Target route setting system, target route setting program, and target route setting method

Abstract

To provide a target route setting system automatically setting a target route capable of suppressing interference between an attachment and surrounding objects.SOLUTION: A target route setting system 1 is provided with a surrounding information acquisition section 53 and a setting section 55. The surrounding information acquisition section 53 acquires information about surrounding objects S around a super structure 13. The setting section 55 sets a target point P on a target route TP of a specific part 15c1 of an attachment 15. The setting section 55 sets the target point P at a position offset from the surrounding objects S by a specific offset amount O in one or both directions of a rotational direction Sw and a height direction V of the super structure 13 with respect to a lower body 11.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a target route setting system, a target route setting program, and a target route setting method for use in a work machine. [Background technology]

[0002] For example, Patent Document 1 describes a technique for setting a target path for an attachment of a work machine through manual operation (such as teaching) by an operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2022 / 049987 Summary of the Invention [Problem to be solved by the invention]

[0004] However, it is time-consuming for an operator to manually set a target path, and it is desirable to be able to set a target path that can prevent interference between the attachment and surrounding objects.

[0005] Therefore, an object of the present invention is to provide a target route generation system, a target route setting program, and a target route setting method that can automatically set a target route that can suppress interference between an attachment and surrounding objects. [Means for solving the problem]

[0006] A target path setting system is used in a work machine. The work machine includes a lower body, an upper rotating body, and an attachment. The upper rotating body is rotatable relative to the lower body. The attachment is attached to the upper rotating body. The target path setting system includes a surrounding object information acquisition unit and a setting unit. The surrounding object information acquisition unit acquires information of surrounding objects around the upper rotating body. The setting unit sets a target point on a target path for a specific portion of the attachment. The setting unit sets the target point to a position offset from the surrounding object by a predetermined offset amount in one or both of the rotation direction and height direction of the upper rotating body relative to the lower body, in a direction away from the surrounding object.

[0007] A target path setting program is used in a work machine. The work machine includes a lower body, an upper rotating body, and an attachment. The upper rotating body is rotatable relative to the lower body. The attachment is attached to the upper rotating body. The target path setting program causes a computer to execute a surrounding object information acquisition step and a setting step. The surrounding object information acquisition step acquires information about surrounding objects around the upper rotating body. The setting step sets a target point on the target path for a specific portion of the attachment. The setting step sets a position offset from the surrounding object by a predetermined offset amount in one or both of the rotation direction and height direction of the upper rotating body relative to the lower body, in a direction away from the surrounding object, as the target point.

[0008] The target path setting method is used for a work machine. The work machine comprises a lower body, an upper rotating body, and an attachment. The upper rotating body is rotatable relative to the lower body. The attachment is attached to the upper rotating body. The target path setting method comprises a surrounding object information acquisition step and a setting step. The surrounding object information acquisition step acquires information of surrounding objects around the upper rotating body. The setting step sets a target point on the target path for a specific portion of the attachment. The setting step sets the target point to a position offset from the surrounding object by a predetermined offset amount in one or both of the rotation direction and height direction of the upper rotating body relative to the lower body, in a direction away from the surrounding object. Effect of the Invention

[0009] The above-described target route generating system, target route setting program, and target route setting method each make it possible to automatically set a target route that can suppress interference between the attachment and surrounding objects. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a side view of a work machine 10 in which a target route setting system 1 is used. [Diagram 2] FIG. 1 is a block diagram of a target route setting system 1. [Diagram 3] 2 is a diagram showing the working machine 10 shown in FIG. 1, the target route TP, and the like, as viewed from above. [Figure 4] 4 is a diagram showing positions in the turning direction Sw and the height direction V of the target route TP shown in FIG. 3. FIG. [Diagram 5] 3 is a flowchart of a process of a setting unit 55 shown in FIG. 2. [Figure 6] 5 is a diagram showing a height direction offset amount OV shown in FIG. 4. [Figure 7] 5 is a diagram showing a turning direction offset amount OSw shown in FIG. 4. [Figure 8] FIG. 11 is a view of modified example 4, which corresponds to FIG. [Figure 9] 4 of Modification 6, showing an example in which the judgment line L is lower than the judgment target candidate point CPa. FIG. [Figure 10] 4 of Modification 6, showing an example in which the determination line L is higher than the determination target candidate point CPa. FIG. [Figure 11] FIG. 13 is a view of modified example 8, which corresponds to FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The target route setting system 1 will be described with reference to FIGS.

[0012] The target route setting system 1 is used for a work machine 10 shown in Fig. 3. The target route setting system 1 is a system that generates a target route TP (described later) used for operating the work machine 10. The target route setting system 1 includes the work machine 10, an attitude sensor 20, a surrounding object sensor 41 shown in Fig. 2, an input device 43, an output device 45, and a controller 50.

[0013] As shown in FIG. 1, the work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work. The work machine 10 may be, for example, a shovel or a crane. The following describes the case where the work machine 10 is a shovel. The work machine 10 may be configured to be capable of automatic operation. The work machine 10 may be operated by a worker (operator) in a cab 13a, or may be remotely operated. The work machine 10 comprises a machine body 10a, an attachment 15, and a drive control unit 17 (see FIG. 2).

[0014] The machine body 10a is a main body portion of the work machine 10. The machine body 10a includes a lower body 11 and an upper rotating body 13.

[0015] The lower body 11 supports the upper rotating body 13. For example, the lower body 11 is a lower traveling body that can travel on a traveling surface (such as the ground). In this case, the lower body 11 may be equipped with crawlers or wheels.

[0016] The upper rotating body 13 is rotatable relative to the lower body 11. The upper rotating body 13 is rotatably mounted on the lower body 11. An attachment 15 is attached to the upper rotating body 13. The upper rotating body 13 includes a cab 13a. The cab 13a is a portion where an operator can operate the work machine 10.

[0017] (direction) The direction in which the rotation axis of the upper rotating body 13 relative to the lower body 11 extends is the machine vertical direction Z. The direction in which the rotation axis of the attachment 15 (more specifically, the boom 15a) relative to the upper rotating body 13 extends is the machine horizontal direction. The direction intersecting (for example, perpendicular to) each of the machine horizontal direction and the machine vertical direction Z is the machine front-rear direction X. In the machine front-rear direction X, the side (direction) in which the attachment 15 protrudes relative to the upper rotating body 13 is the machine front side X1, and the opposite side to the machine front side X1 is the machine rear side X2. As shown in FIG. 3, the direction of rotation of the upper rotating body 13 relative to the lower body 11 is the rotation direction Sw. The angle of the upper rotating body 13 relative to the lower body 11 (position and angle in the rotation direction Sw) is the rotation angle θ. As shown in FIG. 1, the vertical direction is also referred to as the height direction V. The upper side in the height direction V is the height direction upper side V1. The lower side in the height direction V is referred to as the height direction lower side V2. A position in the height direction V is also simply referred to as "height." When the work machine 10 is placed on a horizontal plane, the machine up-down direction Z is the height direction V. Hereinafter, unless otherwise specified, a description of the height direction V may be read as a description of the machine up-down direction Z.

[0018] The attachment 15 is a device that performs work. The attachment 15 is attached to the machine body 10a and to the upper rotating body 13. For example, the attachment 15 includes a boom 15a, an arm 15b, a tip attachment 15c, and a specific portion 15c1. The boom 15a is attached to the upper rotating body 13 so as to be able to rise and fall (rotatable in the machine's front-to-rear direction X and the machine's up-down direction Z). The arm 15b is attached to the boom 15a so as to be able to rotate (rotatable in the machine's front-to-rear direction X and the machine's up-down direction Z).

[0019] The tip attachment 15c is a part that performs work. The tip attachment 15c is provided at the tip of the attachment 15. The tip attachment 15c is rotatably attached to the arm 15b (rotatable in the machine front-rear direction X and the machine up-down direction Z). The tip attachment 15c may be, for example, a bucket that performs work such as scooping or digging the work object. The tip attachment 15c may be a device that clamps the work object (grapple, nibbler, etc.), a device that crushes the work object (breaker, etc.), or a magnet that attracts a metal work object. The work object that is the target of the work of the tip attachment 15c may be, for example, soil, stone, wood, metal, resin, waste, or a structure (block, etc.).

[0020] The attitude of the tip attachment 15c is represented by a tip attachment angle Xi (e.g., a bucket angle). The tip attachment angle Xi may be the angle of the tip attachment 15c relative to the arm 15b. The tip attachment angle Xi may be the angle (tilt) of the tip attachment 15c relative to a reference direction (e.g., the height direction V). In the example shown in FIG. 1, the tip attachment angle Xi is the angle of the direction in which the back surface of the tip attachment 15c extends relative to the height direction V.

[0021] The specific portion 15c1 is a specific portion of the attachment 15. The specific portion 15c1 is a portion targeted to be placed on the target path TP (see FIG. 3). For example, the specific portion 15c1 may be the tip end of the tip attachment 15c (the end farther from the arm 15b) or the base end of the tip attachment 15c (the tip end of the arm 15b).

[0022] The drive control unit 17 (see FIG. 2) controls an actuator that moves the work machine 10. The drive control unit 17 may include a hydraulic circuit that controls a hydraulic actuator, or an electric circuit that controls an electric actuator. The drive control unit 17 controls a rotation motor that rotates the upper rotating body 13 relative to the lower body 11. The drive control unit 17 controls a boom cylinder that raises and lowers the boom 15a relative to the upper rotating body 13. The drive control unit 17 controls an arm cylinder that rotates the arm 15b relative to the boom 15a. The drive control unit 17 controls a tip attachment cylinder (e.g., a bucket cylinder) that rotates the tip attachment 15c relative to the arm 15b.

[0023] The attitude sensor 20 detects the attitude of the work machine 10. The attitude sensor 20 includes a reference position sensor 21, a rotation sensor 23, a boom sensor 25a, an arm sensor 25b, and a tip attachment sensor 25c.

[0024] The reference position sensor 21 detects the position and orientation of a reference part of the work machine 10 with respect to the work site. The reference part of the work machine 10 may be, for example, a specific part of the upper rotating body 13 or the lower body 11, for example, a mounting part (boom foot) of the boom 15a to the upper rotating body 13, or for example, the center of rotation of the upper rotating body 13 with respect to the lower body 11. The reference position sensor 21 may perform detection using a positioning system using electromagnetic waves (light, radio waves, etc.). For example, the positioning system may be a satellite positioning system, for example, a global navigation satellite system (GNSS), or a system using a (terrestrial) transmitter and receiver without using a satellite. For example, the positioning system may use a total station. In FIG. 1, the reference position sensor 21 is assigned a symbol for the reference position sensor 21 to the position of the GNSS antenna when the reference position sensor 21 performs detection using a positioning system using GNSS.

[0025] The rotation sensor 23 detects the attitude of the upper rotating body 13. The rotation sensor 23 detects the angle of the upper rotating body 13 relative to the lower main body 11 (rotation angle θ (see FIG. 3)). The rotation sensor 23 may include an angle sensor attached to the rotation axis or rotation support part (such as a rotation bearing) of the upper rotating body 13 relative to the lower main body 11. The rotation sensor 23 may detect the angle (orientation) of the upper rotating body 13 relative to the work site.

[0026] The boom sensor 25a detects the attitude of the boom 15a. The boom sensor 25a may detect the angle of the boom 15a with respect to the horizontal direction or the angle (tilt, rotation angle) of the boom 15a with respect to the upper rotating body 13. The arm sensor 25b and the tip attachment sensor 25c may also detect the angle with respect to the horizontal direction or the angle with respect to the components of the work machine 10. The boom sensor 25a may include an angle sensor (e.g., a rotary encoder, etc.) attached to the rotation shaft or rotation support part of the boom 15a with respect to the upper rotating body 13. The arm sensor 25b and the tip attachment sensor 25c may also include an angle sensor. The boom sensor 25a may include a sensor (a gyro sensor, an acceleration sensor, an inertial measurement device, etc.) that detects the tilt (angle) of the boom 15a with respect to the horizontal direction. The arm sensor 25b and the tip attachment sensor 25c may also include a sensor that detects the tilt with respect to the horizontal direction. The boom sensor 25a may include a stroke sensor that detects the stroke of a cylinder (boom cylinder) that drives the boom 15a. The arm sensor 25b and the tip attachment sensor 25c may also include a stroke sensor. The boom sensor 25a may detect the posture of the boom 15a based on one or both of two-dimensional information (described later) and three-dimensional information (described later) (the same applies to the arm 15b and the tip attachment sensor 25c). In this case, one or both of the two-dimensional information and the three-dimensional information may be captured by an imaging device (described later).

[0027] The arm sensor 25b detects the posture of the arm 15b. The tip attachment sensor 25c detects the posture of the tip attachment 15c.

[0028] The attitude sensor 20 may be mounted on the work machine 10, or may be disposed outside the work machine 10 (for example, at a work site, etc.). The attitude sensor 20 may be a component of the work machine 10. The same applies to the surrounding object sensor 41, the input device 43, the output device 45, and the controller 50, which may be mounted on the work machine 10 or disposed outside the work machine 10.

[0029] The surrounding object sensor 41 detects information of the surrounding object S (see FIG. 4). For example, the surrounding object sensor 41 is an imaging device that captures the surrounding object S. The surrounding object sensor 41 may detect two-dimensional information of the surrounding object S (e.g., a position, a shape, etc. in a two-dimensional image). The surrounding object sensor 41 may detect three-dimensional information of the surrounding object S (e.g., three-dimensional coordinates, a three-dimensional shape, a distance image (an image having depth information), etc.). The surrounding object sensor 41 may be of a passive type or an active type. Specifically, the surrounding object sensor 41 may include a camera (monocular camera) that detects two-dimensional information. The surrounding object sensor 41 may include a stereo camera that detects three-dimensional information. The surrounding object sensor 41 may detect three-dimensional information of the surrounding object S by irradiating waves such as electromagnetic waves to the surrounding object S and detecting the reflected waves. The surrounding object sensor 41 may include a TOF (Time Of Flight) sensor that detects distance based on the time from the irradiation of a wave to the return of a reflected wave, or may include a sensor that detects distance based on the frequency of the reflected wave. The surrounding object sensor 41 may include a device that detects three-dimensional information using light (e.g., laser light), and may include, for example, LiDAR (Light Detection and Ranging). The surrounding object sensor 41 may include a device that detects three-dimensional information using radio waves (e.g., millimeter wave radar, etc.). Only one surrounding object sensor 41 may be provided, or multiple surrounding object sensors 41 may be provided. Only one type (method, etc.) of surrounding object sensor 41 may be used, or multiple types of surrounding object sensors 41 may be combined. The surrounding object sensor 41 may detect three-dimensional information of the surrounding object S based on three-dimensional information (e.g., distance image) and two-dimensional information (e.g., two-dimensional image). The surrounding object sensor 41 may capture an image of an object other than the surrounding object S. For example, when the attitude sensor 20 includes an imaging device, the surrounding object sensor 41 may be used as the attitude sensor 20.

[0030] The input device 43 is a device for an operator to input information. The input device 43 issues instructions to the controller 50 based on the operator's operation. When the input device 43 is provided in the work machine 10, the input device 43 may be, for example, a display (e.g., a cluster gauge) provided in the driver's cab 13a (the same applies to the output device 45). The input device 43 may be a mobile terminal (a tablet, a smartphone, etc.) or a personal computer (the same applies to the output device 45). The input device 43 may be provided in a server or the like external to the work machine 10 (the same applies to the output device 45).

[0031] The output device 45 is a device that outputs information. The output device 45 outputs information based on a signal output from the controller 50. The output device 45 displays information, for example. The output device 45 may display, for example, a target route TP (see FIG. 4) set in the controller 50.

[0032] The controller 50 is a computer that performs input and output of signals, calculations (processing), storage of information, etc. For example, the functions of the controller 50 shown in FIG. 2 are realized by executing a program stored in the memory unit 50b of the controller 50 in the calculation unit 50a. The controller 50 and other devices may be connected by wireless communication or by wired communication. For example, the controller 50 receives detection results from the attitude sensor 20 and the surrounding object sensor 41. For example, the controller 50 (automatic control unit 57) performs automatic operation of the work machine 10. For example, the controller 50 outputs a command (signal) for operating the work machine 10 to the drive control unit 17. The controller 50 may be mounted on the work machine 10 or may be disposed outside the work machine 10. The controller 50 may be disposed in a distributed manner in multiple parts (a distributed system may be configured). The controller 50 includes a calculation unit 50a and a memory unit 50b. Focusing on the functions of the controller 50 , the controller 50 includes an attitude acquisition unit 51 , a surrounding object information acquisition unit 53 , a setting unit 55 , and an automatic control unit 57 .

[0033] The calculation unit 50a performs calculations (processing) of information. The storage unit 50b stores information (for example, has a calculation result recording function).

[0034] The attitude acquisition unit 51 acquires the attitude of the work machine 10 (attachment attitude information acquisition function). The attitude acquisition unit 51 acquires information on the attitude of the work machine 10 detected by the attitude sensor 20.

[0035] The surrounding object information acquisition unit 53 acquires information on the surrounding object S (see FIG. 4) (surrounding object information acquisition step). The surrounding object information acquisition unit 53 acquires information on the surrounding object S detected by the surrounding object sensor 41. The surrounding object S is an object around the work machine 10 (see FIG. 1) and an object around the upper rotating body 13 (see FIG. 1). Specifically, for example, the surrounding object S (see FIG. 4) is soil (for example, a ground of soil, a mountain of soil, a hole in soil, etc.) and an obstacle. The information on the surrounding object S acquired by the surrounding object information acquisition unit 53 includes information on the height of the surrounding object S (surrounding object height H (see FIG. 4)). The information on the surrounding object S acquired by the surrounding object information acquisition unit 53 may include the position of the surrounding object S and may include the shape of the surrounding object S. The surrounding object height H is information on the height of the surrounding object S for each specific rotation angle θ (later-described stepwise rotation angle width θu (see FIG. 4)) (details will be described later).

[0036] The setting unit 55 sets a target route TP (see FIG. 4) (setting step) (described later).

[0037] The automatic control unit 57 controls the operation (movement) of the work machine 10 shown in FIG. 3. The automatic control unit 57 (see FIG. 2) controls the work machine 10 based on the target route TP set in the setting unit 55 (see FIG. 2). The automatic control unit 57 controls the work machine 10 so that the specific part 15c1 moves along the target route TP. The automatic control unit 57 may control the rotation of the upper rotating body 13 relative to the lower body 11. The automatic control unit 57 controls the movement of the attachment 15. Specifically, the automatic control unit 57 controls the rotation of the boom 15a relative to the upper rotating body 13 shown in FIG. 1, the rotation of the arm 15b relative to the boom 15a, and the rotation of the tip attachment 15c relative to the arm 15b. The automatic control unit 57 shown in FIG. 2 controls the movement of the work machine 10 based on the detection value of the attitude sensor 20. If the operation of the work machine 10 is not automatically controlled, the automatic control unit 57 may not be provided.

[0038] (Activation) As described above, the work machine 10 shown in FIG. 1 may be operated by an operator in the cab 13a, may be remotely operated by an operator from outside the work machine 10 (remote control device), or may be automatically operated.

[0039] The work machine 10 is a machine (e.g., ICT construction machine) that utilizes information and communication technology (ICT). For example, the work machine 10 may be operated by an operator using a machine guidance (MG) system function. Specifically, a work plan including a target route TP is set in the controller 50. Then, guidance such as a position to work on is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output to, for example, the cab 13a of the work machine 10 or an output device (not shown) provided in a remote control device. Then, the operator operates the work machine 10 according to the guidance. The work machine 10 moves in accordance with the operation, and as a result, works according to the work plan. As a result, the specific portion 15c1 moves along the target route TP.

[0040] Also, for example, the work machine 10 may be operated by a machine control (MC) system. Specifically, a work plan including the target route TP is set in the controller 50. Then, for example, the worker operates only some of the elements of the attachment 15 (for example, only the boom 15a). At this time, the controller 50 automatically controls the elements not operated by the worker (for example, the arm 15b, the tip attachment 15c) so that the work machine 10 works according to the work plan. At this time, the controller 50 controls the operation of the work machine 10 based on the detection value of the attitude sensor 20 (see FIG. 2) (the same applies to the case of automatic operation). As a result, the work machine 10 works according to the work plan. At this time, the specific part 15c1 moves along the target route TP.

[0041] Also, for example, the work machine 10 may be operated by automatic operation. In this case, the controller 50 (automatic control unit 57) controls the operation of the work machine 10 so that the work machine 10 automatically works according to a work plan including the target route TP. At this time, the specific part 15c1 moves along the target route TP.

[0042] The target route setting system 1 shown in Fig. 2 is configured to operate as follows. The target route setting program causes the controller 50 (computer) to execute processing for causing the target route setting system 1 to perform the following operations. The target route setting method is performed as follows. Each operation of the target route setting system 1 may be regarded as a "step" in the target route setting program and the target route setting method. The controller 50 (setting unit 55) performs a target route setting process which is a process for setting the target route TP shown in Fig. 3.

[0043] The target path TP is a path that is a target of the specific part 15c1. For example, the target path TP is a path that is a target of the specific part 15c1 when the tip attachment 15c moves in the turning direction Sw. The target path TP may be a path that is a target when the tip attachment 15c does not move in the turning direction Sw. In detail, the target path TP may be a path that is a target when the tip attachment 15c moves in both or one of the machine front-rear direction X (see FIG. 1) and the machine up-down direction Z (see FIG. 1) and does not move in the turning direction Sw. In the following, a case where the target path TP is a path that is a target when the tip attachment 15c moves in the turning direction Sw will be mainly described. As shown in FIG. 4, the target path TP is set between the first turning angle θ1 and the second turning angle θ2. The turning angle θ for the target path TP includes a turning start angle θs and a turning end angle θe. The target path TP includes a plurality of target points P.

[0044] A target point P is a point on the target route TP. A plurality of target points P are set on the target route TP. Each of the plurality of target points P includes information on a position (three-dimensional position) and an order. The target points P include a turning start point Ps, a turning end point Pe, and a passing point Pp.

[0045] Each of the turn start point Ps and the turn end point Pe is a target point P at the end (the first or last end point) of the target path TP.

[0046] The turning start point Ps is a target point P when starting the movement of the specific part 15c1 along the target path TP, as shown in FIG. 3. The turning start point Ps is set, for example, based on the capture area As. The turning start point Ps is set, for example, inside or on the boundary of the capture area As. The capture area As is an area (e.g., an excavation area) where the tip attachment 15c aims to capture (e.g., excavate) the work object. The capture area As is an area from which the work object moves. Specifically, the capture area As may be an area where a pile of dirt or sand is present, an area where a dirt pit (a hole filled with dirt or sand) is present, or an area set on the ground.

[0047] The turning end point Pe is a target point P when the movement of the specific part 15c1 along the target path TP is terminated. The turning end point Pe is set, for example, based on the release area Ae. The turning end point Pe is set, for example, inside or on the boundary of the release area Ae. The release area Ae is an area (e.g., a dumping area) where the tip attachment 15c is targeted to release (e.g., dump) the work object. The release area Ae is an area to which the work object is moved. Specifically, the release area Ae may be an area set on the ground, or an area where a container is placed. The above-mentioned "container" may be the loading platform of a vehicle (e.g., a dump truck) that transports the work object, or a container placed on the ground.

[0048] The passing point Pp is a target point P (an intermediate point) that is set between the turning start point Ps and the turning end point Pe (on the target route TP). The number of passing points Pp may be one or more.

[0049] The turning start angle θs is the turning angle θ corresponding to the turning start point Ps. The turning start angle θs is the turning angle θ of the upper turning body 13 when the specific part 15c1 is located at the turning start point Ps.

[0050] The rotation end angle θe is the rotation angle θ corresponding to the rotation end point Pe. The rotation end angle θe is the rotation angle θ of the upper rotating body 13 when the specific portion 15c1 is located at the rotation end point Pe.

[0051] As described above, each of the turning start point Ps and the turning end point Pe is a target point P at the end of the target path TP. One of the turning start point Ps and the turning end point Pe is set as the first turning angle θ1. The first turning angle θ1 is a turning angle θ corresponding to one end point of the target path TP. The turning start point Ps and the turning end point Pe, which is different from the first turning angle θ1, is set as the second turning angle θ2. The second turning angle θ2 is a turning angle θ corresponding to the end point of the target path TP that is different from the above-mentioned "one end point". Specifically, as in the example shown in FIG. 3, when the first turning angle θ1 is the turning start angle θs corresponding to the turning start point Ps, the second turning angle θ2 is a turning end angle θe corresponding to the turning end point Pe. Also, when the first turning angle θ1 is the turning end angle θe corresponding to the turning end point Pe, the second turning angle θ2 is the turning start angle θs corresponding to the turning start point Ps. The target point P corresponding to the first turning angle θ1 is the first target point P1. The target point P corresponding to the second turning angle θ2 is the second target point P2.

[0052] The parameter representing the position of the target point P (on the target path TP) can be set in various ways, and may be set in any way as long as it is a parameter that can derive the attitude of the work machine 10. The coordinate axis of this parameter may be set in any way. The origin (reference position) of this coordinate axis may be set at the work site. The origin of this coordinate axis may be set at a specific part of the work machine 10, for example, at a specific part of the upper rotating body 13. Specifically, for example, the origin of this coordinate axis may be set at the attachment part (boom foot pin) of the boom 15a to the upper rotating body 13 shown in FIG. 1, or may be set at the center of rotation of the upper rotating body 13 with respect to the lower main body 11. This coordinate axis may include the machine longitudinal direction X, the machine vertical direction Z, the rotation direction Sw (see FIG. 3), and the tip attachment angle Xi. In this case, each of the multiple target points P includes the values ​​of the machine longitudinal direction X, the machine vertical direction Z, the rotation direction Sw (see FIG. 3), and the tip attachment angle Xi.

[0053] The setting unit 55 (see FIG. 2) may set a target trajectory. The target trajectory is information in which time information is added to information on the target route TP shown in FIG. 3. Specifically, the above-mentioned "time information" is, for example, the time between two points. The time between two points is a target value for the movement time of the specific part 15c1 between two adjacent (sequential) target points P. The above-mentioned "time information" may be time information, etc.

[0054] In the following, the work machine 10 and the components of the work machine 10 will be mainly described with reference to FIG. 1, and the controller 50 and the components of the controller 50 (such as the setting unit 55) will be described with reference to FIG.

[0055] (Target route setting process) The setting unit 55 performs a target route setting process which is a process for setting a target route TP shown in Fig. 4. The target route setting process is outlined as follows.

[0056] The setting unit 55 sets the target point P based on the information of the surrounding object S acquired by the surrounding object information acquisition unit 53 (in the surrounding object information acquisition step). The setting unit 55 sets, as the target point P, a position offset from the surrounding object S by a predetermined offset amount O in a direction away from the surrounding object S in one or both of the turning direction Sw and the height direction V.

[0057] In this way, the setting unit 55 automatically sets the target route TP that can suppress interference between the attachment 15 and the surrounding object S. Therefore, the worker does not need to set the target route TP manually. This eliminates the need for the worker to go through the trouble of setting the target route TP. For example, the worker does not need to perform teaching. Teaching refers to the worker setting the target route TP by manually operating the work machine 10 so that the specific part 15c1 moves along the route that is desired to be set as the target route TP.

[0058] (Timing of setting the target route TP) The setting unit 55 may set the target path TP at various times. The setting unit 55 may set the target path TP before the movement of the end attachment 15c along the target path TP.

[0059] For example, when the work machine 10 performs work (automatic control work) under automatic control (machine control or automatic driving), the setting unit 55 may set the target route TP when the work machine 10 is not performing automatic control work. The setting unit 55 may set the target route TP before the start of automatic control work. The setting unit 55 may set the target route TP during automatic control work, while the automatic control work is temporarily stopped (interrupted). The setting unit 55 may set the target route TP during automatic control work, before the tip attachment 15c moves along the target route TP (for example, during work in the capture area As (see FIG. 3)).

[0060] The setting unit 55 may reset the target route TP to a new one after setting the target route TP. The setting unit 55 may reset the target route TP, for example, when the work situation of the work machine 10 changes. Specifically, for example, the setting unit 55 may reset the target route TP when the position of the turning start point Ps and the position of the turning end point Pe shown in Fig. 3 and the situation of the surrounding object S shown in Fig. 4 change.

[0061] (Basic example: concrete example of target route setting process) An outline of a specific example (basic example) of the target route setting process is as follows. The setting unit 55 compares the reference height (SwgHeight) with the surrounding object height H for each of a plurality of turning angles θ (for each turning angle increment θu) from the first turning angle θ1 toward the second turning angle θ2 (see steps S21 to S23 in FIG. 5). When the surrounding object height H is higher than the reference height (SwgHeight), the setting unit 55 updates the reference height (SwgHeight) based on the surrounding object height H (see step S31 in FIG. 5). The setting unit 55 sets the target point P based on the updated reference height (SwgHeight) (see step S33 in FIG. 5). At this time, the setting unit 55 sets, as the target point P, a position offset from the position of the surrounding object S (target point setting reference position) indicated by the updated reference height (SwgHeight) and the turning angle θ corresponding to the updated reference height (SwgHeight). When the process of updating the reference height (SwgHeight) is completed (YES in step S15 in FIG. 5), the setting unit 55 sets the second target point P2 (see step S41 in FIG. 5).

[0062] In the example shown in Fig. 4, the first turning angle θ1 is the turning start angle θs (θ = 0°), and the second turning angle θ2 is the turning end angle θe (θ = 180°). The following first turning angle θ1 may be read as the turning start angle θs. The following second turning angle θ2 may be read as the turning end angle θe.

[0063] The angle width of the rotation angle θ from the first rotation angle θ1 to the second rotation angle θ2 is greater than 0 degrees and is, for example, less than 360 degrees. This angle width is 180 degrees in the example shown in FIG.

[0064] In this example, the position of the first target point P1 is set in advance (before the target route setting process) in the setting unit 55. Specifically, information on the value of the first turning angle θ1 (θ=0° in FIG. 4) and the height of the turning start point Ps (position in the height direction V) is set in advance in the setting unit 55.

[0065] A specific example of the target route setting process of the setting unit 55 will be described in detail with reference to the flowchart shown in Fig. 5. In the following, unless otherwise specified, the process will be described in the order of the process by the setting unit 55. Note that the order of the process can be changed in various ways. Each step (S11 to S41) will be described with reference to Fig. 5.

[0066] In step S11, the setting unit 55 sets the pass point order variable n to an initial value. The pass point order variable n is a variable indicating the order of the pass points Pp shown in FIG. 4. Specifically, from the first turning angle θ1 toward the second turning angle θ2, the pass point order variable n of the first pass point Pp is 1, and the pass point order variable n of the second pass point Pp is 2. The pass point order variable n is incremented by 1 (see step S32) every time a pass point Pp is set (see step S33). When the last pass point Pp is set, the pass point order variable n indicates the number of pass points Pp. In the example shown in FIG. 5, the initial value of the pass point order variable n is 0.

[0067] In step S12, the setting unit 55 sets the target turning angle (SwgAng) to an initial value. The target turning angle (SwgAng) is a variable indicating the turning angle θ to be processed for setting the target point P shown in FIG. 4. The target turning angle (SwgAng) is increased by the step turning angle width θu as the processing progresses (see step S21). The target turning angle (SwgAng) is also the reference turning angle θ (reference turning angle) for determining the position of the target point P in the turning direction Sw (see step S33). The initial value of the target turning angle (SwgAng) is the first turning angle θ1.

[0068] In step S13, the setting unit 55 sets the reference height (SwgHeight) to the initial value. The reference height (SwgHeight) is the reference height for determining the height of the target point P (see step S33). The reference height (SwgHeight) is changed to the upper side V1 in the height direction when the surrounding object height H becomes higher than the reference height (SwgHeight) from the first turning angle θ1 to the second turning angle θ2 (see step S31). The initial value of the reference height (SwgHeight) is the surrounding object height H at the first turning angle θ1 (the surrounding object height H acquired by the surrounding object information acquisition unit 53). This "surrounding object height H at the first turning angle θ1" may be, for example, the highest value among the heights of the surrounding object S from the first turning angle θ1 to the turning angle θ shifted by the step turning angle width θu with respect to the first turning angle θ1 (within the turning angle θ with a width). The above "surrounding object height H at the first turning angle θ1" may be the height of the surrounding object S at the first turning angle θ1 (at the pinpoint turning angle θ).

[0069] In step S15, the setting unit 55 determines whether the process of updating the reference height (SwgHeight) has been completed. For example, the setting unit 55 determines whether the process of updating the reference height (SwgHeight) has been completed up to the angle obtained by subtracting the turning angle width θu from the second turning angle θ2 (referred to as the "update end angle"). Specifically, the setting unit 55 determines whether the processing target turning angle (SwgAng) has reached the update end angle. More specifically, the setting unit 55 determines whether the absolute value of the difference between the processing target turning angle SwgAng and the second turning angle θ2 is smaller than the threshold value th1 (|SwgAng - θ2| < th1). The threshold value th1 is the magnitude of the step turning angle width θu (|θu|).

[0070] If the process of updating the reference height (SwgHeight) is not completed, specifically, if |θu|≦|SwgAng-θ2| (NO in step S15), the setting unit 55 advances the process flow to step S21. If the process of updating the reference height (SwgHeight) is completed, specifically, if |SwgAng-θ2|<|θu| (YES in step S15), the setting unit 55 advances the process flow to step S41.

[0071] In step S21, the setting unit 55 shifts the target turning angle (SwgAng) by the step turning angle width θu. The step turning angle width θu is the step width (interval) for performing the process of updating the reference height (SwgHeight), and is the step width of the process in the turning direction Sw. For example, when the direction from the first turning angle θ1 to the second turning angle θ2 is the direction in which the turning angle θ increases, the turning angle width θu is a positive value. When the direction from the first turning angle θ1 to the second turning angle θ2 is the direction in which the turning angle θ decreases, the turning angle width θu is a negative value. The turning angle width θu can be set to various values, and is 15 degrees in the example shown in FIG. 4. The setting unit 55 sets the sum of the target turning angle (SwgAng) and the step turning angle width θu as the new target turning angle (SwgAng).

[0072] In step S22, the setting unit 55 sets a provisional reference height (SwgHeight_new). The provisional reference height (SwgHeight_new) is a value used for determining whether to update the reference height (SwgHeight) (step S23). When the reference height (SwgHeight) is updated, the provisional reference height (SwgHeight_new) becomes the updated reference height (SwgHeight). The provisional reference height (SwgHeight_new) is the height H of the surrounding object at the processing target turning angle (SwgAng) (the height H of the surrounding object acquired by the surrounding object information acquisition unit 53). This "height H of the surrounding object at the processing target turning angle (SwgAng)" may be, for example, the highest value among the heights of the surrounding object S within a predetermined angular range of a certain turning angle θ with a width. This "predetermined angular range" is the angular range from the processing target turning angle (SwgAng) to the turning angle θ that is deviated from the processing target turning angle (SwgAng) by the step turning angle width θu. The above "height H of the surrounding object at the processing target turning angle (SwgAng)" may also be the height of the surrounding object S at the processing target turning angle (SwgAng) (at the pinpoint turning angle θ).

[0073] In step S23, the setting unit 55 compares the height H of the surrounding object at the processing target turning angle (SwgAng) (that is, the provisional reference height (SwgHeight_new)) with the reference height (SwgHeight). Specifically, for example, the setting unit 55 determines whether the reference height (SwgHeight) is less than the provisional reference height (SwgHeight_new) (determines whether SwgHeight < SwgHeight_new).

[0074] When the reference height (SwgHeight) is less than the height H of the surrounding object at the processing target turning angle (SwgAng) (when SwgHeight < SwgHeight_new) (YES in step S23), the setting unit 55 advances the flow to step S31.

[0075] When the reference height (SwgHeight) is equal to or greater than the surrounding object height H at the target turning angle (SwgAng) (when SwgHeight_new≦SwgHeight) (NO in step S23), the setting unit 55 returns the flow to step S15. In this case, the setting unit 55 does not update the reference height (SwgHeight) at the target turning angle (SwgAng) currently being processed. In addition, in this case, the setting unit 55 does not set the target point P based on the target turning angle (SwgAng) currently being processed (does not perform the processes of steps S31 and S33). Note that, as a modified example, when NO is determined in step S23, the setting unit 55 may set the target point P based on the target turning angle (SwgAng) currently being processed (may proceed to step S31 without returning to step S15). Below, a case where the setting unit 55 does not set the target point P when NO is determined in step S23 will be described.

[0076] In step S31, the setting unit 55 updates the reference height (SwgHeight) based on the temporary reference height (SwgHeight_new). For example, the setting unit 55 updates the reference height (SwgHeight) to the temporary reference height (SwgHeight_new) (to the same value as the temporary reference height). Note that the setting unit 55 may update the reference height (SwgHeight) to a value that is determined based on the temporary reference height (SwgHeight_new) and is different from the temporary reference height (for example, a value close to the temporary reference height). The following describes a case where the setting unit 55 updates the reference height (SwgHeight) to the temporary reference height (SwgHeight_new) (to the same value as the temporary reference height). If the reference height (SwgHeight) is less than the surrounding object height H at the target turning angle (SwgAng) (YES in step S23), the setting unit 55 updates the reference height (SwgHeight) to the surrounding object height H at the target turning angle (SwgAng).

[0077] In step S32, the setting unit 55 increments the pass-point order variable n by one.

[0078] In step S33, the setting unit 55 sets a target point P (setting step). More specifically, the setting unit 55 sets the position of the n-th passing point Pp. The setting unit 55 sets the position in the turning direction Sw (turning angle θ) and the position in the height direction V (height) of the n-th passing point Pp.

[0079] (offset) The setting unit 55 sets a position offset from the surrounding object S by a predetermined offset amount O in a direction away from the surrounding object S in one or both of the turning direction Sw and the height direction V as the target point P. Details of this offset are as follows.

[0080] Specifically, the setting unit 55 sets a position offset from the "target point setting reference position" as the target point P (as the position of the target point P). This "target point setting reference position" is a position (position before offsetting) that serves as a reference for setting the target point P. The height (position in the height direction V) of the target point setting reference position is the reference height (SwgHeight). Specifically, the height of the target point setting reference position is the surrounding object height H at the currently processed target turning angle (SwgAng). The height of the target point setting reference position is the reference height (SwgHeight) updated in step S31. The turning angle θ (position in the turning direction Sw) of the target point setting reference position is the currently processed target turning angle (SwgAng). The turning angle θ of the target point setting reference position is the turning angle θ corresponding to the reference height (SwgHeight) updated in step S31.

[0081] (Offset direction, orientation) The setting unit 55 sets the target point P at a position offset from the surrounding object S in one or both of the height direction V and the turning direction Sw. It is preferable that the setting unit 55 sets the target point P at a position offset from the surrounding object S in both the height direction V and the turning direction Sw. The setting unit 55 may set the target point P at a position offset from the surrounding object S only in the height direction V, or may set the target point P at a position offset from the surrounding object S only in the turning direction Sw.

[0082] The setting unit 55 sets a position offset from the surrounding object S in a direction away from the surrounding object S (from the target point setting reference position) as the target point P. More specifically, the setting unit 55 sets the target point P at a position away from the surrounding object S on the upper side V1 in the height direction. The setting unit 55 sets a position where the reference height (SwgHeight) is offset toward the upper side V1 in the height direction as the height of the target point P. The setting unit 55 sets the target point P at a position away from the surrounding object S on the first turning angle θ1 side (the side from the second turning angle θ2 toward the first turning angle θ1). The setting unit 55 sets a position where the turning angle (SwgAng) currently being processed is offset toward the first turning angle θ1 side (the side where the turning angle θ becomes smaller in this example) as the turning angle θ of the target point P.

[0083] (Offset amount O) The amount of this offset (offset amount O) is set to an amount (magnitude) that can suppress interference between the work object and the tip attachment 15c.

[0084] It is preferable that the setting unit 55 changes the offset amount O according to the size (dimensions) of the tip attachment 15c (see Figs. 6 and 7). For example, when the tip attachment 15c is replaced, it is preferable that the setting unit 55 changes the offset amount O according to the size of the replaced tip attachment 15c. In this case, even if the size of the tip attachment 15c changes, it is possible to set an appropriate target path TP that can suppress interference between the work target and the tip attachment 15c. The offset amount O includes a height direction offset amount OV and a rotation direction offset amount OSw.

[0085] The height direction offset amount OV is an offset amount O in the height direction V, as shown in Fig. 6. It is preferable that the height direction offset amount OV is changed according to the tip attachment height dimension V15c. For example, the height direction offset amount OV may be a predetermined multiple (e.g., twice) of the tip attachment height dimension V15c. In the example shown in Fig. 6, the height direction offset amount OV is the sum of the tip attachment height dimension V15c and the margin height αV.

[0086] The tip attachment height dimension V15c is the dimension in the height direction V of the tip attachment 15c during work. The tip attachment height dimension V15c is, for example, the distance in the height direction V from the specific part 15c1 to the lowest part of the tip attachment 15c (the part on the lowermost side V2 in the height direction). The tip attachment height dimension V15c may be, for example, the entire length in the height direction V of the tip attachment 15c. The above-mentioned "tip attachment 15c during work" is the tip attachment 15c when the specific part 15c1 moves from the turning start point Ps to the turning end point Pe shown in FIG. 3 (the same applies to the "tip attachment 15c during work" below). Specifically, for example, when the tip attachment 15c is a bucket, the "tip attachment 15c during work" is the bucket in a state (posture) holding a work object (for example, soil and sand).

[0087] The margin height αV is a value greater than 0. The margin height αV may be set based on the tip attachment height dimension V15c, for example. For example, the margin height αV may be a predetermined multiple (e.g., 1 time, 0.5 times, etc.) of the tip attachment height dimension V15c. The margin height αV may be a value set in advance in the setting unit 55 (before the height direction offset amount OV is determined).

[0088] The swivel direction offset amount OSw is an offset amount O in the swivel direction Sw, as shown in Fig. 7. The swivel direction offset amount OSw is preferably changed according to the swivel direction dimension Sw15c of the tip attachment. The swivel direction offset amount OSw may be a predetermined multiple (e.g., twice) of the swivel direction dimension Sw15c of the tip attachment. In the example shown in Fig. 7, the swivel direction offset amount OSw is the sum of the swivel direction dimension Sw15c of the tip attachment and the margin width αSw.

[0089] The tip attachment pivot direction dimension Sw15c is the dimension in the pivot direction Sw of the tip attachment 15c during work. The tip attachment pivot direction dimension Sw15c is, for example, the distance in the pivot direction Sw from the specific portion 15c1 to the end (right end or left end) of the tip attachment 15c in the pivot direction Sw. The tip attachment pivot direction dimension Sw15c may be, for example, the overall length of the tip attachment 15c in the pivot direction Sw.

[0090] The margin width αSw is a value larger than 0. The margin width αSw may be set based on the tip attachment pivot direction dimension Sw15c, and may be, for example, a predetermined multiple (for example, 1 time, 0.5 times, etc.) of the tip attachment pivot direction dimension Sw15c. The margin width αSw may be a value set in advance in the setting unit 55 (before the pivot direction offset amount OSw is determined).

[0091] This turning direction offset amount OSw is smaller (narrower) than the turning angle step width θu in the example shown in Fig. 4. The turning direction offset amount OSw may be equal to or larger than the turning angle step width θu (described later).

[0092] (Obtaining the size of attachment 15 to determine the offset amount O) When changing the offset amount O according to the size of the tip attachment 15c, the setting unit 55 acquires information on the size of the tip attachment 15c. For example, the information on the size of the tip attachment 15c may be automatically acquired by the setting unit 55. Specifically, for example, the setting unit 55 may calculate the size of the attachment 15 based on an image of the tip attachment 15c captured by an imaging device (calculation is included in acquisition). Also, for example, the setting unit 55 may acquire information on the size of the attachment 15 manually input by an operator via the input device 43 (see FIG. 1).

[0093] The offset amount O does not have to be set according to the size of the attachment 15. For example, the offset amount O may be a constant value preset in the setting unit 55. The offset amount O may also be a value manually input by the operator via the input device 43 (see FIG. 1).

[0094] (Target point P where offset is not applied) The positions of some of the target points P among the multiple target points P may be set without performing the offset. Specifically, the first target point P1 and the second target point P2 may be set without performing the offset. Note that the first target point P1 and the second target point P2 may be set by performing the offset (see Modification 3 and Modification 5 described later).

[0095] (When the turning direction offset amount OSw is equal to or greater than the turning angle step width θu) In the example shown in FIG. 4, the turning direction offset amount OSw is less than the step turning angle width θu (15 degrees in FIG. 4). On the other hand, the turning direction offset amount OSw may be equal to or greater than the step turning angle width θu (15 degrees or more). In this case, the reference height (SwgHeight) is updated at a turning angle θ (θ=15° in FIG. 4) that is shifted from the first turning angle θ1 by the step turning angle width θu. At this time, a position offset by the turning direction offset amount OSw (amount larger than 15°) from this turning angle θ (here, θ=15°) may be smaller than the first turning angle θ1 (θ=0°). In this case, the setting unit 55 may correct the first turning angle θ1 to a position offset by the turning direction offset amount OSw (amount larger than 15°) from this turning angle θ (here, θ=15°). Furthermore, the setting unit 55 may not perform this correction, and may instead determine the first rotation angle θ1 previously set in the setting unit 55 as the first rotation angle θ1 as is.

[0096] After the process of step S33, the setting unit 55 returns the process flow to step S15.

[0097] In step S41, the setting unit 55 sets the second target point P2. The turning angle θ of the second target point P2 is set in advance (before the target route setting process) in the setting unit 55, for example. The setting unit 55 sets the height of the second target point P2. Specifically, the setting unit 55 sets the height of the target point P immediately before the second target point P2 (the target point P that is one point on the first turning angle θ1 side from the second target point P2) as the height of the second target point P2.

[0098] The setting unit 55 sets the line connecting the multiple target points P as the target route TP. The line connecting the multiple target points P is a multiple line segment (polygonal line) in the example shown in Fig. 4, and may be curved (see Modification 8). Then, the setting unit 55 ends the target route setting process (the process shown in Fig. 5 proceeds to "End").

[0099] (Effects of the first invention) The effects of the target route setting system 1 shown in FIG. 2 are as follows. The target route setting system 1 is used in the work machine 10 shown in FIG. 1. The work machine 10 comprises a lower body 11, an upper rotating body 13, and an attachment 15. The upper rotating body 13 is rotatable relative to the lower body 11. The attachment 15 is attached to the upper rotating body 13. The target route setting system 1 comprises a surrounding object information acquisition unit 53 (see FIG. 2) and a setting unit 55 (see FIG. 2). The surrounding object information acquisition unit 53 acquires information of surrounding objects S (see FIG. 4) around the upper rotating body 13. The setting unit 55 (see FIG. 2 (same below for the setting unit 55)) sets a target point P (see FIG. 4) on the target route TP (see FIG. 4) of the specific portion 15c1 of the attachment 15.

[0100] [Configuration 1] As shown in Fig. 4, the setting unit 55 sets a position offset from the surrounding object S by a predetermined offset amount O in a direction away from the surrounding object S in one or both of the rotation direction Sw and the height direction V as the target point P. As shown in Fig. 3, the rotation direction Sw is the direction of rotation of the upper rotating body 13 relative to the lower main body 11.

[0101] In the above [Configuration 1], the setting unit 55 can automatically set the target route TP at a position away from the surrounding object S, as shown in Fig. 4. Therefore, the setting unit 55 can automatically set the target route TP that can suppress interference between the attachment 15 (see Fig. 3) and the surrounding object S. Therefore, it is possible to reduce the effort required for the operator to manually set the target route TP.

[0102] (Effects of the second invention) 3, the attachment 15 includes a tip attachment 15c that performs work. The specific portion 15c1 is set at a specific portion of the tip attachment 15c.

[0103] [Configuration 2] As shown in Figs. 6 and 7, the setting unit 55 changes the offset amount O according to the size of the tip attachment 15c.

[0104] With the above [Configuration 2], the setting unit 55 can set a target path TP (see FIG. 4) that can suppress interference between the end attachment 15c and the surrounding object S. Even if the size of the end attachment 15c is changed, the setting unit 55 can set an offset amount O according to the changed size of the end attachment 15c. As a result, the setting unit 55 can set a target path TP (see FIG. 4) that can suppress interference between the end attachment 15c and the surrounding object S after the change.

[0105] (Effects of the third invention) [Configuration 3] As shown in FIG. 6, the setting unit 55 changes the offset amount O in the height direction V (height direction offset amount OV) according to the dimension in the height direction V of the tip attachment 15c during work.

[0106] With the above [Configuration 3], the setting unit 55 can set the target path TP (see FIG. 4) that can more reliably suppress interference between the end attachment 15c and the surrounding object S.

[0107] (Effect of the fourth invention) [Configuration 4] As shown in FIG. 7, the setting unit 55 changes the offset amount O in the rotation direction Sw (rotation direction offset amount OSw) according to the dimension in the rotation direction Sw of the end attachment 15c during work.

[0108] By the above [Configuration 4], the setting unit 55 can set the target path TP (see FIG. 4) that can more reliably suppress interference between the end attachment 15c and the surrounding object S.

[0109] (Effect of the fifth aspect of the invention) [Configuration 5] As shown in FIG. 4, the setting unit 55 compares the reference height (SwgHeight) with the height of the surrounding object S (surrounding object height H) for each of a plurality of turning angles θ from the first turning angle θ1 to the second turning angle θ2 in the turning direction Sw (steps S21 to S23 in FIG. 5). When the surrounding object height H is higher than the reference height (SwgHeight), the setting unit 55 updates the reference height (SwgHeight) based on the surrounding object height H (step S31 in FIG. 5). The setting unit 55 sets a position offset from the position of the surrounding object S indicated by the updated reference height (SwgHeight) and the turning angle θ corresponding to the updated reference height (SwgHeight) as the target point P (step S33 in FIG. 5).

[0110] According to the above [Configuration 5], as shown in FIG. 4, the setting unit 55 can automatically set a target path TP that can suppress interference between the attachment 15 (see FIG. 3) and the surrounding object S.

[0111] (Effects of the eleventh aspect of the invention) The effects of the target path setting program are as follows. The target path setting program is used in the work machine 10 shown in FIG. 1. The work machine 10 includes a lower body 11, an upper rotating body 13, and an attachment 15. The upper rotating body 13 is rotatable relative to the lower body 11. The attachment 15 is attached to the upper rotating body 13. The target path setting program causes the controller 50 (computer) to execute a surrounding object information acquisition step and a setting step. The surrounding object information acquisition step (see surrounding object information acquisition unit 53) acquires information on surrounding objects S (see FIG. 4) around the upper rotating body 13. The setting step (step S33, see setting unit 55) sets a target point P (see FIG. 4) on the target path TP (see FIG. 4) of the specific portion 15c1 of the attachment 15.

[0112] [Configuration 11] In the setting step, as shown in Fig. 4, a position offset from the surrounding object S by a predetermined offset amount O in one or both of the rotation direction Sw and the height direction V in a direction away from the surrounding object S is set as the target point P. As shown in Fig. 3, the rotation direction Sw is the direction of rotation of the upper rotating body 13 relative to the lower main body 11.

[0113] With the above [Configuration 11], as shown in Fig. 4, the target path TP can be automatically set at a position away from the surrounding object S. Therefore, the controller 50 (computer) can automatically set the target path TP that can suppress interference between the attachment 15 (see Fig. 3) and the surrounding object S. Therefore, it is possible to reduce the effort required for the operator to manually set the target path TP.

[0114] (Effects of the twelfth aspect of the invention) The effects of the target path setting method are as follows. The target path setting method is used for the work machine 10 shown in FIG. 1. The work machine 10 comprises a lower body 11, an upper rotating body 13, and an attachment 15. The upper rotating body 13 is rotatable relative to the lower body 11. The attachment 15 is attached to the upper rotating body 13. The target path setting method comprises a surrounding object information acquisition step and a setting step. The surrounding object information acquisition step (see surrounding object information acquisition unit 53) acquires information of surrounding objects S (see FIG. 4) around the upper rotating body 13. The setting step (step S33, see setting unit 55) sets a target point P (see FIG. 4) on the target path TP (see FIG. 4) of a specific portion 15c1 of the attachment 15.

[0115] [Configuration 12] In the setting step, as shown in Fig. 4, a position offset from the surrounding object S by a predetermined offset amount O in one or both of the rotation direction Sw and the height direction V in a direction away from the surrounding object S is set as the target point P. As shown in Fig. 3, the rotation direction Sw is the direction of rotation of the upper rotating body 13 relative to the lower body 11.

[0116] With the above [Configuration 12], as shown in Fig. 4, the target route TP can be automatically set at a position away from the surrounding object S. Therefore, the target route TP can be automatically set so that interference between the attachment 15 (see Fig. 3) and the surrounding object S can be suppressed. Therefore, the effort required for the operator to manually set the target route TP can be reduced.

[0117] (Variation 1: Example in which the angle width of the target route TP is not 180 degrees) The angle width from the first turning angle θ1 to the second turning angle θ2 is 180 degrees in the example shown in Fig. 3, but it does not have to be 180 degrees. For example, the angle width from the first turning angle θ1 to the second turning angle θ2 may be 90 degrees or the like (see the release area Ae, the second target point P2, and the turning end point Pe shown by the two-dot chain line in Fig. 3). In this example, when the process shown in Fig. 5 is performed, the position of the second target point P2 becomes the position of the second target point P2 shown by the two-dot chain line in Fig. 4.

[0118] (Modification 2: Example in which acceleration / deceleration region B is set) The setting unit 55 may limit the acceleration / deceleration of the specific part 15c1 in the acceleration / deceleration region B so that the acceleration / deceleration of the specific part 15c1 falls within a predetermined "acceleration / deceleration range." The "acceleration / deceleration" may be only acceleration, only deceleration, or both acceleration and deceleration.

[0119] The acceleration / deceleration region B is a region where the upper rotating body 13 accelerates or decelerates relative to the lower main body 11 (more specifically, a region targeted for acceleration or deceleration). The acceleration / deceleration region B is a region in the rotation direction Sw. The acceleration / deceleration region B includes an acceleration region B5 and a deceleration region B7.

[0120] The acceleration region B5 is a region in which the upper rotating body 13 accelerates in the rotation direction Sw relative to the lower body 11 (more specifically, a region targeted for acceleration). For example, the acceleration region B5 is a region between a rotation start angle θs and an acceleration end angle θ5. The acceleration end angle θ5 is the rotation angle θ when the acceleration of the upper rotating body 13 in the rotation direction Sw relative to the lower body 11 is ended.

[0121] The deceleration region B7 is a region where the upper rotating body 13 decelerates in the rotation direction Sw relative to the lower body 11 (more specifically, a region where deceleration is the target). The deceleration region B7 is a region between the deceleration start angle θ7 and the rotation end angle θe. The deceleration start angle θ7 is the rotation angle θ when deceleration of the upper rotating body 13 in the rotation direction Sw relative to the lower body 11 starts.

[0122] As described above, the setting unit 55 limits the acceleration / deceleration of the specific part 15c1 in the acceleration / deceleration region B so that the acceleration / deceleration of the specific part 15c1 falls within a predetermined "acceleration / deceleration range". This "acceleration / deceleration range" is a range of acceleration / deceleration (limit range) for limiting the acceleration / deceleration. The acceleration / deceleration range is set in advance (before limiting the acceleration / deceleration) in the setting unit 55. The acceleration / deceleration range includes an acceleration range and a deceleration range. The acceleration range is a range of acceleration (limit range) for limiting the acceleration. The setting unit 55 limits the acceleration of the specific part 15c1 in the acceleration region B5 so that the acceleration of the specific part 15c1 falls within the acceleration range. The deceleration range is a range of deceleration (limit range) for limiting the deceleration. The setting unit 55 limits the deceleration of the specific part 15c1 in the deceleration region B7 so that the deceleration of the specific part 15c1 falls within the deceleration range. The setting unit 55 may limit only the acceleration of the specific portion 15c1, may limit only the deceleration, or may limit both the acceleration and deceleration.

[0123] The setting unit 55 limits the speed of the specific part 15c1 moving along the target route TP, for example, by adjusting time information (e.g., the time between two points) added to the information of the target route TP. As a result of limiting the speed of the specific part 15c1, the acceleration / deceleration of the specific part 15c1 is limited.

[0124] (Effect of the 10th Invention) The effects of the target route setting system 1 of the second modification are as follows.

[0125] [Configuration 10] The setting unit 55 sets an acceleration / deceleration region B, which is a region in the rotation direction Sw where the upper rotating body 13 accelerates and decelerates relative to the lower main body 11. The setting unit 55 limits the acceleration / deceleration of the specific part 15c1 in the acceleration / deceleration region B so that the acceleration / deceleration of the specific part 15c1 falls within the acceleration / deceleration range set in the setting unit 55.

[0126] The above [Configuration 10] prevents the attachment 15 from suddenly accelerating and decelerating in the acceleration / deceleration region B. This makes it possible to suppress shaking (shock) of the work machine 10 caused by sudden acceleration and deceleration of the attachment 15. For example, shaking of the work machine 10 can be reduced when the upper rotating body 13 starts to rotate and when it finishes rotating.

[0127] (Modification 3: Example of offsetting the first target point P1) In the above example (basic example), the first target point P1 is a position previously set by the setting unit 55, and is not set at a position offset from the surrounding object S. On the other hand, the setting unit 55 may set the first target point P1 at a position offset from the surrounding object S in the same manner (or approximately the same manner) as the position of the passing point Pp.

[0128] For example, the setting unit 55 sets the first turning angle θ1 (before offset) previously set in the setting unit 55 and the surrounding object height H at the first turning angle θ1 before offset as the target point setting reference position. The setting unit 55 sets a position offset from this target point setting reference position as the first target point P1 (see the first target point P1 indicated by the two-dot chain line in FIG. 4). In detail, the setting unit 55 sets a position offset from this target point setting reference position in one or both of the height direction V and the turning direction Sw as the first target point P1. The setting unit 55 may set the first target point P1 at a position offset in the height direction V by the height direction offset amount OV from this target point setting reference position. The setting unit 55 may set the first target point P1 at a position offset from this target point setting reference position by the turning direction offset amount OSw.

[0129] In this example, the setting unit 55 automatically sets the position of the first target point P1 to a position offset from the surrounding object S. Therefore, the position of the first target point P1 (for example, the turning start point Ps) can be set to a position where interference between the tip attachment 15c and the surrounding object S can be suppressed.

[0130] (Modification 4: Example of setting target point P from second turning angle θ2 to first turning angle θ1) In the above example (basic example), the setting unit 55 sets the target point P from the first rotation angle θ1 (θ=0° in FIG. 4) toward the second rotation angle θ2 (θ=180° in FIG. 4) as shown in Fig. 4. As shown in Fig. 8, the setting unit 55 may further set the target point P from the second rotation angle θ2 (θ=180° in FIG. 8) toward the first rotation angle θ1 (θ=0° in FIG. 8).

[0131] In detail, the setting unit 55 compares the second reference height (SwgHeight2) with the surrounding object height H for each of a plurality of turning angles θ from the second turning angle θ2 toward the first turning angle θ1 (similar to step S23 shown in FIG. 5). When the surrounding object height H is higher than the second reference height (SwgHeight2), the setting unit 55 updates the second reference height (SwgHeight2) based on the height of the surrounding object S (similar to step S31 shown in FIG. 5). The setting unit 55 sets the updated second reference height (SwgHeight2) and the turning angle θ corresponding to the updated second reference height (SwgHeight2) as the target point setting reference position. Then, the setting unit 55 sets a position offset from this target point setting reference position as the target point P (similar to step S33 shown in FIG. 5).

[0132] A specific example of the process (referred to as the second process) for setting the target point P from the second turning angle θ2 toward the first turning angle θ1 is similar to the specific example (referred to as the first process) for setting the target point P from the first turning angle θ1 toward the second turning angle θ2 (see FIG. 5). However, in the second process, the values ​​related to the turning direction Sw (e.g., turning angle width θu, turning direction offset amount OSw) are reversed in the turning direction Sw compared to the first process. For example, the direction of the turning direction offset amount OSw in the second process is opposite (to the side for increasing the turning angle θ) to the direction of the turning direction offset amount OSw in the first process (e.g., the side for decreasing the turning angle θ). In addition, the second target point P2 is not set in the first process, and the first target point P1 is not set in the second process. In addition, the order of the target points P set in the first process gradually increases, but the order of the target points P set in the second process gradually decreases. The order of the target point P last set in the first process (in FIG. 8, the second if the first target point P1 is 0th) is the order of the target point P last set in the second process (in FIG. 8, the third). In this example, the position of the second target point P2 is set in advance in the setting unit 55 (before the target point setting process).

[0133] The setting unit 55 sets a line connecting the target point P set in the first process and the target point P set in the second process as a target route TP.

[0134] (Effect of the sixth aspect of the invention) The effects of the target route setting system 1 of the fourth modified example (see FIG. 2) are as follows.

[0135] [Configuration 6] 8, the setting unit 55 compares the second reference height (SwgHeight2) with the surrounding object height H for each of a plurality of turning angles θ from the second turning angle θ2 toward the first turning angle θ1. When the surrounding object height H is higher than the second reference height (SwgHeight2), the setting unit 55 updates the second reference height (SwgHeight2) based on the surrounding object height H. The setting unit 55 sets, as the target point P, a position offset (see [Configuration 1] above) from the position of the surrounding object S indicated by the updated second reference height (SwgHeight2) and the turning angle θ corresponding to the updated second reference height (SwgHeight2).

[0136] The above [Configuration 6] provides the following effects. As shown in FIG. 4, in the above [Configuration 5], when the surrounding object height H becomes higher than the reference height (SwgHeight) from the first turning angle θ1 toward the second turning angle θ2, the reference height (SwgHeight) is updated and the target point P is set. This [Configuration 5] includes a case where the reference height (SwgHeight) does not change downward in the height direction V2 from the first turning angle θ1 toward the second turning angle θ2. In this case, the target point P at the second turning angle θ2 and the surrounding turning angles θ may become too high.

[0137] Therefore, the target route setting system 1 includes the above [Configuration 5] and [Configuration 6]. Therefore, as shown in FIG. 8, when the surrounding object height H becomes higher than the reference height (SwgHeight) from the first turning angle θ1 toward the second turning angle θ2, the target point P is set. Furthermore, when the surrounding object height H becomes higher than the second reference height (SwgHeight2) from the second turning angle θ2 toward the first turning angle θ1, the second reference height (SwgHeight2) is updated and the target point P is set. Therefore, when the height of the second target point P2 is set to an appropriate height (not too high), it is possible to prevent the height of the target point P at the second turning angle θ2 and a nearby turning angle θ from becoming too high.

[0138] (Modification 5: Example of offsetting the second target point P2) In the fourth modification, the setting unit 55 sets the target point P from the second turning angle θ2 toward the first turning angle θ1. The position of the second target point P2 is set in advance (before the target point setting process) in the setting unit 55. Meanwhile, the setting unit 55 may set the position of the second target point P2 to a position offset from the surrounding object S in the same manner (or substantially the same manner) as the position of the passing point Pp. This is similar to the case where the position of the first target point P1 is set to a position offset from the surrounding object S in the third modification.

[0139] For example, the setting unit 55 sets the second turning angle θ2 (before offset) previously set in the setting unit 55 and the surrounding object height H at the second turning angle θ2 as the target point setting reference position. The setting unit 55 sets a position offset from this target point setting reference position as the second target point P2 (a specific example of the offset is the same as in Modification 3).

[0140] In this example, the setting unit 55 automatically sets the position of the second target point P2 to a position offset from the surrounding object S. Therefore, the position of the second target point P2 (for example, the turning end point Pe) can be set to a position where interference between the tip attachment 15c and the surrounding object S can be suppressed.

[0141] (Variation 6: Skip of target point P) The target route setting system 1 of the sixth modification will be described with reference to Fig. 9 and Fig. 10. The setting unit 55 may set a candidate point CP at the position where the target point P was set in the above example (basic example). The setting unit 55 may then determine whether to set the candidate point CP as the target point P or not to set the candidate point CP as the target point P (to skip the candidate point CP) based on a predetermined condition.

[0142] (Candidate point CP) As shown in FIG. 9, the setting unit 55 sets candidate points CP that are candidates for the target point P. The candidate points CP are points that are candidates for the target point P. In the example shown in FIG. 9 and FIG. 10, the candidate point CP for the first target point P1 is set as the "first candidate point CP-1". Then, from the first candidate point CP-1 toward the candidate point CP for the second target point P2, the candidate points CP are set as the second candidate point CP-2, the third candidate point CP-3, the fourth candidate point CP-4, and the fifth candidate point CP-5. The candidate points CP include the candidate points CP for the passing point Pp (the second candidate point CP-2, the third candidate point CP-3, and the fourth candidate point CP-4). The candidate points CP also include the candidate point CP for the first target point P1 (the first candidate point CP-1) and the candidate point CP for the second target point P2 (the fifth candidate point CP-5). It should be noted that the candidate points CP for the first target point P1 and the second target point P2 are not skipped, but are determined as they are as the first target point P1 and the second target point P2.

[0143] (Candidate point for judgment CPa) The setting unit 55 sets at least some of the candidate points CP for the passing point Pp (candidate points CP at positions different from both ends of the target route TP) as the determination target candidate points CPa. The determination target candidate points CPa are candidate points CP to be used for determining whether or not to set the candidate points CPa as the target points P. As shown in FIG. 10, the setting unit 55 may set only one candidate point CP (the second candidate point CP-2 in FIG. 10) as the determination target candidate point CPa. As shown in FIG. 9, the setting unit 55 may set multiple candidate points CP in succession (the second candidate point CP-2 and the third candidate point CP-3 in FIG. 9) as the determination target candidate points CPa.

[0144] (Judgment line L) The setting unit 55 sets the line segment connecting the candidate points CP before and after the judgment target candidate point CPa (before and after on the target route TP) as the judgment line L. The candidate point CP on the first target point P1 side of both ends of the judgment line L is the only candidate point CP on the first target point P1 side with respect to the judgment target candidate point CPa (if there are multiple judgment target candidate points CPa, the candidate point CP closest to the first target point P1). The candidate point CP on the second target point P2 side of both ends of the judgment line L is the only candidate point CP on the second target point P2 side with respect to the judgment target candidate point CPa (if there are multiple judgment target candidate points CPa, the candidate point CP closest to the second target point P2). For example, as in the example shown in FIG. 9, the judgment line L may be a line segment connecting the candidate point CP (the first candidate point CP-1) of the first target point P1 and the candidate point CP (the fourth candidate point CP-4) of the passing point Pp that is not the judgment target candidate point CPa. The judgment line L may be a line segment that connects candidate points CP of the passing points Pp that are not the judgment target candidate points CPa (not shown). The judgment line L may be a line segment that connects a candidate point CP of the passing point Pp that is not the judgment target candidate point CPa and a candidate point CP of the second target point P2 (not shown).

[0145] (When setting as target point P (not skipped)) In the example shown in FIG. 9, there is a judgment target candidate point CPa (the third candidate point CP-3 in FIG. 9) that is higher than the judgment line L. This judgment target candidate point CPa (the third candidate point CP-3) is not set as the target point P (skip). In this case, when the tip attachment 15c passes the judgment line L or its vicinity, the tip attachment 15c may interfere with the surrounding object S (the surrounding object S with a rotation angle θ of about 75° in FIG. 9). Therefore, when the judgment line L is lower than the judgment target candidate point CPa at the rotation angle θ of the judgment target candidate point CPa (the third candidate point CP-3 in FIG. 9), the setting unit 55 sets this judgment target candidate point CPa as the target point P (does not skip).

[0146] (If you do not want to set the target point P (skip it) As shown in FIG. 10, a judgment target candidate point CPa (the second candidate point CP-2 in FIG. 10) that is lower than the judgment line L is not set as the target point P (skipped). In this case, a target route TP can be set that allows the tip attachment 15c to move from the turning start point Ps to the turning end point Pe without interfering with the surrounding object S. Therefore, when the judgment line L is higher than the judgment target candidate point CPa at the turning angle θ of the judgment target candidate point CPa (the second candidate point CP-2 in FIG. 10), the setting unit 55 does not set (skips) this judgment target candidate point CPa as the target point P. By not setting this judgment target candidate point CPa (the second candidate point CP-2) as the target point P, unnecessary movement of the tip attachment 15c can be suppressed.

[0147] In addition, when the judgment line L is at the same height as the judgment target candidate point CPa at the rotation angle θ of the judgment target candidate point CPa, the setting unit 55 may set this judgment target candidate point CPa as the target point P, or may not set it as the target point P.

[0148] (Effects of the seventh aspect of the invention) The effects of the target route setting system 1 (see FIG. 2) of the sixth modified example are as follows. The setting unit 55 sets candidate points CP that are candidates for the target point P, as shown in FIG. 10. The setting unit 55 sets at least some of the candidate points CP (candidate points CP for the passing point Pp) at positions different from both ends of the target route TP as the judgment target candidate points CPa. The setting unit 55 sets the line segment connecting the candidate points CP before and after the judgment target candidate point CPa as the judgment line L.

[0149] [Configuration 7-1] As shown in Figure 9, when the judgment line L is lower than the judgment target candidate point CPa (the third candidate point CP-3 in Figure 9) at the rotation angle θ of this judgment target candidate point CPa, the setting unit 55 sets this judgment target candidate point CPa as the target point P.

[0150] [Configuration 7-2] When the judgment line L is higher than the judgment target candidate point CPa at the rotation angle θ of the judgment target candidate point CPa (the second candidate point CP-2 in Figure 10), the setting unit 55 does not set this judgment target candidate point CPa as the target point P.

[0151] The above [Configuration 7-1] enables the setting unit 55 to set a target path TP that can suppress interference between the attachment 15 and the surrounding object S. The above [Configuration 7-2] enables the setting unit 55 to set a target path TP that can suppress interference between the attachment 15 and the surrounding object S and can suppress unnecessary movement of the attachment 15 (details are described above).

[0152] (Modification 7: Inclination of the target route TP (Modification of skip)) 10 (see also FIGS. 4 and 8), the setting unit 55 may set the target point P at a position offset by an offset amount O from the surrounding object S and at a position where the "gradient of the target route TP" gradually decreases as the turning angle θ increases. In this example, the setting unit 55 does not set the target point P at a position where the gradient of the target route TP changes to a larger gradient when the turning angle θ increases.

[0153] The "inclination of the target path TP" is the amount of increase in the height of the target path TP relative to the amount of increase in the turning angle θ. In the example shown in FIG. 10, the turning angle θ increases from the first turning angle θ1 to the second turning angle θ2, so the "increase in the turning angle θ" is the amount of change in the turning angle θ from the first turning angle θ1 to the second turning angle θ2. Note that when the turning angle θ decreases from the first turning angle θ1 to the second turning angle θ2, the "increase in the turning angle θ" is the amount of change in the turning angle θ from the second turning angle θ2 to the first turning angle θ1.

[0154] The setting unit 55 sets the target point P at a position where the inclination of the target route TP gradually decreases as the turning angle θ increases. The inclination of the target route TP may decrease stepwise or continuously as the turning angle θ increases (see FIG. 11). The inclination of the target route TP may change from positive to negative when the turning angle θ increases (see FIG. 8).

[0155] (Effect of the eighth aspect of the invention) The effects of the target route setting system 1 of the seventh modification (see FIG. 2) are as follows.

[0156] [Configuration 8] The setting unit 55 sets the target route TP between the first turning angle θ1 and the second turning angle θ2 in the turning direction Sw, as shown in Fig. 10. The increment of the height of the target route TP relative to the increment of the turning angle θ in the turning direction Sw is set as the inclination of the target route TP. At this time, the setting unit 55 sets the target point P so that the inclination of the target route TP gradually decreases as the turning angle θ increases.

[0157] According to the above [Configuration 8], the setting unit 55 can set the target path TP that can suppress unnecessary movement of the attachment 15.

[0158] (Variation 8: Smoothly curved target path TP) In the example shown in FIG. 10, the setting unit 55 sets the target route TP to be a route that connects multiple target points P with line segments (straight lines). On the other hand, as shown in FIG. 11, the setting unit 55 may set the target route TP to be a smooth curve that passes through multiple target points P. In this case, for example, the automatic control unit 57 may control the work machine 10 so that the specific portion 15c1 moves along the target route TP, which is a smooth curve. Also, for example, the setting unit 55 may supplement multiple new target points P (not shown) between the set target points P so that the target route TP becomes a smooth curve. Then, the automatic control unit 57 may control the work machine 10 so that the specific portion 15c1 passes through multiple target points P.

[0159] (Effect of the ninth aspect of the invention) The effects of the target route setting system 1 of the ninth modification (see FIG. 2) are as follows.

[0160] [Configuration 9] The setting unit 55 sets a smooth curve passing through a plurality of target points P as a target route TP, as shown in FIG.

[0161] The above [Configuration 9] makes it possible to smooth the movement of the attachment 15 when the specific part 15c1 moves along the target path TP.

[0162] (Modification) The above embodiment may be modified in various ways. For example, the basic examples and modified examples of the above embodiment may be combined in various ways. For example, the number of components of the above embodiment may be changed, and some of the components may not be provided. For example, the fixing or connection between the components may be direct or indirect. For example, the connection of each component shown in FIG. 2 may be changed. For example, the arrangement of the components may be changed. For example, the inclusion relationship of the components may be changed in various ways. For example, a component described as a lower component included in a higher-level component may not be included in this higher-level component, and may be included in another component. For example, a component described as a plurality of different members or parts may be treated as a single member or part. For example, a component described as a single member or part may be provided as a plurality of different members or parts. For example, the order of the steps in the flowchart shown in FIG. 5 may be changed. For example, various parameters used in the processing of the controller 50 (see FIG. 2) may not be the same as the various parameters, and may be parameters that can be converted into various parameters. For example, the controller 50 may perform substantially the same processing (calculation, judgment, etc.) as the processing (calculation, judgment, etc.) of the above embodiment (including the modified example). The various processes may be combined in various ways. For example, each component may have only a part of each characteristic (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0163] 1. Target Route Setting System 10. Working Machinery 11 Lower body 13 Upper rotating body 15 Attachment 15c Tip Attachment 15c1 Specific parts 53 Surrounding object information acquisition unit 55 Setting section B Acceleration / deceleration area CP candidate points CPa judgment target candidate point H Surrounding object height (height of surrounding objects) L judgment line O Offset amount OSw Rotation direction offset amount (rotation direction offset amount) OV Height direction offset amount (height direction offset amount) P target point S Surroundings Sw Turning direction TP Target Route V Height direction θ Turning angle θ1 First turning angle θ2 Second turning angle

Claims

1. A lower body and An upper rotating body that is rotatable relative to the lower body; An attachment attached to the upper rotating body; A target route setting system for use in a work machine comprising: A surrounding object information acquisition unit that acquires information about surrounding objects around the upper rotating body; A setting unit that sets a target point on a target path of a specific portion of the attachment; Equipped with The setting unit sets a position offset from the surrounding object by a predetermined offset amount in one or both of a rotation direction and a height direction of the upper rotating body relative to the lower main body, in a direction away from the surrounding object, as the target point. Goal routing system.

2. The target route setting system according to claim 1, The attachment includes a tip attachment for performing a task, The specific portion is set to a specific portion of the tip attachment, The setting unit changes the offset amount depending on the size of the tip attachment. Goal routing system.

3. The target route setting system according to claim 2, The setting unit changes the offset amount in the height direction according to a dimension in the height direction of the tip attachment during work. Goal routing system.

4. The target route setting system according to claim 2, The setting unit changes the offset amount in the rotation direction according to a dimension in the rotation direction of the tip attachment during work. Goal routing system.

5. The target route setting system according to claim 1, The setting unit is comparing a reference height with a height of the surrounding object for each of a plurality of rotation angles from a first rotation angle to a second rotation angle in the rotation direction; When the height of the surrounding object is higher than the reference height, the reference height is updated based on the height of the surrounding object; setting, as the target point, the position offset from the position of the surrounding object indicated by the updated reference height and the rotation angle corresponding to the updated reference height; Goal routing system.

6. The target route setting system according to claim 5, The setting unit is comparing a second reference height with the height of the surrounding object for each of a plurality of rotation angles from the second rotation angle toward the first rotation angle; When the height of the surrounding object is higher than the second reference height, the second reference height is updated based on the height of the surrounding object; setting, as the target point, a position offset from a position of the surrounding object indicated by the updated second reference height and a rotation angle corresponding to the updated second reference height; Goal routing system.

7. The target route setting system according to claim 1, The setting unit is Setting candidate points that are candidates for the target point; At least some of the candidate points at positions different from both ends of the target route are set as judgment target candidate points; A line segment connecting the candidate points before and after the judgment target candidate point is set as a judgment line; When the judgment line is lower than the judgment target candidate point at a turning angle of the judgment target candidate point, the judgment target candidate point is set as the target point; When the judgment line is higher than the judgment candidate point at a turning angle of the judgment candidate point, the judgment candidate point is not set as the target point. Goal routing system.

8. The target route setting system according to claim 1, The setting unit is the target point is set so that, when an inclination of the target route is an increment of the height of the target route relative to an increment of the turning angle in the turning direction, the inclination of the target route gradually decreases as the turning angle increases. Goal routing system.

9. The target route setting system according to claim 1, The setting unit sets a smooth curve passing through the plurality of target points as the target route. Goal routing system.

10. The target route setting system according to claim 1, The setting unit is An acceleration / deceleration region is set in which the upper rotating body accelerates and decelerates relative to the lower body in the rotating direction, limiting the acceleration / deceleration of the specific part in the acceleration / deceleration region so that the acceleration / deceleration of the specific part falls within the acceleration / deceleration range set in the setting unit; Goal routing system.

11. A lower body and An upper rotating body that is rotatable relative to the lower body; An attachment attached to the upper rotating body; A target path setting program for use in a work machine comprising: a surrounding object information acquisition step of acquiring information about surrounding objects around the upper rotating body; A setting step of setting a target point on a target path of a specific portion of the attachment; Run the following on your computer: The setting step sets, as the target point, a position offset from the surrounding object by a predetermined offset amount in one or both directions of a rotation direction and a height direction of the upper rotating body relative to the lower body, in a direction away from the surrounding object. Goal routing program.

12. A lower body and An upper rotating body that is rotatable relative to the lower body; An attachment attached to the upper rotating body; A target path setting method for use in a work machine comprising: a surrounding object information acquisition step of acquiring information about surrounding objects around the upper rotating body; A setting step of setting a target point on a target path of a specific portion of the attachment; Equipped with The setting step sets, as the target point, a position offset from the surrounding object by a predetermined offset amount in one or both directions of a rotation direction and a height direction of the upper rotating body relative to the lower body, in a direction away from the surrounding object. How to set a target route.

Images