Automatic operation work machine
When an automatic operation is finished, a detection process for detecting a ground contactable range where a work implement can be set is carried out on a basis of terrain profile information acquired by laser scanners, and, when the ground contactable range is detected, an automatic operation command signal for placing the work implement in contact with the ground contactable range is generated, whereas when the ground contactable range is not detected, an automatic operation command signal for placing the work implement in a predetermined standby posture is generated. As a result, a suitable standby posture can be taken according to the surrounding conditions when the automatic operation is finished.
1. An automatic operation work machine comprising:
a machine main body;
a work implement mounted on the machine main body;
an operation device that operates the work implement;
an actuator that drives the work implement on a basis of a manual operation command signal generated by an operation of the operation device;
a posture information measuring device that acquires posture information which is information concerning posture of the work implement; and
an automatic operation controller that generates an automatic operation command signal substituting for the manual operation command signal, and performs automatic operation for permitting the work implement to automatically perform a predetermined operation on a basis of the automatic operation command signal generated, wherein
the automatic operation work machine further includes a terrain profile information measuring device that acquires terrain profile information surrounding the automatic operation work machine, and
the automatic operation controller, when the automatic operation is finished, performs a detection process for detecting a ground contactable range in which the work implement can be placed on a basis of the terrain profile information acquired by the terrain profile measuring device, and, when the ground contactable range is detected, the automatic operation controller generates an automatic operation command signal to place the work implement in contact with the ground contactable range, whereas when the ground contactable range is not detected, the automatic operation controller generates an automatic operation command signal to place the work implement in a predetermined standby posture.
2. The automatic operation work machine according to claim 1 , wherein
the machine main body includes a lower track structure, and an upper swing structure that is provided swingably relative to the lower track structure and is swung relative to the lower track structure on a basis of the manual operation command signal or the automatic operation command signal, and
the automatic operation controller, when the automatic operation is finished, generates an automatic operation command signal for swinging the upper swing structure such that a relative swing angle between the lower track structure and the upper swing structure comes into a predetermined range.
3. The automatic operation work machine according to claim 2 , further comprising:
a track operation device for operating the lower track structure, wherein
the automatic operation controller, when the automatic operation is finished, generates an automatic operation command signal for swinging the upper swing structure such that a relative angle between an operation direction of the track operation device and a traveling direction of the lower track structure by an operation of the track operation device comes into a predetermined range.
4. The automatic operation work machine according to claim 1 , further comprising:
a posture information measuring device that acquires an inclination angle and an inclination direction of the machine main body as posture information, wherein
the automatic operation controller, when the automatic operation is finished, where the inclination angle of the machine main body is outside of a predetermined range, generates an automatic operation command signal for moving the machine main body such that a relative angle in horizontal plane projection between a traveling direction of the machine main body and the inclination direction of the inclination angle comes into a predetermined range.