Work control method, work control system, and target point setting device

Abstract

A conventional technique in which a target point sequence is generated without considering the work content of a constructing machine suffers from the problem that the actual track of the constructing machine may significantly deviate from the target point sequence, depending on the work content of the constructing machine. The work control method according to the present invention comprises a target point setting step (S1) for generating, on the basis of work content information, a work target point sequence indicating a target track on which target points a constructing machine is to move to are plotted, and a constructing machine control step (S2) for controlling the constructing machine in accordance with the work target point sequence.

Description

[Technical field]

[0001] The present invention relates to a work control method, a work control system, and a target point setting device, and in particular to a work control method, a work control system, and a work control device for setting a motion trajectory of a construction machine and causing the construction machine to move along the trajectory. [Background technology]

[0002] In robots including construction machines, a target point is set on a target trajectory, and the target point is traced to operate the controlled part along the target trajectory. In this case, in consideration of work efficiency, it is necessary to move the controlled part as quickly as possible while suppressing deviation from the trajectory. Therefore, Patent Documents 1 and 2 disclose an example of a method for calculating a target point on a target trajectory set in robot control.

[0003] The robot trajectory interpolation device described in Patent Document 1 is a trajectory interpolation device that generates a target trajectory from teaching points that are input in advance in a robot control device, and is characterized in that it is composed of: an interpolation method selection means that, when a broken-line target path defined by connecting three or more consecutive teaching points with straight lines is given, selects an interpolation calculation method between the teaching points based on a movement command and a value of an allowable path error added to the nodes of the broken line at the time of teaching; a circular interpolation calculation means that, when the movement command is circular interpolation, performs an interpolation calculation using an arc between the three points that make up the broken line; a straight-line interpolation calculation means that, if the allowable path error is 0, generates a target trajectory with a straight-line trajectory with the nodes as end points; a clothoid curve interpolation calculation means that, if the allowable path error is not 0, generates a curved trajectory that smoothly connects the two straight lines that make up the broken line by a clothoid curve with the allowable error value as a parameter; and a joint angle calculation means that receives a trajectory output by any of the three interpolation calculation means and outputs the movement amount of the joint angle per unit interpolation time.

[0004] The transport route calculation system described in Patent Document 2 includes a calculation device that performs processing to generate a transport route for transporting an object between waypoints inside a building on a trajectory including an arc trajectory and a hanging posture by a transport device. The calculation device includes a posture calculation unit that calculates candidates for the hanging posture of the object inside the building using building data, transported object data, mechanical parameters of the transport device, waypoint information, etc., a trajectory calculation unit that calculates candidates for the trajectory including the arc trajectory, an interference calculation unit that determines whether or not there is interference between the building and the object in the hanging posture on the trajectory of the candidate, and a route calculation unit that determines a transport route including a hanging posture and an arc trajectory that will result in no interference. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 07-064622 [Patent Document 2] JP 2015-068019 A Summary of the Invention [Problem to be solved by the invention]

[0006] In Patent Documents 1 and 2, the work content is not taken into consideration when determining the target point, and there is a problem that the work efficiency cannot necessarily be improved under conditions where the positional accuracy of the controlled part required by the work or the load on the work part changes significantly. [Means for solving the problem]

[0007] One aspect of the work control method of the present invention includes a target point setting step of generating a sequence of work target points indicating a target trajectory along which target points to which a construction machine is to move are plotted based on work content information, and a construction machine control step of controlling the construction machine in accordance with the sequence of work target points.

[0008] One aspect of the work control system of the present invention has a target point setting unit that generates a sequence of work target points indicating a target trajectory on which target points to which a construction machine is to move are plotted based on work content information, and a construction machine control unit that controls the construction machine in accordance with the sequence of work target points.

[0009] One aspect of the target point setting device of the present invention has an initial target point sequence generation unit that generates an initial target point sequence in which target points are plotted at a predetermined initial interval on a target trajectory whose shape is determined based on work content information, and a target point deletion processing unit that generates a work target point sequence in which the density of the target points for each unit section is varied by reducing the target points included in the initial target point sequence in accordance with the work content information, and outputs the work target point sequence to a construction machinery control unit that controls the construction machinery. Effect of the Invention

[0010] According to the work control method, work control system, and target point setting device of the present invention, highly accurate and efficient control can be performed while taking into account the work content. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic diagram of a work control system according to a first embodiment. [Diagram 2] FIG. 1 is a block diagram of an operation control system according to a first embodiment. [Diagram 3] FIG. 2 is a block diagram of a target point setting unit according to the first embodiment. [Figure 4] 3 is a detailed block diagram of a target point setting unit according to the first embodiment. FIG. [Diagram 5] 6 is a graph illustrating a power function used when setting a curved portion in a sequence of initial target points according to the first embodiment. [Figure 6] 4 is a flowchart illustrating the operation of the work control system according to the first embodiment. [Figure 7] 4 is a flowchart illustrating an operation of a target point setting unit according to the first embodiment. [Figure 8]4 is a flowchart illustrating an operation of a target point deletion processing unit according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] In order to clarify the description, the following description and drawings are omitted and simplified as appropriate. In addition, each element shown in the drawings as a functional block performing various processes can be configured in hardware with a CPU (Central Processing Unit), memory, and other circuits, and in software, can be realized by a program loaded into memory. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware alone, software alone, or a combination thereof, and are not limited to any one of them. In addition, the same elements are given the same symbols in each drawing, and duplicated explanations are omitted as necessary.

[0013] The above-mentioned program can be stored and provided to a computer using various types of non-transitory computer-readable media. The non-transitory computer-readable media includes various types of tangible recording media. Examples of the non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be provided to a computer by various types of temporary computer-readable media. Examples of the temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can provide the program to a computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path.

[0014] First embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The construction machine work control method, work control system, and target point setting device described below control a construction machine that drives a movable part by hydraulic pressure, a motor, or the like. In the following description, a backhoe is used as an example of a construction machine. In the following description, a work control system in which processing blocks that perform work control processing are distributed and arranged at multiple locations through a network is described, but a work control device in which the processing blocks included in the work control system are one device may be used. For example, the target point setting unit 30 and the construction machine control unit 20 described below may be one device. In addition, the control content performed in the work control system is referred to as a work control method. Specific examples of these will be described in detail later. In the following description, a target point setting unit provided in the work control system will be described as an example of a target point setting device.

[0015] The work control system described below can be applied to construction machinery having an operating lever that can be operated by a worker, and also to machinery that does not use an operating lever and directly controls actuators, etc., by electrical signals. As an example, a construction machinery having an operating lever is described below as the control target of the work control device.

[0016] FIG. 1 shows a schematic diagram of the work control system 1 according to the first embodiment. The construction machine 10 shown in FIG. 1 is a backhoe. The construction machine 10 has a crawler 11, a swivel 12, a cockpit 13, a boom 14, an arm 15, and a bucket 16. The crawler 11 is an endless track for moving the construction machine 10. The swivel 12 rotates a chassis on which the cockpit 13, the boom 14, and the like are mounted. The cockpit 13 is an operation room in which an operation lever for operating the attitude of the construction machine 10 and the like are disposed. Although the illustration is simplified, in the work control system 1, a construction machine drive processing unit 17 is disposed in the construction machine 10. The boom 14, the arm 15, and the bucket 16 each correspond to a movable part and are operated by a hydraulic cylinder. The hydraulic cylinder extends and retracts due to the action of the construction machine drive processing unit 17. Note that the parts corresponding to the movable parts include parts other than the hydraulic cylinders, for example parts driven by a motor, but in the following explanation, the hydraulic cylinder will be explained as an example of the movable part.

[0017] Furthermore, in the work control system 1 according to the first embodiment, attitude sensors 181-184 for detecting attitude angles are attached to the movable part of the construction machine 10. In the example shown in Fig. 1, the attitude sensor 181 detects the rotation angle of the swivel base 12, the attitude sensor 182 detects the current angle of the boom 14, the attitude sensor 183 detects the relative angle between the boom 14 and the arm 15, and the attitude sensor 184 detects the relative angle between the arm 15 and the bucket 16.

[0018] In the work control system 1 according to the first embodiment, a construction machine control unit 20 and a target point setting unit 30 are provided corresponding to the construction machine 10. The construction machine control unit 20 provides an input value serving as a specific operation instruction to the construction machine drive processing unit 17. The construction machine control unit 20 generates an attitude detection value based on angle information acquired from the attitude sensors 181-184. The target point setting unit 30 generates a work target point sequence indicating a target trajectory on which target points to which the construction machine 10 will move are plotted based on work content information indicating the work content to be performed by the construction machine 10. The construction machine control unit 20 performs feedback control so as to minimize the difference between the attitude detection value and the target angle of each drive unit generated based on the work target point sequence provided by the target point setting unit 30, and generates an input value to be provided to the construction machine drive processing unit 17.

[0019] Next, the configuration of the processing blocks of the work control system 1 according to the first embodiment will be described. Fig. 2 shows a block diagram of the work control system according to the first embodiment. In Fig. 2, a construction machine 10 is shown as an object to be controlled by the work control system 1. In the example shown in Fig. 2, the work control system 1 has a construction machine control unit 20 and a target point setting unit 30.

[0020] The construction machine control unit 20 executes a construction machine control step of controlling the construction machine 10 in accordance with the work target point sequence TGT generated by the target point setting unit 30. The target point setting unit 30 executes a target point setting step of generating a work target point sequence showing a target trajectory on which target points to which the construction machine will move are plotted based on work content information. In addition, in this target point setting step, the target point setting unit 30 sets the density of the target points included in the work target point sequence for each unit section in accordance with the work content to be performed by the construction machine 10 and work conditions including at least one index of the importance of position accuracy in the work content of the construction machine.

[0021] The construction machine control unit 20 has a movable part control unit 21, an attitude detection unit 22, and a feedback control unit 23. The movable part control unit 21 gives specific operation instructions to the construction machine drive processing unit 17 of the construction machine 10 based on an input value generated by the feedback control unit 23 based on the difference between the work target point sequence TGT and the attitude detection value output by the attitude detection unit 22. The attitude detection unit 22 generates an attitude detection value from values ​​obtained from the attitude sensors 181 to 184. The feedback control unit 23 generates an input value to be given to the movable part control unit 21 by performing feedback control so that the angle value of each movable part indicated by the attitude detection value approaches a target angle value calculated from a target point included in the work target point sequence.

[0022] As described above, in the work control system 1 according to the first embodiment, the construction machine control unit 20 controls the construction machine 10 in accordance with the work target point sequence TGT generated by the target point setting unit 30. One of the features of the work control system 1 according to the first embodiment is that the target point setting unit 30 generates a work target point sequence TGT that is generated according to the work content to be performed by the construction machine 10. More specifically, the target point setting unit 30 according to the first embodiment generates a work target point sequence having a density of target points for each unit section according to the work content. Therefore, the target point setting unit 30 will be described in more detail below.

[0023] FIG. 3 shows a block diagram of the target point setting unit 30 according to the first embodiment. As shown in FIG. 3, the target point setting unit 30 includes an initial target point sequence generating unit 31 and a target point deletion processing unit 32. The initial target point sequence generating unit 31 and the target point deletion processing unit 32 are provided with work content information. This work content information includes information indicating the work conditions of the work to be performed by the construction machine 10. The work conditions include, for example, the positions of the start point and the end point of the movement trajectory of the bucket, which is the part to be controlled. The work conditions also include, for example, information on the type of work, such as excavation work, leveling work, loading work into a dump truck, and the designation of the position accuracy of the bucket, which differs for each type of work. This work content information may be input directly by the operator, or may be generated by a computer according to the work position and work type designated by the operator according to the situation at the work site, for example, or may be generated by automatic processing by the computer.

[0024] The initial target point sequence generating unit 31 executes an initial target point sequence generating step of generating an initial target point sequence in which the intervals between the target points are plotted at a predetermined initial interval and the target points are plotted on the target trajectory. From another perspective, the initial target point sequence generating unit 31 generates an initial target point sequence in which the target points are plotted at a predetermined initial interval on a target trajectory whose shape is determined based on work content information. Here, the initial interval is, for example, an interval between the target points that is sufficiently shorter than the maximum distance that the construction machine 10 can move within the control cycle time of the construction machine 10 in the work control system 1.

[0025] The target point deletion processing unit 32 executes a target point deletion step of reducing the target points included in the initial target point sequence according to the task content information to provide a density of target points included in the task target point sequence TGT for each unit section. Although details will be described later, the target point deletion processing unit 32 executes at least one of a first target point determination step (e.g., an action content-dependent target point determination step) and a second target point determination step (e.g., a position accuracy-dependent target point determination step) as a target point deletion process according to the task content information. In addition, the target point deletion processing unit 32 executes a third target point determination step (e.g., a curvature-dependent target point determination step) as a target point optimization process according to the shape of the target trajectory. In the action content-dependent target point determination step, the position accuracy-dependent target point determination step, and the curvature-dependent target point determination step, target points to be excluded from thinning out in the target point thinning out step performed thereafter are set.

[0026] Therefore, the target point setting unit 30 will be described in further detail. FIG. 4 shows a detailed block diagram of the target point setting unit 30 according to the first embodiment. In the block diagram shown in FIG. 4, an operation content information generating unit 33 and a display unit 34 are added to the block diagram of FIG. 3. In addition, the block diagram shown in FIG. 4 shows detailed processing blocks in the target point deletion processing unit 32. More specifically, as processing blocks in the target point deletion processing unit 32, a first target point determination processing unit (e.g., an operation content dependent target point determination processing unit 41), a second target point determination processing unit (e.g., a position accuracy dependent target point determination processing unit 42), a third target point determination processing unit (e.g., a curvature dependent target point determination processing unit 43), and a target point thinning processing unit 44 are shown.

[0027] The work content information generating unit 33 generates work content information according to an instruction from an operator or by automatic processing. The work content information generated by the work content information generating unit 33 is provided to the initial target point sequence generating unit 31 and the target point deletion processing unit 32. The processing blocks to which the work content information is input in the target point deletion processing unit 32 are the operation content dependent target point determination processing unit 41 and the position accuracy dependent target point determination processing unit 42. The display unit 34 provides an interface for the operator to operate the target point setting unit 30 or check the operation content. For example, the display unit 34 may be a touch panel or the like through which the operator inputs the work conditions, or a display or the like that presents the shape of the work target point sequence TGT generated by the target point deletion processing unit 32 to the operator.

[0028] Here, the initial target point sequence generating unit 31 will be described in detail. The initial target point sequence generating unit 31 executes an initial target point sequence generating step in which the intervals between target points are plotted at a predetermined initial interval, and an initial target point sequence is generated in which the trajectory has a shape according to the work content information. Here, when generating a target trajectory, a situation may occur in which an obstacle between the start point and the end point of the target trajectory cannot be avoided by simply connecting the start point and the end point of the target trajectory with a straight line. Therefore, in the initial target point sequence generating step, a curve may be provided on the trajectory between the start point and the end point of the target trajectory indicated by the work content information. In this case, the initial target point sequence generating unit 31 determines the shape of the target trajectory by setting the shape of the curve using a power function. This power function will be described.

[0029] The power function is expressed, for example, by equation (1). Equation (1) represents the y coordinate of the trajectory when the y coordinate of the start point is y1, the x coordinate is x1, the y coordinate of the end point is y2, the x coordinate is x2, and the x coordinate between the start point and the end point is x. Furthermore, p in equation (1) is a power, and changing the value of p changes the curvature of the target trajectory.

number

[0030] Here, Fig. 5 shows a graph explaining a power function used when setting a curved portion in the sequence of initial target points according to the first embodiment. The example shown in Fig. 5 is an example of a trajectory derived from this formula (1). As shown in Fig. 5, it can be seen that the shape of the trajectory between the start point (e.g., a point whose x coordinate is 0 and whose y coordinate is 1) and the end point (e.g., a point whose x coordinate is 10 and whose y coordinate is 10) changes by changing the power value p.

[0031] As shown in FIG. 4, the target point deletion processor 32 has an operation content dependent target point determination processor 41, a position accuracy dependent target point determination processor 42, a curvature dependent target point determination processor 43, and a target point thinning processor 44.

[0032] The operation content-dependent target point determination processing unit 41 executes a first target point determination step (for example, a work content-dependent target point determination step) in which the higher the degree of necessity for matching the actual trajectory along which the construction machine actually moves with the target trajectory, the more target points to be left as target points included in the work target point sequence TGT than in other sections. Here, the degree of necessity for matching the actual trajectory of the construction machine 10 with the target trajectory is indicated by the work content information. Then, the target point deletion processing unit 32 refers to the work content information and increases the number of target points included in the work target point sequence from which the target points are not deleted in the subsequent processing by the target point thinning processing unit 44 for a section in which the degree of necessity for matching the actual trajectory of the construction machine 10 with the target trajectory is high. In this way, examples of work in which the degree of necessity for matching the actual trajectory of the construction machine 10 with the target trajectory include, for example, leveling work and loading of soil into a dump truck. On the other hand, examples of work in which the degree of necessity for matching the actual trajectory with the target trajectory is low include lifting a bucket. The reason for setting it in this manner is that the range of action for leveling work and soil loading work varies depending on the trajectory, whereas the lifting action of the bucket is not significantly affected by the trajectory.

[0033] The position-accuracy-dependent target point determination processing unit 42 executes a second target point determination step (for example, a position-accuracy-dependent target point determination step) in which more target points in the vicinity of positions designated by the work content information as requiring high position accuracy are left as target points included in the work target point sequence TGT than in other sections. Examples of such work in which the importance of position accuracy is high include positioning for excavation work, unloading of soil onto a dump truck, etc.

[0034] The curvature-dependent target point determination processing unit 43 executes a third target point determination step (for example, a curvature-dependent target point determination step) in which, for the curvature of the target trajectory, more target points are set as target points to be included in the work target point sequence TGT in sections where the curvature is large than in other sections. When the curvature is large, the target points are set at short intervals and the construction machine 10 is not operated slowly, otherwise the deviation between the target trajectory and the actual trajectory will be large. Therefore, by increasing the target points included in the work target point sequence TGT as the curvature becomes larger, highly accurate control is possible. On the other hand, when the curvature is small (when the curvature is close to a straight line on the target trajectory), at least the deviation of the target points is small, so that the smaller the curvature, the fewer the target points included in the work target point sequence (the coarser the target point sequence) can be used for control without reducing accuracy.

[0035] When the distance between target points included in the initial target point sequence is equal to or greater than a threshold, the target point thinning processor 44 executes a target point thinning step of thinning out target points that are closer than the threshold. The target point thinning processor 44 also excludes target points that are specified to be left by the operation content dependent target point determination processor 41, the position accuracy dependent target point determination processor 42, and the curvature dependent target point determination processor 43 from the targets to be thinned out. For example, the work control system 1 increases the operation speed of the construction machine 10 and improves work efficiency by reducing target points in sections of a trajectory that moves linearly or in sections of movement where some deviation is not a problem.

[0036] Next, the operation of the work control system 1 according to the first embodiment will be described. FIG. 6 shows a flowchart explaining the operation of the work control system 1 according to the first embodiment. As shown in FIG. 6, when the work control system 1 according to the first embodiment starts operation, first, a target point setting step is executed (step S1). In this step S1, the target point setting unit 30 generates a work target point sequence TGT. Then, when step S1 is completed, the construction machine control unit 20 executes a construction machine control step in accordance with the work target point sequence TGT (step S2). Then, the control of the construction machine control step in step S2 in accordance with the work target point sequence TGT is continued until the work is completed.

[0037] Here, one of the features of the work control system 1 according to the first embodiment is the target point setting step of step S1. FIG.

[0038] 7, in the target point setting step, first, the initial target point sequence generating unit 31 executes the above-described initial target point sequence TGT generating step (step S11). Next, in the target point setting step, the target point deletion processing unit 32 executes the above-described target point deletion step (step S12).

[0039] Here, the target point deleting step includes a plurality of processes as described above in the description of the target point deletion processing unit 32. Therefore, a flowchart for explaining the operation of the target point deletion processing unit 32 according to the first embodiment is shown in FIG.

[0040] As shown in FIG. 8, in the target point deletion step, first, the action content-dependent target point determination processing unit 41 executes the first target point determination step (for example, the action content-dependent target point determination step) described above (step S21). Next, in the target point deletion step, the position accuracy-dependent target point determination processing unit 42 executes the second target point determination step (for example, the position accuracy-dependent target point determination step) described above (step S22). Next, in the target point deletion step, the curvature-dependent target point determination processing unit 43 executes the third target point determination step (for example, the curvature-dependent target point determination step) described above (step S23). Next, in the target point deletion step, the target point thinning processing unit 44 executes the target point thinning step described above (step S24). After that, in the target point deletion step, the target point thinning processing unit 44 outputs the task target point sequence TGT to the feedback control unit 23 (step S25).

[0041] The processing performed in the above-mentioned target point setting unit 30 is performed automatically, for example, by using a work control program that realizes the processing of the initial target point sequence generation unit 31 and the target point deletion processing unit 32, or the computing power of a computer equipped with a computing unit capable of executing a target point setting program.

[0042] As described above, the work control system 1 according to the first embodiment generates a work target point sequence TGT taking into consideration the work content to be performed by the construction machine 10, which is indicated by the work content information. This allows the work control system 1 according to the first embodiment to perform control that achieves both work speed and work accuracy, regardless of the work content to be performed by the construction machine 10.

[0043] More specifically, in the work control system 1 according to the first embodiment, the target point deletion processing unit 32 includes an operation content dependent target point determination processing unit 41 and a position accuracy dependent target point determination processing unit 42. By performing these processes, the work control system 1 according to the first embodiment generates a work target point sequence TGT in which the density of target points for each unit section is set according to the work content. As a result, the work control system 1 according to the first embodiment can control the construction machine 10 with high accuracy regardless of the work content.

[0044] Furthermore, the work control system 1 according to the first embodiment can improve control accuracy in sections where it is difficult to align the target trajectory by providing a curvature-dependent target point determination processing unit 43 in the target point deletion processing unit 32. Furthermore, in the work control system 1 according to the first embodiment, by providing a target point thinning processing unit 44 in the target point deletion processing unit 32, it is possible to reduce target points in sections where control accuracy is not required due to the shape of the target trajectory, thereby improving work efficiency.

[0045] Furthermore, in the work control system 1 according to the first embodiment, in generating the work target point sequence TGT having a variety of target points as described above, the density of target points is increased only in portions of the target trajectory that are specified as requiring high control accuracy, so complex calculations are not required and the time required to generate the work target point sequence TGT can be shortened. Furthermore, the work control system 1 according to the first embodiment has high versatility because it is not necessary to generate a special control model for each model of construction machine 10.

[0046] Although the present invention has been described above with reference to the embodiment, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0047] This application claims priority based on Japanese Patent Application No. 2020-162901, filed on September 29, 2020, the disclosure of which is incorporated herein in its entirety. [Explanation of symbols]

[0048] 1. Work Control System 10. Construction machinery 11. Crawler 12 Swivel table 13 Cockpit 14. Boom 15 Arm 16 Buckets 17 Construction Machine Drive Processing Unit 181~184 Attitude sensor 20 Construction Machinery Control Unit 21 Movable part control unit 22 Attitude detection unit 23 Feedback control section 30 Target point setting section 31 Initial target point sequence generator 32 Target point deletion processing unit 33 Work content information generation section 34 Display section 41 Operation content dependent target point determination processing unit 42 Position accuracy dependent target point determination processing unit 43 Curvature-dependent target point determination processing unit 44 Target point thinning processing unit

Claims

1. a target point setting step for generating a sequence of work target points indicating a target trajectory on which target points to which the construction machine is to be moved are plotted based on the work content information; a construction machine control step of controlling the construction machine in accordance with the sequence of work target points, The target point setting step includes: an initial target point sequence generation step of generating an initial target point sequence in which the target points are plotted at predetermined initial intervals and the target points are plotted on the target trajectory; a target point deleting step of reducing the target points included in the initial target point sequence in accordance with the task content information to vary the density of the target points included in the task target point sequence for each unit section; The target point deletion step includes: A work control method comprising a first target point determination step of setting more target points to be left as target points included in the work target point sequence than in other sections when the degree of need to match the actual trajectory along which the construction machine actually moves with the target trajectory is higher in accordance with the work content information.

2. The target point deletion step includes:

2. The work control method according to claim 1, further comprising a second target point determination step for, when the work content information requires high positional accuracy, leaving more of the target points in the vicinity of a specified position as the target points included in the work target point sequence than in other sections.

3. The target point deletion step includes:

3. The work control method according to claim 1, further comprising a third target point determination step of setting more target points to be left as the target points included in the work target point sequence in areas where the curvature of the target trajectory is large than in other areas.

4. The target point deletion step includes:

4. The work control method according to claim 1, further comprising a target point thinning step of thinning out the target points that are closer to a threshold value than the distance between the target points included in the initial target point sequence when the distance between the target points is equal to or greater than the threshold value.

5. 5. The work control method according to claim 4, wherein the target point thinning step excludes the target points that are set to be left in another process from targets to be thinned out.

6. A work control method according to any one of claims 1 to 5, wherein in the initial target point sequence generation step, when a curve is provided on a trajectory between the start point and end point of the target trajectory indicated by the work content information, the shape of the target trajectory is determined by setting the shape of the curve using a power function.

7. a target point setting means for generating a sequence of work target points indicating a target trajectory on which target points to which the construction machine is to be moved are plotted based on the work content information; a construction machine control means for controlling the construction machine in accordance with the sequence of work target points, The target point setting means an initial target point sequence generating means for generating an initial target point sequence in which the target points are plotted at predetermined initial intervals on the target trajectory; a target point deletion processing means for reducing the target points included in the initial target point sequence in accordance with the task content information to provide a density of the target points included in the task target point sequence for each unit section, The target point deletion processing means A work control system having a first target point determination processing means that sets more target points to be left as target points included in the work target point sequence than in other sections when the degree of need to match the actual trajectory along which the construction machine actually moves with the target trajectory is higher in accordance with the work content information.

8. The target point deletion processing means The work control system according to claim 7, further comprising a second target point determination processing means for, when the work content information requires high positional accuracy, leaving more of the target points in the vicinity of a specified position as the target points included in the work target point sequence than in other sections.

9. The target point deletion processing means The work control system according to claim 7 or 8, further comprising a third target point determination processing means for setting more target points to be left as the target points included in the work target point sequence in areas where the curvature of the target trajectory is large than in other sections.

10. The target point deletion processing means The work control system according to any one of claims 7 to 9, further comprising a target point thinning processing means for thinning out the target points that are closer to a threshold value than the distance between the target points included in the initial target point sequence when the distance between the target points is equal to or greater than the threshold value.

11. an initial target point sequence generating means for generating an initial target point sequence in which target points are plotted at a predetermined initial interval on a target trajectory whose shape is determined based on work content information; a target point deletion processing means for generating a work target point sequence in which the density of the target points for each unit section is varied by reducing the target points included in the initial target point sequence in accordance with the work content information, and outputting the work target point sequence to a construction machine control means for controlling a construction machine; A target point setting device having:

12. The target point deletion processing means The target point setting device as described in claim 11, further comprising a first target point determination processing means for referencing the work content information and setting a greater number of target points to be left as target points included in the work target point sequence than in other sections when the degree of need to match the actual trajectory along which the construction machine actually moves with the target trajectory is greater.

13. The target point deletion processing means The target point setting device according to claim 11 or 12, further comprising a second target point determination processing means for leaving more of the target points in the vicinity of a specified position as the target points included in the work target point sequence than in other sections when the work content information requires higher positional accuracy.

14. The target point deletion processing means A target point setting device according to any one of claims 11 to 13, further comprising a third target point determination processing means for setting more target points to be left as target points included in the work target point sequence in areas where the curvature of the target trajectory is large than in other sections.

15. The target point deletion processing means 15. The target point setting device according to claim 11, further comprising a target point thinning processing means for thinning out the target points that are closer to a threshold value than the distance between the target points included in the initial target point sequence when the distance between the target points is equal to or greater than the threshold value.

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