Work area setting system and operation target detection system

Abstract

A technique for further promoting automatic drive control of a work machine is provided. A work area setting system includes an area setting unit (24). The area setting unit (24) is provided to set a work area (50). The work area (50) is a predetermined range in which an operation target (100) of the work machine (1) is stacked.

Description

Technical Field

[0001] This invention relates to a work area setting system and an operation target detection system. Background Technology

[0002] Regarding the technology for detecting the target of operation in the automatic drive technology of the working machine, Patent Document 1 describes a technology for calculating the distance from the wheel loader to the natural ground as the excavation target or the angle of repose of the natural ground based on the measurement data of the three-dimensional measuring device.

[0003] [List of Citations]

[0004] [Patent Literature]

[0005] [Patent Document 1] Japanese Patent Publication No. 2019-178599 Summary of the Invention

[0006] [Technical Issues]

[0007] Suppose, for example, that multiple natural ground surfaces exist within the detection area of ​​a three-dimensional measuring device. In this case, it is difficult to specify the calculated target range of the excavation target using the technique described in Patent Document 1. As a result, it may be difficult to perform automatic drive control of the operating machine.

[0008] The purpose of this invention is to provide a work area setting system that facilitates the automatic drive control of work machines.

[0009] [Solution to the problem]

[0010] A work area setting system includes an area setting unit configured to set a predetermined range of the work area, where the operating targets of the work machine are stacked in the work area.

[0011] [Advantages of the Invention]

[0012] This arrangement further facilitates the automatic drive control of the operating machines. Attached Figure Description

[0013] Figure 1 It is a side view of a hydraulic excavator as the working machine and a pile of soil as the target of the operation.

[0014] Figure 2 It is a floor plan used to explain, for example, the process of setting up a work area.

[0015] Figure 3 It is among them Figure 2 The work area shown has been enhanced with a plan view that includes three-dimensional information about the location, extent, and shape of the mound.

[0016] Figure 4 This is a block diagram of the controller that constitutes the target detection system installed on a hydraulic excavator.

[0017] Figure 5 It is by Figure 4 The flowchart shown illustrates the process executed by the detection controller.

[0018] Figure 6 It is a plan view used to interpret the process of calculating three-dimensional information about the location, extent, and shape of a soil mound when it is scattered across the work area and outside the work area.

[0019] Figure 7 It is a plan view used to interpret the process of calculating three-dimensional information about the location, extent, and shape of a soil mound when it is scattered across the exterior and interior of the work area.

[0020] Figure 8 Corresponding to and equivalent to the second embodiment Figure 1 .

[0021] Figure 9 Corresponding to and equivalent to the second embodiment Figure 3 .

[0022] Figure 10 It is along Figure 9 The arrow direction view is captured by line F10-F10.

[0023] Figure 11 Corresponding to and equivalent to the second embodiment Figure 4 .

[0024] Figure 12 It is setting parameters (such as, Figure 9 The work area shown Figure 10 The flowchart shown is for the initial height of the operation.

[0025] Figure 13 It is by Figure 11 The flowchart shown illustrates the process executed by the controller. Detailed Implementation

[0026] (First Embodiment)

[0027] Embodiments of the present invention will be described below with reference to the figures. The following description assumes that the working machine is a hydraulic excavator 1. A work area setting system and an operation target detection system of a first embodiment will be described.

[0028] (Structure of a hydraulic excavator)

[0029] like Figure 1As shown, the hydraulic excavator 1 is a machine that performs operations using auxiliary equipment 4. The hydraulic excavator 1 includes a lower traveling body 2, an upper rotating body 3, auxiliary equipment 4, a steering angle sensor 16, and a tilt angle sensor 20.

[0030] The lower traveling body 2 is the part used for traveling by the hydraulic excavator 1 and includes a track traction device 5. The upper rotating body 3 is rotatably attached to the lower traveling body 2 via a rotating device 6, such that the upper rotating body 3 is positioned above the lower traveling body 2. The upper rotating body 3 includes a cab 7. The cab 7 is the operator's compartment located at the front part of the upper rotating body 3.

[0031] The auxiliary device 4 is attached to the upper rotating body 3 and is rotatable in the vertical direction. The auxiliary device 4 includes a boom 10, a stick 11, and a bucket 12. The base end portion of the boom 10 is attached to the upper rotating body 3. The base end portion of the stick 11 is attached to the front end portion of the boom 10. The bucket 12 is attached to the front end portion of the stick 11. The bucket 12 is positioned at the front end portion of the auxiliary device 4 to perform operations such as digging, leveling, and scooping up targets (e.g., mound 100).

[0032] The boom 10, stick 11, and bucket 12 are driven by the boom cylinder 13, stick cylinder 14, and bucket cylinder 15, respectively. Each of the boom cylinder 13, stick cylinder 14, and bucket cylinder 15 is a hydraulic actuator. For example, as the boom cylinder 13 extends and retracts, it moves the boom 10 up and down.

[0033] The rotation angle sensor 16 is configured to detect the rotation angle of the upper rotating body 3 relative to the lower traveling body 2. The rotation angle sensor 16 is, for example, an encoder, a resolver, or a gyroscope sensor.

[0034] The tilt angle sensor 20 is configured to detect the posture of the auxiliary device 4. The tilt angle sensor 20 includes a boom tilt angle sensor 17, a stick tilt angle sensor 18, and a bucket tilt angle sensor 19.

[0035] The boom tilt angle sensor 17 is configured to detect the posture of the boom 10. For example, the boom tilt angle sensor 17 is a sensor configured to obtain the tilt angle of the boom 10 relative to a horizontal line. For example, the boom tilt angle sensor 17 is attached to the boom 10. The boom tilt angle sensor 17 is, for example, a tilt sensor or an acceleration sensor. The boom tilt angle sensor 17 can detect the posture of the boom 10 by detecting the rotation angle of the boom seat pin 10a (the base end portion of the boom). The boom tilt angle sensor 17 can also detect the posture of the boom 10 by detecting the stroke of the boom cylinder 13.

[0036] The stick tilt angle sensor 18 is configured to detect the posture of the stick 11. For example, the stick tilt angle sensor 18 is a sensor configured to obtain the tilt angle of the stick 11 relative to a horizontal line. For example, the stick tilt angle sensor 18 is attached to the stick 11. The stick tilt angle sensor 18 is, for example, a tilt sensor or an acceleration sensor. The stick tilt angle sensor 18 can detect the posture of the stick 11 by detecting the rotation angle of the stick connecting pin 11a (the base end portion of the stick). The stick tilt angle sensor 18 can also detect the posture of the stick 11 by detecting the stroke of the stick cylinder 14.

[0037] The bucket tilt angle sensor 19 is configured to detect the posture of the bucket 12. For example, the bucket tilt angle sensor 19 is a sensor configured to obtain the tilt angle of the bucket 12 relative to a horizontal line. For example, the bucket tilt angle sensor 19 is attached to a linkage member 21, through which the bucket 12 is driven. The bucket tilt angle sensor 19 is, for example, a tilt sensor or an acceleration sensor. The bucket tilt angle sensor 19 can detect the posture of the bucket 12 by detecting the rotation angle of the bucket connecting pin 12a (the base end portion of the bucket). The bucket tilt angle sensor 19 can also detect the posture of the bucket 12 by detecting the stroke of the bucket cylinder 15.

[0038] (Work area setting system and operational target detection system)

[0039] The hydraulic excavator 1 includes an operational target detection system. The operational target detection system includes a three-dimensional measuring device 9 and a controller 8.

[0040] The three-dimensional measuring device 9 is an imaging device configured to acquire data on the mound 100 (the operational target) and the surrounding environment of the mound 100. In this embodiment, the three-dimensional measuring device 9 is attached to the hydraulic excavator 1. However, the three-dimensional measuring device 9 may not be attached to the hydraulic excavator 1. The three-dimensional measuring device 9 is positioned at a location where it can capture images of the operational target, for example, near the location where the operational target is stacked.

[0041] The 3D measurement device 9 is, for example, a LiDAR (light detection and ranging), a lidar, a millimeter-wave radar, or a stereo camera. The 3D measurement device 9 can be, for example, a combination of a LiDAR and a camera.

[0042] Figure 2 The portable terminal 29 shown is operated by an operator at the work site. An example of the portable terminal 29 is a tablet computer terminal. The portable terminal 29 is capable of communicating with the hydraulic excavator 1.

[0043] The controller 8 can be located outside the hydraulic excavator 1, or it can be installed on the hydraulic excavator 1, such as... Figure 4As shown in the diagram. Controller 8 includes a management controller 22 and a detection controller 23.

[0044] The management controller 22 includes a region setting unit 24, an operation target region determination unit 25, and an auxiliary equipment front-end path location determination unit 30. The detection controller 23 includes a data receiver 27 and a calculation unit 28.

[0045] The area setting unit 24 is provided for setting (determining) the work area 50 (see Figure 2 and Figure 3 The work area 50 is, for example, a predetermined area in which a mound 100 is formed by a hydraulic excavator 1. The area setting unit 24 constitutes the work area setting system. The area setting unit 24, the three-dimensional measuring device 9, and the calculation unit 28 constitute the operational target detection system.

[0046] An operation target area determination unit 25 is provided to determine the area including the operation target. For example, the operation target area determination unit 25 determines the extent of the mound calculated by the calculation unit 28 (described later).

[0047] Various diagrams (such as, Figure 2 and Figure 3 The diagram illustrates a three-dimensional coordinate system using the hydraulic excavator 1 as the origin. The direction from the hydraulic excavator 1 to the work area 50 is the X-axis direction. The Y-axis extends in the horizontal plane in a direction perpendicular to the X-axis. The Z-axis is perpendicular to both the X-axis and Y-axis. The Z-axis extends vertically. The Z-axis direction is vertically upward.

[0048] Refer to the following figures (such as, Figure 2 and Figure 4 The following section will describe the settings. Figure 2 The process of the work area 50 shown. For example, an operator (e.g., the operator of hydraulic excavator 1) performs the instruction of the work area 50 in the following manner.

[0049] The operator of the hydraulic excavator 1 sets points A and C to define the boundary between the work area 50 and the outside of that area. More specifically, the operator of the hydraulic excavator 1 places the front end of the auxiliary equipment 4 (the front end of the bucket 12's claw, for example, the central portion along the width direction of the front end of the bucket 12's claw) at points A and C on the ground G. For example, the operator of the hydraulic excavator 1 designates these points according to instructions from the portable terminal 29. (This also applies to the teachings described later, which differ from those for points A and C.)

[0050] Region setting unit 24 (see Figure 4 Based on from Figure 1The signals from the rotation angle sensor 16 and tilt angle sensor 20 (boom tilt angle sensor 17, stick tilt angle sensor 18 and bucket tilt angle sensor 19) shown are used to calculate... Figure 2 The coordinates of each of points A and C shown are given. In the teaching described later, which differs from that for points A and C, the coordinates of points are also calculated based on this signal. A specific example of the teaching is as follows. By operating the auxiliary device 4, the operator moves the front end of the auxiliary device 4 (the front end of the claw of the bucket 12) to the position to be set as point A. Then, the operator, for example, presses the confirmation button on the portable terminal 29. When, for example, the confirmation button is pressed, the area setting unit 24 (see...)... Figure 4 The coordinates of the front end of the auxiliary device 4 are calculated, and the calculated coordinates are set as the coordinates of point A. Teaching and calculation are performed similarly for point C. Alternatively, the calculation of the coordinates of points A and C can be performed by a unit different from the region setting unit 24, and the calculation results can be sent to the region setting unit 24.

[0051] The coordinates of the remaining two points, B and D, used to specify the work area 50 are determined based on the coordinates of points A and C. Area setting unit 24 (see...) Figure 4 Points B and D are determined based on points A and C. After determining the coordinates of all points A to D, the area setting unit 24 sets (determines) and stores the work area 50.

[0052] Point A is the point closer to the hydraulic excavator 1 (first position) among two locations where the front end of the auxiliary equipment 4 (the front end of the bucket claw of the bucket 12) is placed. Point C is the point farther away from the hydraulic excavator 1 among two locations where the front end of the auxiliary equipment 4 (the front end of the bucket claw of the bucket 12) is placed (second position). Points A and C are diagonally opposite each other in the rectangular working area 50 in the plan view. For example, when the upper rotating body 3 is set to face the midpoint between points A and C, the front-back direction of the upper rotating body 3 is assumed to be the direction along which the two sides (opposite sides, i.e., line segments AB and DC) of the rectangular working area 50 extend in the plan view. In addition, in this case, the width direction of the upper rotating body 3 is assumed to be the direction along which the other two sides (i.e., line segments AD and BC) of the rectangular working area 50 extend in the plan view.

[0053] Suppose the two-dimensional coordinates of point A are A(XA, YA) and the two-dimensional coordinates of point C are C(XC, YC). Referring to the two-dimensional coordinates of points A and C, the two-dimensional coordinates of points B and D are B(XC, YA) and D(XA, YC), respectively.

[0054] Region setting unit 24 (see Figure 4The storage unit 24 stores the positions (points A and C) where the front end of the auxiliary device 4 (the front end of the bucket claw of the bucket 12) is placed, serving as points for defining the boundary between the work area 50 and its outer perimeter. Furthermore, the area setting unit 24 stores the positions (points B and D) determined based on points A and C, also serving as points for defining the boundary between the work area 50 and its outer perimeter. When setting the work area 50, the points used to define the work area 50 are determined through actual operations performed by the operator. Therefore, the operator can control the work area 50.

[0055] Figure 4 The area setting unit 24 shown will set point A (see Figure 2 ) and point C (see Figure 2 The coordinate data of points A and C are sent to the data receiver 27 of the detection controller 23. The data receiver 27 then transfers the coordinate data of points A and C to the calculation unit 28.

[0056] In the examples above, Figure 2 The front end of the auxiliary device 4 (the front end of the bucket claw of the bucket 12) shown is placed at two points (i.e., points A and C) on the ground G, and the coordinates of points A, B, C, and D are calculated. Alternatively, the working area 50 can be set (defined) such that the front end of the auxiliary device 4 (the front end of the bucket claw of the bucket 12) is placed at all points A, B, C, and D on the ground G. Note that... Figure 4 The area setting unit 24 shown may not be provided in the management controller 22. Points A to D (see...) Figure 2 The coordinates of ) can be calculated by the management controller 22 (see Figure 2 Different components complete the calculations, and the results can be sent to the management controller 22 (see...). Figure 2 ).

[0057] When the remaining two points B and D are determined based on the first position close to the hydraulic excavator 1 and the second position far away from the hydraulic excavator 1, the hydraulic excavator 1 operates less. The first position and the second position are the two positions where the front end of the auxiliary equipment 4 (the front end of the bucket claw of the bucket 12) is placed.

[0058] For example, an operator (e.g., the operator of hydraulic excavator 1) teaches the target path of the front end of the auxiliary equipment 4 in the following manner.

[0059] The operator of hydraulic excavator 1 designates the lifting rotation starting point P1. The lifting rotation starting point P1 is the position (starting point) of the front end of auxiliary equipment 4 (the front end of the bucket claw of bucket 12) when the bucket 12, which has scooped up and lifted soil, leaves the work area 50. Point P1 is the point through which the front end of auxiliary equipment 4 passes.

[0060] like Figure 2As shown in the plan view, for example, the lifting rotation starting point P1 is on line segment CD (which designates the work area 50). The lifting rotation starting point P1 is above the ground G. For example, when line segment CD is set on the ground G, the lifting rotation starting point P1 is positioned above line segment CD. In the plan view, the lifting rotation starting point P1 is above the boundary between the work area 50 and the outside of that area.

[0061] Auxiliary equipment front-end path location determination unit 30 (see) Figure 4 The starting point P1 for lifting rotation is set as the point through which the front end of the auxiliary equipment 4 (the front end of the bucket claw of the bucket 12) passes when it moves from the inside to the outside of the working area 50.

[0062] The operator of hydraulic excavator 1 is instructed to follow the path from the starting point P1 to the ending point P2 (described later). The controller 8 continuously records the movement of auxiliary equipment 4 from the starting point P1 to the ending point P2. Figure 1 The signal data (angle data) of the rotation angle sensor 16 and tilt angle sensor 20 (boom tilt angle sensor 17, stick tilt angle sensor 18 and bucket tilt angle sensor 19) shown are also recorded. Continuous recording of the signal data also occurs during the teaching of the path from the return rotation start point P3 to the return rotation end point P4.

[0063] Operator designation for hydraulic excavator 1 Figure 2 The lifting rotation end point P2 is shown in the diagram. The lifting rotation end point P2 is the position (point) of the front end of the auxiliary device 4 when the bucket 12, containing soil, reaches a position above the location where the soil is unloaded. The lifting rotation end point P2 is the point passed by the front end of the auxiliary device 4 (the front end of the bucket claw of the bucket 12). The location where the soil is unloaded is, for example, the cargo compartment of a transport vehicle used to transport soil.

[0064] Operator designation for hydraulic excavator 1 Figure 2 The return rotation starting point P3 is shown in the diagram. The return rotation starting point P3 is the position (starting point) of the front end of the auxiliary equipment 4 (the front end of the bucket claw of the bucket 12) when the bucket 12, which has already unloaded the soil, leaves the place where the soil was unloaded. Point P3 is the point that the front end of the auxiliary equipment 4 passes through.

[0065] The operator of hydraulic excavator 1 is instructed to follow the path from the return rotation start point P3 to the return rotation end point P4 (described later).

[0066] The operator of hydraulic excavator 1 designates the return rotation end point P4. The return rotation end point P4 is the position (point) of the front end of the auxiliary equipment 4 (the front end of the bucket claw of bucket 12) when the bucket 12, which has already unloaded the soil, reaches the work area 50. Point P4 is the point passed by the front end of the auxiliary equipment 4.

[0067] In the plan view, the return rotation end point P4 is, for example, on line segment CD (which specifies the work area 50). The return rotation end point P4 is above the ground G. For example, when line segment CD is set on the ground G, the return rotation end point P4 is positioned above line segment CD. In the plan view, the return rotation end point P4 is above the boundary between work area 50 and the outside of that area.

[0068] Auxiliary equipment front-end path location determination unit 30 (see) Figure 4 The return rotation end point P4 is set as the point through which the front end of the auxiliary equipment 4 (the front end of the bucket claw of the bucket 12) passes when it moves from the outside to the inside of the working area 50.

[0069] Auxiliary equipment front-end path location determination unit 30 (see) Figure 4 You can set only one of the starting point of the lifting rotation, P1, and the ending point of the returning rotation, P4, as the passing point.

[0070] The following will refer to Figures 3 to 5 Description of mound 100 (see) Figure 1 ) detection.

[0071] Data receiver 27 (see Figure 4 From the region setting unit 24 (see Figure 4 )take over Figure 3 The coordinate data of points A and C shown. (This is step 1 and...) Figure 5 The step is designated as S1. Note that other steps will be similarly indicated. (In the following description, reference will be made to...) Figure 5 To explain Figure 5 Each step indicated in the diagram. Calculation unit 28 (see...) Figure 4 )based on Figure 3 The coordinate data of points A and C shown are used to determine the work area 50 (S2) specified from point A to D.

[0072] On the other hand, the three-dimensional measuring device 9 (see Figure 1 ) Obtain 100 mounds (see Figure 1 Point cloud data of the data receiver 27 and its surrounding environment. Figure 4 ) Received by the three-dimensional measuring device 9 (see Figure 1 The point cloud data is obtained (S3). The data receiver 27 stores the received point cloud data (S4). The computing unit 28 (see...) Figure 4The point cloud data stored from the data receiver 27, as well as the coordinate data of points A and C, are sampled (S5).

[0073] Calculation Unit 28 (see) Figure 4 Based on point cloud data (from a 3D measurement device 9 (see...) Figure 1 The obtained measurement data was used to calculate the value of the mound 100 in the work area 50 (see...). Figure 1 The three-dimensional information of the location, extent, and shape of the mound (S6). More specifically, for example, the computing unit 28 calculates the three-dimensional information of the extent of the mound, such that point cloud data including the mound 100 is obtained.

[0074] More specifically, for example, as an example Figure 1 The actual shape of the mound 100 shown is conical. Figure 3 As shown, computing unit 28 (see Figure 4 Calculate the three-dimensional information of the extent of the mound, such that it includes a conical mound 100. More specifically, the shape of the mound's extent in the three-dimensional information is a square pyramid, which is formed by... Figure 3 Points a, b, c, d, and e are specified in the diagram. The 3D information includes the 3D coordinates of points a, b, c, d, and e. Points a, b, c, and d specify the area including mound 100 (see...). Figure 1 The area at the bottom of the mound 100, and point e specifies the vertex of the mound 100. The three-dimensional information regarding the location, extent, and shape of the mound 100 is not limited to the extent of a mound shaped like a square pyramid. Calculation unit 28 (see...) Figure 4 It can calculate the range of mounds (the shape of which is, for example, an octagonal pyramid) such that it includes conical mounds 100.

[0075] Calculation Unit 28 (see) Figure 4 Regarding mound 100 (see) Figure 1 The calculated three-dimensional information of the location, extent, and shape of the object is sent to the management controller 22 (see...). Figure 4 Operation target area determination unit 25 (see) Figure 4 (S7). Thus, the work on the 100 mound (see...) is completed. Figure 1 ) detection.

[0076] Each time, auxiliary equipment 4 (bucket 12) excavates 100 mounds of soil (see...). Figure 1 When performing this action, the procedure regarding mound 100 (see...) is executed. Figure 1 The calculation of three-dimensional information regarding the location, extent, and shape of the mound is performed. This calculation is also performed when the operation at mound 100 is completed, and then the operation at another mound 100 is performed.

[0077] When the region setting unit 24 (see Figure 4) Set the work area 50 (this work area is the mound 100 that serves as the operating target of the hydraulic excavator 1 (see) Figure 1 When the predetermined range is formed therein, it is easy to perform automatic drive control, for example, of a hydraulic excavator 1, to designate the mound 100 as the excavation target. Because the mound 100 can be easily designated, the calculation unit 28 (see...) Figure 4 Calculations can be performed easily. Therefore, automatic drive control of the hydraulic excavator 1 is easily implemented. Furthermore, it is possible to prevent false detections (as described later) when, for example, another pile of earth exists outside the work area 50.

[0078] Figure 3 P5 indicates the excavation start point (operation start point). Excavation start point P5 is the point where auxiliary equipment 4 (bucket 12) begins excavation. Operation target area determination unit 25 (see...) Figure 4 This includes the work location determination unit 26 (see...) Figure 4 The job location determination unit 26 is based on the calculation unit 28 (see...). Figure 4 The calculated three-dimensional information is used to determine the starting point P5 for digging the target area. This arrangement allows for the automatic determination of a suitable digging position when the hydraulic excavator 1 is automatically driven. Figure 3 In the middle, the excavation starting point P5 is at point c on the plan view.

[0079] Auxiliary equipment 4 (bucket 12) from Figure 2 The return rotation starting point P3 is moved to the return rotation ending point P4, and then from the return rotation ending point P4 to the excavation starting point P5 (see...). Figure 3 ).

[0080] Excavation starting point P5 (see) Figure 3 According to the mound 100 (see) Figure 1 The path of the auxiliary device 4 (bucket 12) from the return rotation start point P3 to the return rotation end point P4 does not change according to the excavation state of the soil pile 100. Therefore, it is not necessary to correct the path of the auxiliary device 4 (bucket 12) from the return rotation start point P3 to the return rotation end point P4 according to the change in the excavation state of the soil pile 100.

[0081] In this embodiment, a work area 50 is defined, which is a mound of earth 100 (see...). Figure 1 This forms a predetermined range within it. For this reason, it is possible to combine the path of the auxiliary equipment 4 (bucket 12) from the return rotation start point P3 to the return rotation end point P4 with the path of the auxiliary equipment 4 (bucket 12) from the return rotation end point P4 to the digging start point P5 (see...). Figure 3 The paths are separated, that is, it is possible to separate the areas. Therefore, when the mound is 100 (see...) Figure 1 When the state of the auxiliary equipment 4 (bucket 12) changes due to, for example, excavation, it is not necessary to correct the path of the auxiliary equipment 4 (bucket 12) from the return rotation start point P3 to the return rotation end point P4. For this reason, automatic drive control of the hydraulic excavator 1 can be easily achieved.

[0082] Due to the auxiliary equipment front-end path location determination unit 30 (see...) Figure 4 The existence of this feature allows for a more reliable achievement of the effects described above. The auxiliary equipment front-end path position determination unit 30 can determine the points through which the front end of the auxiliary equipment 4 of the hydraulic excavator 1 passes when it moves from the outside to the inside of the work area 50. The auxiliary equipment front-end path position determination unit 30 can determine the points through which the front end of the auxiliary equipment 4 of the hydraulic excavator 1 passes when it moves from the inside to the outside of the work area 50.

[0083] In addition to the above, points (e.g., at least one of the starting point of rotation P1 or the ending point of rotation P4) are set on the boundary between the work area 50 and the outside of the area in the plan view. As a result, the paths of the auxiliary equipment 4 (bucket 12) are clearly distinguished from each other, and thus the operator can perform operations without any worries.

[0084] The path area between the starting point P1 and the ending point P2 of the lifting rotation is the area where teaching instructions are prioritized. Because the path of auxiliary device 4 is set within this prioritized area, and the operator can easily grasp the path, operator safety is ensured. The path area between the starting point P3 and the ending point P4 of the return rotation is also the area where teaching instructions are prioritized. Because the path of auxiliary device 4 is set within this prioritized area, and the operator can easily grasp the path, operator safety is ensured.

[0085] Figure 6 and Figure 7 Each of these is a plan view used to explain the process of calculating three-dimensional information about the location, extent, and shape of the mound 100 when it is spread across the exterior of the work area 50 and the work area 50.

[0086] When the soil mound 100 is spread across the outside of and within the work area 50, the calculation unit 28 (see...) Figure 4 Only the location, extent, and shape of a portion of the mound 100 within the work area 50 are calculated.

[0087] Using this arrangement, when the soil mound 100 is spread across both the exterior and interior of the work area 50, only the interior of the work area 50 is designated as the calculation unit 28 (see...). Figure 4 The processing target.

[0088] exist Figure 6 In this context, the mounds 100 are scattered along line segment CD connecting points C and D (this line segment defines the work area 50). In this case, when calculating the three-dimensional information of the location, extent, and shape of the mounds 100, the calculation unit 28 (see...) Figure 4 The point cloud data of the portion of the mound 100 outside the work area 50 is not used. The computing unit 28 calculates the three-dimensional information of the location, extent, and shape of the mound 100 using only the point cloud data of the interior of the work area 50. Figure 6 As shown, among the calculated points a, b, c, d, and e, points c and d lie on line segment CD (which specifies the work area 50) in the plan view.

[0089] exist Figure 7 In this context, mounds 100 are scattered along line segment BC connecting points B and C, which defines the work area 50. In this case, when calculating the three-dimensional information of the location, extent, and shape of the mounds 100, calculation unit 28 (see...) Figure 4 The three-dimensional information of the location, extent, and shape of the mound 100 is calculated using only point cloud data within the work area 50. For example... Figure 7 As shown, among the calculated points a, b, c, d, and e, points b and c lie on line segment BC (which specifies the work area 50) in the plan view.

[0090] (Effects of the first aspect of the invention)

[0091] [Arrangement 1] The work area setting system of this embodiment includes an area setting unit 24 (see...). Figure 4 The area setting unit 24 is provided for setting the work area 50 (see...). Figure 3 Work area 50 is the predetermined area where pile 100 (the operational target) is stacked. Figure 1 The operational objective of the hydraulic excavator 1 (working machine) shown.

[0092] According to [Arrangement 1], the area setting unit 24 (see Figure 4 )set up Figure 3 The work area 50 is shown. For this reason, it is easy to specify the mound 100 as the excavation target in the automatic drive control of, for example, a hydraulic excavator 1. For example, because the mound 100 can be easily specified, the calculation unit 28 (see...) Figure 4 Calculations can be performed easily. For this reason, automatic drive control of the hydraulic excavator 1 can be easily achieved. Furthermore, it is possible to prevent false detections when, for example, another pile of earth exists outside the work area 50.

[0093] (The effects of the second aspect of the invention)

[0094] [Arrangement 2] Area setting unit 24 (see Figure 4 The front end of the auxiliary equipment 4 of the storage hydraulic excavator 1 (the front end of the claw of the bucket 12) is placed at a position (e.g., points A and C) as a point used to specify the boundary between the work area 50 and the outside of the area.

[0095] Using this [arrangement 2], when setting up work area 50, the points used to designate work area 50 are determined through actual operations performed by the operator. Therefore, the operator is able to master work area 50.

[0096] (The effects of the third aspect of the invention)

[0097] [Layout 3] The work area 50 is a rectangle in the plan.

[0098] Using this [arrangement 3], the computational load on the work area 50 is lighter compared to cases where the work area 50 is not a rectangle but a complex shape (e.g., a polygon, circle, or ellipse) in the plan view.

[0099] (The effects of the fourth aspect of the invention)

[0100] [Arrangement 4] Based on the first position (e.g., point A) and the second position (e.g., point C) where the front end of the auxiliary equipment 4 is placed, the remaining two points (B and C) are determined. Of the two positions (e.g., points A and C) where the front end of the auxiliary equipment 4 is placed, the position closer to the hydraulic excavator 1 is the first position (e.g., point A), and the position farther away from the hydraulic excavator 1 is the second position (point C). The remaining two points (e.g., points B and D) are two points out of the four points that are different from the first position (point A) and the second position (point B), and in [Arrangement 2], these four points define the boundary between the work area 50 and the outside of the area.

[0101] According to [Arrangement 4], when determining the remaining two points (points B and D), it is not necessary to place the front end of the auxiliary equipment 4 at points B and D. Therefore, the number of operations of the hydraulic excavator 1 is advantageously reduced.

[0102] (The effects of the fifth aspect of the invention)

[0103] [Arrangement 5] The work area setting system includes an auxiliary equipment front-end path location determination unit 30 (see...). Figure 4 The auxiliary equipment front-end path location determination unit 30 determines the passage point (e.g., Figure 2The lifting rotation start point P1 and / or the return rotation end point P4 are shown. The passing point is the point that the front end passes through when the front end of the auxiliary equipment 4 of the hydraulic excavator 1 moves from the outside to the inside of the work area 50 and / or when the current end moves from the inside to the outside of the work area 50.

[0104] Using the [arrangement 5] described above, it is possible to place the auxiliary equipment 4 (bucket 12) in Figure 2 The path outside the work area 50 shown is separated from the path of the auxiliary equipment 4 (bucket 12) inside the work area 50. In other words, it is possible to separate these areas. Therefore, even if the mound 100 (see...) Figure 1 When the state of the auxiliary equipment 4 (bucket 12) changes due to, for example, excavation, it is not necessary to correct the path of the auxiliary equipment 4 (bucket 12) outside the work area 50 (e.g., from the return rotation start point P3 to the return rotation end point P4). Therefore, for this reason, automatic drive control of the hydraulic excavator 1 can be easily accomplished.

[0105] (Sixth aspect of the invention)

[0106] [Arrangement 6] Auxiliary equipment front-end path location determination unit 30 (see...) Figure 4 In the plan view, determine the passing points on the boundary between the work area 50 and the outside of the area (e.g., lifting rotation start point P1 and / or returning rotation end point P4).

[0107] This [arrangement 6] clarifies the area of ​​the path for the auxiliary equipment 4 (bucket 12) (see [arrangement 5] above). For this reason, the operator can perform the operation without any worries.

[0108] (Eighth aspect of the invention)

[0109] [Arrangement 8] as follows Figure 1 As shown, the operational target detection system includes a three-dimensional measuring device 9 and a computing unit 28 (see Figure 28). Figure 4 The three-dimensional measuring device 9 acquires data on the mound 100 and its surrounding environment. The calculation unit 28 calculates data about the work area 50 (see figure 50) based on the measurement data acquired by the three-dimensional measuring device 9. Figure 3 The three-dimensional information of the location, extent, and shape of the mound 100 in the image.

[0110] Based on [Layout 8], calculate the three-dimensional information regarding the location, extent, and shape of the mound 100 in the work area 50 (see [Layout 1] above). For this reason, when in Figure 3 When there is another mound of earth outside the work area 50 shown, calculation unit 28 is not required (see...). Figure 4The three-dimensional information of the mound is calculated. Therefore, it is possible to reduce the computational load on the computing unit 28.

[0111] (Effects of the ninth aspect of the invention)

[0112] [Arrangement 9] as follows Figure 6 As shown, when the soil pile 100 is spread across the outside of and within the work area 50, the calculation unit 28 (see...) Figure 4 Only the three-dimensional information of a portion of the mound 100 that exists within the work area 50 is calculated.

[0113] Using [Layout 9], only the soil mound 100 within the work area 50 is designated as calculation unit 28 (see [Layout 9]). Figure 4 The processing target is thus reduced. Therefore, it is possible to reduce the computational load on computing unit 28.

[0114] (Effects of the tenth aspect of the present invention)

[0115] [Arrangement 10] The operational target detection system includes a work location determination unit 26 (see...). Figure 4 The job location determination unit 26 is based on the calculation unit 28 (see...). Figure 4 The calculated three-dimensional information is used to determine the excavation starting point P5 (operation starting point) of mound 100.

[0116] This arrangement

[10] enables the appropriate digging position to be automatically determined when the hydraulic excavator 1 is automatically driven.

[0117] (Second Embodiment)

[0118] Regarding the work area setting system and the operation target detection system of the second embodiment, please refer to Figures 8 to 13 The differences from the first embodiment will be described below. Regarding the work area setting system and operational target detection system of the second embodiment, the same arrangement as in the first embodiment will not be explained again.

[0119] exist Figure 1 In the example shown, the height at which the operation (e.g., digging) is performed by the auxiliary device 4 is substantially the same as the height of the lower walking body 2. In this respect, as Figure 8 As shown, the height at which the operation is performed can be lower than the height of the lower walking body 2. For example, the mound 100 can be inside the pit Pi, or can be surrounded by the wall W of the pit Pi.

[0120] In the first embodiment, Figure 3 The starting point for the operation of the auxiliary equipment 4 shown (i.e., the excavation starting point P5) is determined by the work location determination unit 26 based on the... Figure 4 The three-dimensional information calculated by the computing unit 28 shown is used to determine this. Figure 3 The starting point of the auxiliary equipment 4 shown in the diagram, along the height direction, is determined by the work position determination unit 26 based on the position determined by the work position determination unit 26. Figure 4 The calculation unit 28 shown calculates the three-dimensional information to determine this. On the other hand, in this embodiment, it is determined through teaching. Figure 10 The initial operational height Z1 is shown in the figure. More specifically, the operational target detection system includes an initial operational height determination unit 240 (see figure). Figure 11 The initial height determination unit is configured to determine the initial height Z1 of the operation (as described later).

[0121] (set up)

[0122] In the target detection system, the teaching is performed in the following manner. In the same manner as in the first embodiment, Figure 9 The operator of the hydraulic excavator 1 shown operates the hydraulic excavator 1 to teach points A and C ( Figure 12 (S201 and S202 shown in the diagram). The heights of points A and C can be as follows: Figure 10 The image shown is above the upper end of wall W, at the same height as the upper end of wall W, or below the upper end of wall W.

[0123] Teaching operation initial height Z1 ( Figure 12 (S203 shown). The initial operating height Z1 is when the setting is... Figure 9 The work area 50 shown is the (initial) height of the digging starting point P5 when the auxiliary equipment 4 first performs an operation (e.g., digging) on ​​the operational target. For example, by operating the auxiliary equipment 4, the operator moves the front end of the auxiliary equipment 4 to the height where the initial operating height Z1 will be set (see...). Figure 10 At this stage, the position of the front end of the auxiliary device 4 in the plan view can be optionally determined. When the operator then presses, for example, the confirmation button on the portable terminal 29, this position of the front end of the auxiliary device 4 is set as the initial operating height Z1. More specifically, for example, Figure 11 The operation initial height determination unit 240 shown sets the operation initial height Z1 at... Figure 10 The front end of the auxiliary device 4 shown is positioned at its height. Because the initial operating height Z1 is determined through teaching in this way, the initial operating height Z1 is determined through the actual operation performed by the operator. Therefore, the operator is able to master the initial operating height Z1. Furthermore, because the initial operating height Z1 is determined through teaching, even when, for example, using the three-dimensional measuring device 9 (see...), the initial operating height Z1 is determined... Figure 11 Even when it is not easy to detect a mound of 100, the initial operating height Z1 can still be reliably set.

[0124] It can be controlled by controller 8 (see Figure 11(For example, calculation unit 28 (see...) Figure 11 Set the single-loop depth Z2. Figure 12 (S204 shown). The single-cycle depth Z2 is the depth of a single-cycle operation performed by the auxiliary device 4. More specifically, the single-cycle depth Z2 is the digging depth of the bucket 12. Controller 8 (see...) Figure 11 It can, for example, receive input to a portable terminal 29 (see...) Figure 9 The controller 8 receives the value (numerical value) of the single-cycle depth Z2 and sets the received value as the single-cycle depth Z2. (This also applies to the final depth Z3). The controller 8 can calculate the single-cycle depth Z2 based on information about the bucket 12 (e.g., volume and shape). The single-cycle depth Z2 can be a fixed value preset in the controller 8. (This also applies to the final depth Z3).

[0125] It can be controlled by controller 8 (see Figure 11 Set the final depth Z3 ( Figure 12 (S205 shown in the diagram). The final depth Z3 is the depth at which the auxiliary equipment 4 completes a series of operations (e.g., repeating the digging more than once). When the auxiliary equipment 4 completes its operations at the final depth Z3, all operations at the mound 100 are completed. The final depth Z3 is the depth from a predetermined position (e.g., point A).

[0126] (Determination of the excavation starting point P5 by unit 26 of the work location determination)

[0127] After setting Figure 9 After the work area 50 shown, the work location determination unit 26 (see...) Figure 11 Determine the excavation starting point P5 (hereinafter referred to as the initial position of excavation starting point P5) where the auxiliary equipment 4 will perform its first operation. At this stage, Figure 11 The operation position determination unit 26 shown receives the operation initial height Z1 determined by the operation initial height determination unit 240 (see...). Figure 10 ) and Figure 10 The initial operating height Z1 shown is set to the height of the initial position of the excavation starting point P5. Figure 13 (S210 shown in the figure).

[0128] (Operation at the initial height Z1)

[0129] Subsequently, controller 8 (see Figure 11 The auxiliary equipment 4 performs an operation (e.g., digging) at the initial operating height Z1. During this phase, the auxiliary equipment 4 digs the soil from the initial operating height Z1 to a single-cycle depth Z2.

[0130] (An operation at a position deeper than the initial operation height Z1)

[0131] When the operation at the initial height Z1 is completed, controller 8 (see...) Figure 11 The auxiliary device 4 performs the operation at a position that is deeper than the initial operating height Z1 by a single-cycle depth Z2 (i.e., at height Z1-Z2). For example, for the entire mound 100 (see... Figure 9 After completing the operation at the initial height Z1 in the plan view, the operation at height Z1-Z2 can be executed. For example, after completing the operation at the initial height Z1 in the plan view for a portion of the mound 100, the operation at height Z1-Z2 can be executed. Similarly, controller 8 (see...) Figure 11 The controller 8 causes the auxiliary device 4 to perform operations at progressively deeper positions (i.e., positions where the depths differ by a single cycle depth Z2) until it performs operations at the final depth Z3. The controller 8 does not cause the auxiliary device 4 to perform operations at positions deeper than the final depth Z3.

[0132] (Correction to the initial operating height Z1)

[0133] As described above, the initial operating height Z1 is set through instruction. When the mound 100 is flat or nearly flat, the auxiliary device 4 can appropriately perform the operation at the initial operating height Z1. On the other hand, there is a situation where the mound 100 is located at a position higher than the initial operating height Z1 (see...). Figure 10 (as shown in the protrusion 100a). In this case, when the auxiliary device 4 attempts to perform an operation at the digging starting point P5 at the initial operating height Z1, because the auxiliary device 4 comes into contact with the protrusion 100a before reaching the digging starting point P5, the auxiliary device 4 may not be able to properly perform the operation at the digging starting point P5 at the initial operating height Z1.

[0134] For this reason, the work location is determined in unit 26 (see Figure 11 Based on the computing unit 28 (see...) Figure 11 The calculated three-dimensional information determines whether the height of the excavation starting point P5 is set at the initial operating height Z1 or at the height generated by correcting the initial operating height Z1 (i.e., the corrected initial operating height Z1a). This process will be detailed below. Work location determination unit 26 (see...) Figure 11 The calculation unit 28 (see) will be used to calculate the result. Figure 11 The calculated 3D information is compared with the initial height Z1 of the operation. Figure 13 As shown in S211). For example, the job location determination unit 26 will... Figure 10The height of the mound 100 at the excavation starting point P5 and its surrounding area (indicated in the three-dimensional information) is compared with the initial operation height Z1. For example, the operation location determination unit 26 compares the height of the apex of the mound 100 in the three-dimensional information (e.g., the height of the apex of the protrusion 100a) with the initial operation height Z1.

[0135] Unit 26 for determining work location (see) Figure 11 Determine whether the operation at the initial height Z1 can be completed at the excavation starting point P5. Figure 13 (as shown in S212). For example, when in Figure 10 When the height of the mound 100 at the excavation starting point P5 shown is equal to or lower than the initial operating height Z1, the operation at the excavation starting point P5 is possible at the initial operating height Z1. When the operation at the excavation starting point P5 is possible at the initial operating height Z1... Figure 13 (If S212 in the code is not specified), the work position determination unit 26 sets the initial operation height Z1 to the height of the excavation starting point P5. Then, the controller 8 (see...) Figure 11 The auxiliary equipment 4 performs the operation at the initial operating height Z1 and the excavation starting point P5. Figure 13 (S213 shown in the figure).

[0136] On the other hand, for example, when in Figure 10 When the height of the mound 100 (e.g., protrusion 100a) at the excavation starting point P5 shown is higher than the initial operating height Z1, operation at the excavation starting point P5 at the initial operating height Z1 is impossible. When operation at the excavation starting point P5 at the initial operating height Z1 is impossible ( Figure 13 As shown in S212, the work location determination unit 26 (see...) Figure 11 The following process will be performed. In this case, the job location determination unit 26 is based on... Figure 10 The three-dimensional information of the mound 100 (protruding part 100a) shown is used to correct the height of the excavation starting point P5. Figure 13 S214 (as shown in the diagram). More specifically, the job location determination unit 26 (see...) Figure 11 Based on the computing unit 28 (see...) Figure 11 )Calculated three-dimensional information for correction Figure 10The initial operating height Z1 shown is corrected to the corrected initial operating height Z1a. Then, the work position determination unit 26 sets the height of the excavation starting point P5 at the corrected initial operating height Z1a. At this point, for example, the work position determination unit 26 sets the corrected initial operating height Z1a at a height that is equal to or higher than the height of the mound 100 (protruding portion 100a) at the excavation starting point P5 in the three-dimensional information. For example, the work position determination unit 26 may set the corrected initial operating height Z1a at the height of the mound 100 (protruding portion 100a) at the excavation starting point P5 in the three-dimensional information. For example, the work position determination unit 26 may set the corrected initial operating height Z1a at the height of the vertex of the mound 100 (protruding portion 100a) in the three-dimensional information. Then, the controller 8 (see Figure 11 This allows auxiliary equipment 4 to begin operation at the calibrated initial operating height Z1a. Figure 13 (S215 shown in the diagram). For this reason, the auxiliary device 4 is able to perform its operation appropriately.

[0137] (Seventh aspect of the invention)

[0138] [Arrangement 7] The operational target detection system includes, for example: Figure 11 The operation initial height determination unit 240 is shown. The operation initial height determination unit 240 determines... Figure 10 The initial operating height Z1 is shown in the figure. The initial operating height Z1 is the height when the work area is set to 50 (see figure). Figure 9 Then, the auxiliary equipment 4 of the hydraulic excavator 1 (see...) Figure 9 The height of the excavation starting point P5 (operation starting point) during the first operation on mound 100. The initial operation height is determined in unit 240 (see...). Figure 11 Set the initial operating height Z1 at the height of the position where the front end of the auxiliary device 4 is placed.

[0139] In the [arrangement 7] described above, the height at which the front end of the auxiliary device 4 is placed is set as the initial operating height Z1. For this reason, when setting the initial operating height Z1, it can be determined through actual operation (teaching) performed by the operator. Therefore, the operator can master the initial operating height Z1. Furthermore, because the initial operating height Z1 can be determined through teaching, even when, for example, using the three-dimensional measuring device 9 (see...),... Figure 1 Even when it is not easy to detect a mound of 100, the initial operating height Z1 can still be reliably set.

[0140] (Effects of the eleventh aspect of the invention)

[0141] [Arrangement 11-1] The operational target detection system includes an operational initial height determination unit 240 (see...). Figure 11 The initial height determination unit 240 is determined during operation. Figure 10 The initial operating height Z1 is shown in the figure. The initial operating height Z1 is the height when the work area is set to 50 (see figure). Figure 9 Then, the auxiliary equipment 4 of the hydraulic excavator 1 (see...) Figure 9 The height of the excavation starting point P5 (operation starting point) during the first operation on mound 100. The initial operation height is determined in unit 240 (see...). Figure 11 Set the initial operating height Z1 at the height of the position where the front end of the auxiliary device 4 is placed.

[0142] [Arrangement 11-2] Work Location Determination Unit 26 (see...) Figure 11 Based on the computing unit 28 (see...) Figure 11 The calculated three-dimensional information determines whether the height of the excavation starting point P5 is set at the initial operating height Z1 or at the height generated by the corrected initial operating height Z1.

[0143] In the [Arrangement 11-1] described above, the height at which the front end of the auxiliary device 4 is placed is set as the initial operating height Z1. In this regard, for example, there may be a situation where the set initial operating height Z1 is inappropriate, and the mound 100 (e.g., the protrusion 100a) exists at a position higher than the initial operating height Z1. In this case, for example, because the auxiliary device 4 contacts the protrusion 100a before reaching the excavation starting point P5, the auxiliary device 4 may not be able to properly perform operations at the excavation starting point P5, which is at the initial operating height Z1. For this reason, as in the [Arrangement 11-2] described above, the work position determination unit 26 (see...) Figure 11 Based on the computing unit 28 (see...) Figure 11 The calculated three-dimensional information determines whether the height of the excavation starting point P5 is set at the initial operating height Z1 or at a height generated by correcting the initial operating height Z1. Therefore, the work position determination unit 26 can appropriately set the height of the excavation starting point P5 based on the three-dimensional information. For this reason, the auxiliary equipment 4 can perform the operation appropriately.

[0144] (Revise)

[0145] The embodiments described above can be modified as follows. For example, elements from different embodiments can be combined. For example, the layout and shape of each element can be changed. For example, the... Figure 4 and Figure 11 The connections between the components shown. For example, they can be changed. Figure 5 , Figure 12 and Figure 13 The steps in the flowchart shown are sequential, and one or more steps may be omitted. For example, the number of elements may be changed, and one or more elements may be omitted. For example, fixing or connecting elements may be performed directly or indirectly. For example, those components or parts described as different members or different parts may be a single member or part. For example, those components or parts described as a single member or part may be provided as multiple members or parts in a segmented manner.

[0146] At the front end of the auxiliary equipment 4, a clamping device (e.g., a grab bucket) or a device for crushing or digging (e.g., a crusher) may be provided instead. Figure 1 The bucket 12 shown is an example of a grab bucket machine. A grab bucket machine is a device configured to grab scrap or wood by closing multiple (e.g., two or three) curved claws that are opposite each other.

[0147] The target of the operation does not have to be a soil pile of 100, but can be a gravel pile, a waste pile, or a rubber pile.

[0148] The work area 50 may not be rectangular in the plan view. The work area 50 may be circular or elliptical, or may have a non-rectangular polygonal shape.

[0149] In the above embodiments, the position where the front end of the auxiliary device 4 (the front end of the bucket claw of the bucket 12) is placed is considered as a point used to define the boundary between the work area 50 and the outside of that area. Alternatively, the area setting unit 24 (see [reference]) can use drawing data of the work site. Figure 4 The predetermined location can be set in the drawing data to specify the work area 50 (see...). Figure 3 The point that marks the boundary between the region and the outside of the region. In this case, for example, the drawing data is stored in the region setting unit 24.

[0150] At least one of the components of the work area setting system and the operation target detection system may be located outside the hydraulic excavator 1. For example, Figure 4 and Figure 11 At least one of the components of the controller 8 shown (e.g., the area setting unit 24 and the calculation unit 28) may not be mounted on the hydraulic excavator 1.

[0151] [List of reference numerals]

[0152] 1. Hydraulic excavator (operating machine)

[0153] 4. Ancillary equipment

[0154] 9. Three-dimensional measuring device

[0155] 24 Zone Setting Units

[0156] 26. Work Location Determination Unit

[0157] 30 Auxiliary Equipment Front-End Path Location Determination Unit

[0158] 50 work areas

[0159] 100 mounds of earth (operational target)

[0160] 240 Initial Height Determination Unit

[0161] P1 Lift the starting point of the rotation (through point)

[0162] P4 Return to the end point of rotation (through point)

[0163] P5 Excavation Starting Point (Operation Starting Point)

[0164] Z1 Initial Operation Height

[0165] Z1a Corrected Initial Operating Height

Claims

1. A work area setting system, comprising an area setting unit configured to set a work area. The work area is data set and stored in the area setting unit, representing a predetermined range of the stacked operational targets of the work machine, i.e., a predetermined range of a closed figure in the plan view. The area setting unit sets at least one position where the front end of the auxiliary equipment of the working machine is placed therein as at least one point for specifying the boundary between the working area and the outside of the working area.

2. The work area setting system according to claim 1, wherein, The work area is rectangular in the plan view.

3. The work area setting system according to claim 2, wherein, The remaining two points used to specify the boundary between the work area and the outside of the work area are determined based on a first position close to the work machine and a second position far from the work machine, the first position and the second position being the points where the front end is placed.

4. A work area setting system, include: A region setting unit, configured to set a work area; as well as An auxiliary equipment front-end path location determination unit is configured to determine the transit points traversed by the front end when the front end of the auxiliary equipment of the working machine moves from the outside to the inside of the working area and / or when the front end moves from the inside to the outside of the working area. The work area is data set and stored in the area setting unit, representing a predetermined range of the stacked operation targets of the work machine, that is, a predetermined range of a closed figure in the plan view.

5. The work area setting system according to claim 4, wherein, The auxiliary equipment front-end path location determination unit is configured to set the pass point on the boundary between the work area and the outside of the work area in the plan view.

6. A work area setting system, include: A region setting unit, configured to set a work area; as well as The initial operation height determination unit is configured to determine the initial operation height, which is the height of the operation starting point. The operation starting point is the location where, after the work area is set, the auxiliary equipment of the work machine first performs an operation on the operation target. The initial operation height determination unit sets the height of the position where the front end of the auxiliary device is placed as the initial operation height. The work area is data set and stored in the area setting unit, representing the predetermined range of the stack of the operation targets of the work machine, that is, the predetermined range of a closed figure in the plan view.

7. An operational target detection system, comprising: A region setting unit, configured to set a work area; A three-dimensional measuring device configured to acquire data on the target being operated on and the surrounding environment of the target being operated on; as well as The calculation unit is configured to calculate three-dimensional information about the position, extent, and shape of the operational target in the work area based on measurement data obtained by the three-dimensional measuring device. When the operational target is spread across both the outside and the work area, the computing unit only calculates the three-dimensional information of the portion of the operational target that exists within the work area. The work area is data set and stored in the area setting unit, representing the predetermined range of the stacked operation targets of the work machine, that is, the predetermined range of a closed figure in the plan view.

8. An operational target detection system, comprising: A region setting unit, configured to set a work area; A three-dimensional measuring device configured to acquire data on the target being operated on and the surrounding environment of the target being operated on; The calculation unit is configured to calculate three-dimensional information about the position, extent, and shape of the operational target in the work area based on measurement data obtained by the three-dimensional measuring device. The operation location determination unit is configured to determine the operation start point of the operation target based on the three-dimensional information calculated by the computing unit; as well as An initial operation height determination unit is configured to determine the initial operation height, which is the height of the operation starting point. The operation starting point is the location where, after the work area is set, the auxiliary equipment of the work machine first performs an operation on the operation target. The initial operation height determination unit sets the height of the position where the front end of the auxiliary device is placed as the initial operation height. The work location determination unit determines, based on the three-dimensional information calculated by the calculation unit, whether the height of the operation starting point is set at the initial operation height or at a height generated by correcting the initial operation height. The work area is data set and stored in the area setting unit, representing a predetermined range of the stacked operation targets of the work machine, that is, a predetermined range of a closed figure in the plan view.

Images