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

Abstract

A system including an automatic operation part, a work position shifting part and a target path correction part. The automatic operation part performs a control of making the attachment perform a series of motions including a motion of moving a control target position along a target path over a plurality of cycles, through an automatic operation. The work position shifting part shifts the work position in at least one of an up-down direction and a front-rear direction of the attachment in accordance with the advance of the series of motions over the plurality of cycles. The target path correction part corrects a portion of the target path between a path end position and the work position in accordance with the shift of the work position by the work position shifting part.

1 . An automatic operation system for performing automatic operation of a work machine, comprising:
 a machine body of the work machine;   an attachment attached to the machine body capably of making a motion 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 work motion, 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 work 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 position shifting part that shifts the work position in at least one direction of an up-down direction and a front-rear direction of the attachment in accordance with an advance of the series of motions over the plurality of cycles; and   a target path correction part that corrects a portion of the target path between the path end position and the work position in accordance with a shift of the work position by the work position shifting part.   
     
     
         2 . The automatic operation system according to  claim 1 , wherein the target path includes a plurality of target points, each of which is information on a target position of the control target part, and the target path correction part corrects each of the target points so as to increase a change amount of each of the target points across correction with an increase in a work position change amount that is a change amount of the work position. 
     
     
         3 . The automatic operation system according to  claim 1 , wherein the target path correction part is configured to correct a target moving speed of the control target part so as to render an after-correction moving speed equal to or less than a before-correction moving speed, the before-correction moving speed being a target of a speed at which the control target part is to be moved through a first predetermined portion selected from the target path before correction, the after-correction moving speed being a target of a speed at which the control target part is to be moved through a portion corresponding to the first predetermined portion in the target path after the correction. 
     
     
         4 . The automatic operation system according to  claim 1 , further comprising a plurality of actuators for driving the attachment, wherein the target path correction part is configured to correct a target moving speed of the control target part in the target path so as to render a plurality of after-correction driving speeds equal to or less than a plurality of before-correction driving speeds, respectively, the plurality of before-correction driving speeds being respective driving speeds of the actuators when the control target part is moved through a second predetermined portion selected from the target path before correction, the plurality of after-correction driving speeds being respective driving speeds of the actuators when the control target part is moved through a portion corresponding to the second predetermined portion in the target path after the correction. 
     
     
         5 . The automatic operation system according to  claim 1 , wherein the target path correction part is configured to correct an after-correction moving speed that is a target of a speed at which the control target part is to be moved in a third predetermined portion in the target path after correction based on a before-correction moving speed that is a target of a speed at which the control target part is to be moved in the third predetermined portion selected from the target path before the correction and a change amount of the target path across the correction. 
     
     
         6 . The automatic operation system according to  claim 5 , wherein the target path correction part renders the after-correction moving speed greater than the before-correction moving speed by a change amount that is increased with an increase in a change amount of the target path across the correction. 
     
     
         7 . The automatic operation system according to  claim 1 , wherein the work position shifting part is configured to shift the work position by a preset shift amount in accordance with the advance of the series of operations over the plurality of cycles. 
     
     
         8 . The automatic operation system according to  claim 1 , further comprising a peripheral-object position detector that acquires peripheral-object position information that is information about a position of a peripheral 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. 
     
     
         9 . The automatic operation system according to  claim 1 , wherein the controller further includes a work limit position setting part that sets a work limit position that is a limit of a work position setting allowable range that is a range within which the work position is allowed to be set, and the work position shifting part is configured to shift the work position within the work position setting allowable range based on the work limit position set by the work limit position setting part. 
     
     
         10 . The automatic operation system according to  claim 1 , wherein the controller further includes a work end judgment part that judges whether or not a work end condition that is set for ending the work by the series of motions over the plurality of cycles is satisfied, the work end condition including that the number of times the series of operations have been performed reaches a preset number of times. 
     
     
         11 . The automatic operation system according to  claim 1 , wherein the controller further includes a work end judgment part that judges whether or not a work end condition that is set for ending the work by the series of motions over the plurality of cycles is satisfied, the work end condition including that the work position shifted by the work position shifting part has reached a preset position that is set in advance. 
     
     
         12 . 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 work motion, 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 work 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 position shifting part that shifts the work position in at least one direction of an up-down direction and a front-rear direction of the attachment in accordance with an advance of the series of motions over the plurality of cycles; and   a target path correction part that corrects a portion of the target path between the path end position and the work position in accordance with a shift of the work position by the work position shifting part.   
     
     
         13 . 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 work 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 at which the tip attachment makes the work motion and a path end position away from the work 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 position shifting step of shifting the work position in at least one direction of an up-down direction and a front-rear direction of the attachment in accordance with an advance of the series of motions over the plurality of cycles; and   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 shift of the work position.   
     
     
         14 . A recording medium on which the automatic operation program according to  claim 13  is recorded, wherein the automatic operation program can be read by the computer.