Target trajectory setting system for an accessory device

Abstract

The present invention provides a target trajectory setting system for an auxiliary device that enables the auxiliary device to efficiently perform an operation. The system includes a target trajectory setting section that sets a target trajectory (71) for a specific portion of the auxiliary device between a target start point (73) and a target end point (74), starts an operation of moving the auxiliary device, which holds a transported object obtained from a work object, to above a loading object until the operation ends at the target end point (74), a camera that photographs a periphery of a construction machine (2) including the loading object 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 (75).

Description

Technical Field

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

[0002] Previously, as disclosed in Patent Document 1, the target posture of the auxiliary equipment of the hydraulic excavator between the soil dumping position and the excavation site was pre-taught, and the auxiliary equipment was automatically operated by reading the target posture in sequence.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Publication No. 2-214407

[0006] However, at the work site, the position of the load (such as a dump truck) sometimes changes as it approaches the construction machinery, carrying permitted materials (such as sand). Furthermore, there are multiple loads of different sizes. Therefore, if auxiliary equipment is operated based on pre-programmed instructions, there is a problem where the auxiliary equipment cannot reach the load, resulting in reduced work efficiency. Summary of the Invention

[0007] The purpose of this invention is to provide a target trajectory setting system for auxiliary equipment that enables the auxiliary equipment to operate efficiently.

[0008] This invention relates to a target trajectory setting system for an auxiliary device used in construction machinery. The construction machinery includes a lower traveling body, an upper rotating body rotatably mounted on top of 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 (which is the start point of a specific part of the auxiliary equipment during a first specific action, from when the auxiliary equipment moves a transport object obtained from a work object to when it is above a loading object), a target end point (which is the end point of the specific part during the first action), and a target trajectory for the specific part between the target start point and the target end point. The camera device can capture images of the perimeter of the construction machinery, including at least the loading object, 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 between the target start point and the moved target end point. Attached Figure Description

[0009] Figure 1 This is a structural diagram of a target trajectory setting system according to one embodiment of the present invention.

[0010] Figure 2 This is a block diagram of a target trajectory setting system according to one embodiment of the present invention.

[0011] Figure 3 This diagram illustrates the target trajectory and target recovery trajectory at the far end of the bucket according to one embodiment of the present invention. The purpose is to illustrate the case where the target trajectory is set in such a way that the rotation angle of the upper rotating body is reduced.

[0012] Figure 4 This diagram illustrates the target trajectory and target recovery trajectory at the far end of the bucket according to one embodiment of the present invention, and is a diagram showing the case where the target trajectory is set in such a way that the rotation angle of the upper rotating body is increased.

[0013] Figure 5 This is a diagram showing the target trajectory and target recovery trajectory at the far end of the bucket according to one embodiment of the present invention, and is a diagram showing the case where the target end point is moved above the top of the dump truck.

[0014] Figure 6 This is a diagram showing the target trajectory and target recovery trajectory at the far end of the bucket according to one embodiment of the present invention, and is a diagram showing the case where the avoidance point is set above the interference point.

[0015] Figure 7 This is a diagram showing the target trajectory around the interference point and avoidance point involved in one embodiment of the present invention.

[0016] Figure 8 This diagram illustrates the target trajectory and target recovery trajectory at the far end of the bucket according to one embodiment of the present invention, and is a diagram showing the case where the target recovery trajectory is set in such a way that the rotation angle of the upper rotating body is reduced.

[0017] Figure 9 This diagram illustrates the target trajectory and target recovery trajectory at the far end of the bucket according to one embodiment of the present invention, and is a diagram showing the case where the target recovery trajectory is set in such a way that the rotation angle of the upper rotating body is increased.

[0018] Figure 10 This is a diagram showing the target trajectory and target recovery trajectory at the far end of the bucket according to one embodiment of the present invention, and is a diagram showing the case where the target recovery starting point is moved above the top of the dump truck.

[0019] Figure 11This is a diagram showing the target trajectory and target recovery trajectory at the far end of the bucket according to one embodiment of the present invention, and is a diagram showing the case where the recovery avoidance point is set above the recovery interference point.

[0020] Figure 12 This is a side view of a dump truck according to one embodiment of the present invention. Detailed Implementation

[0021] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] (Composition of the target trajectory setting system)

[0023] The target trajectory setting system (target trajectory change system) of the auxiliary equipment in this embodiment is a system for setting and changing the target trajectory of a specific part of the auxiliary equipment of the construction machinery. Figure 1 This is a structural diagram of a target trajectory setting system 1 according to one embodiment of the present invention. Figure 1 As shown, the target trajectory setting system 1 includes the components of the engineering machinery 2, a camera device 4, and a portable terminal 5. Alternatively, in other embodiments, the target trajectory setting system 1 may not include the portable terminal 5.

[0024] (Composition of construction machinery)

[0025] 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 block 40.

[0026] 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 23 is provided at the front of the upper slewing body 22. A slewing device 24 enables the upper slewing body 22 to rotate.

[0027] The auxiliary equipment 30 is rotatably mounted on the upper slewing body 22 in the vertical direction. The auxiliary equipment 30 includes a boom 31, a stick 32, and a bucket 33. The boom 31 is rotatably mounted on the upper slewing body 22 in the vertical direction. The stick 32 is rotatably mounted on the boom 31 in the vertical direction. The bucket 33 is rotatably mounted on the stick 32 in the vertical direction.

[0028] The bucket 33 is used for digging, holding, and dumping (discharging) sand and soil as transported materials. Furthermore, the bucket 33 is one example of a distal attachment mounted on the boom 32; however, the distal attachment is not limited to this and could also be a hydraulic shear or a clamping arm, etc. Additionally, the transported material is not limited to sand and soil; it could also be rubble, scrap metal, gravel, etc.

[0029] The cylinder body 40 is hydraulically operated to rotate the auxiliary equipment 30. The cylinder body 40 is a hydraulically operated telescopic cylinder body. The cylinder body 40 includes a boom cylinder body 41, a stick cylinder body 42, and a bucket cylinder body 43.

[0030] 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 rotatably mounted to the upper slewing body 22. The distal end of the boom cylinder 41 is rotatably mounted to the boom 31.

[0031] The stick cylinder 42 drives the stick 32 to rotate relative to the boom 31. The base end of the stick cylinder 42 is rotatably mounted to the boom 31. The distal end of the stick cylinder 42 is rotatably mounted to the stick 32.

[0032] The bucket cylinder 43 drives the bucket 33 to rotate relative to the stick 32. The base end of the bucket cylinder 43 is rotatably mounted to the stick 32. The distal end of the bucket cylinder 43 is rotatably mounted to a connecting rod assembly 34, which is rotatably mounted to the bucket 33.

[0033] In addition, the construction machinery 2 has an operating lever 51 (see reference). Figure 2 ), angle sensor 52 and tilt angle sensor 60.

[0034] The control lever 51 is operated by the operator to activate the slewing device 24 and auxiliary equipment 30. The control lever 51 is located inside the cab 23.

[0035] 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 resolver, or a gyroscope sensor. In this embodiment, the rotation angle of the upper rotating body 22 when the front of the upper rotating body 22 is aligned with the front of the lower traveling body 21 is set to 0°.

[0036] The tilt angle sensor 60 detects the posture of the auxiliary equipment 30. The tilt angle sensor 60 includes a boom tilt angle sensor 61, a stick tilt angle sensor 62, and a bucket tilt angle sensor 63.

[0037] A boom tilt angle sensor 61 is mounted on the boom 31 and detects the posture of the boom 31. The boom tilt angle sensor 61 is a sensor that obtains the tilt angle of the boom 31 relative to the horizontal line, such as a tilt (acceleration) sensor. In addition, the boom tilt angle sensor 61 can also be a rotation angle sensor that detects the rotation angle of the boom pivot (boom base end), or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0038] A stick tilt angle sensor 62 is mounted on the stick 32 and detects the posture of the stick 32. The stick tilt angle sensor 62 is a sensor that obtains the tilt angle of the stick 32 relative to the horizontal line, such as a tilt (acceleration) sensor. In addition, the stick tilt angle 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.

[0039] The bucket tilt angle sensor 63 is mounted on the connecting rod assembly 34 and detects the posture of the bucket 33. The bucket tilt angle sensor 63 is a sensor that obtains the tilt angle of the bucket 33 relative to the horizontal line, such as a tilt (acceleration) sensor. In addition, the bucket tilt angle 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 of the bucket cylinder 43.

[0040] (The components of a dump truck)

[0041] like Figure 1 As shown, the dump truck 3 is loaded with sand held by the construction machinery 2. The dump truck 3 has a cab 26 and a loading platform 27. The loading platform 27 of the dump truck 3 is the loading object in this embodiment.

[0042] (Composition of the camera device)

[0043] like Figure 1 As shown, the camera device 4 is installed on the construction machinery 2. Alternatively, the camera device 4 can be located away from the construction machinery 2 (e.g., part of the work site). In this embodiment, the camera device 4 is a Light Detection and Ranging (LIDAR) system that captures images of the perimeter of the construction machinery 2, including at least the platform 27 of the dump truck 3, as peripheral information. Furthermore, the camera device 4 can also be a camera, ultrasonic sensor, millimeter-wave radar, stereo camera, distance image sensor, infrared sensor, etc.

[0044] (Composition of a portable terminal)

[0045] like Figure 1As shown, the portable terminal 5 is a terminal operated by the operator at the work site, such as a tablet terminal. The portable terminal 5 can communicate with the construction machinery 2. Alternatively, the portable terminal 5 can also be a smartphone, etc.

[0046] (Circuit structure of the target trajectory setting system)

[0047] Figure 2 This is a block diagram of the target trajectory setting system 1 involved in this embodiment. For example... Figure 2 As shown, the construction machinery 2 includes a controller 11, a construction machinery-side communication device 12, and a storage device 13. Furthermore, these constitute part of the target trajectory setting system 1.

[0048] The controller 11 includes a CPU (Central Processing Unit), a ROM (Read Only Memory) storing the control program, and RAM (Random Access Memory) used as the working area of ​​the CPU. The controller 11 functions such that the CPU executes the control program stored in the ROM, thereby including the target trajectory setting unit, end point movement unit, target trajectory resetting unit, avoidance point setting unit, target recovery trajectory setting unit, recovery start point movement unit, target recovery trajectory resetting unit, recovery avoidance point setting unit, and discharge position setting unit of the present invention.

[0049] Figure 3 This is a diagram showing the target trajectory 71 at the distal end of the bucket 33 involved in this embodiment. (As shown...) Figure 3 As shown, the controller (target trajectory setting unit) 11 sets a target trajectory 71 for the far end of the bucket 33 between the target start point 73 and the target end point 74. For example, the target trajectory 71 is a curve, and in this embodiment, it is specifically an arc (or a quadratic curve, etc.). Furthermore, the controller 11 sets target points 72 on the target trajectory 71 at specific intervals. Here, the specific interval can be a specific time interval or a specific distance interval. Alternatively, this time interval or distance interval can be fixed or set in a manner that varies relative to the target start point and the target end point.

[0050] The target trajectory 71 in this embodiment is the trajectory during the lifting and rotation. Lifting and rotation refers to the action of rotating the upper rotating body 22 while the bucket 33 holds the excavated sand or similar material. In other words, lifting and rotation is the action of moving the attachment device 30, which holds the sand obtained from the sand pile 100 (the work target), above the loading platform 27 of the dump truck 3. The target point 72 closest to the sand pile 100 is the target start point 73 for starting this action, and the target point 72 furthest from the sand pile 100 is the target end point 74 for ending this action.

[0051] Here, 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; for example, it could also be the distal end of the boom 32, etc.

[0052] In addition, such as Figure 3 As shown, the controller (target recovery trajectory setting unit) 11 sets a target recovery trajectory 81 at the far end of the bucket 33 between the target recovery start point 83 and the target recovery end point 84. Furthermore, the controller 11 sets target recovery points 82 at specific intervals along the target recovery trajectory 81. Here, the specific interval can be a specific time interval or a specific distance interval. Additionally, this time interval or distance interval can be fixed or set in a way that varies relative to the target start point and the target end point.

[0053] The target recovery trajectory 81 in this embodiment is the trajectory during recovery rotation. Recovery rotation refers to the action of rotating the upper rotating body 22 to return the bucket 33 to the excavation site after discharging the sand and soil held by the bucket 33. That is, recovery rotation is the action of moving the sand-discharged attachment device 30 from above the platform 27 of the dump truck 3 to the periphery of the sand pile 100. The target recovery point 82 furthest from the sand pile 100 is the target recovery start point 83, and the target recovery point 82 closest to the sand pile 100 is the target recovery end point 84.

[0054] exist Figure 3 The diagram illustrates the target trajectory 71 and target recovery trajectory 81 when viewed from the side, and the target trajectory 71 and target recovery trajectory 81 when viewed from above. The dump truck 3, not shown, is located to the right of the construction machinery 2 in the diagram.

[0055] In this embodiment, the target trajectory 71 and the target recovery trajectory 81 are set through teaching the engineering machinery 2 to actually operate (online teaching). Specifically, the operator operates the joystick 51, thereby causing the rotary device 24 and the auxiliary equipment 30 to operate. At this time, the rotation angle of the upper rotary body 22 is detected by the angle sensor 52. In addition, the posture of the auxiliary equipment 30 is detected by the tilt angle sensor 60. The controller 11 sets the target trajectory 71 and the target recovery trajectory 81 based on the detected rotation angle of the upper rotary body 22 and the detected posture of the auxiliary equipment 30. The specific interval here is the sampling interval of the detection values ​​of the angle sensor 52 and the tilt angle sensor 60.

[0056] Alternatively, the construction machinery 2 can be operated without actually moving. Instead, the operator or another computer can input the rotation angle information of the upper rotating body 22 and the posture information of the auxiliary equipment 30 into the controller 11, thereby setting the target trajectory 71 and the target recovery trajectory 81 (offline teaching). In this case, the target trajectory 71 and the target recovery trajectory 81 can be set by inputting the information of each specific interval into the controller 11.

[0057] exist Figure 3 On the right side of the diagram, target trajectory 71 and target restoration trajectory 81 are connected by target soil discharge trajectory 91 during soil discharge. Additionally, in Figure 3 On the left side of the diagram, the target trajectory 71 and the target restoration trajectory 81 are connected by the target excavation trajectory (not shown) during excavation.

[0058] If the far end of bucket 33 reaches the target end point 74, then the far end of bucket 33 will move to the dumping position and dump soil (drop sand) at the dumping position. The dumping position is set above the platform 27 of the dump truck 3. The dumping position will be described in detail below.

[0059] As described above, the camera device 4 captures images of the surrounding area of ​​the construction machinery 2, including at least the platform 27 of the dump truck 3, as peripheral information. Based on the captured peripheral information, the controller (endpoint movement unit) 11 moves the target end point 74 of the target trajectory 71. Figure 3 In the diagram, the target endpoint 74 before the move is indicated by a black circle (●), and the target endpoint 75 after the move is indicated by a white circle (○).

[0060] If the target end point 74 has already been 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 75. Figure 3 In the diagram, a white triangle (△) illustrates the movement of the bucket 33 from the target end point 75 to its destination, the soil dumping position 92. Within the... Figure 3 The diagrams illustrate two dumping positions 92. These two dumping positions 92 represent the dumping position 92 closest to the construction machinery 2 and the dumping position 92 furthest from the construction machinery 2 among the multiple dumping positions 92 described later. The controller 11 determines the position of the loading platform 27 based on the surrounding information captured by the camera device 4, for example, by setting multiple dumping positions 92 along its centerline. When the construction machinery 2 first loads the sand from the sand pile 100 onto the loading platform 27, the bucket 33 moves from the target end point 75 to the dumping position 92 closest to the construction machinery 2.

[0061] Here, refer to Figure 3 Consider the following situation: the platform 27 of the dump truck 3 is located upstream of the upper rotating body 22 in the direction of rotation relative to the target end point 74 before movement. That is, consider the case where the long side of the platform 27 is along the dashed line A (the center line of the platform 27) in the figure. In other words, the dashed line A is the line connecting the two dumping positions 92 mentioned above.

[0062] In this case, the controller 11 moves the target end point 74 upstream in the rotation direction of the upper rotating body 22, corresponding to the platform 27. In this embodiment, the controller 11 moves the target end point 74 to the target point 72, which is located at the intersection of the straight line connecting the two dumping positions 92 and the target trajectory 71. Furthermore, if the rotation angle of the upper rotating body 22 from its front facing the sand pile 100 to the dumping position 92 on the right side of the figure is different from the rotation angle of the upper rotating body 22 to the dumping position 92 on the left side of the figure due to the orientation of the dump truck 3 (platform 27), the target end point 74 can also be moved to the target point 72 (the point on the target trajectory 71) corresponding to the smaller of the two rotation angles. Figure 3 Although the two rotation angles mentioned above are the same, as stated above, sometimes the two rotation angles may differ depending on the orientation of the platform 27. Figure 3 In the middle, the target end point 75 after the movement is located on the upstream side of the turning direction relative to the target end point 74 before the movement.

[0063] Furthermore, the controller 11 re-sets the target trajectory 71 by reducing the rotation angle of the upper rotating body 22. Figure 3 In the middle, the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the target end point 75 after the movement is smaller than the rotation angle to the target end point 74 before the movement.

[0064] In this embodiment, the controller 11 sets a target trajectory 71 for the distal end of the bucket 33 between the starting point (target start point 73) and the ending point (target end point 74) of the action that moves the auxiliary equipment 30 holding the sand obtained from the sand pile 100 above the loading platform 27. Then, the controller 11 moves the target end point 74 based on the surrounding information captured by the camera device 4. If the target end point 74 moves, the controller 11 resets the target trajectory 71 between the target start point 73 and the moved target end point 75. If the target trajectory 71 is reset, the distal end of the bucket 33 moves along that target trajectory 71. Thus, by resetting the target trajectory 71, the auxiliary equipment 30 can operate efficiently.

[0065] In addition, in such Figure 3 As shown, when the platform 27 is located upstream of the upper rotating body 22 in the rotation direction relative to the target endpoint 74 before movement, the controller 11 moves the target endpoint 74 upstream in the rotation direction relative to the platform 27. This reduces the rotation angle of the upper rotating body 22, and the target trajectory 71 is then set. Thus, the auxiliary equipment 30 can be moved above the platform 27 without significantly altering the target trajectory 71.

[0066] Figure 4 This is a diagram showing the target trajectory 71 at the far end of the bucket 33 and the target recovery trajectory 81. (See diagram below.) Figure 4 As shown, consider the following situation: the platform 27 of the dump truck 3 is located downstream of the upper rotating body 22 in the direction of rotation relative to the target end point 74 before movement. That is, consider the case where the long side of the platform 27 is along the dashed line B in the figure. The dashed line B is the line connecting the two dumping positions 92.

[0067] In this case, the controller 11 moves the target end point 74 downstream of the upper rotating body 22 in the rotation direction, corresponding to the platform 27. In this embodiment, the controller 11 moves the target end point 74 to the target point 72 located at the intersection of the straight line connecting the two dumping positions 92 and the target trajectory 71. Furthermore, even in this case, when the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the dumping position 92 on the right side of the figure and the rotation angle to the dumping position 92 on the left side of the figure are both simultaneously, the target end point 74 can be moved to the target point 72 corresponding to the smaller of the two rotation angles. Furthermore, in Figure 4 Although the two rotation angles mentioned above are the same, in this case, the two rotation angles will differ depending on the orientation of the loading platform 27. Figure 4 In the middle, the target end point 75 after the movement is located downstream of the target end point 74 before the movement.

[0068] The controller 11 re-sets the target trajectory 71 by increasing the rotation angle of the upper rotating body 22. Figure 4 In the middle, the rotation angle from the state where the front of the upper rotating body 22 faces the sand pile 100 to the target end point 75 after the movement is greater than the rotation angle from the state where the front of the upper rotating body 22 faces the sand pile 100 to the target end point 74 before the movement.

[0069] Thus, when the platform 27 is located downstream of the target endpoint 74 in the rotation direction of the upper rotating body 22, the target endpoint 74 will move towards the platform 27 along the rotation direction. Therefore, the target trajectory 71 is set again to increase the rotation angle of the upper rotating body 22. This allows the auxiliary equipment 30 to move above the platform 27 without significantly altering the target trajectory 71.

[0070] Figure 5 This is a diagram showing the target trajectory 71 at the far end of the bucket 33 and the target recovery trajectory 81. (Refer to...) Figure 5 Consider the following situation: the upper end of the platform 27 of the dump truck 3 is located above the target end point 74 before the movement.

[0071] In this case, the controller 11 moves the target end point 74 above the upper end of the platform 27. In this embodiment, the target end point 74 is moved above the target point 72 located at the intersection of the straight line connecting the two dumping positions 92 and the target trajectory 71, and this is set as the moved target end point 75. Furthermore, if the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the dumping position 92 on the right side of the figure is different from the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the dumping position 92 on the left side of the figure, the target end point 74 can also be moved above the target point 72 with the smaller rotation angle of the two dumping positions. Figure 5 In the middle, the target end point 75 after the movement is located above the target end point 74 before the movement.

[0072] In addition, Figure 5 In, with Figure 3 Similarly, the loading platform 27 is located upstream of the upper rotating body 22 in the direction of rotation, relative to the target endpoint 74 before movement. Therefore, in Figure 5 In the middle, the target end point 75 after the movement is located on the upstream side of the turning direction relative to the target end point 74 before the movement.

[0073] In this way, when the upper end of the platform 27 is positioned above the target end point 74 before the movement, the target end point 74 moves above the upper end of the platform 27. This prevents the auxiliary equipment 30 from contacting the platform 27.

[0074] Figure 6 This is a diagram showing the target trajectory 71 at the far end of the bucket 33 and the target recovery trajectory 81. (See diagram below.) Figure 6 As shown, consider the following situation: the upper end of the platform 27 is positioned above the target end point 74 before movement, and the upper end of the platform 27 is also positioned above the interference point 77. Here, the interference point 77 is a target point 72 set on the set target trajectory 71, near the target start point 73 relative to the target end point 74. Moreover, the interference point 77 is equivalent to the target point 72 that the controller 11 determines may interfere with the platform 27 based on the surrounding information captured by the camera device 4.

[0075] In this case, the controller 11 moves the target end point 74 upward relative to the upper end of the platform 27 and sets it as the target end point 75. Furthermore, the controller (avoidance point setting unit) 11, based on the surrounding information captured by the camera device 4, sets an avoidance point 78 to replace the interference point 77 by moving the interference point 77 upward relative to the upper end of the platform 27. In this embodiment, the avoidance point 78 is set above the interference point 77 on the target trajectory 71 before movement. Moreover, the controller 11 re-sets the target trajectory 71 using the set avoidance point 78.

[0076] exist Figure 6 In the diagram, the interference point 77 before movement is indicated by a black box (■), and the set avoidance point 78 is indicated by a white box (□). Figure 6 In the middle, the avoidance point 78 is located above the interference point 77. The height of the re-set target trajectory 71 between the avoidance point 78 and the moved target end point 75 is fixed.

[0077] In addition, Figure 6 In, with Figure 3 Similarly, the platform 27 is located upstream of the upper rotating body 22 in the direction of rotation, relative to the target end point 74 before movement. Therefore, in Figure 6 In the middle, the target end point 75 after the movement is located on the upstream side of the turning direction relative to the target end point 74 before the movement.

[0078] Here, Figure 7 This is a diagram showing the trajectory 71 of the target around the set avoidance point 78. (Example) Figure 7As shown, when the avoidance point 78 is set above the interference point 77, the controller 11 resets the target trajectory 71 such that the portion of the target trajectory 71 that is close to the target starting point 73 relative to the interference point 77 is connected to the avoidance point 78 by a curve. For example, as Figure 7 As shown, the target trajectory 71 is redefined so that the four target points 72, which are close to the upstream side relative to the interference point 77, are connected to the set avoidance point 78 by a quadratic curve 79.

[0079] For example, ideally, the conic section 79 is shaped to minimize the sum of angles θ1 and θ2, where angle θ1 is the intersection of the conic section 79 and the target trajectory 71, i.e., the target point 72. Figure 7 The angle θ2 is the angle formed by the tangent of the quadratic curve 79 at the leftmost target point 72) and the tangent of the target trajectory 71. This angle θ2 is the angle between the tangent of the quadratic curve 79 at the avoidance point 78 and the tangent of the avoidance point 78 and the target end point 75. Figure 6 The angle formed by the target trajectory 71 (straight line) between the two points.

[0080] Thus, in this embodiment, based on the surrounding information captured by the camera device 4, the target point 72 (interference point 77) on the set target trajectory 71 is moved closer to the target start point 73 than the target end point 74, and an avoidance point 78 is set. Furthermore, when the upper end of the platform 27 is positioned above the interference point 77, the avoidance point 78 is set above the upper end of the platform 27. This further suppresses contact between the auxiliary device 30 and the platform 27.

[0081] Furthermore, in this embodiment, the target trajectory 71 is set such that the portion of the target trajectory 71 near the target starting point 73 relative to the interference point 77 is connected to the set avoidance point 78 by a curve. This suppresses violent movements of the auxiliary equipment 30, thereby preventing sand spillage or inefficient operation of the auxiliary equipment 30.

[0082] in addition, Figure 8 This is a diagram showing the target trajectory 71 at the far end of the bucket 33 and the target recovery trajectory 81. (See diagram below.) Figure 8 As shown, the controller (restoration start point movement unit) 11 can move the target restoration start point 83 of the target restoration trajectory 81 according to the surrounding information captured by the camera device 4. After the target restoration start point 83 has been moved, the controller (target restoration trajectory resetting unit) 11 resets the target restoration trajectory 81 from the target restoration end point 84 to the moved target restoration start point 85.

[0083] Here, refer to Figure 8Consider the following situation: the platform 27 of the dump truck 3 is located upstream of the upper rotating body 22 in the direction of rotation relative to the target recovery starting point 83 before movement. In this case, using... Figure 3 As described above, the target trajectory 71 is set again. The far end of the bucket 33 moves from the moved target end point 75 to the soil discharge position 92, and then along the target soil discharge trajectory 91 to the position 93 indicated by the triangle (▲). Because this position 93 is far from the target restoration start point 83, the far end of the bucket 33 is moved from position 93 to the target restoration start point 83 by detouring.

[0084] Therefore, the controller 11 moves the target restoration start point 83 toward the platform 27 along the rotation direction of the upper rotating body 22 and sets it as the target restoration start point 85. In this embodiment, the target restoration start point 85 is set as the target restoration point 82 located at the intersection of the straight line connecting the two positions 93 and the target restoration trajectory 81. Even in this case, when the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the position 93 on the right side of the figure is different from the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the position 93 on the left side of the figure, the target restoration start point 83 can be moved to the target restoration point 82 corresponding to the smaller of the two rotation angles. Furthermore, in Figure 8 Although the two rotation angles mentioned above are the same, sometimes the two rotation angles may differ depending on the orientation of the loading platform 27. Figure 8 In the middle, the target restoration start point 85 after the movement is located upstream of the target restoration start point 83 before the movement in the direction of rotation.

[0085] Furthermore, the controller 11 re-sets the target recovery trajectory 81 by reducing the rotation angle of the upper rotating body 22. Figure 8 In the middle, the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the target restoration start point 85 after the movement is smaller than the rotation angle to the target restoration start point 83 before the movement.

[0086] Thus, in this embodiment, a target recovery trajectory 81 for the distal end of the bucket 33 is set between the target recovery start point 83 from the point where the auxiliary equipment 30, which has dumped (discharged) sand, begins to move from above the platform 27 toward the sand pile 100, and the target recovery end point 84 from the point where the movement ends. Then, the target recovery start point 83 is moved based on the surrounding information captured by the camera device 4. If the target recovery start point 83 is moved and a target recovery start point 85 is set, the target recovery trajectory 81 is set again between the target recovery end point 84 and the moved target recovery start point 85. If the target recovery trajectory 81 is reset, the distal end of the bucket 33 will move along the target recovery trajectory 81. In this way, by resetting the target recovery trajectory 81, the auxiliary equipment 30 can operate efficiently.

[0087] Furthermore, when the platform 27 is located upstream of the rotation direction of the upper rotating body 22 relative to the target restoration start point 83 before movement, the target restoration start point 83 moves upstream of the rotation direction corresponding to the platform 27. Thus, the target restoration trajectory 81 is set again in a way that reduces the rotation angle of the upper rotating body 22. This allows the auxiliary equipment 30, which has been dumped with sand, to move efficiently to the target restoration start point 85.

[0088] Figure 9 This is a diagram showing the target trajectory 71 at the far end of the bucket 33 and the target recovery trajectory 81. (Refer to...) Figure 9 Consider the following situation: the platform 27 of the dump truck 3 is located downstream of the upper rotating body 22 in the direction of rotation relative to the target recovery starting point 83 before movement. In this case, using... Figure 4 As described above, the target trajectory 71 is set again. The far end of the bucket 33 moves from the moved target end point 75 to the soil discharge position 92, and along the target soil discharge trajectory 91 to the position 93 indicated by the triangle (▲: △ with a shaded line). Because this position 93 is far from the target recovery start point 83, the far end of the bucket 33 is moved from position 93 to the target recovery start point 83 by detouring.

[0089] Therefore, the controller 11 moves the target restoration start point 83 downstream of the upper rotating body 22 in the rotation direction, corresponding to the platform 27. In this embodiment, the target restoration start point 83 is moved to the target restoration point 82 located at the intersection of the straight line connecting the two positions 93 and the target restoration trajectory 81, and this is set as the target restoration start point 85. Furthermore, even in this case, when the rotation angle from the state where the front of the upper rotating body 22 faces the sand pile 100 to the position 93 on the right side of the figure is different from the rotation angle from the state where the front of the upper rotating body 22 faces the sand pile 100 to the position 93 on the left side of the figure, the target restoration start point 83 can be moved to the target restoration point 82 that reaches the smaller of the two rotation angles. Furthermore, in Figure 9 Although the two rotation angles mentioned above are the same, sometimes the two rotation angles may differ due to the tilt of the platform 27. Figure 9 In the middle, the target restoration start point 85 after the movement is located downstream of the target restoration start point 83 before the movement.

[0090] Furthermore, the controller 11 re-sets the target recovery trajectory 81 by increasing the rotation angle of the upper rotating body 22. Figure 9 In the middle, the rotation angle from the front of the upper rotating body 22 to the target restoration start point 85 after the movement is greater than the rotation angle from the front of the upper rotating body 22 to the target restoration start point 83 before the movement.

[0091] Thus, when the platform 27 is located downstream of the target recovery starting point 83 in the rotation direction of the upper rotating body 22, the target recovery starting point 83 will move downstream in the rotation direction corresponding to the platform 27. Therefore, the target recovery trajectory 81 is set again to increase the rotation angle of the upper rotating body 22. This allows the sand-dropping device 30 to move efficiently to the target recovery starting point 85.

[0092] Figure 10 This is a diagram showing the target trajectory 71 at the far end of the bucket 33 and the target recovery trajectory 81. (Refer to...) Figure 10 Consider the following scenario: the upper end of the platform 27 of the dump truck 3 is positioned above the target recovery start point 83 before movement. The far end of the bucket 33 moves from the target end point 75 after movement to the soil discharge position 92 and reaches the position 93 indicated by the triangle (▲) along the target soil discharge trajectory 91.

[0093] In addition, Figure 10 In, with Figure 5 Similarly, the upper end of platform 27 is positioned above the target endpoint 74 before the movement, therefore, the target trajectory 71 is reset. Additionally, in Figure 10 In, with Figure 5 Similarly, the platform 27 is located upstream of the upper rotating body 22 in the direction of rotation, relative to the target end point 74 before movement. Therefore, in Figure 10 In the middle, the target end point 75 after the movement is located on the upstream side of the turning direction relative to the target end point 74 before the movement.

[0094] In this case, the controller 11 moves the target restoration start point 83 upward relative to the upper end of the platform 27 and sets it as the target restoration start point 85. In this embodiment, the target restoration start point 85 is set above the target restoration point 82 located at the intersection of the straight line connecting the two positions 93 and the target restoration trajectory 81. Even in this case, when the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the position 93 on the right side of the figure is different from the rotation angle from the front of the upper rotating body 22 facing the sand pile 100 to the position 93 on the left side of the figure, the target restoration start point 85 can be set above the target restoration point 82 corresponding to the smaller of the two rotation angles. Figure 10 In the middle, the target restoration start point 85 after the movement is located above the target restoration start point 83 before the movement.

[0095] In this way, when the upper end of the platform 27 is located above the target restoration start point 83 before the movement, the target restoration start point 83 moves above the upper end of the platform 27. This prevents the auxiliary equipment 30 from contacting the platform 27.

[0096] Figure 11 This is a diagram showing the target trajectory 71 at the far end of the bucket 33 and the target recovery trajectory 81. (Refer to...) Figure 11 Consider the following scenario: the upper end of the dump truck 3's platform 27 is positioned above the target restoration start point 83 before movement, and the upper end of the platform 27 is also positioned above the restoration interference point 87. Here, the restoration interference point 87 is the target restoration point 82 located on the set target restoration trajectory 81, near the target restoration end point 84 relative to the target restoration start point 83. The restoration interference point 87 is determined by the controller 11 as a target restoration point 82 that may interfere with the platform 27, based on the surrounding information captured by the camera device 4. The distal end of the bucket 33 moves from the target end point 75 after movement to the soil discharge position 92, and along the target soil discharge trajectory 91 to the position 93 indicated by the triangle (▲: △ with a shaded line).

[0097] In addition, Figure 11 In, with Figure 6Similarly, the upper end of the platform 27 is positioned above the target endpoint 74 and interference point 77 before the movement, therefore, the target trajectory 71 is reset. Furthermore, in Figure 11 In, with Figure 6 Similarly, the platform 27 is located upstream of the upper rotating body 22 in the direction of rotation, relative to the target end point 74 before movement. Therefore, in Figure 11 In the middle, the target end point 75 after the movement is located on the upstream side of the turning direction relative to the target end point 74 before the movement.

[0098] In this case, the controller 11 moves the target restoration start point 83 upward relative to the upper end of the platform 27 and sets it as the target restoration start point 85. Furthermore, the controller (restoration avoidance point movement unit) 11 sets a restoration avoidance point 88 based on the surrounding information captured by the camera device 4, by moving the restoration interference point 87 upward relative to the upper end of the platform 27. In this embodiment, the restoration avoidance point 88 is set above the restoration interference point 87 on the target restoration trajectory 81 before movement. The controller 11 then re-sets the target restoration trajectory 81 using the set restoration avoidance point 88.

[0099] exist Figure 11 In the diagram, the original interference point 87 before movement is indicated by a black box (■), and the replacement interference point 88 is indicated by a white box (□). Figure 11 In the middle, the restoration avoidance point 88 is located above the restoration interference point 87. In addition, the height of the target restoration trajectory 81 set between the restoration avoidance point 88 and the target restoration start point 85 is fixed.

[0100] Here, with use Figure 7 Similarly, when the restoration avoidance point 88 is set above the restoration interference point 87, the controller 11 re-sets the target restoration trajectory 81 so that the portion of the target restoration trajectory 81 relative to the restoration interference point 87 near the target restoration end point 84 is connected to the set restoration avoidance point 88 by a curve. For example, the target restoration trajectory 81 is re-set so that the four target restoration points 82 near the upstream side of the restoration interference point 87 are connected to the restoration avoidance point 88 by a quadratic curve. The shape of the quadratic curve 79 described above can be determined in the same way.

[0101] Thus, in this embodiment, the controller 11 moves the restoration interference point 87, which is located near the target restoration end point 84 relative to the target restoration start point 83, on the set target restoration trajectory 81 based on the surrounding information captured by the camera device 4, and sets a restoration avoidance point 88 in place of the restoration interference point 87. Furthermore, when the upper end of the platform 27 is positioned above the restoration interference point 87 before movement, the restoration avoidance point 88 is set above the upper end of the platform 27. This further suppresses contact between the auxiliary device 30 and the platform 27.

[0102] Furthermore, the target restoration trajectory 81 is set such that the portion of the target restoration trajectory 81 near the restoration interference point 87, close to the target restoration end point 84, is connected to the restoration avoidance point 88 by a curve. This suppresses violent movements of the auxiliary device 30, thus preventing inefficient operations by the auxiliary device 30.

[0103] return Figure 2 The engineering machinery side communication device 12 can communicate with the portable terminal side communication device 16 of the portable terminal 5 (described later). The storage device 13 can store the target trajectory 71, target point 72, target restoration trajectory 81, and target restoration point 82 set by the controller 11.

[0104] The controller 11 generates automatic driving commands based on the target trajectory 71, target point 72, target restoration trajectory 81, and target restoration point 82. These automatic driving commands are instructions used to automatically operate the slewing device 24 and auxiliary equipment 30. Furthermore, the controller 11 can automatically operate the slewing device 24 and auxiliary equipment 30 according to the automatic driving commands. As a result, the construction machinery 2 operates automatically according to the automatic driving commands.

[0105] like Figure 2 As shown, the portable terminal 5 includes a portable terminal-side controller 15, a portable terminal-side communication device 16, a portable terminal-side storage device 17, and a display 19.

[0106] The portable terminal-side communication device 16 can communicate with the construction machinery-side communication device 12 of the construction machinery 2. That is, the portable terminal-side communication device 16 can send and receive various command signals with the construction machinery-side communication device 12 of the construction machinery 2. The portable terminal-side controller 15 receives the target trajectory 71, target point 72, target restoration trajectory 81, and target restoration point 82 from the construction machinery 2 via the portable terminal-side communication device 16.

[0107] The display (target trajectory display device) 19 can overlay the set target trajectory 71 and the re-set target trajectory 71. Thus, the operator can use a portable terminal 5, for example, located far away from the construction machinery 2, to visually compare and confirm the set target trajectory 71 and the re-set target trajectory 71.

[0108] Furthermore, the display (target restoration trajectory display device) 19 can overlay the set target restoration trajectory 81 and the re-set target restoration trajectory 81. Thus, the operator can use a portable terminal 5, for example, located far away from the construction machinery 2, to visually compare and confirm the set target restoration trajectory 81 and the re-set target restoration trajectory 81.

[0109] (Setting the location for soil dumping)

[0110] Figure 12 This is a side view of the dump truck 3. (See reference) Figure 12 Viewed from above, the loading platform 27, which allows loading of sand and soil, is rectangular, with its four sides surrounded by baffles. The controller 11 sets multiple discharge positions (discharge positions) 92 arranged along direction C, which connects the baffle furthest from the construction machinery 2 (the baffle on the right in the figure) 27a to the baffle closest to the construction machinery 2 (the baffle on the left in the figure) 27b. Ideally, each discharge position 92 is set at a position where the far end of the bucket 33 does not extend beyond the loading platform 27 and where the far end of the bucket 33 does not interfere with the baffles.

[0111] Here, the length of the platform 27 is set to D, and the distance between the far end of the bucket 33 after dumping soil at the position furthest from the construction machinery 2 and the baffle 27a is set to a. Distance a is an adjustment value used to prevent the far end of the bucket 33 after dumping soil from contacting the baffle 27a. Additionally, the width of the bucket 33 in the C direction before dumping soil is set to L1, and the width of the bucket 33 in the C direction after dumping soil is set to L2. In this case, the length X of multiple dumping positions 92 can be set to D-(L1+L2+a). Therefore, if the number of multiple dumping positions 92 is set to N, the distance L3 between adjacent dumping positions 92 is X / N. Figure 12 In this example, three dumping locations (92) are designated. As mentioned above, in... Figures 3-6 and Figures 8-11 The diagram shows the soil disposal location 92 closest to the construction machinery 2 and the soil disposal location 92 furthest from the construction machinery 2 among the above-mentioned multiple soil disposal locations 92.

[0112] Whenever the auxiliary equipment 30 transports sand from the sand pile 100 to the loading platform 27, the controller 11 of the construction machinery 2 sequentially sets the target end point 74 above the multiple discharge positions 92. This prevents sand from spilling from the loading platform 27, ensures the distal end of the auxiliary equipment 30 does not contact the baffle 27a, and evenly discharges the sand onto the loading platform 27.

[0113] (Effect)

[0114] As described above, according to the target trajectory setting system 1 of this embodiment, the controller 11 (target trajectory setting unit) sets a target start point 73, which is the starting point of a specific part of the auxiliary equipment 30 during the first operation until the sand (transported material) obtained by the auxiliary equipment 30 from the sand pile 100 (work object) is moved above the loading platform 27 (loading object), a target end point 74, which is the ending point of a specific part of the auxiliary equipment 30 during the first operation, and a target trajectory 71 of the trajectory of the far end (specific part) of the bucket 33 between the target start point 73 and the target end point 74.

[0115] Then, the controller 11 (end point movement unit) can move the set target end point 74 as needed based on the surrounding information captured by the camera device 4. If the target end point 74 is moved, the controller 11 (target trajectory resetting unit) resets the target trajectory 71 from the target start point 73 to the moved target end point 75. If the target trajectory 71 is reset, the distal end of the bucket 33 will move along the target trajectory 71. In this way, by resetting the target trajectory 71, the auxiliary equipment 30 can operate efficiently.

[0116] Furthermore, when the platform 27 is located upstream in the rotation direction of the upper rotating body 22 relative to the target endpoint 74 before movement, the controller 11 (target endpoint movement unit) moves the target endpoint 74 upstream in the rotation direction relative to the platform 27. The controller 11 (determination unit) determines the relative positional relationship between the target endpoint 74 before movement and the platform 27 based on the surrounding information. As a result, the target trajectory 71 is reset in a manner that reduces the rotation angle of the upper rotating body 22. Therefore, the auxiliary equipment 30 can be moved above the platform 27 by adjusting the rotation angle without significantly altering the target trajectory 71.

[0117] Furthermore, when the platform 27 is located downstream of the upper rotating body 22 in the rotation direction relative to the target endpoint 74 before movement, the controller 11 moves the target endpoint 74 downstream in the rotation direction relative to the platform 27. As a result, the target trajectory 71 is re-established by increasing the rotation angle of the upper rotating body 22. Therefore, the auxiliary equipment 30 can be moved above the platform 27 by adjusting the rotation angle without significantly altering the target trajectory 71.

[0118] Furthermore, when the upper end of the platform 27 is positioned above the target end point 74 before movement, the controller 11 moves the target end point 74 above the upper end of the platform 27. This prevents the auxiliary device 30 from contacting the platform 27.

[0119] Furthermore, the controller 11 (target trajectory setting unit) sets at least one target point 72 (target passage point), which is the point on the target trajectory 71 where the distal end of the bucket 33 passes between the target start point 73 and the target end point 74. Moreover, based on the surrounding information, the controller 11 (avoidance point setting unit) extracts a potential interference point 77 from the at least one target point 72, and sets an avoidance point 78 at a position away from the platform 27, replacing the interference point 77. Furthermore, when the upper end of the platform 27 is above the interference point 77, the controller 11 sets the avoidance point 78 above the upper end of the platform 27. This further suppresses contact between the auxiliary equipment 30 and the platform 27.

[0120] Furthermore, the controller 11 (target trajectory resetting unit) resets the target trajectory 71 by connecting the portion of the target trajectory 71 that is close to the target start point 73 relative to the interference point 77 with the avoidance point 78 by a curve. As a result, violent operation of the auxiliary equipment 30 can be suppressed, thus suppressing sand spillage or inefficient operation of the auxiliary equipment 30.

[0121] In addition, the controller 11 (target restoration trajectory setting unit) sets the target restoration start point 83, which is the starting point of the far end (specific part) of the bucket 33 in the second specific action from when the auxiliary equipment 30 discharges sand into the platform 27 and moves from above the platform 27 to the sand pile 100; the target restoration end point 84, which is the ending point of the far end of the bucket 33 in the second specific action; and the target restoration trajectory 81, which is the trajectory of the far end of the bucket 33 from the target restoration start point 83 to the target restoration end point 84.

[0122] Then, the controller 11 (recovery start point movement unit) moves the aforementioned set target recovery start point 83 as needed based on the surrounding information captured by the camera device 4. If the target recovery start point 83 is moved, the controller 11 (target recovery trajectory resetting unit) resets the target recovery trajectory 81 between the reset target recovery start point 85 and the target recovery end point 84. If the target recovery trajectory 81 is reset, the distal end of the bucket 33 will move along the target recovery trajectory 81. In this way, by resetting the target recovery trajectory 81, the auxiliary equipment 30 can operate efficiently.

[0123] Furthermore, when the platform 27 is located upstream of the upper rotating body 22 in the rotation direction relative to the target restoration start point 83 before movement, the controller 11 moves the target restoration start point 83 upstream in the rotation direction relative to the platform 27. As a result, the target restoration trajectory 81 is reset in a manner that reduces the rotation angle of the upper rotating body 22. This allows the auxiliary equipment 30, which has discharged sand, to move efficiently up to the target restoration start point 85.

[0124] Furthermore, when the platform 27 is located downstream of the upper rotating body 22 in the rotation direction relative to the target restoration start point 83 before movement, the controller 11 moves the target restoration start point 83 downstream in the rotation direction relative to the platform 27. As a result, the target restoration trajectory 81 is reset by increasing the rotation angle of the upper rotating body 22. This allows the auxiliary equipment 30, which has discharged sand, to move efficiently to the target restoration start point 85.

[0125] Furthermore, when the upper end of the platform 27 is positioned above the moving target restoration start point 83, the controller 11 moves the target restoration start point 83 above the upper end of the platform 27. This prevents the auxiliary device 30 from contacting the platform 27.

[0126] Furthermore, the controller 11 sets at least one target recovery point 82 (target recovery passage point), which is a point on the target recovery trajectory 81 where the distal end of the bucket 33 passes between the target recovery start point 83 and the target recovery end point 84. Moreover, the controller 11 (recovery avoidance point setting unit) extracts potential interference points 87 from the at least one target recovery point 82 based on the surrounding information, and sets a recovery avoidance point 88 at a position away from the platform 27, replacing the interference point 87. Furthermore, when the upper end of the platform 27 is above the previous interference point 87, the controller 11 sets the recovery avoidance point 88 above the upper end of the platform 27. Additionally, the controller 11 re-sets the target recovery trajectory 81 by re-setting the target recovery trajectory 81 to pass through the set recovery avoidance point 88. This further suppresses contact between the auxiliary equipment 30 and the platform 27.

[0127] Furthermore, the controller 11 resets the target restoration trajectory 81 by connecting the portion of the target restoration trajectory 81 that is close to the target restoration end point 84 relative to the restoration interference point 87 with the restoration avoidance point 88 by a curve. As a result, violent operation of the auxiliary device 30 can be suppressed, and thus, inefficient operation of the auxiliary device 30 can be suppressed.

[0128] Furthermore, the display 19 (target restoration trajectory display device) of the portable terminal 5 can overlay the set target restoration trajectory 81 and the re-set target restoration trajectory 81. Thus, the operator can use the portable terminal 5, for example, located far away from the construction machinery 2, to visually compare and confirm the set target restoration trajectory 81 and the re-set target restoration trajectory 81.

[0129] Furthermore, the display 19 (target trajectory display device) of the portable terminal 5 can overlay the set target trajectory 71 and the re-set target trajectory 71. Thus, the operator can use the portable terminal 5, for example, located far away from the construction machinery 2, to visually compare and confirm the set target trajectory 71 and the re-set target trajectory 71.

[0130] Furthermore, on the loading platform 27, multiple soil discharge positions 92 are provided along the direction connecting the baffle 27a furthest from the construction machinery and the baffle 27b closest to the construction machinery. These multiple soil discharge positions 92 are the positions where the auxiliary equipment 30 discharges sand and soil. In other words, the controller 11 (discharge position setting unit) sets multiple soil discharge positions 92 (discharge positions) for the auxiliary equipment 30 to discharge sand and soil in a manner arranged along the direction furthest from the construction machinery, based on the surrounding information captured by the camera device 4. Each of the multiple soil discharge positions 92 is set at a position where the far end of the auxiliary equipment 30 does not extend beyond the loading platform 27 and the far end of the auxiliary equipment 30 does not interfere with the baffle 27a. For each of the multiple soil discharge positions 92, a target end point 74 is sequentially set above the soil discharge position 92. That is, when the construction machinery 2 repeatedly performs the first specific action, the controller 11 (target trajectory setting unit) sets the target end point 74 above one of the plurality of soil discharge positions 92 for each first specific action, and sets the target end point 74 above each of the plurality of discharge positions in such a way that the target end point 74 moves sequentially along the direction each time the first specific action is performed. This prevents sand from spilling from the platform 27, prevents the distal end of the auxiliary equipment 30 from contacting the baffle 27a, and ensures that the sand is evenly discharged onto the platform 27.

[0131] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative examples and do not specifically limit the invention. Appropriate design changes can be made to the specific structure, etc. Furthermore, the effects and benefits described in the embodiments of the invention only represent the optimal effects and benefits produced by the present invention, and the effects and benefits of the present invention are not limited to those described in the embodiments.

[0132] For example, in the above embodiment, although the controller 11 of the construction machinery 2 sets the target trajectory 71, moves the target end point 74, and resets the target trajectory 71, these actions can also be performed by a server (not shown) as part of the target trajectory setting system of the present invention. Similarly, in the above embodiment, although the controller 11 of the construction machinery 2 sets the target restoration trajectory 81, moves the target restoration start point 83, and resets the target restoration trajectory 81, these actions can also be performed by a server (not shown).

[0133] Furthermore, although the display 19 of the portable terminal 5 has been described as a display device in the above embodiments, the display devices involved in this invention may also be display devices installed in the cab 23 of the construction machinery 2, or monitors connected to a server (not shown), etc.

[0134] According to the present invention, a target trajectory for a specific part of the auxiliary equipment is set from a target start point to a target end point. The action begins at the target start point and continues until the auxiliary equipment, held by the transport object being transported, is moved above the loaded object, and ends at the target end point. Then, based on surrounding information captured by a camera device, the target end point is moved. If the target end point is moved, the target trajectory is reset from the target start point to the moved target end point. If the target trajectory is reset, the specific part of the auxiliary equipment will move along that target trajectory. Thus, by resetting the target trajectory, the auxiliary equipment can operate efficiently.

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, which is the start point of a specific part of the auxiliary equipment during a first specific action until the transport obtained by the auxiliary equipment from the work object moves above the loading object; a target end point, which is the end point of the specific part during the first specific action; and a target trajectory, which is the trajectory of the specific part from the target start point to the target end point. The camera device is capable of capturing images of the area surrounding the engineering machinery, including at least the loaded object, 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 from the target start point to the target end point after the movement.

2. The target trajectory setting system for auxiliary equipment according to claim 1, characterized in that: When the loaded object is located upstream of the rotation direction of the upper rotating body relative to the target end point before the movement, the end point moving part moves the target end point upstream of the rotation direction.

3. The target trajectory setting system for auxiliary equipment according to claim 1, characterized in that: When the loaded object is located downstream of the rotation direction of the upper rotating body relative to the target end point before the movement, the end point moving part moves the target end point downstream of the rotation direction.

4. The target trajectory setting system for auxiliary equipment according to claim 1, characterized in that: When the upper end of the loaded object is located above the target end point before the movement, the end point moving part moves the target end point above the upper end of the loaded object.

5. The target trajectory setting system for auxiliary equipment according to claim 4, characterized in that: The target trajectory setting unit sets at least one target passage point, which is a point on the target trajectory where the specific part passes between the target start point and the target end point. The target trajectory setting system of the auxiliary equipment also includes: The avoidance point setting unit, based on the surrounding information, extracts from the at least one target passage point that may interfere with the loaded object, i.e., interference points, and sets an avoidance point at the position where the target departs from the loaded object, replacing the interference point. When the upper end of the loaded object is located above the interference point, the avoidance point setting unit sets the avoidance point above the upper end of the loaded object. The target trajectory resetting unit resets the target trajectory by having the target trajectory pass through the avoidance point.

6. The target trajectory setting system for auxiliary equipment according to claim 5, characterized in that: The target trajectory resetting unit resets the target trajectory by connecting the portion of the target trajectory that is close to the target starting point relative to the interference point with the avoidance point by a curve.

7. The target trajectory setting system for the auxiliary equipment according to any one of claims 1 to 6, characterized in that... Also includes: The target restoration trajectory setting unit sets a target restoration start point, which is the start point of the specific part in the second specific action from which the auxiliary equipment discharges the transported object to the loading object and moves it from above the loading object to the work object; a target restoration end point, which is the end point of the specific part in the second specific action; and a target restoration trajectory, which is the trajectory of the specific part from the target restoration start point to the target restoration end point. The restoration start point moving unit can move the target restoration start point set by the target restoration trajectory setting unit according to the surrounding information; as well as, The target restoration trajectory resetting unit resets the target restoration trajectory from the target restoration start point to the target restoration end point after the reset movement.

8. The target trajectory setting system for auxiliary equipment according to claim 7, characterized in that: When the loaded object is located upstream of the rotation direction of the upper rotating body relative to the target restoration start point before the movement, the restoration start point moving unit moves the target restoration start point upstream of the rotation direction.

9. The target trajectory setting system for auxiliary equipment according to claim 7, characterized in that: When the loaded object is located downstream of the rotation direction of the upper rotating body relative to the target restoration start point before the movement, the restoration start point moving unit moves the target restoration start point downstream of the rotation direction.

10. The target trajectory setting system for auxiliary equipment according to claim 7, characterized in that: When the upper end of the loaded object is located above the target restoration start point before the movement, the restoration start point moving unit moves the target restoration start point above the upper end of the loaded object.

11. The target trajectory setting system for auxiliary equipment according to claim 10, characterized in that: The target restoration trajectory setting unit sets at least one target restoration pass point, which is a point on the target restoration trajectory where the specific part passes between the target restoration start point and the target restoration end point. The target trajectory setting system of the auxiliary equipment also includes: The recovery avoidance point setting unit extracts, based on the surrounding information, the target recovery passage points (i.e., recovery interference points) that may interfere with the loaded object from the at least one target recovery passage point, and sets a recovery avoidance point at the position away from the loaded object instead of the recovery interference point. When the upper end of the loaded object is located above the restoration interference point, the restoration avoidance point setting unit sets the restoration avoidance point above the upper end of the loaded object. The target restoration trajectory resetting unit resets the target restoration trajectory by passing through the restoration avoidance point.

12. The target trajectory setting system for auxiliary equipment according to claim 11, characterized in that: The target restoration trajectory resetting unit resets the target restoration trajectory by connecting the portion of the target restoration trajectory that is close to the target restoration end point relative to the restoration interference point with the restoration avoidance point by a curve.

13. The target trajectory setting system for auxiliary equipment according to claim 7, characterized in that... Also includes: The target restoration trajectory display device is capable of displaying the set target restoration trajectory and the re-set target restoration trajectory over and over.

14. The target trajectory setting system for the auxiliary equipment according to any one of claims 1 to 6, characterized in that... Also includes: The target trajectory display device is capable of displaying the set target trajectory and the re-set target trajectory over and over.

15. The target trajectory setting system for the auxiliary equipment according to any one of claims 1 to 6, characterized in that... Also includes: The discharge position setting unit, based on the surrounding information captured by the camera device, sets multiple discharge positions for the auxiliary equipment to discharge the transported goods in a manner arranged away from the construction machinery. Each of the plurality of discharge locations is set at a position at the distal end of the auxiliary device that does not extend beyond the loaded object and where the distal end of the auxiliary device does not interfere with the loaded object. When the construction machinery repeatedly performs the first specific action, the target trajectory setting unit sets the target end point above one of the plurality of discharge positions for each first specific action, and sets the target end point above each of the plurality of discharge positions in such a way that the target end point moves sequentially along the direction whenever the first specific action is performed.

Images