Target path change system for accessory devices

Abstract

A target path changing system for an accessory device is provided, which can improve work efficiency of an operation to change a target path of a specific portion of the accessory device. An object point selection unit (15) is configured to allow an operator to select one of target points (72) as a change object point (73). A range setting unit (15) is configured to set a movable range (E) in which the change object point (73) is movable. An object point moving unit (15) allows the operator to move the change object point (73) within the movable range (E). A target path resetting unit (15) is configured to reset the target path (71a) between a change start point (74) and a change end point (75) so that the target path (71) passes through a post-change object point (73a).

Description

Technical Field

[0001] The present invention relates to a target path changing system for auxiliary equipment, the target path changing system being configured to change the target path of a specific part of the auxiliary equipment of a working machine. Background Technology

[0002] As disclosed in Patent Document 1, there is a technology that causes an excavator to automatically repeat a series of actions based on a pre-taught digging position and soil release position.

[0003] [List of Citations]

[0004] [Patent Literature]

[0005] [Patent Document 1] Japanese Patent Publication No. 2001-182091 Summary of the Invention

[0006] [Technical Issues]

[0007] When the machine is driven automatically, specific parts of the auxiliary equipment (e.g., the front end of the bucket) repeatedly move along a target path. Depending on factors such as the work site, the target path may need to be partially altered. If it is necessary to readjust the entire target path by, for example, re-performing the training, the work efficiency is low.

[0008] The purpose of this invention is to provide a target path changing system for auxiliary equipment, which can improve the operational efficiency of operations for changing the target path of specific parts of auxiliary equipment.

[0009] [Solution to the problem]

[0010] A target path changing system for an auxiliary device is used in a working machine, the working machine including a lower traveling body, an upper rotating body attached to the lower traveling body for rotatability, and an auxiliary device attached to the upper rotating body. The target path changing system for the auxiliary device includes a target point setting unit, a display device, an object point selection unit, a range setting unit, an object point movement unit, and a target path reset unit. The target point setting unit is configured to set target points at specific intervals on a target path of a specific portion of the auxiliary device. The display device is configured to display the target path and the target points. The object point selection unit is configured to allow an operator to select one of the target points as the target point to be changed. The range setting unit is configured to set a movable range within which the target point to be changed can be moved. The object point movement unit is configured to allow an operator to move the target point to be changed within the movable range. The target path reset unit is configured to reset the target path between a change start point and a change end point, such that the moved target point passes through the target path, the moved target point being the target point after the movement. The change start point is a target point preceding the target point to be changed. The endpoint is the target point after the point of change.

[0011] [Advantages of the Invention]

[0012] The above arrangement enables improved operational efficiency in changing the target path of specific parts of auxiliary equipment. Attached Figure Description

[0013] Figure 1 The structure of the system is shown when the target path changes.

[0014] Figure 2 The circuit diagram of the target path changing system is shown.

[0015] Figure 3 The display screen of the first embodiment is shown.

[0016] Figure 4 The target path and target point displayed on the display of the first embodiment are shown, and the state before the object point is moved is shown.

[0017] Figure 5 The target path and target point displayed on the display of the first embodiment are shown, and the state after the object point is moved is shown.

[0018] Figure 6 The image shown is displayed on the monitor at a certain moment in a video showing an accessory device in motion.

[0019] Figure 7The target path and target point displayed on the display of the first embodiment are shown, and the state before and after the object point is moved is shown.

[0020] Figure 8 A flowchart illustrating the target path change process is shown.

[0021] Figure 9 The display screen of the second embodiment is shown.

[0022] Figure 10 The target path and target point displayed on the display of the second embodiment are shown, and a case where a certain time is shorter compared to the first embodiment is shown.

[0023] Figure 11 The target path and target point displayed on the display of the second embodiment are shown, and a case where a certain time is longer compared to the first embodiment is shown.

[0024] Figure 12 The target path of the front end of the bucket in the third embodiment is shown, and the case where the object point moves in the forward and backward direction along the upper rotating body is also shown.

[0025] Figure 13 The target path of the front end of the bucket in the third embodiment is shown, and the case where the target path is partially reset is also shown.

[0026] Figure 14 The target path of the front end of the bucket in the third embodiment is shown, and the case where the object point moves in the vertical direction along the upper rotating body is also shown. Detailed Implementation

[0027] Embodiments of the present invention will be described below with reference to the accompanying drawings.

[0028] (First Embodiment)

[0029] (The target path changes the structure of system 1)

[0030] The target path changing system 1 of the accessory device 30 of the first embodiment of the present invention is configured to change Figure 1 The target path 71 of a specific part of the auxiliary equipment 30 of the machine 2 shown in the figure (see Figure 3 The target path changing system 1 includes a working machine 2, a portable terminal 3, and a camera 4 (surrounding status acquisition device).

[0031] (Structure of the working machine)

[0032] The working machine 2 is configured to perform operations using auxiliary equipment 30. An example of the working machine 2 is a hydraulic excavator. The working machine 2 includes a lower traveling body 21, an upper rotating body 22, a rotating device 24, auxiliary equipment 30, a cylinder 40, and an operating lever 51 (see...). Figure 2 ), rotation angle sensor 52 and tilt angle sensor 60.

[0033] The lower traveling body 21 is part for moving the working machine 2 and includes, for example, a track traction device. The upper rotating body 22 is rotatably attached to the upper portion of the lower traveling body 21. The upper rotating body 22 includes a driver's cab 23 (driver's compartment) located at the front portion of the upper rotating body 22. A rotating device 24 enables the upper rotating body 22 to rotate relative to the lower traveling body 21.

[0034] The auxiliary device 30 is attached to the upper rotating body 22 and is rotatable in the vertical direction. The auxiliary device 30 includes a boom 31, an arm 32, and a bucket 33 (front-end auxiliary device). The boom 31 is attached to the upper rotating body 22 and is rotatable in the vertical direction. The arm 32 is attached to the boom 31 and is rotatable in the vertical direction. The bucket 33 is attached to the arm 32 and is rotatable in the vertical direction. The bucket 33 performs operations such as digging, lifting, throwing, leveling, and shoveling out the target object (e.g., soil). The bucket 33 is merely an example of a front-end auxiliary device attached to the arm 32. The front-end auxiliary device could be a slicer or a clamping arm. The target object of the bucket 33 could be, for example, soil, gravel, rubble, or scrap metal. The directions (along which the front end of the bucket 33 is movable) are the forward / backward direction and the vertical direction of the upper rotating body 22. The auxiliary device 30 extends and retracts along the forward / backward direction of the upper rotating body 22. The auxiliary equipment 30 rotates in the up-down direction along the upper rotating body 22.

[0035] Cylinder 40 can rotate auxiliary equipment 30 through hydraulic pressure. Cylinder 40 is a hydraulic telescopic cylinder. Cylinder 40 includes boom cylinder 41, arm cylinder 42 and bucket cylinder 43 (front auxiliary equipment cylinder).

[0036] The boom cylinder 41 drives the boom 31 to rotate relative to the upper rotating body 22. The base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. The front end of the boom cylinder 41 is rotatably attached to the boom 31.

[0037] Arm cylinder 42 drives arm 32 to rotate relative to boom 31. The base end portion of arm cylinder 42 is rotatably attached to boom 31. The front end portion of arm cylinder 42 is rotatably attached to arm 32.

[0038] The bucket cylinder 43 (front-end auxiliary equipment cylinder) drives the bucket 33 to rotate relative to the arm 32. The base end portion of the bucket cylinder 43 is rotatably attached to the arm 32. The front end portion of the bucket cylinder 43 is rotatably attached to the connecting rod assembly 34, which is rotatably attached to the bucket 33.

[0039] The operating lever 51 is operated by the operator to drive the rotating device 24 and auxiliary equipment 30. The operating lever 51 is, for example, located in the cab 23. When the machine 2 is remotely controlled, the operating lever 51 is located outside the machine 2.

[0040] The rotation angle sensor 52 is configured to detect the rotation angle θ of the upper rotating body 22 relative to the lower walking body 21 (see Figure 12 The rotation angle sensor 52 is, for example, an encoder, a resolver, or a gyroscope sensor. In this embodiment, when the front part of the upper rotating body 22 overlaps with the front part of the lower walking body 21, the rotation angle θ of the upper rotating body 22 is 0 degrees.

[0041] The tilt angle sensor 60 is configured to detect the posture of the auxiliary device 30. The tilt angle sensor 60 includes a boom tilt angle sensor 61, a boom tilt angle sensor 62, and a bucket tilt angle sensor 63.

[0042] The boom tilt angle sensor 61 is configured to detect the posture of the boom 31. For example, the boom tilt angle sensor 61 may be a sensor configured to obtain the tilt angle of the boom 31 relative to a horizontal line, such as, specifically, a tilt (acceleration) sensor. In this case, the boom tilt angle sensor 61 is attached to the boom 31. The boom tilt angle sensor 61 may be a rotation angle sensor configured to detect the rotation angle of the boom seat pin (boom base end), or a stroke sensor configured to detect the stroke amount of the boom cylinder 41.

[0043] The arm tilt angle sensor 62 is configured to detect the posture of the arm 32. For example, the arm tilt angle sensor 62 may be a sensor configured to obtain the tilt angle of the arm 32 relative to a horizontal line, such as, specifically, a tilt (acceleration) sensor. In this case, the arm tilt angle sensor 62 is attached to the arm 32. The arm tilt angle sensor 62 may be a rotation angle sensor configured to detect the rotation angle of the arm connecting pin (arm base end), or a stroke sensor configured to detect the stroke amount of the arm cylinder 42.

[0044] The bucket tilt angle sensor 63 (front-end accessory tilt angle sensor) is configured to detect the posture of the bucket 33. For example, the bucket tilt angle sensor 63 may be a sensor configured to obtain the tilt angle of the bucket 33 relative to the horizontal line, such as, specifically, a tilt (acceleration) sensor. In this case, the bucket tilt angle sensor 63 may be attached to the linkage member 34 or the bucket 33. The bucket tilt angle sensor 63 may be a rotation angle sensor configured to detect the rotation angle of the bucket connecting pin (bucket base end), or a stroke sensor configured to detect the stroke amount of the bucket cylinder 43.

[0045] (Structure of a portable terminal)

[0046] Portable terminal 3 is a terminal operated by an operator (e.g., an operator at the workplace). For example, portable terminal 3 can be a tablet computer or a smartphone. Portable terminal 3 and work machine 2 are able to communicate with each other.

[0047] (Camera structure)

[0048] like Figure 1 As shown, camera 4 (ambient state acquisition device) is configured to acquire the ambient state 76 of the working machine 2 (see Figure 76). Figure 3 In this embodiment, camera 4 is positioned to obtain the surrounding state 76 of accessory device 30 from behind accessory device 30. Camera 4 is merely an example of an surrounding state acquisition device. Alternatively, the surrounding state acquisition device may be LIDAR (light detection and ranging). Camera 4 may be mounted on machine 2 or located away from machine 2.

[0049] (The target path changes the system's circuit configuration)

[0050] like Figure 2 As shown in the circuit diagram of the target path changing system 1, the working machine 2 includes a controller 11, a working machine-side communication device 12, and a storage device 13. The controller 11 acts as a target point setting unit, a target path resetting unit, and a specific interval changing unit (described later).

[0051] The controller 11 is configured to set the auxiliary device 30 (see Figure 1 The target path for a specific part of ) 71 (see Figure 3 ). Figure 1 A specific part of the auxiliary device 30 shown may be, for example, the front end of the bucket 33 or the front end of the arm 32. The following explanation assumes that the specific part of the auxiliary device 30 is the front end of the bucket 33. Figure 2 The controller 11 (target point setting unit) shown is configured to set the target path 71 (see Figure 3Target points 72 are set at specific intervals on the device. The controller 11 sets the target points 72 at the specific intervals to the posture of the auxiliary device 30 (see [reference]). Figure 1 The associated information. The posture of the auxiliary device 30 encompasses the rotation angle θ of the upper rotating body 22 (see...). Figure 12 A specific interval can be a time interval (a specific time) or a specific interval of distance. In this embodiment, the specific interval is a specific time. In this embodiment, each specific time is one second.

[0052] In this embodiment, the actual driving machine 2 (see...) Figure 1 The teaching (online teaching) used to set the target path 71 (see) Figure 3 More specifically, when the operator operates the control lever 51, the rotating device 24 and auxiliary equipment 30 are driven. As these components are driven, the rotation angle θ of the upper rotating body 22 is detected by the rotation angle sensor 52 (see...). Figure 12 Furthermore, the tilt angle sensor 60 detects the posture of the auxiliary device 30 in this state. The controller 11 is based on the upper rotating body 22 (see...). Figure 1 The target path 71 is set by using the detected rotation angle θ of the auxiliary device 30 and the detected posture of the auxiliary device 30. Figure 3 A specific interval (more specifically, a specific time) is the interval (more specifically, the sampling time) at which the values ​​detected by the rotation angle sensor 52 and the tilt angle sensor 60 are sampled.

[0053] Alternatively, target path 71 (see Figure 3 It can be set in such a way that the working machine 2 is not actually driven, and the rotation angle θ of the upper rotating body 22 (see...) Figure 12 Information from the target path 71 and the posture information from the auxiliary device 30 are input to the controller 11 (offline teaching). In this case, for example, the target path 71 (see...) Figure 3 This is set by inputting information into controller 11 at specific intervals.

[0054] Controller 11 is based on target path 71 (see Figure 4 ) and target point 72 (see Figure 4 The controller 11 generates an automatic drive command. This automatic drive command is used to automatically drive the rotating device 24 and the auxiliary equipment 30. The controller 11 can cause the rotating device 24 and the auxiliary equipment 30 to be automatically driven based on the automatic drive command. The working machine 2 is automatically driven based on the automatic drive command.

[0055] The machine-side communication device 12 is capable of communicating with the portable terminal 3 (more specifically, the portable terminal-side communication device 16 described later). The storage device 13 is capable of storing the target path 71 set by the controller 11 (see...). Figure 4 ) and target point 72 (see Figure 4 ).

[0056] The portable terminal 3 includes a portable terminal-side controller 15, a portable terminal-side communication device 16, a portable terminal-side storage device 17, a touch panel 18, a display device 19, and a warning device 20. The portable terminal-side controller 15 functions as an object point selection unit, a range setting unit, an object point movement unit, a start point change selection unit, an end point change selection unit, a first target point movement unit, a second target point movement unit, an object accessory selection unit, and a target posture change unit (described later).

[0057] The portable terminal-side communication device 16 is capable of communicating with the machine-side communication device 12 of the machine 2. The portable terminal-side controller 15 is configured to receive the target path 71 (see [link to controller]) from the machine 2 via the portable terminal-side communication device 16. Figure 4 ) and target point 72 (see Figure 4 ).like Figure 3 (As shown in the display screen of display device 19), display device 19 displays target path 71 and target point 72 (see...) Figure 4 An example of display device 19 is the display of portable terminal 3. It should be noted that... Figure 3 Target point 72 not depicted (see Figure 4 ).like Figure 3 As shown, on display device 19, the camera 4 (see...) Figure 1 The surrounding state 76 obtained is compared with the target path 71 and target point 72 (see...). Figure 4 )overlapping.

[0058] Although Figure 3 The target path 71 shown is the target path when the working machine performs a lifting and rotating motion. Since this disclosure is not limited to this arrangement, the target path 71 can also be the target path when the working machine performs a returning rotation. The lifting and rotating motion is an action in which the upper rotating body 22 rotates while the scooped-out target (e.g., soil) by the bucket 33 is held by the bucket 33. The returning rotation is an action in which, after the target (e.g., soil) held by the bucket 33 is released from the bucket 33, the upper rotating body 22 rotates and the bucket 33 returns to the digging position.

[0059] Return to reference Figure 2 The portable terminal-side storage device 17 is capable of storing the target path 71 supplied from the working machine 2 (see... Figure 4 ) and target point 72 (see Figure 4 The touch panel 18 (input device) receives input from the operator. The touch panel 18 is a non-limiting example of an input device. For example, the input device may be a keyboard.

[0060] When obstacles and included Figure 3 When the distance between the target path 71 in the surrounding state 76 shown is equal to or less than a predetermined value, the warning device 20 outputs (generates) a warning. For example, when the surrounding state 76 is updated, if the distance between a newly appearing obstacle and the target path 71 is equal to or less than the predetermined value, the warning device 20 outputs a warning. The warning device 20 may be a speaker configured to output a warning by sound, a vibrator configured to vibrate, or may be arranged to output a warning by displaying an image on the display device 19.

[0061] Figure 4 The target path 71 and target point 72 are shown on the display device 19. As described above, after the target path 71 has been set through, for example, instruction, the operator may wish to partially modify the target path 71. For example, depending on the conditions of the work site, the operator may wish to partially modify the target path 71 in order to, for example, avoid obstacles.

[0062] In this case, in portable terminal 3 (see Figure 2 The change mode is activated at ) location. In this change mode, the portable terminal-side controller 15 ( Figure 2 The object point selection unit shown allows the operator to select one of the target points 72 as the object point 73 to be changed. Warning device 20 (see...) Figure 2 The operator is prompted to move the target point 72, which is about to come into contact with the obstacle. The operator then operates the touch panel 18 (see...). Figure 2 To select the object point 73 to be changed. More specifically, the operator touches a portion of the touch panel 18, where the target point 72 to be selected as the object point 73 is displayed. Figure 4 In the diagram, target point 72, indicated by arrow A, is selected as the object point 73 to be changed.

[0063] Subsequently, the portable terminal-side controller 15 (changing the start point selection unit) (see...) Figure 2 The operator can select one of the target points 72 in front of the object point 73 as the starting point for the change 74. The operator operates the touch panel 18 (see...). Figure 2 The starting point 74 can be selected to be changed. More specifically, the selection of the starting point 74 is performed by touching a portion of the touch panel 18 that overlaps with the desired target point 72 displayed on the display device 19. Figure 4In the middle, the target point 72, indicated by arrow B and adjacent to the object point 73 to be changed, is selected as the starting point 74 for the change.

[0064] Subsequently, the portable terminal-side controller 15 (changing the end point selection unit) (see...) Figure 2 The operator can select one of the target points 72 behind the object point 73 as the end point of the change 75. The operator operates the touch panel 18 (see...). Figure 2 The endpoint 75 can be selected to be changed. More specifically, the selection of the endpoint 75 is performed by touching a portion of the touch panel 18 that overlaps with the desired target point 72 displayed on the display device 19. Figure 4 In the middle, the target point 72, indicated by arrow C and adjacent to the object point 73, is selected as the end point of change 75.

[0065] Subsequently, the portable terminal-side controller 15 (range setting unit) (see...) Figure 2 The movable range of object point 73 is set to the movable range E. The movable range E is based on the auxiliary device 30 (see...). Figure 2 The movable range E is set based on the posture information at at least one of the changing object point 73, the changing start point 74, or the changing end point 75. For example, when it is assumed that a specific part of the auxiliary device 30 is positioned at the changing start point 74, the posture information of the auxiliary device 30 at the changing start point 74 is the posture information of the auxiliary device 30. (This also applies to the changing object point 73 and the changing end point 75.) The movable range E can be set based on the direction relative to the upper rotating body 22 (see the third embodiment). The following will describe the case where the movable range E is set based on the posture information of the auxiliary device 30 at at least one of the changing object point 73, the changing start point 74, or the changing end point 75.

[0066] exist Figure 4 In the example shown, target points 72 exist in front of and behind the object point 73, indicated by arrow A. In this example, the movable range E is set based on the posture information of the auxiliary device 30 at both the change start point 74 and the change end point 75. On the other hand, when the object point 73 is the target point 72 at one end of the target path 71, the target point 72 has only one adjacent target point 72, which is either in front of or behind the target point 72. In this case, the movable range E is based on the posture information of the auxiliary device 30 (see...). Figure 2 The movable range E is set based on the posture information at either the starting point 74 or the ending point 75. For example, when assuming that a specific part of the auxiliary device 30 is positioned at the object change point 73, the movable range E can be set based on the possible postures of the auxiliary device 30. (More specifically, the movable range E can be set based on physically possible postures.)

[0067] The following describes a specific example of the movable range E when it is set based on the posture information of the auxiliary device 30. As described above, in this embodiment, each specific time interval is one second. For this reason, the auxiliary device 30 (see...) Figure 2 The pose of the object needs to change from the pose at the starting point 74 to the pose at the target point 73 after the movement within one second, and then change from the pose at the target point 73 after the movement to the pose at the ending point 75 within one second. The movable range E is the range within which the target point 73 can move while satisfying the requirements described above. More specifically, the movable range E is set based on the following: cylinder 40 (see... Figure 1 The speed of extension and retraction of the rod, the upper rotating body 22 (see) Figure 1 The rotational speed of the cylinder 40 and the movable range of the cylinder 40 at the starting point 74 and the ending point 75 are considered. More specifically, the possible posture of the auxiliary device 30 at the target point 73 is calculated based on, for example, the extension and retraction speed of the cylinder 40 at the starting point 74 and the ending point 75, and the movable range E is set based on this posture.

[0068] Subsequently, the portable terminal-side controller 15 (object point movement unit) (see...) Figure 2 This allows the operator to move and change object point 73 within the movable range E. A specific example of this movement will be described below.

[0069] [Specific Example 1] The display device 19 displays an image including the target path 71 and the target point 72, such as Figure 4 As shown in the image. In this displayed image, the operator can select and change object point 73 from target point 72, and by, for example, pointing to touch panel 18 (see...). Figure 2 Enter the input to move and change the object point 73 (see Figure 5 ).

[0070] There exists a situation where an operator attempts to move object point 73 from inside the movable range E to outside the movable range E. In this case, it is preferable to make it visually clear to the operator that he or she is attempting to move object point 73 from inside the movable range E to outside the movable range E. More specifically, in this case, the portable terminal-side controller 15 (see...) Figure 2 Change the display device 19 (see Figure 2The display state of the image on the screen. More specifically, for example, the display device 19 may display text or numbers. For example, the display device 19 may change the display state of the target path 71 or the target point 73. For example, the display device 19 may change the target point 73 to be semi-transparent, change the color of the target point 73, or change the display state of the target path 71.

[0071] [Specific Example 2] such as Figure 3 As shown, display device 19 (see Figure 3 The display includes 30 auxiliary devices (see) Figure 1 The image shows the target path 71. The operator moves the auxiliary device 30 (see image) by making inputs. Figure 1 The image is used to change the object point 73 as the image is moved. A specific example 2 will be described below.

[0072] First, the portable terminal-side controller 15 (object accessory selection unit) (see...) Figure 2 Allow the operator to Figure 1 At least one of the boom 31, arm 32, or bucket 33 shown is selected as an auxiliary device for the object. The operator operates the touch panel 18 (see...). Figure 2 The target object is selected by the auxiliary equipment. At this point, if the bucket 33 containing the target object (e.g., soil) rotates vertically during lifting and rotation, the target object may fall. For this reason, therefore... Figure 3 In the middle, when arm image 78 corresponding to arm 32 is selected, arm 32 (see Figure 1 ) was selected as an accessory to the object. It should be noted that boom 31 (see Figure 1 ) corresponds to boom image 77, and bucket 33 (see Figure 1 This corresponds to bucket image 79 (front-end auxiliary equipment image).

[0073] when Figure 1 When at least one of the boom 31, arm 32, or bucket 33 shown is selected as an object attachment, information about the selected object attachment is displayed. Figure 3 The image is shown on the display device 19. An example will be described below, in which arm 32 is selected as an object accessory. On the display screen of display device 19, a text image 81 is displayed to indicate that arm 32 is an object accessory. In addition, display device 19 also displays a digital image 82 indicating the currently set value of the arm angle. Figure 3 In the image, the arm angle value is "100". Furthermore, the display device 19 displays an increase button image 83 for increasing the arm angle value and a decrease button image 84 for decreasing the arm angle value.

[0074] Subsequently, the portable terminal-side controller 15 (target posture change unit) (see...) Figure 2 Allows the operator to change the target orientation of the object's attachments in order to move it. Figure 4 The object point 73 shown is a change point. More specifically, the portable terminal-side controller 15 allows the operator to change the target posture of the object accessory (i.e., acts as a target posture changing unit) and moves the object point 73 (i.e., acts as an object point moving unit) based on the change in target posture. For example, the operator touches... Figure 3 The image shows the increase button 83 or decrease button 84 to change the value of the arm angle. This is a result of the change in the target pose of the object's accessory device. Figure 4 The object point 73 shown in the diagram has been moved.

[0075] When an operator changes the target posture of an accessory device, the operator may attempt to move a specific part of the accessory device 30 from inside the movable range E to outside the movable range E. In this case, it is preferable to make the operator visually aware that he or she is attempting to move the position of a specific part from inside the movable range E to outside the movable range E. Specifically, the portable terminal-side controller 15 may change the display state of the accessory device 30, the display state of the object accessory device, the display state of the object point 73, or the display state of the target path 71. More specifically, for example, the portable terminal-side controller 15 may change the object accessory device to be semi-transparent.

[0076] Figure 5 The image shown on display device 19 (see [link to display device 19]) is displayed after the object point 73 has been moved. Figure 3 The target path 71 and target point 72 are on the target path 71. As a result of the movement of the target point 73, the target path 71 is partially reset (changed). More specifically, the controller 11 of the working machine 2 receives the changed target point 73, the changed start point 74, and the changed end point 75 after the movement from the portable terminal 3. The controller 11 (target path reset unit) resets a portion of the target path 71 between the changed start point 74 and the changed end point 75, such that the target path 71 passes through the changed target point 73 after the movement (see the reset target path 71a).

[0077] Figure 7 The target path 71 and target point 72 displayed on the display device 19 are shown. It is assumed that there is at least one (e.g., one) target point 72 between the target point 72 selected as the start point of change 74 and the object point of change 73, and at least one (e.g., one) target point 72 between the object point of change 73 and the target point 72 selected as the end point of change 75, as follows... Figure 7 As shown in the image.

[0078] Compare Case A (where the target point 72, located in front of or behind the target point 73 and close to it, is selected as the start point 74 or end point 75) with Case B (where the target point 72, located in front of or behind the target point 73 and far from it, is selected as the start point 74 or end point 75). In Case B, the time required to move from the start point 74 to the end point 75 via the target point 73 is longer than in Case A. The longer the movement time, the wider the movable range E of the target point 73. For this reason, the farther the target point 72, selected as the start point 74 or end point 75, is from the target point 73 in the forward or backward direction, the wider the movable range E of the target point 73.

[0079] (Operations that change the target path in the system)

[0080] The following will refer to Figure 8 (This is a flowchart of the target path change process) Describe the target path change system 1 (see...) Figure 2 How to operate. It should be noted that reference will be made. Figure 8 Describe steps S1 to S13 of the flowchart.

[0081] first, Figure 2 The portable terminal-side controller 15 of the portable terminal 3 shown activates the mode change (step S1). The portable terminal-side storage device 17 of the portable terminal 3 stores the target path 71 supplied from the working machine 2 (see...). Figure 4 ) and target point 72 (see Figure 4 Then, the portable terminal controller 15 displays the target path 71 and target point 72 on the display device 19 (step S2). In this state, as Figure 3 As shown, the surrounding state 76 is overlaid on the image displayed on the display device 19. Subsequently, Figure 2 The portable terminal-side controller 15 shown identifies obstacles and includes surrounding conditions 76 (see...). Figure 3 The target path 71 in ) (see Figure 3 Check whether the distance between them is not longer than a predetermined value (step S3).

[0082] When obstacles are identified in step S3 and included in surrounding state 76 (see...) Figure 3 The target path 71 in ) (see Figure 3 When the distance between the two objects is not longer than a predetermined value (YES in S3), the portable terminal controller 15 generates a warning by means of the warning device 20 (step S4). Then, the portable terminal controller 15 proceeds to step S5. On the other hand, when an obstacle is identified in step S3 and included in the surrounding state 76 (see... Figure 3The target path 71 in ) (see Figure 3 When the distance between them is longer than a predetermined value (NO in S3), the portable terminal controller 15 proceeds to step S5.

[0083] In step S5, the portable terminal-side controller 15 allows the operator to select and change the object point 73 (see...). Figure 4 (Step S5). Subsequently, the portable terminal-side controller 15 allows the operator to select to change the starting point 74 (see...). Figure 4 ) and change the end point 75 (see Figure 4 (Step S6).

[0084] Subsequently, the portable terminal controller 15 sets the movable range E (step S7). Then, the portable terminal controller 15 allows the operator to select the object accessory (step S8). Next, the portable terminal controller 15 allows the operator to change the target posture of the object accessory (step S9).

[0085] Subsequently, the portable terminal-side controller 15 determines whether the target posture of the object accessory device after the change is covered within the movable range E (see...). Figure 4 In step S10, when it is determined in step S10 that the target pose of the object accessory is not covered within the movable range E after the change (no in step S10), the portable terminal controller 15 returns to step S8 (or may return to step S9). The operator further changes the target pose of the object accessory so that the target pose of the object accessory is covered within the movable range E after the change. In this example, the target pose of the object accessory is changed to be outside the movable range E, and then changed to be inside the movable range E. Alternatively, the target pose of the object accessory may only be changeable within the movable range E.

[0086] Conversely, when it is determined in step S10 that the target pose of the object accessory device after the change is within the movable range E (see...) Figure 4 When the internal state of the portable terminal controller 15 is reached (yes in step S10), the portable terminal controller 15 proceeds to step S11. Subsequently, as... Figure 6 As shown, the portable terminal side controller 15 displays a video on the display device 19 in which the auxiliary equipment 30 moves while the front end of the bucket 33 remains on the target path 71 (step S11).

[0087] Subsequently, Figure 2 The portable terminal-side controller 15 shown determines whether the operator has been instructed to end the target path 71 (see...). Figure 3The change is made (step S12). If it is determined in step S12 that the operator has not been instructed to end the change (no in S12), the portable terminal controller 15 returns to step S8. Conversely, if it is determined in step S12 that the operator has been instructed to end the change (yes in S12), the portable terminal controller 15 stores the changed content in the portable terminal storage device 17 (step S13) and terminates the process.

[0088] (The first aspect of the effect)

[0089] Figure 1 The effect of the target path changing system 1 shown in the illustration is as follows. The target path changing system 1 is used on the working machine 2. The working machine 2 includes a lower traveling body 21, an upper rotating body 22, and the auxiliary device 30. The upper rotating body 22 is rotatably attached to the upper part of the lower traveling body 21. The auxiliary device 30 is attached to the upper rotating body 22. The target path changing system 1 includes a target point setting unit, Figure 3 The display device 19 shown includes an object point selection unit, a range setting unit, an object point movement unit, and a target path reset unit. The target point setting unit (for example,...) Figure 2 The controller 11 shown is configured to be integrated into the accessory device 30 (see...) Figure 1 Target points 72 are set at specific intervals on a specific part of the target path 71 (see...) Figure 4 Display device 19 displays target path 71 and target point 72 (see...). Figure 4 ).

[0090] [Layout 1] Object point selection unit (e.g., Figure 2 The portable terminal-side controller 15 shown allows the operator to... Figure 4 One of the target points 72 shown is selected as the object point 73 to be changed. A range setting unit (e.g., portable terminal controller 15) sets a movable range E within which the object point 73 can be moved. An object point moving unit (e.g., portable terminal controller 15) allows the operator to move the object point 73 within the movable range E. A target path resetting unit (e.g., portable terminal controller 15) resets a portion of the target path 71 between the change start point 74 and the change end point 75, such that the target path 71 passes through... Figure 5 The moved target point 73a is shown (see the reset target path 71a). The moved target point 73a is the changed target point 73 after the move. The change start point 74 is the target point 72 in front of the changed target point 73. The change end point 75 is the target point 72 behind the changed target point 73.

[0091] The arrangement 1 described above achieves the effect described below. When the operator wishes to partially modify bucket 33 (see...) Figure 1 When the target path 71 at the front end of the ) (so that it corresponds to, for example, the work site), the operator will Figure 4 One of the target points 72 shown is selected as the object point 73 to be changed. The operator then moves the object point 73 within the movable range E. Figure 5 As shown, when the object point 73 is moved, the target path 71 is reset (changed) so that the target path 71 changes the object point 73a after the move (see the reset target path 71a). For this reason, when the target path 71 is only partially changed, it is not necessary to completely reset the target path 71. (In other words, only a portion of the target path 71 needs to be reset.) Therefore, it is possible to improve the target path 71 that changes a specific part of the auxiliary device 30 (see... Figure 3 The efficiency of this operation.

[0092] (Second aspect of the effect)

[0093] [Arrangement 2] Target point setting unit (e.g., Figure 2 The controller 11 shown will Figure 4 The target point 72 shown is set to be associated with the auxiliary device 30 (see Figure 1 Information related to the posture of the auxiliary device 30. Based on the posture information of the auxiliary device 30 at at least one of changing the start point 74, changing the end point 75, or changing the object point 73, the range setting unit (e.g., Figure 2 The portable terminal-side controller 15 shown is set to a movable range E.

[0094] In arrangement 2, based on auxiliary equipment 30 (see...) Figure 1 The movable range E of the object point 73 is set by changing the posture information at at least one of the starting point 74, the ending point 75, or the object point 73. Therefore, compared to the case where the object point 73 can be moved (e.g., to any position) without reference to the posture information of the accessory device 30, it is possible to appropriately limit the movable range E. For example, the movable range E can be arranged to exclude the position of the object point 73 where the posture of the accessory device 30 is physically impossible to change. For example, rapid movement of the accessory device 30 can be suppressed by appropriately limiting the movable range E.

[0095] (Fourth aspect of the effect)

[0096] [Arrangement 4] Target Path Changing System 1 (see...) Figure 2 This includes changing the start point selection unit and changing the end point selection unit. Changing the start point selection unit (for example, Figure 2The portable terminal-side controller 15 shown allows the operator to... Figure 7 The change start point 74 is selected from one of the target points 72 in front of the change target point 73. The change end point selection unit (e.g., portable terminal side controller 15) allows the operator to select one of the target points 72 behind the change target point 73 as the change end point 75.

[0097] Arrangement 4 allows the operator to arbitrarily choose to change the start point 74 and the end point 75. Therefore, it is possible to easily change the range of the target path 71 to be reset (see the reset target path 71a).

[0098] When the target path changing system 1 has the arrangements 4 and 2 described above, the following effects can be achieved. In arrangement 2, the movable range E is set based on the posture information of the auxiliary device 30 at at least one of the change start point 74, change end point 75, or change target point 73. This arrangement assumes that when a specific part of the auxiliary device 30 is set at the change target point 73, the movable range E is set based on the possible posture of the auxiliary device 30. Based on this assumption, a comparison is made between the case where the target point 72, which is in front of or behind the change target point 73 and close to the change target point 73, is selected as the change start point 74 or change end point 75 (case A) and the case where the target point 72, which is in front of or behind the change target point 73 and far from the change target point 73, is selected as the change start point 74 or change end point 75 (case B). In case B, the time required to move from the change start point 74 to the change end point 75 via the change target point 73 is longer than in case A. The longer this time, the wider the range of possible postures of the auxiliary device 30 when a specific part of the auxiliary device 30 is set at the object point 73, resulting in a wider range of movement E of the object point 73. For this reason, the farther the target point 72, selected as the start point 74 or end point 75 of the change, is from the object point 73 in the forward or backward direction, the wider the range of movement E of the object point 73.

[0099] (Fifth aspect of the effect)

[0100] [Arrangement 5] Target Path Changing System 1 (see...) Figure 2 This includes a first target point movement unit and a second target point movement unit. When the target point 72 exists between the starting point 74 and the moved object point 73a, the first target point movement unit (e.g., Figure 2The portable terminal-side controller 15 shown executes the following process. In this case, the first target point movement unit moves the target point 72 between the change start point 74 and the changed target point 73a to a point on the line connecting the change start point 74 and the changed target point 73a. When the target point 72 exists between the change end point 75 and the changed target point 73a, the second target point movement unit (e.g., the portable terminal-side controller 15) executes the following process. In this case, the second target point movement unit moves the target point 72 between the change end point 75 and the changed target point 73a to a point on the line connecting the change end point 75 and the changed target point 73a.

[0101] Due to arrangement 5, when a target point 72 exists between the start point 74 and the target point 73, the target point 72 is moved to a point on the line connecting the start point 74 and the moved target point 73. This also applies to cases where the target point 72 exists between the target point 73 and the end point 75. For this reason, the operator does not need to move the target point 72 between the target point 73 and the start point 74, or between the target point 73 and the end point 75.

[0102] (The effect of the ninth aspect)

[0103] [Arrangement 9] When the object point moving unit (e.g., portable terminal-side controller 15) is attempting to move the object point 73 from inside the movable range E to outside the movable range E, Figure 3 The display device 19 shown changes the display state of the display device 19.

[0104] By changing the display state of the display device 19, the arrangement 9 allows the operator to intuitively understand that the operator is trying to move the object point 73 out of the movable range E.

[0105] (Tenth aspect of the effect)

[0106] like Figure 1 As shown, the auxiliary equipment 30 includes a boom 31, a boom 32, and a bucket 33 (front-end auxiliary equipment). The boom 31 is attached to the upper rotating body 22 for vertical rotation. The boom 32 is attached to the boom 31 for vertical rotation. The bucket 33 is attached to the boom 32 for rotation.

[0107] [Arrangement 10] Object point movement unit (e.g., Figure 2The portable terminal controller 15 shown includes an object attachment selection unit and a target posture changing unit. The object attachment selection unit (e.g., the portable terminal controller 15) allows the operator to select at least one of the boom 31, arm 32, or bucket 33 as the object attachment. The target posture changing unit (e.g., the portable terminal controller 15) allows the operator to change the target posture of the object attachment to move and change the object point 73 (see [link to documentation]). Figure 4 ).

[0108] The arrangement 10 described above allows the operator to... Figure 1 At least one of the boom 31, arm 32, or bucket 33 shown is selected as an auxiliary device for the object (see [reference]). Figure 3 When the operator changes the target orientation of the object's auxiliary equipment, the object point 73 is changed (see...). Figure 5 The object point 73 is moved. Therefore, when the operator changes the target orientation of the desired object attachment, the object point 73 is moved.

[0109] (Thirteenth aspect of the effect)

[0110] [Arrangement 13] as follows Figure 1 As shown, the target path changing system 1 includes a camera 4 (surrounding state acquisition device), which is configured to acquire the surrounding state 76 of the working machine 2 (see Figure 1). Figure 3 ).like Figure 3 As shown, on display device 19, the camera 4 (see...) Figure 1 The surrounding state 76 obtained is compared with the target path 71 and target point 72 (see...). Figure 4 )overlapping.

[0111] Arrangement 13 allows the operator to base their actions on, for example... Figure 3 The image shown, in which the target path 71 and the surrounding state 76 overlap, demonstrates an easy grasp of the relative positions of the target path 71 and the surrounding state 76. As a result, for example, the operator can easily locate the target point 72 (see...). Figure 4 (The auxiliary equipment 30 can come into contact with obstacles.)

[0112] (Fourteenth aspect of the effect)

[0113] [Arrangement 14] Target path changing system 1 includes, for example: Figure 2 The warning device 20 shown. When an obstacle and included Figure 3 When the distance between the target paths 71 in the surrounding state 76 shown is equal to or less than a predetermined value, the warning device 20 outputs a warning.

[0114] The arrangement 14 described above enables the operator to be warned that the distance between the obstacle and the target path 71 is equal to or shorter than a predetermined value. As a result, the operator is notified that the auxiliary equipment 30 may come into contact with the target point 72 of the obstacle (see [link to relevant documentation]). Figure 4 ) movement.

[0115] (The effect of the fifteenth aspect)

[0116] [Arrangement 15] as follows Figure 6 As shown, display device 19 displays a video in which accessory device 30 moves while a specific part is positioned on target path 71.

[0117] When the object point 73 is moved (see...) Figure 5 When the above-described arrangement 15 is in use, the operator can see in the video the movement of the auxiliary device 30 along the changed target path 71. Therefore, the operator is able to inspect the changed object point 73 (see...). Figure 4 How does the movement result of the auxiliary equipment 30 affect the movement of the auxiliary equipment 30?

[0118] (Effect in the eighteenth aspect)

[0119] [Arrangement 18] as follows Figure 2 As shown, the target path changing system 1 includes a portable terminal 3 capable of communicating with the working machine 2. The portable terminal 3 includes a display device 19, an object point selection unit (see arrangement 1 described above), and an object point movement unit (see arrangement 1 described above).

[0120] Due to the arrangement 18 described above, the portable terminal 3 displays... Figure 4 The target path 71 and target point 72 are shown. For this reason, for example, it is possible to use a path set away from the working machine 2 (see...). Figure 1 Portable terminal 3 at the location of ) (see Figure 1 To inspect bucket 33 (see) Figure 1 The target path 71 at the front end of the machine 2 is then modified. By inputting into the portable terminal 3, the operator selects the object point 73 to be changed and moves the object point 73 within the movable range E. For this reason, for example, it is possible to change a portion of the target path 71 by using the portable terminal 3 located at a position away from the machine 2.

[0121] (Second Embodiment)

[0122] The target path changing system 201 of the second embodiment will now be described with reference to the accompanying drawings. It should be noted that arrangements common to the first embodiment (e.g., their common features and effects) are not explained; rather, differences from the first embodiment will be explained (this also applies to the third embodiment described later). Components of the target path changing system 201 of the second embodiment that are identical to those of the first embodiment are indicated by the same reference numerals as those in the first embodiment (this also applies to the third embodiment described later).

[0123] (The target path changes the structure of system 201)

[0124] In the target path changing system 1 of the first embodiment, such as Figure 3 As shown, the target path 71 is partially altered in such a way that it allows the operator to select the object's accessory and change its target orientation.

[0125] like Figure 9 (It depicts portable terminal 3 (see) Figure 2 As shown on the display screen of the display device 19 in this embodiment of the target path changing system 201, the display device 19 displays an image in which the front end of the bucket 33 (i.e., a specific part of the auxiliary equipment 30) is positioned at the target point 73. Subsequently, based on the operator's input to the touch panel 18 (see...), the target path changing system 201 displays an image in which the front end of the bucket 33 (i.e., a specific part of the auxiliary equipment 30) is positioned at the target point 73. Figure 2 Upon input of an image, display device 19 displays an image showing the position of the front end of bucket 33 being moved. Figure 9 In the image, when the operator inputs an input causing the front end of bucket 33 to move to the right, the position of the front end of bucket 33 is shifted to the right. It should be noted that this image is displayed assuming that the movement of object point 73 in response to the operator's input is performed within the movable range E.

[0126] Based on the position of the front end of the bucket 33 after it has moved, the portable terminal 3 (see...) Figure 2 Portable terminal-side controller 15 (see) Figure 2 Move and change object point 73. This allows the operator to intuitively move and change object point 73 based on visual changes in the image.

[0127] Regarding the above, when the position of the front end of the bucket 33 moves from within the movable range E to outside the movable range E in the image, the display device 19 changes the display state of the image. For example, when the position of the front end of the bucket 33 moves out of the movable range E, the image of the auxiliary device 30 may be changed to be semi-transparent, or the line indicating the auxiliary device 30 may be changed (e.g., thinned or changed from a solid line to a dashed line). By changing the display state of the image on the display device 19, it is possible to allow the operator to intuitively understand that the object point 73 cannot be moved to that position.

[0128] Working machine 2 (see Figure 2 The controller 11 (specific interval changing unit) (see) Figure 2 This allows the operator to change specific intervals (e.g., specific times). Portable terminal-side controller 15 (see...) Figure 2 This allows the operator to change a specific interval. The specific interval can be changed, for example, using the input device and monitor (not shown) of the working machine 2 or using a portable terminal 3 (see...). Figure 2 This is accomplished using a touch panel 18 and a display device 19. Figure 10 The target path 71 and target point 72 displayed on the display device 19 are shown. A specific case where a particular interval is a specific time will be described below. Figure 10 As shown, when a specific time period changes from, for example, 1 second to 0.5 seconds, the number of target points 72 within a given time period doubles (see...). Figure 4 and Figure 10 Therefore, since the number of target points 72 within a given time period is increased by shortening a specific time, it becomes possible to modify the target path 71 in a fine (i.e., in a detailed manner).

[0129] Figure 11 The target path 71 and target points 72 are shown on the display device 19. For example, when a specific time changes from 1 second to 2 seconds, the number of target points 72 within a given time period is halved (see...). Figure 4 and Figure 11 Therefore, when a specific time interval is lengthened, the time required to move from the starting point 74 to the ending point 75 via the target point 73 is increased. The longer the time required for the movement, the wider the movable range E of the target point 73. For this reason, the movable range E of the target point 73 can be widened by extending the specific time interval. It should be noted that when the specific interval is, for example, a distance, shortening the specific interval allows for precise setting of the target path 71. On the other hand, extending the specific interval allows for widening the movable range E.

[0130] (Effect)

[0131] The following effects can be achieved by changing the target path of system 201 in this embodiment.

[0132] (Fifth aspect of the effect)

[0133] [Arrangement 6] Figure 2 The target path changing system 201 shown includes a specific interval changing unit (e.g., a portable terminal-side controller 15) that allows the operator to change a specific interval.

[0134] In arrangement 6 described above, the operator changes a specific interval. For example... Figure 10 As shown, because by shortening a specific interval (see...) Figure 4 and Figure 10 This increases the number of target points 72 within a given time period or a given distance, thus making it possible to finely alter the target path 71. Furthermore, when a specific interval is extended, such as... Figure 11 The time required to move from the starting point 74 to the ending point 75 via the object point 73, as shown in the diagram, is extended. The longer the time required for the movement, the wider the movable range E of the object point 73. For this reason, the movable range E of the object point 73 can be widened by extending a specific interval.

[0135] (The effect of the eleventh aspect)

[0136] [Arrangement 11] as follows Figure 9 As shown, display device 19 displays an image in which the front end (specific portion) of the bucket 33 of auxiliary device 30 is positioned at a changing object point 73. Display device 19 displays an image in which the position of the front end (specific portion) of the bucket 33 moves in response to input from the operator. The object point movement unit (e.g., Figure 2 The portable terminal-side controller 15 shown moves and changes the object point 73 according to the position of the front end of the bucket 33 after the movement in the image.

[0137] This arrangement 11 allows the operator to intuitively move the object point 73 based on visual changes in the image.

[0138] (Twelfth aspect of the effect)

[0139] [Arrangement 12] When the position of the front end (specific part) of the bucket 33 is in the image from the movable range E (see...) Figure 4 When the device moves from inside the movable range E to outside the movable range E, the display device 19 changes the display state of the image.

[0140] The arrangement 12 described above allows the operator to visually recognize the position of the front end of the bucket 33 in the image from within the movable range E (see above). Figure 4 Move from inside to outside the movable range E.

[0141] (Third Embodiment)

[0142] The differences between the target path changing system 301 of the third embodiment and the system of the first embodiment will be described. The main differences are as follows. In the first embodiment, Figure 4 The movable range E shown is based on Figure 1 The orientation of the auxiliary device 30 shown is used to set the orientation. On the other hand, in the target path changing system 301 of this embodiment, Figure 12The movable range E shown is set based on the direction related to the upper rotating body 22. More specifically, the movable range E is at least one of the range extending in the front-back direction (X direction) or the range extending in the vertical direction (Z direction) of the upper rotating body 22, such as... Figure 14 As shown in the diagram, the movable range E does not extend along the direction of the rotation angle θ. The difference will be explained in detail below.

[0143] Target path changing system 301 includes Figure 1 The dump truck D is shown. The dump truck D includes a driver's cab Da and a cargo box Db. An operational target (e.g., soil) held by the working machine 2 is released onto the cargo box Db of the dump truck D.

[0144] (The target path changes the system's circuit configuration)

[0145] Controller 11 (Target Path Setting Device) (see...) Figure 2 Set the target path 71 between the target start point 71s and the target end point 71e, such as... Figure 12 As shown in the diagram. Target start point 71s is target point 72 where the auxiliary device 30 begins operation. Target end point 71e is target point 72 where the auxiliary device 30 ends operation. Figure 12 In the diagram, the target start point 71s and the target end point 71e are indicated by solid circles (●), while other target points 72 are indicated by hollow circles (○).

[0146] Figure 12 The target path 71 shown is a return rotation path. Alternatively, the target path 71 could be a lifting rotation path. A return rotation is an action in which, after the operational target held by the bucket 33 is released, the upper rotating body 22 rotates and the bucket 33 returns to, for example, the digging position. A lifting rotation is an action in which the upper rotating body 22 rotates while the operational target (e.g., the operational target scooped out at the digging position) is held by the bucket 33. More specifically, for example, when the operational target is soil, the target point 72 farthest from the soil pile 100 is the target start point 71s where the return rotation begins, and the target point 72 closest to the soil pile 100 is the target end point 71e where the return rotation ends. Figure 12 Dump truck D (not shown) Figure 1 )lie in Figure 12 On the right side of machine 2 in the middle. (This also applies to...) Figure 13 and Figure 14 .)exist Figure 12 In the figure, the target path 71 in the side silhouette of the working machine 2 and the target path 71 in the top view of the working machine 2 are depicted in two dimensions.

[0147] Display device 19 displays the target path 71 and target point 72 in two dimensions. Figure 12 The display status of the display device 19 is shown in the figure.

[0148] In the same manner as in the first embodiment, the portable terminal-side controller 15 (see...) Figure 2 The operator is allowed to select one of the target points 72 as the object point 73 to be changed. Then, the portable terminal-side controller 15 (object point movement unit) allows the operator to move along the forward / backward direction of the upper rotating body 22 or the up / down direction of the upper rotating body 22 (see...). Figure 12 and Figure 14 At least one of the following is moved: the target point 73 is moved. More specifically, in this embodiment, the portable terminal-side controller 15 (range setting unit) sets a movable range E, such that the target point 73 is movable along at least one of the forward / backward direction of the upper rotating body 22 or the vertical direction of the upper rotating body 22. Specifically, the movable range E can be the range extending from the target point 73 before movement along the forward / backward direction of the upper rotating body 22. The movable range E can be the range extending from the target point 73 before movement along the vertical direction of the upper rotating body 22 (see...). Figure 14 The portable terminal controller 15 is set to a movable range E such that the object point 73 cannot be changed along the front-back and up-down directions except for the upper rotating body 22 (see...). Figure 12 and Figure 14 Move in any direction other than ).

[0149] Assume the three-dimensional coordinates of the target point 73, using the rotation center of the upper rotating body 22 as the origin, are (Xn, Zn, θn). Xn indicates the distance along the X direction from the origin to the target point 73. When the front end of the bucket 33 is assumed to be positioned at the target point 73 (not shown), the X direction is the same as the front-rear direction of the upper rotating body 22. When viewed from above, the axis of the X direction passes through the origin and the target point 73. Zn indicates the distance along the Z direction from the bottom surface of the lower traveling body 21 (e.g., the ground) to the target point 73. The Z direction is the same as the vertical direction of the upper rotating body 22. When the machine 2 is placed on a horizontal plane, the Z direction is the same as the vertical direction. θn indicates the angle along the θ direction between the front surface of the upper rotating body 22 and the axis of the X direction.

[0150] (Movement along the X direction)

[0151] The following describes a situation where the operator moves the object point 73 along the forward / backward direction (X direction) of the upper rotating body 22, as follows: Figure 12 As shown in the example. In this example, the movable range E is the range extending along the X direction from the point 73 of the changed object before the movement. Figure 12The display device 19 is shown in the figure. Figure 2 The display device 19 displays a two-dimensional image of the machine 2 as viewed from above, such as in [the context of the image]. Figure 12 As shown in the lower part of the image. In this image display, the operator interacts with the touch panel 18 (see...) Figure 2 Input (e.g., sliding) to move and change object point 73 along the X direction. Figure 12 In the middle, the object point 73 after the move (object point 73a after the move) is indicated by a hollow triangle.

[0152] When assuming the front end of bucket 33 is set at the object change point 73, the portable terminal controller 15 (see...) Figure 2 The movable range E can be set based on the posture information of the auxiliary device 30 (see the first embodiment). When assuming that the front end of the bucket 33 is positioned at the object change point 73, the size (length) of the movable range E along the X direction can be set based on the posture information of the auxiliary device 30. The portable terminal controller 15 restricts the operator's movement range to the object change point 73 within the movable range E.

[0153] Portable terminal-side controller 15 (see) Figure 2 This allows the operator to select either of the target points 72 as the start point 74 and the end point 75 for the change (in the same manner as in the first embodiment). Figure 12 In the example shown, the target start point 71s is selected as the change start point 74. Furthermore, the target end point 71e is selected as the change end point 75.

[0154] The controller 11 (target path resetting unit) of machine 2 (see...) Figure 2 The target path 71 is reset within the range between the change start point 74 and the change end point 75, such that the target path 71 changes the object point 73a after being moved (in the same way as in the first embodiment). Figure 12 The target path 71a that has been reset is shown in the figure. Figure 12 The reset target path 71a is shown, which is the case where the object point 73a is changed to the hollow triangle on the left side of the figure after the movement.

[0155] Controller 11 (see Figure 2 Reset the target path 71 so that the changed start point 74, changed end point 75, and the moved object point 73a are connected by a line. This line can be a curve. More specifically, this line can be a quadratic curve or a non-quadratic curve (such as an arc). The line can be a straight line or a zigzag line.

[0156] Display device 19 (see) Figure 2The target path 71 before reset and the target path 71a after reset are shown in two dimensions. The display device 19 displays the target path 71 before reset and the target path 71a after reset in an overlapping manner. The target path 71 before reset or the target path 71a after reset can be displayed in three dimensions. For example, when the operator checks the reset target path 71a, the reset target path 71a can be displayed in three dimensions.

[0157] like Figure 13 (Its depiction of bucket 33 (see) Figure 1 As shown in the target path 71) at the front end of the target path 71), a target point 72 that is in front of the target point 73 and is different from the target start point 71s can be selected as the change start point 74. Similarly, a target point 72 that is behind the target point 73 and is different from the target end point 71e can be selected as the change end point 75. In the same case, the target path 71 is reset within the range between the change start point 74 and the change end point 75. Figure 13 The reset target path 71a is shown, which is the case where the object point 73a is changed to the hollow triangle on the left side of the figure after the movement.

[0158] (Movement along the Z direction)

[0159] The following will describe the situation where the object point 73 moves along the vertical (Z-direction) of the upper rotating body 22, such as... Figure 14 As shown in the figure, the diagram depicts bucket 33 (see...) Figure 1 The target path 71 at the front end of the path. In this case, such as Figure 14 As shown in the upper part, in a two-dimensional image showing the side silhouette of the working machine 2, the operator interacts with the touch panel 18 (see... Figure 2 Input (e.g., sliding) is made to move the object point 73 along the Z direction. In this example, the movable range E is the range extending along the Z direction from the object point 73 before the movement. Figure 14 In the middle, the object point 73a is changed after being moved, indicated by a hollow triangle.

[0160] To move along the X direction with respect to the object point 73 (see...) Figure 12 In the same manner, the operator's movement range for the object point 73 is restricted to the movable range E. Additionally, the operator selects to change the start point 74 and the end point 75. Figure 14 In this process, the target start point 71s is selected as the change start point 74, and the target end point 71e is selected as the change end point 75.

[0161] To move along the X direction with respect to the object point 73 (see...) Figure 12In the same manner as in the case of machine 2, controller 11 (see...) Figure 2 Reset the target path 71 within the range between the change start point 74 and the change end point 75, so that the target path 71 changes the object point 73a after being moved. Figure 14 The target path 71a that has been reset is shown in the figure. Figure 14 The reset target path 71a is shown, which is the case where the object point 73a is changed to the upper hollow triangle in the figure after movement. The reset target path 71a can be a curve, a straight line, or a zigzag line.

[0162] The object point 73 can move along the front-back direction (X direction) and the up-down direction (Z direction) of the upper rotating body 22. In this embodiment, the object point 73 cannot move along the direction of the rotation angle θ. The movable range E is not set to extend along the direction of the rotation angle θ. As a modification of this embodiment, the object point 73 can move along the direction of the rotation angle θ.

[0163] (Effect)

[0164] like Figure 12 As shown, the target path changing system 301 of this embodiment can achieve the following effects.

[0165] (Third aspect of the effect)

[0166] [Arrangement 3] Range setting unit (e.g., Figure 2 The portable terminal controller 15 shown is set to a movable range E such that the object point 73 can be moved along at least one of the forward and backward direction of the upper rotating body 22 or the up and down direction of the upper rotating body 22.

[0167] In arrangement 3 described above, the direction (along which the object point 73 can move) is at least one of the front-back direction of the upper rotating body 22 or the up-down direction of the upper rotating body 22. Therefore, compared to the case where the object point 73 can move in a direction different from the front-back and up-down directions of the upper rotating body 22 (i.e., can move in any direction), it is easier to understand the operator's movement of the object point 73.

[0168] (Seventh aspect of effect)

[0169] [Arrangement 7] Target path reset unit (e.g., Figure 2 The controller 11 shown resets the target path 71 so that the starting point 74, the ending point 75, and the moved object point 73a are connected by a curve.

[0170] Because the arrangement 7 described above enables the rapid movement of the auxiliary equipment 30, it is possible to prevent the transported object from falling off the auxiliary equipment 30 (e.g., overflowing) and to suppress inefficient movement of the auxiliary equipment 30. Therefore, it is possible to improve the operating efficiency of the machine 2.

[0171] (Eighth aspect of the effect)

[0172] [Arrangement 8] The curve described above (see Arrangement 7 above) is a quadratic curve.

[0173] Because the arrangement 8 described above makes curve calculation relatively easy, it is possible to reduce the amount of equipment needed to reset the target path 71 (e.g., Figure 2 The computational load on the controller 11 shown.

[0174] (Sixteenth aspect of the effect)

[0175] [Arrangement 16] Display device 19 (see Figure 2 The target path 71 before the reset and the target path 71a after the reset are displayed in an overlapping manner.

[0176] The arrangement 16 described above allows the operator to inspect the target path 71 before reset and the target path 71a after reset, which are displayed on the display device 19 (see below). Figure 2 )superior.

[0177] (Seventeenth aspect of the effect)

[0178] [Arrangement 17] Display device 19 (see...) Figure 2 The target path 71 before the reset and the target path 71a after the reset are shown in two dimensions.

[0179] Because the target path 71 before reset is displayed in two dimensions, the arrangement 17 described above allows the operator to easily understand the direction of movement of the object point 73 compared to the case where the target path 71 before reset is displayed in three dimensions. Furthermore, because the reset target path 71a is displayed in two dimensions, the operator can easily understand how the object point 73 has moved.

[0180] (Revise)

[0181] Various modifications can be made to the above embodiments. For example, elements from different embodiments can be combined. For example, the arrangement of each element (e.g., layout and shape) can be changed. For example, the arrangement of each element can be changed. Figure 2 The connections between the elements shown. For example, the changeable Figure 8 The flowchart shown illustrates the sequence of steps, and one or more steps may be omitted. For example, values ​​and ranges (e.g., obstacles and target paths 71) (see...) Figure 3 The "predetermined value" of the distance between elements can be changed manually or automatically based on given conditions. For example, the number of elements can be changed, and one or more elements may not be provided. For example, fixation or connection between elements can be implemented directly or indirectly. For example, those elements or parts described as different components or different parts can be a single component or part. For example, those elements or parts described as a single component or part can be provided as multiple components or parts in a segmented manner.

[0182] For example, in the above embodiments, by Figure 2 The operations performed by the portable terminal-side controller 15 shown can be performed by the controller 11 of the working machine 2 or by a controller not shown (e.g., a server). In the above embodiments, the operations performed by the controller of the working machine 2 can be performed by the portable terminal-side controller 15 or a controller not shown. More specifically, for example, although in the above embodiments the portable terminal-side controller 15 is set with a movable range E (see... Figure 3 However, the movable range E can be set by the controller 11 of the working machine 2 or a server (not shown). In the above embodiment, the controller 11 of the working machine 2 sets the target path 71 (see...). Figure 3 And reset the target path 71 (see Figure 5 (See the reset target path 71a). At least one of these settings can be performed by the portable terminal-side controller 15 or a controller (e.g., a server) not shown. In the above embodiments, the portable terminal-side controller 15 of the portable terminal 3 allows the operator to select... Figure 3 The shown object point 73, start point 74, and end point 75 allow the operator to move the object point 73 and set the movable range E of the object point 73. These operations can be performed by the controller 11 (see...). Figure 2 This can be accomplished by a controller (e.g., a server) that is not shown.

[0183] For example, the layout and quantity of elements can be changed in various ways. More specifically, for example, although in the above embodiments... Figure 2 The display device 19 shown is mounted on the portable terminal 3, but the display screen can be mounted on... Figure 1 The monitor 19 may be located in the cab 23 of the machine 2 shown, or it may be connected to a server, for example, not shown. One or more display devices 19 may be provided. For example, in the above embodiments, Figure 2 The touch panel 18 of the portable terminal 3 shown is configured to receive input from the operator. Alternatively, such a device could be located on... Figure 1The device in the cab 23 of the machine 2 shown, or the device connected to a server (not shown) (e.g., a keyboard).

[0184] [List of reference numerals]

[0185] 1, 201, 301 Target Path Change System

[0186] 2. Working machines

[0187] 3 Portable Terminal

[0188] 4. Camera (surrounding situation acquisition device)

[0189] 11. Controller (target point setting unit, target path resetting unit, specific interval change unit)

[0190] 15 Portable terminal-side controller (object point selection unit, range setting unit, object point movement unit, start point change selection unit, end point change selection unit, first target point movement unit, second target point movement unit, object auxiliary device selection unit, target posture change unit)

[0191] 19 Display devices

[0192] 20 Warning devices

[0193] 21 Lower walking body

[0194] 22 Upper rotating body

[0195] 30. Ancillary equipment

[0196] 31 boom

[0197] 32 arms

[0198] 33. Excavator bucket (front-end auxiliary equipment)

[0199] 71 Target Path

[0200] 71a Reset target path

[0201] 72 Target Points

[0202] 73 Change object point

[0203] 73a Change object point after moving

[0204] 74. Change the starting point

[0205] 75. Change the ending point

[0206] E Movable range

[0207] X The front-back direction of the upper rotating main body 22

[0208] Z Upper rotating body 22 vertical direction

Claims

1. A target path changing system for an auxiliary device, used in a working machine, the working machine including a lower traveling body, an upper rotating body attached to the upper portion of the lower traveling body for rotation, and the auxiliary device attached to the upper rotating body, the system comprising: A target point setting unit is configured to set target points at specific intervals on a target path of a specific part of the auxiliary device; A display device configured to display the target path and the target point; An object point selection unit is configured to allow an operator to select one of the target points as the object point to be changed. A range setting unit is configured to set the movable range in which the changed object point can move; An object point moving unit is configured to allow the operator to move the changed object point within the movable range; as well as A target path resetting unit is configured to reset the target path within a range between a change start point and a change end point, such that the target path is modified by moving a target point, the modified target point being a target point after the move, the change start point being a target point before the modified target point, and the change end point being a target point after the modified target point.

2. The target path changing system for auxiliary equipment according to claim 1, wherein, The target point setting unit sets the target point as information associated with the posture of the auxiliary device; and Based on the posture information of the auxiliary device at at least one of the change start point, the change end point, or the change target point, the range setting unit sets the movable range.

3. The target path changing system for auxiliary equipment according to claim 1 or 2, wherein, The range setting unit sets the movable range so that the object to be changed can move along at least one of the front-back direction of the upper rotating body or the up-down direction of the upper rotating body.

4. The target path changing system for auxiliary equipment according to claim 1 or 2, further comprising: A change start point selection unit is configured to allow the operator to select one of the target points in front of the change object point as the change start point; as well as The change end point selection unit is configured to allow the operator to select one of the target points following the change object point as the change end point.

5. The target path changing system for auxiliary equipment according to claim 1 or 2, further comprising: The first target point moving unit is configured to: when the target point is set between the change start point and the move-after-change object point, move the target point between the change start point and the move-after-change object point to a point on the line connecting the change start point and the move-after-change object point; as well as The second target point moving unit is configured to move the target point between the change end point and the moved object point to a point on the line connecting the change end point and the moved object point when the target point is located between the change end point and the moved object point.

6. The target path changing system for auxiliary equipment according to claim 1 or 2, further comprising: A specific interval changing unit is configured to allow the operator to change the specific interval.

7. The target path changing system for auxiliary equipment according to claim 1 or 2, wherein, The target path reset unit is configured to reset the target path such that the change start point, the change end point, and the moved object point are connected by a curve.

8. The target path changing system for auxiliary equipment according to claim 7, wherein, The curve is a quadratic curve.

9. The target path changing system for auxiliary equipment according to claim 1 or 2, wherein, When the object point moving unit is attempting to move the object point from inside the movable range to outside the movable range, the display device changes the display state of the display device.

10. The target path changing system for auxiliary equipment according to claim 1 or 2, wherein, The auxiliary equipment includes: A boom, which is attached to the upper rotating body so that it can rotate in the vertical direction; An arm, attached to the movable arm to be rotatable in the vertical direction; and A front-end accessory, which is attached to the arm to enable rotation, and The object point moving unit includes: An object accessory selection unit configured to allow the operator to select at least one of the boom, the arm, and the front-end accessory as an object accessory; and A target pose changing unit is configured to allow the operator to move the object point by changing the target pose of the object accessory.

11. The target path changing system for auxiliary equipment according to claim 1 or 2, wherein, The display device displays an image in which a specific portion of the auxiliary device is positioned at the point of change, and the specific portion in the image moves in response to input from the operator. The object point moving unit moves the changed object point according to the position of the specific part in the image after the movement.

12. The target path changing system for auxiliary equipment according to claim 11, wherein, When the specific portion of the image moves from inside the movable range to outside the movable range, the display device changes the display state of the image.

13. The target path changing system for auxiliary equipment according to claim 1 or 2, further comprising: An ambient state acquisition device is configured to acquire the ambient state of the working machine. The display device displays the surrounding conditions collected by the surrounding conditions acquisition device as overlapping with the target path and the target point.

14. The target path changing system for an auxiliary device according to claim 13, further comprising: A warning device is configured to output a warning when the distance between an obstacle included in the surrounding environment and the target path is equal to or less than a predetermined value.

15. The target path changing system for auxiliary equipment according to claim 1 or 2, wherein, The display device displays a video in which the auxiliary device moves and the specific portion remains on the target path.

16. The target path changing system for auxiliary equipment according to claim 1 or 2, wherein, The display device will display the target path before the reset as overlapping with the target path after the reset.

17. The target path changing system for auxiliary equipment according to claim 1 or 2, wherein, The display device displays the target path before the reset and the target path after the reset in two dimensions.

18. The target path changing system for an auxiliary device according to claim 1 or 2, further comprising: A portable terminal capable of communicating with the working machine. The portable terminal includes the display device, the object point selection unit, and the object point movement unit.

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