Target path calculation device for work machine

Abstract

To provide a target route calculating device for a work machine that moves and works at multiple locations, capable of calculating a target route that shortens the time from finishing a certain work to moving to a next point and starting another work.SOLUTION: A target route calculation device for a work machine of the present invention is capable of setting a work range, which is a range in which work can be performed by a work machine, for each of a plurality of work points, and calculates a target route that connects a point within the work range where a predetermined work is to be performed and a point within the work range where the next work is to be performed based on the travel time, which is the time it takes to travel on a traveling device and the turning time, which is the time it takes to orient an upper rotating structure using a turning device at the work point after moving when the work machine moves from one work point to the next work point.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present invention relates to a target path calculation device that calculates the path (also referred to as the target path or target trajectory) of a work machine that travels between multiple points and performs work at each location. [Background technology]

[0002] Work machines such as construction machines are used for a variety of tasks, not just civil engineering work, and in recent years, technologies have been developed to reduce the number of operations that operators must perform, with the aim of reducing the burden on operators and improving the working environment. One such technology is a technology that calculates the optimal bucket tip trajectory for a hydraulic excavator in order to efficiently perform a certain task (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-020153 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when a work machine performs work by moving between multiple locations, work efficiency is affected not only by the most efficient trajectory for movement between each location, but also by how long it takes from the end of one task to the start of the next.

[0005] The present invention has been made based on the above-mentioned circumstances, and has as its object to provide a target path calculation device for a work machine that moves between multiple points to perform work, and that can calculate a target path that shortens the time it takes from completing one task to moving to the next point and starting work there. [Means for solving the problem]

[0006] In order to achieve the above object, the target path calculation device for a work machine of the present invention comprises a vehicle body having an upper rotating body and a lower traveling body, a rotating device that rotates the upper rotating body relative to the lower traveling body, and a traveling device that moves the position of the vehicle body, and is capable of independently controlling the orientation and position of the vehicle body by the rotating device and the traveling device, and calculates a target path for a work machine that moves between a plurality of work points to perform work, and the target path calculation device is capable of setting a work range, which is an area within which work can be performed by the work machine, for each of the plurality of work points, and calculates a target path connecting a point within the work range where the predetermined work is performed and a point within the work range for the next work to be performed, based on the travel time, which is the time it takes for the work machine to move using the traveling device, when moving from the work point where a predetermined work is performed to the work point where a next work is to be performed, and the swing time, which is the time it takes for the work machine to adjust the orientation of the upper rotating body using the swing device at the work point after movement. Among routes connecting a point within the work area where the predetermined work is performed and a point within the work area of ​​the next work to be performed, the shortest time route in which the maximum values ​​of the travel time and the turning time within the work area of ​​the next work to be performed are minimized is defined as the target route. do. [Effects of the Invention]

[0007] According to the present invention, a route is selected taking into consideration the time required for movement and turning, so the time required from completing one task to moving to the next location and starting the next task is shortened, thereby increasing the efficiency of the entire task.

[0008] Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view showing a configuration of a hydraulic excavator according to a first embodiment. [Figure 2A] FIG. 1 is a side view of a hydraulic excavator according to a first embodiment. [Figure 2B] FIG. 1 is a top view of a hydraulic excavator according to a first embodiment. [Figure 3] FIG. 1 is a configuration diagram of a control system for a hydraulic excavator according to a first embodiment. [Figure 4]FIG. 2 is a detailed configuration diagram of the solenoid valve unit according to the first embodiment. [Figure 5] FIG. 2 is a detailed configuration diagram of the solenoid valve unit according to the first embodiment. [Figure 6] FIG. 2 is a hardware configuration diagram of a controller of the hydraulic excavator according to the first embodiment. [Figure 7] FIG. 2 is a functional block diagram of a controller according to the first embodiment. [Figure 8] FIG. 3 is a functional block diagram of a target motion calculation unit in the first embodiment. [Figure 9] FIG. 2 is an explanatory diagram of a task that is a target of an automatic operation in the first embodiment. [Figure 10] FIG. 2 is an explanatory diagram of the subdivision of work to be automated and the conditions for transition in the first embodiment. [Figure 11] FIG. 3 is an explanatory diagram of a coordinate setting method according to the first embodiment. [Figure 12] FIG. 4 is an explanatory diagram of a method for setting a trajectory during initial adjustment work in the first embodiment. [Figure 13] FIG. 10 is an explanatory diagram of how each point is represented during movement operation 1 in the first embodiment. [Figure 14] FIG. 4 is an explanatory diagram of an example of changes in moving time, turning time, and working time in the first embodiment. [Figure 15] FIG. 4 is an explanatory diagram of an example of changes in moving time, turning time, and working time in the first embodiment. [Figure 16] FIG. 10 is an explanatory diagram of candidate points for a target point in a modified example of the first embodiment. [Figure 17] FIG. 4 is a perspective view showing the configuration of a hydraulic excavator according to a second embodiment. [Figure 18] FIG. 10 is a hardware configuration diagram of a controller of a hydraulic excavator according to a second embodiment. [Figure 19] FIG. 10 is a functional block diagram of a controller according to a second embodiment. [Figure 20] FIG. 10 is a functional block diagram of a target motion calculation unit according to a second embodiment. [Figure 21] FIG. 10 is an explanatory diagram of an example of a monitor display in the second embodiment. [Figure 22]FIG. 10 is an explanatory diagram illustrating an example of the configuration of a remote control system according to a modified example of the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In each drawing, parts having the same function are given the same reference numerals, and repeated description may be omitted. In the following description, a hydraulic excavator equipped with a bucket 10 as a working implement (attachment) at the tip of a working device will be exemplified, but the present invention can also be applied to hydraulic excavators equipped with working implements other than buckets, construction machines other than hydraulic excavators, etc.

[0011] In the following explanation of this paper, when there are multiple identical components, an alphabet may be added to the end of the reference number (number), but the alphabet may be omitted to refer to the multiple components collectively. For example, when there are one travel hydraulic motor 3a and one travel hydraulic motor 3b on the left and one on the right (right travel hydraulic motor 3a and left travel hydraulic motor 3b), these may be collectively referred to as travel hydraulic motors 3.

[0012] [First embodiment] <Hydraulic excavator configuration> The configuration of the hydraulic excavator in the first embodiment will be described with reference to FIG. 1 and FIGS. 2A and 2B.

[0013] 1 is a perspective view showing the configuration of a hydraulic excavator 1 according to a first embodiment. The hydraulic excavator 1 includes an articulated front working implement 1A, a vehicle body 1B, and a controller (not shown in FIG. 1).

[0014] The front working implement 1A has a boom cylinder 5, an arm cylinder 6, a bucket cylinder 7, a boom 8, an arm 9, a bucket 10, a bucket link 13, a boom angle sensor 30, an arm angle sensor 31, and a bucket angle sensor 32. The boom 8, the arm 9, and the bucket 10 are multiple driven members that each rotate in the vertical direction, and the front working implement 1A is formed by connecting these together.

[0015] The vehicle body 1B has a lower traveling body 11 and an upper rotating body 12. The lower traveling body 11 travels by being driven by a pair of left and right traveling hydraulic motors 3a (see FIG. 3, etc.) and 3b. The upper rotating body 12 is attached on top of the lower traveling body 11 and is configured to be able to rotate.

[0016] The base end of the boom 8 is rotatably supported via a boom pin at the front of the upper rotating body 12. An arm 9 is rotatably connected to the tip of the boom 8 via an arm pin. A bucket 10 is rotatably connected to the tip of the arm 9 via a bucket pin. The boom 8 is driven by a boom cylinder 5, the arm 9 is driven by an arm cylinder 6, and the bucket 10 is driven by a bucket cylinder 7.

[0017] Fig. 2A is a side view of the hydraulic excavator 1. As shown in Fig. 2A, when the X axis is defined parallel to the longitudinal direction of the lower traveling structure 11 and the Z axis is defined perpendicular to the X axis, the rotation angle of the boom 8 is defined as α, the rotation angle of the arm 9 is defined as β, and the rotation angle of the bucket 10 is defined as γ. The inclination angle of the upper rotating structure 12 (vehicle body 1B) with respect to a reference plane (for example, a horizontal plane) is defined as φ. The tip of the bucket 10 is defined as P.

[0018] Fig. 2B is a top view of the hydraulic excavator 1. As shown in Fig. 2B, the relative angle between the upper rotating body 12 and the lower traveling body 11 is set to θ.

[0019] Returning to the explanation of Figure 1, boom angle sensor 30 is attached to the boom pin so as to be able to measure the rotation angle α of boom 8. Arm angle sensor 31 is attached to the arm pin so as to be able to measure the rotation angle β of arm 9. Bucket angle sensor 32 is attached to bucket link 13 so as to be able to measure the rotation angle γ of bucket 10. Note that angle sensors 30, 31, and 32 can each be replaced with an angle sensor relative to a reference plane (for example, a horizontal plane).

[0020] The upper swing body 12 has a cab 120, a hydraulic pump 2, a swing hydraulic motor 4, an engine 18, a vehicle body tilt angle sensor 33, a swing angle sensor 34, a tank 200, and GNSSs 800a and 800b. The cab 120 is provided with a right operating lever 22a, a left operating lever 22b, a right traveling lever 23a, a left traveling lever 23b, an engine speed setting device 480, and a control state changeover switch 670. Hereinafter, in this specification, the right operating lever 22a and the left operating lever 22b may be referred to as operating devices 22, and the right traveling lever 23a and the left traveling lever 23b may be referred to as operating devices 23.

[0021] The swing hydraulic motor 4 swings the upper swing body 12. Herein, in this specification, the traveling hydraulic motors 3a and 3b, the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 may be collectively referred to as "actuators."

[0022] The vehicle body tilt angle sensor 33 is attached to an arbitrary position of the upper rotating body 12 and detects the tilt angle φ of the upper rotating body 12 (vehicle body 1B) with respect to a reference plane (for example, a horizontal plane). The swing angle sensor 34 is provided on the swing center axis of the upper rotating body 12 and measures the relative angle θ between the upper rotating body 12 and the lower traveling body 11.

[0023] The engine 18 is a prime mover, and drives the hydraulic pump 2 and a pilot pump, which will be described later. The engine speed setting device 480 is a device for setting the speed of the engine 18. The engine speed setting device 480 is a dial-type variable resistor, and the voltage output from the engine speed setting device 480 varies with dial operation.

[0024] The control state changeover switch 670 is a switch for changing the control state of the hydraulic excavator 1. In this embodiment, when the switch signal output from the control state changeover switch 670 is on, it is possible to change to an automatic control state in which the excavator operates based on a preset operation instruction (target operation) without depending on the operation of the operation devices 22, 23, and when the switch signal is off, it is possible to change to a manual control state in which the excavator operates by operating the operation devices 22, 23.

[0025] GNSS 800a and 800b are satellite positioning systems, and the position information obtained by the two GNSSs is transmitted to the controller.

[0026] The above is the configuration of the hydraulic excavator 1 in the first embodiment.

[0027] <Configuration of hydraulic excavator control system> Next, the configuration of the control system for the hydraulic excavator in the first embodiment will be described with reference to FIG.

[0028] Fig. 3 is a configuration diagram showing the configuration of a control system for the hydraulic excavator 1. As shown in Fig. 3, the control system for the hydraulic excavator 1 includes hydraulic pumps 2a and 2b, flow control valves 15a to 15f, load detection devices 16a to 16l, an engine 18, regulators 2aa and 2ba, a right operating lever 22a and a left operating lever 22b (operating device 22), a right traveling lever 23a and a left traveling lever 23b (operating device 23), a gate lock lever (not shown), a lock valve 39, a control controller (also simply referred to as a controller) 40 as a control device, operating devices 45a and 45b, operating devices 46a and 46b, operating devices 47a and 47b, a pilot pump 48, a pump line 143, pilot lines 144a to 149b, hydraulic drive units 150a to 155b, a solenoid valve unit 160, a tank 200, an engine controller 470, and an engine speed detection device 490.

[0029] The operating devices 22 and 23 and the gate lock lever are provided in the operator's cab 120 and are operated by the operator. The operating devices 22 and 23 are of an electric lever type and generate electric signals corresponding to the amount and direction of operation by the operator. The electric signals thus generated are input to the controller 40 via the operating devices 45a to 47b. The controller 40 outputs electric signals to the solenoid valve unit 160 to drive the solenoid proportional valves corresponding to the operations input to the operating devices 22 and 23.

[0030] The operating devices 45a to 47b are provided in the operator's cab 120. The operating device 47a is connected to the right traveling lever 23a and outputs a signal to the controller 40 to operate the right traveling hydraulic motor 3a. The operating device 47b is connected to the left traveling lever 23b and outputs a signal to the controller 40 to operate the left traveling hydraulic motor 3b. The operating devices 45a and 46a are connected to a common right operating lever 22a and output signals to the controller 40 to operate the boom cylinder 5 and the bucket cylinder 7. The operating devices 45b and 46b are connected to a common left operating lever 22b and output signals to the controller 40 to operate the arm cylinder 6 and the swing hydraulic motor 4.

[0031] The engine 18 drives hydraulic pumps 2a and 2b and a pilot pump 48. The hydraulic pumps 2a and 2b are variable displacement pumps whose displacements are controlled by regulators 2aa and 2ba, respectively. The pilot pump 48 is a fixed displacement pump. An engine controller 470 controls the rotation speed and other parameters of the engine 18 in accordance with a control signal from the controller 40. An engine rotation speed detection device 490 is a rotation sensor for detecting the rotation speed of the engine 18.

[0032] The hydraulic pump 2 and the pilot pump 48 draw hydraulic oil from the tank 200. In this embodiment, a control signal output from the controller 40 is input to the regulators 2aa and 2ba. Although detailed configurations of the regulators 2aa and 2ba are omitted, the discharge flow rates of the hydraulic pumps 2a and 2b are controlled in response to the control signal.

[0033] The pressure oil discharged from the hydraulic pump 2 is supplied to the boom cylinder 5 via flow control valve 15a, to the arm cylinder 6 via flow control valve 15b, to the bucket cylinder 7 via flow control valve 15c, to the swing hydraulic motor 4 via flow control valve 15d, to the right traveling hydraulic motor 3a via flow control valve 15e, and to the left traveling hydraulic motor 3b via flow control valve 15f. The supplied pressure oil causes the boom cylinder 5, arm cylinder 6, and bucket cylinder 7 to extend and retract, thereby rotating the boom 8, arm 9, and bucket 10, respectively, and changing the position and attitude of the bucket 10. The supplied pressure oil also rotates the swing hydraulic motor 4, causing the upper swing structure 12 to swing relative to the lower traveling structure 11. The supplied pressure oil then rotates the right traveling hydraulic motor 3a and the left traveling hydraulic motor 3b, causing the lower traveling structure 11 to travel.

[0034] In order to detect cylinder pressure (also referred to as actuator pressure), the boom cylinder 5 is provided with load detectors 16a and 16b, the arm cylinder 6 is provided with load detectors 16c and 16d, and the bucket cylinder 7 is provided with load detectors 16e and 16f. In this embodiment, the load detectors 16a to 16f are pressure sensors that detect the pressure on the bottom side and the pressure on the rod side of each of the boom cylinder 5, arm cylinder 6, and bucket cylinder 7, and output the results as electrical signals to the controller 40. In addition, the right traveling hydraulic motor 3a is provided with load detectors 16g and 16h, the left traveling hydraulic motor 3b is provided with load detectors 16i and 16j, and the swing hydraulic motor 4 is provided with load detectors 16k and 16l. In this embodiment, the load detectors 16g to 16l are pressure sensors that detect the pressure in the input / output lines of each of the right traveling hydraulic motor 3a, the left traveling hydraulic motor 3b, and the swing hydraulic motor 4, and output the results as electrical signals to the controller 40. In FIG. 3, due to space limitations, the connection lines from the load detectors 16a to 16l to the controller 40 are not shown.

[0035] The pump line 143 is the discharge pipe of the pilot pump 48. After passing through the lock valve 39, it is connected to each electromagnetic proportional valve in the solenoid valve unit 160. In this embodiment, the lock valve 39 is a solenoid-operated directional control valve, and its electromagnetic driver is electrically connected to a gate lock lever position detector. The gate lock lever has a rotation center, allowing an operator to manually rotate it. The gate lock lever can be configured to rotate, for example, from an angle at which it contacts the upper limit stopper to an angle at which it contacts the lower limit stopper. The position detector is a switch sensor, and can be configured so that the switch is pressed by the gate lock lever simultaneously when it contacts the lower limit stopper. This allows the position detector to output a signal to the lock valve 39 according to the position of the gate lock lever. When the gate lock lever is in the locked position, the lock valve 39 closes, blocking the pump line 143. When the gate lock lever is in the unlocked position, the lock valve 39 opens, opening the pump line 143. In other words, when the pump line 143 is cut off, operations by the operating devices 22 and 23 are disabled, and operations such as traveling, turning, and excavation are prohibited.

[0036] The above is the configuration of the control system of the hydraulic excavator 1 in the first embodiment.

[0037] <Configuration of solenoid valve unit in hydraulic excavator control system> Next, the detailed configuration of the solenoid valve unit 160 in FIG. 3 will be described with reference to FIGS.

[0038] 4 and 5 are diagrams showing the detailed configuration of the solenoid valve unit 160. The primary port side of the solenoid valve unit 160 is connected to the pilot pump 48 via the pump line 143. The solenoid valve unit 160 has solenoid proportional valves 54a to 59b that reduce the pilot pressure from the pilot pump 48 and output it to pilot lines 144a to 149b. The solenoid proportional valves 54a to 59b are used as control signals that drive the flow control valves 15a to 15f in accordance with input electrical signals.

[0039] 4, the electromagnetic proportional valves 54a and 54b are connected to hydraulic actuators 150a and 150b of the flow control valve 15a via pilot lines 144a and 144b. The electromagnetic proportional valves 55a and 55b are connected to hydraulic actuators 151a and 151b of the flow control valve 15b via pilot lines 145a and 145b. The electromagnetic proportional valves 56a and 56b are connected to hydraulic actuators 152a and 152b of the flow control valve 15c via pilot lines 146a and 146b.

[0040] 5, the electromagnetic proportional valves 57a and 57b are connected to hydraulic actuators 153a and 153b of the flow control valve 15d via pilot lines 147a and 147b. The electromagnetic proportional valves 58a and 58b are connected to hydraulic actuators 154a and 154b of the flow control valve 15e via pilot lines 148a and 148b. The electromagnetic proportional valves 59a and 59b are connected to hydraulic actuators 155a and 155b of the flow control valve 15f via pilot lines 149a and 149b.

[0041] The electromagnetic proportional valves 54a to 59b have a minimum opening when not energized, and the opening increases as the current, which is a control signal from the controller 40, increases. In this way, the opening of each of the electromagnetic proportional valves 54a to 59b corresponds to the control signal from the controller 40.

[0042] By outputting a control signal from the controller 40 to the solenoid valve unit 160 to drive the solenoid proportional valves 54a to 59b, pilot pressure can be generated even when the corresponding operating devices 22 and 23 are not operated by the operator, so that the operation of each actuator can be forced to occur.

[0043] The above is the detailed configuration of the solenoid valve unit 160 in FIG.

[0044] <Controller hardware configuration> Next, the hardware configuration of the controller of the hydraulic excavator in the first embodiment will be described with reference to FIG.

[0045] Fig. 6 is a hardware configuration diagram of the controller 40. As shown in Fig. 6, the controller 40 is a computer device, and includes an input unit 91, a central processing unit (CPU) 92 which is a processor, a read-only memory (ROM) 93, a random access memory (RAM) 94, and an output unit 95.

[0046] The control system shown in Fig. 6 includes operation devices 22 and 23 connected to a controller 40 (control device), a posture detection device 50, an engine speed setting device 480, a control state changeover switch 670, a position measurement device 800, an engine controller 470, and solenoid proportional valves 54 to 59. The posture detection device 50 is made up of the boom angle sensor 30, arm angle sensor 31, bucket angle sensor 32, vehicle body inclination angle sensor 33, and swing angle sensor 34 described above. These angle sensors 30, 31, 32, and 33 function as posture sensors for the front working implement 1A. The position measurement device 800 is made up of the GNSSs 800a and 800b described above.

[0047] The input unit 91 receives a signal from the attitude detection device 50, a signal indicating the amount of operation from the operation devices 22 and 23, a signal from the engine speed setting device 480, a signal from the control state changeover switch 670, and a signal from the position measurement device 800, and converts these signals so that the CPU 92 can perform calculations. The ROM 93 is a recording medium that stores a control program for executing the control content described below and various information necessary for executing control calculations. The CPU 92 performs predetermined calculations on the signals received from the input unit 91, ROM 93, and RAM 94 in accordance with the control program stored in the ROM 93. The output unit 95 generates an output signal according to the calculation result of the CPU 92, and outputs the signal to the engine controller 470 and the solenoid proportional valves 54a to 59b, thereby controlling the operation of the engine 18 and each actuator.

[0048] Although the controller 40 in FIG. 6 includes semiconductor memories such as ROM 93 and RAM 94 as storage devices, these may be replaced with other types of storage devices, such as a magnetic storage device such as a hard disk drive.

[0049] The above is the hardware configuration of the controller of the hydraulic excavator 1 in the first embodiment.

[0050] <Controller functions> Next, the function of the controller 40 in the first embodiment will be described with reference to FIG.

[0051] 7 is a functional block diagram of the controller in the first embodiment. The controller 40 includes, as functional modules implemented by the CPU 92 executing a control program, a control state transition determination unit 40a, a target operation calculation unit 40b, a target engine speed calculation unit 40c, and an electromagnetic proportional valve control unit 40d.

[0052] The control state transition determination unit 40a receives a switch signal, which is a signal transmitted from the control state changeover switch 670 and converted by the input unit 91, and calculates control state information M(t) based on this information. Then, the control state transition determination unit 40a transmits the control state information M(t) to the target action calculation unit 40b. In this embodiment, the control state information M(t) is a signal expressed as 0 or 1, where 1 indicates an automatic control state and 0 indicates a manual control state. In this embodiment, if the switch signal indicates on, the control state transition determination unit 40a sets the control state information M(t) to 1, and if the switch signal indicates off, the control state transition determination unit 40a sets the control state information M(t) to 0.

[0053] The target movement calculation unit 40b receives control state information M(t), which is a signal transmitted from the control state transition determination unit 40a, operation amount information, which is a signal obtained by converting, by the input unit 91, electrical signals corresponding to the amount and direction of operation by the operator transmitted from the operation devices 22 and 23, attitude information, which is a signal transmitted from the attitude detection device 50 and converted by the input unit 91, and position information, which is a signal transmitted from the position measurement device 800 and converted by the input unit 91, and calculates a target actuator speed V(t) based on these pieces of information. Then, the target movement calculation unit 40b transmits the target actuator speed V(t) to the solenoid proportional valve control unit 40d.

[0054] The electromagnetic proportional valve control unit 40d transmits control command values ​​for the corresponding electromagnetic proportional valves 54 to 59 to the output unit 95 in accordance with the target actuator speed V(t) output from the target motion calculation unit 40b. These control command values ​​are converted into appropriate signals from the output unit 95 and output to the electromagnetic proportional valves 54 to 59.

[0055] The target engine speed calculation unit 40c receives an engine speed setting signal, which is a signal obtained by converting the voltage value output from the engine speed setting device 480 and read by the controller 40 at the input unit 91, and calculates the target engine speed. The target engine speed calculation unit 40c then transmits the target engine speed to the output unit 95. The engine speed setting signal is a voltage value. The target engine speed calculation unit 40c inputs the voltage value information into a voltage-target engine speed table, and sets the output as the target engine speed. This target engine speed is converted into an appropriate signal from the output unit 95 and output to the engine controller 470.

[0056] The above is the function of the controller 40 in the first embodiment.

[0057] <Functions of the target movement calculation unit> Next, the function of the desired motion calculation unit in the first embodiment will be described with reference to FIG.

[0058] Fig. 8 is a functional block diagram of the target movement calculation unit 40b in the first embodiment. As shown in Fig. 8, the target movement calculation unit 40b has an automatic control task determination unit 40b-1, an automatic control target movement calculation unit 40b-2, a target trajectory calculation unit 40b-3, a manual control target movement calculation unit 40b-4, a target movement selection unit 40b-5, and a numerical value storage unit 40b-10.

[0059] The automatic control work determination unit 40b-1 receives the control state information M(t), the target trajectory P(t-Δt), posture information, and position information transmitted from the numerical value storage unit 40b-10, and calculates the current work number N(t) (see FIG. 10 for details).The automatic control work determination unit 40b-1 then transmits the current work number N(t) to the automatic control target motion calculation unit 40b-2 and the target trajectory calculation unit 40b-3.

[0060] The automatic control target movement calculation unit 40b-2 receives the current movement number N(t), posture information, position information, and a target trajectory P(t) from the automatic control movement determination unit 40b-1, and calculates a target actuator speed Vat(t). The automatic control target movement calculation unit 40b-2 then transmits the information on the target actuator speed Vat(t) to the target movement selection unit 40b-5.

[0061] The ROM 93 stores target movements of the hydraulic excavator 1, such as target angles of the boom 8, arm 9, and bucket 10 for each task and a target trajectory of the tip P of the bucket 10. The automatic control target movement calculation unit 40b-2 performs feedback control using attitude information and position information as input so that the actual movement coincides with these target movements and target trajectories.

[0062] In this embodiment, the information transmitted and received as the target trajectory P(t) includes the coordinates Ps(t) of the start point of the trajectory and the coordinates Pe(t) of the end point of the trajectory, and the trajectory between them is represented by a straight line. The information transmitted and received as the target trajectory P(t) also includes the target relative angle θp(t).

[0063] The target trajectory calculation unit 40b-3 receives the current task number N(t), posture information, and position information from the automatic control task determination unit 40b-1, and calculates the target trajectory P(t). The target trajectory calculation unit 40b-3 then transmits the target trajectory P(t) to the automatic control target motion calculation unit 40b-2 and the numerical value storage unit 40b-10.

[0064] The manual control target movement calculation unit 40b-4 receives the manipulated variable information and calculates the target actuator speed Vmt(t). Then, the manual control target movement calculation unit 40b-4 transmits the information on the target actuator speed Vmt(t) to the target movement selection unit 40b-5. Here, the manipulated variable information is angle information of each lever. The manual control target movement calculation unit 40b-4 inputs the angle information of each lever into an angle-target actuator speed table, and sets the output as the target actuator speed Vmt(t), which is the target speed of each actuator.

[0065] The target movement selection section 40b-5 receives the control state information M(t) and the target actuator speeds Vat(t) and Vmt(t), and calculates the final target actuator speed V(t). Specifically, if the control state information M(t) is 1, the target actuator speed Vat(t) is set as the final target actuator speed V(t), and if the control state information M(t) is 0, the target actuator speed Vmt(t) is set as the final target actuator speed V(t). This target actuator speed V(t) is the output of the target movement calculation section 40b.

[0066] The numerical value holding unit 40b-10 receives the target trajectory P(t) from the target trajectory calculation unit 40b-3, and outputs the value to the automatic control operation determination unit 40b-1 in the next control cycle.

[0067] The above is the function of the target movement calculation unit 40b in Embodiment 1. The controller 40 in this embodiment has the target trajectory calculation unit 40b-3 of the target movement calculation unit 40b described above as a functional module, and therefore functions as a target path calculation device that calculates the target trajectory (target path) P(t) of the hydraulic excavator 1.

[0068] <Types of work and transition conditions> Next, the types of tasks that are the targets of automatic operations and the conditions for transitions in the first embodiment will be described with reference to FIGS. 9 and 10. FIG.

[0069] In this embodiment, the task of digging up soil at work point A and dropping the soil at work point B is automatically repeated. The positional relationship between work point A and work point B when viewed from above is shown in FIG. 9.

[0070] When excavating at work point A, vehicle body 1B performs the work on the circumference of work range AA shown in Fig. 9. When removing soil at work point B, vehicle body 1B performs the work on the circumference of work range AB shown in Fig. 9. The radii of these circles are set so as to correspond to, for example, the distance at the work point where the excavation force is greatest or the distance at which vehicle body 1B is most stable.

[0071] In this embodiment, the distance between work point A and work point B is represented as L, the radius of work area AA is represented as r1, and the radius of work area AB is represented as r2.

[0072] Figure 10 shows the conditions for task subdivision and transition in the first embodiment. The automatic control task determination unit 40b-1 determines the current task based on the conditions shown in Figure 10. The task number in the leftmost column in Figure 10 is output as the current task number N(t).

[0073] Work number 0 represents initial adjustment work. This is work in which the vehicle body 1B moves from the point where it entered the automatic control state to a point on the circumference of the work range AA, and the orientation of the upper rotating body 12 is aligned with the direction of work point A. This work is carried out until the position of the vehicle body 1B coincides with the coordinate Pe(t) of the end point of the target trajectory P(t), and the relative angle θ between the upper rotating body 12 and the lower running body 11 coincides with the target relative angle θp(t). When this condition is met, the automatic control work determination unit 40b-1 sets the work number to 1.

[0074] Work number 1 represents an excavation work. This is work to excavate soil at work point A. This work is carried out until the boom 8, arm 9, and bucket 10 match their respective target angles stored in ROM 93. If this condition is met, the automatic control work determination unit 40b-1 sets the work number to 2.

[0075] Work number 2 represents movement work 1. This is work to move the vehicle body 1B, which is located at a point on the circumference of the work range AA, to a point on the circumference of the work range AB, and align the orientation of the upper rotating body 12 with the direction of work point B. This work is carried out until the position of the vehicle body 1B matches the coordinate Pe(t) of the end point of the target trajectory P(t), and the relative angle θ between the upper rotating body 12 and the lower running body 11 matches the target relative angle θp(t). When these conditions are met, the automatic control work determination unit 40b-1 sets the work number to 3.

[0076] Work number 3 represents soil removal work, which involves removing soil at work point B. This work is carried out until the boom 8, arm 9, and bucket 10 match their respective target angles stored in ROM 93. If this condition is met, the automatic control work determination unit 40b-1 sets the work number to 4.

[0077] Work number 4 represents movement work 2. This is work in which the vehicle body 1B, which is at a point on the circumference of the work range AB, moves to a point on the circumference of the work range AA, and the orientation of the upper rotating body 12 is aligned with the direction of work point A. This work is carried out until the position of the vehicle body 1B coincides with the coordinate Pe(t) of the end point of the target trajectory P(t), and the relative angle θ between the upper rotating body 12 and the lower running body 11 coincides with the target relative angle θp(t). When this condition is met, the automatic control work determination unit 40b-1 sets the work number to 1.

[0078] If none of the operation numbers satisfies the conditions for transitioning to the next operation number, the operation number at that time is maintained.

[0079] The above are the types of tasks that are the targets of automatic operations and the conditions for transition in the first embodiment.

[0080] <How to set coordinates> The coordinates in the first embodiment are set as shown in FIG.

[0081] In this embodiment, a Cartesian coordinate system is used in which work point A is the coordinate origin, the straight line connecting work point A and work point B is the x-axis, the straight line perpendicular to that line and passing through work point A is the y-axis, and the vertical line passing through work point A is the z-axis.

[0082] Although the z-axis is set, the z-coordinate is not used in this embodiment, and therefore, further explanation of the z-axis and z-coordinate will be omitted.

[0083] <How to plan your trajectory> Next, a method for calculating (planning) a trajectory executed by the target trajectory calculation unit 40b-3 (FIG. 8) will be described with reference to FIGS. 12 and 13. Note that a description of excavation work and earth removal work that do not involve movement or rotation will be omitted.

[0084] First, a method for setting a trajectory during the initial adjustment work will be described with reference to Fig. 12. At the time when the initial adjustment work is started, the vehicle body 1B is assumed to be at the initial point in Fig. 12, and its coordinates are (x i ,y i )

[0085] At this time, the target trajectory calculation unit 40b-3 calculates θ0, which is the angle between the x-axis and the line connecting the work point A and the initial point. Then, the coordinates (r1×cos(θ0), r1×sin(θ0)) of the intersection of the circle of the work range AA and the line connecting the origin and the initial point are set as the coordinate Pe(t) of the end point of the target trajectory P(t). In other words, the coordinate on the circumference of the work range AA that is closest to the position of the vehicle body 1B at the time the initial adjustment work started (initial point) is set as the coordinate Pe(t) of the end point of the target trajectory P(t).

[0086] The above is the method for setting the locus during the initial adjustment work.

[0087] Next, a method for setting a trajectory during moving operation 1 will be described with reference to FIG.

[0088] FIG. 13 shows how each point is represented during moving operation 1 in the first embodiment.

[0089] Here, the point where vehicle body 1B is located when moving operation 1 begins is expressed in coordinates. In this case, the angle between the x-axis and the line connecting the point where vehicle body 1B is located and work point A is expressed as θ1. In this way, vehicle body 1B is located on the circumference of the work area AA, so its coordinates can be expressed as (r1×cos(θ1), r1×sin(θ1)). The target trajectory calculation unit 40b-3 sets this point as the coordinate Ps(t) of the start point of the trajectory.

[0090] Additionally, points on the circumference of the work area AB are also expressed in coordinates. In this case, the angle between the x-axis and the line connecting the points on the circumference of the work area AB and work point B is expressed as θ2. In this way, the coordinates of the points on the circumference of the work area AB can be expressed as (L+r2×cos(θ2),r2×sin(θ2)).

[0091] Next, the minimum value of the travel time required to move between the starting point (Ps(t)) of the trajectory on the circumference of the working range AA and a point on the circumference of the working range AB, and the minimum value of the rotation time required for the upper rotating body 12 to rotate are calculated.

[0092] In this embodiment, the moving speed of the vehicle body 1B moving straight ahead by the driving of the traveling hydraulic motors 3a and 3b is V, and the turning angular velocity of the vehicle body 1B turning by the driving of the swing hydraulic motor 4 is ω. In this embodiment, acceleration and angular acceleration are not taken into consideration. In addition, in this embodiment, the traveling hydraulic motors 3a and 3b and the swing hydraulic motor 4 operate independently, so that the position and orientation of the vehicle body 1B can be controlled independently, and under such a configuration, work is performed while moving to multiple work locations.

[0093] The distance between the starting point Ps(t) of the trajectory and the point on the circumference of the working range AB (vehicle travel distance) r T can be expressed as the following equation (1) using the above coordinates. [Number 1] TIFF0007765316000001.tif10157

[0094] This reduces the travel time T T is r T and V, it can be expressed as the following equation (2). [Number 2] TIFF0007765316000002.tif13156

[0095] The angle at which the upper rotating body 12 should rotate (swinging operation angle) θ S can be expressed as the following equation (3). Here, min(a, b) indicates the "minimum value of a and b." This is because if the absolute value of the difference between θ2 and θ1 is 180 degrees or greater, the turning direction should be reversed. [Number 3] TIFF0007765316000003.tif12157

[0096] This reduces the turning time T S can be expressed as the following equation (4). [Number 4] TIFF0007765316000004.tif14157

[0097] Finally, in the following equation (5), the travel time T T and turning time T S This value is the working time T that is required for the vehicle body 1B to move from the starting point Ps(t) of the trajectory to a point on the circumference of the working range AB and for the front working implement 1A to turn in the direction of the working point B. P In this case, the work time T P is a function of θ2. [Number 5] TIFF0007765316000005.tif12157

[0098] The target trajectory calculation unit 40b-3 calculates the work time T P is the θ2 that minimizes OPTis searched within the range of 0 to 360 degrees (i.e., from a point on the circumference of the work area AB). Then, the coordinates (L+r2×cos(θ OPT ),r2×sin(θ OPT )) is set to the coordinate Pe(t) of the end point of the target trajectory P(t).

[0099] That is, in this embodiment, the travel time T T (the time required to move by driving the traveling hydraulic motors 3a and 3b) and the turning time T S (the time required to adjust the direction of the upper swing body 12 by driving the swing hydraulic motor 4) is calculated, and the maximum value of the working time T P Then, the travel time T T and turning time T S The maximum value of (travel time T T and turning time T S The work time T is determined by the larger value of P The shortest time path that minimizes is set as the target trajectory (target path) P(t) within the working range AB.

[0100] This is how to set the trajectory for movement task 1.

[0101] Next, a method for setting the trajectory during movement operation 2 will be described.

[0102] At this time, the target trajectory calculation unit 40b-3 sets the coordinates (L+r2×cos(θ2),r2×sin(θ2)) of the point where the vehicle body 1B is located at the start of moving work 2 as the coordinates Ps(t) of the starting point of the trajectory. Then, the work time T P is the θ1 that minimizes OPT is searched within the range of 0 to 360 degrees (i.e., from a point on the circumference of the working area AA). Then, the coordinate (r1 × cos(θ OPT ),r1×sin(θ OPT )) is set to the coordinate Pe(t) of the end point of the target trajectory P(t).

[0103] The above is how to set the trajectory for movement task 2.

[0104] Next, the effects of the present invention will be described with reference to FIGS.

[0105] Figures 14 and 15 show the movement time T T and turning time T S and working time T P In each graph, the horizontal axis represents θ2 and the vertical axis represents time. The dashed line represents the travel time T T The dashed line indicates the turning time T S The solid line indicates the working time T P are shown, respectively.

[0106] In the case of Figure 14, the travel time T T Graph and turning time T S There is no intersection on the graph of T The graph of is higher in value. This shows that for any θ2, the turning operation finishes first, and the movement finishes afterwards. In other words, the working time T P is shortest when travel time T T Therefore, the travel time T T The θ2 that minimizes is θ OPT This allows the time required for the movement task 1 to be minimized.

[0107] On the other hand, in the case of Figure 15, the travel time T T Graph and turning time T S There is an intersection on the graph of T is smaller than the turning time T S This indicates that there are areas where the turning operation finishes first and the moving operation finishes afterwards, and conversely, there are areas where the moving operation finishes first and the turning operation finishes afterwards. In this case, the working time T PIn this embodiment, the intersection of the graph where the work time T P The smaller one is selected, and θ2 at that time is θ OPT This allows the time required for the movement task 1 to be minimized.

[0108] <Advantages of the First Embodiment> As described above, the hydraulic excavator (work machine) 1 of this embodiment comprises a vehicle body 1B having an upper rotating body 12 and a lower running body 11, a swing hydraulic motor 4 (swing device) that can rotate the upper rotating body 12 relative to the lower running body 11 to control the relative angle between the upper rotating body 12 and the lower running body 11, and a traveling hydraulic motor 3 (traveling device) that moves the position of the vehicle body 1B, and the orientation and position of the vehicle body 1B can be controlled independently by the swing hydraulic motor 4 (swing device) and the traveling hydraulic motor 3 (traveling device), and the vehicle body 1B can move to multiple work points and work at each location. The controller 40, which serves as a target path calculation device for calculating a target path for the hydraulic excavator (work machine) 1, can set a work range, which is a range within which work can be performed by the hydraulic excavator (work machine) 1, for each of the plurality of work locations, and can calculate a travel time T, which is the time it takes for the hydraulic excavator (work machine) 1 to travel by the traveling hydraulic motor 3 (travel device) when moving from a work location where a predetermined work is to be performed to a work location where the next work is to be performed. T and a swing time T which is the time required for the swing hydraulic motor 4 (swing device) to adjust the orientation of the upper swing body 12 (from the predetermined task to the next task) at the work point after movement. S Based on the above, a target route is calculated that connects a point within the work area where the predetermined work is to be performed and a point within the work area where the next work is to be performed.

[0109] The controller (target path calculation device) 40 calculates the travel time T T and the turning time T S Maximum value of (= working time TP The shortest time route for which the above-mentioned time difference (time required for the next task) is smallest within the task range of the next task is set as the target route.

[0110] According to this embodiment, the route that minimizes the maximum values ​​of the time required for movement and the time required for turning among the points in the work area where the next work should be performed is selected as the target route (target trajectory), thereby shortening the time from completing one work to moving to the next point and starting work, thereby increasing the efficiency of the entire work.

[0111] In the first embodiment, acceleration and angular acceleration may be taken into consideration. In addition, the time required for the lower traveling body 11 to face the traveling direction after the excavation work (in other words, the lower traveling body turning time for matching the orientation of the lower traveling body 11 to the direction in which the vehicle body 1B moves) is defined as the travel time T T This lower traveling body turning time can be calculated based on the lower traveling body turning angle, which is the angle at which the vehicle body 1B turns by (driving) the traveling hydraulic motor 3, and the traveling turning angular velocity, which is the angular velocity at which the vehicle body 1B turns by (driving) the traveling hydraulic motor 3. Furthermore, in order to reduce the amount of calculation, instead of searching all θ1 and θ2, the P 11 From P 15 , P 21 From P 27 The above calculations may be performed by narrowing down the candidates to several points, as shown in Fig. 16. Also, as shown in Fig. 16, the above calculations may be performed by narrowing down the candidates to the range on the work point B side of the work range AA of the work point A, or the range on the work point A side of the work range AB of the work point B.

[0112] Even in these configurations, the same effects as in the first embodiment can be obtained.

[0113] [Second embodiment] <Outline of the second embodiment> In the second embodiment, a hydraulic excavator equipped with a notification device that notifies an operator of a target trajectory will be described. Note that a description of the same parts as in the first embodiment will be omitted.

[0114] The hydraulic excavator 1 of this embodiment is operated by an operator on board, and presents the calculated trajectory to the operator.

[0115] <Hydraulic excavator configuration> The configuration of the hydraulic excavator according to the second embodiment will be described with reference to FIG.

[0116] The configuration of the hydraulic excavator 1 differs from that of the first embodiment in that it is provided with a monitor 810 for displaying the calculated trajectory. The calculated target trajectory is displayed on this monitor 810, thereby presenting the target trajectory to the operator.

[0117] The above is the configuration of the hydraulic excavator 1 according to the second embodiment.

[0118] <Controller hardware configuration> Next, the hardware configuration of the controller of the hydraulic excavator in the second embodiment will be described with reference to FIG.

[0119] The hardware configuration of the controller of the hydraulic excavator 1 differs from that of the first embodiment in that the output unit 95 additionally creates a signal for monitor output according to the calculation results of the CPU 92 and outputs that signal to the monitor 810.

[0120] The above is the hardware configuration of the controller of the hydraulic excavator 1 in the second embodiment.

[0121] <Controller functions> Next, the function of the controller 40 in the second embodiment will be described with reference to FIG.

[0122] 19 is a functional block diagram of a controller in the second embodiment. The second embodiment differs from the first embodiment in that the controller 40 includes a control state transition determination unit 40a' instead of the control state transition determination unit 40a and a target motion calculation unit 40b' instead of the target motion calculation unit 40b, as functional modules implemented by the CPU 92 executing a control program. Another difference is that position information, which is a signal transmitted from the position measuring device 800 and converted by the input unit 91, is transmitted to the output unit 95, where it is converted into an appropriate signal and transmitted to the monitor 810.

[0123] The control state transition determination unit 40a' receives a switch signal, which is a signal transmitted from the control state changeover switch 670 and converted by the input unit 91, but regardless of this, it always sets the control state information M(t) to 0 (manual control state).

[0124] The target motion calculation section 40 b ′ receives the same signal as the target motion calculation section 40 b and outputs the same target actuator velocity V(t), and at the same time transmits the target trajectory P(t) to the output section 95 .

[0125] The above is the function of the controller 40 in the second embodiment.

[0126] <Functions of the target movement calculation unit> Next, the function of the desired motion calculation unit in the second embodiment will be described with reference to FIG.

[0127] 20 is a functional block diagram of a target movement calculation unit 40b' in the second embodiment. What differs from the first embodiment is that, since control state information M(t) is always 0, the target movement selection unit 40b-5 always selects the target actuator speed Vmt(t) (in other words, it is set to the final target actuator speed V(t)), and that the target trajectory P(t) output from the target trajectory calculation unit 40b-3 is the output of the target movement calculation unit 40b'.

[0128] The above is the function of the target movement calculation unit 40b' in the second embodiment.

[0129] <Monitor example> Next, an example of the monitor display is shown in Fig. 21. The monitor 810 has a monitor screen 811, which displays the work point A as the "excavation point", the work point B as the "landing point", the coordinate Pe(t) of the end point of the target trajectory P(t) as the "destination", and the current position as the "current location".

[0130] <Effects of the second embodiment> This allows the operator to operate the vehicle body 1B while checking the optimal route in this embodiment.

[0131] A similar application is possible when the operator does not board the vehicle body 1B (the cab 120 thereof) but operates it remotely. The system configuration is shown in a simplified form in FIG. 22. In this case, a communication device 812c is added to the vehicle body 1B, and the operator does not board the vehicle body 1B but operates a remote control device 812 having a communication device 812a and a remote controller 812b. Status information of the vehicle body 1B and operation information of the remote control device 812 are transmitted and received via the communication devices 812a and 812c. A similar effect can be obtained by adding a monitor 810 to this remote control device 812.

[0132] In this case, the calculation of the target trajectory may be performed by the controller 40 mounted on the vehicle body 1B, or may be performed by the remote control controller 812b mounted on the remote control device 812. In other words, the functional module that calculates the target trajectory may be implemented in the controller 40 mounted on the vehicle body 1B, or may be implemented in the remote control controller 812b mounted on the remote control device 812. Furthermore, if other devices or lines are intervening between the communication devices 812a and 812c and the communication passes through a device such as a server along the way, the calculation may be performed by that device.

[0133] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and are not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0134] Furthermore, the functions of the controllers of the above-described embodiments may be implemented in hardware, for example, by designing some or all of them as integrated circuits. Alternatively, the functions may be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the programs, tables, and files that implement each function can be stored in a storage device within the controller, a hard disk, a solid-state drive (SSD), or other storage media, such as an IC card, SD card, or DVD. [Explanation of symbols]

[0135] 1... Hydraulic excavator (work machine) 1A...Front work device 1B...Body 3a, 3b...Travel hydraulic motor (travel device) 4...Slewing hydraulic motor (slewing device) 5...Boom cylinder 6...Arm cylinder 7...Bucket cylinder 8...Boom 9...Arm 10...Bucket 11...Undercarriage 12...Upper rotating body 13...Bucket Link 16a~16l...Load detection device 22, 23...Operating device 30...Boom angle sensor 31...Arm angle sensor 32...Bucket angle sensor 33...Vehicle body tilt angle sensor 34...Rotation angle sensor 40...Controller (control device: target path calculation device) 40a...Control state transition determination unit 40b...Target motion calculation section 40b-1... Automatic control operation judgment section 40b-2... Automatic control target operation calculation unit 40b-3…Target trajectory calculation section 40b-4... Manual control target operation calculation unit 40b-5...Target operation selection unit 40b-10...Numeric value storage section 40c...Target engine speed calculation section 40d...Electromagnetic proportional valve control section 50...Attitude detection device 54, 55, 56, 57, 58, 59...Electromagnetic proportional valve 470...Engine controller 480...Engine RPM setting device 670...Control status changeover switch 800...Position measuring device 800a, 800b…GNSS 810...Monitor 811...Monitor screen 812...Remote control device

Claims

1. A target path calculation device for a work machine, comprising: a vehicle body having an upper rotating body and a lower traveling body; a rotating device that rotates the upper rotating body relative to the lower traveling body; and a traveling device that moves the position of the vehicle body, wherein the orientation and position of the vehicle body can be controlled independently by the rotating device and the traveling device, and the device calculates a target path for the work machine that moves between a plurality of work points to perform work, The target route calculation device A work range, which is an area within which work can be performed by the work machine, can be set for each of the plurality of work locations, When the work machine moves from a work point where a predetermined work is to be performed to a work point where a next work is to be performed, a target route connecting a point within the work range where the predetermined work is to be performed and a point within the work range where the next work is to be performed is calculated based on a travel time which is the time required for the work machine to move using the traveling device and a swing time which is the time required for the swing device to adjust the orientation of the upper swing body at the work point after the movement, a target path calculation device for a work machine, characterized in that the target path is set to the shortest time path among paths connecting a point within the work area where the predetermined work is performed and a point within the work area for the next work to be performed, which path minimizes the maximum values ​​of the travel time and the turning time within the work area for the next work to be performed.

2. 2. A target path calculation device for a work machine according to claim 1, The travel time is calculated from a vehicle body travel distance, which is a distance traveled by the travel device, and a travel speed, which is a speed at which the vehicle body is moved by the travel device; A target path calculation device for a work machine, characterized in that the turning time is calculated from a turning operation angle, which is an angle at which the orientation of the upper rotating body is adjusted at the work point after movement, and a turning angular velocity, which is the angular velocity at which the upper rotating body is turned by the turning device.

3. 2. A target path calculation device for a work machine according to claim 1, A target path calculation device for a work machine, characterized in that the travel time also includes a lower traveling body turning time for aligning the orientation of the lower traveling body with the direction in which the vehicle body is moving.

4. 4. A target path calculation device for a work machine according to claim 3, A target path calculation device for a work machine, characterized in that the undercarriage swing time is calculated based on a undercarriage swing angle, which is the angle at which the traveling device swings, and a traveling swing angular velocity, which is the angular velocity at which the vehicle body swings due to the traveling device.

Images