SYSTEM FOR SETTING TARGET TRAJECTORY OF ATTACHMENT

An attachment target locus setting system for efficiently operating an attachment is provided. The system includes a target locus setting part that sets a target locus for a specific portion of the attachment from a target start point being a target point where the attachment starts an operation to a target finish point being a target point where the attachment finishes the operation, an image capturing device that captures a periphery around the target finish point as peripheral information, a finish point shifting part that shifts, on the basis of the peripheral information, the target finish point, and a target locus resetting part that resets the target locus to a target locus in a range from the target start point to a target finish point having been shifted.

TECHNICAL FIELD

The present invention relates to an attachment target locus setting system which sets a target locus for a specific portion of an attachment included in a working machine.

BACKGROUND ART

As disclosed in Patent Literature 1, conventionally, a target posture of an attachment of a hydraulic excavator in a range from a soil discharge point to an excavation point is preliminarily taught, and the target posture is sequentially read out to permit the attachment to automatically operate.

Further, Patent Literature 2 discloses a technology of controlling an attachment on the basis of posture information about the attachment and information about a current shape or contour of a ground surface.

CITATION LIST

Patent Literature

Patent Literature 1: Japanese Unexamined Patent Publication SHO 62-214407

Meanwhile, a shape or contour of an excavation target changes every moment on a work site due to accumulation of soil at an excavation point set for a start of excavation. The change causes a drawback of work inefficiency attributed to failure to reach the excavation point by the attachment in an operation of the attachment based on the taught content.

SUMMARY OF INVENTION

An object of the present invention is to provide an attachment target locus setting system for permitting an attachment to efficiently operate.

Provided by the present invention is an attachment target locus setting system for use in a working machine including a lower traveling body, an upper slewing body slewably attached onto the lower traveling body, and an attachment attached to the upper slewing body. The target locus setting system includes a target locus setting part, an image capturing device, a finish point shifting part, and a target locus resetting part. The target locus setting part sets a target start point being a start point for a specific portion of the attachment in a specific operation to be executed by the attachment, a target finish point being a finish point for the specific portion in the specific operation, and a target locus being a locus for the specific portion from the target start point to the finish point. The image capturing device captures at least an image of a periphery around the target finish point as peripheral information. The finish point shifting part shifts, on the basis of the peripheral information captured by the image capturing device, the target finish point set by the target locus setting part. The target locus resetting part resets the target locus to a target locus extending from the target start point set by the target locus setting part to a target finish point having been shifted by the finish point shifting part.

DESCRIPTION OF EMBODIMENTS

Hereinafter, preferable embodiments of the present invention will be described with reference to the accompanying drawings.

Configuration of a Target Locus Setting System

An attachment target locus setting system (target locus changing system) according to each of the embodiments of the present invention aims at setting and changing a target locus for a specific portion of an attachment included in a working machine.FIG.1is a configurational diagram of a target locus setting system1according to a first embodiment of the present invention. As shown inFIG.1, the target locus setting system1includes: components included in a working machine2; a mobile terminal3; and an image capturing device4. It is noted here that another target locus setting system1according to another embodiment may exclude the mobile terminal3.

Configuration of the Working Machine

As shown inFIG.1, the working machine2performs a work with an attachment30and, for example, serves as a hydraulic excavator. The working machine2includes a lower traveling body21, an upper slewing body22, a slewing device24, the attachment30, and cylinders40.

The lower traveling body21causes the working machine2to travel, and includes, for example, a crawler. The upper slewing body22is slewably attached onto an upper portion of the lower traveling body21. The upper slewing body22has a front portion provided with a cab (operator compartment)23. The slewing device24enables the upper slewing body22to slew.

The attachment30is attached to the upper slewing body22rotatably in an up-down direction. The attachment30includes a boom31, an arm32, and a bucket33. The boom31is attached to the upper slewing body22rotatably in the up-down direction. The arm32is attached to the boom31rotatably in the up-down direction. The bucket33is attached to the arm32rotatably in the up-down direction. The bucket33performs works including excavation, leveling, and scooping of a work target (soil and sand). The bucket33is an example of a leading end attachment to be attached to the atm32. The leading end attachment is not limited thereto, and may be a nibbler or a clamp arm.

Each cylinder40enables the attachment30to rotate under a hydraulic pressure. Each cylinder40is a hydraulic extendable and contractable cylinder. The cylinders40include a boom cylinder41, an arm cylinder42, and a bucket cylinder43.

The boom cylinder41drives the boom31rotatably with respect to the upper slewing body22. The boom cylinder41has a proximal end rotatably attached to the upper slewing body22. The boom cylinder41has a distal end rotatably attached to the boom31.

The arm cylinder42drives the boom31rotatably with respect to the arm32. The arm cylinder42has a proximal end rotatably attached to the boom31. The arm cylinder42has a distal end rotatably attached to the arm32.

The bucket cylinder43drives the bucket33rotatably with respect to the arm32. The bucket cylinder43has a proximal end rotatably attached to the arm32. The bucket cylinder43has a distal end rotatably attached to a link member34rotatably attached to the bucket33.

The working machine2further has a manipulation lever51(seeFIG.2), an angle sensor52, and a tilt angle sensor60.

The manipulation lever51is manipulated by an operator to operate the stewing device24and the attachment30. The manipulation lever51is provided in the cab23.

The angle sensor52detects a slewing angle of the upper slewing body22to the lower traveling body21. The angle sensor52includes, for example, an encoder, a resolver, or a gyro sensor. In the embodiment, the slewing angle of the upper slewing body22is defined as 0° when a frontward direction of the upper slewing body22and a frontward direction of the lower traveling body21agree with each other.

The tilt angle sensor60detects a posture of the attachment30. The tilt angle sensor60includes a boom tilt angle sensor61, an arm tilt angle sensor62, and a bucket tilt angle sensor63.

The boom tilt angle sensor61is attached to the boom31to detect a posture of the boom31. The boom tilt angle sensor61acquires a tilt angle of the boom31to a horizontal line, and is, for example, a tilt (acceleration) sensor. The boom tilt angle sensor61may be a rotation angle sensor for detecting a rotation angle of a boom foot pin (boom proximal end) or a stroke sensor for detecting a stroke amount of the boom cylinder41.

The arm tilt angle sensor62is attached to the arm32to detect a posture of the arm32. The arm tilt angle sensor62acquires a tilt angle of the arm32to the horizontal line, and is, for example, a tilt (acceleration) sensor. The arm tilt angle sensor62may be a rotation angle sensor for detecting a rotation angle of an arm connection pin (arm proximal end) or a stroke sensor for detecting a stroke amount of the arm cylinder42.

The bucket tilt angle sensor63is attached to the link member34to detect a posture of the bucket33. The bucket tilt angle sensor63acquires a tilt angle of the bucket33to the horizontal line, and is, for example, a tilt (acceleration) sensor. The bucket tilt angle sensor63may be a rotation angle sensor for detecting a rotation angle of a bucket connection pin (bucket proximal end) or a stroke sensor for detecting a stroke amount of the bucket cylinder43.

Configuration of the Mobile Terminal

As shown inFIG.1, the mobile terminal3is manipulated by an operator or worker on a work site, and is, for example, a tablet terminal. The mobile terminal3is communicable with the working machine2. It is noted here that the mobile terminal3may be a smartphone.

Configuration of the Image Capturing Device

As shown inFIG.1, the image capturing device4can capture, as peripheral information, at least an image of a periphery around a target finish point to be described later. The image capturing device4is attached to the working machine2in the embodiment, but may be provided in a place (e.g., a specific area on the work site) away from the working machine2. Moreover, the image capturing device4is a LIDAR in the embodiment, but may be a camera, an ultrasonic sensor, a millimeter-wave radar, a stereo camera, a distance image sensor, or an infrared sensor.

Circuitry Configuration of the Target Locus Setting System

FIG.2is a block diagram of the target locus setting system1. As shown inFIG.2, the working machine2has a controller11, a working machine communication device12, and a storage device13. These components form a part of the target locus setting system1.

The controller11includes a CPU (Central Processing Unit), a ROM (Read Only Memory) which stores a control program, and a RAM (Random Access Memory) for use as a work area of the CPU. The controller11operably includes a target locus setting part, a finish point shifting part, a target locus resetting part, an obstacle specifying part, and a determination part of the present invention when the CPU executes the control program stored in the ROM.

The controller (target locus setting part)11sets a target start point and a target finish point for the distal end of the bucket33in a specific operation to be executed by the attachment30, and further sets a target locus for the distal end of the bucket33from the target start point to the target finish point. Here, the target start point is a target point (a start point for a specific portion) where the attachment30starts an operation. Besides, the target finish point is a target point (a finish point for the specific portion) where the attachment30finishes the operation. The distal end of the bucket33is an example of the specific portion of the attachment30. The specific portion of the attachment30is not limited thereto, and may be, for example, the distal end of the arm32.

The controller11sets a target point at a specific interval on the target locus. In other words, the controller11sets one or more target points (target waypoints) each being a point over which the distal end of the bucket33passes on the target locus. Here, the specific interval may be a specific time interval or a specific distance interval. The time interval or the distance interval may be constant or set to change in accordance with a relation to the target start point and the target finish point.

Here, in the embodiment, teaching of causing the working machine2to actually operate attains setting of the target locus (online teaching). Specifically, the operator manipulates the manipulation lever51to operate the slewing device24and the attachment30. The angle sensor52detects a slewing angle of the upper stewing body22at this time. Further, the tilt angle sensor60detects a posture of the attachment30at this time. The controller11sets the target locus on the basis of the detected slewing angle of the upper slewing body22and the detected posture of the attachment30. The specific interval in this case indicates a sampling interval of a detected value from each of the angle sensor52and the tilt angle sensor60.

The controller11may set the target locus when the controller11receives an input of information about the slewing angle of the upper slewing body22and information about the posture of the attachment30without causing the working machine2to actually operate (off-line teaching). In this case, the controller11may set the target locus when the controller11receives the input of information per specific interval.

FIG.3illustrates a target locus71for the distal end of the bucket33included in the working machine2in the embodiment. The target locus71in the embodiment is seen in return slewing. The return slewing represents an operation of causing the upper slewing body22to slew and returning the bucket33to the excavation point after discharging soil and sand held by the bucket33. InFIG.3, a target point72denoted by arrow A is defined as a target start point73, and a target point72denoted by arrow B is defined as a target finish point74. In the return slewing, the target start point73represents a soil discharge point, and the target finish point74represents the excavation point.

The target locus71for the distal end of the bucket33is not limited to the locus in the return slewing, but may be a locus in raising and slewing. The raising and slewing represents an operation of slewing the upper slewing body22in a state where the bucket33holds scooped soil and sand.

As described above, the image capturing device4captures the periphery around the target finish point74as peripheral information. The controller (finish point shifting part)11can shift, on the basis of the peripheral information captured by the image capturing device4, the target finish point74set in the manner described above. For instance, the target finish point74serving as the excavation point is buried with soil and sand when the soil and sand is accumulated at the target finish point74by other working machine, or when the soil and sand is accumulated around the target finish point74and slid over the target finish point74. In this case, the controller11shifts the target finish point74upward, that is, shifts the target finish point74to reach a ground surface. InFIG.3, the target finish point74denoted by the mark “o” is shifted upward, and a target finish point74having been shifted is denoted by the mark “□”.

The controller11may shift, on the basis of the peripheral information, the target finish point74downward, frontward, rearward, leftward, or rightward. For instance, when a level of the ground surface is lowered in accordance with the excavation, the controller11may shift the target finish point74serving as the excavation point to reach the lowered level of the ground surface. Moreover, when other working machine accumulates the soil and sand at a position closer to the working machine2than the target finish point74, the controller11shifts the target finish point74serving as the excavation point frontward (to be closer to the working machine2) to firstly excavate the accumulated soil and sand.

When the target finish point74is shifted, the controller (target locus resetting part)11resets the target locus71to a target locus extending from the target start point set in the manner described above to a target finish point having been shifted in a range from the target start point73to the target finish point74. InFIG.3, the reset target locus71is denoted by a dot line, and each target point72(target waypoint) on the target locus71is denoted by the mark “Δ”.

Specifically, the controller11resets the target locus71to a target locus linearly distributing, when viewed in a certain direction, from the target start point to the target finish point having been shifted. In the embodiment, the target locus71is reset to the target locus linearly extending when viewed in a lateral direction of the working machine2, but the target locus71may be reset to a target locus linearly extending viewed in an upward direction of the working machine2or a front-rear direction of the working machine2.

From these perspectives, the target locus71for the distal end of the bucket33is set from the target start point73being the target point72where the attachment30starts an operation to the target finish point74being the target point72where the attachment30finishes the operation. Thereafter, the controller11shifts, on the basis of the peripheral information captured by the image capturing device4, the target finish point74. When the target finish point74is shifted, the target locus71is reset to a target locus in a range from the target start point73to the target finish point74having been shifted. When the target locus71is reset, the distal end of the bucket33operates to follow the target locus71. The resetting of the target locus71in this way leads to achievement in efficient operation of the attachment30.

Moreover, the controller11resets the target locus71to a target locus linearly extending when viewed in a certain direction. This resetting enables the attachment30to more efficiently operate than resetting of the target locus71to a target locus extending in a curve when viewed in the certain direction.

FIG.4illustrates a target locus71for a distal end of a bucket33in a target locus setting system1according to a second embodiment of the present invention. As shown inFIG.4, a controller11may reset the target locus71by shifting, on the basis of a ratio between a distance “a” from a reference line75to a target finish point74before the shifting by the controller11and a distance “b” from the reference line75to a target finish point74having been shifted by the controller11, a target point72(target waypoint) falling within a range from a specific target point72to the target finish point74. The reference line75is a straight line passing through the specific target point72and extends in a predetermined direction. The specific target point72represents a specific point among a target start point73and one or more target points72(target waypoints). InFIG.4, the reference line75passes through the target start point73and extends in a horizontal direction. That is to say, the specific target point72in this case serves as the target start point73. Hence, each target point72falling within the range from the target start point73to the target finish point74is shifted. The reference line75may extend in a direction other than the horizontal direction.

As shown inFIG.4, when a distance from a target point72prior to the target finish point74before the shifting to the reference line75is denoted by “c”, a distance “d” from a position of the target point72having been shifted to the reference line75is calculated as follows: d=c×b/a. When the target locus71obtained before the shifting of the target finish point74forms a curve, a target locus71obtained after the shifting of the target finish point74also forms a curve.

Conclusively, each target point72falling within the range from the specific target point72to the target finish point74is shifted on the basis of the ratio between the distance “a” from the reference line75passing through the specific target point72and extending in the predetermined direction to the target finish point74before the shifting and the distance “b” from the reference line75to the target finish point74having been shifted. Consequently. the target locus71is reset. A shifted position of the target point72falling within the range from the specific target point72to the target finish point74is specifically determinable by employing the ratio.

FIG.5illustrates a target locus71for a distal end of a bucket33in a target locus setting system1according to a third embodiment of the present invention. As shown inFIG.5, a controller (target point setting part)11allows an operator to set, as a fixed target point76, a target point72prohibited from being shifted among target points72except for a target finish point74. As an example, a mobile terminal3is used to set the fixed target point76. Specifically, the mobile terminal3has a display19which will be described later to display the target locus71and the target point72thereon. The operator manipulates a touch screen18, which will be described later, of the mobile terminal3to set the fixed target point76. From these perspectives, the mobile tenninal3in the embodiment is operable as a fixed target point information input part for receiving information about one or more fixed target points76each being a target waypoint prohibited from being shifted by the controller11among one or more target waypoints.

For instance, the operator sets, as the fixed target point76, a target point72causing a high possibility of contact with an obstacle80when shifted. InFIG.5, a target point72adjacent to a target start point73and a target point72further adjacent to the adjacent target point are set as fixed target points76.

The controller11then resets the target locus71by shifting at least one of the target points (target waypoints) falling within a range from a fixed target point76closest to the target finish point74among the one or more fixed target points76to a target finish point74having been shifted by the controller11. In the embodiment, the controller11resets the target locus71to a target locus linearly extending when viewed in a lateral direction of the working machine2.

As described with reference toFIG.4, the controller11may reset the target locus71by using a ratio between a distance “a” from a reference line75to the target finish point74before the shifting and a distance “b” from the reference line75to the target finish point74having been shifted. In this case, the reference line75is set to pass through the fixed target point76closest to the target finish point74and extend in a predetermined direction. In other words, a specific target point72serves as the fixed target point76closest to the target finish point74. Hence, the controller11shifts a target point72(one target point in Fig,5) falling within the range from the fixed target point76closest to the target finish point74to the target finish point74.

Conclusively, the operator sets, as the fixed target point76, the target point72prohibited from being shifted among the target points72except for the target finish point74. When the fixed target point76is set, the target locus71is reset to a target locus in the range from the fixed target point76closest to the target finish point74to the target finish point74. In this mariner, for example, the target locus71is resettable without shifting a target point72causing a high possibility of contact with the obstacle80when shifted.

Moreover, the image capturing device4can further capture, as attachment peripheral information (peripheral information), a periphery around a target locus (periphery around a region over which the attachment30passes).FIG.6illustrates a target locus71for a distal end of a bucket33included in a working machine2in a fourth embodiment of the present invention. A controller11(obstacle specifying part) can specify an obstacle having a possibility of coming into contact with an attachment30from peripheral information captured by an image capturing device4. Besides, as shown inFIG.6, the controller11may shift a target point72away from an obstacle80included in attachment peripheral information, the target point72being in target points72(target waypoints) on a reset target locus71at a distance of a predetermined value or smaller from the obstacle80. InFIG.6, a target point72adjacent to a target finish point74having been shifted is shifted away from the obstacle80.

From these perspectives, when a target point72exists on a resultant reset target locus71at a distance of the predetermined value or smaller from the obstacle80included in the attachment peripheral information, the controller11shifts the target point72away from the obstacle80. Consequently, the distal end of the bucket33can pass over a position away from the obstacle80when following the reset target locus71.

Referring back toFIG.2, the working machine communication device12is communicable with a mobile terminal communication device16, which will be described later, of the mobile terminal3. The storage device13can store a target locus and a target point set by the controller11.

The controller11generates, on the basis of the target locus and the target point, an automatic operative instruction. The automatic operative instruction is an instruction of causing the slewing device24and the attachment30to automatically operate. The controller11then permits, on the basis of the automatic operative instruction, the slewing device24and the attachment30to automatically operate. The working machine2thus automatically operates in accordance with the automatic operative instruction.

As shown inFIG.2, the mobile terminal3has a mobile terminal controller15, the mobile terminal communication device16, a mobile terminal storage device17, the touch screen18, and the display19.

The mobile terminal communication device16is communicable with the working machine communication device12of the working machine2. The mobile terminal controller15receives a target locus71and a target point72from the working machine2via the mobile terminal communication device16. The display (display device)19includes a display screen image to display a reset target locus71thereon. Besides, the display19can display each target point72(a target start point, a target waypoint, a target finish point) on the display screen image. A display state on the display19is, for example, like the one shown in each ofFIG.3toFIG.6. This allows the operator to confirm the reset target locus71through the mobile terminal3located, for example, in a place away from the working machine2.

The mobile terminal storage device17can store the target locus71and the target point72received from the working machine2. The touch screen18receives an input from the operator. The touch screen18is an example of an input device. However, the input device is not limited thereto, and may include, for example, a keyboard. Specifically, the touch screen18serves as a target waypoint shifting part that receives an instruction of shifting a target waypoint. In particular, the touch screen18includes a touch screen-type input part provided on the display19for receiving the instruction so that the target waypoint displayed on the display screen image shifts on the display screen image in response to a manipulation by the operator.

The mobile terminal controller (target point shifting part)15shifts a target point72on the display screen of the display19in response to the manipulation by the operator. Specifically, the operator having confirmed the reset target locus71by viewing the display19touches a section on the touch screen where a target point72desired to be shifted is displayed by using a finger, and can shift the desired target point72by sliding the finger thereon. Target points72to be shifted may include the target start point73and the target finish point74.

In conformity with a position of the target point72having been shifted by the operator on the display screen image after the resetting of the target locus71, the controller11of the working machine2shifts a corresponding target point72. Consequently, the reset target locus71is changed or modified. Specifically, the controller11modifies the target locus by further shifting the target point (target waypoint) indicated by the instruction in response to the instruction input to the touch screen18after the resetting of the target locus.

In this manner, the target point72is shifted on the display screen image on the display19in response to a manipulation by the operator. In conformity with a position of the target point72having been shifted on the display screen image after the recessing of the target locus71, a corresponding target point72is shifted. The operator having confirmed the reset target locus71can modify the reset target locus71by shifting a desired target point72. The modification may lead to achievement in more efficient operation of the attachment30.

Besides, the operator can shift a desired target point72by manipulating the mobile terminal3. Consequently, the mobile terminal3located, for example, in a place away from the working machine2enables the modification of the reset target locus71.

Operation by the Target Locus Setting System

FIG.7is a flowchart of a target locus changing process in the first embodiment of the present invention. Next, an operation by the target locus setting system1will be described with reference toFIG.7.

First, when the target locus change process is started, the controller11of the working machine2sets a target locus71(step S1). Next, the controller11allows an operator to set a fixed target point76(step S2). The operator sets the fixed target point76by using the mobile terminal3. Subsequently, the controller11causes the image capturing device4to capture peripheral information (step S3).

Then, the controller11(deteimination part) determines whether to shift a target finish point74(step S4). At this time, the controller11determines whether soil and sand exists on the target finish point74with reference to the peripheral information captured by the image capturing device4. It is determined that the target finish point74needs to be shifted when the soil and sand exists thereon. When the controller11determines not to shift the target finish point74in step S4(NO in step S4), the flow is finished. Contrarily, when determining to shift the target finish point74(YES in step S4), the controller11(finish point shifting part) shifts the target finish point74(step S5), and resets the target locus71(step S6). Further, in step S5, the controller11shifts the target finish point74to a current level of the ground surface (ground surface of the soil and sand).

Subsequently, the controller11causes the image capturing device4to capture attachment peripheral information (step S7). Then, the controller11determines whether a target point72closer to an obstacle80exists on the reset target locus71(step S8). In step SS, when determining that such a target point72closer to the obstacle80exists (YES in step S8), the controller11shifts the relevant target point72away from the obstacle80(step S9) and proceeds to step S10.

Contrarily, when determining that no target point72closer to the obstacle80exists in step S8(NO in step S8), the controller11proceeds to step S10.

In step S10, the controller11determines whether a target point72having been shifted by the operator on the mobile terminal3exists (step S10). The operator confirms the reset target locus71, and shifts a target point72desired to be shifted by manipulating the mobile terminal3when the desired target point72is on the reset target locus.

When determining that the target point72having been shifted by the operator on the mobile terminal3exists in step S10(YES in step S10), the controller11shifts a corresponding target point72on the target locus71(step S11) as well, and proceeds to step S12.

Contrarily, when determining that no target point72having been shifted by the operator on the mobile terminal3exists in step S10(NO in step S10), the controller11proceeds to step S12.

In step S12, the controller11determines whether the operator instructs finish of modification of the target locus71(step S12). When determining that the operator does not instruct any finish of the modification of the target locus71in step S12(NO in step S12), the controller11returns to step S10. Contrarily, when determining that the operator instructs the finish of the modification of the target locus71in step S12(YES in step S12), the controller11stores contents of the modification in the storage device13(step S13), and the flow is finished.

As described heretofore, in the target locus setting system1according to each of the embodiments, the controller11sets a target locus71for the distal end of the bucket33from a target start point73being a target point72where the attachment30starts an operation to a target finish point74being a target point72where the attachment30finishes the operation. Thereafter, the controller11shifts, on the basis of peripheral information captured by the image capturing device4. the target finish point74, When the target finish point74is shifted, the controller11resets the target locus71to a target locus in a range from the target start point73to a target finish point74having been shifted. When the target locus71is reset, the distal end of the bucket33operates to follow the reset target locus71. From these perspectives, the controller11permits the attachment30to efficiently operate by resetting the target locus71in accordance with a situation on a work site.

Further, the controller11resets the target locus71to a target locus linearly extending when viewed in a certain direction. This resetting enables the attachment30to more efficiently operate than resetting of the target locus71to a target locus extending in a curve when viewed in the certain direction.

Moreover, the controller11shifts a target point72falling within a range from a specific target point72to the target finish point74on the basis of a ratio between a distance “a” from the reference line75passing through the specific target point72and extending in a predetermined direction to the target finish point74before the shifting and a distance “b” from the reference line75to the target finish point74having been shifted. Consequently, the target locus71is reset. A shifted position of the target point72falling within the range from the specific target point72to the target finish point74is specifically determinable by employing the ratio.

Furthermore, the operator sets, as a fixed target point76, a target point72prohibited from being shifted among target points72(the target start point and target waypoints) except for the target finish point74. When the fixed target point76is set, the target locus71is reset to a target locus in a range from a fixed target point76closest to the target finish point74to the target finish point74. In this manner, for example, the target locus71is resettable without shifting a target point72causing a high possibility of contact with the obstacle80when shifted.

When a target point72exists on a resultant target locus71reset by the controller11at a distance of a predetermined value or smaller from the obstacle80included in the attachment peripheral information, the controller11shifts the target point72away from the obstacle80. Consequently, the distal end of the bucket33can pass over a position away from the obstacle80when following the reset target locus71.

In each of the embodiments, the reset target locus71is displayed on the display screen image on the display19. Hence, the operator having viewed the display screen image on the display19can confirm the reset target locus71.

The target point72is shifted on the display screen image on the display19in response to a manipulation by the operator. In conformity with a position of the target point72having been shifted on the display screen image after the resetting of the target locus71, the controller11shifts a corresponding target point72. The operator having confirmed the reset target locus71can modify the reset target locus71by shifting a desired target point72. The modification may lead to achievement in more efficient operation of the attachment30.

Further, the reset target locus71is displayed on the mobile terminal3. In this manner, the mobile terminal3located, for example, in a place away from the working machine2enables confirmation of the reset target locus71. The operator shifts a desired target point72by manipulating the mobile terminal3. Accordingly, the operator can modify the reset target locus71through the mobile terminal3located, for example, in a place away from the working machine2. The operator may shift the desired target point72through another device in place of the mobile terminal3.

Conclusively, the embodiments of the present invention are described heretofore, but are merely described as examples without particularly limiting the present invention. It is the matter of design choice for changes in the details of the configuration. Furthermore, the operations and effects described in the embodiments of the present invention are merely listed as optimal operations and effects attained by the present invention, and thus should not he limited thereto.

For instance, although the controller11of the working machine2sets a target locus71and resets the target locus71by shifting a target finish point74on the basis of peripheral information in the embodiment, a controller or software included in an unillustrated server may execute the setting and resetting. Specifically, the target locus setting system according to the present invention is not limited to the one at least a part of which is mounted on the working machine, and may be any system for use in the working machine. Similarly, the server, in place of the operator, may set a fixed target point76.

Although the display19of the mobile terminal3is described as the display device in the embodiment, the display device may be a display device provided in the cab23of the working machine2, or a monitor connected to an unillustrated server. Further, the operator may modify the target locus by using an input device provided in the cab23of the working machine2or a server without limitation to the modification using the mobile terminal3.

Provided by the present invention is an attachment target locus setting system for use in a working machine including a lower traveling body, an upper slewing body slewably attached onto the lower traveling body, and an attachment attached to the upper slewing body. The target locus setting system includes a target locus setting part, an image capturing device, a finish point shifting part, and a target locus resetting part. The target locus setting part sets a target start point being a start point for a specific portion of the attachment in a specific operation to be executed by the attachment, a target finish point being a finish point for the specific portion in the specific operation, and a target locus being a locus for the specific portion from the target start point to the finish point. The image capturing device captures at least an image of a periphery around the target finish point as peripheral information. The finish point shifting part shifts, on the basis of the peripheral information captured by the image capturing device, the target finish point set by the target locus setting part. The target locus resetting part resets the target locus to a target locus extending from the target start point set by the target locus setting part to a target finish point having been shifted by the finish point shifting part.

According to the present invention, the target locus for the specific portion of the attachment is set from the target start point being the target point where the attachment starts the operation to the target finish point being the target point where the attachment finishes the operation. Thereafter, the target finish point is shifted on the basis of the peripheral information captured by the image capturing device. When the target finish point shifted, the target locus is reset to a target locus in a range from the target start point to the target finish point having been shifted. When the target locus is reset, the specific portion of the attachment operates to follow the target locus. From these perspectives, the target locus is resettable in accordance with the peripheral infortnation even when a shape or contour of a soil surface on a work site changes every moment, and therefore, the attachment is efficiently operable.

In this configuration, the target locus resetting part may reset the target locus to a target locus linearly distributing, when viewed in a certain direction, from the target start point set by the target locus setting part to the target finish point having been shifted by the finish point shifting part.

In this configuration, the target locus setting part may set one or more target waypoints each being a point over which the specific portion passes on the target locus. The target locus resetting part may reset the target locus by allowing a straight line passing through the target start point and a specific target point among the one or more target waypoints and extending in a predetermined direction to be defined as a reference line, and shifting, on the basis of a ratio between a distance from the reference line to the target finish point before the shifting by the finish point shifting part and a distance from the reference line to the target finish point having been shifted by the finish point shifting part, at least one of the target waypoints falling within a range from the specific target point to the target finish point having been shifted.

In this configuration, the target locus setting part may set one or more target waypoints each being a point over which the specific portion passes on the target locus. This configuration may further include a fixed target point information input part that receives information about one or more fixed points each being a target waypoint prohibited from being shifted by the target locus resetting part among the one or more target waypoints. The target locus resetting part may reset the target locus by shifting at least one of the target waypoints falling within a range from a fixed target point closest to the target finish point among the one or more fixed target points to the target finish point having been shifted by the finish point shifting part.

In this configuration, the target locus setting part may set one or more target waypoints each being a point over which the specific portion passes on the target locus. The image capturing device may further capture an image of a periphery around the target locus as the peripheral infoiiiiation. This configuration may further include an obstacle specifying part that specifies an obstacle having a possibility of coming into contact with the attachment from the peripheral information captured by the image capturing device. The target locus resetting part may reset the target locus by shifting at least a part of the target waypoints falling within a range from the target start point to the target finish point, and further shift a target waypoint away from the obstacle, the target waypoint being in the target points on the reset locus at a distance of a predetermined value or smaller from the obstacle.

This configuration may further include a display device having a display screen image to display the reset target locus.

In this configuration, the target locus setting part may reset one or more target waypoints each being a point over which the specific portion passes on the target locus. The target locus resetting part may reset the target locus by shifting at least a part of the target waypoints falling within a range from the target start point to the target finish point. The display device may display the target waypoint having been shifted by the target locus resetting part on the display screen. This configuration may further include a target waypoint shifting part that receives an instruction of shifting the target waypoint. The target locus resetting part may modify the target locus by further shifting the target waypoint indicated by the instruction in response to the instruction input to the target waypoint shifting part after the resetting of the target locus.

In this configuration, the target waypoint shifting part may include a touch screen-type input part provided on the display device for receiving the instruction so that the target waypoint displayed on the display screen image shifts on the display screen image in response to a manipulation by an operator. The target locus resetting part may modify the target locus by further shifting the target waypoint shifted on the display screen image through the touch screen-type input part after the resetting of the target locus.

This configuration may further include a mobile terminal communicable with the working machine. The display device and the target point shifting part may be arranged in the mobile terminal.