets (changes) the working position PW so as to prevent the tip attachment 15d from coming into contact with an obstacle. The "obstacle" is, for example, the ground, a loading platform, and the released work object WOa.

For example, when the working position changing unit 63 changes the working position PW to the upper side Za, and when the controlled part 16 is set at the proximal end of the tip attachment 15d, the working position change For example, the portion 63 is located at the position of the upper side Za by the sum of the effective length LE of the tip attachment 15d and the clearance height Hm from the top of the released work object WOa (the end of the upper side Za). Set the working position PW. The effective length LE of the tip attachment 15d is, for example, the length of the tip attachment 15d in the vertical direction Z when the tip attachment 15d is in the maximum vertical direction Z length. Such setting of the working position PW prevents the tip attachment 15d from coming into contact with the released work object WOa. The clearance height Hm is set, for example, to be larger than the height of the work object WO released from the tip attachment 15d that is expected to pile up on the released work object WOa. .

[Example D3] [Example D1] and [Example D2] may be combined. For example, the work position changing unit 63 sets the initial work position PW1 based on the position information acquired by the peripheral object position detector 33, and thereafter, in the series of operations in the second and subsequent cycles, the shift amount The work position PW may be changed by Csf.

The work position changing unit 63 sets the work position PW based on the work upper limit position PWU set by the work upper limit position setting unit 61, that is, within a range in which the work position PW can be set. do. The work position changing unit 63 does not set the work position PW in the area above the upper work position PWU, Za, that is, in the area prohibited to be set as the work position PW. In this way, the work position PW is limited to the work upper limit position PWU or its lower side Zb.

Specifically, when the working position PW calculated by the working position changing unit 63 is a position above the upper working position PWU Za, that is, when the working position PW reaches the upper working position PWU due to the change. If so (YES in step S41 of FIG. 3), the work position changing unit 63 sets the work position PW to the work upper limit position PWU (step S42). In other words, the work position changing section 63 corrects the work position PW to be changed from the calculated position to the work upper limit position PWU. After the tip attachment 15d performs an operation (release operation) for work at the work position PW corrected to the work upper limit position PWU in this manner, the automatic operation unit 53 performs the series of operations over the plurality of cycles. may end (YES in step S30). Alternatively, when the work position PW reaches the work upper limit position PWU, the series of operations of the plurality of cycles may end without the work position PW being corrected to the work upper limit position PWU (YES in step S30). .

When the working position PW calculated by the working position changing section 63 is the upper working position PWU or the lower side Zb thereof (NO in step S41 in FIG. 3), the working position changing section 63 performs the calculation The determined work position PW (step S40) is determined as the actual work position PW (step S43).

The target trajectory correction unit (target trajectory correction unit) 65 of the controller 50 corrects the target trajectory Pth, in this embodiment, corrects the target trajectory Rt in accordance with the change in the work position PW (target Trajectory correction step; step S60 in FIG. 3). The target trajectory correction unit 65 corrects a portion of the target trajectory Rt between the path end position PE and the work position PW. Among the information included in the target trajectory Rt, the target trajectory correction unit 65 corrects the target trajectory Pth, corrects the target moving speed of the control target part 16 (for example, corrects the target section time Tst), , or only the target route Pth out of the target route Pth and the target moving speed may be corrected. For example, the target trajectory correction unit 65 corrects the target trajectory Rt based on the target trajectory Pth of the reference target trajectory Rtb and the work position PW after being changed by the work position changing unit 63. good too. For example, the target trajectory correction unit 65 may correct the target trajectory Rt so as to smoothly connect the path end position PE and the changed work position PW. For example, the target trajectory correction unit 65 corrects the target trajectory Rt so that the shape of the target trajectory Pth of the target trajectory Rt after correction becomes similar to the target trajectory Pth of the reference target trajectory Rtb. may

The above embodiment may be modified in various ways. For example, the number of components (including variations) of the above embodiments may be changed, and some of the components may not be provided. For example, variations of the above embodiments may be combined in various ways. For example, fixing, coupling, etc. between components may be direct or indirect. For example, the connection of each component shown in FIG. 2 may be changed. For example, the containment relationship of components may be varied. For example, a component described as being included in a certain higher-level component may not be included in this higher-level component, and may be included in another component. For example, what has been described as a plurality of different members or parts may be treated as a single member or part. For example, what has been described as one member or portion may be divided into a plurality of different members or portions. For example, various parameters (set values, ranges, etc. for the clearance height Hm, etc.) may be preset in the controller 50, or may be set directly by the operator's manual operation. Various parameters may be calculated by the controller 50 based on information set by the operator's manual operation, or may be calculated by the controller 50 based on information detected by a sensor (such as an imaging device). For example, various parameters may not be changed, may be changed manually, or may be automatically changed by the controller 50 according to some conditions. For example, the order of steps in the flow chart shown in FIG. 3 may be changed, and some steps may not be performed. For example, each component may have only a portion of each feature (function, arrangement, shape, actuation, etc.).

As described above, an automatic operation system, a work machine, and an automatic operation program that can cause the tip attachment of the work machine to perform an appropriate series of operations are provided.

By setting the work position to the work upper limit position or a position lower than the work position, the work position changing unit, compared to the case where the work position is set to a position above the work upper limit position, It is possible to suppress the momentum of the work object released from the tip attachment. In this way, the working position in the series of operations of the tip attachment of the working machine is appropriately set. This makes it possible, for example, to suppress the falling speed of the work object released from the tip attachment and the impact of the fallen work object.

It is preferable that the working position changing unit is configured to change the working position upward according to the progress of the series of operations over the plurality of cycles. This can prevent the tip attachment from interfering with the work objects (for example, released work objects) when the work objects (for example, released work objects) are piled up as the series of operations progresses.

It is preferable that the work upper limit position setting unit is configured to set the work upper limit position based on the position where the tip attachment is actually arranged. This makes it possible for the operator to set the upper working limit position by a simple operation of moving the work machine to position the tip attachment at a desired position, that is, a position to be set as the upper working limit position. . Therefore, the operator can easily (for example, intuitively) set the work upper limit position.

The automatic driving system further includes a peripheral object position detector that acquires peripheral object position information, which is information on the position of an object existing around the work position, and the work position changing unit includes the peripheral object position detector. It is preferable that the work position is changed based on the peripheral object position information acquired by. The working position changing unit configured in this manner can set an appropriate working position based on the peripheral object position information acquired by the peripheral object position detector, thereby allowing the tip attachment to It enables you to perform actions for efficient work. For example, it is possible to suppress interference of the tip attachment that releases the work object at the working position with obstacles such as the released work object, the ground, a bed, and the like.

The work position changing unit may be configured to shift the work position by a preset constant shift amount according to the progress of the series of operations over the plurality of cycles. This makes it possible to change the working position with a simple parameter setting.

The controller further includes a work end determination unit, the work end determination unit determines whether or not a preset work end condition is satisfied, and the automatic operation unit determines whether the work end condition is satisfied. It is preferable that the series of operations is terminated when it is determined that the The work end condition is a condition set in advance for ending the series of operations over the plurality of cycles, and includes a condition that the work position reaches the work upper limit position. The automatic operation section configured in this manner can terminate the work by the series of operations at a favorable timing when the work position reaches the work upper limit position.

In addition, an automatic operation program used for work machines with machine bodies and attachments is provided. The attachment is attached to the machine body so as to be operable to perform work. The attachment includes an attachment body and a tip attachment. The tip attachment includes a part to be controlled, and is attached to the tip of the attachment body so as to be capable of performing a release operation for performing the work of releasing the work object. The attachment main body operates to change the position of the control target portion. The automatic operation program causes a computer to execute a target route setting step, an automatic operation step, a work upper limit position setting step, and a work position changing step. The target path step is a step of setting a target path, and the target path is set between a work position where the tip attachment performs the release operation and a path end position away from the work position. It is the goal of the path along which the target part moves. The automatic operation step is a step of automatically controlling the operation of the attachment so that the attachment performs a series of operations over the plurality of cycles, including the operation of moving the control target portion along the target path. The work upper limit position setting step is a step of setting a work upper limit position that is the upper limit of the work position. The work position changing step is a step of changing the work position in the vertical direction according to the progress of the series of operations over the plurality of cycles. The work position changing step changes the work position within the work upper limit position or within a range lower than the work upper limit position; It includes setting the work position in the series of operations in the first cycle after setting the upper limit position to a position below the upper limit position for work.

Claims

An automatic operation system for automatically operating a working machine,
a machine body of the working machine;
An attachment attached to the main body of the machine so as to be operable for performing work, the attachment including an attachment main body and a tip attachment, the tip attachment including a part to be controlled and releasing a work object. an attachment attached to the tip of the attachment body so as to be capable of performing a release operation for performing the attachment body, the attachment body operating to change the position of the control target part;
a controller, the controller comprising:
A target path is set, and the target path is a target of a path along which the controlled part moves between a working position where the tip attachment performs the releasing operation and a path end position away from the working position. a target path setting unit;
an automatic operation unit that automatically controls the operation of the attachment so that the attachment performs a series of operations over a plurality of cycles, including an operation in which the controlled part moves along the target path;
a work upper limit position setting unit that sets a work upper limit position that is the upper limit of the work position;
a working position changing unit that vertically changes the working position according to the progress of the series of operations over the plurality of cycles;
The work position changing unit changes the work position within the work upper limit position or within a range below the work upper limit position, and the work upper limit position setting unit changes the work upper limit position among the plurality of cycles. An automatic operation system that sets the work position in the series of operations in the first cycle after the position is set to a position lower than the work upper limit position.
The automatic operation system according to claim 1, wherein the work position changing unit is configured to change the work position upward according to the progress of the cycle of the series of operations.
3. The automatic operation system according to claim 1, wherein the work upper limit position setting unit is configured to set the work upper limit position based on the position where the tip attachment is arranged. .
The automatic driving system according to any one of claims 1 to 3, further comprising a peripheral object position detector that acquires peripheral object position information, which is information on the position of an object existing around the work position. , The automatic driving system, wherein the work position changing unit is configured to change the work position based on the peripheral object position information acquired by the peripheral object position detector.
The automatic operation system according to any one of claims 1 to 3, wherein the work position changing unit is configured to shift by a preset constant amount according to the progress of the series of operations over the plurality of cycles. An automated driving system configured to shift the working position.
The automatic operation system according to any one of claims 1 to 5, wherein the controller determines that a preset work end condition is satisfied in order to end the work by the series of operations over the plurality of cycles. The automatic operation unit is configured to end the work when it is determined that the work end condition is satisfied, and the work end condition is the An automatic driving system, including a condition that the work position has reached the upper work position.
a working machine,
machine body and
An attachment attached to the main body of the machine so as to be operable for performing work, the attachment including an attachment main body and a tip attachment, the tip attachment including a part to be controlled and releasing a work object. an attachment attached to the tip of the attachment body so as to be capable of performing a release operation for the attachment body, the attachment body acting to change the position of the control target part;
a controller mounted on at least one of the machine body and the attachment, wherein the controller
A target path is set, and on the target path, the control target portion of the tip attachment moves between a working position where the tip attachment performs the releasing operation and a path end position away from the working position. a target route setting unit that is the target of the route;
an automatic operation unit that automatically controls the operation of the attachment so that the attachment performs a series of operations over a plurality of cycles, including an operation in which the controlled part moves along the target path;
a work upper limit position setting unit that sets a work upper limit position that is the upper limit of the work position;
a working position changing unit that vertically changes the working position according to the progress of the series of operations over the plurality of cycles;
The work position changing unit changes the work position within the work upper limit position or within a range below the work upper limit position, and the work upper limit position setting unit changes the work upper limit position among the plurality of cycles. A working machine, wherein the working position in the series of operations in the first cycle after the position is set is set to a position below the upper working limit position.
A machine body and an attachment attached to the machine body so as to be operable to perform a work, wherein the attachment includes an attachment body and a tip attachment, and the tip attachment includes a part to be controlled. an attachment that is attached to the tip of the attachment body so as to be able to perform a release operation for the work of releasing the work object by pressing the attachment body, and that the attachment body operates to change the position of the control target part; , an automatic operation program for automatically operating a work machine comprising
a target path setting step of setting a target path, which is a target of a path along which the control target portion of the tip attachment moves between a work position and a path end position;
an automatic operation step of automatically controlling the operation of the attachment so that the attachment performs a series of operations over a plurality of cycles, including an operation in which the controlled part moves along the target path;
a work upper limit position setting step of setting a work upper limit position that is the upper limit of the work position;
causing a computer to execute a working position changing step of changing the working position in the vertical direction according to the progress of the series of operations over the plurality of cycles;
The work position changing step changes the work position within the work upper limit position or within a range lower than the work upper limit position; An automatic operation program including setting the work position in the series of operations in the first cycle after setting the upper limit position to a position lower than the upper limit position for work.
9. A recording medium in which the automatic driving program according to claim 8 is recorded, wherein the automatic driving program can be read by the computer.