EP4711531A1

EP4711531A1 - System, program and method for setting target path

Info

Publication number: EP4711531A1
Application number: EP24876938.2A
Authority: EP
Inventors: Ryunosuke MIYAZAKI; Daisuke Noda
Original assignee: Kobelco Construction Machinery Co Ltd
Current assignee: Kobelco Construction Machinery Co Ltd
Priority date: 2023-10-10
Filing date: 2024-08-21
Publication date: 2026-03-18
Also published as: CN121420112A; JP2025065872A; WO2025079338A1

Abstract

Provided is a system for automatically setting a target path capable of inhibiting an attachment of a working machine and a surrounding object (S) from interference with each other. The system includes a surrounding object information acquisition unit and a setting unit. The surrounding object information acquisition unit acquires surrounding object information, which is information on the surrounding object (S). The setting unit sets a plurality of target points (P) for defining the target path (TP). The setting unit sets at least a part of the plurality of target points (P) at a position offset from the surrounding object (S) in at least one of a slewing direction (Sw) of an upper slewing body and the height direction (V).

Description

Technical Field

The present invention relates to a system, a program, and a method for setting a target path of a working machine.

Background Art

Patent Literature 1 describes a technique for setting a target path of an attachment of a working machine.
However, the setting of the target path, which is performed by a manual operation such as teaching by a worker, takes time and effort. Besides, it is desirable to inhibit the attachment and a surrounding object from interference with each other.

Citation List

Patent Literature

Patent Literature 1: WO 2022/049987 A

Summary of Invention

An object of the present invention is to provide a system, a program, and a method capable of automatically setting a target path capable of inhibiting an attachment of a working machine from interference with a surrounding object.
Provided is a system for setting a target path of a working machine, the working machine including a lower body, an upper slewing body capable of slewing with respect to the lower body, and an attachment attached to the upper slewing body. The attachment includes a predetermined target part, and the target path is a target of a path along which the target part is to be moved. The system includes an information acquisition unit that acquires surrounding object information that is information on a surrounding object present around the upper slewing body, and a setting unit that sets a plurality of target points for defining the target path based on the surrounding object information acquired by the information acquisition unit. The setting unit sets at least a part of the plurality of target points at a position offset from the surrounding object by a predetermined offset amount in at least one of a slewing direction of the upper slewing body with respect to the lower body and a height direction.
Also provided is a program for setting a target path of the target part of the working machine. The program makes a computer execute an information acquisition step and a setting step. The information acquisition step is a step of acquiring surrounding object information that is information on a surrounding object present around the upper slewing body. The setting step is a step of setting a plurality of target points for defining the target path. At least a part of the plurality of target points is set at a position offset from the surrounding object by a predetermined offset amount in at least one of a slewing direction of the upper slewing body with respect to the lower body and a height direction.
Also provided is a method for setting a target path of the target part of the working machine. The method includes an information acquisition step and a setting step. The information acquisition step is a step of acquiring surrounding object information that is information on a surrounding object present around the upper slewing body. The setting step is a step of setting a plurality of target points for defining the target path. At least a part of the plurality of target points is set at a position offset from the surrounding object by a predetermined offset amount in at least one of a slewing direction of the upper slewing body with respect to the lower body and a height direction.

Brief Description of Drawings

FIG. 1 is a side view of a working machine according to one embodiment of the present invention.
FIG. 2 is a block diagram showing a target path setting system according to the embodiment.
FIG. 3 is a plan view showing the working machine and a target path.
FIG. 4 is a graph showing a position of the target path in a slewing direction and a height direction.
FIG. 5 is a flowchart showing processing to be performed by a setting unit of the target path setting system.
FIG. 6 is a side view showing a height-direction offset amount of the target point.
FIG. 7 is a front view showing a slewing-direction offset amount of the target point.
FIG. 8 is a graph showing a position of a target path according to a fourth modification of the embodiment in a slewing direction and a height direction.
FIG. 9 is a graph showing a position of a target path according to a sixth modification of the embodiment in a slewing direction and a height direction, showing an example in which a part of judgment target candidate points is lower than a judgment line.
FIG. 10 is a graph showing a position of a target path according to the sixth modification in a slewing direction and a height direction, showing an example in which a part of judgment target candidate points is skipped.
FIG. 11 is a graph showing a position of a target path according to a seventh modification of the embodiment in a slewing direction and a height direction.

Description of Embodiments

An embodiment of the present invention will be described with reference to FIGS. 1 to 11.
FIG. 1 shows a working machine 10 according to the embodiment, and FIG. 2 shows a target path setting system 1 for setting a target path TP of the working machine 10. The target path TP is used for operating the working machine 10.
The working machine 10 is a machine to perform work. The working machine 10 illustrated in FIG. 1 is a construction machine to perform construction work, specifically, a hydraulic excavator. The working machine 10, however, may be a working machine other than a hydraulic excavator, for example, a crane. Hereinafter will be described a case where the working machine 10 is an excavator.
The working machine 10 includes a machine body 10a, an attachment 15, a plurality of actuators, and a drive control unit 17 shown in FIG. 2.
The machine body 10a is a main part of the working machine 10. The machine body 10a includes a lower body 11 and an upper slewing body 13.
The lower body 11 supports the upper slewing body 13. The lower body 11 shown in FIG. 1 is a lower traveling body capable of traveling on a traveling surface such as a ground. The lower body 11 includes a pair of crawlers for the traveling. The lower body 11 may alternatively include a plurality of wheels for traveling.
The upper slewing body 13 is mounted on the lower body 11 so as to be capable of slewing with respect to the lower body 11. The upper slewing body 13 includes a slewing frame and a cab 13a mounted thereon. The cab 13a allows an operator to perform an operation for operating the working machine 10 in the cab 13a. The working machine 10 may be configured either to be remotely operated at a place away from the cab 13a or to be capable of being automatically operated.
The attachment 15 is attached to the upper slewing body 13 so as to be capable of performing a work motion.
The working machine 10 has a machine up-down direction Z, and the upper slewing body 13 has a slewing-body front-rear direction X and a slewing-body lateral direction. The machine up-down direction Z is a direction in which a central axis of the slewing of the upper slewing body 13 with respect to the lower body 11 extends. The slewing-body front-rear direction X is a direction orthogonal to the machine up-down direction Z and is a direction in which the attachment 15 moves with respect to the upper slewing body 13. The slewing-body lateral direction is a direction orthogonal to each of the machine up-down direction Z and the slewing-body front-rear direction X, and the central axis of the rotation of the attachment 15 (specifically, a boom 15a) with respect to the upper slewing body 13 extends in parallel with the slewing-body lateral direction. The slewing-body front-rear direction X involves a slewing-body front side X1 and a slewing-body rear side X2 opposite to the slewing-body front side X1, and the attachment 15 protrudes from the upper slewing body 13 to the slewing-body front side X1.
FIG. 3 further shows a slewing direction Sw and a slewing angle θ. The slewing direction Sw is a direction in which the upper slewing body 13 slews with respect to the lower body 11. The slewing angle θ is an angle in the slewing direction Sw of the upper slewing body 13 with respect to the lower body 11.
FIG. 1 further shows a height direction V, which is the vertical direction. The height direction V involves a height-direction upper side V1 and a height-direction lower side V2 opposite thereto. The machine up-down direction Z of the working machine 10 disposed on a horizontal plane is equal to the height direction V.
The attachment 15 includes a boom 15a, an arm 15b, and a distal end attachment 15c. The boom 15a is mounted on the upper slewing body 13 so as to be raisable and lowerable, that is, so as to be rotationally movable in the slewing-body front-rear direction X and the machine up-down direction Z. Specifically, the boom 15a has a proximal end and a distal end opposite to the proximal end, and the proximal end is connected to, for example, a front end of the slewing frame so as to be rotationally movable. The arm 15b has a proximal end and a distal end opposite thereto, and the proximal end is connected to the distal end of the boom 15a so as to be rotationally movable in the slewing-body front-rear direction X and the machine up-down direction Z.
The distal end attachment 15c is a part to directly act on a work object that is a target of work. The distal end attachment 15c forms a distal end of the attachment 15. The distal end attachment 15c is connected to the distal end of the arm 15b so as to be rotationally movable, specifically, rotationally movable in the slewing-body front-rear direction X and the machine up-down direction Z. The distal end attachment 15c illustrated in FIG. 1 is a bucket for performing work of scooping earth and sand which is the work object, excavation work, and the like. Alternatively, the distal end attachment 15c may be either of a device to sandwich the work object such as a grapple or a nibbler, a device to crush the work object such as a breaker, and a magnet to attract and hold the work object that contains metal. The work object may be any of earth and sand, stone, wood, metal, resin, waste, or a structure such as block.
The posture of the distal end attachment 15c is represented by a distal-end-attachment angle Xi, for example, a bucket angle. The distal-end-attachment angle Xi may be either an angle of the distal end attachment 15c with respect to the arm 15b or an inclination angle of the distal end attachment 15c with respect to a predetermined reference direction, for example, the height direction V or the horizontal direction. The distal-end-attachment angle Xi illustrated in FIG. 1 is an angle of the back surface of the distal end attachment 15c with respect to the height direction V when viewed in the slewing-body lateral direction.
The attachment 15 includes a predetermined target part 15c1. As will be described in detail later, the target part 15c1 is a part to be moved along the target path TP shown in FIG. 3, that is, a part to be positioned on the target path TP. The target part 15c1 may be either a distal end or a proximal end of the distal end attachment 15c. The distal end is an end on a side far from the arm 15b, and the proximal end is an end to be connected to the distal end of the arm 15b.
The plurality of actuators are arranged to move respective movable parts of the working machine 10, respectively. The plurality of actuators include a slewing motor that makes the upper slewing body 13 slew with respect to the lower body 11, a boom cylinder that raises and lowers the boom 15a with respect to the upper slewing body 13, an arm cylinder that rotationally moves the arm 15b with respect to the boom 15a, and a distal-end-attachment cylinder that rotationally moves the distal end attachment 15c with respect to the arm 15b, for example, a bucket cylinder. Each of the actuators may be either a hydraulic actuator or an electric actuator.
The drive control unit 17 shown in FIG. 2 controls respective motions of the plurality of actuators. In a case where each of the plurality of actuators is a hydraulic actuator, the drive control unit 17 includes a hydraulic circuit that controls the motion of the hydraulic actuator. In a case where each of the plurality of actuators is an electric actuator, the drive control unit 17 includes an electric circuit that controls the motion of the electric actuator. Specifically, the drive control unit 17 according to the present embodiment controls respective motions of the slewing motor, the boom cylinder, the arm cylinder, and the distal-end-attachment cylinder.
As shown in FIG. 2, the target path setting system 1 includes a posture detector 20, a surrounding object detector 41, an input device 43, an output device 45, and a controller 50. Each of the posture detector 20, the surrounding object detector 41, the input device 43, the output device 45, and the controller 50 may be either installed on the working machine 10 or disposed outside the working machine 10, for example, at a work site. The posture detector 20 may be included in the components of the working machine 10.
The posture detector 20 detects posture information that is information on the posture of the working machine 10. The posture detector 20 includes a plurality of sensors, which include a reference position sensor 21, a slewing sensor 23, a boom sensor 25a, an arm sensor 25b, and a distal end attachment sensor 25c.
The reference position sensor 21 detects a position and a direction of a predetermined reference part of the working machine 10 with respect to the work site. The reference part may be any of a part of the attachment 15, a part of the upper slewing body 13, and a part of the lower body 11. The reference part may be, for example, either a part to be connected to the upper slewing body 13 out of the boom 15a, namely, a boom foot, or a part located on the slewing center axis of the upper slewing body 13. The reference position sensor 21 may be included in a positioning system using electromagnetic waves, for example, light or radio waves. The positioning system may be either a satellite positioning system such as a global navigation satellite system (GNSS) or a system not using a satellite, for example, a system including a combination of a transmitter installed on the ground and a receiver. For example, the positioning system may use a total station. The position of the reference position sensor 21 shown in FIG. 1 corresponds to a position of a GNSS antenna in a positioning system using a GNSS.
The slewing sensor 23 detects a posture of the upper slewing body 13 with respect to the lower body 11, specifically, an angle of the slewing direction of the upper slewing body 13 with respect to the lower body 11, namely, the slewing angle θ shown in FIG. 3. The slewing sensor 23 is, for example, an angle sensor attached to a rotative support such as a slewing center shaft or a slewing bearing of the upper slewing body 13 with respect to the lower body 11. Alternatively, the slewing sensor 23 may be one for detecting an angle of the slewing direction of the upper slewing body 13 with respect to the work site, namely, the azimuth.
The boom sensor 25a detects the posture of the boom 15a. The arm sensor 25b detects the posture of the arm 15b. The distal end attachment sensor 25c detects the posture of the distal end attachment 15c.
The boom sensor 25a may be either a sensor that detects an angle of the boom 15a with respect to the horizontal direction or a sensor that detects an angle of the boom 15a with respect to the upper slewing body 13, for example, an inclination angle or a rotation angle. Similarly, the arm sensor 25b and the distal end attachment sensor 25c may be either sensors that detect respective angles of the arm 15b and the distal end attachment 15c with respect to the horizontal direction or sensors that detect respective angles of the arm 15b and the distal end attachment 15c with respect to other components of the working machine 10.
The boom sensor 25a may include an angle sensor, for example, a rotary encoder, attached to a rotary shaft or a rotational support for the boom 15a with respect to the upper slewing body 13. Similarly, each of the arm sensor 25b and the distal end attachment sensor 25c may also include such an angle sensor.
The boom sensor 25a may include a sensor that detects an inclination angle of the boom 15a with respect to the horizontal direction, for example, a gyro sensor, an acceleration sensor, or an inertial measurement device. Similarly, the arm sensor 25b and the distal end attachment sensor 25c may include sensors that detect respective inclinations of the arm 15b and the distal end attachment 15c with respect to the horizontal direction.
The boom sensor 25a may include a stroke sensor that detects a stroke in the expansion/contraction direction of the boom cylinder. Similarly, the arm sensor 25b and the distal end attachment sensor 25c may include stroke sensors that detect respective strokes of the arm cylinder and the distal-end-attachment cylinder in their respective expansion/contraction directions.
The boom sensor 25a may detect the posture of the boom 15a based on at least one of two-dimensional information and three-dimensional information described later. Similarly, the arm sensor 25b and the distal end attachment sensor 25c may detect the posture of the arm 15b and the posture of the distal end attachment 15c, respectively, based on at least one of the two-dimensional information and the three-dimensional information.
The surrounding object detector 41 detects information on the position of a surrounding object S shown in FIG. 4. The surrounding object S is an object present around the working machine 10. For example, the surrounding object detector 41 includes an imaging device that captures the image of the surrounding object S. The surrounding object detector 41 may detect either two-dimensional information of the surrounding object S (for example, the position, shape, and the like of the surrounding object S in the two-dimensional image) or three-dimensional information of the surrounding object S (for example, a three-dimensional coordinate, a three-dimensional shape, a distance image, that is, an image having depth information, and the like). The surrounding object detector 41 may be one using either a passive method or an active method. Specifically, the surrounding object detector 41 may include either a camera that detects two-dimensional information, that is, a monocular camera, or a stereo camera that detects three-dimensional information. The surrounding object detector 41 may be configured to detect the three-dimensional information of the surrounding object S by irradiating the surrounding object S with a wave such as an electromagnetic wave and detecting the reflected wave thereof. The surrounding object detector 41 may include either a time of flight (TOF) sensor that emits a wave and detects the distance to the surrounding object S based on the time from the point in time of the irradiation to the point in time when the reflected wave returns, or a sensor that detects the distance based on the frequency of the reflected wave. The surrounding object detector 41 may include a device that detects three-dimensional information using light such as laser light, for example, light detection and ranging (LiDAR). The surrounding object detector 41 may include a device that detects three-dimensional information using radio waves, for example, a millimeter wave radar. The surrounding object detector 41 may include either only a single sensor or a plurality of sensors. The plurality of sensors may be either composed of all the same kind (type) sensors or sensors including different kinds. The surrounding object detector 41 may be configured to detect both three-dimensional information (for example, a distance image) and two-dimensional information (for example, a two-dimensional image) and determine the final three-dimensional information of the surrounding object S based on the three-dimensional information and the two-dimensional information. The surrounding object detector 41 may include a device that images not only the surrounding object S but also objects other than the surrounding object S. For example, the imaging device included in the posture detector 20 may be also used as a component of the surrounding object detector 41.
The input device 43 is a device that allows a worker to input information to the controller 50 through the input device 43. The input device 43 allows a worker to apply an operation to the input device 43, and inputs an instruction corresponding to the applied operation to the controller 50. When installed in the working machine 10, the input device 43 may be composed of a display in the cab 13a, for example, a cluster gauge. The input device 43 may be either a mobile terminal such as a tablet or a smartphone or a personal computer. The input device 43 may be provided in equipment outside the working machine 10, for example, a server.
The output device 45 outputs information corresponding to the signal input from the controller 50 to the output device 45. The output device 45, for example, displays information. The output device 45, for example, may display the target path TP set by the controller 50. When installed in the working machine 10, the output device 45 may be composed of a display in the cab 13a, for example, a cluster gauge. The output device 45 may be a mobile terminal such as a tablet or a smartphone, or a personal computer. The output device 45 may be provided in equipment outside the working machine 10, for example, a server.
The controller 50 includes a computer that performs the input and output of signals, arithmetic (processing), the storage of information, and the like. Specifically, the controller 50 includes a storage unit 50b and an arithmetic unit 50a shown in FIG. 2. The storage unit 50b has a function of storing a program and other information and recording a result calculated by the arithmetic unit 50a. The arithmetic unit 50a, which has an arithmetic function, executes the program stored in the storage unit 50b to thereby provide the function of the controller 50 shown in FIG. 2. The controller 50 may be connected to another device by wireless communication or wired communication. The controller 50 may be either installed on the working machine 10 or disposed outside the working machine 10. The controller 50 may be constituted by a plurality of units arranged in a dispersed manner. In summary, the controller 50 may be composed of a distributed system.
As the functions provided by the execution of the program, the controller 50 includes a posture information acquisition unit 51, a surrounding object information acquisition unit 53, a setting unit 55, and an automatic control unit 57.
The posture information acquisition unit 51 has a posture information acquiring function of acquiring posture information that is information on the posture of the working machine 10. Specifically, the posture information acquisition unit 51 acquires the posture information detected by the posture detector 20.
The surrounding object information acquisition unit 53 has a surrounding object information acquiring function of acquiring surrounding object information that is information on the surrounding object S shown in FIG. 4. Specifically, the surrounding object information is information on the surrounding object S detected by the surrounding object detector 41. As described above, the surrounding object S is an object present around the working machine 10 shown in FIG. 1 and is an object present around the upper slewing body 13. Examples of the surrounding object S include a ground of earth and sand, an object formed of earth and sand such as a mound of earth and sand, and an obstacle. The surrounding object information includes information about a surrounding object height H, which is the height of the surrounding object S as shown in FIG. 4, namely, surrounding object height information. As will be described later, the surrounding object height information is information on respective surrounding object heights H corresponding to a plurality of slewing angles θ set at regular interval slewing angle Δθp. The surrounding object information preferably includes at least one of the position and the shape of the surrounding object S.
The setting unit 55 sets the target path TP. Details thereof will be described later.
The automatic control unit 57 controls the motion of the working machine 10 shown in FIG. 3. The automatic control unit 57 inputs, to the drive control unit 17, a command (signal) for moving the working machine 10, thereby enabling the working machine 10 to be automatically operated.
The automatic control unit 57 controls the motion of the working machine 10 based on the target path TP set by the setting unit 55. Specifically, the automatic control unit 57 controls the movement of the working machine 10 so as to move the target part 15c1 in the distal end attachment 15c along the target path TP. The automatic control unit 57 controls the movement of the attachment 15. Specifically, the automatic control unit 57 controls the rotational movement of the boom 15a with respect to the upper slewing body 13, the rotational movement of the arm 15b with respect to the boom 15a, and the rotational movement of the distal end attachment 15c with respect to the arm 15b. The automatic control unit 57 controls the movement of the working machine 10 based on the posture information acquired by the posture detector 20 and the posture information acquisition unit 51. The control by the automatic control unit 57 may include the control of the slewing of the upper slewing body 13 with respect to the lower body 11. The automatic control unit 57 may be omitted. The working machine 10 is, thus, not limited to one to be automatically controlled.
As described above, the working machine 10 may be either of operated by an operation by an operator in the cab 13a, operated by an operation performed by an operator in a remote operation device installed outside the working machine 10, that is, by a remote operation, and automatically operated.
The working machine 10 is a machine using information and communication technology (ICT), for example, an ICT construction machine. The working machine 10 may be operated by an operator using a function of, for example, a machine guidance (MG) system. Specifically, the controller 50 may be configured to store a work plan including the target path TP in advance to make a guidance indicated to an operator on a position where the work is to be performed so as to enable the operator to make the working machine 10 perform the work according to the work plan. The guidance is output by, for example, an output device provided in the cab 13a of the working machine 10 or in a remote operation device. The operator can make the working machine 10 perform a motion for work according to the work plan by performing operations of the working machine 10 according to the guidance. The motion involves the movement of the target part 15c1 along the target path TP.
The working machine 10 may be moved by a machine control (MC) system. Specifically, the controller 50 may be configured to store a work plan including the target path TP in advance and to automatically control the movement of a control target element other than an operation target element so as to make the working machine 10 perform the work according to the work plan accompanying the performance of only the operation on the operation target element by the operator. The operation target element is an element that can be moved by an operation by an operator among a plurality of movable elements constituting the attachment 15, for example, the boom 15a, and the control target element is an element that is moved not by an operation by an operator but by automatic control by the controller 50 among the plurality of movable elements, for example, the arm 15b and the distal end attachment 15c. The controller 50 performs the control of the control target element based on the posture information detected by the posture detector 20. The same applies to the automatic driving. The working machine 10 is thus controlled to perform the work according to the work plan with the movement of the target part 15c1 along the target path TP.
In the case of performing the automatic operation of the working machine 10, the automatic control unit 57 of the controller 50 controls the motion of the working machine 10 so as to make the working machine 10 automatically perform the work according to the work plan including the target path TP. The motion also involves the movement of the target part 15c1 along the target path TP.
The storage unit 50b of the controller 50 stores a target path setting program, which is configured to make a computer constituting the controller 50 execute a target path setting processing. The target path setting processing is processing of setting the target path TP.
The target path TP is the target of a path along which the target part 15c1 is to be moved. The target path TP may be either a path involving the slewing of the distal end attachment 15c in the slewing direction Sw or a path involving none of the slewing, that is, a path in which the distal end attachment 15c is kept from slewing in the slewing direction Sw. For example, the target path TP may be a path involving that the distal end attachment 15c is moved in at least one of the slewing-body front-rear direction X and the machine up-down direction Z but not moved in the slewing direction Sw. Below will be mainly described a case where the target path TP is a path involving the movement of the attachment 15c in the slewing direction Sw. The target path TP is set between a first slewing angle θ1 and a second slewing angle θ2 shown in FIG. 4.
The plurality of target points P are points set to define the target path TP. The plurality of target points P are therefore included in the target path TP and intermittently arranged along the target path TP. Each of the target points P includes information on the position (three-dimensional position) of the target point P and information on the order of the target points P. The plurality of target points P include a slewing start point Ps, a slewing end point Pe, and at least one passing point Pp.
The slewing start point Ps and the slewing end point Pe are the opposite end points of the target path TP. The slewing start point Ps is the first target point, corresponding to a slewing start angle θs which is the slewing angle at which the slewing of the upper slewing body 13 is started. The slewing end point Pe is the final target point, corresponding to a slewing end angle θe which is the slewing angle at which the slewing of the upper slewing body 13 is ended.
As shown in FIG. 3, the slewing start point Ps is the target of a point where the movement of the target part 15c1 along the target path TP is to be started. The slewing start point Ps is set, for example, based on a capturing area As. The slewing start point Ps is set, for example, inside or on the boundary of the capturing area As. The capturing area As is an area (for example, an excavation area) in which the distal end attachment 15c is targeted to capture (for example, excavate) the work object in the capturing area As. The capturing area As is, thus, an area from which the work object is to be moved. Examples of the capturing area As include an area where a mound of earth and sand is present, an area where an earth and sand pit (a hole in which earth and sand is put) is present, and an area set on the ground.
The slewing end point Pe is the target of a point at which the movement of the target part 15c1 along the target path TP is to be ended. The slewing end point Pe is set, for example, based on a release area Ae. The slewing end point Pe is set, for example, inside or on the boundary of the release area Ae. The release area Ae is an area (for example, a soil removal area) in which the distal end attachment 15c is targeted to release the work object (for example, remove soil) therefrom in the release area Ae. The release area Ae is, thus, an area to which the work object is to be moved. The release area Ae may be either an area set on the ground or an area in which a container for accommodating a work object is disposed. The container may be, for example, either a loading platform of a vehicle such as a dump truck that transports a work object or a container placed on the ground.
The at least one passing point Pp is set between the slewing start point Ps and the slewing end point Pe on the target path TP.
The slewing start angle θs is the slewing angle θ corresponding to the slewing start point Ps. Specifically, the slewing start angle θs is the slewing angle θ of the upper slewing body 13 when the target part 15c1 is located at the slewing start point Ps.
The slewing end angle θe is the slewing angle θ corresponding to the slewing end point Pe. Specifically, the slewing end angle θe is the slewing angle θ of the upper slewing body 13 when the target part 15c1 is located at the slewing end point Pe.
The first slewing angle θ1 is the slewing angle θ corresponding to one of the opposite end points of the target path TP, thus being one of the slewing start angle θs and the slewing end angle θe corresponding to the slewing start point Ps and the slewing end point Pe, respectively. The second slewing angle θ2 is the slewing angle θ corresponding to the other of the opposite end points of the target path TP, thus being the other of the slewing start angle θs and the slewing end angle θe. In the example shown in FIG. 3, the first slewing angle θ1 is the slewing start angle θs corresponding to the slewing start point Ps, and the second slewing angle θ2 is the slewing end angle θe corresponding to the slewing end point Pe. It is also allowable, conversely, that the first slewing angle θ1 is the slewing end angle θe corresponding to the slewing end point Pe, and the second slewing angle θ2 is the slewing start angle θs corresponding to the slewing start point Ps. FIG. 4 shows a first target point P1 and a second target point P2 included in the plurality of target points P. The first target point P1 is the target point corresponding to the first slewing angle θ1, and the second target point P2 is the target point corresponding to the second slewing angle θ2.
The parameter representing respective positions of the plurality of target points P can be variously set under condition of allowing the posture of the working machine 10 to be derived from the parameter. The coordinate axes of the parameters can be also arbitrarily set. The origin of the coordinate axes, namely, the reference position, may be set, for example, at either a work site or at an arbitrary part of the working machine 10, for example, an arbitrary part of the upper slewing body 13. The origin of the coordinate axes may be set, for example, either to a part to be connected to the upper slewing body 13 in the boom 15a shown in FIG. 1, namely, a boom foot pin, or on the central axis of slewing of the upper slewing body 13 with respect to the lower body 11. The plurality of coordinates for defining the target point P may include coordinates in the slewing-body front-rear direction X, coordinates in the machine up-down direction Z, coordinates in the slewing direction Sw, and the distal-end-attachment angle Xi.
The target path TP to be set by the setting unit 55 may be a target track. The target track is constituted by the target path TP and time information, which is information about time, added to the target path TP. The time information is, for example, an inter-target-point time, which is the target value of time during which the target part 15c1 is to be moved between two target points P adjacent to each other, that is, consecutive in order, among the plurality of target points P. The time information may, alternatively, be a time at which the target part 15c1 is to pass through each of the target points P, namely, a target time.
Next will be described the target path setting processing to be performed by the controller 50. The setting unit 55 sets the plurality of target points P based on the surrounding object information acquired by the surrounding object information acquisition unit 53. Specifically, the setting unit 55 sets at least a part of the plurality of target points P at a position offset from the surrounding object S by a preset offset amount FS in at least one of the slewing direction Sw and the height direction V. Such setting of the plurality of target points P allows a target path TP that enables the inhibition of the interference between the attachment 15 and the surrounding object S to be set by the plurality of target points P. This can save a worker from manually setting the target path TP in consideration with the interference. For example, the worker is saved from performing a teaching for the setting. The teaching is to manually set the plurality of target points P while manually moving the target part 15c1 along a path to be set as the target path TP.
The timing at which the setting unit 55 sets the plurality of target points P is not limited. The setting unit 55 only has to set the plurality of target points P in advance of the movement of the distal end attachment 15c along the target path TP.
For example, in the case of the automatic control of the movement of the working machine 10, specifically, in the case of the performance of the machine control or the automatic driving, the setting unit 55 may set the plurality of target points P when the automatic control is not performed. Specifically, the setting unit 55 may set the plurality of target points P either before the start of the automatic control or during the temporal stop of the work by the automatic control (that is, during work interruption). The setting unit 55 may set the plurality of target points P when the movement of the distal end attachment 15c along the target path TP is not performed even during the work by the automatic control, for example, during the work in the capturing area As shown in FIG. 3.
The setting unit 55 may set a new target path TP after the setting of the target path TP. For example, the setting unit 55 may reset the target path TP when the situation of the work by the working machine 10 is changed. Specifically, the setting unit 55 may reset the target path TP when either of the position of the slewing start point Ps shown in FIG. 3, the position of the slewing end point Pe, the situation of the surrounding object S shown in FIG. 4, and the like is changed.
The outline of a basic example among specific examples of the target path setting processing is as follows. The setting unit 55 compares the surrounding object height H with a reference height Hs at each of the plurality of slewing angles θ (steps S21 to S23 in FIG. 5). The plurality of slewing angles θ are angles intermittently set at the regular interval slewing angle Δθp in a slewing angular range from the first slewing angle θ1 to the second slewing angle θ2. When the actual surrounding object height H is larger than the reference height Hs, the setting unit 55 updates the reference height Hs based on the surrounding object height H (step S31 in FIG. 5). The setting unit 55 sets the target point P based on the thus updated reference height Hs (step S33 in FIG. 5). Specifically, the setting unit 55 sets at least a part of the plurality of target points P at a position offset from the position of the surrounding object S determined by the updated reference height Hs and the slewing angle θ corresponding to the updated reference height Hs, namely, a target point setting reference position. At the time when the processing of updating the reference height Hs is completed (YES in step S15), the setting unit 55 sets the second target point P2 (step S41 in FIG. 5).
In the example shown in FIG. 4, the first slewing angle θ1 is the slewing start angle θs (= 0°), and the second slewing angle θ2 is the slewing end angle θe (= 180°).
The angle width of the slewing angle θ from the first slewing angle θ1 to the second slewing angle θ2 is larger than 0 degrees, for example, less than 360 degrees. The angle width shown in FIG. 4 is 180 degrees.
In the basic example, the position of the first target point P1 is stored in the controller 50 before the target path setting processing. Specifically, information on the value of the first slewing angle θ1 (which is 0° in FIG. 4) and the height of the slewing start point Ps (which is the position in the height direction V) is stored in the controller 50 in advance.
Next will be described details of the basic example with reference to a flowchart shown in FIG. 5. The order of the processing described below is variously changeable.
In step S11, the setting unit 55 sets a passing-point order variable n to an initial value, which is 0 in the basic example. The passing-point order variable n corresponds to the order in which the target part 15c1 is to pass through the plurality of passing points Pp shown in FIG. 4. Specifically, the passing-point order variable n corresponding to the passing point Pp through which the target part 15c1 is to pass through the first time from the first slewing angle θ1 toward the second slewing angle θ2 is 1, and the passing-point order variable n corresponding to the passing point Pp through which the target part should pass through the second time is 2. The passing-point order variable n is incremented by 1 (step S32) every time the passing point Pp is set (step S33). The passing-point order variable n corresponding to the passing point Pp that is set last is equal to the number of the plurality of passing points Pp.
In step S12, the setting unit 55 sets a processing execution slewing angle θp to an initial value, which is the first slewing angle θ1 in the basic example. The processing execution slewing angle θp is the slewing angle θ at which a target point setting processing that is processing related to the setting of the target point P is executed. The setting unit 55 increments the processing execution slewing angle θp by the interval slewing angle Δθp every time one target point setting processing ends (step S21). The processing execution slewing angle θp corresponds to a slewing angle serving as a reference for determining the position of the target point P in the slewing direction Sw, namely, a reference slewing angle (step S33).
In step S13, the setting unit 55 sets the reference height Hs to an initial value. The reference height Hs is a height serving as a reference for determining the height of the target point P (step S33). The setting unit 55 increases the reference height Hs, that is, changes (updates) the reference height Hs to the height-direction upper side V1 in a case where the surrounding object height H becomes higher than the previous reference height Hs from the first slewing angle θ1 toward the second slewing angle θ2, that is, with an increase in the processing execution slewing angle θp (step S31). The initial value of the reference height Hs is the actual surrounding object height H at the first slewing angle θ1, that is, the surrounding object height H acquired by the surrounding object information acquisition unit 53. The surrounding object height H at the first slewing angle θ1 may be either the value itself of the height of the surrounding object S at the first slewing angle θ1 or another value, for example, the maximum value of the height of the surrounding object S in a range from the first slewing angle θ1 to a slewing angle θ obtained by adding the interval slewing angle Δθp to the first slewing angle θ1.
In step S15, the setting unit 55 judges whether or not the processing of updating the reference height Hs has been completed. For example, the setting unit 55 judges whether or not the processing of updating the reference height Hs has been completed up to an update end angle that is the angle obtained by subtracting the interval slewing angle Δθp from the second slewing angle θ2. In short, the setting unit 55 judges whether or not the processing execution slewing angle θp has reached the update end angle. More specifically, the setting unit 55 judges whether or not the absolute value of the difference between the current processing execution slewing angle θp and the second slewing angle θ2 is smaller than a preset threshold Th1 (|θp - θ2| < Th1). The threshold Th1 corresponds to the magnitude of the interval slewing angle Δθp (which is |Δθp|).
When the processing of updating the reference height Hs has not been completed, that is, |Δθp| ≤ |θp-θ2| (NO in step S15), the setting unit 55 sets the value obtained by adding the interval slewing angle Δθp to the previous processing execution slewing angle θp to a new processing execution slewing angle θp (step S21). In summary, the setting unit 55 updates the processing execution slewing angle θp by adding the interval slewing angle Δθp to the processing execution slewing angle θp. The interval slewing angle Δθp is an angular interval at which the processing of updating the reference height Hs is executed each time the upper slewing body 13 slews by the interval slewing angle Δθp, being the interval width of the processing in the slewing direction Sw. For example, when the slewing angle θ is increased from the first slewing angle θ1 toward the second slewing angle θ2, the interval slewing angle Δθp has a positive value. When the slewing angle θ is decreased from the first slewing angle θ1 toward the second slewing angle θ2, conversely, the interval slewing angle Δθp has a negative value. The interval slewing angle Δθp can be set to various values: the interval slewing angle Δθ in the basic example shown in FIG. 4 is 15 degrees. The setting unit 55 sets the sum of the current processing execution slewing angle θp and the interval slewing angle Δθp as a new processing execution slewing angle θp.
In step S22, the setting unit 55 sets a temporary reference height Hsn. The temporary reference height Hsn is a reference height provisionally determined before the final update of the reference height Hs, compared with a current reference height Hs in order to judge whether to update the reference height Hs (step S23). When it is judged that the reference height Hs is to be updated, the temporary reference height Hsn is set to the reference height Hs having updated. The temporary reference height Hsn is a surrounding object height H corresponding to the processing execution slewing angle θp, specifically, the surrounding object height H acquired by the surrounding object information acquisition unit 53 at the processing execution slewing angle θp. The surrounding object height H corresponding to the processing execution slewing angle θp, alternatively, may be set to the maximum value of the height of the surrounding object S in a predetermined angular range determined for the slewing angle θ. The predetermined angular range is, for example, an angular range from the processing execution slewing angle θp to a slewing angle (θp+Δθp) obtained by adding the interval slewing angle Δθp to the processing execution slewing angle θp.
In step S23, as described above, the setting unit 55 compares the surrounding object height H corresponding to the processing execution slewing angle, namely, the temporary reference height Hsn, with the current reference height Hs. Specifically, the setting unit 55 judges whether or not the current reference height Hs is less than the temporary reference height Hsn, that is, whether or not Hs < Hsn.
In the case where the current reference height Hs is equal to or larger than the temporary reference height Hsn (NO in step S23), which is the surrounding object height H corresponding to the processing execution slewing angle, the setting unit 55 repeats the processing of steps S15, S21, and S22 without updating the reference height Hs at the current processing execution slewing angle θp. Alternatively, the setting unit 55 may be configured to set the target point P with the current processing execution slewing angle θp as a reference in the case where the current reference height Hs is the temporary reference height Hsn (NO in step S23).
When the reference height Hs is less than the temporary reference height Hsn, which is the surrounding object height H corresponding to the processing execution slewing angle θp (YES in step S23), the setting unit 55 updates the reference height Hs based on the temporary reference height Hsn (step S31). For example, the setting unit 55 updates the value of the reference height Hs to the same value as the value of the temporary reference height Hsn. Alternatively, the setting unit 55 may update the reference height Hs to a value corresponding to the temporary reference height Hsn but different from the value of the temporary reference height Hsn, for example, a value close to the value of the temporary reference height Hsn.
In step S32, the setting unit 55 increments the passing-point order variable n by 1.
In step S33, the setting unit 55 sets the target point P based on the updated reference height Hs (setting step). Specifically, the setting unit 55 determines the position of the n-th passing point Pp among the plurality of target points P. More specifically, the setting unit 55 determines the position of the n-th passing point Pp in the slewing direction Sw, that is, the slewing angle θ, and the position in the height direction V, that is, the height of the passing point Pp.
As the feature of the technology disclosed herein, the setting unit 55 sets the target point P at a position offset from the surrounding object S by a predetermined offset amount FS in at least one of the slewing direction Sw and the height direction V. Details are as follows.
The setting unit 55 sets a position offset from the target point setting reference position as the position of the target point P, specifically, the n-th passing point Pp. The target point setting reference position is a position serving as a reference for setting the target point P, that is, a position serving as a reference of offset. The height of the target point setting reference position, which is the position in the height direction V, corresponds to the reference height Hs, which is the surrounding object height H corresponding to the current processing execution slewing angle θp. The height of the target point setting reference position is the reference height Hs having been updated in step S31. The slewing angle θ of the target point setting reference position, which is the position in the slewing direction Sw, is the current processing execution slewing angle θp. The slewing angle θ of the target point setting reference position is a slewing angle θ corresponding to the reference height Hs updated in step S31.
Preferably, the setting unit 55 sets the target point P at a position offset from the surrounding object S in both the height direction V and the slewing direction Sw. The setting unit 55, however, may set the target point P at either a position offset from the surrounding object S only in the height direction V or at a position offset from the surrounding object S only in the slewing direction Sw.
The setting unit 55 generally sets the target point P at a position away from the surrounding object S to the height-direction upper side V1. In the height direction V, the setting unit 55 sets the height of the target point P to a height further offset from the reference height Hs to the height-direction upper side V1. On the other hand, in the slewing direction Sw, the setting unit 55 sets the target point P at a position away from the surrounding object S in a direction of approaching the first slewing angle θ1, that is, in a direction from the second slewing angle θ2 toward the first slewing angle θ1. Thus, the setting unit 55 sets, as the slewing angle θ of the target point P, the slewing angle θ that is shifted from the current processing execution slewing angle θp in a direction of approaching the first slewing angle θ1, which is the direction of decreasing the slewing angle θ in the basic example.
The offset amount FS is set so as to make it possible to inhibit the work object and the distal end attachment 15c from interference with each other.
Preferably, the setting unit 55 is configured to change the offset amount FS according to the size, that is, the size or the dimension, of the distal end attachment 15c shown in FIGS. 6 and 7. For example, in the case of the exchange of the distal end attachment 15c, the setting unit 55 preferably changes the offset amount FS according to the size of the distal end attachment 15c having been exchanged. This allows the appropriate target path TP that can inhibit the interference between the work object and the distal end attachment 15c regardless of a change in size of the distal end attachment 15c to be set.
The offset amount FS includes a height-direction offset amount FSv shown in FIG. 6 and a slewing-direction offset amount FSw shown in FIG. 7.
The height-direction offset amount FSv is an offset amount FS in the height direction V. Preferably, the height-direction offset amount FSv is changed according to a distal end attachment height dimension Hta which is the height dimension of the distal end attachment 15c. For example, the height-direction offset amount FSv may be set to a value obtained by multiplying the distal end attachment height dimension Hta by a predetermined number, for example, a value twice the distal end attachment height dimension Hta. The height-direction offset amount FSv illustrated in FIG. 6 is the sum of the distal end attachment height dimension Hta and a preset margin height Hm.
The distal end attachment height dimension Hta is, specifically, the dimension in the height direction V of the distal end attachment 15c performing a work motion. In the example shown in FIG. 6, the distal end attachment height dimension Hta is a distance in the height direction V from a bucket tip serving as the target part 15c1 to the lowest part of the distal end attachment 15c, that is, the part closest to the height direction lower side V2. The distal end attachment height dimension Hta may be, for example, the total dimension of the distal end attachment 15c in the height direction V. The distal end attachment 15c performing the working operation is, specifically, the distal end attachment 15c that is performing a motion to move the target part 15c1 from the slewing start point Ps to the slewing end point Pe shown in FIG. 3. In the case where the distal end attachment 15c is a bucket as shown in FIGS. 6 and 7, the posture of the distal end attachment 15c performing the work motion is a posture embracing a work object such as earth and sand.
The margin height Hm is appropriately set within a range larger than 0. The margin height Hm may be set based on the distal end attachment height dimension Hta. For example, the margin height Hm may be set to a value obtained by multiplying the distal end attachment height dimension Hta by a predetermined number, for example, 1 time or 0.5 times the distal end attachment height dimension Hta. Alternatively, the margin height Hm may be a value stored in advance in the setting unit 55 in advance of the determination of the height-direction offset amount FSv.
The slewing-direction offset amount FSw is an offset amount in the slewing direction Sw. Preferably, the slewing-direction offset amount FSw is changed according to a distal end attachment slewing direction dimension Wta which is the dimension of the distal end attachment 15c in the slewing direction Sw. The slewing-direction offset amount FSw may be a value obtained by multiplying the distal end attachment slewing direction dimension Wta by a predetermined number, for example, a value twice the distal end attachment slewing direction dimension Wta. The slewing-direction offset amount FSw illustrated in FIG. 7 is the sum of the distal end attachment slewing direction dimension Wta and a margin width Wm.
The distal end attachment slewing direction dimension Wta is the dimension in the slewing direction Sw of the distal end attachment 15c performing the work motion. The distal end attachment slewing direction dimension Wta is, for example, the distance in the slewing direction Sw from the target part 15c1 to the end (right end or left end) of the distal end attachment 15c in the slewing direction Sw. The distal end attachment slewing direction dimension Wta may be, for example, the total dimension of the distal end attachment 15c in the slewing direction Sw.
The margin width Wm is set in a range larger than 0. The margin width Wm may be set based on the distal end attachment slewing direction dimension Wta, allowed to be, for example, a value obtained by multiplying the distal end attachment slewing direction dimension Wta by a predetermined number, for example, 1 time or 0.5 times the distal end attachment slewing direction dimension Wta. The margin width Wm may be a value stored in the setting unit 55 in advance of the determination of the slewing-direction offset amount FSw.
In the basic example shown in FIG. 4, the slewing-direction offset amount FSw is smaller than the width corresponding to the interval slewing angle Δθp. As described later, however, the slewing-direction offset amount FSw is also allowable to be equal to or larger than the width corresponding to the interval slewing angle Δθp.
The setting unit 55 acquires information on the size of the distal end attachment 15c in order to change the offset amount FS according to the size of the distal end attachment 15c. The information on the size of the distal end attachment 15c may be automatically acquired by the setting unit 55. For example, the setting unit 55 may calculate the size of the attachment 15 based on the image of the distal end attachment 15c captured by the imaging device. Alternatively, a worker may manually input information on the size of the attachment 15 to the setting unit 55 through the input device 43.
The offset amount FS is not limited to one that is set according to the size of the attachment 15. For example, the offset amount FS may be a constant value stored in advance in the setting unit 55. Alternatively, the offset amount FS may be manually input to the setting unit 55 by the worker through the input device 43.
It is also allowable that the position of only a part of the plurality of target points P is offset from the surrounding object S. Specifically, the positions of the first target point P1 and the second target point P2 are allowable either not to be offset from the surrounding object S or to be offset from the surrounding object S as in the below-described third modification or fifth modification. On the other hand, it is preferable that at least the passing point Pp of the plurality of target points P is set at a position offset from the surrounding object S.
In the case, contrary to the example shown in FIG. 4, where the slewing-direction offset amount FSw is equal to or larger than a dimension corresponding to the interval slewing angle ΔθP (15 degrees in FIG. 4), the reference height Hs is updated at the slewing angle θ (= 15° in FIG. 4) that is shifted from the first slewing angle θ1 by the interval slewing angle Δθp. The update may render the slewing angle at the position offset from the position corresponding to the slewing angle θ (= 15°) by the slewing-direction offset amount FSw (dimension corresponding to an angle larger than 15°) smaller than the first slewing angle θ1 (= 0°). In this case, the setting unit 55 may correct the first slewing angle θ1 to an angle shifted from the slewing angle θ (= 15°) by an angle corresponding to the slewing-direction offset amount FSw (an angle larger than 15 degrees). The correction is optional. Specifically, it is also allowable to use the first slewing angle θ1 stored in advance in the setting unit 55 as it is in the target path setting processing.
The setting unit 55 repeats the processing of step S15 and the following steps until the completingement of the processing of updating the reference height Hs (NO in step S15).
At the time of the completement of the processing of updating the reference height Hs (YES in step S15), the setting unit 55 sets the second target point P2 (step S41). The slewing angle θ corresponding to the second target point P2 is, for example, stored in the setting unit 55 in advance of the target path setting processing. The setting unit 55 sets the height of the second target point P2. Specifically, the setting unit 55 sets the height of the target point P immediately before the second target point P2, that is, the target point P adjacent to the second target point P2 on the side closer to the first slewing angle θ1 than the second target point P2, as the height of the second target point P2.
The setting unit 55 sets the line connecting the thus set plurality of target points P as the target path TP. In the example shown in FIG. 4, the line connecting the plurality of target points P is a line composed of a plurality of line segments interconnecting the target points P adjacent to each other, respectively, namely, a polygonal line. The line connecting the plurality of target points P, alternatively, may be a curve as shown in FIG. 11 according to the below-described seventh modification. The setting unit 55 thus completes the target path setting processing.
As has been described, the setting unit 55 of the target path setting system 1 according to the present embodiment, setting the target point P at a position offset from the surrounding object S by a predetermined offset amount FS in at least one of the slewing direction Sw and the height direction V, can automatically set the target path TP away from the surrounding object S as shown in FIG. 4. The setting unit 55, therefore, can automatically set the target path TP capable of inhibiting the attachment 15 shown in FIG. 3 from interfering with the surrounding object S. This can save a worker from manually setting the target path TP in considering with the interference between the attachment 15 and the surrounding object S.
In addition, changing the offset amount FS according to the size of the distal end attachment 15c as shown in FIGS. 6 and 7, the setting unit 55 can set the target path TP capable of more reliably inhibiting the interference between the distal end attachment 15c and the surrounding object S. Specifically, even when the size of the distal end attachment 15c is changed, the setting unit 55 can set the target path TP capable of inhibiting the interference between the surrounding object S and the distal end attachment 15c having the size that is changed, by use of the offset amount FS corresponding to the thus changed size of the distal end attachment 15c.
Specifically, changing the offset amount in the height direction V, that is, the height-direction offset amount FSv, according to the dimension in the height direction V of the distal end attachment 15c performing the work motion as shown in FIG. 6, the setting unit 55 can set the target path TP capable of more reliably inhibiting the interference between the distal end attachment 15c and the surrounding object S in the height direction V.
Besides, changing the offset amount in the slewing direction Sw, namely, the slewing-direction offset amount FSw, according to the dimension in the slewing direction Sw of the distal end attachment 15c performing the work motion as shown in FIG. 7, the setting unit 55 can set the target path TP capable of more reliably inhibiting the interference between the distal end attachment 15c and the surrounding object S in the slewing direction Sw.
As shown in FIG. 4, the setting unit 55 compares the surrounding object height H with the reference height Hs at each of the plurality of slewing angles θ intermittently arranged from the first slewing angle θ1 toward the second slewing angle θ2 in the slewing direction Sw (steps S21 to S23 in FIG. 5), and updates the reference height Hs based on the surrounding object height H when the surrounding object height H is higher than the reference height Hs (step S31). Then setting the target point P at a position offset from the position of the surrounding object S specified by the updated reference height Hs and the slewing angle θ corresponding to the updated reference height Hs (step S33), the setting unit 55 can automatically set the target path TP capable of suppressing the interference between the attachment 15 and the surrounding object S as shown in FIG. 4 by.
Besides, the target path setting program stored in the controller 50 makes the computer constituting the controller 50 execute a surrounding object information acquisition step and a setting step, which steps constitute a target path setting method. The surrounding object information acquisition step is a step of acquiring information on the surrounding object S; the setting step (step S33) is a step of setting the target point P on the target path TP of the target part 15c1 of the attachment 15, being a step of setting the target point P, as shown in FIG. 4, at a position offset from the surrounding object S by a predetermined offset amount FS in at least one of the slewing direction Sw and the height direction V. By executing the setting step, the controller 50 can automatically set the target path TP capable of inhibiting the interference between the surrounding object S and the attachment 15, at a position away from the surrounding object S as shown in FIG. 4. This can reduce a worker's labor for manually setting the target path TP.
The disclosed embodiments can be variously modified. Preferred modifications will be described below.
First Modification: The angle between the first slewing angle θ1 and the second slewing angle θ2 is not limited to 180 degrees shown in FIG. 3 but allowed to be changed to various angles. For example, in the case of the release area Ae located at a position indicated by a two-dot chain line in FIG. 3, the angle between the first slewing angle θ1 and the second slewing angle θ2 may be an angle from the first slewing angle θ1 to a second slewing angle θ2 corresponding to the release area Ae in FIG. 3, that is, 90 degrees or an angle in the vicinity thereof. In the case where the processing shown in FIG. 5 is performed in the example, the position of the second target point P2 is the position indicated by a two-dot chain line in FIG. 4.
Second Modification: The setting unit 55 may limit the acceleration/deceleration of the target part 15c1 in an acceleration/deceleration region B shown in FIG. 4 so as to confine the acceleration/deceleration within a preset acceleration/deceleration range. The acceleration/deceleration may either be only acceleration or deceleration or include both acceleration and deceleration.
The acceleration/deceleration region B is a region where the slewing speed of the upper slewing body 13 with respect to the lower body 11 is changed, specifically, a region where the slewing motion is targeted to be accelerated or decelerated. The acceleration/deceleration region B is a region in the slewing direction Sw. The acceleration/deceleration region B in the example shown in FIG. 4 includes an acceleration region B5 and a deceleration region B7.
The acceleration region B5 is a region where the movement of the upper slewing body 13 in the slewing direction Sw with respect to the lower body 11, namely, the slewing motion, is to be accelerated, specifically, a region where the acceleration of the slewing motion is targeted. For example, the acceleration region B5 is a region between the slewing start angle θs and an acceleration end angle θ5, the acceleration end angle θ5 being the slewing angle θ at which the acceleration of the movement of the upper slewing body 13 with respect to the lower body 11 in the slewing direction Sw is to be ended.
The deceleration region B7 is a region where the movement of the upper slewing body 13 in the slewing direction Sw with respect to the lower body 11, namely, the slewing motion, is to be decelerated, specifically, a region where the deceleration of the slewing motion is targeted. The deceleration region B7 is a region between a deceleration start angle θ7 and the slewing end angle θe. The deceleration start angle θ7 is the slewing angle θ at which deceleration of movement of the upper slewing body 13 in the slewing direction Sw with respect to the lower body 11 is to be started.
The acceleration/deceleration range is a limit range set in advance to limit the acceleration/deceleration, stored in the setting unit 55 in advance of the limitation of the acceleration/deceleration. The acceleration/deceleration range includes an acceleration range and a deceleration range. The acceleration range is a limit range of the acceleration which is set to limit the acceleration. The setting unit 55 limits the acceleration of the target part 15c1 in the acceleration region B5 so as to confine the acceleration within the acceleration range. The deceleration range is a limit range of the deceleration which is set to limit the deceleration. The setting unit 55 limits the deceleration of the target part 15c1 in the deceleration region B7 so as to confine the deceleration within the deceleration range. The setting unit 55 may be configured to limit either of only the acceleration of the target part 15c1, only the deceleration of the target part, and both the acceleration and the deceleration of the target part.
The setting unit 55, for example, adjusts information on a time (e.g., the inter-target-point time) added to the information of the target path TP to thereby limit the speed of the target part 15c1 moving along the target path TP. The limitation on the speed of the target part 15c1 causes the limitation on the acceleration/deceleration of the target part 15c1.
By the limitation on the acceleration/deceleration, the setting unit 55 can restrain the attachment from sudden acceleration/deceleration in the acceleration/deceleration region B, thereby inhibiting the working machine 10 from being swung or shocked by the sudden acceleration/deceleration of the attachment 15. In particular, the swinging of the working machine 10 at the start and end of the slewing of the upper slewing body 13 is effectively reduced.
Third Modification: The setting unit 55 may also offset the position of the first target point P1 from the surrounding object S similarly to the position of the passing point Pp. For example, the setting unit 55 sets a position determined by the first slewing angle θ1 before the offset and the surrounding object height H at the first slewing angle θ1 before the offset, which are stored in advance in the setting unit 55, as a target point setting reference position, and sets the first target point P1 at a position that is offset from the target point setting reference position, for example, a position indicated by a two-dot chain line in FIG. 4. Specifically, the setting unit 55 sets the first target point P1 at a position offset from the target point setting reference position in at least one of the height direction V and the slewing direction Sw. For example, the setting unit 55 may set the first target point P1 at either a position offset from the target point setting reference position in the height direction V by a height-direction offset amount FSv or a position offset from the target point setting reference position in the slewing direction Sw by a slewing-direction offset amount FSw.
The setting unit 55, thus, can set the first target point P1 (for example, the slewing start point Ps) to a position where the interference between the distal end attachment 15c and the surrounding object S can be inhibited.
Fourth Modification: In addition to the setting of the target point P according to the basic example shown in FIG. 4, the setting unit 55 may update the reference height Hs, as shown in FIG. 8, in a direction from the second slewing angle θ2 (= 180° in FIG. 8) toward the first slewing angle θ1 (= 0° in FIG. 8) to set a further target point P based on the update.
Specifically, as in step S23 shown in FIG. 5, the setting unit 55 according to the fourth modification compares the surrounding object height H with the second reference height Hs2 at each of the plurality of slewing angles θ intermittently arranged from the second slewing angle θ2 toward the first slewing angle θ1. As in step S31 shown in FIG. 5, the setting unit 55 updates the second reference height Hs2 based on the surrounding object height H when the surrounding object height H is larger than the previous second reference height Hs2. As in step S33 shown in FIG. 5, the setting unit 55 sets a position determined by the updated second reference height Hs2 and the slewing angle θ corresponding to the updated second reference height Hs2 as a target point setting reference position, and sets the target point P at a position offset from the target point setting reference position.
The specific example of a second setting processing of updating the second reference height Hs2 in the direction from the second slewing angle θ2 toward the first slewing angle θ1 and setting the target point P based on the second reference height Hs2 in the fourth modification is similar to the specific example of a first setting processing of updating the reference height Hs in the direction from the first slewing angle θ1 toward the second slewing angle θ2 and setting the target point P based on the reference height Hs as in the basic example, that is, the example shown in FIG. 5. The values related to the slewing direction Sw in the second setting processing, for example, the interval slewing angle Δθp and the slewing-direction offset amount FSw, however, are reverse to those in the first setting processing in the slewing direction Sw. For example, the direction of the offset by the slewing-direction offset amount FSw in the second setting processing is a direction opposite to the direction of the offset by the slewing-direction offset amount FSw in the first setting processing, for example, a direction in which the slewing angle θ is decreased, for example, a direction in which the slewing angle θ is increased. While the second target point P2 is not set in the first setting processing, the first target point P1 is not set in the second setting processing. The order in which the target points P are set in the first setting processing is equal to the order in which the target points P are arranged from the first slewing angle θ1 in the finally set target path TP, but the order in which the target points P are set in the second setting processing is opposite to the order in which the target points P are arranged from the first slewing angle θ1 in the target path TP. For example, following the target point P set last in the first setting processing (in the example shown in FIG. 8, the target point P set second except the first target point P1), the target point P set last in the second setting processing (in the example shown in FIG. 8, the target point P set third including the second target point P) is arranged. The position of the second target point P2 is stored in the setting unit 55 in advance of the target point setting processing.
Based on the target point P set in the first setting processing (the third target point P from the first target point P1 in the example shown in FIG. 8) and the target point P set in the second setting processing (the third target point P from the second target point P2 in the same example), the setting unit 55 sets the line interconnecting the above target points P as the target path TP.
The setting of the target point P in the fourth modification restrains the height of the target point P from being set excessively large. In the first setting processing, where the reference height Hs is updated in the direction from the first slewing angle θ1 toward the second slewing angle θ2, the reference height Hs is not changed toward the height-direction lower side V2 from the first slewing angle θ1 toward the second slewing angle θ2, thus generating a possibility of setting respective target points P at the second slewing angle θ2 and the slewing angle θ in the vicinity thereof to a position higher than necessary. In contrast, in the fourth modification, the second setting processing is performed in addition to the first setting processing, and, in the second setting processing, when the surrounding object height H in the direction from the second slewing angle θ2 toward the first slewing angle θ1 becomes higher than the previous second reference height Hs2, the second reference height Hs2 is updated, and the target point P is set based on the updated second reference height Hs2, which makes it possible to restrain the height of the target point P from being finally set excessively large at the second slewing angle θ2 and the slewing angle θ in the vicinity thereof.
Fifth Modification: Also in the fourth modification, as in the third modification, the setting unit 55 may set not only the passing point Pp but also the second target point P2 at a position offset from the surrounding object S.
For example, the setting unit 55 may set the second target point P2 at a position offset from a target point setting reference position determined by the second slewing angle θ2 before the offset and the surrounding object height H at the second slewing angle θ2, which are stored in the setting unit 55 in advance, similarly to the third modification.
Sixth Modification: Hereinafter will be described a sixth modification with reference to FIGS. 9 and 10. The setting unit 55 according to the sixth modification sets a candidate point CP at the position where the target point P is set in the basic example, and judges whether to set the candidate point CP as the target point P or skip the candidate point CP without setting the candidate point CP as the target point P for each of the candidate points CP.
The candidate point CP shown in FIG. 9 is a point to be a candidate for the target point P. In the example shown in FIGS. 9 and 10, a first candidate point CP1 that is a candidate point CP of the first target point P1 is set, and a second candidate point CP2, a third candidate point CP3, a fourth candidate point CP4, and a fifth candidate point CP5 are set in order from the first candidate point CP1. The candidate points CP2, CP3, and CP4 are candidate points corresponding to the plurality of passing points Pp, respectively, and the candidate point CP5 is a candidate point corresponding to the second target point P2.
The setting unit 55 does not skip the candidate points CP1 and CP5 corresponding to the first and second target points P1 and P2, respectively, unconditionally setting the candidate points CP1 and CP5 as the first target point P1 and the second target point P2, respectively. On the other hand, the setting unit 55 selects at least a part of the candidate points CP2 to CP4 corresponding to the plurality of passing points Pp as a judgment target candidate point CPa. The judgment target candidate point CPa is a candidate point as to which it is judged whether to set the judgment target candidate point CPa as the target point P, with a possibility that the judgment target candidate point CPa is skipped without being set as the target point P. The setting unit 55 may either select only one candidate point CP, for example, only the second candidate point CP2 shown in FIG. 10, as the judgment target candidate point CPa, or select a plurality of candidate points CP consecutive in order, for example, the second candidate point CP2 and the third candidate point CP3 shown in FIG. 9, as the judgment target candidate points CPa, respectively.
The setting unit 55 sets a judgment line Lj for the judgment. Specifically, the setting unit 55 sets, as the judgment line Lj, a line segment interconnecting the candidate points CP located across the judgment target candidate point CPa in the target path TP. The candidate point CP on the side closer to the first target point P1 out of the opposite ends of the judgment line Lj is a candidate point CP adjacent to the candidate point closest to the first target point P1 among the judgment target candidate points CPa on a side closer to the first target point P1. The candidate point CP on the side closer to the second target point P2 out of the opposite ends of the judgment line Lj is a candidate point CP adjacent to the candidate point closest to the second target point P2 among the judgment target candidate points CPa on the side closer to the second target point P2. The judgment line Lj may be, for example, either a line segment interconnecting the candidate point CP1 corresponding to the first target point P1 and a candidate point CP that is not selected as the judgment target candidate point CPa among the plurality of candidate points CP corresponding to the plurality of passing points Pp, which is the fourth candidate point CP4 in the example shown in FIG. 9), or a line segment interconnecting candidate points CP both of which are not selected as the judgment target candidate point CPa among the candidate points CP corresponding to the plurality of passing points Pp. Alternatively, the judgment line Lj may be a line segment interconnecting a candidate point CP that is not selected as the judgment target candidate point CPa among the candidate points CP corresponding to the plurality of passing points Pp and the candidate point CP5 corresponding to the second target point P2.
The setting unit 55 makes respective judgments on the judgment target candidate points CPa based on the judgment line Lj. Specifically, when the judgment target candidate point CPa is located at a position higher than the judgment line Lj, the setting unit 55 sets the judgment target candidate point CPa as the target point P without skipping the judgment target candidate point CPa. For example, when the third candidate point CP3 shown in FIG. 9 is the judgment target candidate point CPa, the candidate point CP3 is at a position higher than the judgment line Lj at the slewing angle θ corresponding to the third candidate point CP3; therefore, the setting unit 55 sets the third candidate point CP3 as the target point P.
In contrast, when the judgment target candidate point CPa is lower than the judgment line Lj, the setting unit 55 excludes the judgment target candidate point CPa from the target of the target point P. In short, the judgment target candidate point CPa is skipped. For example, since the second candidate point CP2 shown in FIG. 10 is at a position lower than the judgment line Lj, the setting unit 55 skips the second candidate point CP2 without setting the second candidate point CP2 as the target point P. If the second candidate point CP2 was set as the target point P, the set target path TP would be a path crossing the judgment line Lj as indicated by a two-dot chain line in FIG. 9. In contrast, excluding the second candidate point CP2 from the target point P, as shown in FIG. 10 makes it possible to set the target path TP allowing the target part 15c1 to be moved from the slewing start point Ps to the slewing end point Pe with a height enough to prevent the distal end attachment 15c and the surrounding object S from interference with each other.
When the height of the judgment line Lj is equal to the height of the judgment target candidate point CPa at the slewing angle θ of the judgment target candidate point CPa, the setting unit 55 may either set the judgment target candidate point CPa as the target point P or skip the judgment target candidate point CPa to exclude the judgment target candidate point CPa from the target point P.
As shown in FIG. 10, FIG. 4 and FIG. 8, the setting unit 55 may set respective positions of the plurality of target points P such that the inclination of the target path TP is gradually decreased with an increase in the slewing angle θ. Specifically, the setting unit 55 may be configured not to set the target point P at a position where the inclination of the target path TP is increased with an increase in the slewing angle θ.
The inclination of the target path TP is the ratio of an increase amount of the height of the target path TP to an increase amount of the slewing angle θ. In the example shown in FIG. 10, where the slewing angle θ is increased from the first slewing angle θ1 toward the second slewing angle θ2, the increase amount of the slewing angle θ is a change amount of the slewing angle θ in a direction from the first slewing angle θ1 toward the second slewing angle θ2. Conversely, when the slewing angle θ is decreased from the first slewing angle θ1 toward the second slewing angle θ2, the increase amount of the slewing angle θ is a change amount of the slewing angle θ in a direction from the second slewing angle θ2 toward the first slewing angle θ1.
The decrease in the inclination of the target path TP may be either stepwise or continuous as shown in FIG. 11 according to the below-described seventh modification. The inclination of the target path TP may be changed from a positive value to a negative value with an increase in the slewing angle θ as shown in FIG. 8.
The above-described setting of the target path PT enables the attachment 15 to move more smoothly.
Seventh Modification: The setting unit 55 according to the seventh modification sets a smooth curve passing through the plurality of target points P that are set as described above to the target path TP. In the case where the controller 50 including the setting unit 55 as in the embodiment in the seventh modification further includes an automatic control unit 57, the automatic control unit 57 preferably controls the movement of the working machine 10 so that the target part 15c1 is smoothly moved along the curved target path TP. This allows the attachment 15 to make a smooth movement along the target path TP. Besides, the setting unit 55 may be configured to interpolate a large number of new target points P between the target points P adjacent to each other among the plurality of target points P that has been already set so as to render the target path TP a smooth curve. In this case, the automatic control unit 57 may be configured to control the movement of the working machine 10 so as to make the target part 15c1 pass through the large number of thus interpolated target points P.
The basic example and modifications of the above embodiments may be variously combined. The number of components of the above embodiments may be changed, and some of the components do not have to be provided. The components may be fixed or connected directly or indirectly. The connection of each component shown in FIG. 2 may be changed. The arrangement of the components may be changed. An inclusion relationship of the components may be variously changed. A component described as a lower component included in a certain higher component is not required to be included in the higher component, and may be included in another component. A plurality of members and parts different from each other may be described as one member or one part. What has been described as one member or one part may be divided into a plurality of different members and parts. For example, the order of steps in the flowchart shown in FIG. 5 may be changed. Various parameters used for processing by the controller 50 shown in FIG. 2 do not have to be the same as the various parameters, and may be parameters that can be converted into various parameters. The controller 50 may perform substantially the same processes as those in the above embodiment and modification. A plurality of processes may be variously combined. The disclosed components may have only some of the respective features.
As has been described, there are provided a system, a program, and a method capable of automatically setting a target path capable of inhibiting an attachment of a working machine from interference with a surrounding object. The working machine includes an upper slewing body capable of slewing with respect to the lower body, and an attachment attached to the upper slewing body. The attachment includes a predetermined target part, and the target path is a target of a path along which the target part is to be moved.
The system includes an information acquisition unit that acquires surrounding object information that is information on a surrounding object present around the upper slewing body, and a setting unit that sets a plurality of target points for defining the target path based on the surrounding object information acquired by the information acquisition unit. The setting unit sets at least a part of the plurality of target points at a position offset from the surrounding object by a predetermined offset amount in at least one of a slewing direction of the upper slewing body with respect to the lower body and a height direction.
In the case of the attachment including a distal end attachment that acts on a work object, it is preferable that the target part is included in the distal end attachment and the setting unit is configured to change the offset amount according to a size of the distal end attachment.
Specifically, the setting unit may be configured either to change the offset amount in the height direction according to a dimension in the height direction of the distal end attachment performing work or to change the offset amount in the slewing direction according to a dimension in the slewing direction of the distal end attachment performing work.
Preferably, the setting unit is configured to perform: comparing a height of the surrounding object with a reference height sequentially at each of a plurality of slewing angles arranged in the slewing direction from a first slewing angle to a second slewing angle; updating the reference height based on the height of the surrounding object when the height of the surrounding object is larger than the reference height; and setting the target point at a position offset by the offset amount from a position of the surrounding object determined by the updated reference height and a slewing angle corresponding to the updated reference height.
Moreover, the setting unit may be configured to perform: comparing a height of the surrounding object with a second reference height sequentially at each of a plurality of slewing angles arranged from the second slewing angle toward the first slewing angle; updating the second reference height based on the height of the surrounding object when the height of the surrounding object is larger than the second reference height; and setting a further target point different from the target point set based on the reference height at a position offset by the offset amount from a position of the surrounding object determined by the updated second reference height and the slewing angle corresponding to the updated second reference height.
The setting unit may be configured to perform: setting a plurality of candidate points that are candidates for at least a part of the plurality of target points; setting at least a part of the candidate points located at positions different from respective positions of opposite ends of the target path among the candidate points as a judgment target candidate point; setting the judgment target candidate point as the target point when a judgment line that is a line segment interconnecting the candidate points across the judgment target candidate point is lower than the judgment target candidate point at a slewing angle corresponding to the judgment target candidate point; and excluding the judgment target candidate point from the target points when the judgment line is higher than the judgment target candidate point at the slewing angle corresponding to the judgment target candidate point.
The setting unit may be configured to set the target point so that an inclination of the target path is gradually decreased with an increase in the slewing angle. The inclination of the target path is a ratio of an increase amount of the height of the target path to an increase amount of the slewing angle.
The setting unit may be configured to set a smooth curve passing through the plurality of target points as the target path.
The setting unit may be configured to set an acceleration region in the slewing direction, the deceleration region being a region where the upper slewing body is to be accelerated with respect to the lower body, and to limit the acceleration of the target part so as to confine the acceleration of the target part in the acceleration region within an acceleration range stored in advance in the setting unit.
Similarly, the setting unit may be configured to set a deceleration region in the slewing direction, the deceleration region being a region where the upper slewing body is to be decelerated with respect to the lower body, and to limit the deceleration of the target part so as to confine the deceleration of the target part in the deceleration region within a deceleration range stored in advance in the setting unit.
The program to be provided makes a computer execute an information acquisition step and a setting step. The information acquisition step is a step of acquiring surrounding object information that is information on a surrounding object present around the upper slewing body. The setting step is a step of setting a plurality of target points for defining the target path. At least a part of the plurality of target points is set at a position offset from the surrounding object by a predetermined offset amount in at least one of a slewing direction of the upper slewing body with respect to the lower body and a height direction.
The method to be provided includes an information acquisition step and a setting step. The information acquisition step is a step of acquiring surrounding object information that is information on a surrounding object present around the upper slewing body. The setting step is a step of setting a plurality of target points for defining the target path. At least a part of the plurality of target points is set at a position offset from the surrounding object by a predetermined offset amount in at least one of a slewing direction of the upper slewing body with respect to the lower body and a height direction.

Claims

A system for setting a target path of a predetermined target part of a working machine including a lower body, an upper slewing body capable of slewing with respect to the lower body, and an attachment attached to the upper slewing body, the attachment including the target part, the system comprising:
a surrounding object information acquisition unit that acquires surrounding object information that is information on a surrounding object around the upper slewing body; and

a setting unit that sets a plurality of target points for defining the target path based on the surrounding object information acquired by the information acquisition unit, wherein

the setting unit is configured to set at least a part of the plurality of target points at a position offset from the surrounding object by a predetermined offset amount in at least one of a slewing direction in which the upper slewing body slews with respect to the lower body and a height direction.
The system according to claim 1, wherein: the attachment includes a distal end attachment that acts on a work object; the target part is included in the distal end attachment; and the setting unit is configured to change the offset amount according to a size of the distal end attachment.
The system according to claim 2, wherein the setting unit is configured to change the offset amount in the height direction according to a dimension in the height direction of the distal end attachment performing work.
The system according to claim 2, wherein the setting unit is configured to change the offset amount in the slewing direction according to a dimension in the slewing direction of the distal end attachment in operation.
The system according to claim 1, wherein the setting unit is configured to perform: comparing a height of the surrounding object with a reference height sequentially at each of a plurality of slewing angles arranged in the slewing direction from a first slewing angle to a second slewing angle; updating the reference height based on the height of the surrounding object when the height of the surrounding object is larger than the reference height; and setting the target point at a position offset by the offset amount from a position of the surrounding object determined by the updated reference height and a slewing angle corresponding to the updated reference height.
The system according to claim 5, wherein the setting unit is configured to perform: comparing a height of the surrounding object with a second reference height sequentially at each of a plurality of slewing angles arranged from the second slewing angle toward the first slewing angle; updating the second reference height based on the height of the surrounding object when the height of the surrounding object is larger than the second reference height; and setting a further target point different from the target point set based on the reference height at a position offset by the offset amount from a position of the surrounding object determined by the updated second reference height and the slewing angle corresponding to the updated second reference height.
The system according to claim 1, wherein the setting unit is configured to perform: setting a plurality of candidate points that are candidates for at least a part of the plurality of target points; setting at least a part of the candidate points located at positions different from respective positions of opposite ends of the target path among the candidate points as a judgment target candidate point; setting the judgment target candidate point as the target point when a judgment line that is a line segment interconnecting the candidate points across the judgment target candidate point is lower than the judgment target candidate point at a slewing angle corresponding to the judgment target candidate point; and excluding the judgment target candidate point from the target points when the judgment line is higher than the judgment target candidate point at the slewing angle corresponding to the judgment target candidate point.
The system according to claim 1, wherein the setting unit is configured to set the target point such that an inclination of the target path is gradually decreased with an increase in a slewing angle in the slewing direction, the inclination of the target path being a ratio of an increase amount of a height of the target path to an increase amount of the slewing angle.
The system according to claim 1, wherein the setting unit is configured to set a smooth curve passing through the plurality of target points as the target path.
The system according to claim 1, wherein the setting unit is configured to set an acceleration region in the slewing direction, the acceleration region being a region where the upper slewing body is to be accelerated with respect to the lower body, and to limit the acceleration of the target part so as to confine the acceleration of the target part in the acceleration region within an acceleration range stored in advance in the setting unit.
The system according to claim 1, wherein the setting unit is configured to set a deceleration region in the slewing direction, the deceleration region being a region where the upper slewing body is to be decelerated with respect to the lower body, and to limit the deceleration of the target part so as to confine the deceleration of the target part in the deceleration region within a deceleration range stored in advance in the setting unit.
A program for setting a target path of a predetermined target part of a working machine including a lower body, an upper slewing body capable of slewing with respect to the lower body, and an attachment attached to the upper slewing body, the attachment including the target part, the program making a computer execute:
a surrounding object information acquisition step of acquiring surrounding object information that is information on a surrounding object around the upper slewing body; and

a setting step of setting a plurality of target points for defining the target path based on the surrounding object information, wherein

in the setting step, at least a part of the plurality of target points is set at a position offset from the surrounding object by a preset offset amount in at least one of a slewing direction in which the upper slewing body slews with respect to the lower body and a height direction.
A method for setting a target path of a predetermined target part of a working machine including a lower body, an upper slewing body capable of slewing with respect to the lower body, and an attachment attached to the upper slewing body, the attachment including the target part, the method comprising:
a surrounding object information acquisition step of acquiring surrounding object information that is information of a surrounding object around the upper slewing body; and

a setting step of setting a plurality of target points for defining the target path based on the surrounding object information, wherein

in the setting step, at least a part of the plurality of target points is set at a position offset from the surrounding object by a predetermined offset amount in at least one of a slewing direction in which the upper slewing body slews with respect to the lower body and a height direction.