Target track setting system

Abstract

To suppress deviation between a target route and actual action of an object, even when a target track is set such that capability required for an actuator is out of a specific capability range.SOLUTION: A controller 70 sets a specific capability range A1 which is a specific range of capability of an actuator 30, and calculates required capability A2, which is capability of the actuator 30 required for allowing the actuator 30 to move an object OB according to a target track. When the required capability A2 is out of the specific capability range A1, the controller 70 performs target speed correction control, which is control of correcting target speed V without changing a target path PA, so that the required capability A2 after correction is within the specific capability range A1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a target trajectory setting system for setting a target trajectory of a working machine.

Background Art

[0002] For example, Patent Document 1 describes a technique in which the movement of a working machine is controlled based on a work plan (target trajectory).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is a possibility that the ability required for the actuator in the target trajectory may be outside a specific ability range (for example, a range below the maximum ability that the actuator can output). In this case, a deviation will occur between the target path and the actual movement of the object that the actuator moves.

[0005] Therefore, an object of the present invention is to provide a target trajectory setting system that can suppress the deviation between the target path and the actual movement of the object even when a target trajectory is set in which the ability required for the actuator is outside a specific ability range.

Means for Solving the Problems

[0006] The target trajectory setting system includes an actuator, an object, and a controller. The actuator is mounted on a working machine. The object is moved by the actuator. The controller controls the actuator. The controller sets a target trajectory. The target trajectory includes information on the target path of the object and information on the target speed of the object. The controller sets a specific ability range that is a specific range of the capabilities of the actuator. The controller calculates a required ability, which is the ability of the actuator required to move the object according to the target trajectory. The controller performs target speed correction control. The target speed correction control is control to correct the target speed without changing the target path so that the corrected required ability falls within the specific ability range when the required ability is outside the specific ability range.

Effect of the Invention

[0007] With the above target trajectory setting system, even when a target trajectory is set such that the ability required of the actuator is outside the specific ability range, it is possible to suppress the deviation between the target trajectory and the actual movement of the object.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Best Mode for Carrying Out the Invention

[0009] With reference to FIGS. 1 to 6, the target trajectory setting system 1 will be described.

[0010] The target trajectory setting system 1 is a system for setting the target trajectory of the working machine 10 (object OB) shown in FIG. 1. The target trajectory setting system 1 controls the speed characteristics of the actuator 30. The target trajectory setting system 1 includes a working machine 10, a detection unit 40 (see FIG. 2), an input unit 60, a controller 70, and an output unit 80.

[0011] The working machine 10 (object OB) is a machine that performs work. The working machine 10 is, for example, a construction machine that performs construction work. The working machine 10 may be, for example, an excavator or a crane. Hereinafter, mainly the case where the working machine 10 is an excavator will be described. The working machine 10 is configured to be operable by automatic control. The automatic control may be an automatic operation or a semi-automatic operation (machine control described later). The working machine 10 may operate in response to an operation by an operator without using automatic control. For example, the working machine 10 may be operated by an operator in the cab 13c (described later), or may be remotely operated from outside the working machine 10. The working machine 10 includes a machine body 10a, an attachment 15, a drive control unit 17 (see FIG. 2), an actuator 30, and an engine 39.

[0012] The machine body 10a is the main body part of the working machine 10. The machine body 10a includes a lower body 11 and an upper swing body 13.

[0013] The lower body 11 rotatably supports the upper swing body 13. The lower body 11 may be a lower traveling body capable of traveling on a traveling surface (such as the ground). When the lower body 11 is capable of traveling, the lower body 11 may include crawlers or may include wheels.

[0014] The upper revolving body 13 is rotatably mounted on the lower main body 11. The upper revolving body 13 is provided with an operator's cab 13c. The operator's cab 13c is a part where an operator can operate the work machine 10.

[0015] The attachment 15 is a part for performing work. The attachment 15 is attached to the machine body 10a. For example, the attachment 15 includes a boom 15a, an arm 15b, a tip attachment 15c, and a specific part 15s. The boom 15a is rotatably (capable of pitching, rotating in the front-rear direction and the up-down direction) attached to the upper revolving body 13. The arm 15b is rotatably (rotating in the front-rear direction and the up-down direction) attached to the boom 15a.

[0016] The tip attachment 15c is provided at the tip of the attachment 15. The tip attachment 15c is rotatably (rotating in the front-rear direction and the up-down direction) attached to the arm 15b. The tip attachment 15c may be a bucket capable of performing operations such as scooping up captured objects and excavation. The tip attachment 15c may also be a device for clamping captured objects (such as a grapple, nibbler, etc.), a device for crushing captured objects (such as a breaker, etc.), or a magnet for adsorbing metal captured objects. The captured object captured by the tip attachment 15c is the object of the work of the work machine 10. The captured object may be earth and sand, stone, wood, metal, resin, waste, or a structure (such as a block, etc.).

[0017] The specific part 15s is a part that is targeted to be arranged on the target path PA described later. The specific part 15s is a specific part of the attachment 15. For example, the specific part 15s may be the tip of the tip attachment 15c or the base end of the tip attachment 15c (the tip of the arm 15b).

[0018] The drive control unit 17 (see FIG. 3) controls the actuator 30. The drive control unit 17 may include an electric circuit that controls the actuator 30 (electric actuator) that moves by power. This electric circuit is configured to be able to supply power to each electric actuator according to the target speed V of each electric actuator. The drive control unit 17 may include a hydraulic circuit 20 that controls the actuator 30 (hydraulic actuator) that moves by hydraulic pressure.

[0019] As shown in FIG. 3, the hydraulic circuit 20 is a circuit for moving the actuator 30 that moves by hydraulic pressure. In the description of the hydraulic circuit 20, the actuator 30 is a hydraulic actuator. The hydraulic circuit 20 is configured to be able to control the flow rate of the hydraulic oil supplied to each actuator 30 according to the target speed V (see FIG. 1) of each actuator 30 set in the controller 70 (see FIG. 2). The hydraulic circuit 20 is configured to be able to shunt-control the flow rate of the hydraulic oil discharged by the pump 21 according to the target speed V of each actuator 30. The hydraulic circuit 20 includes a hydraulic oil tank 20t, a pump 21, a pump capacity control unit 23, and a control valve 25.

[0020] The hydraulic oil tank 20t is a tank (container) for storing hydraulic oil.

[0021] The pump 21 sucks hydraulic oil from the hydraulic oil tank 20t. The pump 21 supplies hydraulic oil to the actuator 30. The pump 21 is rotated by the engine 39. Only one pump 21 may be provided, or a plurality of pumps 21 may be provided. The capacity of the pump 21 is variable.

[0022] The pump capacity control unit 23 controls the capacity of the pump 21. The pump capacity control unit 23 controls the capacity of the pump 21 according to a command input to the pump capacity control unit 23. This command may be, for example, pilot hydraulic pressure or an electric signal (the same applies to the following "command"). The pump capacity control unit 23 controls (changes) the capacity of the pump 21, for example, by controlling (changing) the swash plate angle of the pump 21.

[0023] The control valve 25 is a valve that controls the movement of the actuator 30. The control valve 25 switches the direction of the flow of the hydraulic oil supplied to the actuator 30 to switch the direction of movement (e.g., rotation direction or expansion and contraction direction) of the actuator 30. The control valve 25 changes the operating speed of the actuator 30 by changing the flow rate of the hydraulic oil supplied to the actuator 30. The control valve 25 is provided between the pump 21 and the actuator 30 (in the hydraulic oil oil passage). The control valve 25 is controlled by a controller 70 (see FIG. 2). When the command input to the control valve 25 is a pilot hydraulic pressure, a solenoid valve (not shown) for controlling this pilot hydraulic pressure is provided. The opening degree of this solenoid valve is controlled by the controller 70.

[0024] As shown in FIG. 1, the actuator 30 is a device that moves each part of the working machine 10. The object moved by the actuator 30 is referred to as the object OB. The object OB is part or all of the working machine 10. The actuator 30 may include a hydraulic actuator or may include an electric actuator. The actuator 30 may include a motor that rotates or may include a cylinder (extension and contraction cylinder) that drives in extension and contraction. The actuator 30 includes a traveling motor 31, a slewing motor 33, a boom cylinder 35a, an arm cylinder 35b, and a tip attachment cylinder 35c. In addition, in the present embodiment, the engine 39 is not included in the actuator 30.

[0025] The traveling motor 31 drives the lower body 11, for example, to drive crawlers. When the lower body 11 is equipped with left and right crawlers, a traveling motor 31 for driving the left crawler and a traveling motor 31 for driving the right crawler are provided. The traveling motor 31 may be, for example, a hydraulic motor or an electric motor (the same applies to the slewing motor 33). The slewing motor 33 slews the upper slewing body 13 with respect to the lower body 11. The boom cylinder 35a rotates (lifts and lowers) the boom 15a with respect to the upper slewing body 13. The boom cylinder 35a is, for example, a hydraulic cylinder (the same applies to the arm cylinder 35b and the tip attachment cylinder 35c). The arm cylinder 35b rotates the arm 15b with respect to the boom 15a. The tip attachment cylinder 35c rotates the tip attachment 15c with respect to the arm 15b. When the tip attachment 15c itself is drivable, for example, like a device for clamping an object, an actuator 30 for driving the tip attachment 15c may be provided.

[0026] The engine 39 is a drive source of the work machine 10. The engine 39 drives the pump 21 (see FIG. 3). The engine 39 may drive a generator (not shown). Note that what drives the pump 21 does not have to be the engine 39 and may be an electric motor.

[0027] The detection unit 40 detects various states. Some or all of the detection unit 40 may be mounted on the work machine 10 or may be arranged outside the work machine 10. The same applies to the input unit 60, the controller 70, and the output unit 80, which will be described later, that they may be mounted on the work machine 10 or may be arranged outside the work machine 10. The detection unit 40 includes a pump pressure detection unit 40p (see FIG. 3), a position detection unit 41, an imaging device 43, and an attitude detection unit 50.

[0028] As shown in FIG. 3, the pump pressure detection unit 40p detects the pressure of the hydraulic oil discharged by the pump 21 (pump pressure). The pump pressure detection unit 40p may be provided inside the pump 21. The pump pressure detection unit 40p may be provided outside the pump 21. For example, it may be provided in an oil passage (pipe) through which the hydraulic oil discharged by the pump 21 flows. The pump pressure detection unit 40p may be provided at a portion having the same or substantially the same oil pressure as the discharge port (outlet) of the pump 21 among the oil passages through which the hydraulic oil discharged by the pump 21 flows. The pump pressure detection unit 40p may be provided between the pump 21 and the control valve 25 (in the oil passage of the hydraulic oil). When a plurality of pumps 21 are provided, a plurality of pump pressure detection units 40p are also provided.

[0029] The position detection unit 41 (see FIG. 1) detects the position of the measurement object. The position detection unit 41 shown in FIG. 1 detects the position of a specific part of the working machine 10. For example, the position detection unit 41 may detect the position of a specific part of the upper swing body 13, or may detect the position of a specific part of the attachment 15. The position detection unit 41 may detect the position using electromagnetic waves (such as light and radio waves). The position detection unit 41 may use a satellite positioning system. For example, it may use GNSS (global navigation satellite system). The position detection unit 41 may use a (ground-based) transmitter and receiver that do not use satellites. For example, it may use a total station. The position detection unit 41 may detect the direction (orientation) of the measurement object (the detection unit 40 may include a direction detection unit). The position detection unit 41 may detect the azimuth of the measurement object using geomagnetism. The position detection unit 41 may calculate the position and direction of the measurement object based on the position information detected by a plurality of types of devices.

[0030] The imaging device 43 images an object to be imaged. The object to be imaged may include the working machine 10 or may include the surroundings of the working machine 10. The imaging device 43 may detect a two-dimensional image or may detect a three-dimensional image (distance image) having depth information. The imaging device 43 may be a passive type or an active type. Specifically, the imaging device 43 may include a camera (monocular camera) that detects two-dimensional information. The imaging device 43 may include a stereo camera that detects three-dimensional information. The imaging device 43 may irradiate the object to be imaged with a wave such as an electromagnetic wave and detect the reflected wave to detect the three-dimensional information of the object to be imaged. The imaging device 43 may include a TOF (Time Of Flight) sensor that detects a distance based on the time from when the wave is irradiated until the reflected wave returns, or may include a sensor that detects a distance based on the frequency of the reflected wave. The imaging device 43 may include a device that detects three-dimensional information using light (for example, laser light), and may include, for example, LiDAR (Light Detection and Ranging). The imaging device 43 may include a device that detects three-dimensional information using radio waves (for example, a millimeter-wave radar, etc.). The imaging device 43 may detect the three-dimensional information of the object to be imaged based on the three-dimensional image (distance image) and the two-dimensional image.

[0031] The posture detection unit 50 detects the posture of the working machine 10. The posture detection unit 50 may include one or more types of detection devices. The posture detection unit 50 may include a detection device (such as a rotary encoder) that detects information on the angle of one element of the working machine 10 with respect to another element. The posture detection unit 50 may include a stroke sensor that detects the stroke of a cylinder (such as the boom cylinder 35a) that moves the attachment 15. The posture detection unit 50 may include an inclination sensor that detects the angle (inclination) with respect to the horizontal direction. The posture detection unit 50 may include a sensor (such as a gyro sensor) that detects the angular velocity with respect to the work site, and may also include a sensor that detects the acceleration with respect to the work site. The posture detection unit 50 may include an inertial measurement device or the like. The posture detection unit 50 may include the above-described position detection unit 41. In this case, the posture detection unit 50 may detect the posture of the working machine 10 based on the position information detected by the position detection unit 41. The posture detection unit 50 may include the above-described imaging device 43. The posture detection unit 50 may detect the posture of the working machine 10 based on image recognition of a two-dimensional image. The posture detection unit 50 may detect the posture of the working machine 10 based on a three-dimensional image (distance image). The posture detection unit 50 may detect the posture of the working machine 10 based on a three-dimensional image and a two-dimensional image. The posture detection unit 50 includes a reference position detection unit 51, an inclination detection unit 52, a turning detection unit 53, a boom detection unit 55a, an arm detection unit 55b, and a tip attachment detection unit 55c.

[0032] The reference position detection unit 51 detects the position and orientation of the reference position (reference position) of the working machine 10 with respect to the work site. The reference position of the working machine 10 is, for example, a specific position of the upper swing body 13 or the lower body 11. The reference position of the working machine 10 may be the attachment portion (boom foot) of the boom 15a to the upper swing body 13, or a specific position on the turning center axis of the upper swing body 13 with respect to the lower body 11. The reference position detection unit 51 detects the position and orientation with respect to the work site based on information detected by, for example, the position detection unit 41 or the imaging device 43. In FIG. 1, the reference position detection unit 51 and the position detection unit 41 are marked with their symbols at the positions of the GNSS antennas in the case where detection is performed by a positioning system using GNSS.

[0033] The inclination detection unit 52 detects the inclination of the working machine 10 with respect to the horizontal direction. The inclination detection unit 52 may detect the inclination of the working machine 10 based on information detected by a device (such as a gyro sensor, an acceleration sensor, an inertial measurement device, etc.) that detects the inclination with respect to the horizontal direction. The inclination detection unit 52 may detect the inclination of the working machine 10 with respect to the horizontal direction based on information detected by, for example, the position detection unit 41 or the imaging device 43.

[0034] The turning detection unit 53 detects information (such as angle, angular velocity, angular acceleration, etc.) of the turning of the upper swing body 13 with respect to the lower body 11. The turning detection unit 53 may detect the turning angle (turning angle) of the upper swing body 13 with respect to the lower body 11 (it may also be a turning angle sensor), may detect the angular velocity (turning angular velocity), or may detect the angular acceleration (turning angular acceleration). The turning detection unit 53 may detect the turning information based on information detected by an angle sensor attached to the rotation axis or the rotation support portion (such as a slewing bearing) of the upper swing body 13 with respect to the lower body 11. The turning detection unit 53 may detect the turning information based on information detected by the position detection unit 41 or the imaging device 43.

[0035] The boom detection unit 55a detects the posture of the boom 15a. The boom detection unit 55a may detect the angle (inclination, rotation angle) of the boom 15a with respect to the horizontal direction or with respect to the upper swing body 13 (it may also be a boom angle sensor), may detect the rotational angular velocity, or may detect the rotational angular acceleration. The point that angles with respect to the horizontal direction or with respect to the components of the working machine 10 may be detected also applies to the arm detection unit 55b and the tip attachment detection unit 55c. The boom detection unit 55a may detect the posture of the boom 15a based on the information detected by the position detection unit 41, the imaging device 43, or the like.

[0036] The arm detection unit 55b detects the posture of the arm 15b. The tip attachment detection unit 55c detects the posture of the tip attachment 15c. Specific examples of the arm detection unit 55b and the tip attachment detection unit 55c are the same as the specific examples of the boom detection unit 55a.

[0037] The input unit 60 is a part (input device) for inputting information. The input unit 60 is operated by an operator and outputs a signal corresponding to the operation. The input unit 60 outputs information to the controller 70. The input unit 60 may be provided with a touch panel, may be provided with a mouse, may be provided with a keyboard, or may be provided with a switch. The input unit 60 may be provided on a tablet, may be provided on a smartphone, or may be provided on a personal computer. The input unit 60 may be provided on the working machine 10, for example, may be provided inside the cab 13c. The input unit 60 may be provided on a remote control device for remotely operating the working machine 10. As shown in FIG. 2, the input unit 60 includes an operation unit 61 and an automatic control switch 63. Note that the input unit 60 may include a part for inputting information other than the operation unit 61 and the automatic control switch 63. Also, in FIGS. 2 and 6, the automatic control switch 63 is described as "Automatic Control SW".

[0038] The operation unit 61 is operated by the operator. Operations for moving the working machine 10 are input to the operation unit 61 shown in FIG. 2. The operation unit 61 may include a lever (operation lever) or may include a pedal (operation pedal).

[0039] The automatic control switch 63 is a part (automatic control selection unit) (for example, an automatic driving switch) that allows the operator to select whether to perform automatic control of the working machine 10. Details of the automatic control will be described later.

[0040] The controller 70 is a computer that performs signal input / output, calculation (processing), information storage, etc. The functions of the controller 70 are realized by a program stored in the storage unit of the controller 70 being executed by the calculation unit. The controller 70 and other devices may be connected by wireless communication or may be connected by wired communication. When there are a plurality of components of the controller 70, the components of the controller 70 may be connected by wireless communication or may be connected by wired communication. For example, information is input to the controller 70 from the detection unit 40 and the input unit 60. For example, the controller 70 performs various controls. Specifically, for example, the controller 70 controls the actuator 30. Also, the controller 70 performs target speed correction control and the like, which will be described later. For example, the controller 70 outputs a command (signal) for operating the working machine 10 to the drive control unit 17. As described above, the controller 70 may be mounted on the working machine 10 or may be arranged outside the working machine 10. The controller 70 may be distributed and arranged in a plurality of parts (may constitute a distributed system). The controller 70 includes an automatic control controller 71 and a vehicle body controller 73.

[0041] The automatic control controller 71 performs processing related to automatic control. For example, the automatic control controller 71 is an automatic driving controller that performs processing related to automatic driving. The automatic control controller 71 automatically controls the work machine 10 so that the work machine 10 moves according to a work plan (described later). The automatic control controller 71 outputs a command to the drive control unit 17 via the vehicle body controller 73 so that the work machine 10 moves according to the work plan. The automatic control controller 71 controls the movement of the work machine 10 based on the posture detected by the posture detection unit 50. Focusing on the functions of the automatic control controller 71, the automatic control controller 71 includes a detection information processing unit 71a, a work plan setting unit 71b, a work plan modification unit 71c, and a target command calculation unit 71d.

[0042] The detection information processing unit 71a receives information from the detection unit 40 and the input unit 60 (the automatic control switch 63 in the example shown in FIG. 2). The detection information processing unit 71a processes the input information.

[0043] The work plan setting unit 71b sets a work plan (described later).

[0044] The work plan modification unit 71c modifies the work plan. The work plan modification unit 71c (the vehicle body equipment specification work plan modification processing unit) performs processing to modify the work plan based on, for example, the capabilities (specifications) of the equipment of the work machine 10. The work plan modification unit 71c performs the target speed modification control described later.

[0045] The target command calculation unit 71d calculates a command to be output from the automatic control controller 71 to the vehicle body controller 73. The target command calculation unit 71d is, for example, a target speed command calculation unit that calculates a command for the target speed V (see FIG. 1) of the actuator 30. The target command calculation unit 71d outputs a command to the vehicle body controller 73.

[0046] The vehicle body controller 73 controls the movement of the work machine 10 and so on. Focusing on the functions of the vehicle body controller 73, the vehicle body controller 73 includes a target command processing unit 73a, a drive command calculation unit 73b, and an output limit processing unit 73c.

[0047] The target command processing unit 73a receives the command output by the automatic controller 71. The target command processing unit 73a processes the received command. For example, the target command processing unit 73a is a target speed command processing unit that processes a command for the target speed V (see FIG. 1) of the actuator 30.

[0048] The drive command calculation unit 73b calculates a command to be output to the drive control unit 17. For example, when the actuator 30 is driven by hydraulic pressure, the drive command calculation unit 73b calculates a command for controlling the hydraulic circuit 20 that controls the actuator 30. Specifically, the drive command calculation unit 73b is a solenoid valve command calculation unit that calculates a command for a solenoid valve (not shown) of the hydraulic circuit 20. For example, when the actuator 30 is driven by electric power, the drive command calculation unit 73b calculates a command for controlling an electric circuit (an example of the drive control unit 17) that controls the actuator 30.

[0049] The output limit processing unit 73c performs processing of output limit of the actuator 30 (output limit control described later).

[0050] The output unit 80 is a device that outputs information. The output unit 80 outputs information based on the signal output from the controller 70. The output unit 80 outputs (notifies, instructs) information to the operator. The output unit 80 may output light (such as display), may output sound, or may output vibration. When the output unit 80 outputs light, the output unit 80 may include a device (monitor) that performs display (or a display unit). The output unit 80 may be provided on a tablet, may be provided on a smartphone, or may be provided on a personal computer. The output unit 80 may be provided, for example, inside the cab 13c (see FIG. 1). The output unit 80 may be provided on a remote operation device for remotely operating the work machine 10. For example, the output unit 80 may output the content of the work by the automatic control of the work machine 10. The output unit 80 may output information on target speed correction control (described later).

[0051] (Operation) The target orbit setting system 1 is configured to operate as follows.

[0052] (Operation of the working machine 10) As described above, the working machine 10 may be operated by an operator in the cab 13c, may be remotely operated by the operator from outside the working machine 10 (remote operation device), or may be automatically operated.

[0053] The working machine 10 is a machine that utilizes information and communication technology (ICT) (for example, ICT construction machinery).

[0054] For example, the working machine 10 may operate by machine control (MC) (semi-automatic operation). Specifically, a work plan is set in the controller 70. Then, the operator operates only some elements of the attachment 15 (for example, only the boom 15a). At this time, the controller 70 automatically controls the elements that are not operated by the operator (for example, the arm 15b and the tip attachment 15c) so that the working machine 10 moves according to the work plan. At this time, the controller 70 controls the operation of the working machine 10 based on the information detected by the attitude detection unit 50 (the same applies to the case of automatic operation). As a result, the working machine 10 moves according to the work plan.

[0055] Also, for example, the working machine 10 may operate by automatic operation. In this case, the controller 70 controls the operation of the working machine 10 so that the working machine 10 automatically moves according to the work plan.

[0056] (Setting of the work plan) The work plan setting unit 71b (see FIG. 2) sets the work plan of the working machine 10. The work plan is information regarding the target of the work of the working machine 10. The work plan may include information on the target movement of the attachment 15. The work plan may include information on the target movement of the working machine 10.

[0057] The operation plan setting unit 71b sets a target trajectory (an example of an operation plan). As shown in FIG. 1, the target trajectory includes information on the target path PA of the object OB and information on the target speed V of the object OB.

[0058] The target path PA is the path that the object OB aims for. For example, the target path PA is the path that a specific part 15s of the attachment 15 aims for. The target path PA may be information on the path that a specific part of the work machine 10 aims for when the work machine 10 travels. The target path PA is, for example, information including information on the positions (coordinates) of a plurality of target points P and information on the order of each target point P. The target trajectory is information obtained by adding time information to the information on the target path PA. The time information may be the time between two points or information on the time of day. The time between two points is the target value of the moving time of the object OB (for example, the specific part 15s) between two adjacent (sequentially continuous) target points P. The information on the time of day is information on the time (target arrival time) when the specific part 15s reaches the target point P. The target trajectory includes information on the target speed V of the object OB. Specifically, the target trajectory has information on the position of the target point P and time information, and as a result, includes information on the target speed V of the object OB. By adjusting the time information, the target speed V of the object OB is adjusted (see FIG. 4). Note that the target trajectory may directly include information on the target speed V itself of the object OB (not as a result of having information on the position of the target point P and time information, but directly). The above "target speed V of the object OB" may be the speed that the object OB (for example, the specific part 15s, etc.) itself aims for, or the speed that the actuator 30 that moves the object OB aims for.

[0059] Parameters representing positions in the work plan (specifically, parameters representing the position of the target point P) can be set in various ways. The coordinate axes of the parameters representing positions in the work plan may be set in any manner. The parameters representing positions in the work plan may be represented by coordinate axes (absolute coordinates) based on the work site. The parameters representing positions in the work plan may be represented by coordinate axes (machine coordinates) based on the work machine 10. For example, the origin of the machine coordinates may be set at the attachment part (boom foot pin) of the boom 15a to the upper swing body 13, or may be set at the swing center of the upper swing body 13 with respect to the lower body 11. Specifically, the work plan may include information on the front-rear direction, up-down direction, swing angle of the upper swing body 13 with respect to the lower body 11, and the angle (posture) of the tip attachment 15c, based on the upper swing body 13. The parameters representing positions in the work plan may include the positions of the actuators 30 that move the work machine 10 (e.g., the stroke position of a cylinder, the rotation angle of a motor, etc.).

[0060] The work plan may be set by the operator moving the work machine 10 (by teaching), or may be set by the operator operating the input unit 60 (by manual operation). The work plan may be automatically set by the controller 70, for example, automatically set by the controller 70 based on the information detected by the detection unit 40 (such as obstacle information).

[0061] The work plan may be corrected before the target speed correction control described later is performed. The work plan may be corrected by the operator operating the input unit 60 (by manual operation). The work plan may be automatically corrected by the controller 70 (such as the work plan correction unit 71c) based on the information detected by the detection unit 40 (such as obstacle information).

[0062] FIG. 4 shows an example of the work plan information. The graph shown in FIG. 4 shows the relationship between the target position and the time in the work plan. Specifically, the vertical axis of the graph shown in FIG. 4 indicates the target positions of the three coordinates (for example, the X-axis, Y-axis, Z-axis, etc.) of the target point P that is the target of the specific part 15s of the attachment 15 shown in FIG. 1. The horizontal axis of this graph indicates the time in the work plan. The times t1 to t4 shown in FIG. 4 are the times (time, target arrival time) at which the specific part 15s is targeted to be arranged at each target point P (P1 to P4) shown in FIG. 1. The time t4a (see FIG. 4) is the target arrival time of the target point P (for example, P4) after the target speed V of the specific part 15s at times t3 to t4 (see FIG. 4) is corrected by the target speed correction control described later.

[0063] (Overview of Target Speed Correction Control) As described above, the target trajectory includes the information of the target path PA (position) and the information of the target speed V (for example, the relationship between position and time). The controller 70 performs target speed correction control, which is a control to correct the target speed V of the target trajectory without changing the target path PA of the target trajectory. The target speed correction control includes correction of the target speed V (referred to as "correction of the target speed V by device capabilities") to keep the required ability A2 (see FIG. 5) described later within the specific ability range A1 (see FIG. 5) described later. Further, the target speed correction control may include "correction of the target speed V by output limit control" described later.

[0064] (Correction of Target Speed V by Device Capabilities) When the actuator 30 moves the object OB according to the target trajectory, the ability of the actuator 30 expected to be used is defined as the required ability A2 (see FIG. 5). There is a possibility that this required ability A2 may be outside the range of a specific ability range of the actuator 30 (specific ability range A1 (see FIG. 5)). [Example 1 of being outside the range] For example, when the required ability A2 is outside the range of the ability that the actuator 30 shown in FIG. 1 can output (an example of the specific ability range A1), it is impossible for the actuator 30 to move the object OB according to the target trajectory (the target trajectory cannot be realized). [Example 1a of being outside the range] When the required ability A2 exceeds the maximum ability of the actuator 30 (an example of the maximum value of the specific ability range A1), the target trajectory cannot be realized. [Example 1b of being outside the range] When the required ability A2 is less than the minimum ability of the actuator 30, the target trajectory cannot be realized. [Example 2 of being outside the range] When the required ability A2 is less than the ability within the range where the ability of the actuator 30 can be fully utilized (an example of the specific ability range A1), there is a problem that the workability of the machine tool 10 is poor.

[0065] Therefore, the controller 70 shown in FIG. 2 (for example, the work plan modification unit 71c (the same applies to the following controller 70 unless otherwise specified)) corrects the target speed V of the target trajectory so that the required ability A2 shown in FIG. 5 falls within the specific ability range A1. Hereinafter, the controller 70 and the components of the controller 70 will be described with reference to FIG. 2. Also, the specific ability range A1 and the required ability A2 will be described with reference to FIG. 5.

[0066] (Specific ability range A1) The controller 70 sets a specific ability range A1, which is a specific range of the ability of the actuator 30 shown in FIG. 1. The ability of the actuator 30 includes the ability of the actuator 30 itself and the ability of the actuator 30 determined by the ability of the device that moves the actuator 30 (the ability outside the actuator 30). The controller 70 sets the specific ability range A1 based on the ability of the actuator 30 itself and the ability outside the actuator 30.

[0067] For example, when the actuator 30 is driven by hydraulic pressure, the "ability of the device that drives the actuator 30" includes the ability of the pump 21 that supplies hydraulic fluid to the actuator 30 shown in FIG. 3, and the ability of the engine 39 that drives the pump 21. The ability of the pump 21 is, for example, the minimum flow rate, the maximum flow rate, or the preferred flow rate range of the pump 21. The ability of the engine 39 is, for example, the minimum output, the maximum output, or the preferred output range of the engine 39. Further, when the actuator 30 is electric, the "ability of the device that drives the actuator 30" includes, for example, the ability of the power supply (minimum output, maximum output, preferred output range).

[0068] The "ability" of the specific ability range A1 may include output (such as torque, thrust, etc.), acceleration, speed, length of time, etc., either of the actuator 30 itself or external to the actuator 30 (details will be described later).

[0069] The "range" of the specific ability range A1 may be the range of the available ability of the actuator 30, that is, the range between the minimum ability and the maximum ability. This "range" may be within the range of the available ability of the actuator 30 and also the range that is preferably used. This "preferred range" can be set (determined) from various viewpoints. The preferred range may be set, for example, from the workability of the working machine 10 shown in FIG. 1, or may be set from the energy consumption (further specific examples will be described later).

[0070] The controller 70 sets the specific ability range A1. This "setting" may be that the controller 70 reads the specific ability range A1 (such as vehicle body equipment specification setting information) set in the storage unit (not shown). This "setting" may be that the controller 70 acquires the information input to the input unit 60 (for example, manually input by the operator). This "setting" may include calculations by the controller 70. For example, the "setting" may include calculating the ability of the actuator 30 based on the information on the ability of the device that drives the actuator 30 (specific examples will be described later).

[0071] (Specific example of specific ability range A1: Output) The specific ability range A1 may include the range of output. For example, the specific ability range A1 may include the range of output (e.g., torque, thrust) of the actuator 30. In this case, the minimum value of the specific ability range A1 may be 0 (a state without output), or an output greater than 0. For example, when the actuator 30 is driven by hydraulic pressure, the minimum value of the specific ability range A1 may be set based on the output of the actuator 30 when the minimum flow rate of the pump 21 (see FIG. 3) is supplied to the actuator 30. Also, the maximum value of the specific ability range A1 may be set based on the maximum output (e.g., maximum torque, maximum thrust) within the range that the actuator 30 can output. The specific ability range A1 may be within the range that the actuator 30 can output and within the range where it is preferable to output.

[0072] (Specific example of specific ability range A1: Acceleration) The specific ability range A1 may include the range of acceleration. Specifically, the specific ability range A1 may include the range of acceleration that the actuator 30 acts on the object OB. In this case, the minimum value of the specific ability range A1 may be 0. The maximum value of the specific ability range A1 may be the maximum acceleration (output maximum acceleration) that the actuator 30 can act on the object OB. The specific ability range A1 may be the acceleration that the actuator 30 acts on the object OB and within the range of preferable acceleration.

[0073] For example, the controller 70 may calculate the specific ability range A1 of acceleration (e.g., output maximum acceleration, etc.) based on the inertial information of the object OB and the information of the maximum output of the actuator 30.

[0074] Specific examples of the inertial information of the object OB are as follows. When the object OB rotates, the inertial information includes information on the moment of inertia of the object OB. When the object OB moves straight (translates), the inertial information of the object OB includes information on the inertial mass of the object OB. Specifically, assume that the actuator 30 is the swivel motor 33, and the object OB is the upper swivel body 13 and the attachment 15. In this case, the inertial information of the object OB includes the moment of inertia of the upper swivel body 13 and the attachment 15 with respect to the swivel center of the upper swivel body 13 relative to the lower main body 11.

[0075] When the machine body 10a is included in the object OB and the machine body 10a is inclined with respect to the horizontal direction, it is preferable that the inertial information of the object OB is information in which the inclination information is taken into account. The inclination information includes information on the direction of the inclination and information on the amount of the inclination.

[0076] When the attachment 15 is included in the object OB and the attachment 15 is capturing a captured object (such as earth and sand), it is preferable that the inertial information of the object OB is information in which the inertial information of this captured object is taken into account.

[0077] (Specific example of the specific ability range A1: speed) The specific ability range A1 may include a speed range. Specifically, the specific ability range A1 may include the speed range of the object OB when the actuator 30 moves the object OB. For example, similar to the specific ability range A1 of the acceleration, the controller 70 may calculate the specific ability range A1 of the speed based on the output of the actuator 30 and the inertial information of the object OB (the same applies to the specific ability range A1 of time).

[0078] (Specific example of the specific ability range A1: time) The specific ability range A1 may include a time range. Specifically, the specific ability range A1 may include the range of the length of time it takes for the actuator 30 to displace the object OB to a certain position. Also, the specific ability range A1 may include the range of the length of time it takes for the actuator 30 to set the object OB to a certain speed or a certain acceleration.

[0079] (Required ability A2) As described above, the controller 70 corrects the target speed V of the target trajectory so that the required ability A2 falls within the range of the specific ability range A1. Therefore, the controller 70 calculates the required ability A2. The required ability A2 is the ability of the actuator 30 required for the actuator 30 to move the object OB according to the target trajectory. The required ability A2 is the ability of the actuator 30 expected to be used when it is assumed that the actuator 30 moves the object OB according to the target trajectory. The "ability" of the required ability A2 may be an output, an acceleration, a speed, or a time, similar to the "ability" of the specific ability range A1. For example, the required ability A2 may be the acceleration of the object OB (referred to as the required acceleration) required for the actuator 30 to move the object OB according to the target trajectory. The required acceleration is the expected acceleration of the object OB when it is assumed that the actuator 30 moves the object OB according to the target trajectory. The specific ability range A1 and the required ability A2 need to be comparable. For example, when the specific ability range A1 is represented by acceleration, the required ability A2 is also represented by acceleration.

[0080] The controller 70 calculates the required ability A2 as follows, for example. The controller 70 calculates the required ability A2 based on the information of the target trajectory. For example, the controller 70 may calculate the required ability A2 based on the information of the target speed V (the relationship between the target point P and the time information). The controller 70 may calculate the required ability A2 based on the information of the target path PA of the object OB (specifically, the information of the position of each target point P). The controller 70 may calculate the required ability A2 based on the information of the target trajectory and the inertia information of the object OB.

[0081] (Modify to confine the required ability A2 within the specific ability range A1) When the required ability A2 is outside the range of the specific ability range A1, the controller 70 modifies the target speed V without changing the target path PA so that the modified required ability A2 falls within the specific ability range A1.

[0082] When the required ability A2 is greater than the specific ability range A1, the controller 70 slows down (modifies to a slower speed) the target speed V so that the modified required ability A2 falls within the specific ability range A1. For example, the controller 70 slows down the target speed V so that the modified required ability A2 becomes the maximum value (or approximately the maximum value) of the specific ability range A1.

[0083] When the required ability A2 is less than the specific ability range A1, the controller 70 speeds up the target speed V so that the modified required ability A2 falls within the specific ability range A1. For example, the controller 70 speeds up the target speed V so that the modified required ability A2 becomes the minimum value (or approximately the minimum value) of the specific ability range A1.

[0084] Specifically, for example, a case where the required ability A2 is represented by acceleration (required acceleration) and the maximum value of the specific ability range A1 is the above-mentioned output maximum acceleration will be described. When the required acceleration is greater than the output maximum acceleration, with the capabilities of the devices of the working machine 10 (of the actuator 30), it is impossible for the actuator 30 to move the object OB along the target trajectory (it is impossible to realize the target trajectory). Therefore, the controller 70 modifies the target speed V so that the modified required acceleration falls below the output maximum acceleration. At this time, the controller 70 calculates the modified acceleration based on, for example, the output information of the actuator 30. At this time, the controller 70 may further calculate the modified acceleration based on the inertia information of the object OB. The controller 70 calculates the modified target speed V based on the modified acceleration. Thereby, with the capabilities of the devices of the working machine 10, it becomes possible for the actuator 30 to move the object OB along the target path PA of the target trajectory.

[0085] (Modification of Target Speed V by Output Limit Control) The controller 70 may perform modification of the target speed V by output limit control as the target speed modification control.

[0086] (Output Limit Control) Output limit control is the control performed by the controller 70 (specifically, the output limit processing unit 73c of the vehicle body controller 73). Output limit control is the control that limits the output of the actuator 30. Output limit control is the control (output limit due to the influence of disturbances) that limits the output of the actuator 30 according to the capabilities of the device that moves the actuator 30. Output limit control is performed immediately (in real time) according to the movement situation of the working machine 10 when the working machine 10 moves.

[0087] Specifically, the output limit control is performed as follows. For example, as shown in FIG. 3, when the actuator 30 is driven by hydraulic pressure, the actuator 30 is driven by the hydraulic oil supplied from the pump 21, and the pump 21 is driven by the engine 39. Therefore, the output limit processing unit 73c limits the output of the pump 21 by output limit control so that the output of the pump 21 does not exceed the set value (such as the maximum output) of the output of the engine 39. Specifically, the output limit processing unit 73c performs PQ control (an example of output limit control) that limits the flow rate of the hydraulic oil discharged by the pump 21 according to the pressure of the hydraulic oil discharged by the pump 21. The pressure of the hydraulic oil discharged by the pump 21 is detected by the pump pressure detection unit 40p. The flow rate of the hydraulic oil discharged by the pump 21 is controlled by the pump capacity control unit 23. The output limit processing unit 73c limits the flow rate of the hydraulic oil supplied from the pump 21 to the actuator 30 by this PQ control. As a result, the speed (output) of the actuator 30 is limited. Also, for example, when the actuator 30 shown in FIG. 1 is electric, the output limit processing unit 73c limits the output of the actuator 30 by output limit control according to the output (electric power) of the power source, etc.

[0088] (Specific Example of Modification of Target Speed V by Output Limit Control) The controller 70 (specifically, the work plan modification unit 71c) modifies the target speed V based on the output of the actuator 30 modified by the output limit control. Also in this case, similar to the above-mentioned "modification of the target speed V due to equipment capabilities", the controller 70 modifies the target speed V of the target trajectory without modifying the target path PA of the target trajectory. As described above, the output limit control is performed immediately (in real time) according to the situation of the working machine 10 (such as pump pressure, etc.) when the working machine 10 is moving. Therefore, the modification of the target speed V by the output limit control is also performed immediately according to the output limit control.

[0089] For example, the vehicle body controller 73 (specifically, the output limit processing unit 73c) outputs the modified speed command by the output limit control to the work plan modification unit 71c of the automatic control controller 71. Specifically, the vehicle body controller 73 moves the actuator 30 along the target trajectory to move the object OB, and immediately performs output limit control according to the situation when this actuator 30 moves. At this time, the vehicle body controller 73 outputs (feeds back) the modified speed command by the output limit control to the work plan modification unit 71c. Then, the work plan modification unit 71c modifies the target speed V of the actuator 30 based on the modified speed command. Specifically, the work plan modification unit 71c slows down the target speed V (a more specific example will be described later).

[0090] (Specific example of modification of the target speed V) As described above, the controller 70 may correct the target speed V based on the equipment capabilities and may also correct the target speed V based on the output limit. Specifically, the controller 70 corrects these target speeds V as follows. The controller 70 corrects the target speed V by correcting the time information of the target trajectory (see Fig. 4). Specifically, the controller 70 may correct the target speed V by increasing (or decreasing) the time between two points between the target points P. The controller 70 may correct the target speed V by delaying (or advancing) the time (time, target arrival time) that is supposed to pass through the target point P (it may also calculate the arrival correction time). When the target speed V itself is set as the target trajectory, the controller 70 may correct this target speed V. When the target speed V is represented by a plurality of coordinates (for example, the X-axis, Y-axis, Z-axis, etc.), the controller 70 calculates the corrected target speed V for each coordinate.

[0091] (Correction of the target speed V without changing the target path PA) As described above, the controller 70 corrects the target speed V of the target trajectory without changing the target path PA of the target trajectory. As a result, if the original target path PA (before correction of the target speed V) is appropriately set, the target path PA when the actuator 30 moves the object OB according to the target trajectory after the target speed V is corrected will also be an appropriate path. For example, if the original target path PA is set so that the object OB does not interfere with obstacles or the like, the actuator 30 can move the object OB without interfering with obstacles or the like when moving the object OB according to the corrected target trajectory.

[0092] (Specific example of correction of the target speed V without changing the target path PA) When a target trajectory in which only one actuator 30 moves is set and the target speed V of this actuator 30 is corrected, the controller 70 can correct the target trajectory without changing the target path PA by correcting only the target speed V of this one actuator 30.

[0093] On the other hand, a target trajectory for the movement of a plurality of actuators 30 may be set. For example, a target trajectory for traveling may be set such that two (left and right) traveling motors 31 move. Further, for example, a target trajectory for a specific part 15s may be set such that two or more elements among the upper swing body 13, the boom 15a, the arm 15b, and the tip attachment 15c move.

[0094] When the controller 70 corrects the target speed V without changing the target path PA in the target trajectory for the movement of the plurality of actuators 30, the following processing is performed. The controller 70 calculates, for each of the plurality of actuators 30, a speed correction amount (referred to as a necessary correction amount) necessary to keep the required ability A2 within the specific ability range A1. The controller 70 corrects the target speed V of all of the above-mentioned "plurality of actuators 30" according to the actuator 30 having the largest necessary correction amount among the plurality of actuators 30. At this time, the controller 70 does not change the speed ratio among the plurality of actuators 30 before and after the correction of the target speed V. By this processing, the controller 70 can correct the target speed V without changing the target path PA before and after the correction of the target speed V.

[0095] A further specific example of the processing of the controller 70 for correcting the target speed V without changing the target path PA is as follows. The controller 70 calculates the following "necessary correction ratio" for each of the plurality of actuators 30. The necessary correction ratio is the ratio (for example, V2 / V1) between the target speed V before correction (referred to as V1) and the target speed V (referred to as V2) when it is assumed that the speed is corrected by the necessary correction amount (described above).

[0096] When the correction of the target speed V is a correction that slows down the target speed V, the controller 70 determines the required correction ratio (lower selection value) of the actuator 30 with the smallest required correction ratio (V2 / V1) (referred to as the minimum required correction ratio). Then, based on the minimum required correction ratio, the controller 70 corrects (slows down in this example) the target speed V of all the actuators 30 (all of the actuators 30 related to the target trajectory to be corrected). Specifically, the controller 70 sets the product of the target speed V before correction of each actuator 30 and the minimum required correction ratio among all the actuators 30 as the target speed V after correction of all the actuators 30.

[0097] When the correction of the target speed V is a correction that speeds up the target speed V, the controller 70 determines the required correction ratio (referred to as the maximum required correction ratio) of the actuator 30 with the largest required correction ratio (V2 / V1). Then, based on the maximum required correction ratio, the controller 70 corrects (speeds up here) the target speed V of all the actuators 30. Specifically, the controller 70 sets the product of the target speed V before correction of each actuator 30 and the maximum required correction ratio among all the actuators 30 as the target speed V after correction of all the actuators 30.

[0098] (Output by the output unit 80) The controller 70 (for example, the automatic control controller 71) preferably causes the output unit 80 to output information on the target speed correction control. The output unit 80 preferably notifies the operator of the information on the target speed correction control.

[0099] When the target speed correction control is not being performed, the output unit 80 may output that the target speed correction control is not being performed. The output unit 80 may output the presence or absence of the target speed correction control.

[0100] The output unit 80 preferably outputs that the target speed V has been corrected by the target speed correction control and notifies the operator. The reasons for this output are as follows. When the target speed V is corrected by the target speed correction control, the actuator 30 and the object OB move at a speed different from the original target speed V (before the correction of the target speed V). Then, the operator may recognize that a malfunction of the actuator 30 has occurred. Therefore, the output unit 80 outputs that the target speed correction control has been performed and notifies the operator. Thus, even when the movements (behaviors) of the actuator 30 and the object OB become different from the movements set in the original work plan, the operator can recognize (grasp) that no malfunction of the actuator 30 has occurred.

[0101] The output unit 80 may output the reason for the correction of the target speed V (the type of the target speed correction control). Specifically, the output unit 80 may output that the target speed V has been corrected due to equipment capabilities, or may output that the target speed V has been corrected due to output limitations.

[0102] The output unit 80 may output how the corrected target speed V has been corrected with respect to the target speed V before correction. Specifically, the output unit 80 may output that the corrected target speed V has become slower or faster compared to the target speed V before correction.

[0103] The output unit 80 may output the amount of correction of the target speed V. For example, the output unit 80 may output the difference or the ratio between the target speed V before correction and the target speed V after correction. The output unit 80 may also output information on the arrival time (travel time) when the object OB moves from, for example, the current position to a certain position. For example, the output unit 80 may output the difference or the ratio between the arrival time before the correction of the target speed V and the arrival time after the correction of the target speed V.

[0104] The timing at which the output unit 80 outputs the information on the target speed correction control can be set in various ways. For example, the correction of the target speed V according to the equipment capabilities can be performed before the working machine 10 moves under automatic control. When the target speed V is corrected before the working machine 10 moves, the output unit 80 may output the information on the target speed correction control before the working machine 10 moves, or may output it while the working machine 10 is moving. Also, for example, the correction of the target speed V due to output limitation is performed while the working machine 10 is moving under automatic control. When the target speed V is corrected while the working machine 10 is moving, the output unit 80 outputs the information on the target speed correction control while the working machine 10 is moving.

[0105] (Output for allowing the operator to select whether to correct the target speed V) The output unit 80 may output an output for allowing the operator to select whether to perform the target speed correction control. For example, there may be a case where it is not preferable for the correction to increase the target speed V to be performed automatically. In this case, it is preferable that the controller 70 performs the correction to increase the target speed V after the operator confirms (grasps) whether to perform the correction to increase the target speed V. Specifically, the output unit 80 outputs an output (such as the display of a confirmation button) for allowing the operator to select whether to perform the correction to increase the target speed V. Then, when it is selected at the input unit 60 to perform the correction, the controller 70 performs the correction to increase the target speed V. When it is not selected at the input unit 60 to perform the correction, the controller 70 does not perform the correction to increase the target speed V.

[0106] Note that the controller 70 may automatically determine whether to perform the correction to increase the target speed V without allowing the operator to select. For example, when the movement of the object OB according to the target trajectory is impossible because the target speed V before the correction is too slow, the controller 70 may automatically determine whether to perform the correction to increase the target speed V. Also, the output unit 80 may output an output for allowing the operator to select whether to correct the target speed V to a lower value (correct it to a slower speed).

[0107] (Specific example of the processing of the controller 70) With reference to the flowchart shown in FIG. 6, a specific example of the processing of the controller 70 will be described. Hereinafter, unless otherwise specified, the description will be made in the order of processing. Note that the order of processing can be changed in various ways. Regarding steps S11 to S31 shown in FIG. 6, the description will be made with reference to FIG. 6.

[0108] In step S11, the controller 70 (specifically, the work plan setting unit 71b) sets a work plan including a target trajectory. At this time, the working machine 10 shown in FIG. 1 is in an idling state. Specifically, the drive source of the actuator 30 is in a driven state (for example, a state where the engine 39 is applied, a state where the power is turned on), and the actuator 30 is in a non-moving state.

[0109] In step S12, the controller 70 (for example, the work plan modification unit 71c) determines whether to modify the work plan (see step S13). The "modification of the work plan" that is the object of determination in this step S12 is specifically the modification of the target speed V according to the equipment capacity. In step S12, whether to modify the target speed V by output limit control (step S22) is not the object of determination. When the controller 70 modifies the work plan (YES in step S12), the processing flow proceeds to step S13 to modify the work plan. When the controller 70 does not modify this work plan (NO in step S12), the processing flow proceeds to step S14.

[0110] In step S13, the controller 70 (specifically, the work plan modification unit 71c) modifies the work plan. Specifically, the controller 70 modifies the target speed V according to the equipment capacity.

[0111] In step S14, the controller 70 (for example, the automatic control controller 71) determines the work plan (including the target trajectory), and outputs the information (determined behavior) of the determined work plan to the output unit 80. The output unit 80 notifies the operator of the information of the determined work plan.

[0112] In step S21, the controller 70 (for example, the automatic control controller 71) determines whether to perform automatic control of the working machine 10. For example, the controller 70 determines whether the automatic control switch 63 (see FIG. 2) is on. For example, the controller 70 does not start (waits) the automatic control of the working machine 10 until it determines to perform automatic control (until it becomes YES in step S21). When the controller 70 determines to perform automatic control (when it is YES in step S21), it starts the automatic control of the working machine 10. Then, the working machine 10 moves by automatic control. While the working machine 10 is moving by automatic control, the controller 70 repeats the processes from step S22 to step S25. For example, the controller 70 repeats the processes from step S22 to step S25 at a predetermined cycle (control cycle).

[0113] In step S22, the controller 70 (for example, the work plan modification unit 71c) corrects the target speed V by output limit control. The controller 70 calculates the corrected target speed V of the actuator 30. The controller 70 corrects the target speed V immediately (in real time) according to the situation of the working machine 10 (such as pump pressure, etc.) when the working machine 10 is moving.

[0114] In step S23, the controller 70 (the work plan modification unit 71c) calculates the time information of the corrected target trajectory from the corrected target speed V. This time information may be, for example, the time between two points or the arrival time as described above.

[0115] In step S24, the controller 70 calculates the time information (such as arrival time, etc.) of the target trajectory at each coordinate (for example, X-axis, Y-axis, Z-axis, etc.) (see FIG. 5). Specifically, for example, the controller 70 substitutes the corrected time information (such as the corrected arrival time) into the time information (such as arrival time) of each coordinate (for example, X-axis, Y-axis, Z-axis, etc.) of each target point P of the target path PA.

[0116] In step S25, the controller 70 (specifically, the automatic control controller 71) determines whether to end the automatic control of the working machine 10. For example, the controller 70 determines whether the automatic control switch 63 (see FIG. 2) is off. When the controller 70 ends the automatic control (YES in step S25), the process proceeds to step S31. When the controller 70 does not end the automatic control (NO in step S25), it continues the automatic control and returns the process to step S22.

[0117] In step S31, the controller 70 (specifically, the automatic control controller 71) ends the automatic control. The working machine 10 stops moving under automatic control and, for example, enters an idling state. After ending the automatic control, the controller 70 may return the process to the start or end the process.

[0118] (Effect of the First Invention) The effects of the target trajectory setting system 1 shown in FIG. 1 are as follows. The target trajectory setting system 1 includes an actuator 30, an object OB, and a controller 70. The actuator 30 is mounted on the working machine 10. The object OB is moved by the actuator 30. The controller 70 controls the actuator 30. The controller 70 sets a target trajectory. The target trajectory includes information on the target path PA of the object OB and information on the target speed V of the object OB. The controller 70 sets a specific ability range A1 (see FIG. 5), which is a specific range of the capabilities of the actuator 30. The controller 70 calculates a required ability A2 (see FIG. 5). The required ability A2 is the ability of the actuator 30 required to move the object OB according to the target trajectory.

[0119] [Configuration 1] The controller 70 performs target speed correction control. The target control correction control is control to correct the target speed V without changing the target path PA so that the corrected required ability A2 falls within the specific ability range A1 when the required ability A2 is outside the specific ability range A1.

[0120] According to the above [Configuration 1], even when a target trajectory is set such that the required ability A2 is outside the specific ability range A1, the actuator 30 can be moved within the specific ability range A1. At this time, the controller 70 corrects the target speed V without changing the target path PA. Therefore, even when a target trajectory is set such that the ability required for the actuator 30 (required ability A2) is outside the specific ability range A1, the deviation between the target path PA and the actual movement of the object OB can be suppressed.

[0121] If the target path PA before correction is set appropriately, the actuator 30 and the object OB can be moved along an appropriate path even when the actuator 30 moves the object OB according to the corrected target trajectory. For example, if the target path PA before correction is set so that the object OB does not interfere with an obstacle, it is possible to suppress the object OB from interfering with the obstacle even when the actuator 30 moves the object OB according to the corrected target trajectory.

[0122] (Effect of the Second Invention) [Configuration 2] When the required ability A2 is greater than the specific ability range A1, the controller 70 slows down the target speed V so that the corrected required ability A2 falls within the specific ability range A1 (see Example 1 in FIG. 5).

[0123] According to the above [Configuration 2], even when a target trajectory is set such that the required ability A2 is greater than the specific ability range A1, the actuator 30 can be moved within the specific ability range A1 by correcting the target speed V to a slower speed. For example, even when a target trajectory is set that requires an ability exceeding the maximum ability of the actuator 30 (an ability that cannot be output), the actuator 30 can be moved within the specific ability range A1 without changing the target path PA by slowing down the target speed V.

[0124] (Effect of the Third Invention) [Configuration 3] When the required ability A2 is smaller than the specific ability range A1, the controller 70 increases the target speed V so that the corrected required ability A2 falls within the specific ability range A1 (see Example 2 in Fig. 5).

[0125] According to the above [Configuration 3], even when a target trajectory is set such that the required ability A2 is smaller than the specific ability range A1, by correcting the target speed V to a high speed, the actuator 30 can be moved within the specific ability range A1. For example, even when a target trajectory is set that requires an ability that cannot fully utilize the capabilities of the actuator 30, by correcting the target speed V to a high speed, the actuator 30 can be moved within the specific ability range A1 without changing the target path PA. As a result, the capabilities of the actuator 30 can be appropriately exerted. Also, for example, even when a target trajectory is set that requires an ability less than the minimum output of the actuator 30, by correcting the target speed V to a high speed, the actuator 30 can be moved within the specific ability range A1 without changing the target path PA.

[0126] (Effect of the Fourth Invention) [Configuration 4] The required ability A2 is the required acceleration. The required acceleration is the acceleration of the object OB required for the actuator 30 to move the object OB according to the target trajectory. The maximum value of the specific ability range A1 is the maximum output acceleration. The maximum output acceleration is the maximum acceleration that the actuator 30 can apply to the object OB. The controller 70 calculates the maximum output acceleration based on the inertial information of the object OB and the information on the maximum output of the actuator 30.

[0127] According to the above [Configuration 4], the controller 70 can appropriately calculate the maximum output acceleration in consideration of the inertial information of the object OB. Therefore, the appropriately calculated maximum output acceleration can be set as the maximum value of the specific ability range A1. Therefore, the specific ability range A1 can be set as an appropriate range. Then, the controller 70 corrects the target speed V without changing the target path PA so that the corrected required ability A2 falls within the specific ability range A1 (the above [Configuration 1]). Therefore, the controller 70 can appropriately calculate the corrected target speed V (appropriately, for example, without being too large or too small).

[0128] (Effect of the Fifth Invention) [Configuration 5] The target trajectory setting system 1 includes an output unit 80 that notifies the operator that the target speed V has been corrected.

[0129] According to the above [Configuration 5], the operator can be made aware that the target speed V has been corrected. Therefore, the operator can be made aware that the movement of the actuator 30 at the corrected target speed V is not a malfunction of the actuator 30.

[0130] (Effect of the Sixth Invention) [Configuration 6] When performing output limit control, which is control to limit the output of the actuator 30, the controller 70 corrects the target speed V based on the output of the actuator 30 corrected by the output limit control.

[0131] According to the above [Configuration 6], even when output limit control is performed, the controller 70 can appropriately correct the target speed V in consideration of the output limit control.

[0132] (Modification Example) The above-described embodiments may be variously modified. For example, various combinations of the modification examples of the above-described embodiments may be made. For example, the number of the constituent elements (including modification examples) of the above-described embodiments may be changed, and some of the constituent elements may not be provided. For example, the connection of each constituent element shown in FIG. 2 may be changed. For example, the arrangement of the constituent elements may be changed. For example, the inclusion relationship of the constituent elements may be variously changed. For example, what has been described as a subordinate constituent element included in a certain superior constituent element may not be included in this superior constituent element and may be included in other constituent elements. For example, what has been described as a plurality of different members or parts may be made into one member or part. For example, what has been described as one member or part may be divided into a plurality of different members or parts. For example, the order of the steps of the flowchart shown in FIG. 6 may be changed, and some of the steps may not be performed. For example, values such as threshold values and set values may be preset in the controller 70, or may be directly set by a manual operation (operation of the input unit 60) of an operator. Values such as threshold values and set values may be calculated in the controller 70 based on information set by a manual operation of an operator, or may be calculated in the controller 70 based on information detected by the detection unit 40. For example, values such as threshold values and set values may not be changeable, may be changed by a manual operation, or may be automatically changed by the controller 70 according to some conditions. For example, the controller 70 may perform processing (such as calculation and determination) substantially the same as the processing (such as calculation and determination) of the above-described embodiments (including modification examples). Various processes may be variously combined. For example, each constituent element may have only a part of each feature (such as acting function, arrangement, shape, operation, etc.).

Explanation of Signs

[0133] 1 Target Orbit Setting System 10 Working Machine 30 Actuator 70 Controller 80 Output Unit A1 Specific Ability Range A2 Required Ability OB Object PA target path V target speed

Claims

1. An actuator mounted on a work machine, An object moved by the actuator, A controller for controlling the actuator, Comprising The controller Sets a target trajectory including information on a target path of the object and information on a target speed of the object, Sets a specific ability range which is a specific range of the ability of the actuator, Calculates a required ability which is the ability of the actuator required for the actuator to move the object according to the target trajectory, When the required ability is outside the range of the specific ability range, performs target speed correction control to correct the target speed without changing the target path so that the corrected required ability falls within the specific ability range, A target trajectory setting system.

2. The target trajectory setting system according to claim 1, When the required ability is greater than the specific ability range, the controller slows down the target speed so that the corrected required ability falls within the specific ability range, A target trajectory setting system.

3. The target trajectory setting system according to claim 1, When the required ability is less than the specific ability range, the controller increases the target speed so that the corrected required ability falls within the specific ability range, A target trajectory setting system.

4. The target trajectory setting system according to claim 1, The required ability is a required acceleration which is the acceleration of the object required for the actuator to move the object according to the target trajectory, The maximum value of the specific ability range is an output maximum acceleration which is the maximum acceleration that the actuator can apply to the object, The controller calculates the output maximum acceleration based on the inertia information of the object and the information on the maximum output of the actuator, A target trajectory setting system.

5. The target trajectory setting system according to claim 1, Comprising an output unit for notifying an operator that the target speed has been corrected, A target trajectory setting system.

6. The target trajectory setting system according to claim 1, When the controller performs output limit control which is control for limiting the output of the actuator, the controller corrects the target speed based on the output of the actuator corrected by the output limit control, A target trajectory setting system.

Images