Target path generation system
A target locus of an attachment is determined while a calculation load for generating the target locus of the attachment is suppressed. A controller is configured to set a position of an arm distal end at a time when a contact detector detects contact of a bucket distal end with an excavation object at a start point of an arm distal end target locus. The controller is configured to receive information about a form of the arm distal end target locus in advance. The controller is configured to set a position for a finish point on the basis of an angle of a surface of the excavation object, an intersection angle between the arm distal end target locus and the surface of the excavation object, information about the form of the arm distal end target locus, and an offset amount about the finish point of the arm distal end target locus.
1. A target locus generation system for a working machine that has: a machine main body; and an attachment including a boom tiltably attached to the machine main body, an arm rotatably attached to the boom, and a bucket rotatably attached to the arm for excavating an excavation object, the target locus generation system comprising:
a posture detector that detects a posture of the attachment;
a contour detector that detects information about a contour of the excavation object;
a contact detector that detects contact of a distal end of the bucket with the excavation object; and
a controller, wherein
the controller is configured to:
receive information about a form of an arm distal end target locus being a target locus of a distal end of the arm, information about an intersection angle being an angle between a surface of the excavation object and the arm distal end target locus, and information about an offset amount being a distance between a finish point of the arm distal end target locus and the surface of the excavation object;
set a position of the distal end of the arm at a time when the contact detector detects a change to a state of the contact of the distal end of the bucket with the excavation object from a state of no contact with the excavation object at a start point of the arm distal end target locus; and
set a position for the finish point of the arm distal end target locus on the basis of the contour of the excavation object detected by the contour detector, the intersection angle, the information about the form of the arm distal end target locus, and the offset amount.
2. The target locus generation system according to claim 1 , wherein the arm distal end target locus is linear.
3. The target locus generation system according to claim 1 , wherein the controller is further configured to generate a bucket target locus being a target locus of the bucket, and
the controller is configured to:
further receive information about a finish point bucket posture being a posture of the bucket at a time when the distal end of the arm is at the finish point of the arm distal end target locus; and
set the bucket target locus in such a manner that the posture of the bucket continuously changes to the received finish point bucket posture from a start point bucket posture being a posture of the bucket detected by the posture detector when the distal end of the arm is at the start point of the arm distal end target locus.
4. The target locus generation system according to claim 3 , wherein the controller is configured to:
further receive information about a bucket rotation ratio being a ratio of a posture change amount of the bucket from the start point bucket posture to an intermediate point bucket posture with respect to a posture change amount of the bucket from the start point bucket posture to the finish point bucket posture, the intermediate point bucket posture being a posture of the bucket at a time when the distal end of the arm is at an intermediate point being a specific point between the start point and the finish point of the arm distal end target locus; and
set the intermediate point bucket posture on the basis of the received bucket rotation ratio.
5. The target locus generation system according to claim 1 , wherein the controller is configured to:
receive, as the contour of the excavation object, an angle of the surface of the excavation object to a predetermined reference plane; and
set the position for the finish point of the arm distal end target locus on the basis of the angle of the surface, the intersection angle, the information about the form of the arm distal end target locus, and the offset amount.
6. The target locus generation system according to claim 1 , further comprising a working machine that has:
a machine main body; and
an attachment including a boom tiltably attached to the machine main body, an arm rotatably attached to the boom, and a bucket rotatably attached to the arm for excavating an excavation object.