Travel plan setting system

Abstract

A travel plan setting system (1) is applied to a work machine (10) that has an upper revolving body (13) and a lower traveling body (11) which travels while revolvably supporting the upper revolving body (13). The travel plan setting system (1) comprises: a target position setting unit (55) that sets a target position which is a movement target of the work machine (10); and a travel plan setting unit (56) that sets a travel plan including a pre-travel turn operation, in which the advancement direction of the lower traveling body (11) is directed toward a path leading to the target position, and a travel operation, in which the work machine (10) is moved along the path to the target position after the pre-travel turn operation.

Description

Driving plan setting system

[0001] The present invention relates to a driving plan setting system.

[0002] For example, Patent Document 1 describes that the latest construction situation, including the location of obstacles, is recognized when setting a travel route for a shovel (see, for example, claim 3 and paragraph 0115).

[0003] However, when moving a work machine such as the above-mentioned excavator to a destination, setting a travel route after detecting surrounding information such as obstacles increases the processing resources required, which is a problem. Therefore, there is a demand for a system that can easily set a travel route.

[0004] International Publication No. 2019 / 189935

[0005] An object of the present invention is to provide a driving plan setting system that can easily set a driving route without using surrounding information of a work site.

[0006] The travel plan setting system is applied to a work machine having an upper rotating body and a lower traveling body that rotatably supports the upper rotating body and travels. The travel plan setting system includes a target position setting unit and a travel plan setting unit. The target position setting unit sets a target position that is a movement target for the work machine. The travel plan setting unit sets a travel plan that includes a pre-travel turn operation that turns the traveling direction of the lower traveling body toward a route leading to the target position, and a travel operation that moves the work machine along the route to the target position after the pre-travel turn operation.

[0007] The above-described driving plan setting system makes it possible to easily set a driving route without using information about the surroundings of the work site.

[0008] 1 is a side view of a work machine 10 to which the travel plan setting system 1 is applied. FIG. 2 is a block diagram of the travel plan setting system 1. FIG. 3 is a flowchart of processing performed by the controller 50 and the like shown in FIG. 2. FIG. 4 is an explanatory diagram showing an example of a travel plan set by the controller 50 shown in FIG. 2, which does not include a turn operation after travel. FIG. 5 is an explanatory diagram showing an example of calculating an interval between target positions in the travel plan set by the controller 50 shown in FIG. 2. FIG. 6 is an explanatory diagram showing an example of a travel plan set by the controller 50 shown in FIG. 2, which executes a turn operation after travel. FIG. 7 is an explanatory diagram showing an example of a travel plan set by the controller 50 shown in FIG. 2, which sets a target position using a travel reference direction. FIG. 8 is an explanatory diagram showing an example of a travel plan set by the controller 50 shown in FIG. 2, which includes a waypoint on the travel route. FIG. 9 is an explanatory diagram showing an example of a travel plan set by the controller 50 shown in FIG. 2, which includes a waypoint on the travel route. FIG. 3 is an explanatory diagram illustrating an example of a driving plan set by the controller 50 shown in FIG. 2, the driving plan being set by repeating a driving pattern.

[0009] The driving plan setting system 1 will be described with reference to the drawings.

[0010] The driving plan setting system 1 is a system that sets a driving plan for the work machine 10 shown in Fig. 1, and can easily set a driving route without using surrounding information of the work site. As shown in Fig. 2, the driving plan setting system 1 includes a detection unit 31, an input unit 35, a controller 50, and an output unit 60.

[0011] (Working Machine) First, the configuration of the working machine 10 will be described. As shown in FIG. 1 , the working machine 10 is a machine that performs work. The working machine 10 may be a construction machine that performs construction work, or a loading machine that performs loading and unloading work. The working machine 10 may be, for example, a shovel or a crane. The working machine 10 may be a bulldozer or a wheel loader. The following description will be given of the case where the working machine 10 is a shovel.

[0012] The work machine 10 may be one that operates in response to operation by an operator. The work machine 10 may be configured to be operable by automatic control. The automatic control may be automatic operation or semi-automatic operation. The work machine 10 may also be one that operates in response to operation by an operator without using automatic control. For example, the work machine 10 may be operated by operation by an operator in a cab 13a (described below), or may be operated by remote control from outside the work machine 10.

[0013] The work machine 10 includes a machine body 10a, an attachment 15, a drive control unit 17 (FIG. 2), an actuator 21, and an engine (not shown). The machine body 10a is the main body of the work machine 10. The machine body 10a includes a lower traveling body 11 and an upper rotating body 13.

[0014] The lower traveling body 11 rotatably supports the upper rotating body 13. The lower traveling body 11 is capable of traveling on a traveling surface (such as the ground). The lower traveling body 11 may include crawlers or wheels.

[0015] The upper rotating body 13 is mounted on the lower traveling body 11 so as to be able to rotate. A boom 15b (described later) and the like are attached to the upper rotating body 13. The upper rotating body 13 is equipped with a cab 13a, a revolving frame (not shown), and a counterweight (not shown). The cab 13a is a room in which an operator who operates the work machine 10 rides. Note that when the work machine 10 operates in response to operation by the operator, the work machine 10 may be operated by the operator in the cab 13a, or may be remotely operated from outside the work machine 10. The revolving frame is a structure to which the boom 15b and the like are attached. The counterweight is a weight used to balance the work machine 10 in the fore-and-aft direction.

[0016] The direction in which the rotation axis of the upper rotating body 13 relative to the lower running body 11 extends is defined as the up-down direction Z. In the up-down direction Z, the side from the lower running body 11 toward the upper rotating body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. The up-down direction Z may be vertical. The direction in which the upper rotating body 13 rotates relative to the lower running body 11 is defined as the rotation direction. The direction perpendicular to both the up-down direction Z and the rotation direction of the upper rotating body 13 is defined as the front-to-rear direction X. When viewed from the up-down direction Z, the front-to-rear direction X coincides with the longitudinal direction of the attachment 15, along which the central axis of the attachment 15 extends. In the front-to-rear direction X, the side from which the attachment 15 protrudes relative to the upper rotating body 13 is defined as the rear side X1, and the opposite side is defined as the front side X2.

[0017] The attachment 15 is the part that performs work. The attachment 15 is attached to the machine body 10a. For example, the attachment 15 includes a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper rotating body 13 so as to be rotatable (raise and lower) around an axis extending in the left-right direction, which is a direction perpendicular to the front-rear direction X and the up-down direction Z. The arm 15c is attached to the boom 15b so as to be rotatable around an axis extending in the left-right direction.

[0018] The tip attachment 15d is provided at the tip of the attachment 15. The tip attachment 15d is rotatably attached to the arm 15c around an axis extending in the left-right direction. The tip attachment 15d may be a bucket capable of scooping and digging work objects. The tip attachment 15d may be equipped with a device such as a grapple, nibbler, or rotating fork that grips the work object, a device such as a breaker that crushes the work object, or a device such as a magnet that attracts metal work objects.

[0019] The work object is an object that is the target of work by the work machine 10. The work object may be soil or sand, rock, a magnetic material (metal or the like), resin, waste material, wood (logs or the like), or a structure (block or the like). When the work object is soil or sand, the work object may be in the form of soil, granules, chips, powder, or the like.

[0020] The actuator 21 is a device that moves the work machine 10. The actuator 21 may be a hydraulic actuator that is powered by hydraulic pressure, or an electric actuator that is powered by electricity. The actuator 21 may be a motor that drives rotation, or a cylinder that drives extension and retraction (telescopic cylinder).

[0021] The actuator 21 includes a travel motor (not shown), a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The travel motor drives the lower traveling structure 11. For example, if the lower traveling structure 11 has left and right crawlers, the travel motor includes a left traveling motor that drives the left crawler and a right traveling motor that drives the right crawler. The swing motor 21a drives the upper rotating structure 13 to swing relative to the lower traveling structure 11. The travel motor and the swing motor 21a may be, for example, hydraulic motors or electric motors. The boom cylinder 21b drives the boom 15b to rise and fall relative to the upper rotating structure 13. The arm cylinder 21c drives the arm 15c to rotate relative to the boom 15b. The tip attachment cylinder 21d drives the tip attachment 15d to rotate relative to the arm 15c. If the tip attachment 15d itself is drivable, for example, as a device for clamping an object, an actuator for driving the tip attachment 15d may be separately provided. The boom cylinder 21b, the arm cylinder 21c, and the tip attachment cylinder 21d are, for example, hydraulic cylinders.

[0022] The drive control unit 17 (see FIG. 2) controls the actuators 21 that move the work machine 10. The drive control unit 17 may include a hydraulic circuit that controls a hydraulic actuator that is operated by hydraulic pressure. The drive control unit 17 may also include an electric circuit that controls an electric actuator that is operated by electricity.

[0023] The drive control unit 17 controls the travel of the lower traveling structure 11. The drive control unit 17 controls a swing motor 21a that swings the upper rotating structure 13 relative to the lower traveling structure 11. The drive control unit 17 controls a boom cylinder 21b that rotates (raises and lowers) the boom 15b relative to the upper rotating structure 13. The drive control unit 17 controls an arm cylinder 21c that rotates the arm 15c relative to the boom 15b. The drive control unit 17 controls a tip attachment cylinder 21d that rotates the tip attachment 15d relative to the arm 15c.

[0024] (System Configuration) Next, the configuration of the driving plan setting system 1, that is, the details of the detection unit 31, input unit 35, controller 50, and output unit 60 included in the system 1 will be described. The detection unit 31 (see FIG. 2) detects various conditions. Some or all of the detection unit 31 may be mounted on the work machine 10, or may be located outside the work machine 10. The same applies to the input unit 35, controller 50, and output unit 60, which will be described later, in that some or all of the elements may be mounted on the work machine 10 or located outside the work machine 10.

[0025] 2 , the detection unit 31 includes a position detection unit 311, an imaging device 312, a direction detection unit 313, an attitude detection unit 314, and a load detection unit 315. The position detection unit 311 detects the position of an object to be measured. The position detection unit 311 detects the position of a specific part of the work machine 10. For example, the position detection unit 311 may detect the position of a specific part of the upper rotating body 13, or may detect the position of a specific part of the attachment 15.

[0026] The position detection unit 311 may detect the position using electromagnetic waves (light, radio waves, etc.). The position detection unit 311 may use a satellite positioning system, for example, a global navigation satellite system (GNSS). The position detection unit 311 may not use a satellite, for example, may use a terrestrial transmitter and receiver, or may use reflection of light (for example, laser light) (for example, a total station). The position detection unit 311 may calculate the position of the measurement object based on position information detected by multiple types of devices.

[0027] The imaging device 312 captures an image of an object to be imaged. The image of the object to be imaged may include the work machine 10, or may include the surroundings of the work machine 10. The imaging device 312 may detect a two-dimensional image, or may detect a three-dimensional image (distance image) having depth information. If the coordinate system of the spatial information detected by the imaging device 312 differs from the coordinate system of the work machine 10 (machine coordinates), these coordinates are unified by coordinate transformation. The imaging device 312 may be of a passive type or an active type. Specifically, the imaging device 312 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 312 may be equipped with a stereo camera that detects three-dimensional information.

[0028] The imaging device 312 may detect three-dimensional information of an object by irradiating the object with waves such as electromagnetic waves and detecting the reflected waves. The imaging device 312 may include a time-of-flight (TOF) sensor that detects distance based on the time from when the waves are emitted until the reflected waves return, or a sensor that detects distance based on the frequency of the reflected waves. The imaging device 312 may include a device that detects three-dimensional information using light (e.g., laser light), such as a light detection and ranging (LiDAR). The imaging device 312 may also include a device that detects three-dimensional information using radio waves (e.g., millimeter-wave radar).

[0029] The imaging device 312 may be equipped with only one imaging device such as a camera, or may be equipped with multiple imaging devices. Furthermore, the imaging device 312 may be equipped with only one type of imaging device, or may be a combination of multiple types of imaging devices using different methods. The imaging device 312 may detect three-dimensional information of the imaged object based on a three-dimensional image (distance image) and a two-dimensional image. The imaging device 312 may be mounted on the work machine 10, or may be located outside the work machine 10 (for example, at the work site). If the imaging device 312 is located outside the work machine 10, it may be possible to detect parts that would not be detectable if the imaging device 312 were mounted only on the work machine 10, such as parts that are shaded by the attachment 15.

[0030] The direction detection unit 313 detects the direction (orientation, posture) of the object to be measured. The direction detection unit 313 detects the direction of a specific part of the work machine 10. For example, the direction detection unit 313 may detect the direction of a specific part of the upper rotating body 13, or may detect the direction of a specific part of the attachment 15. The direction detection unit 313 may detect the orientation of the object to be measured using geomagnetism. The direction detection unit 313 may detect the direction of the object to be measured based on the positions of multiple parts of the object to be measured relative to the work site.

[0031] The attitude detection unit 314 detects the attitude of the work machine 10. The attitude detection unit 314 may be mounted on the work machine 10, or may be arranged outside the work machine 10 (for example, at a work site, etc.). The attitude detection unit 314 may be mounted on the work machine 10, or may be arranged outside the work machine 10.

[0032] The attitude detection unit 314 may be equipped with one or more types of detection devices. The attitude detection unit 314 may be equipped with a detection device (e.g., a rotary encoder, etc.) that detects information about the angle of a certain element of the work machine 10 relative to another element. The attitude detection unit 314 may be equipped with a stroke sensor that detects the stroke of a cylinder that moves the attachment 15. The attitude detection unit 314 may be equipped with an inclination sensor that detects an angle (inclination) relative to the horizontal direction. The attitude detection unit 314 may be equipped with a sensor (e.g., a gyro sensor) that detects angular velocity relative to the work site, or a sensor that detects acceleration relative to the work site. The attitude detection unit 314 may be equipped with an inertial measurement unit or the like. The attitude detection unit 314 may be equipped with the position detection unit 311 or the direction detection unit 313 described above. In this case, the attitude detection unit 314 may detect the attitude of a specific part (or parts) of the work machine 10 based on the position information detected by the position detection unit 311 or the direction information detected by the direction detection unit 313.

[0033] The attitude detection unit 314 may be equipped with the above-mentioned imaging device 312. In this case, the attitude detection unit 314 may detect the attitude of the work machine 10 based on image recognition of a two-dimensional image. The attitude detection unit 314 may detect the attitude of the work machine 10 based on a three-dimensional image (distance image). The attitude detection unit 314 may detect the attitude of the work machine 10 based on a three-dimensional image (distance image) and a two-dimensional image.

[0034] Specifically, the attitude detection unit 314 includes a reference position detection unit 314a, an inclination detection unit 314b, a rotation detection unit 314c, a boom detection unit 314d, an arm detection unit 314e, and a tip attachment detection unit 314f.

[0035] The reference position detection unit 314a detects the position and orientation of a reference part of the work machine 10 relative to the work site. The reference part of the work machine 10 is, for example, a specific part of the upper rotating body 13 or the undercarriage 11. The reference part of the work machine 10 may be the attachment part (boom foot) of the boom 15b to the upper rotating body 13, or may be a specific part on the central axis of rotation of the upper rotating body 13 relative to the undercarriage 11. The reference position detection unit 314a may detect the position and orientation relative to the work site based on information detected by one or more of the position detection unit 311, direction detection unit 313, and image capture device 312, for example.

[0036] The tilt detection unit 314b detects the tilt of the work machine 10 with respect to a reference plane such as a horizontal plane. The tilt detection unit 314b may detect the tilt of the work machine 10 with respect to the ground, for example. The tilt detection unit 314b may detect the tilt of the work machine 10 based on information detected by a device that detects tilt with respect to a horizontal plane (such as a gyro sensor, an acceleration sensor, or an inertial measurement unit). The tilt detection unit 314b may detect the tilt of the work machine 10 with respect to a reference plane based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312, for example.

[0037] The rotation detection unit 314c detects information about the rotation of the upper rotating body 13 relative to the lower traveling body 11. The information about the rotation of the upper rotating body 13 may be one or more of a rotation angle, an angular velocity, and an angular acceleration. That is, the rotation detection unit 314c may detect the angle of rotation (rotation angle) of the upper rotating body 13 relative to the lower traveling body 11, the angular velocity (rotation angular velocity), or the angular acceleration (rotation angular acceleration). The rotation detection unit 314c may detect the rotation information based on information detected by an angle sensor attached to the rotation axis or a rotation support part (such as a rotation bearing) of the upper rotating body 13 relative to the lower traveling body 11. The rotation detection unit 314c may detect the rotation information based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0038] The boom detection unit 314d detects the attitude of the boom 15b. The boom detection unit 314d may detect information about the rotation of the boom 15b relative to the upper rotating body 13 as the attitude of the boom 15b. The information about the rotation of the boom 15b may be one or more of the angle of rotation, angular velocity, and angular acceleration. Alternatively, the boom detection unit 314d may detect the angle (tilt) of the boom 15b relative to the horizontal plane, or the angle (tilt) of the boom 15b relative to other components of the work machine 10. The boom detection unit 314d may detect the attitude of the boom 15b based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0039] The arm detection unit 314e detects the attitude of the arm 15c. The arm detection unit 314e may detect information about the rotation of the arm 15c relative to the boom 15b as the attitude of the arm 15c. The information about the rotation of the arm 15c may be one or more of the rotation angle, angular velocity, and angular acceleration. Alternatively, the arm detection unit 314e may detect the angle (tilt) of the arm 15c relative to the horizontal plane, or the angle (tilt) of the arm 15c relative to other components of the work machine 10. The arm detection unit 314e may detect the attitude of the arm 15c based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0040] The end attachment detection unit 314f detects the attitude of the end attachment 15d. The end attachment detection unit 314f may detect information about the rotation of the end attachment 15d relative to the arm 15c as the attitude of the end attachment 15d. The information about the rotation of the end attachment 15d may be one or more of the rotation angle, angular velocity, and angular acceleration. Alternatively, the end attachment detection unit 314f may detect the angle (tilt) of the end attachment 15d relative to the horizontal plane, or the angle (tilt) of the end attachment 15d relative to other components of the work machine 10. The end attachment detection unit 314f may detect the attitude of the end attachment 15d based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0041] The load detection unit 315 detects a load (excavation load) acting on the attachment 15. The load detection unit 315 detects, for example, a load acting on the tip attachment 15d. The load detection unit 315 may detect a load acting on the attachment 15 based on a load acting on the actuator 21 (specifically, the cylinder). The load detection unit 315 may detect a load acting on the attachment 15 based on distortion (deformation) of the attachment 15 or distortion of the cylinder. The load detection unit 315 may utilize a function (payload function) of detecting the mass of a work object captured by the tip attachment 15d.

[0042] The input unit 35 is an input device for inputting information used for control. The input unit 35 is operated by an operator and outputs a signal in accordance with the operation. The input unit 35 outputs information to the controller 50. The input unit 35 may be equipped with a touch panel, a mouse, a keyboard, or a switch. The input unit 35 may be configured with the input function of a tablet, a smartphone, or a personal computer. The input unit 35 may be provided in a client device or a server device. The input unit 35 may be provided in the work machine 10, and may be provided in the cab 13a, for example. The input unit 35 may be provided in a remote control device (not shown) for remotely controlling the work machine 10. When the input unit 35 is provided in the cab 13a or the remote control device, the input unit 35 may also serve as an operation unit (e.g., an operation lever) into which operations for moving the work machine 10 are input, or may also serve as a display (e.g., a cluster gauge) that displays the status of the work machine 10.

[0043] The operation unit (not shown) outputs a command according to the operation. The operation unit may output a command according to the operation amount. The command output by the operation unit may be pilot hydraulic pressure or an electrical signal. The operation unit may include a hydraulic remote control valve or an angle sensor (e.g., a variable resistor). An operation (travel operation) for traveling the lower traveling body 11 may be input to the operation unit. An operation (swing operation) for rotating the upper rotating body 13 relative to the lower traveling body 11 may be input to the operation unit. An operation (attachment operation) for moving the attachment 15 may be input to the operation unit. An operation (boom operation) for rotating the boom 15b relative to the upper rotating body 13 may be input to the operation unit. An operation (arm operation) for rotating the arm 15c relative to the boom 15b may be input to the operation unit. An operation (tip attachment operation) for rotating the tip attachment 15d relative to the arm 15c may be input to the operation unit.

[0044] The controller 50 is a computer that performs signal input / output, calculations (processing), and information storage. The functions of the controller 50 are realized by a calculation unit (not shown) executing a program stored in a memory unit (not shown) of the controller 50. That is, the controller 50 includes a calculation unit that calculates (processes) information and a memory unit that stores information. The controller 50 may be connected to other devices via wireless communication or wired communication. The components of the controller 50 may be connected to each other via wireless communication or wired communication. For example, communication is performed via a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN. For example, information is input to the controller 50 from the detection unit 31. For example, the controller 50 outputs a command (signal) to operate the work machine 10 to the drive control unit 17. For example, the controller 50 outputs information to the output unit 60. The controller 50 may be mounted on the work machine 10 or may be arranged external to the work machine 10. The controller 50 may be a distributed system including multiple computers connected to each other. Specific processing performed by the controller 50 will be described later.

[0045] As shown in FIG. 2 , the controller 50 functionally includes a work plan setting unit 51 , a driving control unit 53 , a target position setting unit 55 , a driving plan setting unit 56 , and a driving reference line setting unit 58 .

[0046] The work plan setting unit 51 sets a work plan for the work machine 10. The work plan is information related to the work goals of the work machine 10. The work plan may include information on a target route (travel plan) for travel of the work machine 10 set by the travel plan setting unit 56. The travel plan for the work machine 10 set by the travel plan setting unit 56 will be described in detail later. The work plan may include information on a target range (e.g., a target capture range, a target release range) in which the attachment 15 will perform work. The work plan may include information on a target route for a specific part of the attachment 15. The target route is information including, for example, information on the positions (coordinates) of multiple target points and information on the order of each target point. The work plan may include information on a target trajectory for a specific part. The target trajectory is information in which time information is added to information on the target route. The time information may be the time between two points, or may be information on the time of day, etc. The time between two points is a target value for the travel time of a specific part between two adjacent (sequential) target points. The time information is information about the time when the specific part reaches the target point, etc. By adjusting the time information, the target moving speed of the specific part is adjusted.

[0047] Parameters representing positions in a work plan can be set in various ways. In a work plan, parameters representing the positions of specific parts of the attachment 15 may be set in any way as long as they are parameters from which the attitude of the work machine 10 can be derived. Coordinate axes of parameters representing positions in a work plan may be set in any way. These parameters may be represented by coordinate axes (absolute coordinates) based on the work site. The origin (reference position) of these coordinate axes may be set at the work site. Parameters representing positions in a work plan may be represented by coordinate axes (machine coordinates) based on the work machine 10. The origin of these coordinate axes may be set at a specific part of the work machine 10, for example, at a specific part of the upper rotating body 13. Specifically, the origin of these coordinate axes may be set at the attachment portion (boom foot pin) of the boom 15b to the upper rotating body 13, or may be set at the center of rotation of the upper rotating body 13 with respect to the undercarriage 11. Specifically, the work plan may include information on the fore-and-aft direction X, the up-and-down direction Z, the rotation angle, and the angle (orientation) of the tip attachment 15d. Information about the forward / backward direction X may be, for example, information about the distance from the origin of the coordinate axis to a specific part of the attachment 15 (for example, the tip of the tip attachment 15d). Information about the up / down direction Z may be, for example, information about the height from the origin of the coordinate axis to a specific part of the attachment 15. Information about the angle of the tip attachment 15d may be, for example, information about the angle of the tip attachment 15d relative to the horizontal direction, or information about the angle of the tip attachment 15d relative to the arm 15c. Parameters that represent positions in the work plan may include the position of the actuator 21 that moves the work machine 10 (for example, the stroke position of a cylinder, the rotation angle of a motor, etc.).

[0048] The work plan setting unit 51 sets multiple work phases (work details) included in the work plan. For example, the work phases include a capture phase, a lifting and swinging phase, a release phase, and a return swing phase. The capture phase is a phase in which the tip attachment 15d captures a work object within a target capture range (e.g., excavating earth and sand). For example, the target capture range is set to a location where the work objects are collected (e.g., a pile of earth and sand). The lifting and swinging phase is a phase in which, after the tip attachment 15d has captured the work object, a specific part moves from the target capture range to a target release range. The release phase is a phase in which the tip attachment 15d releases the work object within the target release range (e.g., unloads earth). The target release range is set to, for example, a range above the bed of a transport vehicle. The return swing phase is a phase in which a specific part moves from the target release range to the target capture range. For example, a series of work phases including a capture phase, a lift-up swing phase, a release phase, and a return swing phase are repeatedly performed.

[0049] The work plan may be set by teaching, in which the worker actually operates the work machine 10, or may be set manually by the worker operating the input unit 35, or may be set automatically by the controller 50. The work plan may be corrected. The work plan may be corrected manually by the worker operating the input unit 35. The work plan may also be corrected automatically by the controller 50 based on information detected by the detection unit 31 (for example, information about obstacles, etc.).

[0050] At least a part of the work plan may be set in the work plan setting unit 51 by teaching, or may be set in the work plan setting unit 51 by a method other than teaching (for example, numerical input, etc.). Teaching is performed as follows: An operator operates the work machine 10 from aboard the work machine 10, or the operator remotely operates the work machine 10. For example, the operator operates the work machine 10 to place a specific part at a position (route, range) that is to be set as information about the work plan. The position where the specific part is placed is calculated based on the attitude of the work machine 10 detected by the attitude detection unit 314. The work plan setting unit 51 then sets the work plan based on the position where the specific part is placed. For example, the operator operates the work machine 10 to place a specific part at a specific position (for example, a position at a corner of the target capture range) in a range that is to be set as a target range (target capture range or target release range). The work plan setting unit 51 then sets the target range based on the position where the specific part is placed. For example, the worker operates the work machine 10 to move the specific part along the path that the worker wants to set as the target path. For example, the worker operates the work machine 10 to move the specific part along the path that the worker wants to set as the target trajectory at a speed that the worker wants to set as the target trajectory. Then, the work plan setting unit 51 sets the path (trajectory) along which the specific part has moved as the target path (target trajectory).

[0051] The driving control unit 53 automatically controls the work machine 10 so that it moves in accordance with the work plan. For example, the driving control unit 53 controls the work machine 10 to automatically drive in accordance with a driving plan for the work machine 10 set by the driving plan setting unit 56. The driving control unit 53 outputs commands to the drive control unit 17 so that the work machine 10 moves in accordance with the work plan. The driving control unit 53 controls the movement of the work machine 10 based on the attitude detected by the attitude detection unit 314.

[0052] As described above, the work machine 10 may be operated by an operator in the cab 13a, may be remotely operated by an operator from outside the work machine 10 using a remote control device, or may be automatically operated. The work machine 10 is a machine that utilizes information and communication technology (ICT) (e.g., ICT construction machinery). For example, the work machine 10 may be operated by an operator using the functions of a machine guidance system (MG). Specifically, a work plan is set in the controller 50. Then, guidance such as the position where work should be done is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output, for example, to an output device provided in the cab 13a of the work machine 10 or an output device provided in the remote control device. Then, the operator operates the work machine 10 according to the guidance. As a result, the work machine 10 moves according to the work plan.

[0053] Furthermore, for example, the work machine 10 may be operated semi-automatically by a machine control system (MC). In this case, a work plan is set in the controller 50. Then, for example, the operator operates only some of the elements of the attachment 15 (for example, only the boom 15b). At this time, the controller 50 automatically controls the elements not operated by the operator (for example, the arm 15c and the tip attachment 15d) so that the work machine 10 moves in accordance with the work plan. At this time, the controller 50 controls the operation of the work machine 10 based on information detected by the attitude detection unit 314. As a result, the work machine 10 moves in accordance with the work plan. Also, for example, the work machine 10 may be operated automatically. In this case, the controller 50 controls the operation of the work machine 10 so that the work machine 10 automatically moves in accordance with the work plan. In this control, information detected by the attitude detection unit 314 is used, just as in semi-automatic operation.

[0054] The target position setting unit 55 sets a target position that serves as a movement target for the work machine 10. The target position may be set based on information input by the operator to the input unit 35. The target position may be set, for example, on a traveling reference line LB (see FIG. 7, for example) set by a traveling reference line setting unit 58, which will be described later. Only one target position may be set in a traveling plan set by a traveling plan setting unit 56, which will be described later, or multiple target positions may be set.

[0055] The driving plan setting unit 56 sets a driving plan including a pre-driving turn operation, a driving operation, and a post-driving turn operation by the work machine 10. The driving plan setting unit 56 sets the driving plan without using the surrounding information acquired by the detection unit 31. The driving plan setting unit 56 sets the driving plan based on input by the operator to the input unit 35.

[0056] The pre-traveling turn operation is an operation of orienting the traveling direction of the lower traveling body 11 toward a path toward the target position. The traveling direction is a direction in which the lower traveling body 11 can travel straight and coincides with the longitudinal direction of the lower traveling body 11. For example, if the lower traveling body 11 is a crawler, the traveling direction is the direction in which the lower traveling body 11 travels when the left and right crawlers are driven in the same manner. The traveling direction of the lower traveling body 11 may be the direction in which the lower traveling body 11 moves forward or the direction in which the lower traveling body 11 moves backward. The forward direction may be defined as the direction toward the side where the attachment 15 is located during traveling. The path toward the target position is not limited to a path that moves straight from the movement start position toward the target position, but may also include a path that deviates from a straight line connecting the movement start position and the target position. The traveling plan setting unit 56 sets a pre-traveling turn angle, which is the turn angle for the pre-traveling turn operation, based on the traveling direction (longitudinal direction) of the lower traveling body 11 before performing the traveling operation and the path from the movement start position to the target position. In this case, the pre-travel turn angle is set so that the traveling direction (longitudinal direction) of the lower traveling structure 11 after the turn coincides with the direction of the tangent to the path at the movement start position. Note that, if the path is set as a straight line connecting the movement start position and the target position, the tangent line coincides with this straight line. In other words, if the path from the movement start position to the target position is a straight line, the pre-travel turn operation is an operation of directing the traveling direction of the lower traveling structure 11 straight toward the target position.

[0057] The traveling operation is an operation of moving the work machine 10 along the path to the target position after the pre-travel turn operation. The traveling operation may be an operation of moving the work machine 10 from the movement start position to the target position by moving the undercarriage 11 forward, or an operation of moving the work machine 10 from the movement start position to the target position by moving the undercarriage 11 backward.

[0058] The post-traveling turn operation is an operation that changes the traveling direction (longitudinal direction) of the undercarriage 11 after the work machine 10 has reached a target position through traveling operation. The traveling plan setting unit 56 sets a post-traveling turn angle, which is the turn angle resulting from the post-traveling turn operation. The post-traveling turn operation may not be necessary. For example, if the traveling direction (longitudinal direction) of the undercarriage 11 at the time traveling is completed is a direction that intersects with the traveling reference line LB, which will be described later, the traveling plan setting unit 56 does not need to set the post-traveling turn angle. In other words, the post-traveling turn operation is omitted if the desired turn angle is already achieved after traveling.

[0059] The controller 50 including such a driving plan setting unit 56 can set various routes by setting parameters related to each operation in the driving plan from the input unit 35. The processes related to these driving plans executed by the controller 50 and specific examples will be described in detail later.

[0060] The traveling reference line setting unit 58 sets a traveling reference line LB (see, for example, Figure 7). The traveling reference line LB is a line that extends in a traveling reference direction, which is the direction from the movement start position of the work machine 10 toward the traveling reference coordinate PS, which serves as the reference for the orientation in which the work machine 10 will travel. For example, in Figure 7, the positive direction of the Xlocal axis that extends from the movement start position toward the traveling reference coordinate PS is the traveling reference direction, and the line extending in the same direction is the traveling reference line LB.

[0061] The output unit 60 is a device that outputs information. The output unit 60 outputs information based on a signal output from the controller 50. The output unit 60 may output light (display), sound, or vibration. The output unit 60 may be configured with the output function of a tablet, a smartphone, or a personal computer. The output unit 60 may be provided in the cab 13a. The output unit 60 may be provided in a remote control device for remotely controlling the work machine 10. When the output unit 60 outputs light, the output unit 60 may be provided with a display device (monitor). The output unit 60 may be provided with a projection device that projects onto an object such as the ground. The output unit 60 may be provided with a light emitter (light). The output unit 60 may be provided with a VR device that uses virtual reality technology, or an AR device that uses augmented reality technology. The output section 60 may change at least one of the hue, density (transparency), brightness, and saturation of the light it outputs.

[0062] The functions of the controller 50 may be realized by a client device and a server device. Each of the client device and the server device is a computer. The input unit 35, the controller 50, and the output unit 60 may be provided in either the client device or the server device, or in both. For example, the memory unit and the calculation unit of the controller 50 may be provided in either the client device or the server device, or in both. Each of the client device and the server device may be configured by a single computer or a combination of multiple computers. The client device and the server device may be connected by wireless communication or by wired communication. For example, communication is performed via a communication means such as a mobile phone line, an optical fiber line, a wireless local area network (LAN), or a wired LAN.

[0063] (Driving Plan Execution Process) Next, an example of a flowchart of the driving plan execution process executed in the driving plan setting system 1 will be described with reference to Fig. 3. The driving plan setting system 1 (mainly the controller 50) is configured to perform the following processes. A program stored in the controller 50 causes the controller 50 to execute the following processes.

[0064] First, the controller 50 sets a target position (step S10). The target position is a point in the travel plan that the work machine 10 will pass through or reach. The controller 50 may set one target position, or may set multiple target positions. When there is one target position, this one target position becomes the end point (final arrival position) of the work machine 10 in the travel plan. The method for setting the target position may be any of the following, or a combination of one or more of these methods.

[0065] For example, as shown in Figures 4 and 6, the target positions may be set by directly inputting coordinates in an absolute coordinate system set at the work site to the input unit 35. Figures 4 and 6 show an example in which three target positions P1, P2, and P3 are set. That is, in this example, a final target position P3, which is the end point of the travel route, and two intermediate target positions P1 and P2, which are waypoints on the way to the end point, are set. In this case, the coordinates (X1, Y1) of the first intermediate target position P1, the coordinates (X2, Y2) of the second intermediate target position P2, and the coordinates (X3, Y3) of the final target position P3 are directly input, respectively, to set the target positions P1 to P3.

[0066] 5, for example, when it is desired to have the work machine 10 work in a plurality of adjacent work areas, the target positions (Pn, Pn+1) may be set by inputting the work area width S, which is the width of each work area in the travel reference direction, and the overlap width T, which is the width over which the work areas overlap, into the input unit 35. In this case, the distance between the target positions, i.e., the travel distance L1, is calculated by subtracting the overlap width T from the work area width S.

[0067] Furthermore, as shown in Figures 7 to 10, when the traveling reference coordinate PS is set, the controller 50 may set the target position by setting the distance and direction that the work machine 10 is desired to move, based on the traveling reference direction (traveling reference line LB) that points from the movement start position toward the traveling reference coordinate PS. For example, in Figures 7 to 10, an X local axis that coincides with the traveling reference direction that points from the movement start position toward the traveling reference coordinate PS, and a Y local axis that is perpendicular to the X local axis at the movement start position, are set. The coordinates of the target position can be determined, for example, based on the movement distances in each direction of the X local axis and the Y local axis. Specifically, in the example shown in Figure 7, the coordinates of the target position P1 are determined by inputting as parameters the values ​​(L1, 0) of the X local axis and the Y local axis when the work machine moves a distance L1 from the movement start position in the traveling reference direction (positive direction of the X local axis). In this case, the target position P1 is located on the driving reference line LB that connects the driving start position and the driving reference coordinate PS.

[0068] 8 , three target positions WP1, WP2, and WP3 are set by inputting the following parameters: the values ​​(0, −L2) of the X and Y local axes when the robot moves a distance L2 from the movement start position in a direction perpendicular to the driving reference direction (the negative direction of the Y local axis); the values ​​(L1, −L2) of the X and Y local axes when the robot subsequently moves a distance L1 in the driving reference direction (the positive direction of the X local axis); and the values ​​(L1, 0) of the X and Y local axes when the robot further moves a distance L2 in the direction returning to the driving reference line LB (the positive direction of the Y local axis). That is, a final target position WP3, which is the end point of the driving route, and two intermediate target positions WP1 and WP2, which are route points on the way to the final target position, are set. In the example shown in Fig. 9, a final target position WP2 and one intermediate target position WP1 are set by inputting parameters different from those in Fig. 8. In the example shown in Fig. 10, a final target position WP4 and three intermediate target positions WP1, WP2, and WP3 are set by inputting parameters different from those in Fig. 8 and Fig. 9. In all of the examples in Fig. 8 to Fig. 10, the final target position is located on a traveling reference line LB that connects the traveling start position and the traveling reference coordinate PS.

[0069] Although not shown, the distance between the target positions (travel distance) L1 may be calculated by inputting the number of divisions into which the line segment from the movement start position of the work machine 10 to the travel reference coordinate PS (see Figures 7 to 10) is divided as a parameter.

[0070] Next, the controller 50 sets the operation of the work machine 10 from the movement start position to the target position as part of the travel plan (step S20). Specifically, the controller 50 sets a pre-travel turn operation, a travel operation, and a post-travel turn operation. Each operation will be described in detail below.

[0071] First, the setting of the pre-travel turn operation will be described. The controller 50 sets the pre-travel turn operation based on the current position and the next target position to which the work machine 10 is to travel. For example, in the example shown in FIG. 4 , the controller 50 sets, as the pre-travel turn operation, a turn operation that turns the undercarriage 11 of the work machine 10 toward the target position P1 before traveling from the movement start position toward the target position P1. Whether the forward direction of the undercarriage 11 is to be turned toward the target position or the reverse direction of the undercarriage 11 is to be turned toward the target position may be determined automatically or specified by a parameter. For example, in the example shown in FIG. 4 , data indicating forward or reverse travel is input as a parameter for each target position. This allows the controller 50 to determine whether the forward or reverse direction of the undercarriage 11 is to be turned toward the target position in the pre-travel turn operation. Note that in the examples shown in FIGS. 7 and 8 , the pre-travel turn angle, which is the turn angle due to the pre-travel turn operation, is set with the positive direction of the X local axis set to zero degrees. 9 and 10, the pre-traveling turn angle can be set in a similar manner. Of course, the method for setting the pre-traveling turn angle is not limited to this, and for example, a predetermined direction of the X-axis or Y-axis of the absolute coordinate system may be set to zero degrees.

[0072] Next, the setting of the traveling operation will be described. The controller 50 sets the traveling operation based on the movement start position and target position of the work machine 10. For example, if one target position P1 is set as shown in FIG. 7, the controller 50 may set the traveling operation to traveling straight from the movement start position to the target position P1. Furthermore, for example, if multiple target positions are set as shown in FIGS. 8 to 10, the controller 50 may set the traveling operation to traveling straight toward each target position. More specifically, for example, if a final target position WP3 and two intermediate target positions WP1 and WP2 are set as waypoints before the final target position WP3 as shown in FIG. 8, the controller 50 may set the traveling operation to a combination of an operation of traveling straight from the movement start position to the first intermediate target position WP1, an operation of traveling straight from the first intermediate target position WP1 to the second intermediate target position WP2, and an operation of traveling straight from the second intermediate target position WP2 to the final target position WP3.

[0073] As described above, data indicating forward or reverse travel is set as a parameter for each target position. When setting the travel operation for traveling the work machine 10 toward each target position, it can be set based on the set parameter whether forward travel or reverse travel will be performed when traveling to each target position.

[0074] 8, a parameter indicating backward movement is set for the first intermediate target position WP1. As a result, the travel operation to the first intermediate target position WP1 is set to be a backward movement by a distance L2 from the travel start position in the negative direction of the Y local axis away from the travel reference line LB. On the other hand, a parameter indicating forward movement is set for the final target position WP3. As a result, the travel operation to the final target position WP3 is set to be a forward movement by a distance L2 from the second intermediate target position WP2 in the positive direction of the Y local axis closer to the travel reference line LB.

[0075] By setting the travel operation (travel path) as shown in FIG. 8 , for example, when a work object is present near the X-local axis, the work machine 10 can be moved safely while maintaining a distance from the work object. This is also true for the example in FIG. 9 . Furthermore, in the example in FIG. 9 , only one intermediate target position (waypoint), WP1, is set compared to the example in FIG. 8 , so the number of turns can be reduced and the impact of turns on the ground shape can be mitigated. Furthermore, in the example in FIG. 10 , for example, the number of intermediate target positions (waypoints) increases to three, WP1, WP2, and WP3, but turns near the work object can be avoided. In this way, the controller 50 can include, in the travel operation path, a separating path that moves away from the travel reference line LB and an approaching path that moves closer to the travel reference line LB. This allows the work machine 10 to be moved safely while reducing the impact on the ground shape. In the example of Figure 8 (Figure 9), the separating route is the route from the running start position to the intermediate target position WP1, and the approaching route is the route from the intermediate target position WP2 (WP1) to the final target position WP3 (WP2).

[0076] Here, parameters specifying the repetition of travel patterns such as those shown in Figures 8 to 10 may be input as parameters for setting the travel operation. This makes it possible to set a travel plan that repeatedly performs the same travel pattern over a wide area. For example, the travel plan in the example shown in Figure 11 is configured by repeating the travel pattern shown in Figure 8, that is, a travel pattern that reaches a final target position WP3 via first and second intermediate target positions WP1 and WP2. The number of repetitions of the travel pattern may be input, for example, as a parameter. Also, for example, the controller 50 may determine the end point when a travel pattern is repeated using the following method. Specifically, the controller 50 may determine the final target position WP3 as the end point of the work machine 10 when the final target position WP3 after repeating the travel pattern N times exceeds the travel reference coordinate PS. Alternatively, the controller 50 may determine the final target position WP3 as the end point when the final target position WP3 after repeating the travel pattern N times comes within a predetermined distance of the travel reference coordinate PS.

[0077] In addition, when the lower traveling body 11 has left and right crawlers, the turning operation can be a spin turn, in which the left and right crawlers are driven in opposite directions, or a pivot turn, in which only one of the left and right crawlers is driven. A pivot turn tends to have a larger turning radius than a spin turn. Therefore, for example, when it is determined that a work object is nearby, it is preferable to use a spin turn rather than a pivot turn.

[0078] (Setting of Turn Operation After Traveling) Next, the turn operation after traveling will be described. The controller 50 sets the turn operation after traveling when necessary based on various conditions. For example, as shown in FIG. 4, the turn operation after traveling may be omitted. Also, as shown in FIG. 6, the controller 50 may determine at which target position the turn operation after traveling will be performed based on parameters. Specifically, FIG. 6 illustrates a case in which the turn operation after traveling is not performed at intermediate target positions P1 and P2, but is performed only at final target position P3. Note that in the example shown in FIG. 6, the negative direction of the X-axis is set to zero degrees, and the turn angle after traveling, which is the turn angle resulting from the turn operation after traveling, is set. The controller 50 may also determine the turn angle after traveling based on parameters.

[0079] Furthermore, when the travel reference coordinate PS is set as shown in Figures 7 and 8, the controller 50 may set the post-travel turn angle with the positive direction of the Xlocal axis set to zero degrees. For example, the operator sets parameters so that the undercarriage 11 faces the work object at the target position (P1 in Figure 7, WP3 in Figure 8) where the post-travel turn operation is performed. Generally, the undercarriage 11 has a longitudinal direction that coincides with the direction of travel. Therefore, by having the undercarriage 11 facing the work object at the target position, the work machine 10 can perform work while being less likely to lose balance. Furthermore, even if a situation arises during work by the work machine 10 where the work machine 10 needs to move away from the work object, such as when the footing becomes unstable, the work machine 10 can be made to move away from the work object with ease.

[0080] The controller 50 sets a travel plan through the above-described processing. The controller 50 then executes the set travel plan. Specifically, the controller 50 determines whether the lower traveling structure 11 is facing the next target position (step S30). If the determination in step S30 is NO and it is confirmed that the lower traveling structure 11 is not facing the next target position, the controller 50 executes a pre-travel turn operation until the determination in step S30 is YES, that is, until it is determined that the lower traveling structure 11 is facing the next target position (step S40).

[0081] Next, the controller 50 determines whether or not the work machine 10 has reached the next target position (step S50). If the determination in step S50 is NO and it is confirmed that the work machine 10 has not reached the target position, the controller 50 continues straight-ahead traveling until the determination in step S50 becomes YES, that is, until it is determined that the work machine 10 has reached the target position (step S60).

[0082] Next, the controller 50 determines whether or not a turn has occurred after traveling (step S70). The controller 50 may determine whether or not a turn has occurred after traveling based on a parameter. Alternatively, if the traveling reference line LB has been set, the controller 50 may skip this determination and proceed to step S80.

[0083] The controller 50 determines whether the turn angle of the lower running structure 11 matches the specified post-running turn angle (step S80). If the turn angle of the lower running structure 11 does not match the post-running turn angle, the controller 50 executes the post-running turn operation until the determination in step S80 becomes YES, that is, until it is determined that the turn angle of the lower running structure 11 matches the post-running turn angle (step S90).

[0084] Next, the controller 50 determines whether the reached target position is the end point in the travel plan (step S100). For example, in the example shown in FIG. 8 , if the reached target position is the final target position WP3, it is determined to be the end point. However, if the reached target position is either of the intermediate target positions WP1 or WP2, it is determined not to be the end point. If step S100 returns YES, confirming that the target position is the end point, the controller 50 ends this process. On the other hand, if step S100 returns NO, confirming that the target position is not the end point, the controller 50 proceeds to step S20. Note that if operations for all target positions are set in advance, the controller 50 may proceed to step S30.

[0085] 3 includes, but is not limited to, a process for setting a travel plan and a process for executing the set travel plan. For example, the travel plan setting system 1 may execute a process for setting a travel plan (e.g., step S10 and step S20) and output the set travel plan. For example, the travel plan setting system 1 may output the set travel plan to another system (e.g., a system that controls the operation of the work machine 10).

[0086] (Operation and Effect) As described above, the travel plan setting system 1 of this embodiment is applied to a work machine 10 equipped with a machine main body 10a having an upper rotating body 13 and a lower traveling body 11 that rotatably supports the upper rotating body 13 and travels. The travel plan setting system 1 has the following configuration and provides the following effects based thereon.

[0087] [Configuration 1] The travel plan setting system 1 includes a target position setting unit 55 that sets a target position that is a movement target for the work machine 10, and a travel plan setting unit 56. The travel plan setting unit 56 sets a travel plan that includes a pre-travel turn operation that turns the traveling direction of the lower traveling structure 11 toward a route leading to the target position, and a travel operation that moves the work machine 10 along the route to the target position after the pre-travel turn operation.

[0088] In the above configuration 1, a travel plan can be set that includes a pre-travel turn operation and a travel operation toward a target position, and a travel route can be easily set without using surrounding information about the work site.

[0089] [Configuration 2] The driving plan setting unit 56 sets a driving plan that includes a post-driving turn operation that is performed after a driving operation.

[0090] In the above configuration 2, after the work machine 10 reaches the target position, the work machine 10 can be directed in the desired direction, allowing the work machine 10 to smoothly carry out work after traveling.

[0091] [Configuration 3] The travel plan setting system 1 further includes a travel reference line setting unit 58 that sets a travel reference line LB that extends from the movement start position of the work machine 10 in a travel reference direction that serves as the reference for the orientation in which the work machine 10 will travel. The target position setting unit 55 sets a target position (for example, WP2 in Figure 9) where the work machine 10 will perform work on the travel reference line LB. The travel plan setting unit 56 sets the turn angle for the post-travel turn operation so that the longitudinal direction of the undercarriage 11 after the post-travel turn operation intersects with the travel reference line LB.

[0092] Generally, the lower traveling structure 11 has a longitudinal direction that coincides with the direction of travel. In configuration 3 above, by orienting the lower traveling structure 11 in a direction that intersects with the traveling reference line LB at the target position, the work machine 10 can be made to work in a direction that intersects with the traveling reference line LB in a state where it is less likely to lose balance. Furthermore, even if a situation arises where the work machine 10 needs to move away from the work object, such as when the footing becomes unstable while the work machine 10 is working, the work machine 10 can be made to move away from the work object in an easy state.

[0093] [Configuration 4] The driving plan setting unit 56 includes in the route of the driving operation a distance route that moves away from the driving reference line LB (for example, a route toward WP1 in Figure 9) and an approach route that moves closer to the driving reference line LB (for example, a route from WP1 to WP2 in Figure 9).

[0094] In the above configuration 4, the work machine 10 can be moved safely by moving while maintaining a distance from the travel reference line LB.

[0095] [Configuration 5] The driving plan setting unit 56 sets a route for the driving operation such that the vehicle moves along a separation route (e.g., a route toward WP1 in Figure 9) that goes straight from the start position of the movement, and then moves along an approach route (e.g., a route from WP1 to WP2 in Figure 9) that goes straight to the target position.

[0096] In the above configuration 5, the number of turning operations near the work object can be reduced, thereby reducing the impact on the ground shape.

[0097] [Configuration 6] The driving plan setting system 1 has an input unit 35 that receives input from the operator of a working area width S, which is the width of multiple working areas in the driving reference direction, and a lap width T, which is the width at which adjacent working areas overlap. The target position setting unit 55 determines the intervals between multiple target positions on the driving reference line LB based on the working area width S and the lap width T.

[0098] In the above configuration 6, the interval between the target positions to which the work machine 10 moves can be determined with simple settings.

[0099] [Configuration 7] When the target position exceeds the driving reference coordinate PS in the driving reference direction, or when the target position approaches within a predetermined distance of the driving reference coordinate PS, the driving plan setting unit 56 sets a driving plan that sets the target position as the end point of the work machine 10.

[0100] In the above configuration 7, the end point of the work machine 10 can be determined simply by setting the travel reference coordinate PS.

[0101] (Modifications) The above embodiment may be modified in various ways. For example, various examples (including modifications) of the above embodiment may be combined in various ways. For example, the connections of the components shown in FIG. 1 and the like may be changed. For example, the number of components (including modifications) of the above embodiment may be changed, or some of the components may be omitted. For example, the arrangement of the components may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different components or parts may be combined into a single component or part. For example, what is described as a single component or part may be provided as multiple different components or parts. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, or some steps may not be performed. For example, each component may have only some of its features (functions, arrangement, shape, operation, etc.).

Claims

1. A driving plan setting system applicable to a work machine having an upper rotating body and a lower traveling body that rotatably supports the upper rotating body and travels, the driving plan setting system comprising: a target position setting unit that sets a target position that is a movement target for the work machine; and a driving plan setting unit that sets a driving plan that includes a pre-travel turn operation that turns the traveling direction of the lower traveling body toward a route leading to the target position, and a driving operation that moves the work machine along the route to the target position after the pre-travel turn operation.

2. A driving plan setting system according to claim 1, wherein the driving plan setting unit sets the driving plan including a post-driving turn operation to be performed after the driving operation.

3. A driving plan setting system as described in claim 2, further comprising a driving reference line setting unit that sets a driving reference line that extends from the movement start position of the work machine in a driving reference direction that serves as a reference for the direction in which the work machine will travel, wherein the target position setting unit sets the target position at which the work machine will perform work on the driving reference line, and the driving plan setting unit sets the turn angle for the post-driving turn operation so that the longitudinal direction of the lower traveling body after the post-driving turn operation intersects with the driving reference line.

4. A driving plan setting system according to claim 3, wherein the driving plan setting unit includes, in the route of the driving operation, an away route that moves away from the driving reference line and an approach route that moves closer to the driving reference line.

5. A driving plan setting system according to claim 4, wherein the driving plan setting unit sets the route of the driving operation such that the vehicle moves along the separation route going straight from the movement start position, and then moves along the approach route going straight to the target position.

6. A driving plan setting system as described in claim 3, comprising an input unit that receives input from an operator of a working area width, which is the width of a plurality of working areas in the driving reference direction, and an overlap width, which is the width at which adjacent working areas overlap, and the target position setting unit determines the interval between the plurality of target positions on the driving reference line based on the working area width and the overlap width.

7. A driving plan setting system as described in claim 3, wherein the driving plan setting unit sets the driving plan such that the target position is the end point of the work machine when the target position exceeds the driving reference coordinates in the driving reference direction, or when the target position approaches the driving reference coordinates within a predetermined distance.

Images