Path setting system

Abstract

The present invention suppresses contact between the accessory device and an obstacle and suppresses unnecessary movement of the accessory device. When the controller determines that there is a specific part of the obstacle between the start point and the end point, it sets an avoidance path as the target path. The avoidance path is a path along which the accessory device performs an avoidance action to avoid the obstacle and a specific part of the accessory device moves from the start point to the end point. When the controller determines that there is no specific part of the obstacle between the start point and the end point, it sets a non-avoidance path as the target path. The non-avoidance path is a path along which the accessory device does not perform an avoidance action and a specific part of the accessory device moves from the start point to the end point.

Description

Technical Field

[0001] The present invention relates to a path setting system for setting a target path of an attachment of a construction machine. Background Art

[0002] For example, a technique for setting a target path of an attachment is described in Patent Document 1 and the like. The technique described in this document sets the target path of the attachment in such a way that a specific part (the tip of the working machine) of the attachment does not come into contact with an obstacle (the current terrain).

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Laid-Open Publication No. 2020-20153

[0006] The technique described in this document sets a target path for the attachment to perform an operation to avoid an obstacle. Specifically, the target path is set in such a way that the attachment moves from a start position (the current position) through an intermediate point to an end position (the excavation start position). However, depending on the position of the attachment or the state of the obstacle, it is not always necessary for the attachment to perform an operation to avoid the obstacle. Therefore, there is a problem that the attachment may perform unnecessary operations. Summary of the Invention

[0007] An object of the present invention is to provide a path setting system that can suppress contact between an attachment and an obstacle and can suppress unnecessary operations of the attachment.

[0008] What the present invention provides is a path setting system. The path setting system is used for a construction machine having a lower traveling body, an upper revolving body, and an attachment device, and sets a target path for a specific part of the attachment device, namely the specific part of the attachment device. The path setting system includes a three-dimensional information acquisition unit and a controller. The upper revolving body is rotatably mounted on the lower traveling body around a revolving central axis extending in the vertical direction. The attachment device is mounted on the upper revolving body to perform operations. The three-dimensional information acquisition unit acquires three-dimensional information of a specific part of an obstacle around the attachment device, namely the specific part of the obstacle. The controller sets a target path for the specific part of the attachment device from a designated start point to a designated end point. The controller determines whether there is the specific part of the obstacle between the start point and the end point of the target path based on the acquisition result of the three-dimensional information acquisition unit. When it is determined that there is the specific part of the obstacle between the start point and the end point of the target path, the controller sets an avoidance path as the target path, and when it is determined that there is no specific part of the obstacle between the start point and the end point, the controller sets a non-avoidance path as the target path. The avoidance path is a path in which the attachment device performs an avoidance action to avoid the obstacle and the specific part of the attachment device moves from the start point to the end point. The non-avoidance path is a path in which the attachment device does not perform the avoidance action and the specific part of the attachment device moves from the start point to the end point. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a schematic view of a construction machine and a path setting system according to an embodiment of the present invention as viewed from the side.

[0010] Figure 2 is a top view of Figure 1 the construction machine and the path setting system shown.

[0011] Figure 3 is a block diagram of the path setting system according to an embodiment of the present invention.

[0012] Figure 4 is a flowchart showing the operation of the path setting system according to an embodiment of the present invention.

[0013] Figure 5 is a top view of a schematic view of the path setting system and the avoidance path according to an embodiment of the present invention.

[0014] Figure 6 is a side view of Figure 5 the avoidance path and the like shown.

[0015] Figure 7 Viewed from the rear Figure 5 Schematic diagram of the avoidance path shown, etc.

[0016] Figure 8 Viewed from above Figure 1 Schematic diagram of the path setting system and non-avoidance path shown

[0017] Figure 9 Viewed from the rear Figure 8 Schematic diagram of the non-avoidance path shown

[0018] Figure 10 Flowchart showing the operation of the path setting system according to Modification 1 of the present invention

[0019] Figure 11 Flowchart showing the operation of the path setting system according to Modification 2 of the present invention

[0020] Figure 12 Schematic diagram of the path setting system and target path, etc. according to Modification 4 of the present invention, viewed from above

[0021] Figure 13 Viewed from the rear Figure 12 Schematic diagram of the target path shown, etc. Detailed implementation mode

[0022] Refer to Figures 1 to 13 To describe the path setting system 1 according to each embodiment of the present invention

[0023] Figure 1 Schematic diagram of the construction machinery 10 and the path setting system 1 according to one embodiment of the present invention, viewed from the side Figure 2 Viewed from above Figure 1 Schematic diagram of the construction machinery 10 and the path setting system 1 shown Figure 3 Block diagram of the path setting system 1 according to the present embodiment

[0024] The path setting system 1 is a system for setting Figure 1 The target path R of the attachment 15 of the construction machinery 10 shown. The path setting system 1 includes a camera device 21 and a controller 30.

[0025] The construction machinery 10 is a machine that performs operations using the attachment device 15. For example, it is a construction machine that performs construction operations, such as an excavator. For example, the construction machinery 10 can perform operations of capturing an operation object (such as excavating sand and soil) and releasing the captured operation object (such as discharging soil). The above operation object can be sand and soil, stones, waste, etc. The construction machinery 10 can, for example, perform autonomous driving. The construction machinery 10 includes a lower traveling body 11, an upper revolving body 13, an attachment device 15, a drive control unit 17 (refer to Figure 3 ) and a posture detection unit 19 (refer to Figure 3 ).

[0026] The lower traveling body 11 rotatably supports the upper revolving body 13. The lower traveling body 11 moves the construction machinery 10. The upper revolving body 13 is mounted on the lower traveling body 11 so as to be rotatable about a rotation center axis extending in the vertical direction. The rotation center axis of the upper revolving body 13 relative to the lower traveling body 11 is defined as the rotation center axis 13a (refer to Figure 2 ).

[0027] The attachment device 15 is mounted on the upper revolving body 13 to perform operations. The attachment device 15 includes a boom 15a, an arm 15b, and a leading end attachment 15c. The boom 15a is mounted on the upper revolving body 13 so as to be able to move up and down (able to rotate up and down). The arm 15b is mounted on the distal end portion of the boom 15a so as to be rotatable (able to extend and retract). The leading end attachment 15c is provided at the distal end portion of the attachment device 15 and is rotatably mounted on the distal end portion of the arm 15b. The leading end attachment 15c can be, for example, a bucket for scooping up an operation object, or a device for clamping an operation object (such as a grab bucket). A specific part of the attachment device 15 is referred to as the attachment device specific part 15s. As Figure 5 shown, the center axis of the attachment device 15, that is, the center line extending in the front-rear direction (the direction will be described below), is set as the center line 15l. In addition, in the example shown in Figure 5 , although the rotation center axis 13a is on the center line 15l when viewed from the vertical direction, the rotation center axis 13a can also be at a position laterally deviated from the center line 15l.

[0028] (Regarding the direction, etc. of the construction machinery 10)

[0029] As Figure 1As shown in the figure, the extending direction of the central axis (rotation central axis 13a) around which the upper rotating body 13 rotates relative to the lower traveling body 11 is defined as the vertical direction (Z). In the vertical direction, the direction from the lower traveling body 11 toward the upper rotating body 13 is defined as the upward direction (Z1), and the opposite direction of the upward direction (Z1) is defined as the downward direction (Z2). The side where the attachment device 15 protrudes relative to the upper rotating body 13 in the direction orthogonal to the vertical direction is defined as the front direction (X1) in the front-rear direction, and the opposite direction of the front direction (X1) is defined as the rear direction (X2) in the front-rear direction. The direction orthogonal to both the vertical direction and the front-rear direction is defined as the lateral direction.

[0030] The drive control unit 17 (refer to Figure 3 ) controls the actuators that drive the construction machine 10. The drive control unit 17 controls a motor (not shown) that rotates the upper rotating body 13 relative to the lower traveling body 11. The drive control unit 17 controls a cylinder (not shown) that raises and lowers the boom 15a relative to the upper rotating body 13. The drive control unit 17 controls a cylinder that rotates the stick 15b relative to the boom 15a. The drive control unit 17 controls a cylinder (not shown) that rotates the distal attachment device 15c relative to the stick 15b.

[0031] The posture detection unit 19 (refer to Figure 3 ) is a sensor that detects the posture of the construction machine 1*. The posture detection unit 19 includes, for example, an angle sensor. Specifically, as Figure 3 shown, the posture detection unit 19 includes a rotation angle detection unit 19a, a boom angle detection unit 19b, a stick angle detection unit 19c, and a distal attachment device angle detection unit 19d. The rotation angle detection unit 19a detects the rotation angle θ (relative angle) of the upper rotating body 13 relative to the lower traveling body 11 as shown in Figure 5 . The boom angle detection unit 19b (refer to Figure 3 ) detects the rotation angle (raising and lowering angle) of the boom 15a relative to the upper rotating body 13 as shown in Figure 1 . The stick angle detection unit 19c (refer to Figure 3 ) detects the rotation angle of the stick 15b relative to the boom 15a. The distal attachment device angle detection unit 19d (refer to Figure 3 ) detects the rotation angle of the distal attachment device 15c relative to the stick 15b.

[0032] The imaging device 21 detects three-dimensional information of the imaging object, and more specifically, detects three-dimensional information on the position and shape of the imaging object. The imaging object of the imaging device 21 includes an obstacle specific part Oa of the obstacle O around the attachment device 15 (refer to Figure 5, which will be described below). The object to be imaged by the imaging device 21 can be, for example, the object to be worked on by the attachment device 15 (such as sand and soil), or an object other than the object to be worked on. The object to be imaged by the imaging device 21 can also include the terrain around the attachment device 15. The imaging device 21 acquires an image (distance image) with distance information (depth information). The imaging device 21 can also detect the three-dimensional information of the object to be imaged based on the distance image and the two-dimensional image.

[0033] Only one imaging device 21 can be provided, or multiple imaging devices 21 can be provided. The imaging device 21 can be mounted on the construction machinery 10, or can be arranged outside the construction machinery 10 (such as at the work site) (the same applies to the controller 30). When the imaging device 21 is arranged outside the construction machinery 10 (not shown), it is sometimes possible to detect positions that cannot be detected when the imaging device 21 is only mounted on the construction machinery 10 (such as parts that become dead spots of the attachment device 15, etc.). In addition, when the imaging device 21 is arranged outside the construction machinery 10, even if the construction machinery 10 does not have the imaging device 21, the path setting system 1 according to the present embodiment can still be applied.

[0034] The imaging device 21 can also be equipped with a device for detecting three-dimensional information using lasers. For example, it can be equipped with LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), and can also be equipped with a TOF (Time Of Flight) sensor. The imaging device 21 can also be equipped with a device for detecting three-dimensional information using electromagnetic waves (such as a millimeter-wave radar, etc.). The imaging device 21 can also be equipped with a stereo camera. For example, when the imaging device 21 detects the three-dimensional information around the attachment device 15 based on the three-dimensional information and the two-dimensional information, the imaging device 21 can also be equipped with a camera capable of detecting a two-dimensional image.

[0035] The controller 30 performs operations such as input / output, determination, or calculation of signals, and stores information, etc. Specifically, the controller 30 includes a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores control programs, a RAM (Random Access Memory) that is used as the working area of the CPU, etc. The posture detection unit 19 (refer to Figure 3) The detection result of () and the imaging information of the imaging device 21 are respectively input into the controller 30. The controller 30 and the imaging device 21 together constitute the three-dimensional information acquisition unit of the present invention. The three-dimensional information acquisition unit acquires the three-dimensional information of a specific part of the obstacle O around the accessory device 15, that is, the obstacle specific part Oa. At this time, the controller 30 determines the obstacle specific part Oa according to the imaging information of the imaging device 21.

[0036] In addition, the controller 30 sets (for example, generates) the target path R of the accessory device specific part 15s from the designated start point to the designated end point. The controller 30 can also set the path of the accessory device 15 other than the target path R (for example, the path of the accessory device specific part 15s). The controller 30 controls the drive control unit 17 (refer to Figure 3 ) to make the construction machinery 10 automatically operate.

[0037] (Examples of operations performed by the construction machinery 10)

[0038] The construction machinery 10 performs an operation accompanied by the movement of the accessory device 15. The accessory device 15 includes an accessory device specific part 15s. The accessory device specific part 15s is, for example, the distal end of the distal accessory device 15c, etc. The accessory device specific part 15s can be a point or a range. The movement of the accessory device specific part 15s is performed by at least any one of the rotation of the upper slewing body 13, the raising and lowering of the boom 15a, the rotation of the arm 15b relative to the boom 15a, and the rotation of the distal accessory device 15c relative to the arm 15b.

[0039] Specific examples of the movement path of the accessory device specific part 15s are described below.

[0040] [Example 1A] The accessory device 15 performs the work of lifting the captured work object and rotating it (lifting and rotating). At this time, as Figure 2 shown, the accessory device specific part 15s moves from the position P1 via the position P2 to the position P3. The position P1 is the position where the accessory device 15 captures the work object (for example, the position where sand and soil are excavated). The position P2 will be described later. The position P3 is the position where the accessory device 15 starts to release the work object (for example, the soil discharge start position).

[0041] [Example 1B] The accessory device 15 releases the work object (for example, performs soil discharge), and loads the work object onto the transport vehicle T, for example. At this time, Figure 1 as shown, the distal accessory device 15c rotates relative to the arm 15b. As a result, the accessory device specific part 15s moves from the position P3 to the position P4. The position P4 is the position where the accessory device 15 completes the release of the work object (for example, the soil discharge completion position).

[0042] [Example 1C] The attachment device 15 performs an operation (restoring rotation) of returning from the position where the work object has been released to the position where the work object is captured. At this time, as Figure 2 shown, the specific part 15s of the attachment device moves from position P4 via position P5 to position P6. In addition, position P5 will be described later. Position P6 is the position where the attachment device 15 starts to capture the work object (for example, the starting position of sand excavation).

[0043] [Example 1D] The attachment device 15 captures the work object (for example, excavates sand). At this time, Figure 1 as shown, the distal attachment device 15c rotates relative to the arm 15b. As a result, the specific part 15s of the attachment device moves from position P6 to position P1.

[0044] As Figure 2 shown, the controller 30 respectively sets a path setting target area A around the attachment device 15 and an area other than the path setting target area A. The path setting target area A is an area (operation target area) where the path setting system 1 sets the target path R of the specific part 15s of the attachment device. The path setting system 1 can set the path (off-area path) of the specific part 15s of the attachment device outside the path setting target area A in any manner. The off-area path can be, for example, a path pre-stored in the controller 30. The off-area path can also be, for example, a path obtained by storing the movement path of the attachment device 15 when the operator pre-operations the construction machine 10 to move the attachment device 15 in a storage unit such as the controller 30 (taught path).

[0045] At the work site, there may be obstacles O around the attachment device 15. The obstacle O is an object that may come into contact with the attachment device 15 when the attachment device 15 moves. The obstacle O can also be a terrain (a piled-up part, a hole-shaped part, etc.). The obstacle O can also be a work object (for example, sand, waste, etc.). The obstacle O can be both a terrain and a work object. For example, it can be a sand pile or a hole (deep pit) excavated in a way that is recessed relative to the ground (refer to Figure 12 and Figure 13 ). The obstacle O can also be an object that is neither a terrain nor a work object.

[0046] (Outline of setting the target path R)

[0047] As Figure 5As shown, the target path R is the movement path that is the target of a specific part 15s of the attachment device. The controller 30 changes the setting method of the target path R between the start point Rs and the end point Re according to whether there is an obstacle specific part Oa between the start point Rs and the end point Re of the target path R. The start point Rs is the starting point of the movement when the specific part 15s of the attachment device moves along the target path R. The end point Re is the end point of the movement when the specific part 15s of the attachment device moves along the target path R. Each of the start point Rs and the end point Re is three-dimensional information and is the coordinate representing the three-dimensional position. The controller 30 sets the start point Rs and the end point Re respectively according to the operation of the construction machine 10 (attachment device 15) as shown in each of the above examples.

[0048] The target path R can be either a part of the movement path of the specific part 15s of the attachment device when the construction machine 10 performs an operation or the entire movement path.

[0049] [Example 2A] For example, as Figure 2 shown, the target path R can also be a part of the path of the lift rotation (refer to the above [Example 1A]), specifically, it can also be the path from the position P1 to the position P2.

[0050] [Example 2B] For example, the target path R can also be a part of the path of the restoration rotation (refer to the above [Example 1C]), specifically, it can also be the path from the position P5 to the position P6.

[0051] [Example 2C] The target path R can also be the entire path of the lift rotation (the path from the position P1 to the position P3).

[0052] [Example 2D] The target path R can also be the entire path of the restoration rotation (the path from the position P4 to the position P6).

[0053] (Details of setting the target path R)

[0054] Figure 4 is a flowchart showing the operation of the path setting system 1 according to the present embodiment. Figure 5 is a schematic view of the path setting system 1 according to the present embodiment and the avoidance path R1 observed from above. Figure 6 is observed from the side Figure 5 a schematic view of the avoidance path R1 and the like shown. Figure 7 is observed from the rear Figure 5 a schematic view of the avoidance path R1 and the like shown. Figure 8 is a schematic view of the path setting system 1 and the non-avoidance path R2 observed from above. Figure 9 is observed from the rear Figure 8 a schematic view of the non-avoidance path R2 shown.

[0055] Based on Figure 4 the flowchart shown below and the like, the setting of the target path R will be described. Refer to Figure 4 and the steps of the flowchart (steps S11 to S23) will be described. A series of processes recorded in this figure (processes from start to end) are performed, for example, for Figure 5 each cycle in which the specific part 15s of the accessory device shown is arranged at the starting point Rs (for example, each excavation cycle of sand).

[0056] In step S11 (refer to Figure 4 ), Figure 1 the imaging device 21 shown detects the three-dimensional information around the accessory device 15. The three-dimensional information detected by the imaging device 21 is input to the controller 30.

[0057] In step S12 (refer to Figure 4 ), Figure 5 the controller 30 shown detects (extracts, calculates, determines) the obstacle O based on the three-dimensional information around the accessory device 15. The controller 30 calculates the three-dimensional information of the specific part Oa of the obstacle. The specific part Oa of the obstacle may be a part of the obstacle O or the entire obstacle O.

[0058] [Example 3A] As shown in Figure 6 , the specific part Oa of the obstacle may also be a point that is a part of the obstacle O. For example, the specific part Oa of the obstacle may also be the peak (highest position, vertex) of the piled-up obstacle O, specifically, for example, the peak of a sand pile.

[0059] [Example 3B] The specific part Oa of the obstacle may also be a linear part that is a part of the obstacle O. For example, the specific part Oa of the obstacle may also be the edge of a hole formed in the ground (refer to the deformation embodiment 4 described later) (refer to Figure 12 and Figure 13 ).

[0060] [Example 3C] The specific part Oa of the obstacle may also be a surface of the obstacle O. Specifically, for example, the specific part Oa of the obstacle may be the surface constituting the sand pile or the surface (inner surface) constituting the hole.

[0061] [Example 3D] The specific part Oa of the obstacle may exist only at one place (for example, one point) or may exist at multiple places. Hereinafter, the case where the specific part Oa of the obstacle is the peak point of the sand pile will be mainly described.

[0062] (Method for determining the presence or absence of the obstacle O)

[0063] As described below, the controller 30 determines Figure 5Is there a specific part Oa of an obstacle between the start point Rs and the end point Re of the target path R shown (step S21 described later (refer to Figure 4 ))? Hereinafter, this determination is referred to as "determination of the presence or absence of an obstacle O". The determination of the presence or absence of an obstacle O can be made based on the rotation angle θ or based on the position in the front-rear direction (front-rear position, position in the depth direction observed from the upper rotating body 13) (refer to Modification 1 described later). Here, a case where the controller 30 determines the presence or absence of an obstacle O based on the rotation angle θ will be described.

[0064] In step S13 (refer to Figure 4 ), the controller 30 obtains the start point rotation angle θs, the end point rotation angle θe, and the obstacle rotation angle θo based on the imaging information of the imaging device 21 and the like.

[0065] The start point rotation angle θs is the rotation angle θ when the specific part 15s of the accessory device is arranged at the start point Rs. More specifically, the start point rotation angle θs is the rotation angle θ when the start point Rs is arranged on the center line 15l of the accessory device 15 when observed from the up-down direction.

[0066] For example, the start point rotation angle θs is obtained as follows.

[0067] [Example 4A] When the specific part 15s of the accessory device is actually arranged at the position corresponding to the start point Rs (for example, point P1), the rotation angle θ detected by the rotation angle detection unit 19a (refer to Figure 3 ) can also be set as the start point rotation angle θs. A specific example in this case is as follows. When the operation of the accessory device 15 for capturing the work object is completed, the specific part 15s of the accessory device is arranged at point P1. The controller 30 sets the position of the specific part 15s of the accessory device at this time as the start point Rs. Moreover, the rotation angle θ when the specific part 15s of the accessory device is arranged at point P1 is detected by the rotation angle detection unit 19a (refer to Figure 3 ). The controller 30 sets the detected rotation angle θ as the start point rotation angle θs.

[0068] [Example 4B] Even if the specific part 15s of the accessory device is not actually arranged at the position corresponding to the start point Rs (for example, point P1), the start point rotation angle θs can be obtained. Specifically, the controller 30 can also calculate the rotation angle θ assuming that the specific part 15s of the accessory device is arranged at the start point Rs based on the three-dimensional information of the start point Rs set in advance, and set the calculated rotation angle θ as the start point rotation angle θs.

[0069] The end point rotation angle θe is the rotation angle θ when the specific part 15s of the accessory device is arranged at the end point Re. Specifically, the end point rotation angle θe is the rotation angle θ when, viewed from the vertical direction, the end point Re is arranged on the center line 15l of the accessory device 15. When the specific part 15s of the accessory device is actually arranged at the position corresponding to the end point Re (for example, point P2), the rotation angle θ detected by the rotation angle detection unit 19a (refer to Figure 3 ) can also be set as the end point rotation angle θe (refer to [Example 4A] above). In addition, even if the specific part 15s of the accessory device is not actually arranged at the position corresponding to the end point Re (for example, point P2), the end point rotation angle θe can be obtained through the operation of the controller 30 (refer to [Example 4B] above).

[0070] The obstacle rotation angle θo is the rotation angle θ when the specific part 15s of the accessory device is arranged at the position of the specific part Oa of the obstacle. Specifically, the obstacle rotation angle θo is the rotation angle θ when, viewed from the vertical direction, the specific part Oa of the obstacle is arranged on the center line 15l of the accessory device 15. When the specific part 15s of the accessory device is actually arranged at the position corresponding to the specific part Oa of the obstacle, the rotation angle θ detected by the rotation angle detection unit 19a (refer to Figure 3 ) can also be set as the obstacle rotation angle θo (refer to [Example 4A] above). In addition, even if the specific part 15s of the accessory device is not actually arranged at the position corresponding to the specific part Oa of the obstacle, the obstacle rotation angle θo can be obtained through the operation of the controller 30 (refer to [Example 4B] above).

[0071] As described above, the controller 30 functions as a determination information acquisition unit that acquires information (determination information) for determining whether there is a specific part Oa of an obstacle between the start point Rs and the end point Re of the target path R.

[0072] In step S21 (refer to Figure 4 ), the controller 30 determines whether there is an obstacle O. In addition, in Figure 4In this case, the positional relationship between the above points is briefly represented using inequality signs. The same applies to other steps described later. When the controller 30 determines that there is an obstacle specific part Oa between the start point Rs and the end point Re (step S21 is "YES"), it sets the avoidance path R1 as the target path R (step S22). In this example, when the obstacle rotation angle θo is within the range from the start point rotation angle θs to the end point rotation angle θe (within the angle range B), the controller 30 determines that "there is an obstacle specific part Oa between the start point Rs and the end point Re". In this way, the controller 30 functions as a determination unit that determines whether there is an obstacle specific part Oa between the start point Rs and the end point Re of the target path R based on the acquisition result of the three-dimensional information acquisition unit.

[0073] As Figure 8 shown, when the controller 30 determines that there is no obstacle specific part Oa between the start point Rs and the end point Re (step S21 is "NO"), it sets the non-avoidance path R2 as the target path R (step S23). In this example, when the obstacle rotation angle θo is not within the range from the start point rotation angle θs to the end point rotation angle θe (within the angle range B), the controller 30 determines that "there is no obstacle specific part Oa between the start point Rs and the end point Re" and sets the non-avoidance path R2 as the target path R.

[0074] In addition, the rotation direction when the specific part 15s of the accessory device rotates from the start point rotation angle θs to the end point rotation angle θe around the rotation center axis 13a is set as the "target rotation direction". The above "range from the start point rotation angle θs to the end point rotation angle θe" is the range from the start point rotation angle θs to the end point rotation angle θe when the specific part 15s of the accessory device rotates in the target rotation direction. The above "range from the start point rotation angle θs to the end point rotation angle θe" is not the range from the start point rotation angle θs to the end point rotation angle θe when the specific part 15s of the accessory device rotates in the direction opposite to the target rotation direction. The angle range B is, for example, 180° or less.

[0075] In step S22 (refer to Figure 4 ), as Figure 5 shown, the controller 30 sets the avoidance path R1 as the target path R. The avoidance path R1 is a path along which the accessory device 15 performs an avoidance action to avoid the obstacle O (refer to Figures 5 to 7 ), and the specific part 15s of the accessory device moves from the start point Rs to the end point Re. The avoidance path R1 includes an avoidance action path R1a, an avoidance position R1b, and a post-avoidance path R1c.

[0076] The avoidance movement path R1a is the part of the avoidance path R1 where the avoidance movement of the accessory device 15 is performed, and is the path from the starting point Rs to the avoidance position R1b of the specific part 15s of the accessory device. The avoidance movement of the accessory device 15 can be performed in various ways.

[0077] [Example 6A] The avoidance movement can be an action to avoid a specific part Oa of an obstacle (e.g., a point), or an action to avoid a range larger than the specific part Oa of the obstacle (e.g., a range including the peripheral part of the specific part Oa of the obstacle), or an action to avoid the entire obstacle O.

[0078] [Example 6B] In the avoidance movement, it can be that the specific part 15s of the accessory device avoids the obstacle O, or a range larger than the specific part 15s of the accessory device in the accessory device 15 avoids the obstacle O. In the avoidance movement, it can also be that the entire accessory device 15 avoids the obstacle O. In addition, the controller 30 calculates the trajectory of the accessory device 15 when the accessory device 15 moves based on the posture of the accessory device 15 and the shape information of the accessory device 15. For example, the controller 30 calculates the avoidance path R1 for avoiding the obstacle O by the entire accessory device 15 based on the trajectory of the accessory device 15.

[0079] [Example 6C] The avoidance movement can also be an action where the accessory device 15 moves from a position above the starting point Rs to a position exceeding the specific part Oa of the obstacle (up to the avoidance position R1b) at a position higher than the specific part Oa of the obstacle (refer to Figure 7 ). For example, the avoidance movement can also be an action where the accessory device 15 moves from the starting point rotation angle θs to an angle exceeding the obstacle rotation angle θo at a position higher than the specific part Oa of the obstacle. Specifically, the specific part 15s of the accessory device moves upward from the starting point Rs to a position higher than the specific part Oa of the obstacle (refer to Figure 5 ). Then, the specific part 15s of the accessory device moves horizontally from the position of the starting point rotation angle θs to an angle exceeding the obstacle rotation angle θo (up to the avoidance position R1b). Figure 7 )

[0080] In addition, the avoidance movement can also be an action where the accessory device 15 moves from the front-back position Xs (described later) to a position exceeding the front-back position Xo of the obstacle (described later) at a position higher than the specific part Oa of the obstacle.

[0081] [Example 6D] In addition, as long as the accessory device 15 can avoid the obstacle O, the avoidance movement can be any action. For example, the avoidance movement can also be an action where the accessory device 15 moves along the surface of the obstacle O.

[0082] The post-avoidance path R1c is the path along which the attachment device 15 moves from a position beyond the obstacle O (the avoidance position R1b) to the end point Re. For example, the post-avoidance path R1c can also be a path along which a specific part 15s of the attachment device moves directly from the avoidance position R1b to the end point Re (refer to the description of the non-avoidance path R2 below). The post-avoidance path R1c can also be a path along which the specific part 15s of the attachment device moves through a passing point preset by the controller 30. The post-avoidance path R1c can also be a path along which the specific part 15s of the attachment device moves along a path preset by the controller 30, etc.

[0083] In step S23 (refer to Figure 4 ), as Figure 8 shown, the controller 30 sets the non-avoidance path R2 as the target path R. The non-avoidance path R2 is a path along which the attachment device 15 does not perform an avoidance action, and a specific part 15s of the attachment device moves from the start point Rs to the end point Re.

[0084] [Example 7A] The non-avoidance path R2 is, for example, a path along which the specific part 15s of the attachment device moves directly from the start point Rs to the end point Re. For example, the non-avoidance path R2 can also be the shortest path from the start point Rs to the end point Re (refer to Figure 9 ), specifically, it can be a straight-line path.

[0085] [Example 7B] For example, the non-avoidance path R2 can also be a path that maximizes the working efficiency of the construction machine 10 (specifically, a path that minimizes energy consumption) when moving the specific part 15s of the attachment device from the start point Rs to the end point Re.

[0086] [Example 7C] The non-avoidance path R2 can also be a path along which the specific part 15s of the attachment device moves along a preset path. In this case, the avoidance path R1 can also be a path obtained by modifying the preset path (i.e., the non-avoidance path R2).

[0087] The controller 30 outputs an instruction (inputs an instruction signal) to the drive control unit 17 (refer to Figure 3 ) so that the specific part 15s of the attachment device moves along the set target path R. As a result, the construction machine 10 is controlled in such a way that the specific part 15s of the attachment device moves along the target path R.

[0088] Figure 1 The path setting system 1 shown produces the following effects. The path setting system 1 is for the construction machine 10 and includes a camera device 21 and a controller 30. The upper swing body 13 of the construction machine 10 is rotatably mounted on the lower traveling body 11. The attachment device 15 is mounted on the upper swing body 13 for performing operations. The camera device 21 and the controller 30 together acquireFigure 5 Three-dimensional information on a specific part of the obstacle O around the attached device 15 shown, namely the specific obstacle part Oa. In addition, the imaging device 21 itself may also have a function of determining the specific obstacle part Oa and its position. The controller 30 sets a target path R for a specific part of the attached device 15, namely the attached device specific part 15s, from a designated start point to a designated end point.

[0089] When the controller 30 determines that there is a specific obstacle part Oa between the start point Rs and the end point Re of the target path R, it sets the avoidance path R1 as the target path R. The avoidance path R1 is a path along which the attached device 15 performs an avoidance action to avoid the obstacle O, and the attached device specific part 15s moves from the start point Rs to the end point Re.

[0090] As Figure 8 shown, when the controller 30 determines that there is no specific obstacle part Oa between the start point Rs and the end point Re, it sets the non-avoidance path R2 as the target path R. The non-avoidance path R2 is a path along which the attached device 15 does not perform an avoidance action, and the attached device specific part 15s moves from the start point Rs to the end point Re.

[0091] In the present embodiment, the controller 30 determines Figure 5 whether there is a specific obstacle part Oa between the start point Rs and the end point Re shown. When there is a specific obstacle part Oa between the start point Rs and the end point Re, the controller 30 sets the avoidance path R1 along which the attached device 15 performs an avoidance action as the target path R. Thereby, the attached device 15 can be made to avoid the obstacle O, and the attached device specific part 15s can be made to move from the start point Rs to the end point Re. As Figure 8 shown, when there is no specific obstacle part Oa between the start point Rs and the end point Re, the controller 30 sets the non-avoidance path R2 along which the attached device 15 does not perform an avoidance action as the target path R. Thereby, the attached device 15 can be made to move from the start point Rs to the end point Re without performing unnecessary avoidance actions. Therefore, contact between the attached device 15 and the obstacle O can be suppressed, and unnecessary actions of the attached device 15 can be suppressed.

[0092] As Figure 5 shown, the rotation angle θ of the upper rotating body 13 relative to the lower traveling body 11, that is, the rotation angle θ when the attached device specific part 15s is disposed at the start point Rs, is defined as the start point rotation angle θs. The rotation angle θ when the attached device specific part 15s is disposed at the end point Re is defined as the end point rotation angle θe. The rotation angle θ when the attached device specific part 15s is disposed at the position of the specific obstacle part Oa is defined as the obstacle rotation angle θo.

[0093] When the obstacle rotation angle θo is within the range from the start point rotation angle θs to the end point rotation angle θe (angle range B), the controller 30 determines that there is a specific obstacle part Oa between the start point Rs and the end point Re. As Figure 8 shown, when the obstacle rotation angle θo is not within the range from the start point rotation angle θs to the end point rotation angle θe (angle range B), the controller 30 determines that there is no specific obstacle part Oa between the start point Rs and the end point Re.

[0094] In the above structure, the controller 30 determines whether there is a specific obstacle part Oa between the start point Rs and the end point Re (determines the presence or absence of the obstacle O) based on the rotation angle θ. Thus, for example, compared with the case of determining the presence or absence of the obstacle O based on whether there is a specific obstacle part Oa between the start point Rs and the end point Re in a three-dimensional space, etc., the computational burden on the controller 30 can be suppressed.

[0095] As Figure 6 shown, in the case where the obstacle O is in a heap shape, the controller 30 (three-dimensional information acquisition unit) sets the peak of the heap-shaped obstacle O as the specific obstacle part Oa.

[0096] In the above structure, the controller 30 determines whether there is a specific obstacle part Oa between the start point Rs and the end point Re (determines the presence or absence of the obstacle O) based on the three-dimensional information of the peak of the obstacle O, that is, the three-dimensional information of the point. Thus, compared with the case of determining the presence or absence of the obstacle O based on the three-dimensional information of the entire obstacle O, the computational burden on the controller 30 can be suppressed.

[0097] As Figure 7 shown, the avoidance action is an action in which the attachment device 15 (refer to Figure 5 ) moves from a position above the start point Rs to a position exceeding the specific obstacle part Oa (to the avoidance position R1b) at a position higher than the specific obstacle part Oa.

[0098] According to the above structure, the attachment device 15 (refer to Figure 5 ) can reliably avoid the specific obstacle part Oa and move from the start point Rs to the end point Re.

[0099] (Modified Embodiment 1)

[0100] Figure 5The determination of the presence or absence of the obstacle O shown can also be carried out in various ways. For example, in the above-described embodiment, the presence or absence of the obstacle O is determined based on the rotation angle θ. On the other hand, in the modified embodiment 1, the presence or absence of the obstacle O is determined based on the position in the front-rear direction (front-rear position). Hereinafter, the differences between the modified embodiment 1 and the above-described embodiment will be described.

[0101] Figure 10 is a flowchart showing the operation of the path setting system 1 of the present modified embodiment 1. Instead of Figure 4 the step S13 shown, in the modified embodiment 1, Figure 10 the step S113 shown is performed. In step S113, Figure 5 the controller 30 shown acquires the start point front-rear position Xs, the end point front-rear position Xe, and the obstacle front-rear position Xo. The start point front-rear position Xs is the position of the start point Rs in the front-rear direction (the position in the front-rear direction of the upper rotating body 13). The end point front-rear position Xe is the position of the end point Re in the front-rear direction. The obstacle front-rear position Xo is the position of the specific part Oa of the obstacle in the front-rear direction.

[0102] Instead of Figure 4 the step S21 shown, in the modified embodiment 1, Figure 10 the step S121 shown is performed. In step S121, as Figure 5 shown, when the obstacle front-rear position Xo is between the start point front-rear position Xs and the end point front-rear position Xe (front-rear range C), the controller 30 determines that "there is a specific part Oa of the obstacle between the start point Rs and the end point Re". In this case (step S121 (refer to Figure 10 ) is "yes"), the controller 30 sets the avoidance path R1 as the target path R (step S22 (refer to Figure 10 )). As Figure 8 shown, when the obstacle front-rear position Xo is not between the start point front-rear position Xs and the end point front-rear position Xe (front-rear range C), the controller 30 determines that "there is no specific part Oa of the obstacle between the start point Rs and the end point Re". In this case (step S121 (refer to Figure 10 ) is "no"), the controller 30 sets the non-avoidance path R2 as the target path R (step S23 (refer to Figure 10 )).

[0103] The effects of the modified embodiment 1 are as follows. As Figure 5As shown in the figure, the position of the start point Rs in the front-rear direction of the upper rotating body 13 is defined as the start point front-rear position Xs. The position of the end point Re in the front-rear direction of the upper rotating body 13 is defined as the end point front-rear position Xe. The position of the specific part Oa of the obstacle in the front-rear direction of the upper rotating body 13 is defined as the obstacle front-rear position Xo.

[0104] When the obstacle front-rear position Xo is between the start point front-rear position Xs and the end point front-rear position Xe (front-rear range C), the controller 30 determines that there is a specific part Oa of the obstacle between the start point Rs and the end point Re. As Figure 8 shown in the figure, when the obstacle front-rear position Xo is not between the start point front-rear position Xs and the end point front-rear position Xe (front-rear range C), the controller 30 determines that there is no specific part Oa of the obstacle between the start point Rs and the end point Re.

[0105] In the above structure, based on the position in the front-rear direction (front-rear position), it is determined whether there is a specific part Oa of the obstacle between the start point Rs and the end point Re (front-rear range C) (determine whether there is an obstacle O). Thus, for example, compared with the case of determining whether there is an obstacle O based on whether there is a specific part Oa of the obstacle between the start point Rs and the end point Re in the three-dimensional space, etc., the calculation burden on the controller 30 can be suppressed.

[0106] (Modified Embodiment 2)

[0107] Figure 5 In the above embodiment, the determination of whether there is an obstacle O is performed based on the rotation angle θ, and in the above Modified Embodiment 1, it is performed based on the position in the front-rear direction. On the other hand, in Modified Embodiment 2, the determination of whether there is an obstacle O is performed based on the rotation angle θ and the position in the front-rear direction X, respectively. Hereinafter, the differences between Modified Embodiment 2 and the above embodiment will be described.

[0108] Figure 11 is a flowchart showing the operation of the path setting system 1 of this Modified Embodiment 2. As Figure 11 shown in the figure, the controller 30 performs step S13 (refer to Figure 4 ) and step S113 (refer to Figure 10 ).

[0109] In step S221a, Figure 5 as shown in the figure, the controller 30 determines whether the obstacle rotation angle θo is within the range from the start point rotation angle θs to the end point rotation angle θe (angle range B). In addition, in step S221b (refer to Figure 11 ), the controller 30 determines whether the obstacle front-rear position Xo is between the start point front-rear position Xs and the end point front-rear position Xe (front-rear range C).

[0110] When at least one of the following conditions is met: the obstacle rotation angle θo is within the angular range B at the obstacle rotation angle θo, and the front-back position Xo of the obstacle is within the front-back range C at the front-back position Xo of the obstacle, the controller 30 determines that "there is a specific part Oa of the obstacle between the start point Rs and the end point Re". Specifically, as Figure 11 shown, when at least one of the following conditions is met: the result of step S221a is "Yes", and the result of step S221b is "Yes", Figure 5 the controller 30 shown determines that "there is a specific part Oa of the obstacle between the start point Rs and the end point Re". In this case, the controller 30 sets the avoidance path R1 as the target path R (step S22 (refer to Figure 11 ))).

[0111] As Figure 8 shown, when the obstacle rotation angle θo is not within the angular range B and the front-back position Xo of the obstacle is not within the front-back range C, the controller 30 determines that "there is no specific part Oa of the obstacle between the start point Rs and the end point Re". Specifically, as Figure 11 shown, when the result of step S221a is "No" and the result of step S221b is "No", Figure 8 the controller 30 shown determines that there is no specific part Oa of the obstacle between the start point Rs and the end point Re. In this case, the controller 30 sets the non-avoidance path R2 as the target path R (step S23 (refer to Figure 11 ))).

[0112] The effects of the modified embodiment 2 are as described below. As Figure 5 shown, the rotation angle θ of the upper rotating body 13 relative to the lower traveling body 11, that is, the rotation angle θ when the specific part 15s of the accessory device is disposed at the start point Rs, is defined as the start point rotation angle θs. The rotation angle θ when the specific part 15s of the accessory device is disposed at the end point Re is defined as the end point rotation angle θe. The rotation angle θ when the specific part 15s of the accessory device is disposed at the position of the specific part Oa of the obstacle is defined as the obstacle rotation angle θo. The position of the start point Rs in the front-back direction of the upper rotating body 13 is set as the start point front-back position Xs. The position of the end point Re in the front-back direction of the upper rotating body 13 is set as the end point front-back position Xe. The position of the specific part Oa of the obstacle in the front-back direction of the upper rotating body 13 is set as the obstacle front-back position Xo.

[0113] When at least one of the following conditions is met: the obstacle rotation angle θo is within the angular range B, and the obstacle front-back position Xo is within the front-back range C, the controller 30 determines that there is a specific part Oa of the obstacle between the start point Rs and the end point Re. When the obstacle rotation angle θo is not within the angular range B and the obstacle front-back position Xo is not within the front-back range C, the controller 30 determines that there is no specific part Oa of the obstacle between the start point Rs and the end point Re. The angular range B is the range from the start point rotation angle θs to the end point rotation angle θe. The front-back range C is the range between the start point front-back position Xs and the end point front-back position Xe.

[0114] According to the above structure, when at least one of the following conditions is met: the obstacle rotation angle θo is within the angular range B, and the obstacle front-back position Xo is within the front-back range C, the avoidance path R1 is set as the target path R. Thus, compared with the case of determining the presence or absence of the obstacle O based on only one of the rotation angle θ and the front-back direction, it is easier to set the avoidance path R1 as the target path R. Therefore, the contact between the accessory device 15 and the obstacle O can be further suppressed.

[0115] (Modified Embodiment 3)

[0116] As Figure 5 shown, the controller 30 may also determine that "there is a specific part Oa of the obstacle between the start point Rs and the end point Re" when the obstacle rotation angle θo is within the angular range B and the obstacle front-back position Xo is within the front-back range C. As Figure 8 shown, the controller 30 may also determine that "there is no specific part Oa of the obstacle between the start point Rs and the end point Re" when at least one of the following conditions is met: the obstacle rotation angle θo is not within the angular range B and the obstacle front-back position Xo is not within the front-back range C. In this case, compared with the case of determining the presence or absence of the obstacle O based on only one of the rotation angle θ and the front-back direction X, it is easier to set the non-avoidance path R2 as the target path R. Therefore, the accessory device 15 can be further suppressed from performing unnecessary avoidance actions.

[0117] (Modified Embodiment 4)

[0118] In Figure 5 the example shown, the specific part Oa of the obstacle is the peak (point) of the heap-shaped obstacle O. Figure 12 is a schematic diagram for observing the path setting system 1 and the target path R, etc. of this modified embodiment 4 from above. Figure 13 is from the rear view Figure 12 the schematic diagram of the target path R, etc. shown. In modified embodiment 4, Figure 12 the obstacle O shown is a hole formed in the ground (refer to Figure 13)。In this case, the controller 30 sets the edge of the hole (the linear part of the boundary between the ground and the hole) as the specific obstacle part Oa. When the specific obstacle part Oa is a linear part, the obstacle rotation angle θo has a range (the front and rear positions of the obstacle Xo (refer to Figure 5 ) are the same). Additionally, in step S21 (refer to Figure 4 ), the controller 30 determines whether at least a part of the obstacle rotation angle θo with a range is within the angle range B. In step S121 (refer to Figure 10 ), the controller 30 determines whether at least a part of the front and rear positions of the obstacle Xo with a range (refer to Figure 5 ) is within the front and rear range C.

[0119] As Figure 12 shown, the specific obstacle part Oa is the edge of the hole formed on the ground (refer to Figure 13 ).

[0120] In the above structure, the controller 30 determines whether there is a specific obstacle part Oa (determines whether there is an obstacle O) between the start point Rs and the end point Re based on the three-dimensional information of the edge of the hole, that is, the three-dimensional information of the linear part, which is the obstacle O. Thus, compared with the case of determining whether there is an obstacle O based on the three-dimensional information of the entire obstacle O, etc., the computational burden on the controller 30 can be reduced.

[0121] (Other modified embodiments)

[0122] Various modifications can also be further made to the above embodiments and modified embodiments. For example, the structural elements of different embodiments or modified embodiments can be combined with each other. For example, the arrangement or shape of each structural element can be changed. For example, the connection of each structural element shown in Figure 3 can be changed. For example, the order of the steps in the flowchart shown in Figure 4 , Figure 10 , [[ID=1 can be changed. For example, the number of structural elements can be changed, or a part of the structural elements can be not provided. For example, although multiple different components or parts are described, they can also be set as one component or part. For example, although one component or part is described, it can also be divided into multiple different components or parts and set.

[0123] For example, in the above embodiment, ​ such as the vertices or edges of the obstacle O shown in ​ , ​)。On the other hand, the whole or substantially the whole of the shape of the obstacle O may also be set as the specific part Oa of the obstacle. In the above-described embodiment, the controller 30 determines the presence or absence of the obstacle O based on the turning angle θ or the position in the front-rear direction. On the other hand, the controller 30 may also determine the presence or absence of the obstacle O based on the three-dimensional position. Specifically, for example, it may also be determined whether there is an obstacle O based on the three-dimensional position information of the line segment connecting the start point Rs and the end point Re, and whether the three-dimensional position and shape of the obstacle O overlap. In addition, it may also be determined whether there is an obstacle O based on whether the three-dimensional trajectory of the attachment device 15 when it is assumed to move from the start point Rs to the end point Re in the non-avoidance path R2 (refer to ​ ) and whether the three-dimensional position and shape of the obstacle O overlap.

[0124] The present invention provides a path setting system for a construction machine having a lower traveling body, an upper revolving body, and an attachment device, and sets a target path for a specific part of the attachment device, that is, a specific part of the attachment device. The upper revolving body is rotatably mounted on the lower traveling body around a revolving center axis extending in the vertical direction, and the attachment device is mounted on the upper revolving body to perform operations. The path setting system includes: a three-dimensional information acquisition unit that acquires three-dimensional information of a specific part of an obstacle around the attachment device, that is, a specific part of the obstacle; and a controller that sets a target path for the specific part of the attachment device from a designated start point to a designated end point. The controller determines, based on the acquisition result of the three-dimensional information acquisition unit, whether there is the specific part of the obstacle between the start point of the target path and the end point of the target path. When the controller determines that there is the specific part of the obstacle between the start point of the target path and the end point of the target path, it sets an avoidance path as the target path. When the controller determines that there is no specific part of the obstacle between the start point and the end point, it sets a non-avoidance path as the target path. The avoidance path is a path in which the attachment device performs an avoidance action to avoid the obstacle and the specific part of the attachment device moves from the start point to the end point. The non-avoidance path is a path in which the attachment device does not perform the avoidance action and the specific part of the attachment device moves from the start point to the end point.

[0125] In the above structure, it can also be that when the turning angle of the obstacle is within the range from the starting point turning angle to the ending point turning angle, it is determined that there is a specific part of the obstacle between the starting point and the ending point; when the turning angle of the obstacle is not within the range from the starting point turning angle to the ending point turning angle, it is determined that there is no specific part of the obstacle between the starting point and the ending point. The starting point turning angle is the turning angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is arranged at the starting point, the ending point turning angle is the turning angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is arranged at the ending point, and the turning angle of the obstacle is the turning angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is arranged at the position of the specific part of the obstacle.

[0126] In the above structure, it can also be that when the front-back position of the obstacle is between the front-back position of the starting point and the front-back position of the ending point, it is determined that there is a specific part of the obstacle between the starting point and the ending point; when the front-back position of the obstacle is not between the front-back position of the starting point and the front-back position of the ending point, it is determined that there is no specific part of the obstacle between the starting point and the ending point. The front-back position of the starting point is the position of the starting point in the front-back direction of the upper rotating body, the front-back position of the ending point is the position of the ending point in the front-back direction of the upper rotating body, and the front-back position of the obstacle is the position of the specific part of the obstacle in the front-back direction of the upper rotating body.

[0127] In the above structure, it can also be that when the turning angle of the obstacle is within the range from the starting point turning angle to the ending point turning angle, and / or when the front and rear positions of the obstacle are between the front and rear positions of the starting point and the front and rear positions of the ending point, the controller determines that there is a specific part of the obstacle between the starting point and the ending point. When the turning angle of the obstacle is not within the range from the starting point turning angle to the ending point turning angle, and the front and rear positions of the obstacle are not between the front and rear positions of the starting point and the front and rear positions of the ending point, the controller determines that there is no specific part of the obstacle between the starting point and the ending point. The starting point turning angle is the turning angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is disposed at the starting point. The ending point turning angle is the turning angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is disposed at the ending point. The turning angle of the obstacle is the turning angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is disposed at the position of the specific part of the obstacle. The front and rear position of the starting point is the position of the starting point in the front and rear direction of the upper rotating body. The front and rear position of the ending point is the position of the ending point in the front and rear direction of the upper rotating body. The front and rear position of the obstacle is the position of the specific part of the obstacle in the front and rear direction of the upper rotating body.

[0128] In the above structure, it can also be that when the obstacle is in a heap shape, the three-dimensional information acquisition unit sets the peak of the obstacle as the specific part of the obstacle.

[0129] In the above structure, it can also be that when the obstacle is a hole formed in the ground, the three-dimensional information acquisition unit sets the edge of the hole as the specific part of the obstacle.

[0130] In the above structure, the avoidance action can also be an action in which the accessory device moves from a position above the starting point to a position exceeding the position corresponding to the specific part of the obstacle at a position higher than the specific part of the obstacle.

Claims

1. A path setting system is applied to a construction machine having a lower traveling body, an upper revolving body, and an attachment device, and is used to set a target path for a specific part of the attachment device, that is, a specific part of the attachment device. The upper revolving body is rotatably mounted on the lower traveling body around a revolving central axis extending in the vertical direction, and the attachment device is mounted on the upper revolving body to perform operations. The path setting system is characterized by including: A three-dimensional information acquisition unit that acquires three-dimensional information of a specific part of an obstacle around the attachment device, that is, a specific part of the obstacle; And A controller that sets a target path for the specific part of the attachment device from a designated start point to a designated end point, where The controller determines the three-dimensional position of the specific part of the obstacle based on the three-dimensional information of the specific part of the obstacle, and determines whether there is the specific part of the obstacle between the start point of the target path and the end point of the target path. When the controller determines that there is a three-dimensional position of the specific part of the obstacle within the range between the three-dimensional position of the start point of the target path and the three-dimensional position of the end point of the target path, the controller sets an avoidance path as the target path. When the controller determines that there is no three-dimensional position of the specific part of the obstacle within the range between the three-dimensional position of the start point and the three-dimensional position of the end point, the controller sets a non-avoidance path as the target path. The avoidance path is a path along which the attachment device performs an avoidance action to avoid the obstacle and the specific part of the attachment device moves from the start point to the end point. The non-avoidance path is a path along which the attachment device does not perform the avoidance action and the specific part of the attachment device moves from the start point to the end point.

2. The path setting system according to claim 1, characterized in that: When the revolving angle of the obstacle is within the range from the start point revolving angle to the end point revolving angle, the controller determines that there is the specific part of the obstacle between the start point and the end point. When the revolving angle of the obstacle is not within the range from the start point revolving angle to the end point revolving angle, the controller determines that there is no specific part of the obstacle between the start point and the end point. The start point revolving angle is the revolving angle of the upper revolving body relative to the lower traveling body when the specific part of the attachment device is disposed at the start point. The end point revolving angle is the revolving angle of the upper revolving body relative to the lower traveling body when the specific part of the attachment device is disposed at the end point. The obstacle revolving angle is the revolving angle of the upper revolving body relative to the lower traveling body when the specific part of the attachment device is disposed at the position of the specific part of the obstacle.

3. The path setting system according to claim 1, characterized in that: When the front and rear positions of the obstacle are between the front and rear positions of the start point and the front and rear positions of the end point, it is determined that there is a specific part of the obstacle between the start point and the end point; when the front and rear positions of the obstacle are not between the front and rear positions of the start point and the front and rear positions of the end point, it is determined that there is no specific part of the obstacle between the start point and the end point. The front and rear positions of the start point are the positions of the start point in the front and rear directions of the upper rotating body. The front and rear positions of the end point are the positions of the end point in the front and rear directions of the upper rotating body. The front and rear positions of the obstacle are the positions of the specific part of the obstacle in the front and rear directions of the upper rotating body.

4. The path setting system according to claim 1, wherein: The controller determines that there is a specific part of the obstacle between the start point and the end point when at least one of the following conditions is met: the rotation angle of the obstacle is within the range from the rotation angle of the start point to the rotation angle of the end point, and the front and rear positions of the obstacle are between the front and rear positions of the start point and the front and rear positions of the end point. The controller determines that there is no specific part of the obstacle between the start point and the end point when the rotation angle of the obstacle is not within the range from the rotation angle of the start point to the rotation angle of the end point, and the front and rear positions of the obstacle are not between the front and rear positions of the start point and the front and rear positions of the end point. The rotation angle of the start point is the rotation angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is arranged at the start point. The rotation angle of the end point is the rotation angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is arranged at the end point. The rotation angle of the obstacle is the rotation angle of the upper rotating body relative to the lower traveling body when the specific part of the accessory device is arranged at the position of the specific part of the obstacle. The front and rear positions of the start point are the positions of the start point in the front and rear directions of the upper rotating body. The front and rear positions of the end point are the positions of the end point in the front and rear directions of the upper rotating body. The front and rear positions of the obstacle are the positions of the specific part of the obstacle in the front and rear directions of the upper rotating body.

5. The path setting system according to any one of claims 1 to 4, wherein: When the obstacle is in a heap shape, the three-dimensional information acquisition unit sets the peak of the obstacle as the specific part of the obstacle.

6. The path setting system according to any one of claims 1 to 4, wherein: When the obstacle is a hole formed in the ground, the three-dimensional information acquisition unit sets the edge of the hole as the specific part of the obstacle.

7. The path setting system according to any one of claims 1 to 4, wherein: The avoidance action is an action in which the accessory device moves from a position above the start point to a position exceeding the position corresponding to the specific part of the obstacle at a position higher than the specific part of the obstacle.

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