Target trajectory setting system for an accessory device

Abstract

The present invention provides a target trajectory setting system for an accessory device, which enables the accessory device to effectively operate. The system has: a target trajectory setting section that sets a target trajectory (71) of a specific part of the accessory device between a target start point (73), which is a target point at which the accessory device starts to operate, and a target end point (74), which is a target point at which the accessory device ends to operate; an imaging device (4) that photographs a periphery of the target end point (74) as periphery information; an end point moving section that moves the target end point (74) based on the periphery information; and a target trajectory re-setting section that re-sets the target trajectory (71) between the target start point (73) and the moved target end point (74).

Description

Technical Field

[0001] This invention relates to a target trajectory setting system for auxiliary equipment, which sets the target trajectory for specific parts of auxiliary equipment of construction machinery. Background Technology

[0002] In the past, as disclosed in Patent Document 1, the target posture of the auxiliary equipment of the hydraulic excavator from the dumping site to the excavation site was taught in advance, and the target posture was read out in sequence so that the auxiliary equipment could operate automatically.

[0003] In addition, Patent Document 2 discloses a technique for controlling an accessory device based on the device's posture information and information about the current shape of the ground.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Publication No. 62-214407

[0007] Patent Document 2: Japanese Patent Publication No. 2019-35326

[0008] Furthermore, at the work site, the shape of the object to be excavated constantly changes due to soil accumulation and other factors at the excavation site. Therefore, if the auxiliary equipment is operated according to the pre-taught content, the work will become inefficient because the auxiliary equipment cannot reach the excavation site. Summary of the Invention

[0009] The purpose of this invention is to provide a target trajectory setting system for auxiliary equipment that enables the auxiliary equipment to operate effectively.

[0010] The target trajectory setting system for auxiliary equipment provided by this invention is used in engineering machinery, which has a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and auxiliary equipment mounted on the upper rotating body. The target trajectory setting system includes a target trajectory setting unit, a camera device, an end-point moving unit, and a target trajectory resetting unit. The target trajectory setting unit sets a target start point that serves as the start point of a specific part of the auxiliary equipment during a specific action performed by the auxiliary equipment, a target end point that serves as the end point of the specific part during the specific action, and a target trajectory that serves as the trajectory of the specific part from the target start point to the target end point. The camera device can capture images of at least the periphery of the target end point as peripheral information. The end-point moving unit can move the target end point set by the target trajectory setting unit based on the peripheral information captured by the camera device. The target trajectory resetting unit resets the target trajectory so that the target trajectory moves from the target start point set by the target trajectory setting unit to the target end point moved by the end-point moving unit. Attached Figure Description

[0011] Figure 1 This is a structural diagram of the target trajectory setting system according to the first embodiment of the present invention.

[0012] Figure 2 This is a block diagram of the target trajectory setting system according to the first embodiment of the present invention.

[0013] Figure 3 This is a diagram showing the target trajectory at the far end of the bucket of the construction machinery according to the first embodiment of the present invention, and it is a diagram when the target trajectory is reset to a straight line.

[0014] Figure 4 This is a diagram showing the target trajectory at the far end of the bucket of the construction machinery according to the second embodiment of the present invention, and it is a diagram when the target trajectory is reset according to a specific ratio.

[0015] Figure 5 This is a diagram showing the target trajectory at the far end of the bucket of the engineering machinery according to the third embodiment of the present invention, and it is a diagram when a fixed target point is set.

[0016] Figure 6 This is a diagram showing the target trajectory at the far end of the bucket of the engineering machinery according to the fourth embodiment of the present invention, and is a diagram when moving towards the target point of the obstacle.

[0017] Figure 7 This is a flowchart of the target trajectory change processing of engineering machinery according to the first embodiment of the present invention. Detailed Implementation

[0018] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings.

[0019] (Composition of the target trajectory setting system)

[0020] The target trajectory setting system (target trajectory changing system) of the auxiliary equipment involved in the various embodiments of the present invention is a system for setting and changing the target trajectory of a specific part of the auxiliary equipment of engineering machinery. Figure 1 This is a configuration diagram of the target trajectory setting system 1 according to the first embodiment of the present invention. Figure 1 As shown, the target trajectory setting system 1 includes components of the engineering machinery 2, a mobile terminal 3, and a camera device 4. Alternatively, in other embodiments, the target trajectory setting system 1 may not include the mobile terminal 3.

[0021] (Composition of construction machinery)

[0022] like Figure 1 As shown, the construction machinery 2 is a machine that operates through auxiliary equipment 30, such as a hydraulic excavator. The construction machinery 2 has a lower traveling body 21, an upper slewing body 22, a slewing device 24, auxiliary equipment 30, and a cylinder 40.

[0023] The lower traveling body 21 is the part that enables the construction machinery 2 to move, for example, it is equipped with tracks. The upper slewing body 22 is rotatably mounted on the upper part of the lower traveling body 21. A driver's cab (operator's cab) 23 is provided at the front of the upper slewing body 22. A slewing device 24 enables the upper slewing body 22 to rotate.

[0024] The auxiliary equipment 30 is mounted on the upper rotating body 22 in a manner that allows it to swing vertically. The auxiliary equipment 30 includes a boom 31, a stick 32, and a bucket 33. The boom 31 is mounted on the upper rotating body 22 in a swinging vertical direction. The stick 32 is mounted on the boom 31 in a swinging vertical direction. The bucket 33 is mounted on the stick 32 in a swinging vertical direction. The bucket 33 is the part used for digging, leveling, and scooping the workpiece (sand, etc.). Furthermore, the bucket 33 is an example of a distal auxiliary equipment mounted on the stick 32; however, the distal auxiliary equipment is not limited to this and could also be a crusher or a clamping arm, etc.

[0025] Cylinder 40 is hydraulically operated to swing the auxiliary equipment 30. Cylinder 40 is a hydraulic telescopic cylinder. Cylinder 40 includes a boom cylinder 41, a stick cylinder 42, and a bucket cylinder 43.

[0026] The boom cylinder 41 drives the boom 31 to rotate relative to the upper slewing body 22. The base end of the boom cylinder 41 is pivotally mounted on the upper slewing body 22. The distal end of the boom cylinder 41 is pivotally mounted on the boom 31.

[0027] The stick cylinder 42 drives the stick 32 to rotate relative to the boom 31. The base end of the stick cylinder 42 is pivotally mounted to the boom 31. The distal end of the stick cylinder 42 is pivotally mounted to the stick 32.

[0028] The bucket cylinder 43 drives the bucket 33 to rotate relative to the stick 32. The base end of the bucket cylinder 43 is pivotally mounted to the stick 32. The distal end of the bucket cylinder 43 is pivotally mounted to the connecting rod member 34, which is pivotally mounted to the bucket 33.

[0029] In addition, the construction machinery 2 has an operating lever 51 (see reference). Figure 2 ), angle sensor 52 and tilt sensor 60.

[0030] To activate the slewing device 24 and auxiliary equipment 30, the operator operates the control lever 51. The control lever 51 is located inside the driver's cab 23.

[0031] An angle sensor 52 detects the rotation angle of the upper rotating body 22 relative to the lower traveling body 21. The angle sensor 52 is, for example, an encoder, a phase splitter, or a gyroscope sensor. In this embodiment, the rotation angle of the upper rotating body 22 is 0° when the front of the upper rotating body 22 coincides with the front of the lower traveling body 21.

[0032] The tilt sensor 60 detects the posture of the auxiliary equipment 30. The tilt sensor 60 includes a boom tilt sensor 61, a stick tilt sensor 62, and a bucket tilt sensor 63.

[0033] A boom tilt sensor 61 is mounted on the boom 31 to detect the posture of the boom 31. The boom tilt sensor 61 is a sensor that acquires the tilt angle of the boom 31 relative to the horizontal line; for example, it is a tilt (acceleration) sensor. Alternatively, the boom tilt sensor 61 can also be a rotation angle sensor that detects the rotation angle of the boom support pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0034] The stick tilt sensor 62 is mounted on the stick 32 to detect the attitude of the stick 32. The stick tilt sensor 62 is a sensor that acquires the tilt angle of the stick 32 relative to the horizontal line; for example, it is a tilt (acceleration) sensor. Alternatively, the stick tilt sensor 62 can also be a rotation angle sensor that detects the rotation angle of the stick connecting pin (stick base end) or a stroke sensor that detects the stroke of the stick cylinder 42.

[0035] The bucket tilt sensor 63 is mounted on the connecting rod assembly 34 to detect the posture of the bucket 33. The bucket tilt sensor 63 is a sensor that acquires the tilt angle of the bucket 33 relative to the horizontal line; for example, it is a tilt (acceleration) sensor. Alternatively, the bucket tilt sensor 63 can also be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

[0036] (Composition of a mobile terminal)

[0037] like Figure 1 As shown, mobile terminal 3 is a terminal operated by workers at the work site, such as a tablet computer. Mobile terminal 3 can communicate with construction machinery 2. Alternatively, mobile terminal 3 can also be a smartphone, etc.

[0038] (Composition of the camera device)

[0039] like Figure 1 As shown, the camera device 4 is capable of capturing images of at least the perimeter of the target endpoint, as described later, to serve as surrounding information. In this embodiment, the camera device 4 is installed on the construction machinery 2, but it can also be located away from the construction machinery 2 (e.g., part of the work site). Furthermore, in this embodiment, the camera device 4 is a laser imaging detection (LIDAR), but it can also be a camera, ultrasonic sensor, millimeter-wave radar, stereo camera, distance image sensor, infrared sensor, etc.

[0040] (Circuit structure of the target trajectory setting system)

[0041] Figure 2 This is a block diagram of the target trajectory setting system 1. For example... Figure 2 As shown, the construction machinery 2 has a controller 11, a construction machinery-side communication device 12, and a storage device 13. These devices constitute part of the target trajectory setting system 1.

[0042] The controller 11 comprises a CPU (Central Processing Unit), a ROM (Read Only Memory) storing the control program, and RAM (Random Access Memory) used as the CPU's working area. The controller 11 functionally includes the target trajectory setting unit, end point movement unit, target trajectory resetting unit, obstacle determination unit, and determination unit of the present invention by having the CPU execute the control program stored in the ROM.

[0043] The controller (target trajectory setting unit) 11 sets the target start point and target end point at the distal end of the bucket 33, as well as the target trajectory at the distal end of the bucket 33 from the target start point to the target end point, for a specific action performed by the auxiliary equipment 30. Here, the target start point is the target point (start point of a specific part) at which the auxiliary equipment 30 begins its action. Furthermore, the target end point is the target point (end point of a specific part) at which the auxiliary equipment 30 ends its action. The distal end of the bucket 33 is an example of a specific part of the auxiliary equipment 30; however, the specific part of the auxiliary equipment 30 is not limited to this, and could also be, for example, the distal end of the boom 32.

[0044] Furthermore, the controller 11 sets target points on the target trajectory at specific intervals. In other words, the controller 11 sets at least one target point (target passing point), which is the point on the target trajectory through which the far end of the bucket 33 passes. Here, the specific interval can be a specific time interval or a specific distance interval. Moreover, the time interval and distance interval can be set to be constant or can be set to vary according to the relationship with the target start point and the target end point.

[0045] In this embodiment, the target trajectory is set by teaching the construction machinery 2 to perform actual movements (online teaching). Specifically, the operator operates the control lever 51 to move the slewing device 24 and the auxiliary equipment 30. The slewing angle of the upper slewing body 22 is detected by the angle sensor 52. Furthermore, the posture of the auxiliary equipment 30 is detected by the tilt sensor 60. The controller 11 sets the target trajectory based on the detected slewing angle of the upper slewing body 22 and the detected posture of the auxiliary equipment 30. The specific interval in this case is the sampling interval of the detection values ​​from the angle sensor 52 and the tilt sensor 60.

[0046] Alternatively, the target trajectory can be set by inputting information on the rotation angle of the upper rotating body 22 and the posture information of the auxiliary equipment 30 into the controller 11 without actually performing the operation of the engineering machinery 2 (offline teaching). In this case, information at each specific interval can also be input into the controller 11 to set the target trajectory.

[0047] Figure 3 The target trajectory 71 at the far end of the bucket 33 of the construction machinery 2 involved in this embodiment is represented in this... Figure 3 The diagram shows the target trajectory 71 in this embodiment, which is the trajectory during the return rotation. The return rotation refers to the action of rotating the upper rotating body 22 after discharging the sand and soil held by the bucket 33, thereby returning the bucket 33 to the excavation site. Figure 3Arrow A indicates target point 72, which is target start point 73, and arrow B indicates target point 72, which is target end point 74. In the case of a return turn, target start point 73 is the dumping site, and target end point 74 is the excavation site.

[0048] Furthermore, the target trajectory 71 at the far end of the bucket 33 is not limited to the trajectory during return rotation, but can also be the trajectory during lifting rotation, etc. Lifting rotation refers to the action of rotating the upper rotating body 22 while the bucket 33 holds the scooped sand or soil, etc.

[0049] As previously described, the camera device 4 captures images of the surrounding area of ​​the target endpoint 74 as surrounding information. The controller (endpoint movement unit) 11 can move the target endpoint 74, as set above, based on the surrounding information captured by the camera device 4. For example, if sand is piled up at the target endpoint 74, which is the excavation site, by other construction machinery, or if the sand piled around the target endpoint 74 collapses onto it, burying the target endpoint 74, the controller 11 moves the target endpoint 74 upwards, that is, moves the target endpoint 74 to the ground. Figure 3 In the middle, the target end point 74, represented by ○, is moved to the top, and the moved target end point 74 is represented by □.

[0050] Furthermore, the controller 11 can also move the target end point 74 downwards, forwards, backwards, lefts, or rights based on surrounding information. For example, if the ground descends as excavation proceeds, the controller 11 moves the target end point 74, which serves as the excavation site, to the lower ground level. Additionally, if sand is piled up by other construction machinery on the side of the machinery relative to the target end point 74, the controller 11 moves the target end point 74 forward (to the side of the machinery) in order to excavate that sand first.

[0051] When the target end point 74 is moved, the controller (target trajectory resetting unit) 11 resets the target trajectory 71 from the target start point 73 to the moved target end point 74, so that it reaches the moved target end point from the target start point set as described above. Figure 3 In the diagram, the redefined target trajectory 71 is represented by a dashed line, and the target point 72 (target passage point) on the target trajectory 71 is represented by a △.

[0052] In detail, the controller 11 resets the target trajectory 71 so that, when viewed from a certain direction, the target trajectory is distributed in a straight line from the starting point of the target to the moved ending point of the target. In this embodiment, the target trajectory 71 is reset so that it is a straight line when viewed from the side of the construction machinery 2. However, the target trajectory 71 can also be reset so that it is a straight line when viewed from above the construction machinery 2 or from the front-rear direction of the construction machinery 2.

[0053] Thus, a target trajectory 71 for the distal end of the bucket 33 is set between the target start point 73 (where the auxiliary device 30 begins operation) and the target end point 74 (where the auxiliary device 30 ends operation). Subsequently, the controller 11 moves the target end point 74 based on surrounding information captured by the camera device 4. After the target end point 74 moves, the target trajectory 71 is reset between the target start point 73 and the moved target end point 74. After the target trajectory 71 is reset, the distal end of the bucket 33 moves along this target trajectory 71. In this way, by resetting the target trajectory 71, the auxiliary device 30 can operate effectively.

[0054] Furthermore, the controller 11 resets the target trajectory 71 so that it appears as a straight line when viewed from a certain direction. As a result, the auxiliary device 30 can operate more effectively compared to the case where the target trajectory 71 is reset to appear as a curve when viewed from a certain direction.

[0055] Figure 4 This is a diagram showing the target trajectory 71 at the distal end of the bucket 33 in the target trajectory setting system 1 according to the second embodiment of the present invention. Figure 4 As shown, the controller 11 can reset the target trajectory 71 by moving target points 72 (target passage points) within the range from a specific target point 72 to the target end point 74 before being moved by the controller 11, based on the ratio of the distance 'a' from the baseline 75 to the target end point 74 before being moved by the controller 11 to the distance 'b' from the baseline 75 to the target end point 74 after being moved by the controller 11. The baseline 75 is a straight line extending in a specified direction through the specific target point 72. The specific target point 72 mentioned above is a specific point among the target start point 73 and the at least one target point 72 (target passage point). Figure 4 In this case, the baseline 75 extends horizontally through the target starting point 73. That is, in this case, the specific target point 72 is the target starting point 73. Therefore, the target points 72 located between the target starting point 73 and the target ending point 74 are moved. In addition, the baseline 75 may also extend in a direction other than the horizontal direction.

[0056] In addition, such as Figure 4 As shown, when the distance from the previous target point 72 to the baseline 75 before the target end point 74 is c, the distance d from the moved position of the target point 72 to the baseline 75 is: d = c × b / a. If the target trajectory 71 before the target end point 74 is moved is a curve, then the target trajectory 71 after the target end point 74 is moved is also a curve.

[0057] Thus, the target point 72, located between the specific target point 72 and the target end point 74, is moved according to the ratio of the distance *a* from the baseline 75 extending in a specified direction through the specific target point 72 to the target end point 74 before movement, to the distance *b* from the baseline 75 to the target end point 74 after movement. As a result, the target trajectory 71 is redefined. By employing the aforementioned ratio, the movement position of the target point 72 located between the specific target point 72 and the target end point 74 can be specifically determined.

[0058] Figure 5 This is a diagram showing the target trajectory 71 at the distal end of the bucket 33 in the target trajectory setting system 1 according to the third embodiment of the present invention. Figure 5 As shown, the controller (target point setting unit) 11 instructs the operator to set a target point 72, other than the target end point 74, that is not allowed to move as a fixed target point 76. As an example, a mobile terminal 3 is used to set the fixed target point 76. That is, the target trajectory 71 and the target point 72 are displayed on the display 19 of the mobile terminal 3 (described later), and the operator operates the touchscreen 18 of the mobile terminal 3 (described later) to set the fixed target point 76. Thus, the mobile terminal 3 according to this embodiment functions as a fixed target point information input unit that receives information about at least one fixed target point 76, which is a target passage point among at least one target passage point that is prohibited from being moved by the controller 11.

[0059] For example, the operator might designate a target point 72, such that moving it would increase the likelihood of contact with obstacle 80, as a fixed target point 76. Figure 5 In this process, the first target point 72 adjacent to the target starting point 73 and the target point 72 adjacent to it are respectively set as fixed target points 76.

[0060] Then, the controller 11 resets the target trajectory 71 by moving at least one target point (target passage point) within the range from the fixed target point 76 closest to the target end point 74 to the target end point 74 after being moved by the controller 11. In this embodiment, the controller 11 resets the target trajectory 71 in a straight line when viewed from the side of the construction machinery 2.

[0061] In addition, controller 11 can also be like Figure 4 As explained, the target trajectory 71 is redefined using the ratio of the distance 'a' from the baseline 75 to the target end point 74 before movement to the distance 'b' from the baseline 75 to the target end point 74 after movement. In this case, the baseline 75 is defined as extending in a specified direction through the fixed target point 76 closest to the target end point 74. That is, the specific target point 72 is the fixed target point 76 closest to the target end point 74. Therefore, the target point 72 located between the fixed target point 76 closest to the target end point 74 and the target end point 74 (in...) Figure 5 One of them (in the middle) is moved by controller 11.

[0062] In this way, the target points 72 other than the target endpoint 74, which are not allowed to move, are set as fixed target points 76 by the operator. After the fixed target points 76 are set, the target trajectory 71 is reset from the fixed target point 76 closest to the target endpoint 74 to the moved target endpoint 74. Thus, for example, the target trajectory 71 can be reset without moving the target points 72, which would increase the possibility of contact with the obstacle 80 if moved.

[0063] In addition, the camera device 4 can further capture images of the surrounding area of ​​the target trajectory (the surrounding area of ​​the area traversed by the auxiliary device 30) as auxiliary device surrounding information (surrounding information). Figure 6 This is a diagram showing the target trajectory 71 at the distal end of the bucket 33 of the construction machinery 2 according to the fourth embodiment of the present invention. The controller 11 (obstacle detection unit) is capable of determining obstacles that may interfere with the auxiliary equipment 30 based on the surrounding information captured by the camera device 4. Furthermore, as... Figure 6 As shown, if there is a target point 72 (target passage point) among the target points 72 (target points) included in the redefined target trajectory 71, and the distance to an obstacle 80 included in the peripheral information of the auxiliary equipment is less than a specified value, the controller 11 can also move the target point 72 to leave the obstacle 80. Figure 6 In the process, target point 72, which is adjacent to the moved target end point 74, is moved to leave obstacle 80.

[0064] In this way, the target trajectory 71 is reset, and as a result, if there is a target point 72 whose distance from the obstacle 80 contained in the peripheral information of the auxiliary equipment is less than a specified value, the controller 11 moves the target point 72 away from the obstacle 80. Thus, the distal end of the bucket 33 can move away from the obstacle 80 when it moves along the reset target trajectory 71.

[0065] Return to Figure 2The engineering machinery-side communication device 12 can communicate with the mobile terminal-side communication device 16 (described later) of the mobile terminal 3. The storage device 13 can store the target trajectory and target points set by the controller 11.

[0066] The controller 11 generates automatic driving instructions based on the target trajectory and target point. These instructions are used to cause the slewing device 24 and auxiliary equipment 30 to operate automatically. Furthermore, the controller 11 can automatically operate the slewing device 24 and auxiliary equipment 30 based on these instructions. The construction machinery 2 then operates automatically based on these instructions.

[0067] like Figure 2 As shown, the mobile terminal 3 includes a mobile terminal-side controller 15, a mobile terminal-side communication device 16, a mobile terminal-side storage device 17, a touch screen 18, and a display 19.

[0068] The mobile terminal-side communication device 16 can communicate with the construction machinery-side communication device 12 of the construction machinery 2. The mobile terminal-side controller 15 receives the target trajectory 71 and target point 72 from the construction machinery 2 via the mobile terminal-side communication device 16. The display (display device) 19 includes a display screen that displays the re-set target trajectory 71. In addition, the display 19 can display the target point 72 (target start point, target pass point, target end point) on the display screen. The display mode of the display 19 is, for example, Figures 3 to 6 As shown in the diagram. Therefore, the operator can use a mobile terminal 3, located at a place such as when leaving the construction machinery 2, to confirm the re-set target trajectory 71.

[0069] The mobile terminal-side storage device 17 is capable of storing the target trajectory 71 and target point 72 received from the construction machinery 2. The touchscreen 18 accepts input from the operator. Furthermore, the touchscreen 18 is an example of an input device, but it is not limited to this; it could be, for example, a keyboard. That is, the touchscreen 18 functions as a target-moving unit that accepts commands to move the target via points. Specifically, the touchscreen 18 is a touchscreen input unit provided on the display 19, which accepts the commands to move the target displayed on the display screen via points by accepting operator input.

[0070] The mobile terminal-side controller (target point movement unit) 15 moves the target point 72 on the display screen 19 according to the operator's operation. Specifically, the operator, who has confirmed the re-set target trajectory 71 by observing the display screen 19, can move the desired target point 72 by touching the part of the touchscreen displaying the target point 72 to be moved and sliding the finger. The target point 72 of the moving object may include a target start point 73 and a target end point 74.

[0071] The controller 11 of the construction machinery 2 moves the corresponding target point 72 based on the position of the target point 72 moved by the operator on the display screen after the target trajectory 71 has been reset. This modifies (adjusts) the reset target trajectory 71. In other words, after the target trajectory is reset, the controller 11 moves the target point (target passage point) corresponding to the command input to the touchscreen 18 further according to the command input to the touchscreen 18, thereby adjusting the target trajectory.

[0072] Thus, according to the operator's operation, the target point 72 moves on the display screen of the monitor 19. Based on the position of the target point 72 moved on the display screen after the target trajectory 71 is reset, the corresponding target point 72 is moved. The operator, having confirmed the reset target trajectory 71, can modify the reset target trajectory 71 by moving the desired target point 72. This can sometimes make the operation of the auxiliary equipment 30 more efficient.

[0073] Furthermore, the operator can move the desired target point 72 by operating the mobile terminal 3. Thus, the re-set target trajectory 71 can be modified using the mobile terminal 3, for example, when leaving the construction machinery 2.

[0074] (Actions of the target trajectory setting system)

[0075] Figure 7 This is a flowchart of the target trajectory change processing according to the first embodiment of the present invention. Next, utilizing... Figure 7 To illustrate the actions of the target trajectory setting system 1.

[0076] First, after initiating the target trajectory change processing, the controller 11 of the construction machinery 2 sets the target trajectory 71 (step S1). Next, the controller 11 instructs the operator to set a fixed target point 76 (step S2). The operator sets the fixed target point 76 using a mobile terminal 3. Then, the controller 11 causes the camera device 4 to capture surrounding information (step S3).

[0077] Next, the controller 11 (determination unit) determines whether to move the target end point 74 (step S4). At this time, the controller 11 refers to the surrounding information captured by the camera device 4 to determine whether there is sand on the target end point 74. Moreover, if there is sand, it is determined that it is necessary to move the target end point 74. In step S4, if the controller 11 determines that the target end point 74 should not be moved (S4: "No"), the process ends. On the other hand, if the controller 11 (end point moving unit) determines that the target end point 74 should be moved (S4: "Yes"), the target end point 74 is moved (step S5), and the target trajectory 71 is reset (step S6). Furthermore, in step S5, the controller 11 moves the target end point 74 to the current ground surface (the surface of the sand).

[0078] Next, the controller 11 causes the camera device 4 to capture information about the surrounding area of ​​the auxiliary equipment (step S7). Then, the controller 11 determines whether there is a target point 72 that is close to the obstacle 80 in the re-set target trajectory 71 (step S8). In step S8, when it is determined that there is a target point 72 that is close to the obstacle 80 (S8: "Yes"), the controller 11 moves the target point 72 away from the obstacle 80 (step S9) and moves the processing to step S10.

[0079] On the other hand, in step S8, when it is determined that there is no target point 72 close to the obstacle 80 (S8: "No"), the controller 11 moves the processing forward to step S10.

[0080] In step S10, the controller 11 determines whether there is a target point 72 that has been moved by the operator on the mobile terminal 3 (step S10). The operator confirms the re-set target trajectory 71, and if there is a target point 72 to be moved, the operator moves the desired target point 72 by operating the mobile terminal 3.

[0081] In step S10, if the controller 11 determines that there is a target point 72 that has been moved by the operator on the mobile terminal 3 (S10: "Yes"), it also moves the target point 72 in the target trajectory 71 (step S11) and moves the processing forward to step S12.

[0082] On the other hand, in step S10, when the controller 11 determines that there is no target point 72 that has been moved by the operator on the mobile terminal 3 (S10: "No"), the process is moved forward to step S12.

[0083] In step S12, the controller 11 determines whether the operator has indicated a change to the end target trajectory 71 (step S12). If, in step S12, it is determined that the operator has not indicated a change to the end target trajectory 71 (S12: "No"), the controller 11 returns the process to step S10. On the other hand, if, in step S12, it is determined that the operator has indicated a change to the end target trajectory 71 (S12: "Yes"), the controller 11 stores the change in the storage device 13 (step S13) and terminates the process.

[0084] (Effect)

[0085] As described above, according to the target trajectory setting system 1 of this embodiment, the controller 11 sets a target trajectory 71 for the distal end of the bucket 33 between the target start point 73 (where the auxiliary equipment 30 begins operation) and the target end point 74 (where the auxiliary equipment 30 ends operation). Subsequently, the controller 11 moves the target end point 74 based on surrounding information captured by the camera device 4. After the target end point 74 is moved, the controller 11 resets the target trajectory 71 between the target start point 73 and the moved target end point 74. After the target trajectory 71 is reset, the distal end of the bucket 33 moves along the target trajectory 71. Thus, by resetting the target trajectory 71 according to the conditions of the work site, the controller 11 enables the auxiliary equipment 30 to operate effectively.

[0086] Furthermore, the controller 11 resets the target trajectory 71 so that it appears as a straight line when viewed from a certain direction. As a result, compared to the case where the target trajectory 71 is reset to appear as a curve when viewed from a certain direction, the auxiliary device 30 can operate more effectively.

[0087] Furthermore, the controller 11 moves the target point 72, which is located between the specific target point 72 and the target end point 74, based on the ratio of the distance a from the reference line 75 extending in a specified direction through the specific target point 72 to the target end point 74 before movement to the distance b from the reference line 75 to the target end point 74 after movement. As a result, the target trajectory 71 is reset. By employing the aforementioned ratio, the movement position of the target point 72, located between the specific target point 72 and the target end point 74, can be specifically determined.

[0088] Furthermore, the operator designates a fixed target point 76 as one of the target points 72 (target start point and target transit point) that is not allowed to move, excluding the target end point 74. After the fixed target point 76 is set, the target trajectory 71 is redefined from the fixed target point 76 closest to the target end point 74 to the moved target end point 74. Thus, the target trajectory 71 can be redefined, for example, without moving the target point 72, which would increase the possibility of contact with the obstacle 80 if moved.

[0089] Furthermore, after the target trajectory 71 is reset by the controller 11, if there is a target point 72 that is at a distance of less than a specified value from an obstacle 80 included in the peripheral information of the auxiliary equipment, the controller 11 moves the target point 72 away from the obstacle 80. As a result, the distal end of the bucket 33 can move away from the obstacle 80 when it moves along the reset target trajectory 71.

[0090] Furthermore, in this embodiment, the reset target trajectory 71 is displayed on the display screen of the monitor 19. This allows operators viewing the display screen of the monitor 19 to confirm the reset target trajectory 71.

[0091] Furthermore, based on the operator's operation, the target point 72 is moved on the display screen of the monitor 19. Moreover, according to the position of the target point 72 moved on the display screen after the target trajectory 71 is reset, the controller 11 moves the corresponding target point 72. The operator who has confirmed the reset target trajectory 71 can modify the reset target trajectory 71 by moving the desired target point 72. This can sometimes make the operation of the auxiliary equipment 30 more efficient.

[0092] Furthermore, the reset target trajectory 71 is displayed on the mobile terminal 3. Therefore, the reset target trajectory 71 can be confirmed using the mobile terminal 3, for example, at a location away from the construction machinery 2. The operator moves the desired target point 72 by operating the mobile terminal 3. Thus, the operator can modify the reset target trajectory 71 using the mobile terminal 3, for example, at a location away from the construction machinery 2. Alternatively, the operator can also move the desired target point 72 using a device other than the mobile terminal 3.

[0093] The above describes the embodiments of the present invention, but these are merely illustrative examples and do not specifically limit the present invention. The specific structure and other aspects can be appropriately modified. Furthermore, the effects and functions described in the embodiments of the invention are merely examples of the most preferred effects and functions produced by the present invention, and the effects and functions produced by the present invention are not limited to those described in the embodiments of the present invention.

[0094] For example, in the above embodiment, the controller 11 of the construction machinery 2 sets the target trajectory 71 and moves the target endpoint 74 according to surrounding information, then sets the target trajectory 71 again. However, this can also be performed by a controller, software, etc., within a server (not shown). That is, at least a part of the target trajectory setting system according to the present invention is not limited to the part mounted on the construction machinery; it can be used in any part of the construction machinery. Similarly, the setting of the fixed target point 76 by the operator can be replaced by the server performing this operation.

[0095] Furthermore, in the above embodiment, the display 19 of the mobile terminal 3 is described as the display device, but the display device may also be a display device installed in the cab 23 of the construction machinery 2 or a monitor connected to a server (not shown). Moreover, the modification of the target trajectory by the operator is not limited to the method of using the mobile terminal 3; it may also be performed using an input device installed in the cab 23 of the construction machinery 2 or using a server, etc.

[0096] The target trajectory setting system for auxiliary equipment provided by this invention is used in engineering machinery, which has a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and auxiliary equipment mounted on the upper rotating body. The target trajectory setting system includes a target trajectory setting unit, a camera device, an end-point moving unit, and a target trajectory resetting unit. The target trajectory setting unit sets a target start point that serves as the start point of a specific part of the auxiliary equipment during a specific action performed by the auxiliary equipment, a target end point that serves as the end point of the specific part during the specific action, and a target trajectory that serves as the trajectory of the specific part from the target start point to the target end point. The camera device can capture images of at least the periphery of the target end point as peripheral information. The end-point moving unit can move the target end point set by the target trajectory setting unit based on the peripheral information captured by the camera device. The target trajectory resetting unit resets the target trajectory so that the target trajectory moves from the target start point set by the target trajectory setting unit to the target end point moved by the end-point moving unit.

[0097] According to the present invention, a target trajectory for a specific part of the auxiliary equipment is set between a target start point (the target point where the auxiliary equipment begins operation) and a target end point (the target point where the auxiliary equipment ends operation). Then, the target end point is moved based on surrounding information captured by a camera device. After the target end point is moved, the target trajectory is reset between the target start point and the moved target end point. After the target trajectory is reset, the specific part of the auxiliary equipment moves along the target trajectory. Therefore, even if the shape of the soil surface at the work site changes continuously, the target trajectory can be reset based on surrounding information, enabling the auxiliary equipment to operate effectively.

[0098] In the above configuration, the following configuration can be adopted: the target trajectory resetting unit resets the target trajectory so that, when viewed from a specified direction, the target trajectory is distributed in a straight line from the target start point set by the target trajectory setting unit to the target end point moved by the end point moving unit.

[0099] In the above configuration, the following configuration can be adopted: the target trajectory setting unit sets at least one target passing point, which is a point on the target trajectory through which the specific part passes. When a straight line extending in a specified direction through the target start point and the specific target point among the at least one target passing point is used as a reference line, the target trajectory resetting unit resets the target trajectory by moving the at least one target passing point within the range from the specific target point to the target end point after it has been moved, based on the ratio of the distance from the reference line to the target end point before it has been moved by the end point moving unit to the distance from the reference line to the target end point after it has been moved by the end point moving unit.

[0100] In the above configuration, the following configuration can be adopted: the target trajectory setting unit sets at least one target passing point, which is a point on the target trajectory through which the specific part passes; the target trajectory setting system of the auxiliary device further includes: a fixed target point information input unit, which receives information about at least one fixed target point, which is a target passing point among the at least one target passing points that is prohibited from being moved by the target trajectory resetting unit; the target trajectory resetting unit resets the target trajectory by moving the at least one target passing point that is in the range from the fixed target point closest to the target end point among the at least one fixed target points to the target end point after being moved by the end point moving unit.

[0101] In the above configuration, the following configuration can be adopted: the target trajectory setting unit sets at least one target passing point, which is a point on the target trajectory through which the specific part passes; the camera device can also capture images of the surrounding area of ​​the target trajectory as surrounding information; the target trajectory setting system of the auxiliary device further includes: an obstacle determination unit, which can determine obstacles that may interfere with the auxiliary device based on the surrounding information captured by the camera device; the target trajectory resetting unit resets the target trajectory by moving at least a portion of the target passing points within the range from the target start point to the target end point; and if there is a target passing point among the target passing points included in the reset target trajectory whose distance from the obstacle is less than a specified value, the target passing point is moved further to leave the obstacle.

[0102] In the above configuration, the following configuration may be adopted: it further includes a display device, which includes a display screen that displays the re-set target trajectory.

[0103] In the above configuration, the following configuration can be adopted: the target trajectory setting unit sets at least one target passing point, which is a point on the target trajectory that the specific part passes through; the target trajectory resetting unit resets the target trajectory by moving at least a portion of the target passing points within the range from the target start point to the target end point; the display device can display the target passing points moved by the target trajectory resetting unit on the display screen; the target trajectory setting system of the auxiliary device further includes: a target passing point moving unit, which receives an instruction to move the target passing point; after the target trajectory is reset, the target trajectory resetting unit further moves the target passing point corresponding to the instruction input to the target passing point moving unit to adjust the target trajectory.

[0104] In the above configuration, the following configuration can be adopted: the target passing point moving unit is a touch screen input unit provided on the display device. The touch screen input unit receives the command so that the target passing point displayed on the display screen can be moved on the display screen by the operation of the operator. After the target trajectory is reset, the target trajectory resetting unit further moves the target passing point that has been moved on the display screen through the touch screen input unit to adjust the target trajectory.

[0105] In the above configuration, the following configuration can be adopted: it further includes a mobile terminal capable of communicating with the engineering machinery; wherein the display device and the target point moving part are disposed in the mobile terminal.

Claims

1. A target trajectory setting system for auxiliary equipment, used in construction machinery, the construction machinery having a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and auxiliary equipment mounted on the upper rotating body, the target trajectory setting system for the auxiliary equipment being characterized by comprising: The target trajectory setting unit sets a target start point, a target end point, and a target trajectory for the specific part of the auxiliary device as the start point of a specific action performed by the auxiliary device; The camera device is capable of capturing images of at least the area surrounding the target endpoint as surrounding information; The endpoint moving unit is capable of moving the target endpoint set by the target trajectory setting unit based on the surrounding information captured by the camera device. as well as, The target trajectory resetting unit resets the target trajectory so that the target trajectory moves from the target start point set by the target trajectory setting unit to the target end point moved by the end point moving unit. The target trajectory setting unit sets at least one target passage point, which is a point on the target trajectory through which the specific part passes. When a straight line extending in a specified direction through the target starting point and a specific target point among the at least one target passing point is used as a baseline, the target trajectory resetting unit resets the target trajectory by moving the at least one target passing point within the range from the specific target point to the target ending point after it has been moved, based on the ratio of the distance from the baseline to the target ending point before it was moved by the ending point moving unit to the distance from the baseline to the target ending point after it has been moved by the ending point moving unit.

2. The target trajectory setting system for auxiliary equipment according to claim 1, characterized in that: The target trajectory resetting unit resets the target trajectory so that, when viewed from a specified direction, the target trajectory is distributed in a straight line from the target start point set by the target trajectory setting unit to the target end point moved by the end point moving unit.

3. The target trajectory setting system for auxiliary equipment according to claim 1 or 2, characterized in that: The target trajectory setting unit sets at least one target passage point, which is a point on the target trajectory through which the specific part passes. The target trajectory setting system of the auxiliary equipment further includes: a fixed target point information input unit, which receives information about at least one fixed target point, wherein the at least one fixed target point is one of the at least one target passage points that is prohibited from being moved by the target trajectory resetting unit. The target trajectory resetting unit resets the target trajectory by moving at least one target that is within the range from the fixed target point closest to the target end point to the target end point after being moved by the end point moving unit.

4. The target trajectory setting system for auxiliary equipment according to claim 1 or 2, characterized in that: The target trajectory setting unit sets at least one target passage point, which is a point on the target trajectory through which the specific part passes. The camera device can also capture images of the area surrounding the target trajectory, as information about the surrounding environment. The target trajectory setting system of the auxiliary equipment also includes an obstacle determination unit, which can determine obstacles that may interfere with the auxiliary equipment based on the surrounding information captured by the camera device. The target trajectory resetting unit resets the target trajectory by moving at least a portion of the target passing points within the range from the target start point to the target end point. If there is a target passing point among the target passing points included in the reset target trajectory that is at a distance of less than a specified value from the obstacle, the unit moves that target passing point further away from the obstacle.

5. The target trajectory setting system for auxiliary equipment according to claim 1 or 2, characterized in that... Also includes: The display device includes a display screen showing the re-set target trajectory.

6. The target trajectory setting system for auxiliary equipment according to claim 5, characterized in that: The target trajectory setting unit sets at least one target passage point, which is a point on the target trajectory through which the specific part passes. The target trajectory resetting unit resets the target trajectory by moving at least a portion of the target passing points within the range from the target start point to the target end point. The display device can display the target, which has been moved by the target trajectory resetting unit, as a point on the display screen. The target trajectory setting system of the auxiliary equipment further includes: a target passing point movement unit, which receives instructions for moving the target through the passing point. After the target trajectory is reset, the target trajectory resetting unit moves the target passing point corresponding to the input target passing point moving unit further according to the instruction input to the target passing point moving unit, so as to adjust the target trajectory.

7. The target trajectory setting system for auxiliary equipment according to claim 6, characterized in that: The target-moving unit is a touchscreen input unit provided on the display device. This touchscreen input unit receives the command so that the target-moving point displayed on the display screen can be moved on the display screen by the operator. After the target trajectory is reset, the target trajectory resetting unit uses the touch screen input unit to move the target that is being moved on the display screen further by a point, thereby adjusting the target trajectory.

8. The target trajectory setting system for auxiliary equipment according to claim 7, characterized in that... Also includes: The mobile terminal is capable of communicating with the engineering machinery; wherein, The display device and the touchscreen input unit are configured on the mobile terminal.

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