Target trajectory generation system

Abstract

The present application suppresses a calculation load for generating a target trajectory of an attachment device, and determines a target trajectory of the attachment device. A controller (30) sets a position of a bucket rod distal end portion (15t) when a contact detection portion (33) detects that the bucket distal end (17t) contacts a digging object (A) as a start end (P1) of a bucket rod distal end target trajectory (Ta). A controller (40) pre-receives information related to a shape of the bucket rod distal end target trajectory (Ta). The controller (40) sets a position of an end (P3) based on an angle (α) of a surface of the digging object (A), an intersection angle (β) between the bucket rod distal end target trajectory (Ta) and the surface of the digging object (A), the information related to the shape of the bucket rod distal end target trajectory (Ta), and an offset amount (O) of the end of the bucket rod distal end target trajectory (Ta).

Description

Technical Field

[0001] This invention relates to a target trajectory generation system for generating target trajectories of auxiliary devices of engineering machinery. Background Technology

[0002] For example, Patent Document 1 describes an invention that generates a target trajectory for an auxiliary device (the recommended path of the tip of the bucket in Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2017 / 115810

[0006] The technology described in Patent Document 1 does not specify how the target trajectory of the auxiliary device is generated. Furthermore, it is desirable to suppress the computational load when generating the target trajectory of the auxiliary device. Summary of the Invention

[0007] The purpose of this invention is to provide a target trajectory generation system that can suppress the computational load used to generate the target trajectory of the auxiliary device and can determine the target trajectory.

[0008] A target trajectory generation system is used in construction machinery with a main body and auxiliary devices. The auxiliary devices include a boom undulatingly mounted to the main body, a stick rotatably mounted to the boom, and a bucket rotatably mounted to the stick for digging an object. The target trajectory generation system includes: a posture detection unit for detecting the posture of the auxiliary devices; a shape detection unit for detecting information related to the shape of the object being dug; a contact detection unit for detecting contact between the distal end of the bucket and the object being dug; and a controller. The controller receives information related to the shape of the target trajectory at the distal end of the stick (i.e., the stick distal target trajectory), information related to the angle between the surface of the object being dug and the stick distal target trajectory (i.e., the intersection angle), and information related to the distance between the end of the stick distal target trajectory and the surface of the object being dug (i.e., the offset). The controller sets the position of the stick distal end when the contact detection unit detects that the distal end of the bucket has changed from a state of no contact with the object being dug to a state of contact with the object being dug, as the starting point of the stick distal target trajectory. The controller sets the position of the end of the far-end target trajectory of the stick based on the shape of the excavation object detected by the shape detection unit, the intersection angle, the information related to the shape of the target trajectory at the far end of the stick, and the offset. Attached Figure Description

[0009] Figure 1 This is a diagram of an engineering machine that utilizes a target trajectory generation system according to one embodiment of the present invention, viewed from the side.

[0010] Figure 2 yes Figure 1 The block diagram shown is of the target trajectory generation system.

[0011] Figure 3 Viewed from the horizontal Figure 1 The diagram shows the target trajectory T of the bucket and the far end of the boom.

[0012] Figure 4 It is Figure 3 The enlarged image of the periphery of the end P3 in the image.

[0013] Figure 5 It means Figure 3 A diagram illustrating an example of bucket rotation after the distal end of the boom reaches end P3.

[0014] Figure 6 It means Figure 3 The diagram shows an example of the movement of the far end of the stick and the rotation of the bucket after the far end of the stick reaches the end point P3.

[0015] Figure 7 It is equivalent to Figure 3 The tilt ratio of surface A1 shown Figure 3 The example shown is in a steeper case. Figure 3 The image.

[0016] Figure 8 It is equivalent to Figure 3 The surface A1 shown is flat. Figure 3 The image. Detailed Implementation

[0017] Reference Figures 1 to 8 Description of the target trajectory generation system 1. Figure 1 This is a diagram of the engineering machinery 10, which is viewed from the side and utilizes the target trajectory generation system 1. Figure 2 yes Figure 1 The block diagram shown is of the target trajectory generation system 1. Figure 3 Viewed from the horizontal Figure 1 The diagram shows the target trajectory T of the bucket 17 and the distal end of the boom 15t.

[0018] like Figure 3 As shown, the target trajectory generation system 1 is a system for generating the target trajectory T of the auxiliary device 12. The target trajectory generation system 1 is used for... Figure 1 The engineering machinery 10 shown includes a posture detection unit 20 and a shape detection unit 31. Figure 2The contact detection unit 33 and controller 40 are shown. Furthermore, the target trajectory generation system 1 may also include engineering machinery 10.

[0019] like Figure 1 As shown, construction machinery 10 is a machine that uses a bucket 17 to perform excavation operations; it is an excavator. For example, construction machinery 10 is construction machinery used for construction operations. Construction machinery 10 includes a main body 11, auxiliary devices 12, and a drive control unit 19 (see reference). Figure 2 ).

[0020] The main body 11 is the main part of the construction machinery 10. The main body 11 includes a lower traveling body 11a and an upper rotating body 11b. The lower traveling body 11a enables the construction machinery 10 to move. The lower traveling body 11a may have tracks, for example. The upper rotating body 11b is mounted on the lower traveling body 11a in a manner that allows it to rotate about a rotation center axis extending in the vertical direction. The boom 13 (described later) of the construction machinery 10 is mounted on the upper rotating body 11b.

[0021] <Direction>

[0022] The direction of extension of the rotation center axis of the upper rotating body 11b relative to the lower traveling body 11a is defined as the vertical direction Z. In the vertical direction Z, the direction (or orientation) from the lower traveling body 11a toward the upper rotating body 11b is defined as the upward direction Z1, and the opposite direction is defined as the downward direction Z2. The direction of extension of the rotation axis of the boom 13 (described later) during its undulating motion relative to the upper rotating body 11b is defined as the horizontal direction Y. The direction orthogonal to both the vertical direction Z and the horizontal direction Y is defined as the front-back direction X. In the front-back direction X, the direction in which the auxiliary device 12 protrudes from the upper rotating body 11b is defined as the forward direction X1 (also called the "inner side"), and the opposite direction is defined as the rear direction X2 (also called the "following front side").

[0023] The auxiliary device 12 is the working part of the construction machinery 10 and includes a boom 13, a stick 15, and a bucket 17. The boom 13 is mounted on the upper rotating body 11b in a jacking (rotatable in the vertical Z direction). The stick 15 is rotatably mounted on the boom 13. The distal end of the stick 15 (the end mounted on the opposite side of one side of the boom 13) is referred to as the "distal end of the stick 15t (the top of the stick)".

[0024] The bucket 17 excavates the object A. The bucket 17 has a shape capable of digging up the object A. The bucket 17 is located at the distal end of the auxiliary device 12 (the end opposite to one side of the upper rotating body 11b). The bucket 17 is rotatably mounted to the stick 15. Specifically, the bucket 17 is mounted to the distal end 15t of the stick via a pin (stick tip pin, not shown). Figure 3As shown, the bucket 17 includes a bucket opening surface 17a and a bucket distal end 17t. The bucket opening surface 17a is a surface that coincides with the opening portion (not shown) of the bucket 17 and communicates with the interior of the bucket 17. The bucket distal end 17t is the distal end of the bucket 17 (the end mounted on the opposite side of one side of the boom 15) and is the portion that forms the tip of the bucket 17.

[0025] The object A excavated by the bucket 17 can be, for example, sand or soil, or any other excavable object (e.g., metal, resin, rubber, etc.). The surface A1 of the object A can be a horizontally extending surface (flat surface) (see reference). Figure 8 Surface A1 can be a surface that is inclined relative to the horizontal plane (inclined surface). Surface A1 can be planar, approximately planar, or curved.

[0026] Drive control unit 19 ( Figure 2 )make Figure 1 The illustrated construction machinery 10 is in operation. For example, the drive control unit 19 includes a hydraulic actuator that drives the construction machinery 10 and a hydraulic circuit (not shown) that controls the hydraulic actuator. The hydraulic actuator constituting the drive control unit 19 includes a swing motor (not shown) that rotates the upper slewing body 11b relative to the lower traveling body 11a, a boom cylinder 19a, a stick cylinder 19b, and a bucket cylinder 19c. The boom cylinder 19a extends and retracts in a manner that causes the boom 13 to undulate relative to the upper slewing body 11b. The stick cylinder 19b extends and retracts in a manner that causes the stick 15 to rotate relative to the boom 13. The bucket cylinder 19c extends and retracts in a manner that causes the bucket 17 to rotate relative to the stick 15. The drive control unit 19 controls the operation of the auxiliary device 12 by controlling the rotation of the swing motor and the extension and retraction of each of the working cylinders of the boom cylinder 19a, stick cylinder 19b, and bucket cylinder 19c.

[0027] The posture detection unit 20 detects the posture (position, angle) of the auxiliary device 12. The posture detection unit 20 includes a slewing angle sensor 21, a boom angle sensor 22, a stick angle sensor 23, and a bucket angle sensor 24. The slewing angle sensor 21 detects the slewing angle of the upper slewing body 11b relative to the lower traveling body 11a. The boom angle sensor 22 detects the rotation angle (undulation angle) of the boom 13 relative to the upper slewing body 11b. The boom angle sensor 22 may also include an angle sensor mounted on the rotation axis of the boom 13 relative to the upper slewing body 11b. Furthermore, the slewing angle sensor 21, stick angle sensor 23, and bucket angle sensor 24 may also include angle sensors. The boom angle sensor 22 may also include an tilt sensor that detects the tilt angle of the boom 13 relative to the horizontal plane (the same applies to the stick angle sensor 23 and bucket angle sensor 24). The boom angle sensor 22 can also function as a stroke sensor to detect the stroke of the boom cylinder 19a (the stick angle sensor 23 and bucket angle sensor 24 can also detect the stroke of the cylinder). The boom angle sensor 22 can detect the posture of the boom 13 based on a two-dimensional image or a distance image, and can also be used as, for example, a shape detection unit 31 (the same applies to the swing angle sensor 21, stick angle sensor 23, and bucket angle sensor 24). The stick angle sensor 23 detects the rotation angle of the stick 15 relative to the boom 13. The bucket angle sensor 24 detects the rotation angle of the bucket 17 relative to the stick 15. The bucket angle sensor 24 can also detect the rotation angle of the bucket 17 relative to the stick 15 by detecting the posture (e.g., tilt angle) of the linkage connecting the bucket 17 and the stick 15.

[0028] The attitude detection unit 20 can also detect the position of the construction machinery 10 at the work site using a positioning system (such as a satellite positioning system). For example, the attitude detection unit 20 can also detect the position and orientation of the upper rotating body 11b relative to the work site, and detect the attitude of the auxiliary device 12 relative to the work site using a positioning system. The positioning system can also be a satellite positioning system, such as GNSS (global navigation satellite system). The positioning system can also be a positioning system using a total station. When the attitude detection unit 20 is equipped with a satellite positioning system, the attitude detection unit 20 can also be equipped with an antenna for receiving signals used for satellite positioning.

[0029] The shape detection unit 31 detects (acquires) information related to the shape of the object to be excavated, A (e.g., surface angle α, described later). For example, the shape detection unit 31 detects three-dimensional information about the position and shape of the object to be excavated, A. As an example, the shape detection unit 31 is a camera device that acquires an image (distance image) with distance information (depth information). The shape detection unit 31 can also detect the three-dimensional information of the object to be excavated, A, based on the distance image and the two-dimensional image. Alternatively, other shape acquisition units that acquire information related to the shape of the object to be excavated, A, from a storage unit or the like can be provided instead of the shape detection unit 31.

[0030] Furthermore, as described above, one shape detection unit 31 can be provided, or multiple shape detection units 31 can be provided. The shape detection unit 31 can be mounted on the construction machinery 10, or it can be disposed outside the construction machinery 10 (e.g., at the work site) (for the posture detection unit 20, Figure 2 The contact detection unit 33 and controller 40 shown are also the same. Figure 1 When the shape detection unit 31 shown is disposed on the outside of the construction machinery 10, it can sometimes detect positions that cannot be detected when the shape detection unit 31 is only mounted on the construction machinery 10 (such as the part that is shaded by the accessory device 12). In addition, when the shape detection unit 31 is disposed on the outside of the construction machinery 10, the target trajectory generation system 1 of this embodiment can be applied to construction machinery 10 that does not have a shape detection unit 31.

[0031] The shape detection unit 31 can also be equipped with a device that uses lasers to detect three-dimensional information, such as LiDAR (Light Detection and Ranging) or Laser Imaging Detection and Ranging, or a TOF (Time of Flight) sensor. The shape detection unit 31 can also be equipped with a device that uses electromagnetic waves to detect three-dimensional information (such as millimeter-wave radar). The shape detection unit 31 can also be equipped with a stereo camera. For example, when the shape detection unit 31 detects the three-dimensional position and shape of the excavation object A based on three-dimensional and two-dimensional information, the shape detection unit 31 can also be equipped with a camera capable of detecting two-dimensional images.

[0032] Contact detection unit 33 (refer to) Figure 2The contact detection unit 33 can detect the contact between the distal end 17t of the bucket and the object A being excavated. For example, the contact detection unit 33 can also detect the contact between the distal end 17t of the bucket and the object A being excavated by detecting the pressure acting on the hydraulic cylinder (e.g., bucket cylinder 19c) that operates the auxiliary device 12. The contact detection unit 33 can also detect the contact between the distal end 17t of the bucket and the object A being excavated based on a two-dimensional image or a distance image containing the bucket 17 and the object A being excavated. In this case, the two-dimensional image or distance image can also be used by the shape detection unit 31.

[0033] like Figure 2 As shown, the controller 40 performs signal input / output, calculation (processing), and information storage. For example, the controller 40 acquires the information detected by the posture detection unit 20 from the auxiliary device 12 (see reference). Figure 1 The controller 40 stores the posture information of the engineering machinery 10 (refer to...). For example, the controller 40 stores the calculation results. The controller 40 is responsible for making the engineering machinery 10 (refer to...) Figure 1 The automatic driving controller 40 controls the automatic driving of the auxiliary device 12. Figure 3 The target trajectory T shown is moved in a manner that controls the operation of the auxiliary device 12. The controller 40 consists of a CPU (Central Processing Unit), a ROM (Read Only Memory) storing the control program, and RAM (Random Access Memory) used as the CPU's operating area. Figure 2 As shown, the controller 40 functions by executing a control program stored in the ROM via the CPU. It includes functional units such as a cross-angle setting unit 41 (cross-angle receiving unit), an offset setting unit 42 (offset receiving unit), an end-bucket posture setting unit 43 (end-bucket posture receiving unit), a bucket rotation ratio setting unit 44 (bucket rotation ratio receiving unit), a target trajectory generation unit 45, and an instruction unit 46. These functional units are not physical components but rather units that perform functions equivalent to those executed by the control program. In other words, it can be said that the control performed by these functional units is essentially executed uniformly by the controller 40. Furthermore, each functional unit can also be separately configured in multiple controllers. In this case, the multiple controllers constitute the controller of the present invention.

[0034] Cross angle setting unit 41 sets the cross angle β (described later) (see reference). Figure 3 The part that receives information related to the intersection angle β is the offset setting unit 42, which sets the offset O (described later). The end-bucket posture setting unit 43 sets the end-bucket posture Q3 (described later). Figure 3The bucket rotation ratio setting unit 44 is the part that sets the bucket rotation ratio p2θ_ratio (described later). In other words, it is the part that receives information related to the end bucket posture Q3.

[0035] The target trajectory generation unit 45 generates the target trajectory T (described later) (refer to...) Figure 3 (Target route). The command unit 46 causes the auxiliary device 12 to follow... Figure 3 The target trajectory T shown is moved in a manner that controls the auxiliary device 12. Figure 2 The instruction unit 46 shown is based on information about the target trajectory T and the current auxiliary device 12 (see reference). Figure 1 The differences in the posture information between the actuators (e.g., boom cylinder 19a, reference) will affect the performance of each actuator. Figure 1 The command for the target speed (e.g., ) is input to the drive control unit 19.

[0036] <Target Trajectory T>

[0037] Figure 3 The target trajectory T shown is generated by the target trajectory generation unit 45 (reference). Figure 2 The target trajectory T is generated. It includes the target trajectory Ta at the far end of the stick and the target trajectory Tb in the bucket.

[0038] The target trajectory Ta at the far end of the stick is the target trajectory T at the far end of the stick (15t). The target trajectory generation unit 45 is pre-set (acquired, processed) with information related to the shape of the target trajectory Ta at the far end of the stick (before generating the target trajectory T). The "information related to the shape of the target trajectory Ta at the far end of the stick" determines the shape of the target trajectory Ta at the far end of the stick. The shape of the target trajectory Ta at the far end of the stick can be set in various ways.

[0039] [Example A1] For example, the target trajectory Ta at the far end of the stick is set to a straight line. In this case, compared to the case where the target trajectory Ta at the far end of the stick is not a straight line, the target trajectory generation unit 45 (see reference) Figure 2 The computational load was suppressed.

[0040] [Example A2] For example, the target trajectory Ta at the far end of the stick can be roughly straight, curved, broken, or a combination of straight and curved shapes. At least a portion of the "curved" shape can be arc-shaped, circular, or roughly circular.

[0041] Controller 40 (reference) Figure 2The auxiliary device 12 is controlled in such a way that the distal end of the stick 15t moves along the target trajectory Ta at the distal end of the stick. Furthermore, the actual movement trajectory of the distal end of the stick 15t does not need to be strictly consistent with the target trajectory Ta. For example, even if the target trajectory Ta is a straight line, the actual movement trajectory of the distal end of the stick 15t can be approximately a straight line.

[0042] When viewed from the lateral direction Y, the trajectory Ta of the far end of the stick can be inclined relative to the vertical direction Z, aligned with the vertical direction Z, or aligned with the front-back direction X. For example, when viewed from the front-back direction X (not shown), the trajectory Ta of the far end of the stick is aligned with or approximately aligned with the vertical direction Z. In this case, when the far end 15t of the stick moves along the trajectory Ta of the far end of the stick, Figure 1 The upper rotating body 11b shown will not rotate relative to the lower traveling body 11a (or, approximately does not rotate). Figure 3 As shown, the target trajectory Ta at the far end of the stick includes the starting point P1, the ending point P3, and the intermediate point P2.

[0043] The starting point P1 is the starting point of movement of the far end 15t of the stick in the far end target trajectory Ta. The ending point P3 is the ending point of movement of the far end 15t of the stick in the far end target trajectory Ta. The intermediate point P2 is a specific point between the starting point P1 and the ending point P3. For example, the intermediate point P2 can be the midpoint between the starting point P1 and the ending point P3, or it can be a specific point between the starting point P1 and the ending point P3 other than the midpoint. In addition, multiple intermediate points P2 can be set.

[0044] The target trajectory Tb of the bucket is the target trajectory T of the bucket 17. The target trajectory Tb contains information related to the posture (position and angle) of the bucket 17 as the distal end 15t of the boom moves from the starting point P1 to the ending point P3. For example, the target trajectory Tb may also include information about the angle of the bucket 17 relative to a reference direction. Additionally, the target trajectory Tb may also include information about the angle (bucket rotation angle θ) of the bucket opening face 17a relative to the horizontal direction H. The target trajectory Tb may also include information about the position of the distal end 17t of the bucket. The following mainly describes the case where the target trajectory Tb includes information about the bucket rotation angle θ. The posture of the bucket 17 includes the starting bucket posture Q1, the ending bucket posture Q3, and the intermediate point bucket posture Q2.

[0045] The initial bucket posture Q1 is the posture of the bucket 17 when the distal end 15t of the stick is positioned at the initial point P1. More specifically, the initial bucket posture Q1 is the posture of the bucket 17 detected by the posture detection unit 20 when the distal end 15t of the stick is positioned at the initial point P1. The final bucket posture Q3 is the posture of the bucket 17 when the distal end 15t of the stick is positioned at the final point P3. The intermediate point bucket posture Q2 is the posture of the bucket 17 when the distal end 15t of the stick is positioned at the intermediate point P2. Target trajectory generation unit 45 (see reference) Figure 2 The target trajectory Tb of the bucket is set in such a way that the bucket 17 continuously changes from the initial bucket posture Q1 to the final bucket posture Q3. The direction of rotation of the bucket 17 when its posture changes from the initial bucket posture Q1 to the final bucket posture Q3 is the direction in which the bucket 17 digs the object A (in...). Figure 3 In the example shown, the direction in which the bucket rotation angle θ increases is the direction in which the bucket 17 rotates. The rotation speed of the bucket 17 when the posture of the bucket 17 changes from the initial bucket posture Q1 to the final bucket posture Q3 can be constant or variable (refer to the explanation of the bucket rotation ratio p2θ_ratio described later).

[0046] <Information set before generating the target trajectory T>

[0047] As described above, in the target trajectory generation unit 45 (refer to...) Figure 2 Before generating the target trajectory T, the target trajectory generation unit 45 is pre-programmed (inputted, acquired) with information related to the shape of the target trajectory Ta at the far end of the stick. Additionally, before the target trajectory generation unit 45 generates the target trajectory T, the controller 40 (refer to...) is pre-programmed. Figure 2 Set (input, obtain) the cross angle β, offset O, end bucket posture Q3, and bucket rotation ratio p2θ_ratio respectively.

[0048] The intersection angle β is the angle between the target trajectory Ta at the far end of the boom and the surface A1 of the object being excavated A. When the target trajectory Ta at the far end of the boom is a straight line, the intersection angle β is, for example, the shape detection unit 31 (see reference). Figure 2 The angle α of the detected surface is the angle between the target trajectory Ta at the far end of the stick. For example... Figure 1As shown, the surface angle α is the angle of the surface A1 of the object being excavated, A, relative to the horizontal plane (the ground, a defined reference plane). When the target trajectory Ta at the far end of the boom is not a straight line (e.g., a curve), the intersection angle β can also be the angle formed by the straight line from the starting point P1 to the ending point P3 and the surface A1 of the object being excavated, A. Furthermore, when the target trajectory Ta at the far end of the boom is not a straight line, the intersection angle β can also be the angle formed by the extension direction (e.g., a tangent) of the target trajectory Ta at the starting point P1 and the surface A1 of the object being excavated, A. (Refer to the intersection angle setting unit 41). Figure 2 Set (input, obtain) the cross angle β. The cross angle β can be a fixed value, a value manually input by the operator, or a value automatically calculated by the controller 40 based on certain conditions (the same applies to the offset O, end bucket posture Q3, and bucket rotation ratio p2θ_ratio).

[0049] For example, the larger the intersection angle β, the deeper the object A is excavated, and the greater the excavation volume of object A. Conversely, the smaller the intersection angle β, the shallower the object A is excavated, and the less object A is excavated. For instance, if too much object A is excavated, it is more likely to spill from the bucket 17. Conversely, if too little object A is excavated, the excavation operation is inefficient. Therefore, by appropriately setting the intersection angle β, the excavation volume of object A can be set to an appropriate amount.

[0050] For example, the larger the cross angle β, the greater the load applied to the auxiliary device 12. The smaller the cross angle β, the smaller the load applied to the auxiliary device 12. By appropriately setting the cross angle β, the load applied to the auxiliary device 12 can be made to an appropriate size. For example, the harder the excavated object A, the greater the load applied to the auxiliary device 12. In the case of excessive load applied to the auxiliary device 12, by setting the cross angle β to a small angle, the load applied to the auxiliary device 12 can be suppressed (the load can be released).

[0051] Figure 4 It is Figure 3 The enlarged image of the periphery of the end P3 in the image. (See image below.) Figure 4 As shown, the offset O is the distance between the end point P3 and the surface A1. The offset O can also be the vertical distance between the end point P3 and the surface A1 (vertical offset O1). Alternatively, the offset O can also be the distance between the end point P3 and the surface A1 in the extension direction of the target trajectory Ta at the far end of the stick (extension offset O2). The offset O can also be the distance between the end point P3 and the surface A1 in a direction orthogonal to the surface A1 (not shown).

[0052] Offset O is set (acquired, input) to offset setting unit 42 (reference). Figure 2 The end point P3 and surface A1 can also be the same. That is, the offset O can also be zero. The end point P3 can also be set higher than surface A1 (in which case the offset O is defined as a positive value). The end point P3 can also be set lower than surface A1 (in which case the offset O is defined as a negative value). The smaller the offset O, the deeper the excavation object A is dug. The larger the offset O, the shallower the excavation object A is dug. By appropriately setting the offset O, the amount of excavation of the excavation object A and the load applied to the auxiliary device 12 can be set to an appropriate size (the same as the cross angle β).

[0053] For example, the offset O is set in a way that positions the end P3 near surface A1. Specifically, when... Figure 3 As shown, when viewed from the lateral Y direction, the rotation center of the bucket 17 relative to the boom 15 ( Figure 3 The straight-line distance from the starting point P1 to the far end 17t of the bucket is defined as the "length of the bucket opening face 17a". When the offset O is positive, the offset O (vertical offset O1 (refer to...)) is... Figure 4 The magnitude of the offset O2 in the extension direction can be less than 50%, less than 40%, less than 30%, less than 20%, or less than 10% of the length of the bucket opening face 17a. The magnitude of the offset O can be more than 0%, more than 10%, more than 20%, more than 30%, more than 40%, or more than 50% of the length of the bucket opening face 17a. For example, when it is desirable to suppress the load applied to the auxiliary device 12, the magnitude of the offset O is more than 30% of the length of the bucket opening face 17a, more ideally more than 40%, and even more ideally more than 50%. For example, when it is desirable to ensure the excavation volume of the excavated object A as much as possible, the magnitude of the offset O is more than 20% of the length of the bucket opening face 17a, more ideally less than 10%, and even more ideally less than 0% (i.e., the end P3 is at the same height as the surface A1, or lower than the surface A1).

[0054] For example, an offset O is set such that the bucket opening surface 17a, when the bucket 17 is in the end-of-life bucket position Q3, is positioned entirely or substantially entirely inside the surface A1 before digging (more forward and lower than surface A1). For example, the proportion of the bucket opening surface 17a positioned inside the surface A1 before digging in the end-of-life bucket position Q3 (a specific example of "entirely or substantially entirely") can be 50% or more, 60% or more, 70% or more, 80% or more, 90% or more, or even 100%. The aforementioned proportion can be 90% or less, 80% or less, 70% or less, 60% or less, or even 50% or less. For example, when it is desirable to suppress the load applied to the auxiliary device 12, the aforementioned proportion is ideally 80% or less, more ideally 70% or less, more ideally 60% or less, and even more ideally 50% or less. For example, if you want to ensure the excavation volume of object A as much as possible, the above ratio is ideally above 80%, more ideally above 90%, and even more ideally 100%.

[0055] The end-of-load bucket posture Q3 is set (acquired, input) to the end-of-load bucket posture setting unit 43 (reference). Figure 2 For example, the end-of-line bucket posture Q3 is set to a posture in which the bucket opening face 17a extends along the vertical direction (or approximately the vertical direction) (the bucket rotation angle θ is 90° or approximately 90°). Alternatively, the bucket rotation angle θ of the end-of-line bucket posture Q3 may not be 90° or approximately 90°.

[0056] The bucket rotation ratio p2θ_ratio is set (acquired, input) to the bucket rotation ratio setting unit 44 (reference). Figure 2 The bucket rotation ratio p2θ_ratio is the ratio of the change in bucket 17's posture from the initial bucket posture Q1 to the intermediate bucket posture Q2 to the change in bucket 17's posture from the initial bucket posture Q1 to the final bucket posture Q3. Specifically, consider the case where the bucket rotation angle θ changes from 45° to 90° from the initial point P1 to the final point P3, and is 60° at the intermediate point P2. In this case, the change in bucket rotation angle θ from the initial point P1 to the final point P3 is 45 degrees. The change in bucket rotation angle θ from the initial point P1 to the intermediate point P2 is 15 degrees. In this case, the bucket rotation ratio p2θ_ratio is 15 / 45, approximately 33%. Furthermore, the above value for the bucket rotation angle θ is just one example; the bucket rotation angle θ from the initial bucket posture Q1 to the final bucket posture Q3 can be set in various ways.

[0057] <Generate target trajectory T>

[0058] The target trajectory T is generated as follows.

[0059] <Detecting the shape of excavated object A>

[0060] Figure 1 The shape detection unit 31 shown detects information related to the shape of the object to be excavated, A. Specifically, the shape detection unit 31 detects the angle (surface angle α) of surface A1. For example, the shape detection unit 31 detects the surface angle α of surface A1 at the location (or near the location) that the bucket 17 wants to excavate. Surface angle α is the angle of surface A1 relative to a direction that serves as a reference (e.g., the horizontal direction H).

[0061] <Determine the starting point P1 and the starting bucket posture Q1>

[0062] Decide in the following manner Figure 3 The position of the starting end P1 and the starting bucket posture Q1 are shown. Contact detection unit 33 ( Figure 2 The detection unit 45 changes the state of the bucket's distal end 17t from never being in contact with the excavated object A to being in contact with the excavated object A. Figure 2 The position of the distal end 15t of the boom at this moment is set as the starting point P1. The target trajectory generation unit 45 sets the posture of the bucket 17 at this moment as the starting point bucket posture Q1. For example, the position (x-coordinate) of the starting point P1 in the front-to-back direction is set as p1x. The position (z-coordinate) of the starting point P1 in the vertical direction is set as p1z. The bucket rotation angle θ at the starting point bucket posture Q1 is set as p1θ.

[0063] <Calculate the orientation and end point P3 of the target trajectory Ta at the far end of the stick>

[0064] The target trajectory generation unit 45 sets (calculates, generates) the position of the end point P3 based on the surface angle α, the intersection angle β, information related to the shape of the target trajectory Ta at the far end of the stick, and the offset O.

[0065] The target trajectory generation unit 45 sets the orientation of the target trajectory Ta at the far end of the stick based on the surface angle α and the intersection angle β. The orientation of the target trajectory Ta at the far end of the stick is a straight line from the starting point P1 to the ending point P3. For example, the orientation of the target trajectory Ta at the far end of the stick is represented by the angle of the target trajectory Ta at the far end of the stick relative to the horizontal direction H. Specifically, the target trajectory generation unit 45 uses the shape detection unit 31 (refer to...) Figure 1 The surface angle α detected by the cross angle setting unit 41 (see reference) Figure 2The sum of the set cross angles β (α+β) is set as the orientation of the far-end target trajectory Ta on the stick. Furthermore, when the far-end target trajectory Ta on the stick is not a straight line, the orientation of "far-end target trajectory Ta on the stick" can also be a straight line from the starting point P1 to the ending point P3. The orientation of the far-end target trajectory Ta on the stick can also be from the starting point P1 to the ending point P3, that is, the direction of extension of the far-end target trajectory Ta on the stick at the starting point P1 (e.g., the orientation of the tangent of a curved far-end target trajectory Ta on the stick). The following mainly explains the case where the far-end target trajectory Ta on the stick is a straight line.

[0066] The target trajectory generation unit 45 calculates the position of the end point P3, for example, in the following manner. The target trajectory generation unit 45 calculates the position of the end point P3 based on the distance (straight-line distance, shortest distance) (length L) from the starting point P1 to the end point P3. For example, suppose the offset O is the distance between the end point P3 and the surface A1 in the extension direction of the target trajectory Ta at the far end of the stick (extension direction offset O2). In this case, the length L is the value obtained by subtracting the offset O from the distance from the starting point P1 to the surface A1 along a straight line extending in the direction of the target trajectory Ta at the far end of the stick.

[0067] The target trajectory generation unit 45 calculates (sets) the position coordinates (x coordinate: p3x, z coordinate: p3z) of the end point P3 based on the orientation (α+β) and length L of the target trajectory Ta at the far end of the stick, for example, according to the following formula.

[0068] p3x = p1x - Lcos(α + β)

[0069] p3z = p1z - Lsin(α + β)

[0070] Furthermore, the position of the terminal P3 can be calculated in various ways. For example, such as... Figure 4 As shown, assume the offset O is the vertical distance between the end point P3 and the surface A1 (vertical offset O1). In this case, the target trajectory generation unit 45 can also calculate the trajectory from the starting point P1 (refer to...). Figure 3 The position of the end point P3 is the intersection of the straight line extending along the direction of the target trajectory Ta at the far end of the stick and the surface after which the surface A1 has been moved parallel to the vertical direction by an offset O.

[0071] <Determine the end-of-load bucket posture Q3>

[0072] The target trajectory generation unit 45 will set the end bucket posture setting unit 43 (see reference). Figure 2 The information is set as follows: Figure 3 The end-cap bucket posture Q3 is shown. Specifically, for example, as described above, the bucket rotation angle θ (defined as p3θ) in the end-cap bucket posture Q3 is 90°, etc.

[0073] <Calculate the intermediate point P2>

[0074] The target trajectory generation unit 45 determines the position of the intermediate point P2 based on the positions of the starting point P1 and the ending point P3. For example, if the position of the intermediate point P2 is the midpoint between the starting point P1 and the ending point P3, the target trajectory generation unit 45 calculates the position coordinates of the intermediate point P2 (x coordinate: p2x, z coordinate: p2z) according to the following formula.

[0075] p2x=(p1x+p3x) / 2

[0076] p2z = (p1z + p3z) / 2

[0077] <Calculate the bucket posture at the midpoint Q2>

[0078] The target trajectory generation unit 45 sets the attitude between the starting bucket posture Q1 and the ending bucket posture Q3 as the intermediate point bucket posture Q2. The bucket rotation angle θ (set as p2θ) of the intermediate point bucket posture Q2 is the angle between the bucket rotation angle θ (i.e. p1θ) under the starting bucket posture Q1 and the bucket rotation angle θ (i.e. p3θ) under the ending bucket posture Q3.

[0079] The target trajectory Tb of the bucket can also be set to rotate the bucket 17 from the initial bucket posture Q1 to the final bucket posture Q3 at a constant rotational speed. Specifically, for example, the target trajectory generation unit 45 can also calculate the bucket rotation angle θ (p2θ) of the intermediate point bucket posture Q2 according to the following formula.

[0080] p2θ=(p1θ+p3θ) / 2

[0081] The target trajectory Tb of the bucket can also be set such that the rotational speed of the bucket 17 changes as the posture of the bucket 17 changes from the initial bucket posture Q1 to the final bucket posture Q3. For example, the rotational speed from the intermediate point bucket posture Q2 to the final bucket posture Q3 can also be set to be faster than the rotational speed of the bucket 17 from the initial bucket posture Q1 to the intermediate point bucket posture Q2. Specifically, the target trajectory generation unit 45 can also be based on the bucket rotation ratio setting unit 44 (see reference). Figure 2 The bucket rotation ratio p2θ_ratio is set, and the bucket posture Q2 at the midpoint is set. For example, the target trajectory generation unit 45 can also calculate the bucket rotation angle θ (i.e., p2θ) under the bucket posture Q2 at the midpoint according to the following formula.

[0082] p2θ=p1θ+(p3θ-p1θ)×p2θ_ratio

[0083] Alternatively, multiple intermediate points P2 can be set. In this case, the bucket rotation ratio p2θ_ratio can also be set for each of the multiple intermediate points P2.

[0084] <Regarding reaching the end P3>

[0085] The trajectory of the far end of the stick 15t and the bucket 17 after reaching the end point P3 can be set in various ways.

[0086] [Example B1]

[0087] Figure 5 It means Figure 3 A diagram illustrating an example of bucket 17 rotation after the distal end 15t of the boom reaches the end point P3. (See diagram for example.) Figure 5 As shown, after the distal end 15t of the stick reaches the end P3, the bucket 17 can also rotate while the position of the distal end 15t of the stick is fixed. At this time, the bucket 17 can also rotate in the direction in which the bucket rotation angle θ increases (towards the object A being dug up). The bucket 17 rotates in this manner, thereby enabling it to dig up the object A. After the bucket 17 rotates to the predetermined angle, the distal end 15t of the stick can also move upwards.

[0088] [Example B2]

[0089] Figure 6 It means Figure 3 The diagram illustrates an example of the movement of the distal end 15t of the stick after it reaches end P3, and the rotation of the bucket 17. (See diagram for example.) Figure 6 As shown, after the distal end 15t of the stick reaches the end P3, the bucket 17 can rotate in the direction where the bucket rotation angle θ increases while the distal end 15t moves forward (to the side where the stick 15 extends). In this case, because the distal end 15t of the stick moves forward, it will suppress further rearward collapse of the excavated object A, which is further rearward than the bucket 17. The larger the surface angle α, the more effectively the rearward collapse of the excavated object A will be suppressed. Furthermore, for example, in the case where the surface A1 is flat (see... Figure 8 Alternatively, while the stick 15 moves forward, the bucket 17 can rotate in the direction that increases the bucket rotation angle θ. Furthermore, because the bucket 17 rotates in the direction that increases the bucket rotation angle θ while the stick 15 moves forward, it prevents excessive excavation of the excavated object A and prevents the excavated object A from spilling out of the bucket 17. After the stick 15 has moved forward a predetermined distance and the bucket 17 has rotated to a predetermined angle, the distal end 15t of the stick can also move upward.

[0090] <Various surface angles α>

[0091] As described above, the target trajectory generation unit 45, as Figure 3 As shown, based on the detected position of the starting point P1 and the surface angle α, as well as the shape, intersection angle β, and offset θ of the pre-set target trajectory Ta at the far end of the stick, the position of the ending point P3 is calculated. Next, the target trajectory generation unit 45 generates the target trajectory Ta at the far end of the stick based on the shape of the starting point P1, the ending point P3, and the target trajectory Ta. For example, if the target trajectory Ta at the far end of the stick is a straight line, the target trajectory generation unit 45 sets the straight line connecting the starting point P1 and the ending point P3 as the target trajectory Ta at the far end of the stick. Regardless of the surface angle α, the target trajectory generation unit 45 can calculate the position of the ending point P3 based on the starting point P1, the surface angle α, the intersection angle β, the shape of the target trajectory Ta at the far end of the stick, and the offset θ. Therefore, the target trajectory generation unit 45 can uniquely determine the target trajectory Ta at the far end of the stick based on various surface angles α. For example, Figure 7 It is equivalent to Figure 3 The tilt ratio of surface A1 shown Figure 3 The example shown is in a steeper case. Figure 3 The image. Regardless of... Figure 3 As shown, is the tilt of surface A1 gentle (e.g., surface angle α approximately greater than 0° and less than 45°), or is it as... Figure 7 As shown, the steepness of the inclination of surface A1 (e.g., a surface angle α greater than 45°) uniquely determines the trajectory Ta of the target at the far end of the stick. Furthermore, Figure 8 It is equivalent to Figure 3 The surface A1 shown is flat. Figure 3 The image. (As shown) Figure 8 As shown, even if surface A1 is flat (e.g., surface angle α (refer to...) Figure 7 The angle α is approximately 0°, which uniquely determines the trajectory Ta of the target at the far end of the boom. Furthermore, by changing the cross angle β and the offset O, the digging depth and the load applied to the auxiliary device 12 are altered. Even if the surface angle α changes, by appropriately setting the cross angle β and the offset O, the amount of digging of the target object A can be ensured, and excessive load on the auxiliary device 12 can be prevented (the load can be released).

[0092] In addition, the target trajectory generation unit 45 is based on Figure 3 The starting bucket posture Q1 and the ending bucket posture setting unit 43 (see reference) are shown. Figure 2 The target trajectory Tb is set by defining the end bucket posture Q3 and the uniquely determined stick distal target trajectory Ta. Thus, the target trajectory generation unit 45 can uniquely determine the bucket target trajectory Tb based on various surface angles α.

[0093] Figure 1The effect of the target trajectory generation system 1 shown is as follows. The target trajectory generation system 1 includes an auxiliary device 12, a posture detection unit 20, and a shape detection unit 31. Figure 2 The contact detection unit 33, target trajectory generation unit 45, intersection angle setting unit 41, and offset setting unit 42 are shown. Figure 1 As shown, the auxiliary device 12 includes a boom 13, a stick 15, and a bucket 17. The boom 13 is mounted on the main body 11 in an elliptical manner. The stick 15 is rotatably mounted on the boom 13. The bucket 17 is rotatably mounted on the stick 15 and digs the object A. A posture detection unit 20 detects the posture of the auxiliary device 12. A shape detection unit 31 detects information related to the shape of the object A. A contact detection unit 33 (see reference) Figure 2 The contact between the distal end of the bucket 17 (distant end of bucket 17t) and the object A being excavated is detected. Target trajectory generation unit 45 (refer to...) Figure 2 )generate Figure 3 The target trajectory T at the distal end of the stick 15 (the distal end of the stick 15t) is the target trajectory Ta at the distal end of the stick. Regarding the cross angle setting unit 41 (refer to...) Figure 2 Set the angle β between the surface A1 of the excavation object A and the trajectory Ta of the target at the far end of the boom. For the offset setting unit 42 (refer to...) Figure 2 )set up Figure 4 The distance P3 between the end of the target trajectory Ta at the far end of the stick and the surface A1 of the excavated object A is the offset O.

[0094] Target trajectory generation unit 45 (reference) Figure 2 Contact detection unit 33 (refer to) Figure 2 ) detected Figure 3 The position of the far end of the bucket 17t, which is in a state of not being in contact with the excavated object A, and then in a state of being in contact with the excavated object A, is set as the starting point P1 of the far end target trajectory Ta of the bucket.

[0095] For the target trajectory generation unit 45 (reference) Figure 2 Pre-set information related to the shape of the target trajectory Ta at the far end of the stick.

[0096] Target trajectory generation unit 45 (reference) Figure 2 Based on the angle (surface angle α) of surface A1 of the excavation object A, the intersection angle setting unit 41 (refer to) Figure 2 The information related to the cross angle β set, the shape of the target trajectory Ta at the far end of the stick, and the offset setting unit 42 (see reference) Figure 2 ) The offset O is set, and the position of the end P3 is calculated.

[0097] The above structure determines the position of the starting point P1 of the far-end target trajectory Ta on the stick, and the position of the ending point P3 of the far-end target trajectory Ta on the stick. Furthermore, in this structure, information related to the shape of the far-end target trajectory Ta is set (pre-set) in the target trajectory generation unit 45. Therefore, the far-end target trajectory Ta on the stick can be uniquely determined by the target trajectory generation system 1.

[0098] In the above structure, the far-end target trajectory Ta of the stick is generated based on the surface angle α, the intersection angle β, the shape (shape-related information) of the far-end target trajectory Ta, and the offset O. The far-end target trajectory Ta of the stick is relative to the target trajectory generation unit 45 (refer to...). Figure 2 The value set by the cross angle β is the value set by the cross angle setting unit 41 (refer to...). Figure 2 The value set, offset O, is for offset setting unit 42 (refer to). Figure 2 The set values ​​are used. Because the shape, intersection angle β, and offset O of the stick distal target trajectory Ta are pre-set, the stick distal target trajectory Ta can be generated through simple calculation. As a result, the computational load on the target trajectory generation unit 45 can be suppressed. For example, compared with the case where the stick distal target trajectory Ta is generated based on the magnitude of the load acting on the auxiliary device 12, or the case where the stick distal target trajectory Ta is generated based on the amount of work performed by the bucket 17, the computational load can be suppressed.

[0099] Therefore, the above structure can suppress the computational load used to generate the target trajectory T (specifically the target trajectory Ta at the far end of the stick) of the auxiliary device 12, and uniquely determine the target trajectory T.

[0100] By properly setting the cross angle β and offset O, it is possible to ensure the digging amount of the bucket 17 for the object A and suppress the load applied to the auxiliary device 12.

[0101] Furthermore, the trajectory Ta of the target at the far end of the stick can also be a straight line. For example... Figure 3 As shown, when viewed from the left and right directions of the upper rotating body 11b, the target trajectory Ta at the far end of the stick is a straight line.

[0102] With the above structure, compared with the case where the target trajectory Ta at the far end of the stick is not a straight line, the computational load of the target trajectory generation unit 45 can be further suppressed.

[0103] like Figure 2 As shown, the target trajectory generation system 1 has the capability to set... Figure 3 The end-of-pipe posture setting unit 43 is shown for the end-of-pipe posture Q3. The end-of-pipe posture Q3 is the posture of the bucket 17 when the distal end 15t of the stick is positioned at the end P3 of the target trajectory Ta at the distal end of the stick. Target trajectory generation unit 45 (see reference). Figure 2 Generate the target trajectory T of bucket 17, i.e., the target trajectory Tb of bucket.

[0104] When the distal end 15t of the stick is positioned at the beginning P1 of the target trajectory Ta at the distal end of the stick, the attitude of the bucket 17 detected by the attitude detection unit 20 is defined as the beginning bucket attitude Q1. Target trajectory generation unit 45 (refer to...) Figure 2 The bucket target trajectory Tb is set so that the bucket 17 continuously changes from the initial bucket posture Q1 to the end bucket posture Q3 set by the end bucket posture setting unit 43.

[0105] As described above, the initial bucket posture Q1 is the posture of the bucket 17 detected by the posture detection unit 20 when the distal end 15t of the boom is positioned at the initial end P1. Furthermore, the final bucket posture Q3 is set to the final bucket posture setting unit 43 (see reference). Figure 2 The posture of the target trajectory generation unit 45 (refer to the target trajectory generation unit 45). Figure 2 There is no need to generate the starting bucket posture Q1 and the ending bucket posture Q3. Therefore, compared to the case where the starting bucket posture Q1 and the ending bucket posture Q3 need to be generated, the target trajectory generation unit 45 (see reference) can be suppressed. Figure 2 Therefore, the computational load for generating the target trajectory T (specifically the bucket target trajectory Tb) of the auxiliary device 12 can be suppressed, and the bucket target trajectory Tb can be uniquely determined.

[0106] The posture of the bucket 17 when the distal end 15t of the stick is positioned at a specific point, i.e., the midpoint P2, between the beginning P1 and the end P3 of the target trajectory Ta at the distal end of the stick is defined as the midpoint bucket posture Q2. For example... Figure 2 As shown, the target trajectory generation system 1 has a bucket rotation ratio setting unit 44.

[0107] The bucket rotation ratio setting unit 44 sets the bucket rotation ratio p2θ_ratio. The bucket rotation ratio p2θ_ratio is the amount of change in the bucket 17's posture from the initial bucket posture Q1 to the intermediate bucket posture Q2, relative to the change in posture from... Figure 3 The proportion of the change in bucket posture 17 from the initial bucket posture Q1 to the final bucket posture Q3. Figure 2 The target trajectory generation unit 45, as shown, sets the target trajectory based on the bucket rotation ratio p2θ_ratio set by the bucket rotation ratio setting unit 44. Figure 3 The bucket posture at the midpoint is shown as Q2.

[0108] In the above structure, the bucket posture Q2 at the midpoint is determined based on the bucket rotation ratio p2θ_ratio. Therefore, by setting the bucket rotation ratio p2θ_ratio, a target bucket trajectory Tb can be generated that causes the rotational speed of bucket 17 to change before and after the midpoint P2. With an appropriate setting of the bucket rotation ratio p2θ_ratio, bucket 17 can efficiently excavate the object A.

[0109] <Variation Example>

[0110] Various modifications can be made to the above embodiments. For example, the configuration or shape of the structural elements in the above embodiments can be changed. Figure 2 The structural elements shown are connected to each other. For example, the connections between them can also be changed. Figure 3 The calculation order or mathematical formula related to the target trajectory T shown. For example, the number of structural elements can be changed, or some structural elements can be omitted. For example, the fixing or connection of structural elements to each other can be direct or indirect. For example, what is described as multiple different parts or components can also be a single part or component. For example, what is described as a single part or component can also be divided into multiple different parts or components. Specifically, for example, it can also be combined with... Figure 2 The posture detection unit 20, shape detection unit 31, and contact detection unit 33 are shown. In addition, the structural elements of the controller 40 (cross angle setting unit 41, offset setting unit 42, etc.) can be set together in one controller 40, or they can be set separately in multiple units.

[0111] The target trajectory generation system provided by this invention is used in engineering machinery having a main body and auxiliary devices. The auxiliary devices include a boom undulatingly mounted on the main body, a stick rotatably mounted on the boom, and a bucket rotatably mounted on the stick for digging an object. The target trajectory generation system includes: a posture detection unit for detecting the posture of the auxiliary devices; a shape detection unit for detecting information related to the shape of the object being dug; a contact detection unit for detecting contact between the distal end of the bucket and the object being dug; and a controller. The controller receives information related to the shape of the target trajectory at the distal end of the stick (i.e., the stick distal target trajectory), information related to the angle between the surface of the object being dug and the stick distal target trajectory (i.e., the intersection angle), and information related to the distance between the end of the stick distal target trajectory and the surface of the object being dug (i.e., the offset). The controller sets the position of the stick distal end when the contact detection unit detects that the distal end of the bucket has changed from a state of no contact with the object being dug to a state of contact with the object being dug, as the starting point of the stick distal target trajectory. The controller sets the position of the end of the far-end target trajectory of the stick based on the shape of the excavated object detected by the shape detection unit, the intersection angle, the information related to the shape of the far-end target trajectory of the stick, and the offset. In the above structure, the far-end target trajectory of the stick can also be a straight line.

[0112] In the above structure, the controller can further generate the target trajectory of the bucket, i.e., the bucket target trajectory. The controller further accepts information related to the posture of the bucket, i.e., the end bucket posture, when the distal end of the stick is positioned at the end of the distal target trajectory of the stick. If the posture of the bucket detected by the posture detection unit when the distal end of the stick is positioned at the beginning of the distal target trajectory of the stick is set as the beginning bucket posture, the bucket target trajectory is set in such a way that the posture of the bucket continuously changes from the beginning bucket posture to the accepted end bucket posture.

[0113] In the above structure, if the bucket posture when the distal end of the stick is positioned at a specific point between the beginning and the end of the target trajectory of the stick, i.e., the midpoint, is set as the midpoint bucket posture, then the controller can further receive information related to the bucket rotation ratio and set the midpoint bucket posture based on the received bucket rotation ratio. The bucket rotation ratio is the ratio of the change in bucket posture from the beginning bucket posture to the midpoint bucket posture to the change in bucket posture from the beginning bucket posture to the end bucket posture.

[0114] In the above structure, the controller can also take the angle of the surface of the excavated object relative to a predetermined reference plane as the shape of the excavated object, and set the position of the end of the far-end target trajectory of the stick based on the angle of the surface, the intersection angle, the information related to the shape of the far-end target trajectory of the stick, and the offset.

[0115] The above structure may further include: engineering machinery having a mechanical body and auxiliary devices, wherein the auxiliary devices include a boom that is undulatingly mounted on the mechanical body, a stick that is rotatably mounted on the boom, and a bucket that is rotatably mounted on the stick and excavates the object to be excavated.

Claims

1. A target trajectory generation system for engineering machinery having a mechanical body and auxiliary devices, the auxiliary devices comprising a boom undulatingly mounted to the mechanical body, a stick rotatably mounted to the boom, and a bucket rotatably mounted to the stick and used for digging an object, the target trajectory generation system being characterized by comprising: The posture detection unit detects the posture of the auxiliary device; The shape detection unit detects information related to the surface angle of the object to be excavated relative to a specified reference plane at the position to be excavated by the bucket. A contact detection unit detects the contact between the distal end of the bucket and the object being excavated. as well as, Controller, where The controller The system accepts information related to the shape of the target trajectory at the distal end of the boom (i.e., the shape of the target trajectory at the distal end of the boom), information related to the angle between the surface of the excavated object and the target trajectory at the distal end of the boom (i.e., the intersection angle), and information related to the distance between the end of the target trajectory at the distal end of the boom and the surface of the excavated object (i.e., the offset). The position of the distal end of the bucket stick when the contact detection unit detects that the distal end of the bucket has changed from a state of never being in contact with the object being excavated to a state of being in contact with the object being excavated is set as the starting point of the target trajectory of the distal end of the bucket stick. Based on the position of the distal end of the stick set at the beginning, the surface angle of the excavated object detected by the shape detection unit, the intersection angle, the information related to the shape of the target trajectory at the distal end of the stick, and the offset, the position of the end of the target trajectory at the distal end of the stick is set.

2. The target trajectory generation system according to claim 1, characterized in that: The trajectory of the target at the far end of the boom is a straight line.

3. The target trajectory generation system according to claim 1 or 2, characterized in that: The controller can further generate the target trajectory of the bucket, i.e., the bucket target trajectory. The controller Further information related to the bucket posture, i.e., the end-of-line bucket posture, is received when the distal end of the stick is positioned at the end of the target trajectory at the distal end of the stick. If the posture of the bucket detected by the posture detection unit when the distal end of the stick is positioned at the beginning of the target trajectory of the distal end of the stick is set as the beginning bucket posture, then the target trajectory of the bucket is set in such a way that the posture of the bucket continuously changes from the beginning bucket posture to the accepted end bucket posture.

4. The target trajectory generation system according to claim 3, characterized in that: The bucket posture when the distal end of the stick is positioned at a specific point, i.e., the midpoint, between the beginning and the end of the target trajectory of the distal end of the stick is defined as the midpoint bucket posture. The controller further receives information related to the bucket rotation ratio and sets the intermediate point bucket posture based on the received bucket rotation ratio. The bucket rotation ratio is the ratio of the change in bucket posture from the initial bucket posture to the intermediate point bucket posture to the change in bucket posture from the initial bucket posture to the final bucket posture.

5. The target trajectory generation system according to claim 1 or 2, characterized in that... Also includes: Engineering machinery having a main body and auxiliary devices, the auxiliary devices including a boom that is flexibly mounted on the main body, a stick that is rotatably mounted on the boom, and a bucket that is rotatably mounted on the stick and used to excavate objects.

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