Automatic operation control device, work machine, automatic operation control system, automatic operation control method, and automatic operation control program

Abstract

To provide a technique that can reduce fluctuations in operating speed of a work machine before and after switching of a target position during automatic operation of the work machine.SOLUTION: An automatic operation control device 50 includes a controller 51 that controls operations of multiple moving parts of a work machine 100 based on multiple target positions P1 to Pn. The controller 51 sets a base speed rv of each of the multiple moving parts, acquires an actual posture value yp of each of the multiple moving parts, calculates an ideal posture value rp of each of the multiple moving parts by using the base speed rv, calculates a correction value uc(t) for correcting the base speed rv of each of the multiple moving parts by using a difference e(t) between the ideal posture value rp and the actual posture value yp, and outputs an operation amount u(t) corresponding to a value obtained by correcting the base speed rv of each of the multiple moving parts by using the correction value uc(t) to a to-be-controlled object 9.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to technology for automatic operation of a work machine. [Background technology]

[0002] Patent Document 1 discloses an autonomous excavator including a hydraulic excavator and an autonomous driving controller that is provided in the hydraulic excavator and causes the hydraulic excavator to perform a complete cycle of operations from excavation to soil dumping as taught. In this autonomous excavator, when the autonomous driving controller determines that the hydraulic excavator has reached a predetermined positioning range, it outputs the next taught position as a target position. A servo control unit of the autonomous driving controller performs general feedback control based on current position data calculated by a current position calculation unit and a target angle value output from a servo preprocessing unit, and outputs a drive current for driving a proportional solenoid valve. This controls a control valve to supply a predetermined amount of pressure oil to an actuator, thereby driving each joint of the autonomous excavator body. As shown in FIG. 5 of Patent Document 1, a taught position storage unit stores the target values ​​for the attitudes of the rotating unit, boom, arm, and bucket for each of taught positions P1 to Pn: the rotating unit angle, boom angle, arm angle, and bucket angle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-264155 Summary of the Invention [Problem to be solved by the invention]

[0004] When typical feedback control is performed in the above-described automatic operation, the following problem arises. Specifically, as the tip of the bucket approaches the taught position, the difference between the actual angle of a movable part, such as a boom, and the target angle of that movable part becomes smaller, so the amount of operation input to a control object, such as a proportional solenoid valve, in feedback control also becomes smaller, and the operating speed of the work machine (operating speed of the rotating body, boom, arm, bucket, etc.) also becomes smaller. On the other hand, when the target position switches to the next taught position, the difference between the actual angle of the movable part and the target angle becomes larger, so the amount of operation input to a control object in feedback control also becomes larger, and the operating speed of the work machine also becomes higher. In this case, the operating speed of the work machine is likely to fluctuate before and after the switch of the taught position (target position). [Means for solving the problem]

[0005] An object of the present disclosure is to provide a technique that can reduce fluctuations in the operating speed of a work machine before and after a target position is switched during automatic operation of the work machine.

[0006] An automatic driving control device according to a first aspect of the present disclosure includes a controller that controls the operation of multiple moving parts of a work machine based on multiple target positions that are set for automatic driving of the work machine, and the controller sets a base speed for each of the multiple moving parts, acquires an actual attitude value relating to the actual attitude of each of the multiple moving parts, calculates an ideal attitude value relating to the ideal attitude of each of the multiple moving parts using the base speeds, calculates a correction value for correcting the base speed of each of the multiple moving parts using the difference between the ideal attitude value and the actual attitude value, and outputs an operation amount corresponding to the value obtained by correcting the base speed of each of the multiple moving parts using the correction value to a control target in the automatic driving.

[0007] In this first aspect, the base speed of each of the multiple movable parts is set, and the manipulated variable, with the base speed corrected by the correction value, is output to the controlled object, so the fluctuation range of the manipulated variable can be made smaller than when a base speed is not set. This makes it possible to reduce fluctuations in the operating speed of the work machine (specifically, fluctuations in the operating speeds of the multiple movable parts) before and after switching of the target position during automatic operation of the work machine. Furthermore, in this first aspect, the correction value is calculated using the difference between an ideal attitude value calculated using the base speed and an actual attitude value, so it is possible to operate the work machine along an ideal path or a path close to that when each of the multiple movable parts operates at the base speed.

[0008] The multiple target positions may be multiple target points that specific parts of the work machine are expected to reach in sequence during the automatic operation, or may be rotation angles that the upper rotating body of the work machine is expected to reach in sequence during the automatic operation, or may be other target positions other than these.

[0009] An automatic driving control device according to a second aspect of the present disclosure preferably includes the following configuration in addition to the automatic driving control device according to the first aspect. That is, in the automatic driving control device according to the second aspect, it is preferable that the controller sets a point-to-point travel time, which is a target time required for a specific part of the work machine to move from a k-th target position to a (k+1)-th target position among the multiple target positions, and sets the base speed for each of the multiple movable parts using information about the attitude of the movable part at the k-th target position, information about the attitude of the movable part at the (k+1)-th target position, and the point-to-point travel time. In this second aspect, the specific part moving toward the (k+1)-th target position can reach the (k+1)-th target position or its vicinity at or close to the point-to-point travel time. Here, "k" is an integer greater than or equal to zero.

[0010] An automatic driving control device according to a third aspect of the present disclosure may further include the following configuration in the automatic driving control device according to the first or second aspect: That is, in the automatic driving control device according to the third aspect, the controller may output a value corresponding to the sum of the base speed and the correction value as the manipulated variable.

[0011] An automatic driving control device according to a fourth aspect of the present disclosure is preferably the automatic driving control device according to any one of the first to third aspects, further comprising the following configuration: That is, the automatic driving control device according to the fourth aspect preferably further comprises a memory that stores trajectory data when the work machine operates, and the controller sets the multiple target positions using the trajectory data. In this fourth aspect, the multiple target positions are set using trajectory data when the work machine operates, so that multiple target positions can be set on a target route that corresponds to the trajectory drawn by a specific part or upper rotating body in the actual operation of the work machine.

[0012] An automatic driving control device according to a fifth aspect of the present disclosure is preferably the automatic driving control device according to any one of the first to fourth aspects, further comprising the following configuration. That is, in the automatic driving control device according to the fifth aspect, it is preferable that the plurality of movable parts include an upper rotating body of the work machine or a swing-related device related to the swing of the upper rotating body, and the controller sets a swing base speed of the upper rotating body or the swing-related device as the base speed, and calculates a swing correction value for correcting the swing base speed as the correction value. In this fifth aspect, since one of the plurality of movable parts is the upper rotating body or the swing-related device (e.g., a swing motor), fluctuations in the swing speed of the upper rotating body can be reduced during automatic driving.

[0013] An automatic driving control device according to a sixth aspect of the present disclosure is preferably the automatic driving control device according to the fifth aspect further including the following configuration. That is, in the automatic driving control device according to the sixth aspect, it is preferable that the controller sets the swing base speed in the final stage of the swing of the upper rotating body to a value smaller than the swing base speed in the initial stage of the swing of the upper rotating body. In this sixth aspect, since the swing base speed in the final stage is set to a value smaller than the swing base speed in the initial stage, it becomes easier to bring the attitude (e.g., swing angle) of the upper rotating body, which has a large moment of inertia, when it stops closer to the target attitude.

[0014] Specifically, for example, in this sixth aspect, the plurality of target positions may be, for example, a plurality of target swing angles, and the plurality of target positions may include a first target position (e.g., a first target swing angle) and a final target position (e.g., a final target swing angle). In this case, the controller may set the swing base speed for the final target position to a value smaller than the swing base speed for the first target position. In other words, the swing base speed when the swing angle of the upper swing body or the swing-related equipment approaches the final target swing angle may be set to a value smaller than the swing base speed when the swing angle approaches the first target swing angle.

[0015] An automatic driving control device according to a seventh aspect of the present disclosure is preferably the automatic driving control device according to any one of the first to sixth aspects, further comprising the following configuration. That is, in the automatic driving control device according to the seventh aspect, it is preferable that the multiple target positions include variation-reduction-priority target positions, which are target positions at which priority is given to reducing variation in operating speed, and accuracy-priority target positions, which are target positions at which priority is given to positional accuracy, and the controller sets the base speed for the accuracy-priority target positions to a value smaller than the base speed for the variation-reduction-priority target positions. In this seventh aspect, the base speed when a specific part of a work machine is heading towards an accuracy-priority target position is smaller than the base speed when the specific part is heading towards a variation-reduction-priority target position, thereby increasing the likelihood that the specific part will pass through or near the accuracy-priority target position.

[0016] An automatic driving control device according to an eighth aspect of the present disclosure may be the automatic driving control device according to any one of the first to seventh aspects, further including the following configuration. That is, in the automatic driving control device according to the eighth aspect, the controller may calculate a vector from a k-th target position to a (k+1)-th target position among the plurality of target positions, and control the operation of the plurality of movable parts so that a specific part of the work machine moves along the vector. In this eighth aspect, when the specific part of the work machine moves toward the (k+1)-th target position, the specific part can be moved linearly along the vector.

[0017] An automatic driving control device according to a ninth aspect of the present disclosure is preferably the automatic driving control device according to any one of the first to eighth aspects, further comprising the following configuration. That is, the automatic driving control device according to the ninth aspect preferably further comprises an input device capable of receiving an input operation for changing at least one of the target position and the base speed. In this ninth aspect, if the set target position does not match the actual situation at the work site, a worker can change the target position to match the actual situation at the work site by providing an input operation to the input device. Furthermore, if the set base speed does not match the actual situation at the work site, a worker can change the base speed to match the actual situation at the work site by providing an input operation to the input device.

[0018] A work machine according to a tenth aspect of the present disclosure comprises a lower running body, an upper rotating body rotatably supported on the lower running body, a work implement supported on the upper rotating body so that it can be raised and lowered, an attitude detector that detects the actual attitude value, and an automatic driving control device according to any one of the first to ninth aspects.

[0019] An automatic driving control system according to an eleventh aspect of the present disclosure includes the automatic driving control device according to any one of the first to ninth aspects, and an external device capable of communicating with the automatic driving control device.

[0020] An autonomous driving control system according to a twelfth aspect of the present disclosure preferably comprises the following configuration in addition to the autonomous driving control system according to the eleventh aspect. That is, in the autonomous driving control system according to the twelfth aspect, the external device preferably comprises an external display that displays information related to the autonomous driving of the work machine. In this twelfth aspect, people involved in the work can check the status of the autonomous driving of the work machine from a location away from the work machine by checking the information displayed on the external display of the external device.

[0021] An autonomous driving control system according to a thirteenth aspect of the present disclosure preferably includes the following configuration in addition to the autonomous driving control system according to the eleventh or twelfth aspect. That is, in the autonomous driving control system according to the thirteenth aspect, the external device preferably further includes an external input device that is an input device capable of receiving an input operation for changing at least one of the target position and the base speed. In this thirteenth aspect, if the set target position does not match the actual situation at the work site, a worker can change the target position to match the actual situation at the work site by providing an input operation to the external input device. Furthermore, if the set base speed does not match the actual situation at the work site, a worker can change the base speed to match the actual situation at the work site by providing an input operation to the external input device.

[0022] An automatic driving control method according to a fourteenth aspect of the present disclosure is an automatic driving control method for controlling the operation of a plurality of moving parts of a work machine based on a plurality of target positions set for automatic driving of the work machine, and includes setting a base speed for each of the plurality of moving parts, obtaining an actual attitude value relating to the actual attitude of each of the plurality of moving parts, calculating an ideal attitude value relating to the ideal attitude of each of the plurality of moving parts using the base speeds, calculating a correction value for correcting the base speed of each of the plurality of moving parts using the difference between the ideal attitude value and the actual attitude value, and outputting an operation amount corresponding to the value of the base speed of each of the plurality of moving parts corrected by the correction value to a control target in the automatic driving.

[0023] An automatic driving control program according to a fifteenth aspect of the present disclosure is an automatic driving control program for controlling the operation of multiple moving parts of a work machine based on multiple target positions set for automatic driving of the work machine, and causes a computer to execute the following processes: setting base speeds of the multiple moving parts; acquiring actual attitude values ​​relating to the actual attitudes of each of the multiple moving parts; calculating ideal attitude values ​​relating to the ideal attitudes of each of the multiple moving parts using the base speeds; calculating correction values ​​for correcting the base speeds of each of the multiple moving parts using the difference between the ideal attitude values ​​and the actual attitude values; and outputting an operation amount corresponding to the value of the base speed of each of the multiple moving parts corrected by the correction value to a control target in the automatic driving. [Effects of the Invention]

[0024] According to the present disclosure, a technique is provided that can reduce fluctuations in the operating speed of a work machine before and after switching of a target position during automatic operation of the work machine. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a diagram illustrating an automatic driving control system including an automatic driving control device according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of the relationship between inputs and outputs in the automatic driving control system. [Figure 3] FIG. 2 is a block diagram showing an example of the relationship between inputs and outputs in the automatic driving control system. [Figure 4] FIG. 4 is a diagram showing a plurality of parameters that are set for each of the plurality of target positions. [Figure 5] 4 is a flowchart showing an example of a calculation process performed by a controller of the automatic driving control device. [Figure 6] FIG. 4 is a diagram for explaining a method for setting a base speed in the automatic driving control system. [Figure 7]FIG. 3 is a diagram for explaining a method for calculating an ideal attitude value in the automatic driving control system. [Figure 8] FIG. 2 is a block diagram showing an example of the relationship between inputs and outputs in an automatic driving control system according to a first modified example of the embodiment. [Figure 9] FIG. 10 is a diagram showing a plurality of parameters set for each of the plurality of target positions in Modification 1. [Figure 10] 10 is a flowchart showing an example of calculation processing performed by a controller of the automatic driving control device according to Modification 1. [Figure 11] FIG. 10 is a block diagram showing an example of the relationship between inputs and outputs in an automatic driving control system according to a second modification of the embodiment. [Figure 12] 10 is a flowchart showing an example of calculation processing performed by a controller of an automatic driving control device according to Modification 3. [Figure 13] FIG. 10 is a diagram for explaining the calculation process of Modification 3. [Figure 14] FIG. 10 is a diagram for explaining the calculation process of Modification 3. [Figure 15] FIG. 10 is a diagram for explaining the calculation process of Modification 3. DETAILED DESCRIPTION OF THE INVENTION

[0026] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a diagram showing an automatic driving control system 300 including an automatic driving control device 50 according to the present embodiment.

[0027] The automatic driving control device 50 is a device for automatic driving of the work machine 100. In the specific example shown in Fig. 1, the automatic driving control system 300 includes the work machine 100 and an external device 200, and the work machine 100 includes the automatic driving control device 50. However, the external device 200 may also include the automatic driving control device 50. Furthermore, the work machine 100 may be provided with some of the functions of the automatic driving control device 50, and the external device 200 may be provided with other parts of the functions of the automatic driving control device 50.

[0028] As shown in FIG. 1, the work machine 100 includes a lower traveling body 1 including a traveling device, an upper rotating body 2 supported on the lower traveling body 1 so as to be rotatable relative to the lower traveling body 1 about a vertically extending rotation axis SA, and a working device 3 supported on the upper rotating body 2. The work machine 100 according to this embodiment is a hydraulic excavator, but the work machine in this disclosure is not limited to hydraulic excavators and may be other work machines such as a crane or a bulldozer. The traveling device may be a crawler traveling device as shown in FIG. 1 or a traveling device having tires (not shown). The upper rotating body 2 includes a rotating frame rotatably supported on the lower traveling body 1, and a cab supported on the rotating frame. Various components such as a driver's seat and operating devices are arranged in the cab.

[0029] The work device 3 includes a boom 4 that is attached to the upper rotating body 2 so that it can be raised and lowered, an arm 5 that is attached to the boom 4 so that it can rotate, and a tip attachment 6 that is attached to the arm 5 so that it can rotate. In this embodiment, the tip attachment 6 is a bucket 6, but the tip attachment may be another tip attachment such as a grapple, fork, crusher, or lifting magnet.

[0030] The work machine 100 includes a plurality of actuators and a hydraulic pump 7. Each of the plurality of actuators is operated by receiving a supply of hydraulic oil discharged from the hydraulic pump 7. The plurality of actuators include a boom cylinder 11, which is a hydraulic cylinder for raising and lowering the boom 4, an arm cylinder 12, which is a hydraulic cylinder for rotating the arm 5, a tip attachment cylinder 13, which is a hydraulic cylinder for rotating the tip attachment 6, and a swing motor 14, which is a hydraulic motor for swinging the upper swing structure 2 relative to the undercarriage 1. The hydraulic pump 7 is driven by a power source (not shown). The power source may be, for example, an engine or an electric motor. The electric motor may be driven by, for example, at least one of a fuel cell and a battery.

[0031] 2 and 3 are block diagrams showing an example of the relationship between inputs and outputs in the automatic driving control system 300. Fig. 2 is a block diagram in the case where the controlled object 9 includes the hydraulic cylinder or a part that moves in accordance with the operation of the hydraulic cylinder, and Fig. 3 is a block diagram in the case where the controlled object 9 includes the swing motor 14 or a part that moves in accordance with the operation of the swing motor 14.

[0032] As shown in FIGS. 2 and 3 , the work machine 100 is equipped with a controlled object 9 that is controlled by an automatic driving control device 50 (specifically, a controller 51, described later) during automatic driving of the work machine 100. The output of the controlled object 9 (for example, an actual attitude value yp(t), described later) changes in accordance with a manipulated variable u(t) input from the controller 51. The controlled object 9 may include, for example, a flow rate regulator 8 and at least one of the plurality of actuators. The flow rate regulator 8 adjusts the direction and flow rate of hydraulic oil supplied to at least one of the plurality of actuators in accordance with the manipulated variable u(t) input from the controller 51. In other words, when the controller 51 inputs the manipulated variable u(t) to the flow rate regulator 8, the flow rate regulator 8 operates in accordance with the manipulated variable u(t) input from the controller 51, and as a result, hydraulic oil from the hydraulic pump 7 is supplied to at least one of the plurality of actuators, causing that actuator to operate. The output of the actuator (for example, the actual attitude value yp(t)) is detected by an attitude detector, described later.

[0033] Specifically, the flow rate regulator 8 may include, for example, a plurality of proportional valves 8A and a control valve 8B. Each of the plurality of proportional valves 8A may be, for example, an electromagnetic proportional valve. The control valve 8B has a plurality of spools corresponding to the plurality of actuators. The control valve 8B has a pair of pilot ports corresponding to each spool. Each of the plurality of spools is actuated by inputting a pilot pressure to one of the pair of pilot ports corresponding to that spool, allowing hydraulic oil to be supplied to the actuator corresponding to that spool. Each of the plurality of proportional valves 8A is disposed in an oil passage connecting the pilot port of the spool corresponding to that proportional valve 8A to a pilot pump (not shown) and adjusts the pilot pressure input to the pilot port. In other words, each of the plurality of proportional valves 8A outputs a secondary pressure corresponding to the operation amount u(t) (e.g., a current value) input from the controller 51, and the secondary pressure is input as a pilot pressure to the pilot port corresponding to that proportional valve 8A. Each of the plurality of proportional valves 8A adjusts the pilot pressure input to the pilot port corresponding to that proportional valve 8A to a magnitude according to the operation amount u(t) input from the controller 51. The control valve 8B operates according to the pilot pressure input to the pilot port, thereby supplying hydraulic oil from the hydraulic pump 7 to at least one of the plurality of actuators, thereby operating that actuator.

[0034] The multiple proportional valves 8A may include a pair of boom proportional valves 8A for controlling the operation of the boom cylinder 11, a pair of arm proportional valves 8A for controlling the operation of the arm cylinder 12, a pair of tip attachment proportional valves 8A for controlling the operation of the tip attachment cylinder 13, and a pair of swing proportional valves 8A for controlling the operation of the swing motor 14.

[0035] Work machine 100 is equipped with at least one attitude detector that detects an actual attitude value related to the attitude of the work machine. For example, as shown in FIG. 1 , the at least one attitude detector may include a boom attitude detector 15, an arm attitude detector 16, a tip attachment attitude detector 17, and a swing attitude detector 18. Each of these attitude detectors inputs the detection results to controller 51.

[0036] The boom attitude detector 15 is not limited to a specific type as long as it is a detector capable of detecting a boom attitude value, which is an actual attitude value related to the attitude of the boom 4. The boom attitude value may be, for example, the attitude of the boom 4, the degree of extension and contraction of the boom cylinder 11 (cylinder length), or another boom attitude value related to the attitude of the boom 4.

[0037] The arm posture detector 16 is not limited to a specific type as long as it is a detector that can detect an arm posture value that is an actual posture value related to the posture of the arm 5. The arm posture value may be, for example, the posture of the arm 5, the degree of extension and contraction of the arm cylinder 12 (cylinder length), or another arm posture value related to the posture of the arm 5.

[0038] The specific type of detector is not limited to the end attachment posture detector 17, as long as it is a detector capable of detecting an end attachment posture value, which is an actual posture value related to the posture of the end attachment 6. The end attachment posture value may be, for example, the posture of the end attachment 6, the degree of extension and contraction of the end attachment cylinder 13 (cylinder length), or another end attachment posture value related to the posture of the end attachment 6.

[0039] The swing attitude detector 18 is not limited to a specific type as long as it is a detector capable of detecting a swing attitude value, which is an actual attitude value related to the attitude of the upper swing body 2. The swing attitude value may be, for example, the attitude of the upper swing body 2, the state of swing-related equipment (e.g., swing motor 14) related to the swing of the upper swing body 2, or another swing attitude value related to the attitude of the upper swing body 2. The swing attitude value may also be the swing angle of the upper swing body 2 with respect to the lower running body 1.

[0040] Each of the attitude detectors 15 to 17 may be, for example, an inertial measurement unit (IMU), a stroke sensor that measures the degree of extension and contraction of a cylinder (cylinder length), a sensor that measures the rotation angles of the boom 4, arm 5, and tip attachment 6, or another sensor. The swing attitude detector 18 may be a sensor that measures the relative angle of the upper swing structure 2 with respect to the lower running structure 1, or another sensor.

[0041] The at least one attitude detector may include an imaging device (not shown). The imaging device may be a three-dimensional information acquisition device capable of detecting three-dimensional information of an imaging target. The three-dimensional information acquisition device may be, for example, a LIDAR (Light Detection and Ranging) device or a stereo camera. The imaging device may be disposed at a position capable of detecting at least one of the attitude of the boom, the attitude of the arm 5, the attitude of the tip attachment 6, and the attitude of the upper rotating body 2.

[0042] The work machine 100 may include an antenna 19 for a satellite positioning system. The satellite positioning system may be, for example, a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), or another satellite positioning system. The antenna 19 may be configured to be able to detect the attitude of the upper rotating body 2 relative to the lower traveling body 1, and may be configured to be able to acquire position information of the work machine 100 at the work site.

[0043] The external device 200 may be, for example, an information terminal such as a tablet computer, a smartphone, a laptop personal computer, or a desktop personal computer, or may be, for example, a management device such as a server. The external device 200 may also be, for example, a computer in a cloud service provided as a service over a network such as the Internet. The external device 200 may also include a remote control device for remotely controlling the work machine 100.

[0044] The external device 200 includes an external device controller 201 , an external display device 202 , an external input device 203 , an external storage device 204 , and a communication device 205 .

[0045] The external device controller 201 has a computer including an arithmetic processing unit, and the arithmetic processing unit executes a control program to realize the functions of the external device 200.

[0046] The external display 202 displays information related to the automatic operation of the work machine 100. In this case, people involved in the work can check the status of the automatic operation of the work machine 100 from a location away from the work machine 100 by checking the information displayed on the external display 202 of the external device 200.

[0047] The external display device 202 may be a monitor (display), a device that projects an image onto an object, or a device that uses AR (Augmented Reality) technology. The external display device 202 may display a work site image that is an image of a work site. The external device controller 201 may generate the work site image using image data input from the imaging device, and display the generated work site image on the external display device 202.

[0048] The external input device 203 receives input operations from the workers involved. The external input device 203 may be a keyboard, a mouse, a joystick, an input switch, a device for inputting information based on information about the line of sight of the workers involved, a device for inputting information based on information about the position of the workers' fingers in space, or other input devices. The external input device 203 may also be a function included in the touch panel of the information terminal.

[0049] The external storage device 204 may store various settings used in the autonomous driving. For example, the external storage device 204 may store teaching data used in the autonomous driving.

[0050] The communication device 205 is a device for performing wireless or wired communication with the work machine 100 (for example, the automatic driving control device 50). The external device 200 is configured to be able to communicate with the work machine 100 (for example, the automatic driving control device 50) via the communication device 205.

[0051] The automatic driving control device 50 includes a communication device 20 for performing wireless or wired communication with an external device 200. The automatic driving control device 50 and the external device 200 can transmit and receive data to and from each other through communication using various networks such as the Internet and a mobile phone network.

[0052] The features of this embodiment will be described in detail below. The automatic driving control device 50, work machine 100, automatic driving control system 300, automatic driving control method, and automatic driving control program according to this embodiment can reduce fluctuations in the operating speed of the work machine 100 during automatic driving of the work machine 100.

[0053] The automatic driving control device 50 according to this embodiment includes a controller 51 that controls the operation of a plurality of moving parts of the work machine 100 based on a plurality of target positions P1 to Pn that are set for the automatic driving of the work machine 100. The controller 51 sets a base speed rv for each of the plurality of moving parts, acquires an actual attitude value yp relating to the actual attitude of each of the plurality of moving parts, calculates an ideal attitude value rp relating to the ideal attitude of each of the plurality of moving parts using the base speed rv, calculates a correction value uc(t) for correcting the base speed rv for each of the plurality of moving parts using the difference (deviation e(t)) between the ideal attitude value rp and the actual attitude value yp, and outputs an operation amount u(t) corresponding to the value obtained by correcting the base speed rv for each of the plurality of moving parts using the correction value uc(t) to a controlled object 9 of automatic driving.

[0054] In this embodiment, a base speed rv is set for each of the multiple movable parts, and an operation amount u(t) corresponding to the base speed rv corrected by the correction value uc(t) is output to the controlled object 9, so the fluctuation range of the operation amount u(t) can be made smaller than when the base speed rv is not set. This makes it possible to reduce fluctuations in the operating speed of the work machine 100 (specifically, fluctuations in the operating speeds of the multiple movable parts) before and after switching of the target position during automatic operation of the work machine 100. Furthermore, in this embodiment, the correction value uc(t) is calculated using the deviation e(t) between the ideal attitude value rp calculated using the base speed rv and the actual attitude value yp, so it is possible to move the specific portion 10 of the work machine 100 along an ideal path when each of the multiple movable parts operates at the base speed rv, or a path close to that ideal path.

[0055] The manipulated variable u(t) is a value corresponding to the base speed rv corrected by the correction value uc(t), and may be a speed value (unit: [mm / s] or [deg / s]) or a current value corresponding to the speed value. The manipulated variable u(t) may also be a voltage value corresponding to the speed value. The manipulated variable u(t) may also be a flow rate of hydraulic oil corresponding to the speed value. The controller 51 may store in advance a map, such as a function, that represents the relationship between the speed value and the current value, the voltage value, or the flow rate. In this case, the controller 51 can convert the speed value into a value corresponding to the speed value (the current value, the voltage value, or the flow rate).

[0056] The controller 51 has a computer including an arithmetic processing unit. The arithmetic processing unit executes a control program, thereby realizing the functions of the automatic driving control device 50. The automatic driving control device 50 may further include a memory unit 52 and an input unit 53.

[0057] In this embodiment, the specific part 10 is set at the tip of the tip attachment 6 (the tip of the bucket 6 in the specific example of FIG. 1 ), but the specific part 10 may be a part other than the tip of the tip attachment 6. Specifically, for example, the specific part 10 may be the tip of the arm 5, or may be another part of the work machine 100.

[0058] The plurality of movable parts may include, for example, a boom 4, an arm 5, and a tip attachment 6. The plurality of movable parts may include, for example, a boom 4, an arm 5, a tip attachment 6, and an upper rotating body 2. The plurality of movable parts may include, for example, a boom cylinder 11, an arm cylinder 12, and a tip attachment cylinder 13. The plurality of movable parts may include, for example, a boom cylinder 11, an arm cylinder 12, a tip attachment cylinder 13, and an upper rotating body 2 or a rotation-related device (for example, a rotation motor 14).

[0059] The multiple target positions P1 to Pn may be multiple target points that a specific portion 10 of the work machine 100 is expected to reach in sequence during automatic operation, or may be rotation angles that the upper rotating body 2 of the work machine 100 is expected to reach in sequence during automatic operation, or may be other types of target positions. Note that "n" in the symbol Pn may be an integer of 2 or greater, or may be an integer of 3 or greater.

[0060] The plurality of target positions P1 to Pn may be stored as teaching data in at least one of the external memory 204 of the external device 200 and the memory 52 of the automatic driving control device 50. The controller 51 of the automatic driving control device 50 may acquire the teaching data (for example, trajectory data, described below) by teaching that is performed when the mode of the work machine 100 is set to the teaching mode. The controller 51 may also acquire, as teaching data, path information (information relating to the plurality of target positions P1 to Pn) input by a person involved in the work to the external input device 203 or the input device 53. The controller 51 may also acquire teaching data by receiving, from the external device 200, teaching data that has been stored in advance in the external device 200.

[0061] Each of the multiple target positions P1 to Pn may be represented, for example, by two-dimensional or three-dimensional coordinates in a specific coordinate system. The specific coordinate system may be, for example, a coordinate system whose origin is a reference position at the work site, a coordinate system whose origin is a reference position on the work machine 100 (for example, any location on the rotation axis SA), or any other coordinate system (for example, a global coordinate system).

[0062] In the specific example shown in Figure 1, the work (automatic operation work) performed by the work machine 100 through automatic operation is excavation work. The multiple target positions P1 to Pn include target positions P1 to P4. In Figure 1, position P0 may be the start position P0 (start point P0) of automatic operation, and target position P4 may be the end position (end point) of automatic operation. Note that, hereinafter, position P0 may also be referred to as target position P0.

[0063] The automatic driving operation is not limited to excavation work. For example, the automatic driving operation may include a lifting and swinging operation performed after the excavation work, an earth removal operation performed after the lifting and swinging operation, or a return swinging operation performed after the earth removal operation.

[0064] In the excavation work, an operation of excavating an excavation target such as ground G using the bucket 6 is performed. In this excavation work, for example, an arm pulling operation, which is an operation of moving the arm 5 closer to the upper rotating body 2, and an excavating operation, which is an operation of moving the tip of the bucket 6 closer to the upper rotating body 2, are performed. In the lifting and swinging work, an operation of moving the bucket 6, which holds the excavated soil, to directly above the discharge location is performed. In this lifting and swinging work, for example, an operation of raising the boom 4 and an operation of swinging the upper rotating body 2 are performed. The discharge location may be, for example, the bed of a transport vehicle such as a dump truck, or a soil pit for temporarily storing soil. In the soil discharge work, an operation of discharging the soil held in the bucket 6 to the discharge location is performed. In this soil discharge work, for example, an arm pushing operation, which is an operation of moving the arm 5 away from the upper rotating body 2, and an soil discharge operation, which is an operation of moving the tip of the bucket 6 away from the upper rotating body 2 are performed. In the return swinging work, an operation of returning the bucket 6 to the excavation target is performed. In this return swing operation, for example, the boom 4 is lowered and the upper swing body 2 is swung.

[0065] The automatically operated operation is not limited to the above specific example, and may be other operations such as leveling. The leveling operation is an operation of leveling an object to be leveled, such as the surface of the ground, using the bucket 6. The leveling operation may be a leveling pulling operation, a leveling pushing operation, or a pushing operation.

[0066] In the automatic operation, the controller 51 controls the operation of the multiple movable parts so that the specific part 10 of the work machine 100 moves from the start position P0 to the target position P1, controls the operation of the multiple movable parts so that the specific part 10 moves from the target position P1 or its vicinity to the target position P2, controls the operation of the multiple movable parts so that the specific part 10 moves from the target position P2 or its vicinity to the target position P3, and controls the operation of the multiple movable parts so that the specific part 10 moves from the target position P3 or its vicinity to the target position P4 (end position).

[0067] In the automatic driving control device 50 according to this embodiment, the controller 51 sets a point-to-point travel time tm, which is the target time required for the specific part 10 of the work machine 100 to move from the kth target position Pk among the multiple target positions P0 to Pn to the (k+1)th target position P(k+1), and for each of the multiple movable parts, sets a base speed rv using information about the attitude of the movable part at the kth target position Pk, information about the attitude of the movable part at the (k+1)th target position P(k+1), and the point-to-point travel time tm. In this embodiment, the specific part 10 moving toward the (k+1)th target position P(k+1) can reach the (k+1)th target position P(k+1) or its vicinity at or close to the point-to-point travel time tm. Note that "k" may be an integer equal to or greater than zero or an integer equal to or greater than one.

[0068] The information relating to the attitude of the movable part at the kth target position Pk is information relating to the attitude of the movable part at the origin (start position) of movement of the specific part 10, and may be, for example, a start position / attitude value, which will be described later. The information relating to the attitude of the movable part at the (k+1)th target position P(k+1) is information relating to the attitude of the movable part at the destination (target position) of movement of the specific part 10, and may be, for example, a target position / attitude value, which will be described later.

[0069] Fig. 4 is a diagram showing a plurality of parameters set for each of a plurality of target positions P1 to Pn. In the specific example shown in Fig. 4, the plurality of parameters for each target position include the target coordinates (X, Z) of the specific portion 10 (e.g., the tip of the bucket 6), the target attitude (Xi1) of the specific movable part, the target swing angle (SwingAng) of the upper swing body 2, and the travel time between the two points (tm). The plurality of parameters for each target position may be stored, for example, in the memory 52 of the automatic driving control device 50, the external memory 204 of the external device 200, or another memory other than these.

[0070] The X-axis of the coordinate system of the target coordinates (X, Z) of the specific portion 10 may be a horizontal coordinate axis parallel to the direction in which the working device 3 extends when the working device 3 is viewed from above, for example. The Z-axis of the coordinate system of the target coordinates (X, Z) may be a vertical coordinate axis intersecting with the X-coordinate. For example, the target coordinates (X, Z) of the specific portion 10 written in the row of target position P1 are the coordinates of target position P1, and the same applies to the other target positions P2 to Pn. Note that although the target coordinates are two-dimensional coordinates in the specific example shown in FIG. 4, the target coordinates of the specific portion 10 may also be three-dimensional coordinates.

[0071] The target posture (Xi1) of the specific movable part may be, for example, the angle of any one of the boom 4, arm 5, and tip attachment 6 (bucket 6) that constitute the work device 3, or the degree of extension and contraction (cylinder length) of any one of the boom cylinder 11, arm cylinder 12, and tip attachment cylinder 13. In this embodiment, the target posture (Xi1) of the specific movable part is the target angle of the bucket 6.

[0072] The target swing angle (SwingAng) of the upper swing body 2 may be the target swing angle of the upper swing body 2 relative to the lower running body 1, or may be the target swing angle of the upper swing body 2 relative to another reference.

[0073] A point-to-point travel time (tm) is set for each of the plurality of target positions P1 to Pn. That is, a point-to-point travel time (tm) is set as a target time for the specific part 10 to move from target position P1 to target position P2, a point-to-point travel time (tm) is set as a target time for the specific part 10 to move from target position Pk to target position P(k+1), and a point-to-point travel time (tm) is set as a target time for the specific part 10 to move from target position P(n-1) to target position Pn.

[0074] The multiple point-to-point travel times tm set for the multiple target positions P1 to Pn may be set, for example, as follows: The controller 51 may set the multiple point-to-point travel times tm based on values ​​input by a worker to the input device 53 of the automatic driving control device 50 or the external input device 203 of the external device 200. Furthermore, if the teaching data includes trajectory data of the specific portion 10, the controller 51 may set a start position P0 and an end position Pn on the trajectory of the specific portion 10, divide the portion between the start position P0 and the end position Pn at equal intervals to set target positions P1 to P(n-1), and set the point-to-point travel times tm for each of the multiple target positions P1 to Pn to the same value. Furthermore, if the trajectory data is time-series data that includes not only position information (e.g., coordinate information) but also time information, the controller 51 may set the point-to-point travel time tm to a specific value (e.g., 0.5 seconds), set the position of the specific part 10 0.5 seconds after the start position P0 on the trajectory of the specific part 10 as the target position P1, and then similarly set the positions of the specific part 10 0.5 seconds after the start position P0 to P2 to Pn in order. In this case, the point-to-point travel time tm for the multiple target positions P1 to Pn is set to the same value.

[0075] FIG. 5 is a flowchart showing an example of calculation processing performed by the controller 51 of the automatic driving control device 50.

[0076] When automatic operation of the work machine 100 is started, the controller 51 acquires path information, which is information relating to the target trajectory of the specific portion 10 during automatic operation (step S11 in FIG. 5). The path information includes information relating to a plurality of target positions P1 to Pn, and specifically may include information relating to a plurality of parameters as shown in FIG. 4, for example. The path information may be stored in at least one of the memory 52 of the automatic operation control device 50 and the external memory 204 of the external device 200.

[0077] Next, the controller 51 calculates the orientation values ​​(start position and orientation values) of each of the plurality of movable parts at the start of autonomous driving (step S12). In the specific example shown in FIG. 1, the controller 51 calculates the start position and orientation values ​​of each of the plurality of movable parts when the specific part 10 is disposed at the start position P0. These start position and orientation values ​​are used to calculate the base speed rv in step S15, which will be described later. The controller 51 may calculate the start position and orientation value using the coordinates (X, Z) of the start position P0 and the angle of the end attachment 6 at that time.

[0078] 2, 3, and 5, the start position and orientation values ​​of the plurality of movable parts are the cylinder length of the boom cylinder 11, the cylinder length of the arm cylinder 12, the cylinder length of the tip attachment cylinder 13, and the swing angle of the upper rotating body 2. However, the start position and orientation values ​​of the plurality of movable parts may include the angle of the boom 4, the angle of the arm 5, and the angle of the tip attachment 6, instead of the cylinder lengths of the cylinders 11, 12, and 13. Furthermore, the start position and orientation value related to swing may be, instead of the swing angle of the upper rotating body 2, a value correlated to this swing angle (for example, a value related to the swing motor 14).

[0079] Next, the controller 51 sets the next destination (target position) of the specific part 10 to the target position Pn (step S13). Since "n=1" immediately after the start of automatic driving, the controller 51 sets the next destination of the specific part 10 to the target position P1.

[0080] Next, the controller 51 uses the coordinates (X, Z) of the target position P1 (see Figure 4) and the target attitude Xi1 of the specific moving part set for that target position P1 (see Figure 4) to calculate the target position attitude value of each of the multiple moving parts when it is assumed that the specific part 10 has reached the target position P1 (step S14).

[0081] The target position and attitude values ​​of the plurality of movable parts may be the cylinder length of the boom cylinder 11, the cylinder length of the arm cylinder 12, the cylinder length of the tip attachment cylinder 13, and the swing angle of the upper swing body 2. Furthermore, the target position and attitude values ​​of the plurality of movable parts may be the angle of the boom 4, the angle of the arm 5, and the angle of the tip attachment 6, instead of the cylinder lengths of the cylinders 11, 12, and 13. Furthermore, the target position and attitude value related to swing may be a value correlated to the swing angle of the upper swing body 2 (for example, a value related to the swing motor 14), instead of the swing angle of the upper swing body 2.

[0082] Next, the controller 51 calculates a base velocity rv for each of the plurality of movable parts using target position and orientation values ​​of the plurality of movable parts for the destination (e.g., target position P1), start position and orientation values ​​of the plurality of movable parts for the origin (e.g., start position P0), and a point-to-point movement time tm (see FIGS. 4 and 6) for the destination (e.g., target position P1) (step S15). In the specific example shown in FIG. 6, the start position and orientation value is the cylinder length at the start position, and the target position and orientation value is the cylinder length at the target position.

[0083] Specifically, for example, if the multiple movable parts are the boom cylinder 11, the arm cylinder 12, the tip attachment cylinder 13, and the upper rotating body 2, the controller 51 may calculate the base speed rv of each movable part, for example, as follows.

[0084] (Boom cylinder 11 base speed rv) The controller 51 may calculate the base speed rv [mm / s] of the boom cylinder 11 using the following equation (1).

[0085] Base speed rv of boom cylinder 11 [mm / s]=(target position and orientation value of boom cylinder 11 at target position−start position and orientation value of boom cylinder 11 at start position) / travel time between two points tm (1)

[0086] (Base speed rv of arm cylinder 12) The controller 51 may calculate the base speed rv [mm / s] of the arm cylinder 12 using the following equation (2).

[0087] Base speed rv [mm / s] of arm cylinder 12=(target position / posture value of arm cylinder 12 at target position−start position / posture value of arm cylinder 12 at start position) / travel time between two points tm (2)

[0088] (Base speed rv of tip attachment cylinder 13) The controller 51 may calculate the base speed rv [mm / s] of the end attachment cylinder 13 using the following equation (3).

[0089] Base speed rv [mm / s] of the end attachment cylinder 13 = (target position and orientation value of the end attachment cylinder 13 at the target position - start position and orientation value of the end attachment cylinder 13 at the start position) / travel time between two points tm (3)

[0090] (base speed rv of upper rotating body 2) The controller 51 may use the following equation (4) to calculate the base speed rv [deg / s] of the upper rotating body 2. The base speed rv [deg / s] is the amount of change in the rotation angle per unit time.

[0091] Base speed rv [deg / s] of the upper rotating body 2 = (target position and orientation value of the upper rotating body 2 at the target position - start position and orientation value of the upper rotating body 2 at the start position) / travel time between two points tm (4)

[0092] Next, the controller 51 acquires the actual posture value yp of each of the plurality of movable parts at that time (step S16). In the specific example shown in Fig. 5, the actual posture values ​​yp of the plurality of movable parts are the cylinder length of the boom cylinder 11, the cylinder length of the arm cylinder 12, the cylinder length of the tip attachment cylinder 13, and the swing angle of the upper rotating body 2. However, the actual posture values ​​yp of the plurality of movable parts may include the angle of the boom 4, the angle of the arm 5, and the angle of the tip attachment 6, instead of the cylinder lengths of the cylinders 11, 12, and 13. Furthermore, the actual posture value yp related to swing may be a value correlated to the swing angle of the upper rotating body 2 (for example, a value related to the swing motor 14), instead of the swing angle of the upper rotating body 2.

[0093] Next, the controller 51 calculates the ideal attitude value rp of each of the plurality of moving parts at that time point using the base speed rv (step S17). In other words, the controller 51 calculates the ideal attitude value rp of each of the plurality of moving parts at the same control cycle as the processing of the immediately preceding step S16 using the base speed rv (the controller 51 calculates the ideal attitude value rp of each of the plurality of moving parts at approximately the same time point as the time point at which the actual attitude value yp is acquired in step S16 using the base speed rv).

[0094] 2, 3, and 5, the ideal posture values ​​rp of the multiple movable parts are the ideal cylinder length of the boom cylinder 11, the ideal cylinder length of the arm cylinder 12, the ideal cylinder length of the tip attachment cylinder 13, and the ideal swing angle of the upper swing structure 2. However, the ideal posture values ​​rp of the multiple movable parts may be the ideal angle of the boom 4, the ideal angle of the arm 5, and the ideal angle of the tip attachment 6, instead of the ideal cylinder lengths of the cylinders 11, 12, and 13. Furthermore, the ideal posture value rp related to swing may be a value correlated to the ideal swing angle of the upper swing structure 2 (for example, an ideal value related to the swing motor 14), instead of the ideal swing angle of the upper swing structure 2.

[0095] Specifically, for example, the movement distance conversion unit of the controller 51 may calculate an ideal posture value rp of each of the plurality of movable parts at that time point using the base speed rv, the start position and posture value of each of the plurality of movable parts at the movement origin (e.g., start position P0), the elapsed time t, and the following equation (5). In the specific example shown in Fig. 7, the start position and posture value is the cylinder length at the start position. The ideal posture value rp shown in Fig. 7 is calculated for each control cycle of feedback control such as PID control while the specific part 10 moves, for example, from the start position P0 to the target position P1.

[0096] Ideal posture value rp of the moving part = Starting position posture value of the moving part at the starting position + Base velocity rv × Elapsed time t (5)

[0097] The elapsed time t may be the time elapsed from the point in time when the specific part 10 starts moving from the start position, which is the movement source, to the target position, which is the movement destination. Specifically, for example, when the movement source is the start position P0, the controller 51 may measure the elapsed time t from the point in time when the specific part 10 starts moving from the start position P0 toward the target position P1. Similarly, when the movement source is the target position P1, the controller 51 may measure the elapsed time t from the point in time when the specific part 10 starts moving from the target position P1 toward the target position P2. When the movement source is each of the target positions P2 to Pn, the elapsed time t may be measured in the same manner as above. That is, when the movement source is changed to the next target position, the controller 51 resets the elapsed time t up to that point and starts measuring the elapsed time t anew.

[0098] When the plurality of movable parts are the boom cylinder 11, the arm cylinder 12, the tip attachment cylinder 13, and the upper rotating body 2, the controller 51 may calculate the ideal posture value rp of each movable part, for example, as follows.

[0099] The controller 51 may calculate the ideal posture values ​​rp of the boom cylinder 11, the arm cylinder 12, the tip attachment cylinder 13, and the upper rotating body 2 using the following equations (6) to (9).

[0100] Ideal posture value rp of the boom cylinder 11 = Start position posture value of the boom cylinder 11 at the start position + Base speed rv of the boom cylinder 11 × Elapsed time t (6)

[0101] Ideal posture value rp of arm cylinder 12 = start position posture value of arm cylinder 12 at start position + base speed rv of arm cylinder 12 × elapsed time t (7)

[0102] Ideal posture value rp of the end attachment cylinder 13 = Start position posture value of the end attachment cylinder 13 at the start position + Base velocity rv of the end attachment cylinder 13 × Elapsed time t (8)

[0103] Ideal posture value rp of the upper rotating body 2 = Start position posture value of the upper rotating body 2 at the start position + Base speed rv of the upper rotating body 2 × Elapsed time t (9)

[0104] Next, the controller 51 calculates a correction value uc(t) for correcting the base speed rv of each of the multiple movable parts using the deviation e(t) between the ideal attitude value rp calculated in step S17 and the actual attitude value yp acquired in step S16 (step S18).

[0105] Next, the controller 51 calculates an operation amount u(t) corresponding to the value obtained by correcting the base speed rv of each of the multiple movable parts using the correction value uc(t), and outputs the operation amount u(t) to the controlled object 9 in the automatic driving (step S19).

[0106] In the processing of steps S16 to S19 of the flowchart in FIG. 5, feedback control such as PID control, PI control, PD control, and P control is performed as shown in the block diagrams in FIGS. 2 and 3. Specifically, a correction value calculation unit of controller 51 determines a correction value uc(t) that causes deviation e(t) to become zero or approach zero, using a calculation formula preset for feedback control. Controller 51 calculates a manipulated variable u(t) corresponding to the sum of the determined correction value uc(t) and base speed rv. Controller 51 outputs the calculated manipulated variable u(t) to proportional valve 8A of controlled object 9. Note that the correction value uc(t) can take either a positive or negative value.

[0107] Next, the controller 51 determines whether or not to change the target position to the next target position (step S20). In this embodiment, the condition for determining whether or not to change the target position to the next target position is a time-related condition (time condition) that is, whether or not the elapsed time t has reached the point-to-point movement time. However, the determination condition is not limited to the time condition, and may also be a position-related condition (position condition). The position condition may be, for example, a condition that is, whether or not the specific part 10 has reached a predetermined range set based on the target position of the movement destination.

[0108] When the determination condition is the time condition, the specific part 10 is more likely to reach the destination (next target position) or its vicinity than when the determination condition is the position condition. The reason for this is as follows: the determination criterion for the position condition is defined by a range such as the predetermined range, while the determination criterion for the time condition can be defined by a pinpoint time (travel time between two points). Therefore, compared to the case of the position condition, the specific part 10 is more likely to reach the destination target position.

[0109] If the determination condition is not satisfied (NO in step S20), the controller 51 repeats the processes of steps S16 to S19.

[0110] If the determination condition is met (YES in step S20), the controller 51 determines whether or not control up to the end position Pn of the automatic driving (end position P4 in FIG. 1) has been completed (step S21).

[0111] If control up to the end position Pn has not been completed (NO in step S21), the controller 51 performs processing from step S22 onwards, and if control up to the end position Pn has been completed (YES in step S21), the controller 51 ends automatic operation.

[0112] In step S22, the controller 51 changes the destination to the next target position. Specifically, for example, if the destination before the change is target position P1, the controller 51 changes the destination to the next target position P2. In this case, the source of the change (start position after the change) is target position P1.

[0113] The controller 51 acquires the actual posture value yp of each of the plurality of movable parts at the target position, which is the movement origin after the change (start position after the change) (step S23).

[0114] Then, the controller 51 repeats the processes from step S14 onwards.

[0115] Next, the control modes of the automatic driving control device 50 will be described. The controller 51 of the automatic driving control device 50 can switch between a teaching mode for acquiring teaching data and an automatic driving mode that permits automatic driving using the teaching data. The controller 51 may switch between these control modes in response to an input operation by a worker input to the input device 53 of the automatic driving control device 50 or the external input device 203 of the external device 200, for example.

[0116] When the control mode is the teaching mode, trajectory data for when the work machine 100 operates may be stored in at least one of the memory 52 of the automatic driving control device 50 and the external memory 204 of the external device 200 in response to operations applied to controls such as control levers and control pedals of the remote control device, or in response to operations applied to an operating device in the cab of the work machine 100. Then, as described above, the controller 51 may set multiple target positions P1-Pn using the trajectory data. In this case, the multiple target positions P1-Pn are set using trajectory data for when the work machine 100 operates, so that the multiple target positions P1-Pn can be set on a target route corresponding to the trajectory of the specific part 10 or the upper rotating body 2 during actual operation of the work machine 100. Note that the trajectory data may be time-series data that includes not only position information but also time information, as described above.

[0117] When the control mode is the automatic operation mode, the controller 51 can perform automatic operation of the work machine 100 as described above.

[0118] In the automatic driving control device 50 according to this embodiment, for the rotation operation of the upper rotating body 2, the controller 51 may set the rotation base speed rv of the upper rotating body 2 or a rotation-related device (e.g., the rotation motor 14) as the base speed rv, and calculate a rotation correction value uc(t) for correcting the rotation base speed rv as the correction value uc(t), as shown in Fig. 3. In this case, since one of the plurality of movable parts is the upper rotating body 2 or a rotation-related device (e.g., the rotation motor), fluctuations in the rotation speed of the upper rotating body 2 can be reduced during automatic operation.

[0119] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and includes, for example, the following modified examples.

[0120] [Variation 1] In the automatic driving control device 50 according to a first modification of this embodiment, the multiple target positions P1 to Pn include fluctuation-reduction-priority target positions, which are target positions where priority is given to reducing fluctuations in operating speed, and accuracy-priority target positions, which are target positions where priority is given to positional accuracy, and the controller 51 sets the base speed rv for the accuracy-priority target positions to a value smaller than the base speed rv for the fluctuation-reduction-priority target positions. In this first modification, the base speed rv when the specific part 10 of the work machine 100 is heading towards the accuracy-priority target position is smaller than the base speed rv when the specific part 10 is heading towards the fluctuation-reduction-priority target position, and therefore it is possible to increase the likelihood that the specific part 10 will pass through or near the accuracy-priority target position.

[0121] Fig. 8 is a block diagram showing an example of the relationship between inputs and outputs in an automatic driving control system 300 according to Modification 1. Fig. 9 is a diagram showing a plurality of parameters set for each of a plurality of target positions P1 to Pn in Modification 1. Fig. 10 is a flowchart showing an example of calculation processing performed by a controller 51 of an automatic driving control device 50 according to Modification 1.

[0122] The flowchart in Modification 1 in Fig. 10 has steps S11 to S23 that are the same as steps S11 to S23 in the flowchart shown in Fig. 5, but steps S11 to S19, S22, and S23 are omitted from Fig. 10. The flowchart in Modification 1 shown in Fig. 10 differs from the flowchart shown in Fig. 5 in that it further includes steps S31, S32, and S33 between steps S20 and S21.

[0123] The table in Modification 1 shown in FIG. 9 differs from the table shown in FIG. 4 in that it further includes a right-most column, but the contents of the other columns in FIG. 9 are the same as those of the table shown in FIG. 4. The parameters in the right-most column in FIG. 9 are used to set in advance whether or not to prioritize position accuracy for each of the multiple target positions P1 to Pn. Target positions for which the parameter in this right-most column is set to "0" are fluctuation-reduction-priority target positions, and target positions for which the parameter is set to "1" are accuracy-priority target positions. In the specific example shown in FIG. 9, of the multiple target positions P1 to Pn, target position P2 and target position Pn (the last target position) are accuracy-priority target positions, but the settings of fluctuation-reduction-priority target positions and accuracy-priority target positions are not limited to the specific example in FIG. 9.

[0124] The controller 51 may make the determination in step S31 shown in Fig. 10 based on the setting of the parameters in the rightmost column in Fig. 9. That is, when the determination condition for determining whether or not to change the target position to the next target position is satisfied in step S20 (YES in step S20), the controller 51 performs the processes in and after step S31.

[0125] The controller 51 determines whether the next target position is a positional accuracy priority target position or a fluctuation reduction priority target position (step S31). If the next target position is a fluctuation reduction priority target position (NO in step S31), the controller 51 performs the processes in and after step S21.

[0126] On the other hand, if the next target position is a position accuracy-prioritized target position (YES in step S31), the controller 51 temporarily sets the base speed rv of each of the multiple moving parts to "zero" (step S32) and performs feedback control as shown in the block diagram of Fig. 8. In Fig. 8, the "Target" signal is the target position and orientation value of each of the multiple moving parts with respect to the destination target position (P2 or Pn). In other words, the "Target" signal is the ideal orientation value (target position and orientation value) of each of the multiple moving parts when it is assumed that the specific part 10 has reached the destination target position (P2 or Pn).

[0127] The controller 51 calculates a correction value uc(t) using this "Target" signal, i.e., the difference (deviation e(t)) between the target position and orientation value and the actual orientation value yp of the movable part. In this case, the deviation e(t) is the difference between the target position and orientation value and the actual orientation value yp of the movable part, so although the fluctuation in the operation speed increases, it is possible to improve the positional accuracy of the specific part 10. Then, because the base speed rv is "zero," the controller 51 outputs a manipulated variable corresponding to the same value as the correction value uc(t) to the control object 9 as a manipulated variable u(t).

[0128] In step S33, the controller 51 determines whether or not a position determination condition is satisfied. The position determination condition may include, for example, a condition as to whether or not a difference between the target position and posture value and the actual posture value yp of the movable unit is less than a predetermined threshold value Th. Specifically, the position determination condition may include a condition as to whether or not a difference between the cylinder length of the boom cylinder 11 as the target position and posture value and the actual cylinder length as the actual posture value yp is less than a predetermined threshold value Th1, a condition as to whether a difference between the cylinder length of the arm cylinder 12 as the target position and posture value and the actual cylinder length as the actual posture value yp is less than a predetermined threshold value Th2, a condition as to whether a difference between the cylinder length of the tip attachment cylinder 13 as the target position and posture value and the actual cylinder length as the actual posture value yp is less than a predetermined threshold value Th3, and a condition as to whether or not a difference between the swing angle of the upper swing body 2 as the target position and posture value and the actual swing angle as the actual posture value yp is less than a predetermined threshold value Th4.

[0129] If the position determination condition is not satisfied (NO in step S33), the controller 51 performs the feedback control shown in the block diagram of Fig. 8. That is, the controller 51 performs the feedback control shown in the block diagram of Fig. 8 until the specific part 10 approaches the target position (P2 or Pn) of the movement destination.

[0130] If the position determination condition is satisfied (YES in step S33), the controller 51 performs the processes in and after step S21.

[0131] [Variation 2] In the automatic driving control device 50 according to the second modification of this embodiment, the controller 51 sets the rotation base speed rv in the final stage of the rotation of the upper rotating body 2 to a value smaller than the rotation base speed rv in the initial stage of the rotation of the upper rotating body 2. In this second modification, the rotation base speed rv in the final stage is set to a value smaller than the rotation base speed rv in the initial stage, which makes it easier to bring the attitude (for example, the rotation angle) when the upper rotating body 2, which has a large moment of inertia, stops closer to the target attitude.

[0132] Specifically, in Modification 2, the multiple target positions P1 to Pn may be multiple target swing angles, and the multiple target positions P1 to Pn include a first target position (e.g., a first target swing angle) and a final target position (e.g., a final target swing angle). In this case, the controller 51 may set the swing base speed rv for the final target position to a value smaller than the swing base speed rv for the first target position. In other words, the swing base speed rv when the swing angle of the upper swing body 2 or the swing-related equipment approaches the final target swing angle may be set to a value smaller than the swing base speed rv when the swing angle approaches the first target swing angle.

[0133] Fig. 11 is a block diagram showing an example of the relationship between inputs and outputs in an autonomous driving control system according to Modification 2. The block diagram of Modification 2 shown in Fig. 11 is based on the same concept as the block diagram of Modification 1 shown in Fig. 8 described above.

[0134] If the next target position is, for example, the last target position Pn, the controller 51 sets the base speed rv of each of the multiple moving parts to "zero" as shown in Fig. 11, and performs feedback control as shown in the block diagram of Fig. 11. In Fig. 11, the "Target" signal is the target position and orientation value of each of the multiple moving parts for the destination target position Pn. In other words, the "Target" signal is the ideal orientation value (target position and orientation value) of each of the multiple moving parts when it is assumed that the specific part 10 has reached the destination target position Pn.

[0135] The controller 51 calculates a correction value uc(t) using this "Target" signal, i.e., the difference (deviation e(t)) between the target position and orientation value and the actual orientation value yp of the movable part. In this case, the deviation e(t) is the difference between the target position and orientation value and the actual orientation value yp of the movable part, so although the fluctuation in the operation speed increases, it is possible to improve the positional accuracy of the specific part 10. Then, because the base speed rv is "zero," the controller 51 outputs a manipulated variable corresponding to the same value as the correction value uc(t) to the control object 9 as a manipulated variable u(t).

[0136] The controller 51 determines whether or not a position determination condition is satisfied, for example, similarly to the processing of step S33 in Fig. 10 . The position determination condition may include, for example, a condition as to whether or not a difference between the target position and posture value and an actual posture value yp of the movable part is less than a predetermined threshold value Th. Specifically, the position determination condition may include a condition as to whether or not a difference between the cylinder length of the boom cylinder 11 as the target position and posture value and an actual cylinder length as the actual posture value yp is less than a predetermined threshold value Th1, a condition as to whether a difference between the cylinder length of the arm cylinder 12 as the target position and posture value and an actual cylinder length as the actual posture value yp is less than a predetermined threshold value Th2, a condition as to whether a difference between the cylinder length of the tip attachment cylinder 13 as the target position and posture value and an actual cylinder length as the actual posture value yp is less than a predetermined threshold value Th3, and a condition as to whether or not a difference between the swing angle of the upper swing body 2 as the target position and posture value and an actual swing angle as the actual posture value yp is less than a predetermined threshold value Th4.

[0137] If the position determination condition is not satisfied, the controller 51 performs the feedback control shown in the block diagram of Fig. 11. That is, the controller 51 performs the feedback control shown in the block diagram of Fig. 11 until the specific part 10 approaches the target position Pn of the movement destination.

[0138] If the position determination condition is satisfied, the controller 51 ends the control of the automatic driving.

[0139] [Variation 3] In an automatic driving control device 50 according to a third modification of this embodiment, a controller 51 calculates a vector from the kth target position to the (k+1)th target position among a plurality of target positions P1 to Pn, and controls the operation of the plurality of movable parts so that a specific part 10 of the work machine 100 moves along the vector. It is preferable that the controller 51 controls the operation of the plurality of movable parts so that the specific part 10 of the work machine 100 is positioned on the vector. In this third modification, when the specific part 10 of the work machine 100 heads towards the (k+1)th target position, the specific part 10 can be moved linearly along the vector.

[0140] Fig. 12 is a flowchart showing an example of calculation processing performed by the controller 51 of the automatic driving control device 50 according to Modification 3. The flowchart in Modification 3 in Fig. 12 has steps S11 to S13, S22, and S23 that are the same as steps S11 to S13, S22, and S23 in the flowchart shown in Fig. 5, but steps S11 to S13, S22, and S23 are not shown in Fig. 12. The flowchart in Modification 3 shown in Fig. 12 also differs from the flowchart shown in Fig. 5 in that it has steps S41 to S43 instead of step S15 shown in Fig. 5, and steps S44 to S46 instead of step S17 shown in Fig. 5.

[0141] In the following specific example, a case will be described in which the boom cylinder 11, the arm cylinder 12, and the tip attachment cylinder 13 operate, but the upper rotating body 2 does not perform a rotating operation.

[0142] In the third modification shown in FIG. 12, the controller 51 calculates the target position and orientation values ​​of each of the plurality of movable parts in the same manner as described above (step S14).

[0143] Next, in step S41, the controller 51 calculates a vector V from a target position at the movement source (for example, a start position P0) to a target position at the movement destination (for example, a target position P1).

[0144] Next, the controller 51 calculates the distance Ve that the specific portion 10 travels per unit time using the following equation (10) (step S42).

[0145] Distance Ve[mm / s]=V / travel time between two points tm (10)

[0146] Next, the controller 51 calculates the ideal ground angle change amount Vxi, which is the ideal value of the change amount per unit time of the angle of the bucket 6 with respect to the ground or the bucket ground angle, which is an angle correlated thereto, using the following equation (11) (step S43).

[0147] Ideal ground angle change amount Vxi = (target position ground angle TargetXi - start position ground angle StartXi) / travel time between two points tm (11)

[0148] The target position ground angle TargetXi is a target value of the bucket ground angle at the movement destination, and the start position ground angle StartXi is the bucket ground angle at the movement origin (start position).

[0149] Next, the controller 51 acquires the actual posture value yp of each of the plurality of movable parts at that time (step S16).

[0150] Next, the controller 51 calculates ideal coordinates (x, z) using the coordinates (x, z) of the target position (start position) of the movement source, the distance Ve, the elapsed time t, and the following equation (12) (step S44).

[0151] Ideal coordinates (x, z) = starting position coordinates (x, z) + distance Ve × elapsed time t (12)

[0152] Next, the controller 51 calculates the ideal ground angle Xi using the start position ground angle StartXi, which is the ground angle (Xi) of the bucket 6 at the target position (start position) from which the bucket 6 is to move, the target position ground angle TargetXi, the elapsed time t, and the following equation (13) (step S45).

[0153] Ideal ground angle Xi = starting position ground angle StartXi + ideal ground angle change Vxi × elapsed time t (13)

[0154] Next, in step S46 of FIG. 12, the controller 51 calculates the ideal posture value rp of the boom cylinder 11 at the ideal coordinates (x, z), the ideal posture value rp of the arm cylinder 12 at the ideal coordinates (x, z), and the ideal posture value rp of the tip attachment cylinder 13 at the ideal coordinates (x, z), for example, as described below.

[0155] The processing from step S18 onwards is the same as in the embodiment described above with reference to Fig. 5. In this modification 3, the operation of the plurality of movable parts can be controlled so that the specific part 10 of the work machine 100 is positioned on the vector.

[0156] When the ideal coordinates (x, z) are the coordinates of the tip of the bucket 6 (specific portion 10), the controller 51 may calculate the ideal posture value rp, for example, as follows.

[0157] (1) The controller 51 calculates the X and Z coordinates (X_Arm, Z_Arm) of the tip of the arm 5 from the ideal coordinates (x, z), bucket length (Bkt_LENGTH), ideal ground angle Xi, bucket tip angle (BktTipAng), and the following equation. In the equation below, the bucket tip angle (BktTipAng) is the angle between the direction in which the side edge of the opening of the bucket 6 extends and the front surface including the tip of the bucket 6, as shown in FIG. 14. Also, the bucket length (Bkt_LENGTH) is the length from the base end of the bucket 6 (tip of the arm 5) to the tip of the bucket 6, as shown in FIG. 14.

[0158]

number

[0159]

number

[0160] (2) Next, the controller 51 calculates the distance (AtBfLENGTH) between the base end of the boom 4 (boom foot pin) and the tip end of the arm 5 using the following formula. This distance (AtBfLENGTH) is indicated by the dashed line (2) in FIG. 15.

[0161]

number

[0162] (3) Next, the controller 51 calculates the angle (ArmBmAng) between the boom 4 and the arm 5 using the following formula: This angle (ArmBmAng) is shown as angle (3) in FIG.

[0163]

number

[0164] (4) Next, the controller 51 calculates the angle (BfBmAng) between the boom 4 and a line connecting the base end of the boom 4 and the tip end of the arm 5. This angle (BfBmAng) is shown as angle (4) in FIG.

[0165]

number

[0166] (5) Next, the controller 51 calculates the angle (HoriBfAng) between the X-axis of the coordinate system and a line connecting the base end of the boom 4 and the tip end of the arm 5. Note that this coordinate system may have its origin at the base end of the boom 4 (boom foot pin). This angle (HoriBfAng) is shown as angle (5) in FIG. 15.

[0167]

number

[0168] Next, the controller 51 calculates the ideal angle (BmAng) of the boom 4 using the angle (BfBmAng) and the angle (HoriBfAng) and the following equation.

[0169] When the Z coordinate of the tip of the arm 5 is equal to or greater than zero, the ideal angle of the boom 4 (BmAng) = (BfBmAng) + (HoriBfAng)

[0170] When the Z coordinate of the tip of the arm 5 is less than zero, the ideal angle of the boom 4 (BmAng) = (BfBmAng) - (HoriBfAng)

[0171] Next, the controller 51 calculates the ideal angle (ArmAng) of the arm 5 using the angle (ArmBmAng) and the following equation.

[0172] Ideal angle of arm 5 (ArmAng) = 180 - (ArmBmAng)

[0173] The controller 51 calculates the ideal angle (BktAng) of the bucket 6 using the ideal ground angle Xi, the ideal angle of the boom 4, the ideal angle of the arm 5, the bucket tip angle (BktTipAng), and the following equation.

[0174] Ideal angle of bucket 6 (BktAng) = Xi + BmAng - ArmAng - BktTipAng - 90

[0175] Next, the controller 51 converts the ideal angle (BmAng) of the boom 4 into an ideal posture value rp of the boom cylinder 11 using a conversion map that represents the relationship between the cylinder length of the boom cylinder 11 and the angle of the boom 4. Similarly, the controller 51 converts the ideal angle (ArmAng) of the arm 5 into an ideal posture value rp of the arm cylinder 12 using a conversion map that represents the relationship between the cylinder length of the arm cylinder 12 and the angle of the arm 5, and converts the ideal angle (BktAng) of the bucket 6 into an ideal posture value rp of the tip attachment cylinder 13 using a conversion map that represents the relationship between the cylinder length of the tip attachment cylinder 13 and the angle of the bucket 6.

[0176] [Variation 4] The automatic driving control device 50 according to the fourth modification includes an input device 53 (see FIG. 1) that can receive an input operation for changing at least one of the target position and the base speed rv. In this fourth modification, if the set target position does not match the actual situation at the work site, the worker can change the target position to match the actual situation at the work site by providing an input operation to the input device 53. Furthermore, if the set base speed rv does not match the actual situation at the work site, the worker can change the base speed rv to match the actual situation at the work site by providing an input operation to the input device 53.

[0177] [Variation 5] In the automatic driving control system 300 according to the fifth modification, the external device 200 includes an external input device 203 (see FIG. 1 ) that is an input device that can receive an input operation for changing at least one of the target position and the base speed rv. In this fifth modification, if the set target position does not match the actual situation at the work site, the worker can change the target position to match the actual situation at the work site by providing an input operation to the external input device 203. Furthermore, if the set base speed rv does not match the actual situation at the work site, the worker can change the base speed rv to match the actual situation at the work site by providing an input operation to the external input device 203.

[0178] [Automatic driving control method] The automatic driving control method according to this embodiment is an automatic driving control method for controlling the operation of a plurality of moving parts of the work machine 100 based on a plurality of target positions that are set for the automatic driving of the work machine 100, and comprises the steps of: a controller 51 acquiring an actual attitude value yp relating to the actual attitude of the work machine 100; the controller 51 setting a base speed rv for each of the plurality of moving parts; the controller 51 calculating an ideal attitude value rp relating to the ideal attitude of the work machine 100 using the base speed rv; the controller 51 calculating a correction value uc(t) for correcting the base speed rv using the difference (deviation e(t)) between the ideal attitude value rp and the actual attitude value yp; and the controller 51 outputting an operation amount u(t) corresponding to the value obtained by correcting the base speed rv of each of the plurality of moving parts using the correction value uc(t) to a controlled object 9 in the automatic driving.

[0179] [Automatic driving control program] The automatic driving control program according to this embodiment is an automatic driving control program for controlling the operation of multiple moving parts of the work machine 100 based on multiple target positions that are set for automatic driving of the work machine 100, and causes a computer to execute the following processes: acquiring an actual attitude value yp relating to the actual attitude of the work machine 100; setting base speeds rv of the multiple moving parts; calculating an ideal attitude value rp relating to the ideal attitude of the work machine 100 using the base speed rv; calculating a correction value uc(t) for correcting the base speed rv using the difference (deviation e(t)) between the ideal attitude value rp and the actual attitude value yp; and outputting an operation amount u(t) corresponding to the value obtained by correcting the base speed rv of each of the multiple moving parts using the correction value uc(t) to a control target 9 in the automatic driving. The automatic driving control program may be stored in a storage medium.

[0180] [Other variations] (A) Automatic driving control device The controller of the automatic driving control device may be configured with a single controller or multiple controllers. The work machine may be equipped with multiple controllers, and the external device may be equipped with multiple controllers. Also, the work machine may be equipped with some of the multiple controllers, and the external device may be equipped with the rest of the multiple controllers.

[0181] (B) Base speed correction In the above embodiment, the controller outputs a value corresponding to the sum of the base speed and the correction value as a manipulated variable to the controlled object, but the method of correcting the base speed using the correction value is not limited to the above embodiment. For example, a value corresponding to the sum of the base speed and the correction value multiplied by a predetermined coefficient may be used as the manipulated variable.

[0182] (C) External devices In the above embodiment, the work machine is equipped with an automatic driving control device, but at least a part of the automatic driving control device in the present disclosure may be equipped in an external device. That is, the external device may be equipped with the automatic driving control device, or the work machine may be equipped with a part of the automatic driving control device and the external device may be equipped with another part of the automatic driving control device. Furthermore, in the automatic control system according to the present disclosure, the external device may be omitted.

[0183] (D) In ​​the above embodiment, the controller 51 inputs the manipulated variable for the speed to the controlled object 9, but for example, the manipulated variable may be converted from the speed to the flow rate of hydraulic oil and input to the controlled object 9. [Explanation of symbols]

[0184] 9: Control target 10:Specific part 15: Attitude detector 50: Automatic driving control device 51: Controller 52: Memory device 53: Input device 100: Work machines 200: External equipment 203: External input device 300:Automatic Driving Control System P1~Pn: Target position rv: base speed rp: Ideal posture value V: Vector u: Manipulated amount uc: correction value yp: Actual attitude value

Claims

1. An automatic driving control device including a controller that controls operations of a plurality of movable parts of a work machine based on a plurality of target positions that are set for automatic driving of the work machine, The controller setting a base speed for each of the plurality of moving parts; acquiring an actual attitude value relating to an actual attitude of each of the plurality of movable parts; calculating an ideal posture value for each of the plurality of movable parts using the base speed; calculating a correction value for correcting the base speed of each of the plurality of movable parts using a difference between the ideal attitude value and the actual attitude value; An automatic driving control device that outputs an operation amount corresponding to a value obtained by correcting the base speed of each of the plurality of movable parts using the correction value to a control target in the automatic driving.

2. The controller a point-to-point movement time is set, which is a target time required for a specific portion of the work machine to move from a k-th target position to a (k+1)-th target position among the plurality of target positions; 2. The automatic driving control device according to claim 1, wherein the base speed is set for each of the plurality of movable parts using information regarding the attitude of the movable part at the kth target position, information regarding the attitude of the movable part at the (k+1)th target position, and the point-to-point travel time.

3. The automatic driving control device according to claim 1 , wherein the controller outputs a value corresponding to the sum of the base speed and the correction value as the manipulated variable.

4. further comprising a memory for storing trajectory data of a specific portion of the work machine; The automatic driving control device according to claim 1 , wherein the controller sets the plurality of target positions using the trajectory data.

5. the plurality of movable parts include an upper rotating body of the work machine or rotation-related equipment related to the rotation of the upper rotating body, The automatic driving control device according to claim 1, wherein the controller sets a rotation base speed of the upper rotating body or the rotation-related equipment as the base speed, and calculates a rotation correction value for correcting the rotation base speed as the correction value.

6. The automatic driving control device according to claim 5, wherein the controller sets the rotation base speed in a final stage of rotation of the upper rotating body to a value smaller than the rotation base speed in an initial stage of rotation of the upper rotating body.

7. the plurality of target positions include fluctuation reduction priority target positions, which are target positions where priority is given to reducing fluctuations in operation speed, and accuracy priority target positions, which are target positions where priority is given to positional accuracy, The automatic driving control device according to claim 1 , wherein the controller sets the base speed for the accuracy-priority target position to a value smaller than the base speed for the fluctuation-reduction-priority target position.

8. The controller calculating a vector from a k-th target position to a (k+1)-th target position among the plurality of target positions; The automatic driving control device according to claim 1 , wherein the operation of the plurality of movable parts is controlled so that a specific part of the work machine moves along the vector.

9. The automatic driving control device according to claim 1 , further comprising an input device capable of receiving an input operation for changing at least one of the target position and the base speed.

10. a lower running body; an upper rotating body rotatably supported on the lower traveling body; a working device supported on the upper rotating body so as to be able to rise and fall; an attitude detector for detecting the actual attitude value; A work machine comprising: the automatic driving control device according to any one of claims 1 to 9.

11. The automatic driving control device according to any one of claims 1 to 9, An automatic driving control system comprising an external device capable of communicating with the automatic driving control device.

12. The automatic driving control system according to claim 11, wherein the external device includes an external display that displays information related to the automatic driving of the work machine.

13. 12. The autonomous driving control system according to claim 11, wherein the external device further includes an external input device that is an input device capable of receiving an input operation for changing at least one of the target position and the base speed.

14. 1. An automatic operation control method for controlling operations of a plurality of movable parts of a work machine based on a plurality of target positions that are set for automatic operation of the work machine, comprising: setting a base speed for each of the plurality of moving parts; acquiring an actual attitude value relating to an actual attitude of each of the plurality of movable parts; calculating an ideal posture value relating to an ideal posture of each of the plurality of movable parts using the base speed; calculating a correction value for correcting the base speed of each of the plurality of movable parts using a difference between the ideal attitude value and the actual attitude value; and outputting an operation amount corresponding to a value obtained by correcting the base speed of each of the plurality of movable parts using the correction value to a control object in the automatic driving.

15. An automatic operation control program for controlling the operation of a plurality of movable parts of a work machine based on a plurality of target positions that are set for automatic operation of the work machine, setting a base speed of the plurality of moving parts; acquiring an actual attitude value relating to an actual attitude of each of the plurality of movable parts; a process of calculating an ideal posture value relating to an ideal posture of each of the plurality of movable parts using the base speed; a process of calculating a correction value for correcting the base speed of each of the plurality of movable parts using a difference between the ideal attitude value and the actual attitude value; and outputting, to a control target in the automatic driving, an operation amount corresponding to a value obtained by correcting the base speed of each of the plurality of movable parts using the correction value.

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