Automatic driving system for work machine

Abstract

An automatic operation system providing high followability to a target speed, includes a map generation part, a map complementation part and a manipulated variable output part. The map generation part generates a map indicating the relationship between a motion speed of a work device and a manipulated variable detected by a manipulated-variable detection device. The map complementation part complements the map, when the maximum value of the manipulated variable of the map is less than the maximum manipulated variable, to render the maximum value equal to the maximum manipulated variable. The manipulated variable output part generates the manipulated variable for automatic operation based on the target speed and the complemented map and inputs the manipulated variable to a driving device.

1 . An automatic operation system for performing an automatic operation of a work machine that includes a machine body, a work device attached to the machine body capably of performing a work motion, a driving device and an operation part, the driving device allowing a manipulated variable to be input to the driving device and configured to make the work device perform the work motion in accordance with the manipulated variable, the operation part allowing a work operation for operating the work device to be applied to the operation part and configured to input the manipulated variable corresponding to the work operation to the driving device, the automatic operation system comprising:
 a manipulated-variable detection device that detects the manipulated variable that is input from the operation part to the driving device;   a speed information acquisition device that acquires speed information on a motion speed that is a speed of the work motion of the work device;   a map generation part that generates a map that defines a relationship between the speed information acquired by the speed information acquisition device and the manipulated variable detected by the manipulated-variable detection device;   a map complementation part that complements the map, when a maximum value of the manipulated variable included in the map generated by the map generation part is smaller than a preset maximum manipulated variable, so as to render the maximum value of the manipulated variable of the map equal to the maximum manipulated variable;   a target speed generation part that generates a target speed that is a target value of the motion speed for the automatic operation of the work machine; and   a manipulated-variable input part that generates the manipulated variable for making the work device perform the work motion at the target speed based on the target speed generated by the target speed generation part and the map complemented by the map complementation part and inputs the manipulated variable to the driving device.   
     
     
         2 . The automatic operation system according to  claim 1 , wherein the map complementation part is configured to complement the map based on information that is preset for the motion speed corresponding to the maximum manipulated variable. 
     
     
         3 . The automatic operation system according to  claim 1 , wherein the map complementation part is configured to complement the map based on an inclination of a graph that indicates a relationship between the motion speed and the manipulated variable in the map generated by the map generating part. 
     
     
         4 . The automatic operation system according to  claim 1 , wherein: the work device is capable of performing a plurality of types of motions as the work motion; the map generation part is configured to generate the map for each of the types of motions; and the map complementation part is configured to complement the map generated for each of the types of motions. 
     
     
         5 . The automatic operation system according to  claim 4 , wherein: the machine body includes a lower traveling body and an upper turning body mounted on the lower traveling body capably of turning; the work device includes a boom that is attached to the upper turning body capably of rising and falling, an arm that is connected to the boom capably of vertically rotational movement, and a tip attachment that is connected to the arm capably of vertically rotational movement; and the plurality of types of motions include a turning motion of the upper turning body with respect to the lower traveling body, a rising and falling motion of the boom with respect to the upper turning body, a rotational movement of the arm with respect to the boom, and a rotational movement of the tip attachment with respect to the arm. 
     
     
         6 . The automatic operation system according to  claim 1 , wherein the map generation part is configured to generate the map for each of different work situations of the work machine, and the map complementation part is configured to complement the map generated for each of the work situations.