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EP-4296439-B1 - TARGET PATH GENERATION SYSTEM

EP4296439B1EP 4296439 B1EP4296439 B1EP 4296439B1EP-4296439-B1

Inventors

  • MIYAZAKI, Ryunosuke
  • AKIYAMA, MASAKI
  • FUJIWARA, SHO
  • DOI, TAKAYUKI

Dates

Publication Date
20260506
Application Date
20220308

Claims (6)

  1. A target locus generation system (1) for a working machine (10) that has: a machine main body (11); and an attachment (12) including a boom (13) tiltably attached to the machine main body (11), an arm (15) rotatably attached to the boom (13), and a bucket (17) rotatably attached to the arm (15) for excavating an excavation object (A), the target locus generation system (1) comprising: a posture detector (20) that detects a posture of the attachment (12); a contour detector (31) that detects information about a contour of the excavation object (A); a contact detector (33) that detects contact of a distal end (17t) of the bucket (17) with the excavation object (A); and a controller (40), characterized in that the controller (40) is configured to: receive information about a form of an arm distal end target locus (Ta) being a target locus of a distal end (15t) of the arm (15), information about an intersection angle (β) being an angle between a surface of the excavation object (A) and the arm distal end target locus (Ta), and information about an offset amount (O) being a distance between a finish point (P3) of the arm distal end target locus (Ta) and the surface of the excavation object (A); set a position of the distal end (15t) of the arm (15) at a time when the contact detector (33) detects a change to a state of the contact of the distal end (17t) of the bucket (17) with the excavation object (A) from a state of no contact with the excavation object (A) at a start point (P1) of the arm distal end target locus (Ta); and set a position for the finish point (P3) of the arm distal end target locus (Ta) on the basis of the contour of the excavation object (A) detected by the contour detector (31), the intersection angle (β), the information about the form of the arm distal end target locus (Ta), and the offset amount (O).
  2. The target locus generation system (1) according to claim 1, wherein the arm distal end target locus (Ta) is linear.
  3. The target locus generation system (1) according to claim 1 or 2, wherein the controller (40) is further configured to generate a bucket target locus (Tb) being a target locus of the bucket (17), and the controller (40) is configured to: further receive information about a finish point bucket posture (Q3) being a posture of the bucket (17) at a time when the distal end (15t) of the arm (15) is at the finish point (P3) of the arm distal end target locus (Ta); and set the bucket target locus (Tb) in such a manner that the posture of the bucket (17) continuously changes to the received finish point bucket posture (Q3) from a start point bucket posture (Q1) being a posture of the bucket (17) detected by the posture detector (20) when the distal end (15t) of the arm (15) is at the start point (P1) of the arm distal end target locus (Ta).
  4. The target locus generation system (1) according to claim 3, wherein the controller (40) is configured to: further receive information about a bucket rotation ratio (p2θ_ratio) being a ratio of a posture change amount of the bucket (17) from the start point bucket posture (Q1) to an intermediate point bucket posture (Q2) with respect to a posture change amount of the bucket (17) from the start point bucket posture (Q1) to the finish point bucket posture (Q3), the intermediate point bucket posture (Q2) being a posture of the bucket (17) at a time when the distal end (15t) of the arm (15) is at an intermediate point (P2) being a specific point between the start point (P1) and the finish point (P3) of the arm distal end target locus (Ta); and set the intermediate point bucket posture (Q2) on the basis of the received bucket rotation ratio (p2θ_ratio).
  5. The target locus generation system (1) according to any one of claims 1 to 4, wherein the controller (40) is configured to: receive, as the contour of the excavation object (A), an angle (α) of the surface of the excavation object (A) to a predetermined reference plane; and set the position for the finish point (P3) of the arm distal end target locus (Ta) on the basis of the angle (α) of the surface, the intersection angle (β), the information about the form of the arm distal end target locus (Ta), and the offset amount (O).
  6. The target locus generation system (1) according to any one of claims 1 to 5, further comprising a working machine (10) that has: a machine main body (11); and an attachment (12) including a boom (13) tiltably attached to the machine main body (11), an arm (15) rotatably attached to the boom (13), and a bucket (17) rotatably attached to the arm (15) for excavating an excavation object (A).

Description

Technical Field The present invention relates to a target locus generation system that generates a target locus of an attachment included in a working machine. Background Art For instance, Patent Literature 1 describes an invention for generating a target locus (a recommended line for a bucket tip in Patent Literature 1) of an attachment. Citation List Patent Literature Patent Literature 1: International Unexamined Patent Publication WO 2017/115810 A1Patent Literature 2: US 2018/313092 A1Patent Literature 3: WO 2021/065384 A1 The technology described in Patent Literature 1 fails to show how to generate the target locus of the attachment in detail. Further, suppression of a calculation load is demanded in generating the target locus of the attachment. US 2018/313092 A1 discloses a guard that includes a left side extension operably connected to a left segment, the left segment operably connected to a left corner, the left corner operably connected to a middle segment, the middle segment operably connected to a right corner, the right corner operably connected to a right segment, the right segment operably connected to a right extension, wherein each of the left segment, the middle segment and the right segment comprise at least one support maintaining a distance of each of the left segment, the middle segment and the right segment from a supporting surface, and wherein the left segment, the middle segment and the right segment are configured to form a first opening, the first opening so dimensioned and configured as to accept insertion of a first container. WO 2021/065384 A1 discloses a work machine that includes a work device having a boom, an arm, and work equipment and a controller that sets a target surface, and calculates a work equipment-to-target surface distance on the basis of signals from a position sensor and a posture sensor, and controls the boom and carries out deceleration control to decelerate the arm to keep the work equipment from excavating ground beyond the target surface when operation of the arm is carried out and the work equipment-target surface distance has become shorter than a predetermined distance. The controller determines whether or not there is a possibility that the work equipment enters the target surface when operation of the arm is carried out based on the set target surface and the signals from the position sensor and the posture sensor, and does not carry out the deceleration control even when the work equipment-to-target surface distance is shorter than the predetermined distance in the case in which it is determined that there is no possibility that the work equipment enters the target surface. Summary of Invention An object of the present invention is to provide a target locus generation system that enables determination of a target locus of an attachment while suppressing a calculation load for generating the target locus. The above object is solved by a target locus generation system having the features of claim 1. The target locus generation system is adoptable for a working machine that has a machine main body and an attachment. The attachment includes a boom tiltably attached to the machine main body, an arm rotatably attached to the boom, and a bucket rotatably attached to the arm for excavating an excavation object. The target locus generation system includes: a posture detector that detects a posture of the attachment; a contour detector that detects information about a contour of the excavation object; a contact detector that detects contact of a distal end of the bucket with the excavation object; and a controller. The controller is configured to receive information about a form of an arm distal end target locus being a target locus of a distal end of the arm, information about an intersection angle being an angle between a surface of the excavation object and the arm distal end target locus, and information about an offset amount being a distance between a finish point of the arm distal end target locus and the surface of the excavation object. The controller is configured to set a position of the distal end of the arm at a time when the contact detector detects a change to a state of the contact of the distal end of the bucket with the excavation object from a state of no contact with the excavation object at a start point of the arm distal end target locus. The controller is configured to set a position for the finish point of the arm distal end target locus on the basis of the contour of the excavation object detected by the contour detector, the intersection angle, the information about the form of the arm distal end target locus, and the offset amount. Further developments are stated in the dependent claims. Brief Description of Drawings Fig. 1 is a side view of a working machine that adopts a target locus generation system according to an embodiment of the present invention.Fig. 2 is a block diagram of the target locus generation system shown in Fig. 1