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

Abstract

A system for performing automatic operation of a work machine includes an automatic operation part, a work upper limit position setting part and a work position shifting part. The automatic operation part makes the attachment perform a series of motions including a motion of moving a control target position of the tip end attachment along a target path over a plurality of cycles, through an automatic operation. The work upper limit position setting part sets a work upper limit position. The work position shifting part shifts the work position in an up-down direction in accordance with the advance of the series of motions. The work position shifting part sets the work position in the series of motions in the first cycle to be performed first after setting of the work upper limit position to a position on a lower side of the work upper limit position.

1 . An automatic operation system for performing automatic operation of a work machine, comprising:
 an attachment attached to the machine body capably of making a motion for performing work and including an attachment body and a tip attachment, the tip attachment including a control target part and attached to a tip of the attachment body capably of making a release motion for performing work of releasing a work object, the attachment body being operable to change a position of the control target part; and   a controller including:   a target path setting part that sets a target path, which is a target of a path along which the control target part is to be moved between a work position where the tip attachment makes the release motion and a path end position away from the work position;   an automatic operation part that automatically controls the motion of the attachment so as to make the attachment perform a series of motions over a plurality of cycles, the series of motions including a motion of moving the control target part along the target path;   a work upper limit position setting part that sets a work upper limit position that is an upper limit of the work position; and   a work position shifting part that shifts the work position in an up-down direction in accordance with an advance of the series of motions over the plurality of cycles, wherein the work position shifting part shifts the work position to the work upper limit position or within a range on a lower side of the work upper limit position, and sets the work position in the series of motions in a first cycle after setting of the work upper limit position by the work upper limit position setting part among the plurality of cycles to a position on a lower side of the work upper limit position.   
     
     
         2 . The automatic operation system according to  claim 1 , wherein the work position shifting part is configured to shift the working position to an upper side in accordance with an advance of the cycle of the series of motions. 
     
     
         3 . The automatic operation system according to  claim 1 , wherein the work upper limit position setting part is configured to set the work upper limit position based on a position at which the tip attachment is located. 
     
     
         4 . The automatic operation system according to  claim 1 , further comprising a peripheral-object position detector that acquires peripheral-object position information that is information on a position of an object present around the work position, wherein the work position shifting part is configured to shift the work position based on the peripheral-object position information acquired by the peripheral-object position detector. 
     
     
         5 . The automatic operation system according to  claim 1 , wherein the work position shifting part is configured to shift the work position by a preset constant shift amount in accordance with the advance of the series of motions over the plurality of cycles. 
     
     
         6 . The automatic operation system according to  claim 1 , wherein the controller further includes a work end judgment part that judges whether or not a preset work end condition for ending work by the series of motions over the plurality of cycles is satisfied, and the automatic operation part is configured to end the work when the work end condition is judged to be satisfied, the work end condition including a condition that the work position has reached the work upper limit position. 
     
     
         7 . A work machine comprising:
 a machine body;   an attachment attached to the machine body capably of making a motion for performing work and including an attachment body and a tip attachment, the tip attachment including a control target part and attached to a tip of the attachment body capably of making a release motion for performing work of releasing a work object, the attachment body being operable to change a position of the control target part; and   a controller installed on at least one of the machine body and the attachment, the controller including:   a target path setting part that sets a target path, which is a target of a path along which the control target part is to be moved between a work position where the tip attachment makes the release motion and a path end position away from the work position;   an automatic operation part that automatically controls the motion of the attachment so as to make the attachment perform a series of motions over a plurality of cycles, the series of motions including a motion of moving the control target part along the target path;   a work upper limit position setting part that sets a work upper limit position that is an upper limit of the work position; and   a work position shifting part that shifts the work position in an up-down direction in accordance with an advance of the series of motions over the plurality of cycles, wherein   the work position shifting part shifts the work position to the work upper limit position or within a range on a lower side of the work upper limit position, and sets the work position in the series of motions in a first cycle after setting of the work upper limit position by the work upper limit position setting part among the plurality of cycles to a position on a lower side of the work upper limit position.   
     
     
         8 . An automatic operation program for performing automatic operation of a work machine including a machine body and an attachment attached to the machine body capably of making a motion for performing work, the attachment including an attachment body and a tip attachment, which includes a control target part and is attached to a tip of the attachment body capably of making a release motion for performing work of releasing the work target, the attachment body being operable to change a position of the control target part, the automatic operation program making a computer execute:
 a target path setting step of setting a target path, which is a target of a path along which the control target part is to be moved between a work position and a path end position;   an automatic operation step of automatically controlling a motion of the attachment so as to make the attachment perform a series of motions over a plurality of cycles, the series of motions including a motion of moving the control target part along the target path;   a work upper limit position setting step of setting a work upper limit position that is an upper limit of the work position; and   a work position shifting step of shifting the work position in an up-down direction in accordance with an advance of the series of motions over the plurality of cycles, wherein   the work position shifting step includes shifting the work position to the work upper limit position or within a range on a lower side of the work upper limit position, and setting the work position in the series of motions in a first cycle after setting of the work upper limit position in the work upper limit position setting step among the plurality of cycles to a position on a lower side of the work upper limit position.   
     
     
         9 . A recording medium on which the automatic operation program according to  claim 8  is recorded, wherein the automatic operation program can be read by the computer.