US 12,404,653 B2
Target path generation system
Ryunosuke Miyazaki, Hiroshima (JP); Masaki Akiyama, Hiroshima (JP); Sho Fujiwara, Hiroshima (JP); and Takayuki Doi, Hiroshima (JP)
Assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
Appl. No. 18/554,652
Filed by KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
PCT Filed Mar. 8, 2022, PCT No. PCT/JP2022/009859
§ 371(c)(1), (2) Date Oct. 10, 2023,
PCT Pub. No. WO2022/230368, PCT Pub. Date Nov. 3, 2022.
Claims priority of application No. 2021-074398 (JP), filed on Apr. 26, 2021.
Prior Publication US 2024/0044102 A1, Feb. 8, 2024
Int. Cl. E02F 3/43 (2006.01); E02F 9/26 (2006.01); E02F 3/32 (2006.01)
CPC E02F 3/439 (2013.01) [E02F 9/262 (2013.01); E02F 3/32 (2013.01)] 6 Claims
OG exemplary drawing
 
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.