JP7585702B2 - Attachment target trajectory change system - Google Patents

Description

The present invention relates to a target trajectory change system for an attachment that changes the target trajectory of a specific part of an attachment of a work machine.

Patent document 1 discloses an automatically operated shovel that performs a series of repetitive operations based on the digging position and the soil dumping position.

Patent Document 2 also discloses a front control device for construction machinery that sets the area in which the attachment can move by direct teach and also sets this area by numerical input.

JP 2001-182091 A Japanese Patent Application Publication No. 10-8490

However, in Patent Document 1, when changing the target trajectory of a specific part of the attachment that has been taught by teaching, it is necessary to re-board the work machine and re-teach it, which is troublesome. In Patent Document 2, the direct teach setting value can be changed by numerical input, but this is limited to within the area in which the attachment can move, and it is not possible to change the entire target trajectory of a specific part of the attachment.

The object of the present invention is to provide a system for changing the target trajectory of an attachment that can easily change the target trajectory of a specific part of the attachment.

The present invention is a target trajectory change system for an attachment in a work machine having a lower traveling body, an upper rotating body rotatably attached to the upper part of the lower traveling body, and an attachment attached to the upper rotating body, and is characterized by having a target trajectory setting means for setting a target trajectory of a specific part of the attachment between a target start point, which is a target point where the attachment starts to operate, and a target end point, which is a target point where the attachment ends to operate, a target point setting means for setting the target point at specific intervals on the target trajectory, a selection means for allowing an operator to select one of the multiple target points as a change target point, a moving means for moving the change target point in at least one of the forward/backward direction of the upper rotating body and the upward/downward direction of the upper rotating body by the operation of the operator, and a target trajectory resetting means for resetting the target trajectory between a forward point, which is a target point located in front of the change target point, and a rear point, which is a target point located behind the change target point, so that the target trajectory passes through the moved change target point.

According to the present invention, a target trajectory of a specific part of the attachment is set between a target start point, which is a target point where the attachment starts to operate, and a target end point, which is a target point where the attachment ends to operate. After that, one of the multiple target points is selected by the operator as a change target point, and the change target point is moved in at least one of the forward/backward direction and the upward/downward direction of the upper rotating body by the operator's operation. When the change target point is moved, the target trajectory is reset between a forward point, which is a target point located in front of the change target point, and a rear point, which is a target point located behind the change target point, so that the target trajectory passes through the changed change target point after the movement. This makes it possible to easily change the target trajectory of a specific part of the attachment. In addition, by setting the movement direction of the change target point to at least one of the forward/backward direction and the upward/downward direction of the upper rotating body, which are directions in which the specific part of the attachment can move relative to the upper rotating body, the movement of the change target point can be easily understood by the operator.

FIG. 2 is a configuration diagram of a target trajectory changing system. FIG. 2 is a circuit diagram of a target trajectory changing system. 13 is a diagram showing a target trajectory of the tip of the bucket, in which the change target point is moved in the front-rear direction of the upper rotating body. FIG. 13 is a diagram showing a target trajectory of the tip of the bucket, and is a diagram showing a case where the target trajectory is reset in part. FIG. 13 is a diagram showing a target trajectory of the tip of the bucket, in which the change target point is moved in the vertical direction of the upper rotating body. FIG.

The following describes a preferred embodiment of the present invention with reference to the drawings.

(Configuration of target trajectory change system)
The target trajectory changing system for an attachment (target trajectory changing system) according to this embodiment changes the target trajectory of a specific portion of an attachment of a work machine. As shown in Fig. 1, which is a configuration diagram of the target trajectory changing system 1, the target trajectory changing system 1 has a work machine 2, a dump truck 3, and a mobile terminal 5.

(Configuration of the work machine)
1 , the work machine 2 is a machine that performs work using an attachment 30, and is, for example, a hydraulic excavator. The work machine 2 has a lower traveling body 21, an upper rotating body 22, a rotating device 24, the attachment 30, and a cylinder 40.

The lower traveling body 21 is the part that allows the work machine 2 to travel, and is equipped with, for example, crawlers. The upper rotating body 22 is rotatably attached to the upper part of the lower traveling body 21. A cab (operator's compartment) 23 is provided at the front of the upper rotating body 22. The rotating device 24 is capable of rotating the upper rotating body 22.

The attachment 30 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is attached to the arm 32 so as to be rotatable in the vertical direction.

The bucket 33 is a part that excavates, holds, and drops the soil, which is the transported material. Note that the bucket 33 is an example of a tip attachment that is attached to the arm 32, and the tip attachment is not limited to this and may be a nibbler, a clamp arm, etc. Also, the transported material is not limited to soil and may be rubble, scrap iron, gravel, etc.

The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. The cylinder 40 includes a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

The boom cylinder 41 drives the boom 31 to rotate relative to the upper rotating body 22. The base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. The tip end of the boom cylinder 41 is rotatably attached to the boom 31.

The arm cylinder 42 drives the arm 32 to rotate relative to the boom 31. The base end of the arm cylinder 42 is rotatably attached to the boom 31. The tip end of the arm cylinder 42 is rotatably attached to the arm 32.

The bucket cylinder 43 drives the bucket 33 to rotate relative to the arm 32. The base end of the bucket cylinder 43 is rotatably attached to the arm 32. The tip end of the bucket cylinder 43 is rotatably attached to a link member 34 that is rotatably attached to the bucket 33.

The work machine 2 also has an operating lever 51 (see FIG. 2), an angle sensor 52, and an inclination angle sensor 60.

The operating lever 51 is operated by the operator to operate the slewing device 24 and the attachment 30. The operating lever 51 is provided inside the cab 23.

The angle sensor 52 detects the rotation angle of the upper rotating body 22 relative to the lower running body 21. The angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor. In this embodiment, the rotation angle of the upper rotating body 22 is set to 0° when the front of the upper rotating body 22 coincides with the front of the lower running body 21.

The inclination angle sensor 60 detects the posture of the attachment 30. The inclination angle sensor 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.

The boom inclination angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. The boom inclination angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (base end of the boom) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

The arm inclination angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32. The arm inclination angle sensor 62 is a sensor that acquires the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. The arm inclination angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

The bucket inclination angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33. The bucket inclination angle sensor 63 is a sensor that acquires the inclination angle of the bucket 33 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. The bucket inclination angle sensor 63 may also be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

In the above configuration, the attachment 30 extends and retracts in the forward and backward directions of the upper rotating body 22. The attachment 30 also rotates in the up and down directions of the upper rotating body 22. In other words, the forward and backward directions of the upper rotating body 22 and the up and down directions of the upper rotating body 22 are directions in which the tip of the bucket 33 can move.

(Dump truck configuration)
1 , earth and sand held by the work machine 2 is dumped onto the dump truck 3. The dump truck 3 has a driver's cab 26 and a loading platform 27.

(Mobile terminal configuration)
1, the mobile terminal 5 is a terminal operated by a worker at a work site, and is, for example, a tablet terminal. The mobile terminal 5 is capable of mutual communication with the work machine 2. The mobile terminal 5 may be a smartphone or the like.

(Circuit configuration of target trajectory change system)
As shown in FIG. 2 , which is a circuit diagram of the target trajectory change system 1 , the work machine 2 has a controller 11 , a work machine side communication device 12 , and a storage device 13 .

As shown in FIG. 3, which shows a target trajectory 71 for the tip of the bucket 33, the controller (target trajectory setting means) 11 sets the target trajectory 71 for the tip of the bucket 33 between a target start point 73 and a target end point 74. Here, the target start point 73 is the target point 72 at which the attachment 30 starts operating. Also, the target end point 74 is the target point 72 at which the attachment 30 ends operating.

The controller (target point setting means) 11 also sets target points 72 at specific intervals on the target trajectory 71. Here, the specific intervals may be specific time intervals or specific distance intervals. In FIG. 3, the target start point 73 and the target end point 74 are shown as black circles (●), and the other target points 72 are shown as white circles (◯).

The target trajectory 71 in this embodiment is for a return swing, but is not limited thereto and may be for a lift swing. A return swing is an operation in which the upper rotating body 22 is rotated and the bucket 33 is returned to the excavation point after discharging the soil and sand held by the bucket 33. A lift swing is an operation in which the upper rotating body 22 is rotated while holding the soil and sand scooped up by the bucket 33. The target point 72 farthest from the pile of sand 100 is the target start point 73 where the return swing operation begins, and the target point 72 closest to the pile of sand 100 is the target end point 74 where the return swing operation ends. A dump truck 3 (not shown) is located to the right of the work machine 2 in the figure.

Here, the tip of the bucket 33 is an example of a specific part of the attachment 30. However, the specific part of the attachment 30 is not limited to this and may be, for example, the tip of the arm 32, etc.

In FIG. 3, the target trajectory 71 when the work machine 2 is viewed from the side and the target trajectory 71 when the work machine 2 is viewed from above are both illustrated in two dimensions.

In this embodiment, the target trajectory 71 is set by teaching, which actually operates the work machine 2 (online teaching). Specifically, the operator operates the operating lever 51 to operate the slewing device 24 and the attachment 30. The slewing angle of the upper rotating body 22 at this time is detected by the angle sensor 52. The posture of the attachment 30 at this time is detected by the tilt angle sensor 60. The controller 11 sets the target trajectory 71 based on the detected slewing angle of the upper rotating body 22 and the detected posture of the attachment 30. The specific interval here is the sampling interval of the detection values of the angle sensor 52 and the tilt angle sensor 60.

The target trajectory 71 may be set by inputting information on the rotation angle of the upper rotating body 22 and information on the attitude of the attachment 30 to the controller 11 without actually operating the work machine 2 (offline teaching). In this case, the target trajectory 71 may be set by inputting information for each specific interval to the controller 11.

The controller 11 generates an automatic driving command based on the target trajectory 71 and the target point 72. The automatic driving command is a command for automatically operating the slewing device 24 and the attachment 30. The controller 11 can then automatically operate the slewing device 24 and the attachment 30 based on the automatic driving command. The work machine 2 is automatically driven based on the automatic driving command.

Returning to FIG. 2, the work machine side communication device 12 can communicate with the mobile terminal side communication device 16 of the mobile terminal 5, which will be described later. The storage device 13 can store the target trajectory 71 and the target point 72 set by the controller 11.

The mobile terminal 5 has a mobile terminal controller 15, a mobile terminal communication device 16, a mobile terminal memory device 17, a touch panel 18, and a display 19.

The mobile terminal side communication device 16 is capable of communicating with the work machine side communication device 12 of the work machine 2. The mobile terminal side controller 15 receives the target trajectory 71 and the target point 72 from the work machine 2 via the mobile terminal side communication device 16.

The display (display device) 19 displays the target trajectory 71 and the target point 72 in two dimensions. The display form is as shown in Figure 3.

The mobile terminal controller (selection means) 15 allows the operator to select one of the multiple target points 72 as a change target point 75. The change target point 75 is selected by touching a portion of the touch panel 18 that overlaps the desired target point 72 displayed on the display 19.

The mobile terminal controller (movement means) 15 is operated by the operator to move the change target point 75 in at least one of the forward/backward direction of the upper rotating body 22 and the upward/downward direction of the upper rotating body 22.

Here, the center of rotation of the upper rotating body 22 is taken as the origin, and the three-dimensional coordinates of the change target point 75 are (Xn, Zn, θn). Xn is the distance in the X direction from the origin to the change target point 75. The axis in the X direction passes through the origin and the change target point 75. Zn is the distance in the Z direction (vertical direction) from the ground to the change target point 75. θn is the angle in the θ direction from the front of the upper rotating body 22 to the axis in the X direction.

At the change target point 75, the front-to-rear direction of the upper rotating body 22 is the X direction. Also, at the change target point 75, the up-down direction of the upper rotating body 22 is the Z direction.

Now, consider the case where the change target point 75 is moved in the fore-and-aft direction (X direction) of the upper rotating body 22, as shown in Figure 3. In this case, in the two-dimensional image of the work machine 2 viewed from above in the lower part of Figure 3, the operator moves the change target point 75 in the X direction by tracing the touch panel 18. The changed change target point 75 after movement is indicated by a white triangle (△).

Here, the mobile terminal controller (range setting means) 15 sets the range within which the change target point 75 can be moved as the movable range based on the information on the attitude of the attachment 30 at the change target point 75. The mobile terminal controller 15 limits the range within which the change target point 75 can be moved by the operator's operation to the movable range.

The mobile terminal controller (forward point selection means) 15 also allows the operator to select one of a number of target points 72 located in front of the change target point 75 as the forward point 78. The forward point 78 is selected by touching a portion of the touch panel 18 that overlaps the desired target point 72 displayed on the display 19. In FIG. 3, the target start point 73 is selected as the forward point 78.

The mobile terminal controller (rear point selection means) 15 also allows the operator to select one of a plurality of target points 72 located behind the change target point 75 as the rear point 79. The rear point 79 is selected by touching a portion of the touch panel 18 that overlaps the desired target point 72 displayed on the display 19. In FIG. 3, the target end point 74 is selected as the rear point 79.

The controller 11 of the work machine 2 receives the post-movement change target point 75, the front point 78, and the rear point 79 from the mobile terminal 5. The controller (target trajectory resetting means) 11 resets the target trajectory 71 between the front point 78 and the rear point 79 so that the target trajectory 71 passes through the post-movement change target point 75. The reset target trajectory 77 is shown in Figure 3. Note that Figure 3 illustrates the reset target trajectory 77 when the post-movement change target point 75 is the triangle on the left side of the figure.

Here, the controller 11 resets the target trajectory 71 so that the forward point 78, the rearward point 79, and the change target point 75 after the movement are connected by a curve. In this embodiment, this curve is a quadratic curve. However, it may be a curve other than a quadratic curve (such as a circular arc), or it may be a straight line.

As shown in FIG. 4, which shows the target trajectory 71 of the tip of the bucket 33, any target point 72 other than the target start point 73 and located in front of the change target point 75 may be selected as the forward point 78. Similarly, any target point 72 other than the target end point 74 and located behind the change target point 75 may be selected as the rear point 79. Even in this case, the target trajectory 71 is reset between the forward point 78 and the rear point 79. FIG. 4 shows the reset target trajectory 77 when the change target point 75 after movement is the triangle on the left side of the figure.

Next, consider the case where the change target point 75 is moved in the vertical direction (Z direction) of the upper rotating body 22 as shown in Figure 5, which is a diagram showing the target trajectory 71 of the tip of the bucket 33. In this case, in the two-dimensional image of the work machine 2 viewed from the side in the upper part of Figure 5, the operator moves the change target point 75 in the Z direction by tracing the touch panel 18. The changed change target point 75 after movement is indicated by a white triangle (△).

As described above, the range in which the change target point 75 can be moved by the operator is limited to the movable range. In addition, a forward point 78 and a backward point 79 are selected by the operator. In FIG. 5, the target start point 73 is selected as the forward point 78, and the target end point 74 is selected as the backward point 79.

As described above, the controller 11 of the work machine 2 resets the target trajectory 71 between the forward point 78 and the rearward point 79 so that the target trajectory 71 passes through the changed point 75 after the movement. The reset target trajectory 77 is shown in FIG. 5. Note that the reset target trajectory 77 is shown when the changed point 75 after the movement is the triangle at the top of the figure. The reset target trajectory 77 is a quadratic curve.

In this way, the target trajectory 71 of the tip of the bucket 33 is set between the target start point 73, which is the target point 72 where the attachment 30 starts operating, and the target end point 74, which is the target point 72 where the attachment 30 ends operating. After that, one of the multiple target points 72 is selected by the operator as the change target point 75, and the change target point 75 is moved in at least one of the forward/backward direction of the upper rotating body 22 and the up/down direction of the upper rotating body 22 by the operator's operation. When the change target point 75 is moved, the target trajectory 71 is reset between the forward point 78, which is the target point 72 located in front of the change target point 75, and the rear point 79, which is the target point 72 located behind the change target point 75, so that the target trajectory 71 passes through the moved change target point 75. This makes it possible to easily change the target trajectory 71 of the tip of the bucket 33.

In addition, by setting the movement direction of the change target point 75 to at least one of the forward/backward direction of the upper rotating body 22 and the upward/downward direction of the upper rotating body 22, which are directions in which the tip of the bucket 33 can move relative to the upper rotating body 22, the movement of the change target point 75 can be easily understood by the worker.

In addition, a forward point 78 and a rearward point 79 are selected from among the multiple target points 72. By varying the target points 72 selected as the forward points 78 and the target points 72 selected as the rearward points 79, the range of the re-set target trajectory 77 can be easily changed.

The target trajectory 71 is also reset so that the forward point 78, the rearward point 79, and the change target point 75 after the movement are connected by a curve. This makes it possible to change the target trajectory 71 even easier, since there is no need to move the target points 72 other than the change target point 75. In addition, sudden movements of the attachment 30 can be suppressed, which can prevent transported materials such as soil and sand from spilling and prevent the attachment 30 from moving inefficiently.

The curve connecting the forward point 78, the rearward point 79, and the change target point 75 after movement is a quadratic curve. This makes it relatively easy to calculate the curve, and therefore makes it easy to reset the target trajectory 71.

The worker can also operate the mobile terminal 5 to select the change target point 75 and move the change target point 75. This allows the target trajectory 71 to be changed on the mobile terminal 5 that is located, for example, away from the work machine 2.

Based on information about the posture of the attachment 30 at the change target point 75, the range within which the change target point 75 can be moved is set as the movable range. The range within which the change target point 75 can be moved by the operator's operation is then limited to the movable range. By moving the change target point 75 within the movable range, sudden movements of the attachment 30 can be suppressed.

It goes without saying that the change target point 75 may be moved in both the forward and backward directions (X direction) of the upper rotating body 22 and the upward and downward directions (Z direction) of the upper rotating body 22.

The mobile terminal controller 15 receives the reset target trajectory 77 from the work machine 2. As shown in Figures 3 to 5, the display 19 displays the target trajectory 71 before resetting and the reset target trajectory 77 in a superimposed manner. As shown in Figures 3 to 5, the target trajectory 71 before resetting and the reset target trajectory 77 are displayed in two dimensions.

In this way, the target trajectory 71 before resetting and the reset target trajectory 77 are displayed superimposed on the display 19. This makes it possible to check the target trajectory 71 before resetting and the reset target trajectory 77 on a mobile terminal 5 that is located, for example, away from the work machine 2.

In addition, the target trajectory 71 before resetting and the reset target trajectory 77 are displayed in two dimensions. By displaying the target trajectory 71 before resetting in two dimensions, it is possible to make the movement direction of the change target point 75 easier for the worker to understand than when the target trajectory 71 before resetting is displayed in three dimensions. In addition, by displaying the reset target trajectory 77 in two dimensions, it is possible to make it easier for the worker to understand how the change target point 75 has been moved.

When checking the reset target trajectory 77, the target trajectory 77 may be displayed in three dimensions.

(effect)
As described above, according to the target trajectory changing system 1 according to the present embodiment, the target trajectory 71 of the tip of the bucket 33 is set between the target start point 73, which is the target point 72 at which the attachment 30 starts operating, and the target end point 74, which is the target point 72 at which the attachment 30 ends operating. After that, one of the multiple target points 72 is selected by the operator as the change target point 75, and the change target point 75 is moved in at least one of the forward/rearward direction of the upper rotating body 22 and the upward/downward direction of the upper rotating body 22 by the operation of the operator. When the change target point 75 is moved, the target trajectory 71 is reset between the forward point 78, which is the target point 72 located in front of the change target point 75, and the rearward point 79, which is the target point 72 located behind the change target point 75, so that the target trajectory 71 passes through the changed change target point 75 after the movement. This makes it possible to easily change the target trajectory 71 of the tip of the bucket 33. In addition, by setting the movement direction of the change target point 75 to at least one of the forward/backward direction of the upper rotating body 22 and the upward/downward direction of the upper rotating body 22, which are directions in which the tip of the bucket 33 can move relative to the upper rotating body 22, the movement of the change target point 75 can be easily understood by the worker.

In addition, a forward point 78 and a rearward point 79 are selected from among the multiple target points 72. By varying the target points 72 selected as the forward points 78 and the target points 72 selected as the rearward points 79, the range of the re-set target trajectory 77 can be easily changed.

The target trajectory 71 is also reset so that the forward point 78, the rearward point 79, and the change target point 75 after the movement are connected by a curve. This makes it possible to change the target trajectory 71 even easier, since there is no need to move the target points 72 other than the change target point 75. In addition, sudden movements of the attachment 30 can be suppressed, so that spillage of transported goods and inefficient movement of the attachment 30 can be suppressed.

The curve connecting the forward point 78, the rearward point 79, and the change target point 75 after movement is a quadratic curve. This makes it relatively easy to calculate the curve, and therefore makes it easy to reset the target trajectory 71.

In addition, the target trajectory 71 before resetting and the reset target trajectory 77 are displayed superimposed on the display 19 of the mobile terminal 5. This makes it possible to check the target trajectory 71 before resetting and the reset target trajectory 77 on a mobile terminal 5 that is located, for example, away from the work machine 2.

In addition, the target trajectory 71 before resetting and the reset target trajectory 77 are displayed in two dimensions. By displaying the target trajectory 71 before resetting in two dimensions, it is possible for the worker to more easily understand the direction in which the change target point 75 has moved, compared to when the target trajectory 71 before resetting is displayed in three dimensions. In addition, by displaying the reset target trajectory 77 in two dimensions, it is possible for the worker to more easily understand how the change target point 75 has been moved.

In addition, the target trajectory 71 before resetting and the reset target trajectory 77 are displayed on the mobile terminal 5. This makes it possible to check the target trajectory 71 before resetting and the reset target trajectory 77 on the mobile terminal 5 that is located, for example, away from the work machine 2. In addition, the worker can operate the mobile terminal 5 to select the change target point 75 and move the change target point 75. This makes it possible to change the target trajectory 71 on the mobile terminal 5 that is located, for example, away from the work machine 2.

Based on information about the posture of the attachment 30 at the change target point 75, the range within which the change target point 75 can be moved is set as the movable range. The range within which the change target point 75 can be moved by the operator's operation is then limited to the movable range. By moving the change target point 75 within the movable range, sudden movements of the attachment 30 can be suppressed.

Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and other aspects can be modified as appropriate. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most suitable actions and effects resulting from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention.

For example, the controller 11 of the work machine 2 sets the target trajectory 71 and resets the target trajectory 77, but these may be performed by a server (not shown). Similarly, the mobile terminal controller 15 of the mobile terminal 5 selects the change target point 75, the front point 78, and the rear point 79, moves the change target point 75, and sets the movable range of the change target point 75, but these may be performed by a server (not shown).

In addition, although the display 19 of the portable terminal 5 has been described as a display device, the display device may be a display device provided in the cab 23 of the work machine 2, a monitor connected to a server (not shown), or the like. In addition, instead of the touch panel 18, an input device provided in the cab 23 of the work machine 2, or a keyboard connected to a server (not shown), or the like may be configured to operate.

REFERENCE SIGNS LIST 1 Target trajectory change system 2 Work machine 3 Dump truck 5 Portable terminal 11 Controller (target trajectory setting means, target point setting means, target trajectory resetting means)
12 Work machine side communication device 13 Storage device 15 Portable terminal side controller (selection means, movement means, forward point selection means, rearward point selection means, range setting means)
16 Mobile terminal communication device 17 Mobile terminal storage device 18 Touch panel 19 Display (display device)
21 Lower traveling body 22 Upper rotating body 23 Cab 24 Rotating device 26 Cab 27 Cargo bed 30 Attachment 31 Boom 32 Arm 33 Bucket 34 Link member 40 Cylinder 41 Boom cylinder 42 Arm cylinder 43 Bucket cylinder 51 Operation lever 52 Angle sensor 60 Tilt angle sensor 61 Boom tilt angle sensor 62 Arm tilt angle sensor 63 Bucket tilt angle sensor 71 Target trajectory 72 Target point 73 Target start point 74 Target end point 75 Point to be changed 77 Target trajectory after reset 78 Forward point 79 Rearward point 100 Sand pile

Claims (8)

1. A target trajectory change system for an attachment in a work machine having a lower traveling body, an upper rotating body rotatably attached to an upper portion of the lower traveling body, and an attachment attached to the upper rotating body, comprising:
a target trajectory setting means for setting a target trajectory of a specific portion of the attachment between a target start point, which is a target point where the attachment starts its operation, and a target end point, which is a target point where the attachment ends its operation;
a target point setting means for setting the target points at specific intervals on the target trajectory;
A selection means for allowing an operator to select one of the plurality of target points as a change target point;
a moving means for moving the change target point in at least one of a forward/rearward direction of the upper rotating body and a vertical direction of the upper rotating body by an operation of the worker;
a target trajectory resetting means for resetting the target trajectory between a front point, which is the target point located in front of the change target point, and a rear point, which is the target point located behind the change target point, so that the target trajectory passes through the change target point after the movement;
A target trajectory changing system for an attachment, comprising: a forward point selection means for allowing the operator to select one of a plurality of target points located forward of the change target point as the forward point;
a rear point selection means for allowing the operator to select one of a plurality of target points located rearward of the change target point as the rear point;
2. The target trajectory changing system for an attachment according to claim 1, further comprising: The target trajectory change system for an attachment according to claim 1 or 2, characterized in that the target trajectory resetting means resets the target trajectory so that the forward point, the rearward point, and the change target point after the movement are connected by a curve. The target trajectory change system for an attachment according to claim 3, characterized in that the curve is a quadratic curve. The system for changing the target trajectory of an attachment according to any one of claims 1 to 4, characterized in that it has a display device that displays the target trajectory before resetting and the reset target trajectory in a superimposed manner. The attachment target trajectory change system according to claim 5, characterized in that the target trajectory before resetting and the reset target trajectory are displayed in two dimensions. A portable terminal capable of communicating with the work machine,
7. The system for changing a target trajectory of an attachment according to claim 5, wherein the portable terminal comprises the display device, the selection means, and the movement means. a range setting means for setting a range within which the change target point can be moved as a movable range based on information on the attitude of the attachment at the change target point;
The system for changing a target trajectory of an attachment according to any one of claims 1 to 7, characterized in that the moving means limits the range in which the change target point can be moved by operation of the worker to within the movable range.

Images