Trajectory generation system
A target trajectory of an attachment is corrected while an operation of the attachment is prevented from giving a feeling of anxiety to a worker around a work machine. A target trajectory correcting unit sets a target path of a post-correction target trajectory (TRb) that is obtained by omitting a target point between an omission start point and an omission end point from a plurality of target points on a pre-correction target trajectory. The target trajectory correcting unit sets time information from the omission start point to the omission end point on the post-correction target trajectory TRb based on at least any one of a movement distance and a movement time of a specific portion from the omission start point to the omission end point on the pre-correction target trajectory.
1 . A trajectory generating system that is used in a work machine including a machine body and an attachment that is attached to the machine body and performs work, and generates a trajectory of a specific portion of the attachment, the trajectory generating system comprising:
a target trajectory setting unit that sets a target trajectory including a target path including a plurality of target points and time information that is information about a time for a movement of the specific portion along the plurality of target points; and
a target trajectory correcting unit that corrects the target trajectory,
wherein the target trajectory correcting unit
specifies at least one omission point from among the plurality of target points according to a predetermined condition, and sets two points adjacent to both sides of the omission point as an omission start point and an omission end point, respectively,
sets a corrected target path that is a path from the omission start point to the omission end point so that the omission point for the specific portion is omitted from the plurality of target points on the target trajectory, and
sets the time information about the specific portion from the omission start point to the omission end point in the corrected target path based on at least one of a movement distance and a movement time of the specific portion from the omission start point to the omission end point on a pre-correction target trajectory.
2 . The trajectory generating system according to claim 1 , wherein the target trajectory correcting unit sets the time information on a post-correction target trajectory so that a movement time of the specific portion from the omission start point to the omission end point in the corrected target path is equal to a movement time of the specific portion from the omission start point to the omission end point on the pre-correction target trajectory.
3 . The trajectory generating system according to claim 1 , wherein the target trajectory correcting unit sets the time information on a post-correction target trajectory so that an average speed of the specific portion from the omission start point to the omission end point in the corrected target path is equal to an average speed of the specific portion from the omission start point to the omission end point on the pre-correction target trajectory.
4 . The trajectory generating system according to claim 1 , wherein
the work machine includes a bucket for excavation of soil as the attachment and further includes a bucket information detection unit that detects information about the bucket, and
the target trajectory correcting unit sets the omission point based on a position of the specific portion at a time when at least one of a condition that the bucket information detection unit detects that a soil volume in the bucket exceeds a predetermined soil volume threshold and a condition that the bucket information detection unit detects that a load acting on the bucket exceeds a predetermined load threshold is satisfied.
5 . The trajectory generating system according to claim 1 , further comprising a display unit that displays at least one of the corrected target path and the time information set by the target trajectory correcting unit.
6 . The trajectory generating system according to claim 1 , further comprising a work machine including a machine body and an attachment that is attached to the machine body and performs work.