Trajectory-generating system and work machine comprising same

Abstract

A trajectory generating system includes a target trajectory setting unit and a target trajectory correcting unit. The target trajectory setting unit sets a reference target trajectory that is a target for a movement of a specific portion of an attachment and includes a reference target path including a plurality of target points and time information that is information about a time for a movement of the specific portion along the plurality of target points. The target trajectory correcting unit specifies a pre-correction modification point on the reference target trajectory, sets a corrected target path including a post-correction modification point obtained by modifying the pre-correction modification point, and sets the time information in the corrected target path based on at least one of information about a speed of the attachment on the reference target trajectory and information about a preset upper limit of the speed of the attachment.

1 . A trajectory generating system that is used in a work machine including a machine body and an attachment that is attached to the machine body and performs work, the trajectory generating system comprising:
 a target trajectory setting unit that sets a reference target trajectory that is a target for movement of a specific portion of the attachment, the reference target trajectory including a reference target path including a plurality of target points and time information that is information about a time for movement of the specific portion along the plurality of target points; and   a target trajectory correcting unit that corrects the reference target trajectory,   wherein in a case where a predetermined path correcting condition is satisfied, the target trajectory correcting unit specifies at least one pre-correction modification point among the plurality of target points on the reference target trajectory and sets a post-correction modification point obtained by modifying a position of the pre-correction modification point, thus setting a corrected target path including the post-correction modification point, and   in a case where a predetermined time correcting condition is satisfied, the target trajectory correcting unit sets the time information in the corrected target path based on at least one of information about a speed of the attachment on the reference target trajectory and information about a preset upper limit of the speed of the attachment.   
     
     
         2 . The trajectory generating system according to  claim 1 , wherein the target trajectory correcting unit sets the time information in the corrected target path based on the information about the speed of the attachment on the reference target trajectory. 
     
     
         3 . The trajectory generating system according to  claim 2 , wherein the target trajectory correcting unit sets the time information in the corrected target path so that a speed of the attachment at the post-correction modification point is equal to or less than a speed of the attachment at the pre-correction modification point on the reference target trajectory. 
     
     
         4 . The trajectory generating system according to  claim 2 , wherein the target trajectory correcting unit sets the time information in the corrected target path so that an average speed of the attachment in a region between an adjacent target point adjacent to the post-correction modification point among the plurality of target points and the post-correction modification point is equal to or less than an average speed of the attachment in a region between the pre-correction modification point and the adjacent target point on the reference target trajectory. 
     
     
         5 . The trajectory generating system according to  claim 2 , wherein
 in a case where the speed of the attachment at the pre-correction modification point is equal to or less than a predetermined threshold on the reference target trajectory, the target trajectory correcting unit   specifies, among the plurality of target points, a certain reference target point that is the target point at which the speed of the attachment is higher than the threshold, the target point being closest to the pre-correction modification point, and   sets the time information in the corrected target path so that a speed of the attachment at the post-correction modification point is equal to or less than a speed of the attachment at the reference target point on the reference target trajectory.   
     
     
         6 . The trajectory generating system according to  claim 1 , wherein the target trajectory correcting unit sets the time information in the corrected target path so that a speed of the attachment at the post-correction modification point is equal to or less than the preset upper limit of the speed of the attachment. 
     
     
         7 . The trajectory generating system according to  claim 1 , wherein the time information includes a movement time of the attachment between two target points adjacent to each other among the plurality of target points. 
     
     
         8 . The trajectory generating system according to  claim 1 , further comprising a display unit that displays information about the reference target trajectory corrected by the target trajectory correcting unit. 
     
     
         9 . The trajectory generating system according to  claim 1 , wherein the path correcting condition includes at least one of a condition that an obstacle is present in the reference target path after the target trajectory setting unit sets the reference target trajectory, a condition that an operator instructs to change the reference target path, and a condition that a work position of the attachment is modified. 
     
     
         10 . The trajectory generating system according to  claim 1 , wherein the time correcting condition includes a condition that assuming that the attachment moves to the plurality of target points included in the corrected target path, based on the time information on the reference target trajectory, the speed of the attachment at the post-correction modification point is higher than the speed of the attachment at the pre-correction modification point on the reference target trajectory. 
     
     
         11 . A work machine comprising:
 a machine body;   an attachment that is attached to the machine body and performs work; and   the trajectory generating system according to  claim 1 .