WO2023149309A1

WO2023149309A1 - Automated operation system for work machine, work machine, and automated operation program

Info

Publication number: WO2023149309A1
Application number: PCT/JP2023/002286
Authority: WO
Inventors: 龍之介宮嵜; 樹哉迫
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: JP2023114782A

Abstract

Provided is a system capable of appropriately reconfiguring a work plan following a change in the work position of an end attachment of a work machine, the system comprising an automated operation unit (53), a work position change unit (63), and a target path correction unit (65). The automated operation unit (53) performs control to cause an attachment (15) to perform, over a plurality of cycles, a series of actions including an action in which a portion 16 to be controlled moves along a target path (Pth). The work position change unit (63) changes a work position (PW) in a vertical direction (Z) and/or a front-rear direction (X) of the attachment (15) in accordance with the progress of the series of actions over the plurality of cycles. The target path correction unit (65) corrects a part of the target path (Pth) between a path end position (PE) and the work position (PW) in accordance with the change of the work position (PW) by the work position change unit (63).

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. The working machine is provided with a tip attachment (a bucket in the document), and is automatically controlled so that the tip attachment repeats a series of operations (operations from excavation to dumping in the document). A working position (digging depth in the document), which is a position where the tip attachment performs work, is changed each time one series of operations is completed.

Patent document 1 describes a change in the position of the work position (excavation position in the document) included in the series of operations. There is no disclosure as to what the target path of the tip attachment to the soil position should be.

JP-A-11-158933

The present invention relates to an automatic operation system for automatically operating a working machine, which is capable of appropriately resetting a work plan accompanying a change in the working position of a tip attachment of the working machine, working machine , and to provide a program for the automatic operation.

What is provided is an automated driving system that includes a working machine main body, an attachment, and a controller. The attachment is operably attached to the machine body. 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 able to perform work operations. 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 position changing section, and a target route correction 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 work operation and a path end position away from the work position. is the target of the path traveled. The automatic operation unit 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 a plurality of cycles. The working position changing unit changes the working position in at least one of a vertical direction and a front-rear direction of the attachment according to the progress of the series of operations over the plurality of cycles. The target route correction unit corrects a portion of the target route between the route end position and the work position in accordance with a change in the work position.

Also provided is a working machine that includes a machine body, an attachment, and a controller. The attachment is operably attached to the machine body. 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 able to perform work operations. 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 position changing section, and a target route correction 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 work operation and a path end position away from the work position. is the target of the path traveled. The automatic operation unit 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 a plurality of cycles. The working position changing unit changes the working position in at least one of a vertical direction and a front-rear direction of the attachment according to the progress of the series of operations over the plurality of cycles. The target route correction unit corrects a portion of the target route between the route end position and the work position in accordance with a change in the work position.

In addition, an automatic operation program used for work machines with machine bodies and attachments is provided. The attachment is operably attached to the machine body. 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 able to perform work operations. 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 position change step, and a target route correction step. The target route setting step is a step of setting a target route. It is the target of the path along which the controlled part moves. The automatic operation step is a step of controlling the operation of the attachment so that the attachment performs a series of operations over a plurality of cycles including the operation of moving the control target portion along the target path. The step of changing the working position is a step of changing the working position in at least one of the up-down direction and the front-rear direction of the attachment according to the progress of the series of operations over the plurality of cycles. The target route correction step is a step of correcting a portion of the target route between the route end position and the work position according to the change in the work position.

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. 2 is a diagram showing a target trajectory of a control target portion shown in FIG. 1; FIG. 5 is a table showing an example of correction of the target trajectory shown in FIG. 4; It is a graph showing a plurality of target trajectories according to the correction example. 4 is a plan view showing the work machine and the target trajectory; FIG.

An embodiment of the present invention will be described with reference to FIGS. 1 to 7. FIG.

FIG. 1 shows a working 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 a 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, and an operator can operate the working machine 10 in the operator's cab 13a.

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 Sw shown in FIG. 7, and the upper turning body 13 turns in the turning direction Sw relative to the lower body 11 . The front-rear direction X is a direction perpendicular to each of the vertical direction Z and the turning direction Sw, and is therefore equivalent to the turning radial direction. The front-rear 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. Also the 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 operable for performing work, 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 able to perform a specific work operation. connected to 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. The control target portion 16 may be, for example, a connection portion (base end portion) of the tip attachment 15d that is connected to the arm 15c as shown in FIG. 1, or a tip portion of the tip attachment 15d. , that is, the end opposite to the base 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 driving 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 part, for example, a part capable of pinching an object, the driving unit 21 is an actuator (for example, a cylinder or a motor) for moving the movable part 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 has a function of acquiring information about the attitude of the attachment 15 and the attitude (turning attitude) of the upper swing body 13 with respect to the lower body 11, that is, an attachment attitude information acquisition function; have

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 Sw 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 body 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. For example, the tip attachment sensor 31d detects the angle of the tip attachment 15d with respect to the horizontal direction or 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 15 b that is connected to the upper swing body 13 , or a portion located on the swing center axis of the upper swing body 13 . good. The reference position detector 32 (see FIG. 2) 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 shown in FIG. 1 and is capable of communicating with the 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 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 correcting unit (target trajectory correcting 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 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 section time Tst is the time during which the controlled part 16 moves in a section (two-point section) between two target points P(n) and P(n+1) adjacent to each other (in consecutive order). is the target value of 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 (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 Xt that is a target, 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 It includes a target segment time Tst and a target tip attachment angle φt, which is a target for the 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 target trajectory correction unit 65 corrects the target trajectory Rt shown in FIGS. In other words, the target trajectory correction unit 65 changes the target trajectory Rt from the target trajectory Rto before correction to the target trajectory Rta after correction.

The plurality of target points P(i) included in the target trajectory Rt include the route end position PE and the work position PW. 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 a position where the tip attachment 15d performs the specific work operation. Examples of work performed by the specific work motion are shown below.

[Example A1] The position where the release is performed (the working position PW) is set to a position directly above the ground in the example shown in FIG. 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. In this example, the operation performed by the tip attachment 15d at the path end position PE is not limited. The path end position PE may be, for example, a position where the tip attachment 15d performs a catching operation for catching the work object WO (for example, excavation work). The position (path end position PE) where the catching operation is performed in this way is set, for example, at a place (earth-and-sand mound or earth-and-sand pit) where the work objects WO are gathered.

[Example A2] The work by the specific work operation of the tip attachment 15d performed at the work position PW may be a work of catching the work object WO (for example, an excavation work). In this case, the tip attachment 15d may perform an operation for releasing the work object O at the path end position PE.

In both [Example A1] and [Example A2], the controller 50 moves the tip attachment 15d along the target path Pth between the work position PW and the path end position PE. It controls the drive control unit 17 . 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 capture position where the tip attachment 15d captures the work object WO to the release position where the tip attachment 15d releases the work object O is a lifting turning motion. is. The movement of the tip attachment 15d from the release position to the capture position is a return pivoting 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 operations includes only an operation in which the control target portion 16 of the tip attachment 15d moves in at least one of the longitudinal direction X and the vertical direction Z, and the control target portion 16 is rotated. It may be one that does not include movement in the direction Sw.

Of the plurality of target points P(i), in this embodiment, the path end position PE corresponds to the target point P(1), and the work position PW corresponds to the target point P(N). The number i of the target point P(i) may be assigned such that the controlled portion 16 moves in the order of target point P(1), target point P(2), . Alternatively, the target point P(N), the target point P(N−1), .

The initial position of the target trajectory Rt is set (step S10 in FIG. 3) before the work by automatic operation of the working machine 10 (work by the tip attachment 15d) is performed. The initial position of the target trajectory Rt may be input to the target trajectory setting section 51 by teaching, or may be input to the target trajectory setting section 51 by a method other than teaching. For example, a numerical value specifying the initial position may be input to the target trajectory setting unit 51 through the input device 35 .

For example, the teaching is performed as follows. The target trajectory Rt is set along a route desired to be set as the target trajectory Rt by an operator riding the work machine 10 and operating the work machine 10 or remotely controlling the work machine 10. The control target portion 16 is moved at the desired speed. 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 target trajectory Rt. 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 working machine 10 is automatically controlled so that a series of operations are performed (repeatedly) 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 operation unit 53 moves the tip attachment so that the control target part 16 moves from the path end position PE to the work position PW along the target trajectory Rt. 15d is operated (step S22). The automatic operation unit 53 performs a work operation (for example, release operation) on the work object WO while 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 15d 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 the work (release work in this embodiment) at the work position PW is completed, the work end determination unit 55 of the controller 30 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

The work end condition may include that the number of times (the number of cycles) that the series of operations has been performed has reached a preset "set number of times". The "set number of times" is set (in advance) in the controller 50 before the work end condition is determined by the work end determination unit 55 (see FIG. 2). The set number of times may be set based on information (for example, a numerical value indicating the set number of times) input from the input device 35 to the controller 50 . Alternatively, the set number of times may be automatically calculated by the controller 50 . For example, the controller 50 may automatically determine the set number of times according to the circumstances around the work machine 10 captured by an imaging device. The set number of times may be equal to an initial value pre-stored in the controller 50 .

Alternatively, the work end condition may include that the work position PW has reached a preset "set position". As will be described later, the work position changing unit 63 changes the work position PW in accordance with the progress of the series of operations over the plurality of cycles. has reached a "set position". The above-mentioned “set position” is set (in advance) in the controller 50 before the work end condition is determined by the work end determination unit 55 of the controller 50 . The set position may be the same position as a work limit position PWL, which will be described later, or may be a position different from the work limit position PWL. The set position may include a component in at least one of the up-down direction Z and the front-back direction X. Examples of the setting positions are shown below.

[Example B1] When the work performed at the work position PW is the release of the work object WO (for example, dumping), the set position is the work object WO released by the series of operations over the plurality of cycles. It is preferable to set the position so that the total amount is appropriate. For example, when the work performed at the work position PW is the work of loading the work object WO into a container such as a loading platform, the set position is set to a position that can suppress the excess or deficiency of the work object WO loaded into the container. is preferably set.

[Example B2] When the work performed at the work position PW is to capture the work object WO (for example, excavation), the set position is a position that can suppress excess or deficiency in the capture of the work object WO, that is, It is preferably set in a position that allows work to be done efficiently. Specifically, the set position is set to a position that can prevent the tip attachment 15d from continuing the work operation for the catching work even though the work object WO to be caught is gone. preferably. Further, the set position is set to a position that can prevent the tip attachment 15d from stopping the work operation for the catching work even though the work object O to be caught still remains. is preferred.

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 limit position setting unit 61 sets the work limit position PWL (work limit position setting step). The work limit position PWL is a position that is the limit of the range that can be set as the work position PW, that is, a limit position. When the working position PW is changed in the vertical direction Z as shown in FIG. ) position. When the working position PW is changed in the longitudinal direction X as shown in FIG. 7, the working limit position PWL is at least one of the rear Xb limit position and the front Xa limit position of the working position PW. Equivalent to. Based on the work limit position PWL set by the work limit position setting unit 61 in this manner, the work position changing unit 63 sets the work position PW within the allowable range to be set. Set the working position PW.

The work limit position setting unit 61 may set various work limit positions PWL. For example, the work limit position PWL may be set based on information (specification information) such as dimensions and shape of the work machine 10 . For example, the work limit position PWL may be set to a position that is the limit of the physically reachable range of the tip attachment 15d. The work limit position PWL may be set at a boundary position between a reachable range of the tip attachment 15d and an unreachable range of the tip attachment 15d. The work limit position PWL may be set to a position at which a specific portion (for example, the attachment 15) of the work machine 10 is prevented from coming into contact with an obstacle or the like.

The work limit position setting unit 61 may set the work limit position PWL using the teaching performed for setting the target trajectory Rt as described above. The work limit position PWL may be set based on the obtained information (for example, numerical value). Alternatively, the work limit position setting unit 61 may automatically set the work limit position PWL based on information acquired by an imaging device similar to the imaging device exemplified for the peripheral object position detector 33. may be configured. Alternatively, the work limit position PWL may be calculated in advance based on the specification information of the work machine 10 and stored in the work limit position setting section 61 in advance.

The work position change unit 63 changes the work position PW, that is, corrects it (work position change step; step S40 in FIG. 3). The work position changing section 63 changes the work position PW according to the progress of the series of operations over the plurality of cycles. The work position changing section 63 may change the work position PW for each cycle, or may change the work position PW for each of a predetermined number of cycles, which is one or more. The predetermined number may be constant or may vary. The working position changing unit 63 changes the working position PW in at least one of the up-down direction Z and the front-rear direction X, as shown in FIGS. 1 and 7, respectively. The working position changing unit 63 may change the working position PW in at least one of the up-down direction Z and the front-rear direction X and in the turning direction Sw.

When the work performed at the work position PW is to release the work object WO, the work position changing unit 63 changes the work position PW to at least one of the front-rear direction X and the upper side Za so that the It is possible to prevent the tip attachment 15d from coming into contact with the work object WOa already released from the tip attachment 15d (released work object, for example, piled up work objects) WOa.

Alternatively, when the work performed at the work position PW is to catch the work object WO, the work position changing unit 63 changes the work position PW in at least one of the front-rear direction X and the lower side Zb. , the tip attachment 15d can efficiently catch the work object WO (for example, the ground) whose shape changes from moment to moment. For example, it is suppressed that the tip attachment 15d catches the work object WO at a position where the work object WO does not exist (a position where the work object WO has already been caught and removed).

The work position changing unit 63 changes the work position PW by a preset work position change amount PWsft for one change of the work position PW. That is, the work position change amount PWsft is the amount of change in the work position PW caused by one change of the work position PW by the work position change unit 63 . In other words, the work position change amount PWsft is the shift amount (distance) of the work position PW from the old work position PWo before the change by the work position changing unit 63 to the new work position PWa after the change. . The work position change amount PWsft may be set as a change amount from the initial work position PW to the latest work position PW in the first cycle target trajectory Rt. Alternatively, the work position change amount PWsft may be set as a change amount of the work position PW before and after the previous (most recent) change.

For example, when the work position changing unit 63 changes the work position PW in the vertical direction Z, the positions (also referred to as “height positions”) of the plurality of target points P(i) in the vertical direction Z (i), the height position Zo(i) of each of the plurality of target points P(i) before correction, and the height position of each of the plurality of target points P(i) after correction as Za(i) , the height position of the path end position PE corresponding to the target point P(1) is Z(1), and the height position at the old work position PWo (target point Po(N)) is Zo(N ), and the height position at the new work position PWa (target point Pa(N)) is Za(N). The work position change amount PWsft in the vertical direction Z, that is, the vertical shift amount Zsft(N) for the target point P(N) is Zsft(N)=Za(N)−Zo(N).

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, 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 regarding the position of the object.

For example, when the work performed at the work position PW is to release the work object WO, the work position changing unit 63 sets the work position PW so as to prevent the tip attachment 15d from coming into contact with an obstacle. It is preferable to do (change). 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 to the proximal end of the tip attachment 15d, the working position change For example, the working part is positioned above the upper Za position by the sum of the effective length LE of the tip attachment 15d and the clearance height Hm from the top part (the end of the upper Za) of the released work object WOa. Set the position PW. The effective length LE is, for example, the length of the tip attachment 15d in the up-down direction Z when the tip attachment 15d has the maximum length in the up-down direction Z. As shown in FIG. 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. .

When the working position PW is changed in the longitudinal direction X as shown in FIG. 7, similarly to the change in the vertical direction Z, the same work object as the released work object WOa shown in FIG. It is preferable that the working position PW is set so as to suppress contact with the tip attachment 15d.

For example, when the work performed at the work position PW shown in FIG. It is preferable to set (change) the working position PW to a position where This allows the work machine 10 to efficiently capture the work object WO.

[Example D3] [Example D1] and [Example D2] may be combined. For example, the work position changing unit 63 sets the work position PW of the series of operations in the first cycle, that is, the initial work position, based on the position information acquired by the peripheral object position detector 33, and then sets the work position PW for the first cycle. The work position PW may be changed by the shift amount Csf in a series of operations in cycles after the first cycle.

The work position changing unit 63 does not set the work position PW outside the work limit position PWL, that is, outside the range in which the work position PW is allowed to be set. In this way, the working position PW is restricted to positions inside the working limit position PWL.

More specifically, when the work position PW calculated by the work position changing unit 63 is outside the work limit position PWL, that is, when the work position PW reaches the work limit position PWL as a result of the change (Fig. 3), the work position changing unit 63 sets the work position PW to the work limit position PWL (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 limit position PWL. After the tip attachment 15d performs the operation for work at the work position PW corrected to the work limit position PWL in this manner, the automatic operation unit 53 ends the series of operations over the plurality of cycles. (YES in step S30). Alternatively, when the work position PW reaches the work limit position PWL, the series of operations of the plurality of cycles may end without the work position PW being corrected to the work limit position PWL (YES in step S30). .

If the working position PW calculated by the working position changing unit 63 is the working limit position PWL or a position inside it (NO in step S41 of FIG. 3), the working position changing unit 63 changes the calculated The working position PW (step S40) is directly determined as the actual working 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. The target trajectory correction unit 65 corrects both the target trajectory Pth and the target moving speed of the control target part 16 (for example, the target section time Tst) among the information included in the target trajectory Rt. Alternatively, only the target route Pth out of the target route Pth and the target moving speed may be corrected.

The target trajectory correction unit 65 corrects the target trajectory Rt shown in FIG. 4 based on the work position change amount PWsft. For example, the target trajectory correction unit 65 adjusts the plurality of target points P(i) so that the larger the work position change amount PWsft, the larger the amount of change Psft(i) before and after correction of each of the plurality of target points P(i). Each of P(i) may be corrected.

For example, when the work position changing unit 63 changes the work position PW in the vertical direction Z, the target trajectory correction unit 65 changes the positions (high position) is corrected based on the working position change amount PWsft. More specifically, the target trajectory correction unit 65 corrects the target trajectory Rt so that the vertical shift amount Zsft(i) increases as the work position change amount PWsft (Zsft(N)) in the vertical direction Z increases. correct. The vertical shift amount Zsft(i) is the vertical Z shift amount Psft(i) of each of the plurality of target points P(i), and the old height position Zo(i) and the new height position Za It is the vertical difference from (i). For example, the target trajectory correction unit 65 corrects the target trajectory Rt so that the vertical shift amount Zsft(i) increases as the controlled portion 16 approaches the work position PW from the path end position PE. You may This enables the target trajectory correction unit 65 to set the corrected target trajectory Rta so that the target trajectory Pth from the trajectory end position PE to the new work position PWa becomes smooth.

More specifically, the target trajectory correction unit 65 calculates a change ratio, for example, a change ratio RTZ shown in FIG. Rt may be corrected.

The change ratio RTZ shown in FIG. 5 is used when the working position PW is changed in the vertical direction Z, and is expressed by the following equation 1 using the relative height Zdiff. Is possible.
(Formula 1)
RTZ=(Zdiff+Zsft(N))/Zdiff

The relative height Zdiff is the relative height of the old work position PWo to the height position of the path end position PE, and Zdiff=Zo(N)-Zo(1). In this example, the height position Zo(1) of the path end position PE does not change regardless of the correction of the target trajectory Rt. is given. FIG. 4 also shows a vertical shift amount Zsft(N) (=Za(N)-Zo(N)), which is the work position change amount PWsft in the vertical direction Z. As shown in FIG.

The target trajectory correction unit 65 calculates the corrected height position Za(i) of the target point P(i) based on Equation 2 below.
(Formula 2)
Za(i)=Z(1)+(Zo(i)−Z(1))×RTZ

FIG. 5 is a specific example of the height position Za(i), that is, the Z coordinate of the target point P(i) on the target trajectories Rta1, Rta2, Rta3, and Rta4 after correction according to correction examples 1, 2, 3, and 4, respectively. , and each height position Z(i), that is, the Z coordinate is calculated based on the change ratio Zrto. In these examples, first, the Z coordinate Z(i) of each target point P(i) on the target trajectory Rto before correction is set. Next, for each of correction examples 1 to 4, a vertical shift amount Zsft(N) corresponding to the work position change amount PWsft in the vertical direction Z is determined. . Next, the Z coordinates of the path end position PE (P(1)) and the work position PW (P(N)) of the target trajectory Rto before correction and the vertical shift amount Zsft(N) of the work position PW ) and Equation 1 above, the modification ratio RTZ is calculated for each of Correction Examples 1 to 4. FIG. Then, the plurality of target points P The Z coordinate of (i) is determined.

FIG. 6 is a graph showing the results obtained as described above, that is, the target trajectory Rto before correction and the target trajectories Rta1 to Rta4 after correction in Correction Examples 1 to 4. FIG. 6 shows that, in the correction in which the change ratio RTZ is a positive value as in Correction Examples 1 to 3, the target trajectory Pth (shape of the graph) of the target trajectory after correction (Rta1 to Rta3) is different from the target trajectory before correction. It teaches that the trajectory Rto has a shape (for example, a similar shape) according to the target route Pth. In addition, FIG. 6 shows that in the correction in which the change ratio RTZ is a negative value as in Correction Example 4, the increase/decrease tendency of the target trajectory Rto before correction is opposite to that of the target trajectory Pth. It is taught that the shape of the target path Pth of the trajectory (Rta4) becomes a shape (for example, a similar shape) corresponding to the shape obtained by inverting the target path Pth before correction in the vertical direction Z. For example, if the target trajectory Pth of the target trajectory Rto before correction has a smooth curved shape, the target trajectories Pth of each of the target trajectories Rta1 to Rta4 after correction can also have a smooth curved shape.

The target trajectory correction unit 65 adjusts the target moving speed of the control target part 16 so as to minimize the amount of change due to the correction of the speed of the control target part 16 moving on the target trajectory Rt shown in FIG. It is preferable to perform correction (for example, correction of the target section time Tst).

For example, the target trajectory correction unit 65 may correct the target movement speed of the control target part 16 based on the target movement speed of the attachment 15 before and after the correction of the target trajectory Rt. For example, the target trajectory correction unit 65 corrects the target moving speed of the control target part 16 so that the post-correction moving speed Va is equal to or less than the pre-correction moving speed Vo. The pre-correction moving speed Vo is a target speed at which the controlled part 16 moves in a first predetermined portion selected from the pre-correction target trajectory Rto. is the target speed at which the control target portion 16 moves in the portion corresponding to the first predetermined portion on the target trajectory Rta. The first predetermined portion is, for example, a section (section between two points) between two consecutive target points P(n) and P(n+1) among the plurality of target points P(i). For example, the target trajectory correction unit 65 adjusts the target trajectory of the control target part 16 so that the post-correction movement speed Va is equal to or less than the pre-correction movement speed Vo over the entire target trajectory Rt (for example, all sections). It is preferable to correct the moving speed.

More specifically, the target trajectory correction unit 65 adjusts the target moving speed of the control target part 16 based on, for example, the driving speed of the driving unit 21 before and after the correction of the target trajectory Rt. can be corrected. For example, the target trajectory correction unit 65 corrects the target moving speed of the control target part 16 so that the post-correction driving speed VDa is equal to or less than the pre-correction driving speed VDo. The pre-correction driving speed VDo is set to the control target portion 16 by moving the second predetermined portion (for example, the section between two consecutive target points) selected from the target trajectory Rto before correction. is the driving speed of each of the plurality of actuators when moving, and the corrected driving speed VDa is the portion corresponding to the second predetermined portion in the corrected target trajectory Rta. 3 is a drive speed of each of the plurality of actuators in the drive unit 21 when For example, the target trajectory correction unit 65 corrects the target trajectory Rt so that the post-correction drive speed VDa is equal to or less than the pre-correction drive speed VDo over the entire target trajectory Rt (all two-point intervals). It is preferable to correct the target moving speed.

For example, the target trajectory correction unit 65 adjusts the target trajectory Rto so that the post-correction expansion/contraction speed of the boom cylinder 21b is equal to or less than the pre-correction speed for the second predetermined portion of the pre-correction target trajectory Rto. Correct the target speed of The same applies to actuators other than the boom cylinder 21b. The "driving speed of each of the plurality of actuators" is, for example, the driving speed (extension speed) of each of the boom cylinder 21b, the arm cylinder 21c, and the tip attachment cylinder 21d. The "driving speed of each of the plurality of actuators" may include the driving speed (rotational speed) of the turning motor 21a.

A further specific example of correction by the target trajectory correction unit 65 such that the post-correction drive speed VDa is equal to or less than the pre-correction drive speed VDo will be described. These specific examples are the target movement distance (target expansion/contraction amount) of each actuator in a section (section between two points) between two mutually continuous target points on the target trajectory Rto before correction shown in FIG. is assumed to be the following value.
・Target movement distance of boom cylinder 21b: 80 mm
・Target movement distance of arm cylinder 21c: 60 mm
・Target movement distance of tip attachment cylinder 21d: 40 mm

On the above premise, when the target movement time of the controlled part 16 between the two points, that is, the target section time Tst, is 1 second, the target movement speed of each actuator in the section between the two points is The values are as follows.
・Target movement speed of boom cylinder 21b: 80 mm/s
・Target movement speed of arm cylinder 21c: 60 mm/s
・Target movement speed of tip attachment cylinder 21d: 40 mm/s

The cylinder movement distance (cylinder expansion/contraction amount) in the section between the two points on the corrected target trajectory Rta is
・Moving distance of boom cylinder 21b: 120 mm
・Moving distance of arm cylinder 21c: 80 mm
・Moving distance of tip attachment cylinder 21d: 40 mm
, the required interval time Tsr, which is the time required to move each of the plurality of actuators by the moving distance in order to make the post-correction driving speed VDa equal to the pre-correction driving speed VDo, is , becomes:
・Moving distance of boom cylinder 21b: 120 mm, target moving speed: 80 mm/s
→ Required section time Tsr: 1.5s
・Moving distance of arm cylinder 21c: 80 mm, target moving speed: 60 mm/s
→ Required section time Tsr: 1.33s
・Moving distance of tip attachment cylinder 21d: 40 mm, target moving speed 40 mm/s
→ Required interval time tsr: 1s

The target trajectory correction unit 65 sets the longest time (1.5 s of the boom cylinder 21b in the above example) among the required section times Tsn obtained for each of the plurality of actuators as described above, to the corrected target trajectory. It is set as the target section time Tst on the trajectory Rta. This means that the drive speed of each actuator (corrected drive speed VDa) in the second predetermined portion (section between two points) after correction is equal to the driving speed in the second predetermined portion (section between two points) before correction. Speed (pre-correction drive speed VDo) or less. More specifically, the post-correction drive speed VDa in the interval between the two points of each of the boom cylinder 21b, the arm cylinder 21c, and the tip attachment cylinder 21d is equal to or less than the pre-correction drive speed VDo in the interval between the two points. Become.

The target trajectory correction unit 65 may correct the target movement speed of the control target part 16 according to the amount of change in the target trajectory Rt before and after the correction. For example, the target trajectory correction unit 65 calculates the pre-correction moving speed Vo at a third predetermined portion selected from the pre-correction target trajectory Rto and the amount of change in the target trajectory Rt before and after the correction. , the post-correction moving speed Va at the portion corresponding to the third predetermined portion may be corrected (determined). For example, the target trajectory correction unit 65 calculates the pre-correction moving speed Vo between two specific points on the target trajectory Rt and the amount of change Psft between any one of the target points P(i) between the two specific points. Based on (i) and, the post-correction moving speed Va at the third predetermined portion may be corrected (determined). The above-mentioned "any target point P(i) between two specific points" is, for example, two target points P(n) and P(n+1), which are "specific two points", at the work position PW. The target point P(n+1) on the closer side may also be used.

The target trajectory correction unit 65 increases the amount of change (for example, Psft(i)) in the target trajectory Rt before and after the correction, and increases the amount of change in the target trajectory Rt before and after the correction. A correction may be made such that the post-correction moving speed Va is increased.

When the work position PW is changed in the vertical direction Z, the target trajectory correction unit 65 calculates a unit correction time ΔTst ( sec) to the pre-correction target segment time Tsto(i) may be corrected to be the post-correction target segment time Tsta(i). The pre-correction target segment time Tsto(i) and the post-correction target segment time Tsta(i) are predetermined segments in each of the pre-correction target trajectory Rto and the post-correction target trajectory Rta, that is, two targets that are continuous with each other. A target movement time in a predetermined portion that is a section between points P(i−1) and P(n). More specifically, the target trajectory correction unit 65 can calculate the corrected target segment time Tsta(i) using the following equation 3, for example.
(Formula 3)
Tsta(i)=Tsto(i)+|(Za(i)−Zo(i))|×ΔTst

The unit correction time ΔTst can be set variously. For example, the unit correction time ΔTst is set so that the post-correction moving speed Va becomes equal to or less than the pre-correction moving speed Vo, or to promote the post-correction moving speed Va to become equal to or less than the pre-correction moving speed Vo. , so that the post-correction driving speed VDa becomes equal to or less than the pre-correction driving speed VDo, or to promote the post-correction driving speed VDa to become equal to or less than the pre-correction driving speed VDo , may be set. The unit correction time ΔTst may be set to a negative value in order to make the length of the predetermined portion (distance between two points) after correction smaller than that before correction. That is, the target trajectory correction unit 65 may perform correction to reduce the target segment time Tst.

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, the connections between 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 (setting ranges and setting values (for example, clearance height Hm, unit correction time ΔTst), etc.) may be preset in the controller 50, and may be directly operated by the operator (operation of the input device 35). may be set explicitly. Various parameters may be calculated by the controller 50 based on information manually set by an operator, or may be calculated by the controller 50 based on information acquired by a detector (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 for automatically operating a work machine, which is capable of appropriately resetting a work plan in accordance with a change in the working position of the tip attachment of the work machine. A machine and a program for said automated operation are provided.

By correcting the target trajectory based on the change in the work position, the target trajectory correction unit can appropriately reset (correct) the work plan according to the change in the work position. The target trajectory correction unit can eliminate or reduce the effort of the operator to manually reset the target trajectory, for example, when the work position is changed.

Specifically, the target path includes a plurality of target points, each of which is information on the target position of the control target portion, and the target path correction unit increases the number of target points as the work position change amount increases. It is preferable that each of the plurality of target points is corrected so as to increase the amount of change before and after each correction. The target route correction unit configured in this way can appropriately correct the target route with high accuracy.

The target path correction unit is preferably configured to correct the target movement speed of the control target part so that the movement speed after correction is equal to or less than the movement speed before correction. The pre-correction moving speed is a target speed at which the control target portion moves in a first predetermined portion selected from the pre-correction target path, and the pre-correction moving speed is the target path in the post-correction target path. This is a target speed at which the control target portion moves through the portion corresponding to the first predetermined portion. The correction prevents the post-correction movement speed from becoming greater than the pre-correction movement speed, thereby suppressing the operator from feeling uneasy about the movement of the attachment.

The automatic driving system includes a plurality of actuators for driving the attachment, and the target path correcting unit sets a target of the control target portion on the target path so that the post-correction drive speed is equal to or lower than the pre-correction drive speed. Preferably, it is configured to correct the speed of movement. The pre-correction drive speed is the drive speed of each of the plurality of actuators when the control target portion moves along a second predetermined portion selected from the pre-correction target path, and the post-correction drive speed is , the driving speed of each of the plurality of actuators when the control target portion moves in the portion corresponding to the second predetermined portion on the corrected target path; The correction prevents the post-correction drive speed from becoming greater than the pre-correction drive speed, thereby suppressing the operator from feeling uneasy about the movement of the attachment.

The target path correction unit performs the above-described process based on a target moving speed of the control target part in a third predetermined portion selected from the target path before correction and an amount of change in the target path before and after the correction. It is preferable to correct the target moving speed of the control target portion in the portion corresponding to the three predetermined portions in the corrected target path. conduct. The correction enables the post-correction target movement speed of the control target portion to be appropriately set according to the amount of change in the target path before and after the correction, thereby reducing discomfort given to the operator. be able to.

It is preferable that the target path correction unit is configured to increase the pre-correction moving speed more than the post-correction moving speed by a larger amount of change as the amount of change in the target path before and after the correction increases. The pre-correction movement speed is a target speed at which the control target portion moves in a third predetermined portion selected from the pre-correction target path, and the post-correction movement speed is a target in the post-correction target path. This is a target speed at which the control target portion moves through the portion corresponding to the third predetermined portion. The correction makes it possible to appropriately set the target movement speed of the control target part according to the amount of change in the target path before and after the correction, thereby more reliably reducing discomfort given to the operator. make it possible to

It is preferable that the work position changing unit is configured to shift the work position by a preset shift amount according to the progress of the series of operations over the plurality of cycles. This allows the controller to change the working position with a simple configuration that only stores the shift amount.

The automatic driving system further includes a peripheral object position detector that acquires peripheral object position information, which is information about the position of peripheral objects existing around the work position, and the work position changing unit detects the peripheral object position. It is preferable that the work position is changed based on the peripheral object position information acquired by the device. This allows the proper working position to be set to allow the tip attachment to work efficiently.

The controller further includes a work limit position setting unit, and the work limit position setting unit is a work limit position that is the limit of a work position setting allowable range that is a range in which the work position is allowed to be set. A position is set, and the work position changing section is configured to change the work position within the work position setting allowable range based on the work limit position set by the work limit position setting section. is preferred.

The work limit position setting section can limit the work position changed by the work position changing section within the work position setting allowable range.

The controller further includes a work end determination unit, and the work end determination unit determines whether a work end condition set to end the work by the series of operations over the plurality of cycles is satisfied. is preferred. The work end condition may include that the number of the plurality of cycles, which is the number of times the series of operations is performed, reaches a preset set number of times, and the work position changed by the work position changing unit. The position may include reaching a preset set position. Either condition allows the work to be completed at a favorable time.

Also provided is a working machine that includes a machine body, an attachment, and a controller. The attachment is operably attached to the machine body. 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 able to perform work operations. 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 position changing section, and a target route correction 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 work operation and a path end position away from the work position. is the target of the path traveled. The automatic operation unit 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 a plurality of cycles. The working position changing unit changes the working position in at least one of a vertical direction and a front-rear direction of the attachment according to the progress of the series of operations over the plurality of cycles. The target route correction unit corrects a portion of the target route between the route end position and the work position according to a change in the work position.

In addition, an automatic operation program used for work machines with machine bodies and attachments is provided. The attachment is operably attached to the machine body. 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 main body so as to be able to perform work operations. 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 position change step, and a target route correction step. The target route setting step is a step of setting a target route. It is the target of the route along which the control target part moves. The automatic operation step is a step of controlling the operation of the attachment so that the attachment performs a series of operations over a plurality of cycles, including the operation of moving the control target portion along the target path. The step of changing the working position is a step of changing the working position in at least one of the up-down direction and the front-rear direction of the attachment according to the progress of the series of operations over the plurality of cycles. The target route correction step is a step of correcting a portion of the target route between the route end position and the work position according to the change in the work position.

Claims

A system for automatically operating a work machine,
a machine body of the working machine;
It is attached to the machine body so as to be operable, and includes an attachment body and a tip attachment, the tip attachment including a control target part, and the attachment body being capable of performing a work action. an attachment attached to the tip, the attachment main body operating to change the position of the control target part;
a controller, the controller comprising:
a target path setting unit that sets a target path, which is a target of a path along which the controlled part moves, between a work position where the tip attachment performs the work operation and a path end position away from the work position; ,
an automatic driving unit that 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 working position changing unit that changes the working position in at least one of a vertical direction and a longitudinal direction of the attachment according to the progress of the series of operations over the plurality of cycles;
an automatic driving system comprising: a target route correction unit that corrects a portion of the target route between the route end position and the work position according to a change in the work position by the work position change unit.
2. The automatic driving system according to claim 1, wherein the target route includes a plurality of target points each of which is target position information of the control target portion, and the target route correction unit corrects the change in the work position. The automatic driving system corrects each of the plurality of target points such that the larger the amount of change in work position, the larger the amount of change in each of the plurality of target points before and after the correction.
3. The automatic driving system according to claim 1, wherein the target path correction unit is configured to correct the target movement speed of the control target part so that the post-correction movement speed is equal to or less than the pre-correction movement speed. The pre-correction movement speed is a target speed at which the control target portion moves along a first predetermined portion selected from the pre-correction target path, and the post-correction movement speed is the post-correction target. An automatic driving system, which is a target speed at which the control target portion moves along a portion of the route corresponding to the first predetermined portion.
3. The automatic driving system according to claim 1, further comprising a plurality of actuators for driving the attachment, wherein the target path correction unit has a plurality of post-correction drive speeds, each of which is a plurality of pre-correction drive speeds. The target moving speed of the control target portion on the target path is corrected as follows, and the plurality of pre-correction drive speeds are a second predetermined selected from the target paths before correction. and the plurality of post-correction drive velocities are drive velocities for each of the plurality of actuators when the control target portion moves through a portion corresponding to the second predetermined portion on the target path after correction. The automatic driving system, which is the drive speed of each of the plurality of actuators when the control target portion moves.
3. The automatic driving system according to claim 1 or 2, wherein the target path correction unit sets a third predetermined portion selected from the target path before correction with a target speed at which the controlled part moves. Based on a certain pre-correction movement speed and the amount of change in the target path before and after the correction, a target speed at which the controlled part moves in the third predetermined portion on the post-correction target path. An automated driving system configured to correct a certain corrected travel speed.
6. The automatic driving system according to claim 5, wherein the target route correcting unit adjusts the post-correction travel speed to the pre-correction travel speed with a larger amount of change as the amount of change in the target route before and after the correction increases. A self-driving system that makes it bigger than
The automatic operation system according to any one of claims 1 to 6, wherein the work position changing unit changes the work position by a preset shift amount according to the progress of the series of operations over the plurality of cycles. an automated driving system configured to shift the
The automatic driving system according to any one of claims 1 to 6, further comprising a peripheral object position detector that acquires peripheral object position information, which is information on the position of peripheral objects 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 8, wherein the controller operates at a position that is the limit of a working position setting allowable range, which is a range in which the working position is allowed to be set. A work limit position setting unit that sets a certain work limit position is further included, and the work position changing unit changes the work within the work position setting allowable range based on the work limit position set by the work limit position setting unit. An automated driving system configured to change position.
The automatic operation system according to any one of claims 1 to 9, wherein the controller determines whether a work end condition set to end the work by the series of operations over the plurality of cycles is satisfied. The automatic driving system, further comprising a work end determination unit that determines whether or not the work end condition includes that the number of times the series of operations has been performed has reached a preset number of times.
The automatic operation system according to any one of claims 1 to 9, wherein the controller determines whether a work end condition set to end the work by the series of operations over the plurality of cycles is satisfied. The automatic driving system, further comprising a work end determination unit that determines whether or not the work end condition includes that the work position changed by the work position change unit reaches a preset position.
machine body and
It is attached to the machine body so as to be operable, and includes an attachment body and a tip attachment, the tip attachment including a control target part, and the attachment body being capable of performing a work action. an attachment attached to the tip, the attachment main body operating 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 setting unit that sets a target path, which is a target of a path along which the controlled part moves, between a work position where the tip attachment performs the work operation and a path end position away from the work position; ,
an automatic driving unit that 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 working position changing unit that changes the working position in at least one of a vertical direction and a longitudinal direction of the attachment according to the progress of the series of operations over the plurality of cycles;
and a target path corrector that corrects a portion of the target path between the path end position and the work position in accordance with a change in the work position by the work position changer.
A machine body and an attachment attached to the machine body so as to be operable, the attachment including an attachment body and a tip attachment, the tip attachment including a part to be controlled and performing a work operation. is attached to the tip of the attachment body so that the attachment body is an automatic operation program used in a working machine that operates to change the position of the control target part,
a target path setting step of setting a target path, which is a target of a path along which the controlled part moves, between a work position where the tip attachment performs the work operation and a path end position away from the work position; ,
an automatic operation step of 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 working position changing step of changing the working position in at least one of a vertical direction and a front-rear direction of the attachment according to the progress of the series of operations over the plurality of cycles;
a target path correction step of correcting a portion of the target path between the path end position and the work position in accordance with a change in the work position;
A self-driving program that causes a computer to execute
A recording medium on which the automatic driving program according to claim 13 is recorded, and the automatic driving program can be read by the computer.