Working area setting system and operation target detection system
A technology that further facilitates automatic driving control of working machines includes a working area setting system that includes an area setting unit. The area setting unit is provided to set a working area. The working area is a predetermined range in which an operation target of a working machine is stacked.
1 . A working area setting system comprising an area setting unit which is configured to set a working area, the working area being a predetermined range where an operation target of a working machine is stacked and which has a closed shape in plan view, and being data that is set and stored in the area setting unit.
2 . The working area setting system according to claim 1 , wherein,
the area setting unit sets at least one position where a leading end of an attachment of the working machine is placed, as at least one point for specifying a border between the working area and an outside of the working area.
3 . The working area setting system according to claim 2 , wherein,
the working area is rectangular in plan view.
4 . The working area setting system according to claim 3 , wherein,
the remaining two points are determined based on a first position close to the working machine and a second position far from the working machine, the first and second points positions being positions where the leading end is placed.
5 . The working area setting system according to claim 1 , further comprising
an attachment leading end path position determination unit which is configured to determine a passing point where the leading end of the attachment of the working machine passes when the leading end moves from an outside to an inside of the working area and/or the leading end moves from the inside to the outside of the working area.
6 . The working area setting system according to claim 5 , wherein,
the attachment leading end path position determination unit is configured to set the passing point on a border between the working area and the outside of the working area in plan view.
7 . The working area setting system according to claim 1 , further comprising
an operation initial height determination unit which is configured to determine an operation initial height that is the height of an operation start point where an operation for the operation target is performed by an attachment of the working machine for a first time after the working area is set,
the operation initial height determination unit setting the height of a position where a leading end of the attachment is placed, as the operation initial height.
8 . An operation target detection system comprising:
the working area setting system of claim 1 ;
a three-dimensional measurement device which is configured to obtain data of the operation target and surroundings of the operation target; and
a calculation unit which is configured to calculate three-dimensional information regarding a position, a range, and a shape of the operation target in the working area, based on the measurement data obtained by the three-dimensional measurement device.
9 . The operation target detection system according to claim 8 , wherein,
when the operation target spreads across an outside of the working area and the working area, the calculation unit calculates the three-dimensional information of only a part of the operation target, which exists inside the working area.
10 . The operation target detection system according to claim 8 , further comprising
a working location determination unit which is configured to determine an operation start point of the operation target based on the three-dimensional information calculated by the calculation unit.
11 . An operation target detection system, comprising:
an area setting unit which is configured to set a predetermined range of a working area where an operation target of a working machine is stacked;
a three-dimensional measurement device which is configured to obtain data of the operation target and surroundings of the operation target;
a calculation unit which is configured to calculate three-dimensional information regarding a position, a range, and a shape of the operation target in the working area, based on the measurement data obtained by the three-dimensional measurement device; and
a working location determination unit which is configured to determine an operation start point of the operation target based on the three-dimensional information calculated by the calculation unit,
the operation target detection system further comprising an operation initial height determination unit which is configured to determine an operation initial height that is the height of the operation start point where an operation for the operation target is performed by an attachment of the working machine for a first time after the working area is set,
the operation initial height determination unit setting the height of a position where a leading end of the attachment is placed, as the operation initial height, and
the working location determination unit determining whether the height of the operation start point is set at the operation initial height or a height resulting from correction of the operation initial height, based on the three-dimensional information calculated by the calculation unit.