US 12,352,015 B2
System for setting target trajectory of attachment
Daisuke Noda, Hiroshima (JP); Koji Yamashita, Hiroshima (JP); and Masaki Akiyama, Hiroshima (JP)
Assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
Appl. No. 18/041,248
Filed by KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
PCT Filed Aug. 5, 2021, PCT No. PCT/JP2021/029072
§ 371(c)(1), (2) Date Feb. 10, 2023,
PCT Pub. No. WO2022/049987, PCT Pub. Date Mar. 10, 2022.
Claims priority of application No. 2020-147032 (JP), filed on Sep. 1, 2020.
Prior Publication US 2023/0304264 A1, Sep. 28, 2023
Int. Cl. E02F 9/26 (2006.01); E02F 3/43 (2006.01); E02F 9/20 (2006.01); G06V 20/58 (2022.01); G06F 3/04847 (2022.01); G06F 3/0488 (2022.01)
CPC E02F 9/262 (2013.01) [E02F 3/435 (2013.01); E02F 9/205 (2013.01); G06V 20/58 (2022.01); G06F 3/04847 (2013.01); G06F 3/0488 (2013.01)] 5 Claims
OG exemplary drawing
 
1. 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 attachment target locus setting system comprising:
a target locus setting part that 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;
an image capturing device that captures at least an image of a periphery around the target finish point as peripheral information;
a finish point shifting part that shifts, based on the peripheral information captured by the image capturing device, the target finish point set by the target locus setting part; and
a target locus resetting part that 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, wherein
the target locus setting part sets one or more target waypoints each being a point over which the specific portion passes on the target locus, and
the target locus resetting part resets 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.