JP2024094505A - Work information teaching device, and work machine comprising the same - Google Patents

Abstract

To provide a work information teaching device capable of teaching information about a work to an operator without interfering with work performed by a work machine, and a work machine comprising the same.SOLUTION: A work information teaching device 101 comprises: a controller 60 for calculating an approach degree between specific portions 4, 5, 6, 13 included in a work machine 100 and an observation target 90 in a work site; and a display 50 for displaying the approach degree in a work site image area Rw in which an operator can view a work site image 200 which is an image of the work site. The controller 60 is configured to display the approach degree within a specific area Rs which is a part of the work site image area Rw and corresponds to the image of the specific portions 4, 5, 6, 13.SELECTED DRAWING: Figure 4

Description

This disclosure relates to a work information teaching device for teaching an operator information related to work performed by a work machine.

In the work machine of Patent Document 1, the controller calculates the proximity of the work device to the boundary of the operable area of the work device, and changes the display mode of the three-dimensional shape of the boundary displayed on the display device according to the proximity.

Patent Document 2 discloses a display system for a construction machine that includes a work machine and a main body to which the work machine is attached and that has a driver's cab. This display system displays a projected image of work support information around the work machine.

JP 2021-155949 A JP 2017-186901 A

In the work machine of Patent Document 1, the three-dimensional shape indicating the boundary of the operable area is displayed on the display device so as to overlap with the image around the work device (attachment), so part of the work site image around the attachment is obscured by the three-dimensional shape. Similarly, in the display system of Patent Document 2, the projected image of the work support information is displayed around the work machine (attachment), so part of the work site image around the attachment is obscured by the work support information. The operator cannot see the part of the work site image that is obscured as described above. Therefore, obscuring part of the work site image interferes with work by the work machine.

The present disclosure aims to provide a work information teaching device that can teach information about work to an operator without interfering with work performed by the work machine, and a work machine equipped with the same.

What is provided is a work information teaching device for teaching an operator information regarding work performed by a work machine having a body and an attachment supported on the body, the device comprising: a controller that calculates the degree of proximity between a specific part included in the work machine and an observation target at a work site; and a display that displays the degree of proximity in a work site image area in which the operator can view a work site image, which is an image of the work site, and the controller is configured to display the degree of proximity within a specific area that is a part of the work site image area and corresponds to the image of the specific part.

In this work information teaching device, the proximity display is performed within the range of a specific area (area corresponding to the image of a specific part of the work machine) in the work site image, so it is possible to teach the operator the proximity between the specific part and the observation target at the work site while avoiding obscuring the image around the specific part in the work site image. Therefore, this work information teaching device can teach the operator information about the work without interfering with the work by the work machine. Specifically, when the operator operates the work machine while looking at the work site image area, important information is the positional relationship between the specific part of the work machine and the image around the specific part. The operator can determine the position of the specific part from the outer shape (contour) of the specific area corresponding to the image of the specific part. Therefore, the importance of information about the part inside the contour of the specific area is lower than the importance of information about the image around the specific part. Therefore, in this work information teaching device, the proximity display is performed within the range of the specific area, not in the area corresponding to the image around the specific part. This makes it possible to teach the operator information about the work without interfering with the work by the work machine.

The work information teaching device preferably further includes a position information detector that detects position information of the observed object, and an attitude detector that detects attitude information related to the attitude of the work machine, and the controller calculates the proximity using the position information and the attitude information. In this configuration, the controller can grasp the position of the observed object based on the detected position information, and can grasp the position of a specific part of the work machine based on the detected attitude information, so that even if the attitude of the work machine changes during work at the work site, it can teach the operator the proximity according to the attitude of the work machine.

It is preferable that the work information teaching device further includes a posture detector that detects posture information related to the posture of the work machine, and that the controller pre-stores shape data that is data related to the shape of the specific part, and identifies the specific area using the shape data and the posture information. In this configuration, the controller can use the shape data of the specific part and the posture information of the work machine at that time to grasp the area in the work site image area where the contour of the image of the specific part is located. Therefore, even if the posture of the work machine changes during work at the work site, the controller can identify the specific area according to the posture of the work machine and display the proximity within the range of this specific area.

It is preferable that the controller changes the proximity display to a preset display mode when the proximity reaches a limit proximity set as the limit of the proximity. In this configuration, the operator can recognize that the proximity has reached the limit proximity, i.e., that there is an increased possibility that a specific part of the work machine will come into contact with an observed object at the work site, from the change in the display mode of the proximity display.

Here, the degree of the limit approach necessary to ensure work safety differs depending on the work conditions, such as the work site environment and the work content. Therefore, it is more preferable that the work information teaching device further includes an input device that receives an input for changing the setting of the limit approach. In this configuration, the operator can change the setting of the limit approach depending on the work conditions, and therefore can grasp whether the actual approach has reached the limit approach set depending on the work conditions.

The controller may also be configured to store a plurality of limit approaches including the limit approach and a second limit approach different from the limit approach, select one of the plurality of limit approaches based on a preset selection criterion, and change the approach display to the display mode when the approach reaches the selected limit approach. In this configuration, the controller selects a limit approach that meets the selection criterion from among the plurality of limit approaches, so that the operator can know whether the actual approach has reached the limit approach that meets the conditions without inputting to an input device as described above.

The controller preferably calculates the distance between the observation target and a representative point, which is a preset point in the specific part, as the proximity. In this configuration, the distance between the representative point of the specific part and the observation target is calculated as the proximity, rather than the distance between the observation target and multiple parts in the entire specific part. This allows the operator to recognize the distance between the representative point of the specific part and the observation target while reducing the calculation load on the controller.

The attachment may have a first part and a second part, the specific part may include the first part and the second part, and the specific area may include a first area corresponding to an image of the first part and a second area corresponding to an image of the second part. In this case, a proximity indication may be displayed within the range of the first area to indicate the proximity between the first part and the observed object, and a proximity indication may be displayed within the range of the second area to indicate the proximity between the second part and the observed object.

The controller is preferably configured to display within the first area a first proximity display indicating the proximity between the first part and the observation target, and display within the second area a second proximity display indicating the proximity between the second part and the observation target, in a display manner that allows the operator to grasp which of the first and second parts is closer to the observation target. In this configuration, the operator can easily recognize which of the first and second parts is closer to the observation target based on the first proximity display and the second proximity display.

The controller may be configured to, when a preset condition is satisfied, display the proximity within the first area, and avoid displaying the proximity within the second area so that the operator can see the image of the second part in the second area. Depending on the work content, the operator may want to accurately grasp the movement of the second part during work, and in this case, displaying the proximity in the second area may actually reduce workability. Therefore, in this configuration, when the preset condition is satisfied, the proximity display displayed within the first area teaches the operator the proximity between the first part of the specific part and the observed object, while the proximity display is not performed in the second area, allowing the operator to see the image of the second part. This makes it easier for the operator to recognize the movement of the second part during work.

Specifically, for example, when the first part is an arm, the second part is a bucket, and the work is excavation work, the operator particularly needs to accurately recognize the movement of the bucket. Even in such a case, the operator can accurately recognize the movement of the bucket from the image of the bucket in the second area (bucket area) while recognizing the proximity between the first part (arm) and the observed object from the proximity display displayed within the first area (arm area).

The controller is preferably configured to issue an alarm when the specific part of the work machine is outside the scene image area and the distance between the specific part and an obstacle at the work site is equal to or less than a preset threshold. In this configuration, even if the operator is working while gazing at the scene image area, the alarm allows the operator to recognize that there is an increased possibility that the specific part of the work machine outside the scene image area will come into contact with an obstacle.

The observation target may include an allowable limit position set as the limit within which the specific part is allowed to move at the work site, and the controller may be configured to calculate the distance between the specific part and the allowable limit position as the proximity. In this configuration, the observation target at the work site does not necessarily have to be an object at the work site, but may be an allowable limit position such as a boundary line or a boundary surface that is virtually set at the work site. When the observation target is an allowable limit position, the operator can operate the work machine within a range in which the specific part does not exceed the allowable limit position by performing work while visually checking the proximity display.

The work machine may be configured to be operated by a remote controller located at a remote location away from the work machine, and the display may be located at the remote location. In this configuration, the proximity display performed by the display within a specific area at the remote location does not obscure the image of the area around a specific part of the work machine in the work site image area, and therefore does not interfere with remote operation performed by an operator at the remote location. Therefore, the operator can operate the remote controller at the remote location while viewing the proximity display that does not interfere with work performed by the work machine. In other words, even in a remote location where the work site cannot be directly viewed, the operator can operate the work machine without being interfered with by the proximity display, while grasping the distance between a specific part of the work machine at the work site and an observation target at the work site.

The controller may be configured to transmit information relating to the proximity to a management device located at a location away from the work machine. In this configuration, people involved in the work other than the operator who operates the work machine can recognize the status of the work from the information transmitted to the management device.

The site image area may include at least a part of a transparent plate arranged on a windshield in the cab of the work machine, and the display may be configured to display the proximity on the transparent plate. In this configuration, the operator can operate the work machine in the cab of the work machine while viewing the work site image (i.e., the actual image of the work site) through the site image area including at least a part of the transparent plate arranged on the windshield, and checking the proximity display within a specific area that is part of the site image area. Therefore, the operator can grasp the proximity without being disturbed by the proximity display while gazing at the specific area that is an area corresponding to the actual image of a specific part of the work machine, thereby improving work efficiency.

The work machine provided includes the work information teaching device described above, the machine body, and the attachment. This work machine can teach the operator information about the work without interfering with the work performed by the work machine.

The present disclosure provides a work information teaching device that can teach information about work to an operator without interfering with work performed by the work machine, and a work machine equipped with the same.

1 is a side view showing a work machine equipped with a work information teaching device according to an embodiment of the present disclosure. FIG. 2 is a block diagram of a system including the work information teaching device. 1 is a side view showing an example of the positional relationship between a specific part of a work machine and an observation target at a work site. FIG. 3 is a diagram showing an example of work information taught by the work information teaching device; FIG. 5 is a flowchart showing a calculation processing operation by a controller of the work information teaching device. 10 is a diagram showing an example of work information taught by a work information teaching device according to a first modified example of the embodiment. FIG. 11 is a diagram for explaining an arrangement of a position information detector of a work information teaching device according to a second modified example of the embodiment. FIG. FIG. 11 is a side view showing another example of the positional relationship between a specific part of the work machine and an observation target at the work site. 13 is a diagram showing an example of work information taught by a work information teaching device according to a third modified example of the embodiment. FIG. FIG. 13 is a diagram relating to a fourth modified example of the embodiment, and is a side view showing an example of the positional relationship between a specific part of a work machine and an observation target at a work site.

An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a side view showing a work machine 100 according to this embodiment. The work machine 100 according to this embodiment is a hydraulic excavator. FIG. 2 is a block diagram of a system including a work information teaching device 101 according to this embodiment. The work information teaching device 101 according to this embodiment performs control to teach an operator information related to the work performed by the work machine 100.

As shown in Figures 1 and 2, the work machine 100 includes a lower traveling body 1, an upper rotating body 2, an attachment 3, a plurality of hydraulic actuators, and a plurality of operating devices 20.

The lower traveling body 1 is equipped with a pair of left and right crawler traveling devices. The upper rotating body 2 is supported on the lower traveling body 1 so as to be rotatable around the Z axis in the vertical direction. The upper rotating body 2 is equipped with a cab 12 having a driver's seat where an operator sits, and a counterweight 13 arranged behind the cab 12. The lower traveling body 1 and the upper rotating body 2 are examples of a machine body.

The attachment 3 is supported by the upper rotating body 2. The attachment 3 includes a boom 4 supported on the upper rotating body 2 so that it can be raised and lowered, an arm 5 supported rotatably at the tip of the boom 4, and a bucket 6 supported rotatably at the tip of the arm 5.

Each of the hydraulic actuators operates by receiving hydraulic oil from a hydraulic pump (not shown). The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a swing motor 11.

The boom cylinder 7 is a hydraulic cylinder that receives hydraulic oil from the hydraulic pump and operates to raise and lower the boom 4 relative to the upper rotating body 2. The base end of the boom cylinder 7 is rotatably attached to the upper rotating body 2, and the tip end of the boom cylinder 7 is rotatably attached to the boom 4.

The arm cylinder 8 is a hydraulic cylinder that receives hydraulic oil from the hydraulic pump and operates to rotate the arm 5 relative to the boom 4. The base end of the arm cylinder 8 is rotatably attached to the boom 4, and the tip end of the arm cylinder 8 is rotatably attached to the arm 5.

The bucket cylinder 9 is a hydraulic cylinder that receives hydraulic oil from the hydraulic pump and operates to rotate the bucket 6 relative to the arm 5. The base end of the bucket cylinder 9 is rotatably attached to the arm 5, and the tip end of the bucket cylinder 9 is rotatably attached to the bucket 6 via a link member.

The slewing motor 11 is a hydraulic motor that receives hydraulic oil from the hydraulic pump and operates to rotate the upper slewing body 2 relative to the lower traveling body 1.

The multiple controllers 20 include a boom controller 20, an arm controller 20, a bucket controller 20, and a swing controller 20. In FIG. 2, only one of these controllers 20 is shown, and the other controllers 20 are omitted. Each of the multiple controllers 20 includes an operating lever 21 that is operated by an operator, and an output device 22. When the operating lever 21 is operated, hydraulic oil is supplied to the hydraulic actuator via the flow rate control valve 70 at a flow rate according to the operating direction and amount of the operation. As a result, the hydraulic actuator performs an operation according to the operation of the operating lever 21.

Specifically, the control lever 21 of the boom operator 20 receives boom operation (boom-raising operation or boom-lowering operation). The boom-raising operation is an operation by the operator to move the boom 4 in the boom-raising direction, and the boom-lowering operation is an operation by the operator to move the boom 4 in the boom-lowering direction. When a boom operation is applied to the control lever 21 of the boom operator 20, hydraulic oil is supplied to the boom cylinder 7 via the flow rate adjustment valve 70 corresponding to the boom operator 20 at a flow rate corresponding to the boom operation, and the boom 4 performs an operation corresponding to the boom operation.

The operating lever 21 of the arm operator 20 receives arm operation (arm pull operation or arm push operation). The arm pull operation is an operation by the operator to move the arm 5 in the arm pull direction, and the arm push operation is an operation by the operator to move the arm 5 in the arm push direction. When an arm operation is applied to the operating lever 21 of the arm operator 20, hydraulic oil is supplied to the arm cylinder 8 at a flow rate according to the arm operation via the flow control valve 70 corresponding to the arm operator 20, and the arm 5 performs an operation according to the arm operation.

The operating lever 21 of the bucket operator 20 receives bucket operation (bucket excavation operation or bucket soil discharge operation). The bucket excavation operation is an operation by the operator to move the bucket 6 in the bucket excavation direction, and the bucket soil discharge operation is an operation by the operator to move the bucket 6 in the bucket soil discharge direction. When a bucket operation is applied to the operating lever 21 of the bucket operator 20, hydraulic oil is supplied to the bucket cylinder 9 via the flow rate adjustment valve 70 corresponding to the bucket operator 20 at a flow rate corresponding to the bucket operation, and the bucket 6 performs an operation corresponding to the bucket operation.

The operating lever 21 of the rotation control device 20 receives a rotation operation (right rotation operation or left rotation operation). The right rotation operation is an operation by the operator to rotate the upper rotating body 2 to the right, and the left rotation operation is an operation by the operator to rotate the upper rotating body 2 to the left. When a rotation operation is applied to the operating lever 21 of the rotation control device 20, hydraulic oil is supplied to the rotation motor 11 at a flow rate according to the rotation operation via the flow control valve 70 corresponding to the rotation control device 20, and the upper rotating body 2 performs a rotation operation according to the rotation operation.

The block diagram in FIG. 2 illustrates a configuration in which the operating device 20 is a so-called electric lever type operating device. In this case, the output device 22 outputs an operation signal corresponding to the operation direction and operation amount of the operation given to the operating lever 21 to the controller 60 described later, and the actuator control command unit 67 of the controller 60 inputs a control command corresponding to the operation signal to the flow rate control valve 70, and the flow rate control valve 70 operates so that hydraulic oil at a flow rate corresponding to the control command is supplied to the hydraulic actuator. When the operating device 20 is an electric lever type, the flow rate control valve 70 includes an electromagnetic proportional valve that receives an input of a control command and outputs a secondary pressure (pilot pressure) corresponding to the control command, and a control valve having a pilot port that receives the supply of the pilot pressure. The control valve adjusts the flow rate of hydraulic oil to the hydraulic actuator by opening and closing according to the pilot pressure.

However, the operating device 20 is not limited to the electric lever type. The operating device 20 may include an operating lever 21 and a remote control valve as an output device 22. In this case, the remote control valve (output device 22) supplies a secondary pressure (pilot pressure) according to the direction and amount of operation applied to the operating lever 21 to the pilot port of a control valve acting as a flow control valve. The control valve adjusts the flow rate of hydraulic oil to the hydraulic actuator by opening and closing according to the pilot pressure.

In this embodiment, the work machine 100 is equipped with a work information teaching device 101. The work information teaching device 101 teaches the operator work information related to the work performed by the work machine 100. The work information teaching device 101 is equipped with a posture detector 30, a three-dimensional information detector 40, a display 50, an input device 80, and a controller 60.

The posture detector 30 detects posture information related to the posture of the work machine 100 and inputs the detection results to the controller 60.

Specifically, in this embodiment, the attitude detector 30 includes a boom attitude sensor 31 that detects the attitude of the boom 4, an arm attitude sensor 32 that detects the attitude of the arm 5, and a bucket attitude sensor 33 that detects the attitude of the bucket 6 (see FIG. 1). Each of the boom attitude sensor 31, the arm attitude sensor 32, and the bucket attitude sensor 33 inputs the detection results to the controller 60.

The boom attitude sensor 31 may be, for example, a boom angle sensor that detects the angle of the boom 4 relative to a reference such as a horizontal plane or a horizontal line, or the angle of the boom 4 relative to the upper rotating body 2, a stroke sensor that detects the operation of the boom cylinder 7, or other sensors. The arm attitude sensor 32 may be, for example, an arm angle sensor that detects the angle of the arm 5 relative to a reference such as a horizontal plane or a horizontal line, or the angle of the arm 5 relative to the boom 4, a stroke sensor that detects the operation of the arm cylinder 8, or other sensors. The bucket attitude sensor 33 may be, for example, a bucket angle sensor that detects the angle of the bucket 6 relative to a reference such as a horizontal plane or a horizontal line, or the angle of the bucket 6 relative to the arm 5, a stroke sensor that detects the operation of the bucket cylinder 9, or other sensors.

Examples of angle sensors include resolvers, rotary encoders, potentiometers, and IMUs (inertial measurement units). The stroke sensor may detect the cylinder length of a hydraulic cylinder, or may detect the position of the piston rod relative to the cylinder tube.

The attitude detector 30 may further include a rotating body attitude sensor 34 (see FIG. 1). The rotating body attitude sensor 34 is a sensor for detecting the attitude of the upper rotating body 2. The rotating body attitude sensor 34 may be, for example, a sensor that detects the inclination (attitude) of the upper rotating body 2 with respect to a horizontal plane. The rotating body attitude sensor 34 may also be, for example, a rotation angle sensor that detects the angle (rotation angle) of the upper rotating body 2 with respect to the lower running body 1, a sensor such as a gyro sensor that detects the angular velocity (rotation angular velocity) of the upper rotating body 2 with respect to the lower running body 1, or another sensor. Note that the attitude detector 30 does not have to include the rotating body attitude sensor 34.

The three-dimensional information detector 40 detects three-dimensional information related to an observation target at a work site. The three-dimensional information detector 40 is an example of a position information detector that detects position information of an observation target. The three-dimensional information detector 40 inputs the detection results to the controller 60. In this embodiment, the three-dimensional information detector 40 is disposed at a position such that the observation target and the attachment 3 (particularly the bucket 6) are included in its detection range (field of view range). Specifically, for example, as shown in FIG. 1, the three-dimensional information detector 40 is attached to the upper rotating body 2 so that the area in front of the upper rotating body 2 at the work site is included in its detection range.

Figure 3 is a side view showing an example of the positional relationship between a specific part of the work machine 100 and an observation target at the work site 102. The three-dimensional information detector 40 may be, for example, a three-dimensional camera capable of detecting two-dimensional information on the observation target in terms of length and width, and depth information on the observation target. The three-dimensional camera may be a stereo type three-dimensional camera (stereo camera), a TOF (Time of Flight) type three-dimensional camera, or a three-dimensional camera combining a projector and a camera. The TOF type three-dimensional camera may be, for example, a LiDAR (Light Detection and Ranging). However, the three-dimensional information detector 40 may be any camera capable of detecting three-dimensional information on an observation target at a work site, and is not limited to the above specific example.

The observation target is an object of which the three-dimensional information detector 40 can detect three-dimensional information among a plurality of objects present in the work site 102. In other words, the observation target is an object contained within the detection range of the three-dimensional information detector 40. Therefore, the observation target is determined according to various conditions such as the position where the three-dimensional information detector 40 is attached, the orientation of the three-dimensional information detector 40, the characteristics of the three-dimensional information detector 40, various settings in the three-dimensional information detector 40, and the attitude of the work machine 100. For example, if the three-dimensional information detector 40 is a TOF type three-dimensional camera, the various conditions may include the projection direction (projection range) of light. For example, in the specific example shown in FIG. 3, the observation target includes a wall 90 present in the work site 102.

The specific part of the work machine 100 is the part that is the subject of the work information. The controller 60 may be configured to set the specific part in response to an input by an operator to set the specific part, and to store the specific part. The specific part may also be stored in advance in the controller 60. The controller 60 stores shape data, which is data relating to the shape of the specific part. The shape data may be three-dimensional data corresponding to the shape of the surface of the specific part, that is, three-dimensional data representing the outer shape of the specific part (the outline of the specific part). The shape data may also be data relating to the dimensions of the specific part.

The specific part may include a part or all of the attachment, in which case the specific part may include at least one of the boom 4, the arm 5, and the bucket 6. The specific part may also include a part or all of the upper rotating body 2, in which case the specific part may include the rear part of the upper rotating body 2, or may include a side part of the upper rotating body 2. The rear part of the upper rotating body 2 may be a counterweight 13. The specific part may also include a part or all of the lower running body 1, in which case the specific part may include the crawler running device of the lower running body 1.

In this embodiment, the boom 4, arm 5, and bucket 6 are pre-stored in the controller 60 as specific parts, and the controller 60 pre-stores shape data relating to the shape of the boom 4, shape data relating to the shape of the arm 5, and shape data relating to the shape of the bucket 6.

The display 50 displays the degree of proximity in the site image area Rw based on a command from the controller 60. The site image area Rw is an area in which the operator can visually recognize the work site image, which is an image of the work site 102. The degree of proximity is the degree of proximity between a specific part of the work machine 100 and an observation target at the work site. The degree of proximity may be, for example, the distance between the specific part and the observation target. In the specific example of Figures 3 and 4, the degree of proximity is the distance between the boom 4, arm 5, and bucket 6 and the wall 90.

The display 50 is not particularly limited in its specific configuration as long as it is capable of displaying the proximity in the scene image area Rw. The scene image area Rw is determined according to the type of display 50. Examples of specific configurations of the display 50 and scene image area Rw include the following:

Figure 4 is a diagram showing an example of the screen of the display 50 arranged in the cab 12. The display 50 shown in Figure 4 is a display (monitor) such as a liquid crystal display or an organic EL display arranged at a position within the cab 12 where the operator can see it. In this case, the site image area Rw is an area (image display area) where an image is displayed on the screen of the display. The site image area Rw is an area within a substantially rectangular outer frame shown in Figure 4. The work site image 200 in the site image area Rw (image display area Rw) of the display 50 may be displayed using the detection results input from the three-dimensional information detector 40 to the controller 60 or the display 50, or may be displayed using image data input from a camera (imaging device) other than the three-dimensional information detector 40 to the controller 60 or the display 50. Specific examples are as follows. When the three-dimensional information detector 40 is, for example, a stereo camera, the work site image 200 in the site image area Rw of the display 50 is displayed using image data input from the stereo camera to the controller 60 or the display 50. In addition, when the three-dimensional information detector 40 is, for example, a detector (e.g., a TOF sensor) having a distance measuring function but not having a function of acquiring image data, the work site image 200 in the work site image area Rw of the display 50 is displayed using image data input to the controller 60 or the display 50 from a camera (not shown) other than the three-dimensional information detector 40. In the specific example shown in FIG. 4, the work site image 200 displayed in the work site image area Rw includes an image 201 of the wall 90 located in front of the upper rotating body 2, an image 202 of the scene around the wall 90, and an image 210 of a specific part. The image 210 of the specific part is an example of an image of a specific part in the present disclosure. In the specific example of FIG. 4, the image 210 of the specific part includes an image 211 of the boom 4, an image 212 of the arm 5, and an image 213 of the bucket 6. The work site image 200 is not an actual image (real image) of the observation target at the work site, but an image displayed on the screen of the display (display 50). Work site image 200 is an example of a work site image.

The display 50 may include a head-up display (HUD) projector for displaying the degree of proximity on a windshield (an example of a transparent plate) arranged on the front window of the cab 12. The HUD projector displays the degree of proximity on the windshield so that information relating to the degree of proximity is superimposed on the work site image (real image) seen through the windshield. In this case, the site image area Rw includes at least a portion of the windshield.

The display 50 may be a head-mounted display (HMD) that is worn on the operator's head. In this case, the scene image area Rw includes an image display area in which an image is displayed on the HMD.

The controller 60 includes a processor such as a CPU and an MPU, and a memory. The controller 60 performs teaching control, which is a control for teaching the operator information related to the work performed by the work machine 100.

The controller 60 is configured to calculate the proximity of the boom 4, arm 5, and bucket 6 to the wall 90, and to display the proximity within the boom area Ra, arm area Rb, and bucket area Rc. Specifically, the controller 60 is configured to display a boom proximity indicating the proximity of the boom 4 to the wall 90 within the boom area Ra, an arm proximity indicating the proximity of the arm 5 to the wall 90 within the arm area Rb, and a bucket proximity indicating the proximity of the bucket 6 to the wall 90 within the bucket area Rc.

As shown in FIG. 2, the controller 60 includes a coordinate calculation unit 61, a point cloud data creation unit 62, a proximity calculation unit 63, a display mode determination unit 64, and an overlay display unit 65. Each of the coordinate calculation unit 61, the point cloud data creation unit 62, the proximity calculation unit 63, the display mode determination unit 64, and the overlay display unit 65 is realized by executing a control program stored in the memory of the controller 60.

The coordinate calculation unit 61 calculates the coordinates of the specific part using the attitude information detected by the attitude detector 30. The point cloud data creation unit 62 creates point cloud data of the observation target at the work site using three-dimensional information (an example of position information) detected by the three-dimensional information detector 40. The proximity calculation unit 63 calculates the proximity between the specific part and the observation target using the coordinates of the specific part and the point cloud data. The display mode determination unit 64 determines the display mode of the proximity display indicating the proximity. The superimposition display unit 65 controls the display unit 50 to display the proximity in the display mode determined by the display mode determination unit 53 within the range of a specific area Rs, which is part of the scene image area Rw.

Specific region Rs is a region corresponding to the image 210 of the specific part as shown in FIG. 4. As described above, in the specific example shown in FIG. 3 and FIG. 4, the specific part includes the boom 4, the arm 5, and the bucket 6. Therefore, specific region Rs includes a boom region Ra corresponding to the image 211 of the boom 4, an arm region Rb corresponding to the image 212 of the arm 5, and a bucket region Rc corresponding to the image 213 of the bucket 6, as shown in FIG. 4. More specifically, specific region Rs is a region inside the contour (outline) of the image 210 of the specific part. The boom region Ra is a region inside the contour (outline) of the image 211 of the boom 4, the arm region Rb is a region inside the contour (outline) of the image 212 of the arm 5, and the bucket region Rc is a region inside the contour (outline) of the image 213 of the bucket 6. The arm 5 is an example of a first part, and the bucket 6 is an example of a second part. The arm region Rb is an example of the first region, and the bucket region Rc is an example of the second region.

Figure 5 is a flowchart showing the calculation processing operation by the controller 60 of the work information teaching device 101. The teaching control performed by the controller 60 will be explained below using the flowchart in Figure 5.

First, the controller 60 determines whether or not to start teaching control (step S1). Specifically, for example, the controller 60 starts teaching control when a teaching control start condition, which is a predetermined condition for determining whether or not to start teaching control, is satisfied. The teaching control start condition may be, for example, the input by the operator to instruct the start of teaching control being received by the input device 80 (see FIG. 2). The input device 80 may be disposed, for example, in the cab 12. Note that the teaching control start condition is not limited to the above specific example.

When the teaching control start condition is satisfied (YES in step S1), the controller 60 acquires posture information related to the posture of the work machine 100 from the posture detector 30 (step S2). Specifically, for example, the controller 60 acquires the detection results from the boom posture sensor 31, the arm posture sensor 32, and the bucket posture sensor 33. In this case, the posture information includes boom posture information related to the posture of the boom 4 (e.g., the angle of the boom 4), arm posture information related to the posture of the arm 5 (e.g., the angle of the arm 5), and bucket posture information related to the posture of the bucket 6 (e.g., the angle of the bucket 6).

The coordinate calculation unit 61 of the controller 60 uses the posture information to calculate the three-dimensional coordinates of a representative point P1 (see FIG. 3) that is preset on the bucket 6 (step S3). In this embodiment, the representative point P1 is set at the tip of the bucket 6, but it may be set at another part of the bucket 6, or may be set at a specific part of a member other than the bucket 6 (e.g., the arm 5). The three-dimensional coordinates of the representative point P1 may be coordinates in a global coordinate system or may be coordinates in a local coordinate system. The local coordinate system may be, for example, a coordinate system (work machine coordinate system) that can identify the relative position of the representative point P1 with respect to the upper rotating body 2.

The point cloud data creation unit 62 of the controller 60 uses the three-dimensional information input from the three-dimensional information detector 40 to create point cloud data of the observation target at the work site (step S4). The point cloud data may be data (e.g., three-dimensional coordinate data) corresponding to the position and shape of the surface of the observation target. This three-dimensional coordinate data may be coordinates in a global coordinate system or may be coordinates in a local coordinate system. When the coordinate system of the three-dimensional coordinates of the representative point P1 and the coordinate system of the point cloud data (three-dimensional coordinate data) are different, the controller 60 may convert one coordinate system into the other coordinate system.

The proximity calculation unit 63 of the controller 60 calculates the shortest proximity X from the representative point P1 to the observation target (wall 90 in FIG. 3) using the three-dimensional coordinates of the representative point P1 and the point cloud data (step S5). The shortest proximity X may be the shortest distance from the representative point P1 to the observation target.

The display mode determination unit 64 of the controller 60 determines the display mode of the part corresponding to the representative point P1 in the proximity display described below according to the minimum proximity X (step S6). This display mode may be, for example, a preset color set in terms of the degree of brightness or the degree of color tone of the part corresponding to the representative point P1 in the proximity display. Specifically, for example, the controller 60 creates a three-dimensional model corresponding to the actual posture of the attachment 3 at that time based on the posture information and the shape data, and determines the preset color of the part corresponding to the representative point P1 in the three-dimensional model, i.e., the part corresponding to the tip of the bucket 6 in the three-dimensional model.

The display mode determination unit 64 of the controller 60 determines the display mode of the three-dimensional model of the attachment 3 (target member) (step S7). Specifically, for example, the display mode determination unit 64 of the controller 60 determines the set color of the entire three-dimensional model of the attachment 3. That is, the display mode determination unit 64 of the controller 60 determines the set colors of the three-dimensional model of the boom 4, the three-dimensional model of the arm 5, and the three-dimensional model of the bucket 6. The set color of the entire three-dimensional model of the attachment 3 may be determined so that a gradation such as a gradual change in light and dark or a gradual change in color tone is formed in the three-dimensional model according to the distance to the observation target, as shown in FIG. 4, for example. The gradation in the three-dimensional model indicates the proximity of each part of the attachment 3 to the observation target.

The overlay display unit 65 of the controller 60 controls the display 50 so that the three-dimensional model of the attachment 3 is displayed in the specific region Rs in the determined display mode (step S8). That is, the overlay display unit 65 of the controller 60 causes the three-dimensional model of the attachment 3 to be overlaid on the work site image 200 on the screen of the display 50 in the determined display mode. Specifically, the overlay display unit 65 of the controller 60 controls the display 50 so that a proximity display (display of a three-dimensional model) indicating the proximity is performed in the specific region Rs of the site image region Rw of the display 50. As a result, the proximity display is performed in the specific region Rs, which is part of the site image region Rw.

The controller 60 may specify the range in the scene image area Rw in which the specific area Rs is located, for example, as follows. The controller 60 may specify the range in the scene image area Rw (image display area Rw) of the display 50 in which the specific area Rs occupies, using the shape data of the boom 4, arm 5, and bucket 6 stored in advance and the attitude information detected by the attitude detector 30. More specifically, the controller 60 may specify the range in which the specific area Rs occupies in the scene image area Rw, using the shape data, the attitude information, and the three-dimensional information on the observation target detected by the three-dimensional information detector 40. The controller 60 can calculate the three-dimensional coordinates of the observation target at that time based on the three-dimensional information, and can calculate the three-dimensional coordinates of the contour of the specific part (the surface of the specific part) at that time using the shape data and the attitude information. Therefore, the controller 60 can specify the range in the scene image area Rw in which the specific area Rs occupies, using the three-dimensional coordinates of the observation target and the three-dimensional coordinates of the contour of the specific part (the surface of the specific part).

As described above, in the work information teaching device 101 according to this embodiment, the proximity display is performed within the range of the specific region Rs (the region corresponding to the images of the boom 4, arm 5, and bucket 6, which are specific parts of the work machine 100) in the work site image 200. Therefore, it is possible to teach the operator the proximity between the boom 4, arm 5, and bucket 6 and the wall 90 included in the observation target at the work site, while avoiding obscuring the image around the specific part in the work site image 200. Therefore, this work information teaching device 101 can teach the operator information related to the work without interfering with the work performed by the work machine 100.

The work information teaching device 101 according to this embodiment also includes a three-dimensional information detector 40 that detects three-dimensional information related to the observed object, and a posture detector 30 that detects posture information related to the posture of the work machine 100, and the controller 60 calculates the degree of approach using the three-dimensional information and posture information. The controller 60 is able to grasp the position of the observed object based on three-dimensional information including two-dimensional vertical and horizontal information and depth information related to the observed object, and is able to grasp the position of a specific part of the work machine 100 based on the posture information. Therefore, even if the posture of the work machine 100 changes during work at the work site, the controller 60 can teach the operator the degree of approach according to the posture of the work machine 100.

In addition, in the work information teaching device 101 according to this embodiment, the controller 60 prestores shape data relating to the shapes of the specific parts, the boom 4, the arm 5, and the bucket 6, and identifies the specific area Rs using the shape data and the attitude information. That is, the controller 60 can grasp the area in the site image area Rw where the contours of the images of the boom 4, the arm 5, and the bucket 6 are located by using the shape data of the boom 4, the arm 5, and the bucket 6 and the attitude information of the work machine 100 at that time. Therefore, even if the attitude of the work machine 100 changes during work at the work site, the specific area Rs according to the attitude of the work machine 100 can be identified, and the proximity display can be performed within the range of this specific area Rs.

The above describes an automatic control device and a work machine equipped with the same according to an embodiment of the present disclosure, but the present disclosure is not limited to the above embodiment and includes, for example, the following modified examples.

[Modification 1]
FIG. 6 is a diagram showing an example of work information taught by the work information teaching device 101 according to the first modification of the embodiment.

In this modified example 1, the controller 60 may be configured to display the proximity within the boom region Ra and arm region Rb when a preset condition is satisfied, and to avoid displaying the proximity within the bucket region Rc so that the operator can view the image 213 of the bucket 6 in the bucket region Rc. Each of the boom region Ra and arm region Rb is an example of a first region, and the bucket region Rc is an example of a second region.

Depending on the type of work, the operator may want to accurately grasp the movement of the bucket 6 during work. In this case, if a proximity display is displayed in the bucket area Rc, it may actually decrease workability. Therefore, in this variant example 1, when the preset conditions are met, the proximity display displayed within the boom area Ra and arm area Rb teaches the operator the proximity between a specific part of the boom 4 and arm 5 and the observation target, while no proximity display is displayed in the bucket area Rc, allowing the operator to view an image of the bucket 6. This makes it easier for the operator to recognize the movement of the bucket 6 during work.

In this first modification, the preset condition may be, for example, a condition that the work content is a preset specific work. The specific work may be, for example, an excavation work in which the operator needs to accurately recognize the movement of the bucket 6. The preset condition may also be, for example, a condition that the operator performs a specific input to the input device 80.

[Modification 2]
Fig. 7 is a diagram for explaining the arrangement of the three-dimensional information detector 40 of the work information teaching device 101 according to the second modification of the embodiment. A plurality of three-dimensional information detectors 40 (40A, 40B, 40C, 40D) are depicted in Fig. 7. In this manner, the three-dimensional information detector 40 can be arranged in various positions depending on the work content of the work machine 100.

Specifically, the three-dimensional information detector 40A is attached to the side of the upper rotating body 2 or inside the cab 12 so that the area in front of the upper rotating body 2 in the work site 102 is included in the detection range, and the attachment 3 and the observation target around it are included in the detection range, similar to Figures 1 and 3.

The three-dimensional information detector 40B is attached to the top of the upper rotating body 2 so that the detection range includes a relatively high area of the area in front of the upper rotating body 2 within the work site 102, and also includes the attachment 3 and the surrounding observation target.

The three-dimensional information detector 40C is attached to a member 91 such that the detection range includes the area below a member 91 (e.g., a member such as the ceiling of a structure or a beam of a structure) separate from the work machine 100, and also includes a part of the attachment 3 (e.g., the bucket 6) and the observation target around it.

The three-dimensional information detector 40D is attached to the upper rotating body 2 so that the area of the work site 102 behind the upper rotating body 2 is included in the detection range. Specifically, the three-dimensional information detector 40D may be attached to the upper rotating body 2 so that the area of the work site 102 behind the upper rotating body 2 is included in the detection range, and the rear of the upper rotating body 2 (e.g., the counterweight 13) and the observation target around it are included in the detection range.

Note that the work information teaching device 101 does not necessarily have to include all of the multiple three-dimensional information detectors 40 (40A, 40B, 40C, 40D), and may only include some of the multiple three-dimensional information detectors 40.

[Modification 3]
Figure 8 is a side view showing another example of the positional relationship between a specific part of the work machine and an observation target at the work site, and Figure 9 is a diagram showing an example of work information taught by the work information teaching device 101 relating to variant example 3 of the embodiment.

The work information teaching device 101 according to this modified example 3 is equipped with a three-dimensional information detector 40D. This three-dimensional information detector 40D is attached to the upper rotating body 2 so that the area behind the upper rotating body 2 of the work site 102 is included in the detection range, and the counterweight 13 of the upper rotating body 2 and the observation target around it are included in the detection range.

In this modification 3, the specific portion includes the counterweight 13 of the upper rotating body 2, and the specific region Rs includes a counterweight region corresponding to the image 220 of the counterweight 13, as shown in FIG. 9. The counterweight region includes an opposing region Rd that faces the wall 92 from the front to the rear, a left region Re that is the region to the left of the opposing region Rd, and a right region Rf that is the region to the right of the opposing region Rd. In this modification 3, the work site image 200 displayed in the work site image region Rw of the display 50 includes an image 203 of the wall 92 located behind the upper rotating body 2, an image 204 of the scene around the wall 92, and an image 220 of the counterweight 13. The image 220 of the counterweight 13 is an example of an image of a specific portion in this disclosure.

In this modification 3, the controller 60 performs the same teaching control as in the above embodiment. In this teaching control, the controller 60 is configured to calculate the proximity between the counterweight 13 and the wall 92 and display the proximity within the counterweight area (opposing area Rd, left area Re, and right area Rf). Specifically, the controller 60 displays the proximity (opposing area proximity display) indicating the proximity between the part of the counterweight 13 corresponding to the opposing area Rd (opposing part) and the wall 92 within the opposing area Rd, displays the proximity (left area proximity display) indicating the proximity between the part of the counterweight 13 corresponding to the left area Re (left part) and the wall 92 within the left area Re, and displays the proximity (right area proximity display) indicating the proximity between the part of the counterweight 13 corresponding to the right area Rf (right part) and the wall 92 within the right area Rf.

The opposing portion of the counterweight 13 is an example of a first portion, and the left and right portions are each an example of a second portion.

In this third modification, the controller 60 may be configured to display an opposing area proximity display within the opposing area Rd, a left area proximity display within the left area Re, and a right area proximity display within the right area Rf in a display manner that allows the operator to grasp which of the opposing area, left area, and right area is closer to the wall 92. In this case, the operator can easily recognize which of the opposing area, left area, and right area is closer to the wall 92 (observation target) based on the opposing area proximity display, left area proximity display, and right area proximity display.

Examples of display formats that allow the operator to grasp the nearby parts include using different shades of light and dark, or flashing the proximity display corresponding to the part closest to the wall 92, etc.

[Modification 4]
FIG. 10 is a diagram relating to a fourth modified example of the embodiment, and is a side view showing an example of the positional relationship between a specific portion of the work machine 100 and an observation target in the work site 102.

When an operator is working while gazing at the work site image area Rw on the display 50, for example, as shown by the two-dot chain line in FIG. 10, the attachment 3 may move upward (in the upright direction), causing the image of the bucket 6 on the display 50 to be no longer included within the range of the work site image area Rw. Even in such a case, in the fourth modification, the controller 60 is configured to issue an alarm when the bucket 6, which is a specific part of the work machine 100, is outside the range of the work site image area Rw and the distance between the bucket 6 and an obstacle 91 at the work site 102 is equal to or less than a preset threshold value Y. This allows the operator to recognize from the alarm that there is an increasing possibility that the bucket 6 of the work machine, which is outside the range of the work site image area Rw, will come into contact with the obstacle 91.

[Modification 5]
The controller 60 may be configured to store a limit approach as a limit of the approach, and to change the approach display to a specific display mode, which is a preset display mode, when the approach reaches the limit approach. In this modification example 5, the operator can recognize that the approach has reached the limit approach, i.e., that there is an increasing possibility that a specific part of the work machine 100 will come into contact with an observed object at the work site, from the change in the display mode of the approach display. When the approach is the distance between the specific part and the observed object, the limit approach is set to a distance that is appropriate for the work content.

The specific display mode is not particularly limited as long as it allows the operator to recognize that the proximity has reached the limit proximity, but examples of the specific display mode include the following. For example, the specific display mode may display the proximity so that some or all of the area within the specific area Rs flashes.

Here, the degree of the limit approach necessary to ensure work safety differs depending on work conditions such as the work site environment and the work content. Therefore, the input device 80 (see FIG. 2) of the work information teaching device 101 may be configured to receive an input for changing the setting of the limit approach. In this case, the operator can change the setting of the limit approach depending on the work conditions, and therefore can know whether the actual approach has reached the limit approach set depending on the work conditions.

The controller 60 may also be configured to store a plurality of limit approaches including the limit approach and a second limit approach different from the limit approach, select one of the plurality of limit approaches based on a preset selection criterion, and change the approach display to the specific display mode when the approach reaches the selected limit approach. In this case, the controller 60 selects the limit approach that meets the selection criterion from among the plurality of limit approaches, so that the operator can know whether the actual approach has reached the limit approach that meets the conditions without making an input to the input device 80 as described above.

The selection criterion may be, for example, a criterion in which a plurality of work contents that the work machine 100 can perform are associated with a plurality of approach limits. As a specific example, the plurality of work contents include excavation work, turning work, and leveling work, and the plurality of approach limits include a first approach limit, a second approach limit, and a third approach limit. In this case, the selection criterion may be a criterion in which the first approach limit is selected as the approach limit when the work content is excavation work, the second approach limit is selected as the approach limit when the work content is turning work, and the third approach limit is selected as the approach limit when the work content is leveling work.

[Modification 6]
The controller 60 may be configured to display a first proximity display indicating the proximity between the arm 5 and the observation target within the range of the arm region Rb and a second proximity display indicating the proximity between the bucket 6 and the observation target within the range of the bucket region Rc in a display mode that enables the operator to grasp which of the arm 5 (an example of a first part) and the bucket 6 (an example of a second part) is closer to the observation target. In this modification 2, the arm 5 is an example of the first part, the bucket 6 is an example of the second part, the arm region Rb is an example of the first region, and the bucket region Rc is an example of the second region. In this modification 2, the operator can easily recognize which of the arm 5 and the bucket 6 is closer to the observation target based on the first proximity display and the second proximity display.

[Modification 7]
The observation target at the work site 102 does not necessarily have to be an object such as the walls 90, 92 at the work site 102, but may be an allowable limit position such as a boundary line or boundary surface that is virtually set at the work site 102. In the seventh modification, the observation target includes an allowable limit position set as a limit within which a specific part is allowed to move at the work site 102. Specifically, for example, the bucket 6 (specific part) also moves counterclockwise or clockwise in association with the left or right rotation of the upper rotating body 2. The allowable limit position may be a position set as a limit within which the bucket 6 is allowed to move in association with such left or right rotation of the upper rotating body 2.

The controller 60 is configured to calculate the distance between the bucket 6 and the allowable limit position as the degree of approach. When the observation target is the allowable limit position as in this variant example 7, the operator can work while visually checking the proximity display, thereby rotating the upper rotating body 2 of the work machine within a range in which the bucket 6 does not exceed the allowable limit position.

[Modification 8]
The work machine 100 is configured to be operated by a remote controller 20 arranged at a remote location away from the work machine 100, and the display 50 may be arranged at the remote location. In this case, the work information teaching device 101 and the work machine 100 each include a communication device for wirelessly or wiredly communicating information therebetween. In this modification 8, the proximity display performed by the display 50 at the remote location within the range of the specific region Rs does not cover up the image around the specific part of the work machine 100 in the work site image region Rw, and therefore does not interfere with the remote operation performed by the operator at the remote location. Therefore, the operator can operate the remote controller 20 at the remote location while viewing the proximity display that does not interfere with the work by the work machine 100. That is, even in a remote location where the operator cannot directly see the work site 102, the operator can operate the work machine without being interfered with by the proximity display while grasping the distance between the specific part of the work machine 100 at the work site 102 and the observation target at the work site 102.

[Modification 9]
The controller 60 may be configured to transmit information relating to the proximity to a management device that is arranged at a position away from the work machine 100. In this case, the work information teaching device 101 and the management device each include a communication device for wirelessly or wiredly communicating information therebetween. In this 9th modification, people involved in the work other than the operator who operates the work machine 100 can recognize the status of the work from the information transmitted to the management device. The management device may be an information device that can be used by people involved in the work other than the operator, or may be an information device such as a server.

[Modification 10]
The site image area Rw may include at least a part of a transparent plate 12A (see FIG. 1) arranged on the front window of the cab 12 of the work machine 100, and the display 50 may be configured to display the proximity on the transparent plate 12A. In this modification 10, the display 50 includes a head-up display (HUD) projector. This projector displays the proximity on the transparent plate 12A by projecting information related to the proximity onto the transparent plate 12A. In this modification 10, the operator can operate the work machine 100 in the cab 12 of the work machine 100 while viewing the work site image (i.e., the real image of the work site) through the site image area Rw including at least a part of the area of the transparent plate 12A arranged on the front window, and checking the proximity display within the range of a specific area Rs that is a part of the site image area Rw. Therefore, the operator can grasp the proximity without being disturbed by the proximity display while gazing at the specific area Rs that is an area corresponding to the real image of a specific part of the work machine 100, thereby improving work efficiency.

[Other variations]

(A) In the above embodiment, the specific part includes the arm 5 and bucket 6 of the attachment 3, the specific area Rs includes the arm area Rb corresponding to the image of the arm 5 and the bucket area Rc corresponding to the image of the bucket 6, and the observation target includes a wall 90 located at the work site. However, in the work information teaching device disclosed herein, the specific part, the specific area Rs, and the observation target are not limited to the specific examples such as those in the above embodiment.

(B) The proximity display does not necessarily have to be performed over the entire range of the specific area, but may be performed over only a portion of the range of the specific area. Also, the proximity display does not have to be a gradation as described above. For example, the proximity display may be performed using characters, figures, etc. within the range of the specific area.

(C) In the above embodiment, the work machine 100 is equipped with a work information teaching device 101, but the work information teaching device in this disclosure does not necessarily have to be included in the work machine and may be provided separately from the work machine.

(D) In the above embodiment, the position information detector is configured by a three-dimensional information detector 40, but the position information detector according to the present disclosure may be any detector capable of detecting the position information of an observation target, and is not limited to a three-dimensional information detector 40.

(E) In the work information teaching device disclosed herein, the input device 80 can be omitted.

(F) The work information teaching device disclosed herein does not completely exclude the superimposition of some information (specific information) on an image surrounding a specific portion of the work site image. In other words, the work information teaching device disclosed herein displays the proximity within a specific area (an area corresponding to an image of a specific portion of the work machine) of the work site image, so that even when some specific information is superimposed on an image surrounding a specific area of the work site image, the display area of the specific information can be minimized.

1: Lower travelling body 2: Upper rotating body 3: Attachment 4: Boom 5: Arm 6: Bucket 13: Counterweight 30: Attitude detector 31: Boom attitude sensor 32: Arm attitude sensor 33: Bucket attitude sensor 34: Rotating body attitude sensor 40: Three-dimensional information detector (an example of a position information detector)
50: Display unit 60: Controller 80: Input unit 90: Front wall (an example of an observation target)
92: Rear wall (example of observed object)
100: Work machine 101: Work information teaching device 102: Work site 200: Work site image (an example of a work site image)
201: Image of a wall (an example of an image included in a work site image)
202: Image of the scene around the wall (an example of an image included in the work site image)
Ra: Boom area Rb: Arm area Rc: Bucket area Rs: Specific area Rw: Site image area X: Minimum approach

Claims (16)

A work information teaching device for teaching an operator information regarding a work performed by a work machine including a machine body and an attachment supported on the machine body,
a controller that calculates a proximity between a specific part included in the work machine and an observation target at a work site;
a display that displays the degree of proximity in a scene image area where the operator can view a scene image that is an image of the scene,
The controller is configured to display the proximity within a specific area that is a part of the site image area and corresponds to the image of the specific portion. a position information detector for detecting position information of the observation target;
a posture detector that detects posture information related to the posture of the work machine,
The task information teaching device according to claim 1 , wherein the controller calculates the degree of approach using the position information and the attitude information. a posture detector for detecting posture information relating to a posture of the work machine,
2 . The task information teaching device according to claim 1 , wherein the controller prestores shape data relating to a shape of the specific portion, and specifies the specific area using the shape data and the attitude information. The work information teaching device according to claim 1, wherein the controller changes the proximity display to a preset display mode when the proximity reaches a limit proximity set as a limit of the proximity. The work information teaching device according to claim 4, further comprising an input device for receiving an input for changing the setting of the limit approach degree. The work information teaching device according to claim 4, wherein the controller stores a plurality of limit approaches including the limit approach and a second limit approach different from the limit approach, selects one of the plurality of limit approaches based on a preset selection criterion, and changes the approach display to the display mode when the approach reaches the selected limit approach. The work information teaching device according to claim 1, wherein the controller calculates the distance between the observation target and a representative point, which is a point preset in the specific portion, as the proximity. The attachment has a first portion and a second portion;
The specific portion includes the first portion and the second portion,
The task information teaching device according to claim 1 , wherein the specific area includes a first area corresponding to the image of the first portion and a second area corresponding to the image of the second portion. The work information teaching device according to claim 8, wherein the controller is configured to display a first proximity indication indicating the proximity between the first part and the observation target within the range of the first region, and to display a second proximity indication indicating the proximity between the second part and the observation target within the range of the second region, in a display manner that allows the operator to grasp which of the first part and the second part is closer to the observation target. The work information teaching device according to claim 8, wherein the controller, when a preset condition is satisfied, causes the proximity display to be performed within the range of the first area, and causes the proximity display to be avoided within the range of the second area so that the operator can visually recognize the image of the second part in the second area. The work information teaching device according to claim 1, wherein the controller is configured to issue an alarm when the specific part of the work machine is outside the range of the scene image area and the distance between the specific part and an obstacle in the work scene is equal to or less than a preset threshold. the observation target includes an allowable limit position set as a limit within which the specific part is allowed to move in the work site;
The work information teaching device according to claim 1 , wherein the controller calculates a distance between the specific portion and the allowable limit position as the degree of proximity. The work machine is configured to be operated by a remote controller disposed at a remote location away from the work machine;
The work information teaching device according to claim 1 , wherein the display is disposed at the remote location. The work information teaching device according to claim 1, wherein the controller is configured to transmit information relating to the proximity to a management device located at a position remote from the work machine. the scene image area includes at least a portion of a transparent plate disposed on a front window of a cab of the work machine;
The task information teaching device according to claim 1 , wherein the display is configured to display the proximity on the transparent plate. A work information teaching device according to any one of claims 1 to 15,
The airframe;
A work machine comprising the attachment.