SUPPORT DEVICE, WORKING MACHINE, SUPPORT SYSTEM AND PROGRAM

Abstract

Providing a technique capable of improving work efficiency when performing work by combining multiple movements of a work machine. A support device 150 according to an embodiment of the present disclosure includes an input device 52 configured to receive input from a user, and a display device 50A configured to determine, in response to the input from the input device 52, specifications related to a combination of multiple basic movements of an excavator 100 that are different from each other, and set setting screens 1300 and 1400 for generating a trajectory of a working part of the excavator 100 by a combined movement obtained by combining the multiple basic movements.

Description

TECHNICAL FIELDThe present disclosure relates to a support device and the like.PRIOR ARTFor example, a technique for generating a trajectory of a working part of a working machine when a predetermined movement is performed according to an environment, a target shape, or the like of the working machine is disclosed (see Patent Document 1).In Patent Document 1, a trajectory for a claw tip of a bucket of an excavator is generated when excavation motion is performed.RELATED ARTPATENT DOCUMENTSPatent Document 1: WO 2020 / / .032267SUMMARY OF THE INVENTIONPROBLEMS TO BE SOLVED BY THE INVENTIONHowever, in the above-described technique, a trajectory of the working part may be generated only according to a basic motion (for example, an excavation motion) of the working machine. Therefore, for example, when work is performed by combining a plurality of movements different from each other, it is necessary to repeat the process of generating a trajectory for the work part by each of the target basic movements and moving the work part along the corresponding generated trajectory in accordance with the sequentially changing environment. As a result, the working efficiency may decrease.In view of the above-described problem, it is an object of the present disclosure to provide a technique capable of improving work efficiency when work is performed by combining multiple movements of a work machine.MEANS FOR SOLVING THE PROBLEMSIn order to achieve the above object, according to an embodiment of the present disclosure, a support device is provided. The support device comprises:an input part configured to receive an input from a user; anda display part configured to, in response to the input from the input part, determine specifications related to a combination of a plurality of movements of a work machine, the plurality of movements being types different from each other, and to display a first operation screen to generate a trajectory of a work part of the work machine by a combined movement, the combined movement being obtained by combining the plurality of movements.According to another embodiment of the present disclosure, a work machine is provided. The work machine includes:an input part configured to receive an input from a user; anda display part configured to determine specifications relating to a combination of a plurality of movements of the work machine, the plurality of movements being types different from each other, and to display a first operation screen to generate a trajectory of a work part of the work machine by a combined movement, the combined movement being obtained by combining the plurality of movements, in response to the input from the input part.According to still another embodiment of the present disclosure, there is provided an assist system including a work machine and an assist device capable of communicating with the work machine, the work machine including:an input part configured to receive an input from a user; anda display part configured to, in response to the input from the input part, determine specifications related to a combination of a plurality of movements of the work machine, the plurality of movements being types different from each other, and to display a first operation screen to generate a trajectory of a work part of the work machine by a combined movement, the combined movement being obtained by combining the plurality of movements.According to still another embodiment of the present disclosure, there is provided a program for causing an information processing apparatus to execute a following process, the information processing apparatus including an input part and a display part. The process comprises:determining, in response to the input from the input part, specifications relating to a combination of a plurality of movements of a work machine, the plurality of movements being of types different from each other; andcausing the display part to display a first operation screen for generating a trajectory of a working part of the working machine by a combined motion, the combined motion being obtained by combining the plurality of motions.EFFECTS OF THE INVENTIONAccording to the above-described embodiment, it is possible to improve work efficiency in a case where work is performed by combining multiple movements of the work machine.BRIEF DESCRIPTION OF THE DRAWINGS[FIG. 1 ] FIG. 1 is a diagram illustrating an example of an activation support system.[FIG. 2 ] FIG. 2 is a plan view illustrating an example of an excavator.[FIG. 3] FIG. 3 is a diagram showing an example of a configuration related to remote control of the excavator.[FIG. 4] FIG. 4 is a block diagram illustrating an example of a hardware configuration of the excavator.[FIG. 5 ] FIG. 5 is a diagram illustrating an example of a hardware configuration of a remote control support device.[FIG. 6 ] FIG. 6 is a functional block diagram illustrating an example of a functional configuration related to generation of a target trajectory of a working part of the excavator in the activation support system.[FIG. 7 ] FIG. 7 is a diagram illustrating examples of a structure of a model for extracting features of a trajectory of a working part of the excavator.[FIG. 8 ] FIG. 8 is a diagram illustrating examples of a structure of a model for extracting features of a trajectory of the working part of the excavator.[FIG. 9 ] FIG. 9 is a diagram illustrating an example of a structure of a model for generating a trajectory of the working part in a combined movement of the excavator.[FIG. 10 ] FIG. 10 is a diagram illustrating an example of a structure of a model for generating a trajectory of the working part in the combined movement of the excavator.[FIG. 11 ] FIG. 11 is a diagram illustrating an example of a trajectory of the working part of the excavator in land level work.[FIG. 12] FIG. 12 is a diagram showing an example of a screen illustrating a topographical shape around the excavator.[FIG. 13 ] FIG. 13 is a diagram for illustrating a first example of a setting screen for specifications related to a combination of multiple basic movements in a combined movement of the excavator.[FIG. 14 ] FIG. 14 is a diagram showing a second example of a setting screen for specifications related to the combination of the plurality of basic movements in the combined movement of the excavator.[FIG. 15] FIG. 15 is a flowchart schematically illustrating an example of a process related to generating a trajectory of the working part of the excavator.EMBODIMENT OF THE INVENTIONHereinafter, embodiments will be described with reference to the accompanying drawings.[Overview of Activation Support System]An outline of an activation support system SYS according to the present embodiment will be described with reference to FIGS. 1 to 3.FIG. 1 is a diagram illustrating an example of an activation support system SYS. In FIG. 1, an excavator 100 is shown in a left side view. FIG. 2 is a plan view showing an example of the excavator 100. FIG. 3 is a diagram illustrating an example of a configuration related to remote control of the excavator 100. Hereinafter, a direction in the excavator 100 or a direction viewed from the excavator 100 may be described by designating a direction in which the extension AT extends as "front" in a plan view of the excavator 100 (an upper direction in FIG. 2 ).As illustrated in FIG. 1, the activation support system SYS includes the excavator 100 and an information processing device 200.The activation support system SYS coordinates with the excavator 100 using the information processing device 200 to support the activation of the excavator 100.The number of excavators 100 including the activation support system SYS may be one or more.The excavator 100 is a work machine that receives assistance related to activation in the activation support system SYS.The work machine included in the activation support system SYS for receiving support related to activation may be a work machine other than the excavator 100. For example, the other working machine is a working machine including a nose piece, and is specifically a crane, a forklift, a road construction machine, or the like. The road construction machine is, for example, an asphalt paver.As illustrated in FIGS. 1 and 2, the excavator 100 includes a lower traveling body 1, an upper swing body 3, a appendix AT including a boom 4, an arm 5, and a bucket 6, and a cab 10.The lower traveling body 1 causes the excavator 100 to move using the crawler 1C. The crawler 1C includes a left crawler 1CL and a right crawler 1CR. The crawler 1CL is hydraulically driven by a traveling hydraulic motor 1ML. Similarly, the crawler 1CR is hydraulically driven by the traveling hydraulic motor 1MR. Thus, the lower traveling body 1 can move independently.The upper swing body 3 is pivotally mounted to the lower traveling body 1 via a swing mechanism 2. The upper swing body 3 pivots with respect to the lower traveling body 1, for example, by hydraulically driving the swing mechanism 2 by the swing hydraulic motor 2M.The boom 4 is mounted at the center of the front portion of the upper swing body 3 so as to be capable of being raised and lowered about a rotation axis along the left-right direction. The arm 5 is attached to the distal end of the boom 4 so as to be rotatable about a rotation axis along the left-right direction. The blade 6 is attached to the distal end of the arm 5 about a rotation axis in the left-right direction so as to be rotatable.The blade 6 is an example of a tip and is used for excavation work or land level work, for example.The bucket 6 is attached to the distal end of the arm 5 so that the bucket 6 can be replaced appropriately according to the working content of the excavator 100. That is, instead of the bucket 6, a blade type other than the bucket 6 may be attached to the distal end of the arm 5, for example, a relatively large blade, a bucket, a bucket, or the like. Further, an end fitting of a type other than the blade, for example, a stirrer, a crusher, a crusher, or the like may be attached to the distal end of the arm 5. Furthermore, an auxiliary attachment, such as a quick coupling or a tilting rotator, can be provided between the arm 5 and the end attachment.The boom 4, the arm 5 and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8 and a bucket cylinder 9, respectively.The cab 10 is a control room into which an operator gets and operates the excavator 100. The cabin 10 is mounted on the left side of the front portion of the upper swing body 3, for example.The excavator 100 operates, for example, driven members such as the lower traveling body 1 (i.e., a pair of left and right crawlers 1CL and 1CR), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6 in response to an operation of the operator entering the cab 10.Further, the excavator 100 may be configured to be remotely controllable from outside the excavator 100 instead of being operated by the operator in the cab 10, or additionally configured to be operable by the operator in the cab. When the excavator 100 is remotely controlled, the interior of the cab 10 may be unmanned. Hereinafter, the description will be given on the assumption that the operation by the operator includes at least one of an operation by the operator in the cab 10 on an operation device 26 and a remote operation by an external operator.For example, as illustrated in FIG. 3, the remote controller includes a mode in which the excavator 100 is operated by an operation input related to the actuator of the excavator 100 performed by a remote controller support device 300. The remote operation support device 300 may be provided separately from the information processing device 200, or may be the information processing device 200.The remote operation support device 300 is provided, for example, in a management center that controls work of the excavator 100 from the outside. The remote operation support device 300 may be a portable operation terminal. In this case, an operator can remotely operate the excavator 100 while directly monitoring a work situation of the excavator 100 from the vicinity of the excavator 100.The excavator 100 can transmit image (hereinafter referred to as an "environmental image") representing an environmental situation including the front of the excavator 100 to the remote operation support device 300 based on the captured image output from an imaging device 40 described later via a communication device 60 described later. The excavator 100 may transmit the captured image output from the imaging device 40 to the remote operation support device 300 via the communication device 60, and the remote operation support device 300 may process the captured image received from the excavator 100 and generate an environment image. Then, the remote operation support device 300 may cause a display device to display the surrounding image representing a surrounding situation of the excavator 100 including the front of the excavator 100. Further, various information images (information screens) output on a display device 50 (a display device 50A) inside the cabin 10 may be similarly displayed on the display device of the remote operation support device 300. Thus, the operator using the remote operation support device 300 can remotely operate the excavator 100 while monitoring the display content displayed on the display device, such as the image or the information screen, which displays the surrounding situation of the excavator 100. The excavator 100 may operate the actuator in response to a remote control signal indicating a content of the remote control received from the remote control support device 300 through the communication device 60, and drive the driven members such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6.The remote controller may include, for example, a mode in which the excavator 100 is operated by a person (for example, an operator) around the excavator 100 through voice input, gesture input, or the like from the outside of the excavator 100. Specifically, the excavator 100 recognizes a voice pronounced by a worker, a gesture performed by the worker, or the like around the excavator 100 by a voice input device (for example, a microphone), a gesture input device (for example, an imaging device), and the like installed in the excavator 100. The excavator 100 can operate the actuators according to the detected contents of the voice, the gesture, and the like, and drive the driven members such as the lower traveling body 1 (the left and right crawlers 1C), the upper swing body 3, the boom 4, the arm 5, and the bucket 6.The work of the excavator 100 can be remotely monitored. In this case, a remote operation support device having the same function as the remote operation support device 300 may be provided. The remote operation support device is, for example, the information processing device 200. Thus, a monitoring person who is a user of the remote monitoring support device can check a situation of the work of the excavator 100 by monitoring the surrounding image displayed on the display device of the remote monitoring support device. Further, if the monitoring person keeps it necessary for safety reasons, the monitoring person may intervene in the operation of the operator of the excavator 100 and make the excavator 100 emergency stop by performing a predetermined input using the input device of the remote operation support device.The information processing device 200 communicates with the excavator 100 to coordinate with each other and assist in activating the excavator 100.The information processing device 200 is, for example, a server device or a terminal device for management installed in a management office at a construction site of the excavator 100 or in a management center or the like located at a place other than the construction site of the excavator 100 and managing an activation state or the like of the excavator 100. The server device may be an on-site server, a cloud server, or an edge server. The management terminal device may be, for example, a stationary terminal device such as a desktop personal computer (PC), or a portable terminal device (portable terminal) such as a tablet terminal, a smartphone, or a laptop PC. In the latter case, a worker on the construction site, a supervisor monitoring the work, a manager managing the construction site, or the like may move within the construction site while wearing the portable information processing apparatus 200. In the latter case, the operator can carry the portable information processing apparatus 200 into the cab of the excavator 100, for example.The information processing device 200 acquires, for example, data relating to the activation state from the excavator 100. Thus, the information processing device 200 can identify the operation state of the excavator 100 and monitor the presence or absence of abnormality of the excavator 100. The information processing device 200 may display data related to the activation state of the excavator 100 via a display device 208 described later, and cause the user to monitor the data.The information processing device 200 may transmit various data such as a program and reference data used in the processes of a controller 30 or the like to the excavator 100. Thus, the excavator 100 can perform various processes related to activation of the excavator 100 using various data downloaded from the information processing device 200.[Hardware Configuration of Activation Support System]Next, a hardware configuration of the activation support system SYS will be described with reference to FIGS. 4 and 5 in addition to FIGS. 1 to 3.The hardware configuration of the remote control support device 300 may be the same as that of the information processing device 200. Therefore, illustration and description of the hardware configuration of the remote control support device 300 will be omitted.<Hardware Configuration of Excavator>FIG. 4 is a block diagram showing an example of a hardware configuration of the excavator 100.In FIG. 4, a path through which mechanical power is transmitted is indicated by a double line, a path through which high-pressure hydraulic fluid for driving the hydraulic actuator flows is indicated by a solid line, a path through which pilot pressure is transmitted is indicated by a broken line, and a path through which an electric signal is transmitted is indicated by a dotted line.The excavator 100 includes respective components such as a hydraulic drive system related to hydraulic driving of a driven member, an operation system related to operation of the driven member, a user interface system related to information exchange with a user, a communication system related to communication with the outside world, and a control system related to various controllers.<< Drive System>>As illustrated in FIG. 4, the hydraulic drive system of the excavator 100 includes hydraulic actuators HA that hydraulically drive driven members such as the lower traveling body 1 (the left and right crawlers 1C), the upper swing body 3, and the appendix AT described above. The hydraulic drive system of the excavator 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.The hydraulic actuators HA include the traveling hydraulic motors 1ML and 1MR, a swing hydraulic motor 2M, the boom cylinder 7, an arm cylinder 8, the bucket cylinder 9, and the like.In the excavator 100, some or all of the hydraulic actuators HA may be replaced with electric actuators. That is, the excavator 100 may be a hybrid excavator or an electric excavator.The motor 11 is a prime mover of the excavator 100, and is a main drive source in a hydraulic drive system. The engine 11 is, for example, a diesel engine using light oil as fuel. The motor 11 is installed in a rear portion of the upper swing body 3, for example. The motor 11 rotates at a constant target rotation speed set in advance directly or indirectly by the controller 30 described later, and drives the main pump 14 and a pilot pump 15.Note that, instead of or in addition to the motor 11, another prime mover (for example, an electric motor) or the like may be installed in the excavator 100.The controller 13 controls (adjusts) a discharge amount of the main pump 14 under the control of the controller 30, for example, the controller 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as "inclination angle") in response to a control command of the controller 30.The main pump 14 supplies a hydraulic fluid to the control valve 17 via a high-pressure hydraulic line. The main pump 14 is mounted, for example, in the rear portion of the upper swing body 3 similarly to the motor 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, the stroke length of the piston is adjusted by the inclination angle of the swash plate set by the regulator 13 under the control of the controller 30, and the discharge flow rate and the discharge pressure are controlled.The control valve 17 drives the hydraulic actuators HA according to the contents of the operation or remote control of the operation device 26 by the operator or an operation command corresponding to an automatic driving function. The control valve 17 is mounted, for example, in a central portion of the upper swing body 3. As described above, the control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line, and selectively supplies the hydraulic fluid supplied from the main pump 14 to each hydraulic actuator in response to an operation by the operator or an operation command corresponding to the automatic driving function. Specifically, the control valve 17 includes a plurality of control valves (also referred to as "direction switching valves") that control the flow rate and the flow direction of the hydraulic fluid supplied from the main pump 14 to each of the hydraulic actuators HA.<<Operation System>>As illustrated in FIG. 4, the operation system of the excavator 100 includes the pilot pump 15, the operation device 26, a hydraulic control valve 31, a shuttle valve 32, and a hydraulic control valve 33.The pilot pump 15 supplies a pilot pressure to various hydraulic devices via a pilot line 25. The pilot pump 15 is mounted, for example, in the rear portion of the upper swing body 3 similarly to the motor 11. the pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the motor 11 as described above.The pilot pump 15 may be omitted. In this case, the relatively low pressure hydraulic fluid obtained by reducing the pressure of the relatively high pressure hydraulic fluid discharged from the main pump 14 through a predetermined pressure reducing valve may be supplied to various hydraulic devices as the pilot pressure.The operation device 26 is provided near an operator seat of the cab 10, and is used by an operator to operate various driven members. Specifically, the operator operating device 26 is used for the operator to operate the hydraulic actuators HA that drive the respective driven members, thereby implementing the operator's operation of the driven members to be driven by the hydraulic actuators HA. The operating device 26 includes a pedal device and a lever device for operating each driven member (hydraulic actuator HA).As illustrated in FIG. 4, the operating device 26 is, for example, a hydraulic pilot control type. Specifically, the operating device 26 outputs a pilot pressure corresponding to an operation content to a pilot line 25A on the secondary side by using the hydraulic fluid supplied from the pilot pump 15 via the pilot line 25 and a pilot line 27A branching from the pilot line 25. The pilot line 27A is connected to one of the inlet ports of the shuttle valve 32 and is connected to the control valve 17 via a pilot line 27 connected to an outlet port of the shuttle valve 32. Thus, the pilot pressure corresponding to the operation content relating to various driven elements (hydraulic actuators HA) in the operating device 26 can be input to the control valve 17 via the shuttle valve 32. Therefore, the control valve 17 can control each hydraulic actuator HA according to the operation content of the operation device 26 by the operator or the like.The operation device 26 may be an electric type operation device. In such a case, the pilot line 27A, the shuttle valve 32, and the hydraulic control valves 33 are omitted. Specifically, the operation device 26 outputs an electric signal (hereinafter, referred to as an "operation signal") corresponding to an operation content, and the operation signal is input to the controller 30. The controller 30 outputs, to the hydraulic control valve 31, a control command corresponding to a content of the operation signal, that is, a control signal corresponding to the operation content with respect to the operation device 26. Thus, the pilot pressure corresponding to the operation content of the operation device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator HA corresponding to the operation content of the operation device 26.Further, the control valve (direction switching valve) incorporated in the control valve 17 for driving each hydraulic actuator HA may be an electromagnetic solenoid valve. In this case, the operation signal output from the operation device 26 may be directly input to the control valve 17, that is, the electromagnetic solenoid valve.As described above, some or all of the hydraulic actuators HA may be replaced with electric actuators. In this case, the controller 30 may output a control command corresponding to the operation content of the operation device 26 or the remote operation content defined by the remote operation signal to the electric actuator or a driver or the like that drives the electric actuator. Moreover, the operation device 26 may be omitted when the excavator 100 is remotely controlled.The control valve 31 is provided for each driven member (hydraulic actuator HA) to be operated by the operating device 26 and for each driving direction (for example, the raising direction and the lowering direction of the boom 4) of the driven member (hydraulic actuator HA). For example, for each double-acting hydraulic actuator HA, two control valves 31 for driving the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, and the like are provided. The hydraulic control valve 31 may be provided in the pilot line 25B between the pilot pump 15 and the control valve 17, for example, and may be configured to be capable of changing the flow areas (i.e., the cross-sectional areas through which the hydraulic fluid can flow). Thus, the hydraulic control valve 31 can output a predetermined pilot pressure to the secondary-side pilot line 25B by using the hydraulic fluid of the pilot pump 15 supplied via the pilot line 27B. Therefore, the hydraulic control valve 31 can indirectly apply a predetermined pilot pressure corresponding to a control signal from the controller 30 to the control valve 17 via the shuttle valve 32 between the pilot line 27B and the pilot line 27. Therefore, for example, the controller 30 may cause the hydraulic control valve 31 to supply the pilot pressure corresponding to the operation command corresponding to the automatic operation function to the control valve 17, and may implement the operation of the excavator 100 through the automatic operation function.The controller 30 may control the hydraulic control valve 31 to implement remote control of the excavator 100. Specifically, the controller 30 outputs, via the communication device 60, a control signal corresponding to the content of the remote controller determined by the remote controller signal received from the remote controller support device 300 to the hydraulic control valve 31. Thus, the controller 30 may cause the hydraulic control valve 31 to supply the pilot pressure corresponding to the content of the remote controller to the control valve 17, and may implement the operation of the excavator 100 based on the remote controller by the operator.In addition, when the operation device 26 is an electric type, the controller 30 may cause the hydraulic control valve 31 to directly supply the pilot pressure corresponding to the operation content (operation signal) of the device 26 to the control valve 17 and perform the operation of the excavator 100 based on the operation by the operator.The shuttle valve 32 has two inlet ports and one outlet port, and outputs to the outlet port the hydraulic fluid having a higher pilot pressure of the pilot pressures input to the two inlet ports. The shuttle valve 32 is provided for each driven member (hydraulic actuator HA) to be operated by the operating device 26 and for each driving direction of the driven member (hydraulic actuator HA), similarly to the hydraulic control valve 31. For example, for each double-acting hydraulic actuator HA, two shuttle valves 32 are provided for driving the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, and the like. One of the two inlet ports of the shuttle valves 32 is connected to the pilot line 27A on the secondary side of the operating device 26 (specifically, the above-described lever device or pedal device included in the operating device 26), and the other is connected to a pilot line 27B on the secondary side of the hydraulic control valve 31. The outlet port of the shuttle valve 32 is connected via the pilot line 27 to the pilot port of the corresponding control valve of the control valve 17. The corresponding control valve is a control valve that drives a hydraulic actuator HA serving as an operation target of the above-described lever device or pedal device connected to an inlet port of the shuttle valve 32. Therefore, each of these shuttle valves 32 can cause the higher one of the pilot pressure of the pilot line 27A on the secondary side of the control device 26 and the pilot pressure of the pilot line 27B on the secondary side of the hydraulic control valve 31 to act on the pilot port of the corresponding control valve. That is, the controller 30 can control the corresponding control valve without depending on the operation of the control device 26 by the operator by outputting the pilot pressure higher than the pilot pressure on the secondary side of the control device 26 from the hydraulic control valve 31. Therefore, the controller 30 can control the operations of the driven members (the lower traveling body 1, the upper swing body 3, and the attachment AT) regardless of the operation state of the operator on the operation device 26, thereby implementing the automatic operation function and the remote operation function.The hydraulic control valve 33 is provided in the pilot line 27A that connects the operating device 26 and the shuttle valve 32. The hydraulic control valve 33 is configured to be capable of changing the flow range thereof, for example. The hydraulic control valve 33 operates in response to input of a control signal from the controller 30, and thus the controller 30 can forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by the operator. Therefore, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26 even when the operating device 26 is operated. Further, for example, even when the operation device 26 is operated, the controller 30 may reduce the pilot pressure output from the operation device 26 to a value lower than the pilot pressure output from the hydraulic control valve 31. Therefore, for example, regardless of the operation content of the control device 26, by controlling the hydraulic control valve 31 and the hydraulic control valve 33, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the control valve in the control valve 17. Therefore, the controller 30 can more suitably implement the automatic operation function and the remote operation function of the excavator 100 by also controlling the hydraulic control valve 33, for example, in addition to the hydraulic control valve 31.<<User Interface System>>As illustrated in FIG. 4, the user interface system of the excavator 100 includes the operation device 26, the output device 50, and an input device 52.The output device 50 outputs various kinds of information to a user of the excavator 100 (for example, an operator of the cab 10 or an operator of an external remote controller), a person around the excavator 100 (for example, a worker or an operator of an operating vehicle), or the like.The output device 50 includes, for example, a lighting device, the display device 50A (see FIG. 6 ), or the like that outputs various kinds of information in a visual form. The lighting device is, for example, a warning lamp (indicator lamp) or the like. The display device 50A is, for example, a liquid crystal display, an organic electroluminescence (EL) display, or the like. As illustrated in FIG. 2, the lighting device and the display device 50A may be provided inside the cabin 10, for example, and output various kinds of information to an operator or the like inside the cabin 10 in a visual manner. The lighting device and the display device 50A may be provided, for example, on a side surface of the upper swing body 3, and may output various kinds of information to an operator or the like around the excavator 100 in a visual manner.The output device 50 may include a sound output device that outputs various kinds of information by an audio method. The sound output device includes, for example, a buzzer, a speaker, and the like. The sound output device may be provided, for example, on at least one of the inside and the outside of the cab 10, and output various kinds of information to the operator in the cab 10 or to a person (worker or the like) around the excavator 100 by an audio method.The output device 50 may include a device that outputs various kinds of information by a tactile method such as vibration of the operator seat.The input device 52 receives various inputs from the user of the excavator 100, and the signals corresponding to the received inputs are input to the controller 30. As illustrated in FIG. 2, the input device 52 is provided, for example, inside the cabin 10 to receive input from an operator or the like inside the cabin 10. The input device 52 may be provided, for example, on a side surface of the upper swing body 3 to receive input from a worker or the like around the excavator 100.The input device 52 includes, for example, an operation input device that receives input by a mechanical operation from a user. The operation input device may include a touch panel mounted on the display device, a touch pad installed around the display device, a button switch, a lever, a tilt switch, a toggle switch provided in the operation device 26 (lever device), and the like.The input device 52 may include a voice input device that receives voice input from a user. The voice input device includes, for example, a microphone.The input device 52 may include a gesture input device that receives a gesture input of a user. The gesture input device includes, for example, an imaging device that images a state of a gesture performed by the user.The input device 52 may include a biometric input device that receives user biometric input. The biometric input includes, for example, input of biometric information such as a fingerprint or iris of the user.<< System>>As illustrated in FIG. 4, the communication system of the excavator 100 according to the present embodiment includes the communication device 60.The communication device 60 is connected to an external communication line and communicates with a device provided separately from the excavator 100. The device specified separately from the excavator 100 may include, besides the device outside the excavator 100, a portable terminal device (portable terminal) brought into the cab 10 by the user of the excavator 100. The communication device 60 may include, for example, a mobile communication module conforming to a standard such as 4G (4thgeneration) or 5G (5thgeneration). The communication device 60 may include, for example, a satellite communication module. The communication device 60 may include, for example, a WiFi communication module or a Bluetooth (registered trademark) communication module. The communication device 60 may include a plurality of communication devices corresponding to the communication lines to be connected.For example, the communication device 60 communicates with an external device such as the information processing device 200 or the remote operation support device 300 within a construction site via a local communication line built on the construction site. The local communication line is, for example, a mobile communication line of the localized 5thgeneration (so-called local 5G) built at the construction site or a local area network (LAN) of a WiFi6.The communication device 60 can communicate with the information processing device 200, the remote control support device 300, and the like outside the construction site via a communication line in a wide area including the construction site, that is, a wide area network (WAN). The wide area network includes, for example, a mobile wide area communication network, a satellite communication network, the Internet, and the like.<<Control System>>As illustrated in FIG. 4, the control system of the excavator 100 includes the controller 30. the control system of the excavator 100 according to the present embodiment includes an operation pressure sensor 29, the imaging device 40, and sensors S 1 to S 5.The controller 30 performs various controls with respect to the excavator 100.The functions of the controller 30 may be implemented by any hardware or a combination of any hardware and software, or the like. As illustrated in FIG. 3, the controller 30 includes, for example, an auxiliary storage device 30A, a storage device 30B, a central processing unit (CPU) 30C, and an interface device 30D, which are connected to each other via a bus BS 1.The auxiliary storage device 30A is a nonvolatile storage part and stores a program to be installed and the necessary files and data. The auxiliary storage device 30A is, for example, an electrically erasable programmable read-only memory (EEPROM), a flash memory, or the like.The storage device 30B loads the program into the auxiliary storage device 30A so that a CPU (Central Processing Unit) 30C can read the program, for example, when an instruction to start the program is given. The storage device 30B is, for example, a static random access memory (SRAM).The CPU 30C executes, for example, a program loaded in the storage device 30B, and implements various functions of the controller 30 according to the instructions of the program.The interface device 30D functions as, for example, a communication interface for connecting to a communication line inside the excavator 100. The interface device 30D may include a plurality of different types of communication interfaces according to the type of the communication line to be connected.The interface device 30D functions as an external interface for reading and writing information from and to a recording medium. The recording medium is, for example, a dedicated device connected to a port installed in the cabin 10 via a detachable cable. The recording medium may be a general recording medium such as an SD (Secure Digital) memory card or a USB (Universal Serial Bus) memory. Thus, the program for implementing various functions of the controller 30 may be provided from, for example, a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. The program may be downloaded from another computer outside the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.Note that some of the functions of the controller 30 may be implemented by another controller (control device). That is, the functions of the controller 30 may be implemented by multiple controllers in a distributed manner.The operation pressure sensor 29 detects a pilot pressure on the secondary side (pilot line 27A) of the pilot type hydraulic operating device 26, that is, a pilot pressure corresponding to the operation state of each of the driven members (hydraulic actuators) in the operating device 26. A detection signal of the pilot pressure corresponding to the operation state of each driven member (hydraulic actuator HA) in the operating device 26 by the operation pressure sensor 29 is input to the controller 30.When the operation device 26 is an electric type, the operation pressure sensor 29 is omitted. This is because the controller 30 can identify the operation state of each driven member by the operation device 26 based on the operation signal received from the operation device 26.The imaging device 40 acquires images around the excavator 100. The imaging device 40 can acquire (generate) three-dimensional data (hereinafter, simply referred to as "three-dimensional data of an object") indicating the position and the outer shape of an object around the excavator 100 in the imaging range (angle of view) based on the acquired image and data regarding a distance described later. The three-dimensional data of the object around the excavator 100 is, for example, coordinate information of a point group representing the surface of the object, distance image data, or the like.As illustrated in FIG. 2, the imaging device 40 includes, for example, a camera 40F that images the front side of the upper swing body 3, a camera 40B that images the rear side of the upper swing body 3, a camera 40L that images the left side of the upper swing body 3, and a camera 40R that images the right side of the upper swing body 3. Thus, the imaging device 40 can image the entire circumference around the excavator 100, that is, an area over an angular direction of 360 degrees in a plan view of the excavator 100. The operator can visually recognize the captured images of the cameras 40B, 40L, and 40R and the surrounding images such as the processed images generated based on the captured images via the display device 50A and the remote operation support device 300 and check the states of the left side, the right side, and the back side of the upper swing body 3. Further, the operator can remotely operate the excavator 100 while monitoring the operation of the attachment AT by visually recognizing the captured image of the camera 40F and the surrounding image such as the processed image generated on the basis of the captured image by the remote operation support device 300. Hereinafter, the cameras 40F, 40B, 40L, and 40R may be collectively or individually referred to as a "camera 40X".The camera 40X is, for example, a monocular camera. The camera 40X may be capable of also acquiring depth information such as a stereo camera or a time of flight (TOF) camera or the like (hereinafter, collectively referred to as a "3D camera") in addition to a two-dimensional image.The controller 30 receives the image captured by the imaging device 40 (camera 40X) via a one-to-one communication line or an in-vehicle network. Thus, for example, the controller 30 may check an object around the excavator 100 based on the camera 40X. Further, for example, the controller 30 may determine the environment of the excavator 100 based on the camera 40X. Moreover, the controller 30 may determine the state of posture of the attachment AT in the captured image, for example, based on the camera 40X (camera 40F). Further, for example, the controller 30 may determine the posture state of a body (the upper swing body 3) of the excavator 100 with respect to an object around the excavator 100.Note that some or all of the cameras 40B, 40L, and 40R may be omitted. Instead of or in addition to the imaging device 40 (camera 40X), a distance sensor may be provided on the upper swing body 3. The distance sensor is attached to, for example, an upper portion of the upper swing body 3 and acquires data related to the distance and direction of a surrounding object with respect to the excavator 100. The distance sensor may acquire (generate) three-dimensional data (for example, coordinate information of a point group) of an object around the excavator 100 in the detection range on the basis of the acquired data. The distance sensor is, for example, a LIDAR (light detection and ranging). Further, the distance sensor may be, for example, a millimeter wave radar, an ultrasonic sensor, an infrared sensor, or the like.The sensor S 1 is attached to the boom 4 and detects a posture angle (hereinafter referred to as a "boom angle") about a rotation axis of a base end corresponding to a coupling portion of the boom 4 with the upper swing body 3. The sensor S 1 includes, for example, rotary potentiometers, rotary encoders, accelerometers, angular accelerometers, six-axis sensors, and IMU (Inertial Measurement Unit). The same applies below to the sensors S 2 to S 4. The sensor S 1 may include a cylinder sensor that detects the extension / retraction position of the boom cylinder 7. The same applies to the sensors S 2 and S 3. A detection signal of the boom angle by the sensor S 1 is input to the controller 30. Thus, the controller 30 can identify the posture state of the boom 4.The sensor S 2 is attached to the arm 5, and detects a posture angle (hereinafter referred to as an "arm angle") about a rotation axis of a hub corresponding to a coupling portion of the arm 5 with the boom 4. A detection signal of the arm angle by the sensor S 2 is input to the controller 30. Thus, the controller 30 can identify the posture state of the arm 5.The sensor S 3 is attached to the blade 6, and detects a posture angle (hereinafter referred to as an "arm angle") about a rotation axis of a base end portion corresponding to a coupling portion of the blade 6 with the arm 5. A signal of the arm angle detected by the sensor S 3 is input to the controller 30. Thus, the controller 30 may identify the location state of the blade 6.The sensor S 4 detects a state of inclination of the body (for example, the upper swing body 3) with respect to a predetermined reference surface (for example, a horizontal plane). The sensor S 4 is mounted on the upper swing body 3, for example, and detects inclination angles (hereinafter, referred to as a "front-rear inclination angle" and a "left-right inclination angle") about two axes in the front-rear direction and the left-right direction of the excavator 100 (i.e., the upper swing body 3). Detection signals corresponding to the inclination angles (the front-rear inclination angle and the left-right inclination angle) detected by the sensor S 4 are input to the controller 30. Thus, the controller 30 can identify the inclination state of the body (upper swing body 3).The sensor S 5 is attached to the upper swing body 3 and outputs detection information regarding a swing state of the upper swing body 3. The sensor S 5 detects, for example, a swing angular velocity and a swing angle of the upper swing body 3. The detection information related to the swing state detected by the sensor S 5 is input to the controller 30. Thus, the controller 30 can identify the swing state such as the swing angle of the upper swing body 3.Note that, in a case where the sensor S 4 includes a gyro sensor, a six-axis sensor, an IMU, or the like capable of detecting angular velocities about three axes, the swing state (for example, swing angular velocities) of the upper swing body 3 can be detected based on detection signals of the sensor S 4. In this case, the sensor S 5 may be omitted. In addition, when it is possible to identify the posture states of the upper swing body 3, the appendix AT, or the like on the basis of the output of the imaging device 40 or the distance sensor, at least some of the sensors S 1 to S 5 may be omitted.<<Hardware Configuration of Information Processing Apparatus>>.FIG. 5 is a block diagram showing an example of a hardware configuration of the information processing apparatus 200.The functions of the information processing apparatus 200 are realized by arbitrary hardware, a combination of arbitrary hardware and software, or the like. As illustrated in FIG. 5, the information processing device 200 includes, for example, an external interface 201, an auxiliary storage device 202, a storage device 203, a CPU (Central Processing Unit) 204, a high-speed computing device 205, a communication interface 206, an input device 207, the display device 208, and a sound output device 209, which are connected via a bus BS 2.The external interface 201 functions as an interface for reading from the recording medium 201A and writing to the recording medium 201A. The recording media 201A include, for example, flexible disks, compact disk (CD), digital versatile disk (DVD), Blu-ray (trademark) disk (BD), SD memory cards, universal serial bus (USB) memories, and the like. The information processing device 200 can read various kinds of information used in processing via the recording media 201A, store the information in the auxiliary storage device 202, and install programs for implementing various functions.The information processing device 200 can acquire, via the communication interface 206, various data and programs used in processing from an external device.The auxiliary storage device 202 stores the various installed programs and also stores files, data, and the like necessary for various processes. The auxiliary storage device 202 includes, for example, a hard disk drive (HDD), a solid state disk (SSD), a flash memory, or the like.When an instruction to activate a program is issued, the storage device 203 reads the program from the auxiliary storage device 202 and stores the program. The memory device 203 includes, for example, a DRAM (Dynamic Random Access Memory) or an SRAM.The CPU 204 executes various programs loaded from the auxiliary storage device 202 into the storage device 203, and implements various functions with respect to the information processing device 200 according to the programs.The high-speed computing device 205 performs computing processing at a relatively high speed in conjunction with the CPU 204. The high-speed computing device 205 includes, for example, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or the like.The high-speed computing device 205 may be omitted depending on the speed of the required computing processing.The communication interface 206 is used as an interface for connecting to an external device so as to be able to communicate with the external device. Thus, the information processing device 200 can communicate with an external device such as the excavator 100 via the communication interface 206. The communication interface 206 may include multiple types of communication interfaces depending on a communication system with a device to be connected.The input device 207 receives various inputs from a user. The input device 207 includes a remote control device for performing remote control of the excavator 100.The input device 207 includes, for example, an input device (hereinafter referred to as an "operation input device") that receives a mechanical operation input from a user. The remote control operation device may be an operation input device. The operation input device includes, for example, a button, a rocker switch, a lever, a keyboard, a mouse, a touch panel mounted on the display device 208, a touch pad provided separately from the display device 208, and the like.The input device 207 may include a voice input device capable of receiving a voice input of the user. The voice input device includes, for example, a microphone capable of capturing a voice of the user.The input device 207 may include a gesture input device capable of receiving a gesture input of the user. The gesture input device includes, for example, a camera capable of capturing an image of a gesture of the user.The input device 207 may include a biometric input device capable of receiving user biometric input. The biometric input device includes, for example, a camera capable of capturing image data including information about a user's fingerprint or iris.The display device 208 displays an information screen and an operation screen to a user of the information processing device 200. The display device 208 is, for example, a liquid crystal display or an organic electroluminescence (EL) display.The sound output device 209 transmits various kinds of information to the user of the information processing device 200 by sound. The sound output device 209 is, for example, a buzzer, an alarm, a speaker, or the like.[Functional Configuration for Generating Trajectory of Working Part]Next, a functional configuration related to generation of a trajectory of a working part of the excavator 100 in the activation support system SYS will be described with reference to FIGS. 6 to 11 in addition to FIGS. 1 to 5.FIG. 6 is a functional block diagram illustrating an example of a functional configuration related to generation of a trajectory of a working part of the excavator 100 in the activation support system SYS. FIGS. 7 and 8 are diagrams illustrating examples of structures of models for extracting features from trajectories of a working part of the excavator 100. FIGS. 9 and 10 are diagrams illustrating an example of a structure of a model for generating a trajectory of the working part in a combined movement of the excavator 100. FIG. 11 is a diagram illustrating an example of a trajectory of a working part of the excavator 100 in the leveling of landing.Hereinafter, the term "trajectory" is used to include both a path (i.e., a location) along which the working part of the excavator 100 has already moved and a path along which the working part of the excavator 100 may move in the future. Moreover, a model for extracting features of a trajectory of the working part of the excavator 100 is referred to as a "training model M 2" in a case where the model is in an arbitrary learning process before learning, during learning, and after learning, and is referred to as a "trained model LM 2" in a case where the model is after learning. The working part of the excavator 100 is, for example, the claw tip or the back side of the bucket 6. a model for generating a trajectory of the working part of the excavator 100 in a combined motion is referred to as a "training model M 3" in a case where the model is in an arbitrary learning process before learning, during learning and after learning, and is referred to as a "trained model LM 3" in a case where the model is after learning. The combined motion of the excavator 100 is a motion obtained by combining two or more predetermined motions (hereinafter referred to as "basic motions") of types of the excavator 100 different from each other.The excavator 100 includes a support device 150. The support device 150 supports the work of the excavator 100.As illustrated in FIG. 6, the support device 150 includes the operation device 26, the controller 30, the imaging device 40, the output device 50, and the input device 52.The controller 30 includes a motion log providing part 301 and a work supporting part 302 as functional parts.In a case where the activation support system SYS includes a plurality of excavators 100, the controller 30 may include an excavator 100 including only the motion log providing part 301 and an excavator 100 including only the work support part 302. In this case, the first excavator 100 has only a function of acquiring the motion log of the excavator 100 and providing the motion log to the information processing apparatus 200 used for the work support function of the latter excavator 100.The information processing apparatus 200 includes a motion log acquisition part 2001, a motion log storage part 2002, a training data generation part 2003, a machine learning part 2004, a trained model storage part 2005, and a distribution part 2006 as function parts.The motion log providing part 301 is a function part for acquiring a motion log of the excavator 100, which is original data for implementing a function for generating a trajectory of a working part of the excavator 100, and for providing the motion log to the information processing apparatus 200. Specifically, the motion log acquisition part 301 acquires a motion log when an operator (hereinafter, simply referred to as a "trained operator") who operates the excavator 100 for a long time and has appropriate experience, and provides the motion log to the information processing apparatus 200.The motion log of the excavator 100 includes data related to the shape of a work target around the excavator 100 and data related to the motion of the excavator 100 performed on the shape of the work target. The data related to the shape of the work target around the excavator 100 is, for example, data related to the topographical shape of the ground at the construction site as the work target of the excavator 100. The data related to the shape of the work target of the excavator 100 is, for example, image data of the imaging device 40 or three-dimensional data of the work target acquired from the image data. The data related to the movement of the excavator 100 is, for example, data representing the operator's operation content. The data representing the operation content of the operator is, for example, output data of the operation pressure sensor 29 corresponding to the pilot pressure type hydraulic operating device 26 or output data (data of an operation signal) of the operating device 26 corresponding to the electric operating device 26. The data related to the movement of the excavator 100 may be data representing the movement state of the excavator 100 actually executed in response to the operation by the operator. The data indicating the moving state of the excavator 100 is, for example, data output from the sensors S 1 to S 5, or data related to the posture state of the excavator 100 acquired from the data output from the sensors S 1 to S 5.The motion log providing part 301 includes a motion log recording part 301A, a motion log storage part 301B, and a motion log transfer part 301C.The motion log recording part 301A acquires a motion log of the excavator 100 and records the motion log in the motion log storage part 301B. For example, each time the movement of the excavator 100 is executed, the movement log recording part 301A records, in the movement log storage part 301B, data relating to the shape of the work target around the excavator 100 for starting execution of the movement or immediately before execution of the movement of the excavator 100.The motion log storage part 301B stores motion logs of the excavator 100 in an accumulated manner. For example, in the motion log storage part 301B, data related to the shape of the work target around the excavator 100 and data related to the motion of the excavator 100 are stored in association with each other for each motion of the excavator 100. For example, the motion log storage part 301B may accumulate record data representing a correspondence between data relating to the shape of the work target around the excavator 100 and data relating to the motion of the excavator 100 for each motion of the excavator 100 to create a database for the motion logs.The motion protocols in the motion protocol storage part 301B transmitted to the information processing apparatus 200 by the motion protocol transmission part 301C described later may be deleted later.The motion log transmission part 301C transmits the motion logs of the excavator 100 stored in the motion log storage part 301B to the information processing device 200 via the communication device 60. The motion log transmission part 301C may transmit recording data representing a correspondence between the motion of the excavator 100 and the shape of the work target around the excavator 100 to the information processing device 200 for each motion of the excavator 100.For example, the motion log transmission part 301C transmits a motion log of the excavator 100 stored in the motion log storage part 301B and not transmitted to the information processing apparatus 200 in response to a signal (hereinafter referred to as a "transmission request signal") for requesting transmission of the motion log of the excavator 100 from the information processing apparatus 200. The motion log transmission part 301C may also automatically transmit the motion log of the excavator 100 stored in the motion log storage part 301B and not transmitted to the information processing apparatus 200 at a predetermined timing. The predetermined timing is, for example, the timing of stopping the activation of the excavator 100 (the timing of turning off the key switch), the timing of starting the activation (the timing of turning on the key switch), or the like.The motion log acquisition part 2001 acquires the motion log of the excavator 100 obtained from the excavator 100.The motion log acquisition part 2001 acquires the motion log of the excavator 100 by transmitting a transmission request signal to the excavator 100 in response to an operation of the user of the information processing apparatus 200 or automatically at a predetermined timing. The motion log acquisition part 2001 may acquire the motion log of the excavator 100 automatically transmitted from the excavator 100 at a predetermined timing.The motion log storage part 2002 stores the motion logs of the excavator 100 acquired by the motion log acquisition part 2001 in an accumulated manner. For example, in the motion log storage part 2002, as in the case of the motion log storage part 301B, data relating to the shape of the work target around the excavator 100 and the motion of the excavator 100 are stored in association with each other for each motion of the excavator 100.The training data generation part 2003 generates training data for machine learning based on the motion protocols of the excavator 100 in the motion protocol storage part 2002, and outputs a training data set that is an aggregate of a large number of training data. The training data generation part 2003 may automatically generate training data by batch processing or may generate training data in response to an input of the user of the information processing apparatus 200. The training data generation part 2003 includes training data generation parts 2003A to 2003C.The training data generation part 2003A generates training data for generating a trained model LM 1 described later. For example, the training data generation part 2003A generates training data that is a combination of input data related to the shape of the work target around the excavator 100 and the ground truth output data corresponding to the input data representing a trajectory (a location) of the work part of the excavator 100 by the operation of the trained operator.The training data generation part 2003B generates training data for generating a trained model LM 2. For example, the training data generation part 2003B generates training data that is a combination of input data and ground truth output data, the same data representing the trajectory (location) of the working part in a predetermined movement (basic movement) of the excavator 100 operated by the trained operator. In this case, the training data generation part 2003B may generate training data on a basis of a plurality of basic movements, the plurality of basic movements being of types different from each other (hereinafter, simply referred to as "a plurality of basic movements"), and output a training data set on a basis of a plurality of basic movements. The training data generation part 2003B may generate training data regardless of the types of the plurality of basic movements that are different from each other, and output a training data set including a mixture of training data corresponding to the plurality of basic movements.The plurality of basic movements of the excavator 100 include, for example, at least two of a sweeping movement, a horizontal pulling movement, a roll compacting movement, a broom turning movement, an excavation movement, an earth excavation movement, and the like, which are used in the landing leveling. The sweeping movement is, for example, moving the appendix AT to advance the bucket 6 along the ground and to sweep the earth forward with the rear of the bucket 6. In the sweeping movement, the attachment piece AT performs, for example, a lowering movement of the boom 4 and an opening movement of the arm 5. In the horizontal drawing movement, for example, the appendix AT moves the claw tip of the bucket 6 so that the claw tip is drawn substantially horizontally forward along the ground and leveles the asperities of the ground (the ground surface). In the horizontal drawing movement, the appendix AT performs, for example, the raising movement of the boom 4 and the closing movement of the arm 5. The roll compaction movement is, for example, moving the appendix AT to press the soil with the back of the bucket 6. The roll compacting motion may be pressing the soil by pushing the back surface of the bucket 6 against the soil while the bucket 6 is moved up and down. The roll compacting motion may be pushing the bucket 6 forward along the ground to return the ground to a predetermined position in front of the bucket 6 with the back surface of the bucket 6, and then pressing the ground at the predetermined position with the back surface of the bucket 6. During the roll compacting movement, the extension piece AT performs, for example, a lowering movement of the boom 4 during the pressing of the floor. In the broom turning motion, for example, the upper swinging body 3 is moved to swing the bucket 6 leftward and rightward with the bucket being located along the floor. The broom rotational movement may be, for example, that the appendix AT and the upper swinging body 3 are moved to push the bucket 6 forward while the bucket 6 is alternately swung leftward and rightward with the bucket 6 located along the ground. During the broom rotational movement, the upper swivel body 3 repeats an alternating swivel movement to the left and right, for example. In the broom turning motion, for example, in addition to the alternate turning motion of the upper swing body 3 to the left and right, similarly to the sweeping motion, the appendix AT can execute the lowering motion of the boom 4 and the opening motion of the arm 5. The excavation motion is, for example, moving the attachment AT to excavation the soil at a certain location of the soil and pick up the soil in the bucket 6. In the earth removing movement, the excavator 100 can move the upper swing body 3 in addition to the attachment AT. The plurality of basic movements of the excavator 100 include, for example, at least two of an excavation movement, a boom-up swing movement, a boom-down swing movement, the earth removing movement, the broom turning movement, and the like used in excavation work. The plurality of basic movements of the excavator 100 include, for example, a ground cutting movement, a roll compacting movement, and the like, which are used in mining work.The training data generation part 2003C generates training data for generating the trained model LM 3. For example, the training data generation part 2003C generates a trajectory (a location) of the working part of the excavator 100 operated by the trained operator. The training data set output from the training data generation part 2003C may include trajectories of the working part of the excavator 100 in the basic movements of types different from each other. The training data set output from the training data generation part 2003C may include a trajectory of the working part in the combined motion of the excavator 100 instead of or in addition to the trajectories of the working part in the basic motions of the excavator 100.The trajectory (location) of the working part of the excavator 100 is generated based on, for example, outputs from the sensors S 1 to S 5 included in the data related to the movements of the excavator 100.The machine learning part 2004 causes a basic training model to perform machine learning based on the set of training data generated by the training data generation part 2003, and generates a trained model. The trained model (basic training model) includes, for example, a neural network such as a deep neural network (DNN).The machine learning part 2004 includes machine learning parts 2004A to 2004C.The machine learning part 2004A causes the basic training model M 1 to perform machine learning on the basis of the training dataset output from the training data generation part 2003A. Thus, the machine learning part 2004A can generate the trained model LM 1 capable of generating (outputting) the trajectory of the working part in the basic movements of the excavator 100. Specifically, the machine learning part 2004A generates the trained model LM 1 on a basis of a plurality of basic movements, based on the training data set on a basis of a plurality of basic movements output from the training data generation part 2003A.The machine learning part 2004B causes the basic training model M 2 to perform machine learning on the basis of the training dataset output from the training data generation part 2003B, and generates the trained model LM 2. As described above, the trained model LM 2 is a model for extracting the features of a trajectory of the working part of the excavator 100.As illustrated in FIG. 7, the training model M 2 is, for example, a neural network that receives data representing a trajectory of the working part of the excavator 100, repeats down-sampling, then repeats up-sampling, and outputs data representing the trajectory of the working part of the excavator 100. In the first half of the training model M2, sequential down sampling is used to generate data having the same dimension as the input data (latent variable) for a training model M3 described later. In the second half of the trained model LM 2, sequential upsampling is used to output data about the trajectory of the working part of the excavator 100.The machine learning part 2004B causes the training model M 2 to perform machine learning on the basis of a training dataset in which input data and output data are a combination of data representing the same trajectory of the working part of the excavator 100. This enables the machine learning part 2004B to generate, using the data representing the trajectory of the working part of the excavator 100 as input data, the trained model LM 2 capable of outputting the same output data as the input data. In this case, the machine learning part 2004B may cause the training model M 2 to perform machine learning such that the upsampling process of the second half of the training model M 2 reflects the downsampling results of the corresponding first half. This enables the machine learning part 2004B to cause the training model M 2 to perform machine learning, so that the training model M 2 can properly output the same output data as the input data.As described above, the upsampling process (the second half) of the training model M 2 reflects features for generating the same data as the input data from the intermediate data in dimensions corresponding to the latent variable, that is, the features for generating the data representing the trajectory of the working part of the excavator 100 from the intermediate data. Therefore, various network parameters in the second half of the trained model LM 2 may be extracted as the features of the trajectory of the working part of the excavator 100 according to the input data of the trained model LM 2.As illustrated in FIG. 8, in this example, the trained model LM 2 may be used to extract network parameters A 1 to A 4 in respective layers of the second half of the trained model LM 2 as a feature F_A of a trajectory of the working part in the sweeping motion of the excavator 100. Similarly, in the present example, the trained model LM 2 may be used to extract mesh parameters B 1 to B 4 in respective layers of the second half of the trained model LM 2 as a feature F_B of a trajectory of the work part in the horizontal drag motion of the excavator 100.The trained model LM 2 may be generated on a basis of a plurality of basic movements, or a common trained model LM 2 may be created between the plurality of basic movements.The machine learning part 2004C causes the basic training model M 3 to perform machine learning on the basis of the training dataset output from the training data generation part 2003C, and generates a trained model LM 3. As described above, the trained model LM 3 is a model for generating a trajectory of the working part in the combined movement of the excavator 100.As illustrated in FIG. 9, the training model M 3 is, for example, a neural network that repeats upsampling using a latent variable z as input data and generates data in dimensions corresponding to a trajectory of the working part of the excavator 100. The trained model LM 3 corresponds to a generative adventitious network (GAN) generator. Then, the machine learning part 2004C causes the generator (training model M 3) and a discriminator to perform advanced learning using the training data output from the training data generation part 2003C. Specifically, the discriminator performs learning to be able to discriminate data representing the trajectory of the working part of the excavator 100 by the trained operator input as training data as "real" data and data representing the trajectory of the working part of the excavator 100 generated by the generator as "false" data. The generator performs learning to be able to generate data representing the trajectory of the working part of the excavator 100, which cannot be distinguished from the training data (data representing the trajectory of the working part of the excavator 100 by the trained operator) by the discriminator. The machine learning part 2004C alternately causes the discriminator and the generator to perform learning, and thus can generate the trained model LM 3 capable of generating the trajectory of the working part of the excavator 100 from the latent variable z.Here, as illustrated in FIGS. 7 to 10, as described above, the structure of the second half of the trained model LM 2 (training model M 2) and the structure of the trained model LM 3 (training model M 3) are the same. Therefore, the trained model LM 3 may generate the trajectory of the working part of the excavator 100 corresponding to the features by reflecting the features extracted from the trained model LM 2 of FIG. 8 in the trained model LM 3. Therefore, the trained model LM 3 can generate the trajectory of the working part in the combined motion of the excavator 100 by appropriately reflecting the mixed characteristics of the basic motions different from each other extracted from the trained model LM 2.As illustrated in FIG. 10, in the present example, a feature FV obtained by combining the features F_A and F_B of the respective trajectories of the working part in the sweeping motion and the horizontal pulling motion of the excavator 100 is reflected in the trained model LM 3. In particular, the feature FV comprises the features FV 1 to FV 4 which correspond to the network parameters A 1 and B 1, the network parameters A 2 and B 2, the network parameters A 3 and B 3 and the network parameters A 4 and B 4, respectively. The feature FV 1 is adjusted in a range between the network parameter A 1 and the network parameter B 1 by combining the network parameters A 1 and B 1 corresponding to the same layer of the network, and is input to a target layer of the trained model LM 3. Similarly, the feature FV 2 is adjusted in a range between the network parameter A 2 and the network parameter B 2 by combining the network parameters A 2 and B 2 corresponding to the same layer of the network and input to a target layer of the trained model LM 3. Similarly, the feature FV 3 is adjusted in a range between the network parameter A 3 and the network parameter B 3 by combining the network parameters A 3 and B 3 corresponding to the same layer of the network, and is input to a target layer of the trained model LM 3. Similarly, the feature FV 4 is adjusted in a range between the network parameter A 4 and the network parameter B 4 by combining the network parameters A 4 and B 4 corresponding to the same layer of the network and input to a target layer of the trained model LM 3. Thus, the trained model LM 3 may generate the trajectory of the working part in the combined motion of the combination of the sweeping motion and the horizontal pulling motion of the excavator 100. In this example, the trained model LM 3 reflects (inputs) the adjustment parameters in each layer in addition to the feature FV, and thus can adjust details of the trajectory of the work part in the combined motion of the combination of the sweeping motion and the horizontal pulling motion of the excavator 100 (see the solid line arrow in the figure). Further, the adjustment parameters may be reflected in the output of the trained model LM 3, so that the combined trajectory of the excavator 100 itself, as output from the trained model LM 3, may be adjusted (see dashed arrow in the figure).For example, as illustrated in FIG. 11, there is a case where, as viewed from the excavator 100 (upper swing body 3), there are located in front of and behind a recess 1101 in the excavation heap 1102 and 1103. In this case, the excavator 100 can move the earth in the earth clusters 1102 and 1103 into the pit 1101 at once and level the earth by using the trajectory 1100 of the working part in the combined motion, which is a combination of the sweeping motion and the horizontal pulling motion of the excavator 100.Returning to FIG. 6, the trained models LM 1 to LM 3 output from the machine learning part 2004 are stored in the trained model storage part 2005. Moreover, in a case where the machine learning part 2004A causes the trained model LM 1 to perform re-learning or additional learning, the trained model LM 1 is updated in the trained model storage part 2005. The same applies to a case where the trained models LM 2 and LM 3 are caused by the machine learning parts 2004B and 2004C to perform re-learning or additional learning.The distribution part 2006 distributes the trained models LM 1 to LM 3 to the excavator 100.For example, when the trained model LM 1 is generated or updated by the machine learning part 2004A, the distribution part 2006 distributes the latest generated or updated trained model LM 1 to the excavator 100. The distribution part 2006 may distribute the latest trained model LM 1 in the trained model storage part 2005 to the excavator 100 in response to a signal for requesting distribution of the trained model LM 1 received from the excavator 100. The same may apply to the trained models LM 2 and LM 3.The work support part 302 is a functional part for supporting work of the excavator 100 by an operator's operation.The work support part 302 includes a trained model storage part 302A, a work target shape acquisition part 302B, a work selection part 302C, a trajectory generation part 302D, a specification setting part 302E, a trajectory generation part 302F, a motion control part 302G, and a display processing part 302H.The trained models LM 1 to LM 3 distributed by the information processing device 200 and received via the communication device 60 are stored in the trained model storage part 302A.The work target shape acquisition part 302B acquires a shape (topographical shape) of a work target around the excavator 100 on the basis of outputs of the imaging device 40 and the distance sensor.The work selection part 302C selects work to be performed by the excavator 100 from among a plurality of work candidates of different types from each other in response to an input of the user (operator) received via the input device 52. Thus, the user can generate a trajectory of the working part of the excavator 100 according to a type of work performed by the excavator 100. The plurality of work candidates include, for example, a land level work, a excavation work, a mining work, and the like. Moreover, in a case where the excavator 100 is remotely controlled, the work selection part 302C may select the work to be performed by the excavator 100 from among a plurality of work candidates in response to an input of the user using the remote control support device 300 received via the communication device 60. For each work to be selected by the work selection part 302C, basic movements of the excavator 100 that can be combined as a combined movement are defined in advance. For example, as described above, in the case of the landing level work, the basic movements that can be combined as a combined movement are the broom turning movement, the horizontal drawing movement, the roll compacting movement, the excavation movement, the earth removing movement, and the like. Therefore, the work selection part 302C selects the basic movements to be combined as the combined movement of the excavator 100 by selecting the type of work.The trajectory generation part 302D generates a trajectory of the working part of the excavator 100 on a basis of a plurality of basic movements corresponding to the work selected by the work selection part 302C based on data related to the shape of the working target around the excavator 100 using the trained model LM 1. The plurality of basic movements corresponding to each of a plurality of candidate works are defined in advance as described above. For example, the plurality of basic movements corresponding to the country level work include a sweeping movement, a horizontal drawing movement, and a roll compacting movement. The plurality of basic movements corresponding to the landing level work may include an excavation movement, an earth removal movement, a broom turning movement, and the like.The specification setting part 302E sets (adjusts) specifications related to a combination of a plurality of basic movements in the combined movement of the excavator 100 in response to an input from a user (operator) received via the input device 52. Moreover, in a case where the excavator 100 is remotely operated, the specification setting part 302E may set the specifications relating to the combination of the plurality of basic movements of the excavator 100 in response to an input from a user using the remote operation support device 300 received via the communication device 60.For example, the specification setting part 302E sets (selects) basic movements to be combined as a combined movement of the excavator 100 from among a plurality of basic movements defined for the work selected by the work selecting part 302C. The specification setting part 302E may set a composition ratio (hereinafter, "combination ratio") on a basis of a plurality of basic movements in the combined movement, the total combined movement of the excavator 100 being 100%. Thus, when generating a trajectory of the working part in the combined motion of the excavator 100, the user can adjust a distribution of the basic motions constituting the combined motion. The specification setting part 302E may set specifications for distribution of features on the basis of a plurality of basic movements. At this time, for example, as illustrated in FIG. 10, in a case where there are a plurality of features reflected (input) from each other in different layers of the trained model LM 3, specifications for the distribution of features may be set on a basis of a plurality of basic movements on a basis of a plurality of features.The specification setting part 302E may adjust the execution order of the plurality of basic movements in the combined movement on a basis of the plurality of basic movements. Thus, the user can adjust the execution order of the basic movements constituting the combined movement when a trajectory of the working part is generated in the combined movement of the excavator 100. The specification setting part 302E may adjust conditions such as passing points of the working part on the basis of a plurality of basic movements constituting the combined movement on the basis of a plurality of basic movements. Thus, in generating the trajectory of the working part in the combined motion of the excavator 100, the user can limit positions through which the working part should pass on a basis of a plurality of basic motions while monitoring the image representing a topographical shape around the excavator 100 displayed on the display device 50A.The trajectory generation part 302F generates a trajectory of the working part in the combined motion of the excavator 100 using the trained models LM 2 and LM 3, based on the trajectory generated by the trajectory generation part 302D on a basis of a plurality of basic motions and the setting results by the specification setting part 302E.Specifically, the trajectory generation part 302F extracts features on a basis of a plurality of basic movements using the trained model LM 2 on the basis of the data generated on a basis of a plurality of basic movements by the trajectory generation part 302D. The tTrajektorien generation part 302F generates a trajectory of the working part in the combined trajectory of the excavator 100 using the trained model LM 3 based on the features on a basis of a plurality of basic movements and the setting results by the specification setting part 302E.For example, as illustrated in FIG. 10, the trajectory generation part 302F adjusts the feature FV based on the combination ratio set on a basis of a plurality of basic movements by the specification setting part 302E, and generates the trajectory of the working part in the combined trajectory of the excavator 100 using the trained model LM 3. The trajectory generation part 302F may reflect the setting results by the specification setting part 302E into data representing the trajectory of the working part in the combined trajectory of the excavator 100 by adjusting the setting parameters.Returning to FIG. 6, the movement control part 302G controls the excavator 100 so that the working part of the bucket 6 moves along the trajectory corresponding to the data generated by the trajectory generation part 302F in response to the input from the user (operator) received by the input device 52. Specifically, the movement control part 302G may operate the excavator 100 to move the working part of the bucket 6 along a target trajectory by controlling the hydraulic control valve 31 while identifying the position of the working part of the bucket 6 from the outputs of the sensors S 1 to S 5 and the like.For example, the movement control section 302G controls the excavator 100 so that the working part of the bucket 6 moves along the trajectory corresponding to the trajectory generated by the trajectory generation section 302F in response to the input of the instruction for executing the operation by the user via the input device 52. Moreover, in a case where the excavator 100 is remotely controlled, the movement control part 302G may control the excavator 100 in response to an input of an instruction for executing an operation by a user using the remote control support device 300 received via the communication device 60.The movement control part 302G may control the excavator 100 such that the working part of the bucket 6 moves along the trajectory corresponding to the data generated by the trajectory generation part 302F in a manner to assist the operation of the operator in response to the operation of the operation device 26 or the remote operation signal.The display processing part 302H causes the display device 50A to display a screen related to the generation of the target trajectory of the working part of the excavator 100.The screen related to the generation of the trajectory of the working part of the excavator 100 includes, for example, a screen for displaying an image representing the shape of a construction target around the excavator 100 on the basis of the data acquired by the working target shape acquisition part 302B. Thus, the user can check the shape of the construction target around the excavator 100 and determine a movement to be performed by the excavator 100 according to the work content. The image representing the shape of the construction target around the excavator 100 may be, for example, an image captured by the imaging device 40 or a processed image thereof representing the shape of the construction target around the excavator 100, or may be an image of three-dimensional data representing the shape of the construction target around the excavator 100. The processed image is, for example, an image obtained by performing a viewpoint conversion process or the like on the image captured by the imaging device 40. For example, as illustrated in FIG. 12, an image TG representing the shape of the construction target around the excavator 100 from the viewpoint of the cab 10 of the excavator 100 is displayed on the screen. The image TG corresponds to an image of three-dimensional data of the construction target around the excavator 100. In this case, the image CG representing the excavator 100 (attachment AT) may be displayed on the screen in a manner that the positional relationship between the image CG and the image TG representing the shape of the construction target around the excavator 100 is adjusted. Further, an image representing the shape of the construction target around the excavator 100 viewed from a predetermined viewpoint around the excavator 100 may be displayed on the screen. Thus, the user can check the shape of the construction target around the excavator 100 from a different viewpoint from the normal viewpoint of the cab 10. The angle of view of the image displayed on the screen, which represents the shape of the construction target around the excavator 100, may be optionally changed in response to a predetermined input of the user via the input device 52. Thus, the user can check the image representing the shape of the work target around the excavator 100 from a viewpoint desired by the user.The screen related to the generation of the trajectory of the working part of the excavator 100 includes, for example, an operation screen on which the user performs an operation input for selecting a target work to be performed by the excavator 100 from among a plurality of works via the work selection part 302C. On the operation screen, the user can perform an operation of selecting a target work to be performed by the excavator 100 from among a plurality of works using the input device 52.The screen related to the generation of the trajectory of the working part of the excavator 100 includes, for example, an operation screen (setting screen) on which the user performs an operation input for setting the specifications related to a combination of the plurality of basic movements in the combined movement of the excavator 100 via the specification setting part 302E. On the operation screen, the user can perform an operation for setting specifications related to a combination of a plurality of basic movements in the combined movement of the excavator 100 using the input device 52.The screen related to the generation of the trajectory of the working part of the excavator 100 includes, for example, an operation screen on which the user performs an operation input to cause the trajectory generation part 302F to generate the trajectory of the working part of the excavator 100 according to the specifications set by the specification setting part 302E. On the setting screen, the user may perform an operation of instructing the trajectory generation part 302F to generate the trajectory of the working part of the excavator 100 according to the set specifications using the input device 52.The screen related to the generation of the trajectory of the working part of the excavator 100 includes a screen for displaying the trajectory of the working part of the excavator 100 corresponding to the trajectory generated by the trajectory generation part 302F. At this time, the trajectory of the working part of the excavator 100 may be displayed so as to be superimposed on the image representing the shape of the construction target around the excavator 100. Further, a moving image of a simulation of the excavator 100 that operates such that the working part moves along the trajectory may be displayed on the screen. Thus, the user can recognize in advance how the combined movement of the excavator 100 is performed on the basis of the trajectory of the working part in the combined movement of the excavator 100 corresponding to the trajectory generated by the trajectory generation part 302F. At this time, at the end of the moving image of the simulation of the excavator 100, an image representing the shape of the work target predicted after the movement of the work part along the trajectory may be displayed on the screen. Thus, the user can identify in advance how the shape of the work target changes when causing the excavator 100 to execute the combined motion, based on the trajectory of the work part in the combined motion of the excavator 100 corresponding to the trajectory generated by the trajectory generation part 302F.The screen related to the generation of the trajectory of the working part of the excavator 100 includes an operation screen for automatically operating the excavator 100 so that the working part of the excavator 100 moves along the trajectory corresponding to the trajectory generated by the trajectory generation part 302F. On the operation screen, the user may perform an instruction operation using the input device 52 to operate the excavator 100 so that the work part moves along the trajectory generated by the trajectory generation part 302F. The movement control part 302G controls the excavator 100 so that the working part of the bucket 6 moves along the trajectory generated by the trajectory generation part 302F in response to an instruction for executing an operation of the user output in response to an operation on the operation screen. For example, the operation screen is common to a screen that displays the trajectory of the working part of the excavator 100 corresponding to the trajectory generated by the trajectory generation part 302F and includes a symbol corresponding to an instruction to execute an operation. Thus, the user can input an instruction for executing the operation of the excavator 100 through the input device 52 or the like after checking the trajectory of the working part of the excavator 100.Moreover, in a case where the excavator 100 is remotely controlled, the display processing part 302H may transmit a screen related to generation of a trajectory of a working part of the excavator 100 to the remote control support device 300 via the communication device 60. Thus, the remote operation support device 300 (display device) can be caused by the display processing part 302H to display a screen related to generation of the target trajectory of the working part of the excavator 100.In a case where the excavator 100 is remotely controlled, functions of the display processing part 302H may be provided in the remote control support device 300. Thus, the display device of the remote operation support device 300 can display a screen related to the generation of the trajectory of the working part of the excavator 100. Therefore, the user (operator) of the remote operation support device 300 can cause the trajectory generation part 302F to generate the trajectory of the working part in the combined trajectory of the excavator 100 using the screen displayed on the display device of the remote operation support device 300. In addition, in a case where the excavator 100 is remotely operated, some or all of the functions of the work target shape acquisition part 302B, the work selection part 302C, the trajectory generation part 302D, the specification setting part 302E, the trajectory generation part 302F, and the motion control part 302G may be provided in the remote operation support device 300. Some or all of the functions of the work target shape acquisition part 302B, the work selection part 302C, the trajectory generation part 302D, the specification setting part 302E, the trajectory generation part 302F, and the motion control part 302G may be transmitted to the information processing device 200. Thus, it is possible to reduce the processing load of the excavator 100 and the remote operation support device 300 with respect to the processing related to the generation of the trajectory of the work part in the combined movement of the excavator 100 and the control of the operation of the excavator 100.[Setting Screen of Specifications for Combination of Plural Basic Movements]Next, a setting screen having specifications related to a combination of a plurality of basic movements in the combined movement of the excavator 100 will be described with reference to FIGS. 13 and 14.< Example>FIG. 13 is a diagram showing a first example (setting screen 1300) of a setting screen of specifications related to a combination of a plurality of basic movements in the combined movement of the excavator 100.When the excavator 100 is remotely controlled, the setting screen 1300 of FIG. 13 is displayed on the display device of the remote control support device 300 and is configured to be operated via the input device of the remote control support device 300. The same applies to a setting screen 1400 of FIG. 14 described below.As illustrated in FIG. 13, the setting screen 1300 includes images 1301, operation images 1302, and an operation image 1303.The images 1301 are images schematically representing the basic movements of the excavator 100. The images 1301 include images 1301A to 1301C.The image 1301A is an image schematically illustrating the horizontal drawing motion of the excavator 100.The image 1301B is an image schematically illustrating the roll compacting motion of the excavator 100.The image 1301C is an image schematically illustrating the sweeping motion of the excavator 100.The images 1301A to 1301C are vertically arranged at a position to the left of the center in the horizontal direction of the setting screen 1300.The operation images 1302 and 1303 are images that can be operated via the input device 52.The operation images 1302 are operation images for adjusting the distribution of the combination of the horizontal drawing motion, the roll compaction motion, and the sweeping motion. The operation images 1302 include the operation images 1302A to 1302C.The operation screen 1302A is a slide controller that can adjust a composition ratio (combination ratio) of the horizontal drag motion in the combined motion of the excavator 100 to be between 0% and 100%. The operation image 1302A is disposed on the right side of the image 1301A.The operation screen 1302B is a slide controller that can adjust the composition ratio (combination ratio) of the roll compaction motion in the combined motion of the excavator 100 to be between 0% and 100%. The operation image 1302B is disposed on the right side of the image 1301B.The operation screen 1302C is a slide controller that can adjust the composition ratio (combination ratio) of the sweeping motion in the combined motion of the excavator 100 to be between 0% and 100%. The operation image 1302C is disposed on the right side of the image 1301C.The operation images 1302A to 1302C are vertically arranged at a position to the right of the center in the horizontal direction of the setting screen 1300.The combination ratio of the horizontal drawing motion, the roll compacting motion, and the sweeping motion is adjusted so that the sum of the combination ratio of the horizontal drawing motion, the roll compacting motion, and the sweeping motion is 100%. For example, all the sliders of the operation images 1302A to 1302C are set to 0% in the initial state, and when one of the sliders is set to a percentage larger than 0%, the other sliders are limited to be movable only in a range not exceeding 100% in total.The operation image 1303 is an operation image for determining the combination ratio of the horizontal drawing motion, the roll compaction motion, and the sweeping motion in the combined motion of the excavator 100 designated by the operation images 1302, and for causing the trajectory generation part 302F to perform the generation process of the trajectory of the working part.In this example, the slider of the operation image 1302B is set to 0%, and the operation images 1302A and 1302B are both designated to be about 50%. In this state, by operating the operation image 1303, the operator can generate data representing the trajectory of the work part in the combined motion by the combination of the sweeping motion and the horizontal pulling motion of the excavator 100 along the combination ratio designated by the operation images 1302 (see FIG. 11 ).When one of the sliders of the operation images 1302A to 1302C is designated as 100% and the other two sliders are designated as 0%, the trajectory generation part 302F can generate the trajectory of the working part by the basic movement, not by the combined movement of the excavator 100.< Example>FIG. 14 is a diagram showing a first example (setting screen 1400) of a setting screen of specifications related to a combination of multiple basic movements in the combined movement of the excavator 100.As illustrated in FIG. 13, the setting screen 1400 includes images 1401, operation images 1402, and an operation image 1403.The images 1401 are an image schematically illustrating the basic movement of the excavator 100. The images 1401 include images 1401A to 1401C.The image 1401A is an image schematically illustrating the horizontal drawing motion of the excavator 100. The image 1401A is arranged at a position in the horizontal direction at the center of the setting screen 1400 and above the center in the vertical direction.The image 1401B is an image schematically illustrating the roll compacting motion of the excavator 100. The image 1401B is arranged to the right of the center in the horizontal direction of the setting screen 1400 and to the bottom of the center in the vertical direction.The image 1401C is an image schematically illustrating the sweeping motion of the excavator 100. The image 1401C is arranged to the left of the center in the horizontal direction of the setting screen 1400 and to the bottom of the center in the vertical direction.The images 1401A to 1401C are arranged to form an approximately equilateral triangle on the setting screen 1400.The operation images 1402 and 1403 are images that can be operated via the input device 52.The operation images 1402 are operation images for adjusting the distribution of the combination of the horizontal drawing motion, the roll compaction motion, and the sweeping motion. The operation images 1402 include operation images 1402A to 1402D.The operation image 1402A is a circular image representing a state in which the composition ratio (combination ratio) of the horizontal drag motion of the excavator 100 in the combined motion of the excavator 100 is 100%, that is, a state in which the excavator 100 performs the horizontal drag motion instead of the combined motion. The operation image 1402A is disposed adjacent to the bottom of the image 1401A.The operation image 1402B is a circular image illustrating a state in which the composition ratio for the roll compacting motion in the combined motion of the excavator 100 is 100%, that is, a state in which the excavator 100 performs the roll compacting motion instead of the combined motion. The operation image 1402B is disposed on the left side of the image 1401A.The operation image 1402C is a circular image representing a state in which the composition ratio for the sweeping motion in the combined motion of the excavator 100 is 100%, that is, a state in which the excavator 100 performs the sweeping motion instead of the combined motion. The operation image 1402C is disposed on the right side of the image 1401C.The operation images 1402A to 1402C are arranged to form an approximately equilateral triangle, and the operation images 1402A and 1402B, the operation images 1402B and 1402C, and the operation images 1402C and 1402A are connected to each other by straight lines. Hereinafter, the operation images 1402A to 1402C may be referred to as "operation image 1402X" without being individually distinguished.The operation image 1402D is an image of a circular cursor indicating a composition ratio (combination ratio) of the horizontal drawing motion, the roll compaction motion, and the sweeping motion in the combined motion of the excavator 100. The operation image 1402D may be moved on the triangle formed by the operation images 1402A to 1402C or within a range of the triangle.The composition ratio (combination ratio) of the horizontal drawing motion, the roll compaction motion, and the sweeping motion in the combined motion of the excavator 100 is clearly denoted by a position of a cursor of the operation image 1402D on or within the triangle formed by the operation images 1402A to 1402C. Specifically, the combination ratio is designated by the position of the cursor of the operation image 1402D such that the smaller the distance between an operation image 1402X and the operation image 1402D relative to the distance between each of the other two operation images 1402X and the operation image 1402D, the greater the combination ratio for a basic movement corresponding to an operation image. Conversely, the combination ratio is designated by the position of the cursor of the operation image 1402D such that the greater the distance between an operation image 1402X and the operation image 1402D relative to the distance between each of the other two operation images 1402X and the operation image 1402D, the smaller the combination ratio for a basic motion corresponding to an operation image.The operation image 1403 is an operation image for determining the combination ratio of the horizontal drawing motion, the roll compaction motion, and the sweeping motion in the combined motion of the excavator 100 indicated by the operation images 1402, and for causing the trajectory generation part 302F to execute the generation process of the trajectory of the working part.For example, as illustrated in FIG. 14, when the operation image 1402D is located on a side of the triangle between the operation images 1402A and 1402C, the combination ratio for the roll compacting motion is indicated as 0%. Then, the combination ratio of the horizontal drag motion and the sweeping motion in the combined motion of the excavator 100 is determined by the position of the operation image 1402A on the line segment (one side) between the operation images 1402D and 1402C. In this state, when the operation image 1403 is operated, the trajectory generation part 302F generates a trajectory of the work part in the combined motion of the combination of the horizontal drag motion and the sweeping motion of the excavator 100 along the combination ratio corresponding to the position of the operation image 1402D. Thus, the user can create data representing the trajectory of the work part by the combined movement of the horizontal drawing movement and the sweeping movement among the horizontal drawing movement, the sweeping movement, and the roll compacting movement of the excavator 100 (see FIG. 11 ).In addition, in a case where the operation image 1402D is on a side of the triangle between the operation images 1402A and 1402B, the combination ratio for the sweeping motion is indicated as 0%. Then, the combination ratio of the horizontal drawing motion and the roll compacting motion in the combined motion of the excavator 100 is designated by the position of the operation image 1402A on the line segment (one side) between the operation images 1402D and 1402B. In this state, when the operation image 1403 is operated, the trajectory generation part 302F generates a trajectory of the work part in the combined motion of the combination of the horizontal drawing motion and the roll compaction motion of the excavator 100 along the combination ratio corresponding to the position of the operation image 1402D. Thus, the user can create data representing the trajectory of the work part by a combined movement of the horizontal drawing movement and the roll compacting movement among the horizontal drawing movement, the sweeping movement, and the roll compacting movement of the excavator 100.Further, when the operation image 1402D is located on a side of the triangle between the operation images 1402B and 1402C, the combination ratio for the horizontal drag is given as 0%. Then, the combination ratio of the roll compaction motion and the sweeping motion in the combined motion of the excavator 100 is designated by the position of the operation image 1402B on the line segment (a side) between the operation images 1402D and 1402C. In this state, when the operation image 1403 is operated, the trajectory generation part 302F generates a trajectory of the work part in a combined motion of a combination of the roll compaction motion and the sweeping motion of the excavator 100 along the combination ratio corresponding to the position of the operation image 1402D. Thus, the user can create data representing the trajectory of the work part by the combined movement of the roll compaction movement and the sweeping movement among the horizontal drawing movement, the sweeping movement, and the roll compaction movement of the excavator 100.Moreover, in a case where the operation image 1402D is located within the triangle formed by the operation images 1402A to 1402C, the combination ratio for the horizontal drawing motion, the roll compaction motion, and the sweeping motion is greater than 0%. Specifically, the combination ratio of the horizontal drawing motion, the roll compacting motion, and the sweeping motion is designed to be 100% in total according to the relative size ratios in the distance between the operation image 1402D and each of the operation images 1402A to 1402C. In this state, when the operation image 1403 is operated, the trajectory generation part 302F generates a trajectory of the work part in a combined motion of a combination of the horizontal drawing motion, the roll compaction motion, and the sweeping motion of the excavator 100 along a combination ratio corresponding to the position of the operation image 1402D. Thus, the user can create data representing the trajectory of the work part by a combined motion among all of the combinations of the horizontal drawing motion, the sweeping motion, and the roll compacting motion of the excavator 100.When the operation image 1402D is disposed at the same position as any one of the operation images 1402A to 1402C, the trajectory generation part 302F may generate a trajectory of the working part by the corresponding basic movement, not by the combined movement of the excavator 100.[Method of Generating Trajectory of Working Part of Excavator]Next, a method related to generation of a trajectory of a working part of the excavator 100 will be described with reference to FIG. 15.FIG. 15 is a flowchart schematically illustrating an example of a process related to generation of a trajectory of a working part of the excavator 100.The flowchart of FIG. 15 is started when the controller 30 receives a predetermined input for performing the process related to generation of a trajectory of a working part of the excavator 100 from the input device 52 or the remote operation support device 300.As illustrated in FIG. 15, in step S 102, the work target shape acquisition part 302B acquires the latest captured image of the imaging device 40, and acquires the shape of the work target around the excavator 100 on the basis of the captured image.When the process of step S 102 is completed, the controller 30 proceeds to step S 104.In step S 104, the display processing part 302H causes the display device 50A or the display device of the remote operation support device 300 to display an image representing the shape of the work target around the excavator 100 (see FIG. 12 ) based on the data acquired in step S 102.When the process of step S 104 is completed, the controller 30 proceeds to step S 106.In step S 106, the display processing part 302H causes the display device 50A or the display device of the remote operation support device 300 to display a screen for selecting a work among a plurality of work candidates. For example, the display processing part 302H displays options of the plurality of work candidates in a superimposed manner on the image representing the shape of the work target around the excavator 100.When the process of step S 106 is completed, the controller 30 proceeds to step S 108.In step S 108, the work selection part 302C selects a work from among the plurality of work candidates (for example, the landing work, the excavation work, the mining work, and the like) in response to a predetermined input on the selection screen in step S 106 received via the input device 52 or the like.When the process of step S 108 is completed, the controller 30 proceeds to step S 110.At step S 110, based on the data acquired at step S 102, the trajectory generation part 302D generates trajectories of the working part based on a plurality of basic movements corresponding to the work selected at step S 106 using the trained model LM 1.When the process of step S 110 is completed, the controller 30 proceeds to step S 112.In step S 112, the display processing part 302H causes the display device 50A or the display device of the remote operation support device 300 to display a setting screen having specifications relating to a combination of a plurality of basic movements.When the process of step S 112 is completed, the controller 30 proceeds to step S 114.At step S 114, the specification setting part 302E sets the specifications related to the combination of the plurality of basic movements in response to the predetermined input on the setting screen at step S 112 received via the input device 52 or the like.When the process of step S 114 is completed, the controller 30 proceeds to step S 116.In step S 116, the trajectory generation part 302F generates a trajectory of the working part by the combined movement of the excavator 100 using the trained models LM 2 and LM 3 according to the trajectories generated in step S 110 and the setting contents in step S 114.When the process of step S 116 is completed, the controller 30 proceeds to step S 181.At step S 118, the display processing part 302H causes the display device 50A or a display part of the remote operation support device 300 to display an image representing the trajectory of the work part by the combined movement of the excavator 100 according to the data generated at step S 116.When the process of step S 118 is completed, the controller 30 proceeds to step S 120.At step S 120, the controller 30 determines whether or not an input has been received to instruct execution of a movement of the excavator 100 to move the working part of the bucket 6 along the trajectory according to the data generated at step S 118. When the input for instructing the execution of the movement of the excavator 100 is received, the controller 30 proceeds to step S 122. On the other hand, when another input, specifically, an input for generating the trajectory of the working part by the combined movement of the excavator 100 is received again, the controller 30 returns to step S 106.At step S 122, the movement control part 302G controls the hydraulic control valve 31 to automatically perform movement of the excavator 100 so that the working part of the bucket 6 moves along the trajectory corresponding to the data generated in the process of the last step S 116.When the process of step S 122 is completed, the controller 30 ends the process of the flowchart for this time.At the time of completion of the process of step S 122, the excavator 100 (appendix AT) may be in a state where the working part of the bucket 6 is located at the end point of the trajectory. The attitude state may return to the attitude state before the start of the process of step S 122.In this way, in the present example, the support device 150 (the controller 30) can generate the trajectory of the work part by the combined movement of the excavator 100 according to the specifications related to the combination of the plurality of basic movements set by the user. Thereby, the working efficiency of the excavator 100 can be improved.[Functional Effects]Next, the functional effects of the assist device, the work machine, the assist system, and the program according to the present embodiment will be described.In the present embodiment, the support device includes an input part and a display part. The support device is, for example, the support device 150, the information processing device 200, or the remote operation support device 300. The input part is, for example, the input device 52 or the input device of the remote operation support device 300. Specifically, the input part receives an input from a user. The display part, in response to the input from the input part, determines specifications related to a combination of multiple movements of mutually different types of the work machine, and displays a first operation screen for generating a trajectory of the work part of the work machine by a combined movement, the combined movement being obtained by combining the multiple movements. The working machine is, for example, the above-described excavator 100. The work machine may be a crane, a forklift, or the above-described paving machine. The display part is, for example, the display device 50A or the display device of the remote operation support device 300. The first operation screen is, for example, the above-described setting screen 1300 or the setting screen 1400.In the present embodiment, a program causes an information processing apparatus having an input part and a display part to execute a display step. Specifically, in the display step, specifications relating to a combination of a plurality of movements, which are of types different from each other, of the work machine are determined in response to the input from the input part, and a first operation screen for generating a trajectory of the work part of the work machine by a combined movement, the combined movement being obtained by combining the plurality of movements, is displayed on the display part. The display step is, for example, a step S 112.More specifically, the user may be able to perform, on the first operation screen, an operation for determining the specifications via the input part.Thus, the user can generate the trajectory of the work part by the combined motion of the excavator 100, which is a combination of multiple motions, by operating the first operation screen using the input part. Therefore, the operator can continue working the work machine by operating the work machine so that the work piece moves along the trajectory, or by activating the automatic driving function of the work machine so that the work piece moves along the trajectory. Therefore, it is possible to improve the working efficiency when the work is performed by combining a plurality of basic movements of the working machine.In the present embodiment, each of the plurality of movements may be a movement performed by the work machine at a predetermined work using the attachment. The hub is, for example, the hub AT described above.Thus, the user can generate the trajectory of the work part by the combined movement of the work machine corresponding to the predetermined work performed by the work machine.In the present embodiment, the predetermined work may be a land level work, excavation work, or mining work. When the predetermined work is the landing level work, the plurality of movements may include at least two of the horizontal drawing movement, the roll compacting movement, the broom turning movement, the excavation movement, and the earth removing movement. Further, when the predetermined work is the excavation work, the plurality of movements may include at least two of the excavation movement, the boom-up-down swing movement, the boom-down swing movement, the earth removing movement, and the broom rotation movement. Further, the plurality of movements may include an earth cutting movement and a roll compacting movement when the predetermined work is mining work.Thus, the user can generate the trajectory of the working part by the combined movement of the working machine according to the land level work, excavation work, or mining work.In the present embodiment, the trajectory of the working part may be a trajectory of a predetermined part set in an end appendix at the distal end of the working appendix of the working machine. The end fitting is, for example, the blade 6.Thus, the user can generate the trajectory of the predetermined part of the end attachment at the distal end of the working attachment as a working part abutting on the working target in the working machine.In the present embodiment, the specifications described above may include distribution of a combination of multiple movements in a combined movement of the work machine.Thus, the user can cause the support device to generate a more appropriate trajectory of the working part by the combined movement of the excavator 100 by appropriately adjusting the distribution (for example, composition ratio) of the combination of the multiple movements in the combined movement of the working machine.In the present embodiment, the display part may display an image representing the shape of the work target around the work machine, and may display the trajectory generated by the first operation screen so as to be superimposed on the image representing the shape of the work target around the work machine.More specifically, the image representing the shape of the work target may be a captured image around the work machine or a processed image of the captured image or an image including three-dimensional data of the work target around the work machine.Thus, the user can check the validity of the generated trajectory while comparing the image representing the shape of the work target around the work machine with the generated trajectory.In the present embodiment, the display part may display a moving image of a simulation of the work machine in which the work part moves along the trajectory generated by the first operation screen superimposed on the image representing the shape of the work target.Thus, the user can check in advance in which state the excavator 100 performs the combined movement such that the work part moves along the generated trajectory.In the present embodiment, the display part may display an image representing a shape of the work target predicted after the work part moves along the trajectory generated by the first operation screen.Thus, the user can check in advance how the shape of the work target changes after the excavator 100 performs the combined movement such that the work part moves along the generated trajectory.In the present embodiment, in response to the input of the input part, the display part may display a second operation screen for operating the work machine to move the work part along the trajectory generated by the first operation screen.More specifically, the user may be able to perform, on the second operation screen, an operation for instructing the work machine so that the work part moves along the trajectory generated by the first operation screen using the input part.Thus, the user can cause the excavator 100 to automatically execute the combined movement such that the work piece moves along the generated trajectory. Therefore, for example, even if the user (operator) is not a trained operator, the working part of the working machine can be moved along the generated trajectory, and as a result, the working efficiency of the working machine can be further improved.In the present embodiment, the work machine may include the above-described assist device. That is, the work machine may include an input part that receives an input from a user, and a display part that determines specifications related to a combination of a plurality of movements of the work machine that are different from each other according to the input from the input part, and displays a first operation screen for generating a trajectory of the work part of the work machine by a combined movement, the combined movement being obtained by combining the plurality of movements.Thus, the user (operator) getting in the work machine can generate the trajectory of the work part by the combined movement of the excavator 100 using the support device.In the present embodiment, the assist system may include a work machine and the assist device described above. That is, the assist system is, for example, the above-described activation assist system SYS.Thus, a user (operator) outside the work machine can generate a trajectory of the work part by the combined movement of the excavator 100 using the support device.[Other Disclosure]With respect to the above-described embodiment, the following is further disclosed.(1) A work support system comprising: a detection part configured to detect data related to a shape of a work target around a work machine; and a first generation part configured to generate a trajectory of a work part of the work machine by a combined motion based on the data detected by the detection part, wherein the combined motion is obtained by combining a plurality of motions of the work machine.The work support system is, for example, the above-described activation support system SYS. The working machine is, for example, the above-described excavator 100. The detection part is, for example, the work target shape detection part 302B described above. The first generation part is the above-described trajectory generation part 302F.(2) The work support system according to (1), further comprising:a second generating part configured to generate trajectories of the working part on a multiple motion basis based on the data acquired by the acquiring part,wherein the first generating part generates the trajectory of the working part by the combined motion based on the trajectories of the working part on a basis of a plurality of motions generated by the second generating part.The second generation part is, for example, the above-described trajectory generation part 302D.(3) The work support system according to (1) or (2), further comprising:a selection part configured to select the plurality of movements among movements of the work machine based on the data acquired by the acquisition part.The selection part is, for example, the work selection part 302C described above.(4) The work support system according to (2), further comprising:an input part configured to receive an input from a user,wherein the first generating part generates the trajectory of the working part by the combined motion in response to an input related to specifications of a combination of the plurality of motions from the input part.The input part is, for example, the input device 52 or an input device of the remote operation support device 300.(5) The work support system according to (4), further comprising:an extraction part configured to extract features on a basis of a plurality of movements generated by the second generation part,wherein the first generating part adjusts a combination ratio of the features on a multiple motion basis in response to the input with respect to the specifications of the combination of the multiple motions from the input part, and generates the trajectory of the working part by the combined motion on the basis of the adjusted features.The extraction part is, for example, the above-described trajectory generation part 302F.(6) The work support system according to any one of (1) to (5), further comprising:a display part configured to display an image representing the shape of the work target based on the data acquired by the acquisition part,wherein the display part displays the trajectory generated by the first generation part so as to be superimposed on the image representing the shape of the work target.The display part is, for example, the display device 50A or the display device of the remote operation support device 300.(7) The work support system according to (6), wherein the display part displays a moving image in which the work part moves along the trajectory generated by the first generation part, the moving image being superimposed on the image representing the shape of the work target.(8) The work support system according to (6) or (7), wherein the display part displays an image representing the shape of the work target predicted after the work part moves along the trajectory generated by the first generation part.(9) The support system according to any one of (1) to (8), further comprising:an input part configured to receive an input from a user; anda control part configured to automatically move the work machine based on the trajectory generated by the first generation part in response to a predetermined input from the input part.The control part is, for example, the above-described movement control part 302G.(10) An information processing apparatus comprising:a first generating part configured to generate a trajectory of a working part of a working machine by a combined motion based on data acquired by an acquiring part, the combined motion being obtained by combining a plurality of motions of the working machine, the acquiring part configured to acquire data related to a shape of a working target around the working machine.The information processing device is, for example, the controller 30, the information processing device 200, or the remote operation support device 300 described above.(11) A work machine comprising:a detection part configured to detect data related to a shape of a work target around a work machine;a first generating part configured to generate a trajectory of a working part of the working machine by a combined motion based on the data acquired by the acquiring part, the combined motion being obtained by combining a plurality of motions of the working machine.(12) A program for causing an information processing apparatus to execute a first generation step of generating, on the basis of data acquired by an acquisition part, a trajectory of a working part of a working machine by a combined motion, the combined motion being obtained by combining a plurality of motions of the working machine, the acquisition part being configured to acquire data relating to a shape of a working target around the working machine.Although the embodiments have been described in detail, the present disclosure is not limited to these specific embodiments, and various modifications and changes may be made within the scope of the gist described in the claims.Finally, the present application claims priority to Japanese Patent Application No. 2022-127437 filed on Aug. 9, 2022, the entire contents of which are incorporated herein by reference.DESCRIPTION OF THE REFERENCE NUMERALS1 Lower traveling body 1C, 1CL, 1CR Crawler 3 Upper slewing body 4 Boom 5 Arm 6 Bucket 10 Cab 26 Operation device 30 Controller 31 Hydraulic control valve 40 Imaging device 40B,40F,40L,40R Camera 50 Output device 50A Display device 52 Input device 60 Communication device 100 Excavator 150 Support device 200 Information processing device 300 Remote operation support device 301 Motion log provision part 301A Motion log recording part 301B Motion log storage part 301C Motion log transmission part 302 Work support part 302A Trained model storage part 302B Work target shape acquisition part 302C Work selection part 302D Trajectory generation part 302E Specification setting part 302F Trajectory generation part 302G Motion control part 302H Display processing part 1100 Trajectory 1300 Setting screen 1301, 1301A- 1301C Image 1302, 1302A- 1302C Operation image 1303 Operation image 1400 Setting screen 1401, 1401A- 1401C Image 1402, 1402A- 1402D Operation image 1403 Operation image 2001 Motion Log acquisition part 2002 Motion Log storage part 2003, 2003A- 2003C Training data generation part 2004, 2004A- 2004C Machine learning part 2005 Trained model storage part 2006 Distribution part A 1-A 4 Network parameter AT Appendix B 1-B 4 Network parameter F_A, F_B Feature FV, Fv1-fv4 Feature LM1-LM3 Trained Model M1-M3 Training Model S1-S5 Sensor SYS Activation Support SystemReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedWO 2020 / 032267

[0004] JP 2022-127437

[0299]

Claims

An assistance device, comprising: an input part configured to receive an input from a user; and a display part configured to, in response to the input from the input part, determine specifications related to a combination of a plurality of movements of a work machine, the plurality of movements being of types different from each other, and to display a first operation screen to generate a trajectory of a work part of the work machine by a combined movement, the combined movement being obtained by combination of the plurality of movements.The support device according to claim 1, wherein the first operation screen allows the user to perform an operation for determining the specifications via the input part.The support device according to claim 2, wherein the plurality of movements are movements performed by the work machine using a hub at predetermined work.The support device according to claim 3, wherein the predetermined work is a land level work, excavation work, or slope work, wherein when the predetermined work is the land level work, the multiple movements include at least two of a horizontal drawing movement, a roll compaction movement, a broom rotation movement, an excavation movement, and an earth removal movement, wherein when the predetermined work is the excavation work, the multiple movements include at least two of the excavation movement, a boom-lift-swing movement, a boom-lowering-swing movement, the earth removal movement, and the broom rotation movement, and wherein when the predetermined work is the slope work, the multiple movements include an earth cutting movement and the roll compaction movement.The support device according to any one of claims 1 to 4, wherein the trajectory of the working part is a trajectory of a predetermined part set in an end appendix at a distal end of a working appendix of the working machine.The support device of any one of claims 1 to 4, wherein the specifications comprise a distribution of a combination of the plurality of movements in the combined movement.The support device according to any one of claims 1 to 4, wherein the display part displays an image representing a shape of a work target around the work machine and displays the trajectory generated by the first operation screen to be superimposed on the image representing the shape of the work target around the work machine.The support device according to claim 7, wherein the image representing the shape of the work target is an image captured around the work machine or a processed image of the captured image or an image including three-dimensional data of the work target around the work machine.The support device according to claim 7, wherein the display part displays a moving image of a simulation of the work machine in which the work part moves along the trajectory generated by the first operation screen, the moving image being superimposed on the image representing the shape of the work target.The support device according to claim 7, wherein the display part displays an image representing a shape of the work target predicted after the work part moves along the trajectory generated by the first operation screen.The support device according to any one of claims 1 to 4, wherein the display part displays a second operation screen for operating the work machine in response to the input from the input part such that the work part moves along the trajectory generated by the first operation screen.The support device according to claim 11, wherein the user can perform, on the second operation screen, an instruction operation for operating the work machine such that the work part moves along the trajectory generated by the first operation screen using the input part.A work machine, comprising: an input part configured to receive an input from a user; and a display part configured to, in response to the input from the input part, determine specifications related to a combination of a plurality of movements of a work machine, the plurality of movements being of types different from each other, and to display a first operation screen to generate a trajectory of a work part of the work machine by a combined movement, the combined movement being obtained by combining the plurality of movements.An assistance system comprising: a work machine; and an assistance device capable of communicating with the work machine, the assistance device comprising an input part configured to receive an input from a user, and a display part configured to determine, in response to the input from the input part, specifications relating to a combination of a plurality of movements of the work machine, the plurality of movements being of types different from each other, and to display a first operation screen to generate a trajectory of a work part of the work machine by a combined movement, the combined movement being obtained by combination of the plurality of movements.A program for causing an information processing apparatus to execute a method, the information processing apparatus comprising an input part and a display part, the method comprising: determining, in response to the input from the input part, specifications related to a combination of a plurality of movements of a work machine, the plurality of movements being of types different from each other; and causing the display part to display a first operation screen for generating a trajectory of a work part of the work machine by a combined movement, the combined movement being obtained by combining the plurality of movements.

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