EP4610441A1

EP4610441A1 - Work information indication device and work machine comprising same

Info

Publication number: EP4610441A1
Application number: EP23911269.1A
Authority: EP
Inventors: Hideo Yoshihara; Kenichi Terauchi
Original assignee: Kobelco Construction Machinery Co Ltd
Current assignee: Kobelco Construction Machinery Co Ltd
Priority date: 2022-12-28
Filing date: 2023-08-30
Publication date: 2025-09-03
Also published as: WO2024142485A1; EP4610441A4; JP2024094505A; CN120457256A

Abstract

A work information indication device (101) includes a controller (60) that calculates a degree of proximity between a specific portion (4,5, 6, 13) included in a work machine (100) and a measurement target (90) at a work site, and a display device (50) that performs proximity display for indicating the degree of proximity in a site image region (Rw) in which an operator is allowed to see a work site image (200) that is an image of the work site, in which the controller (60) causes the proximity display to be performed within a range of a specific region (Rs) that is a partial region of the site image region (Rw) and corresponds to an image of the specific portion (4,5, 6, 13).

Description

Technical Field

The present disclosure relates to a work information indication device for indicating information related to work performed by a work machine to an operator.

Background Art

In the work machine in Patent Literature 1, a controller calculates a degree of proximity between a boundary of a moveable region of a work device and the work device, and changes a display mode of a three-dimensional shape of the boundary displayed on a display device in accordance with the degree of proximity.
Patent Literature 2 discloses a display system of a construction machine including work machine and a body to which the work machine is attached and has an operating room. This display system displays a projection image of work support information to a vicinity of the work machine.
In the work machine in Patent Literature 1, since the three-dimensional shape indicating the boundary of the operable region is displayed on the display device so as to overlap the image of a periphery of the work device (attachment), a part of a work site image of the periphery of the attachment is covered with the three-dimensional shape. Similarly, in the display system in Patent Literature 2, since the projection image of the work support information is displayed to the vicinity of the work machine (attachment), a part of the work site image around the attachment is covered with the work support information. The operator cannot see a part of the work site image covered as described above. Therefore, covering a part of the work site image hinders work performed by the work machine.

Citation List

Patent Literature

Patent Literature 1: JP 2021-155949 A
Patent Literature 2: JP 2017-186901 A

Summary of Invention

An object of the present disclosure is to provide a work information indication device that can indicate information related to work performed by a work machine to an operator without disturbing the work, and to provide the work machine including the work information indication device.
Provided is a work information indication device for indicating, to an operator, information related to work performed by a work machine including a machine body and an attachment supported by the machine body, the work information indication device including a controller that calculates a degree of proximity between a specific portion included in the work machine and a measurement target at a work site, and a display device that performs proximity display for indicating the degree of proximity in a site image region in which the operator is allowed to see a work site image that is an image of the work site, in which the controller causes the proximity display to be performed within a range of a specific region that is a partial region of the site image region and corresponds to an image of the specific portion.

Brief Description of Drawings

FIG. 1 is a side view showing a work machine including a work information indication device according to an embodiment of the present disclosure.
FIG. 2 is a block diagram of a system including the work information indication device.
FIG. 3 is a side view showing an example of a positional relationship between a specific portion of the work machine and a measurement target of a work site.
FIG. 4 is a diagram showing an example of work information indicated by the work information indication device.
FIG. 5 is a flowchart showing a calculation processing operation by a controller of the work information indication device.
FIG. 6 is a diagram showing an example of work information indicated by a work information indication device according to Modification 1 of the embodiment.
FIG. 7 is a diagram for describing arrangement of a position information detector of a work information indication device according to Modification 2 of the embodiment.
FIG. 8 is a side view showing another example of the positional relationship between the specific portion of the work machine and the measurement target of the work site.
FIG. 9 is a diagram showing an example of work information indicated by a work information indication device according to Modification 3 of the embodiment.
FIG. 10 is a diagram related to Modification 4 of the embodiment and a side view showing an example of a positional relationship between a specific portion of the work machine and a measurement target of a work site.

Description of Embodiments

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 the present embodiment. The work machine 100 according to the present embodiment is a hydraulic excavator. FIG. 2 is a block diagram of a system including a work information indication device 101 according to the present embodiment. The work information indication device 101 according to the present embodiment performs control for indicating information related to a work performed by the work machine 100 to an operator.
As shown in FIGS. 1 and 2, the work machine 100 includes a lower travelling body 1, an upper slewing body 2, an attachment 3, a plurality of hydraulic actuators, and a plurality of operation devices 20.
The lower travelling body 1 has a pair of left and right crawler travelling devices. The upper slewing body 2 is supported by the lower travelling body 1 so as to be slewable about a Z-axis in a vertical direction. The upper slewing body 2 includes a cab 12 having a driver's seat on which an operator sits, and a counterweight 13 disposed behind the cab 12. The lower travelling body 1 and the upper slewing body 2 are examples of a machine body.
The attachment 3 is supported by the upper slewing body 2. The attachment 3 includes a boom 4 supported by the upper slewing body 2 in a derrickable manner, an arm 5 rotatably supported by a distal end of the boom 4, and a bucket 6 rotatably supported by a distal end of the arm 5.
Each of the plurality of hydraulic actuators operates by receiving supply of hydraulic oil from a hydraulic pump (not shown). The plurality of hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a slewing motor 11.
The boom cylinder 7 is a hydraulic cylinder that receives supply of hydraulic oil from the hydraulic pump and operates to cause the boom 4 to perform derricking movement with respect to the upper slewing body 2. A proximal end of the boom cylinder 7 is rotatably attached to the upper slewing body 2, and a distal end of the boom cylinder 7 is rotatably attached to the boom 4.
The arm cylinder 8 is a hydraulic cylinder that receives supply of hydraulic oil from the hydraulic pump and operates to rotate the arm 5 with respect to the boom 4. A proximal end of the arm cylinder 8 is rotatably attached to the boom 4, and a distal end of the arm cylinder 8 is rotatably attached to the arm 5.
The bucket cylinder 9 is a hydraulic cylinder that receives supply of hydraulic oil from the hydraulic pump and operates to rotate the bucket 6 with respect to the arm 5. A proximal end of the bucket cylinder 9 is rotatably attached to the arm 5, and a distal end of the bucket cylinder 9 is rotatably attached to the bucket 6.
The slewing motor 11 is a hydraulic motor that receives supply of hydraulic oil from the hydraulic pump and operates to slew the upper slewing body 2 with respect to the lower travelling body 1.
The plurality of operation devices 20 include a boom operation device 20, an arm operation device 20, a bucket operation device 20, and a slewing operation device 20. FIG. 2 shows only one of these operation devices 20, and does not show the other operation devices 20. Each of the plurality of operation devices 20 includes an operation lever 21 that receives an operation by the operator and an output device 22. When an operation is applied to the operation lever 21, hydraulic oil having a flow rate corresponding to an operation direction and an operation amount of the operation is supplied to the hydraulic actuator via a flow rate adjustment valve 70. As a result, the hydraulic actuator performs a movement according to the operation of the operation lever 21.
Specifically, the operation lever 21 of the boom operation device 20 receives a boom operation (a boom-raising operation or a boom-lowering operation). The boom raising operation is an operation by the operator to move the boom 4 in a boom raising direction, and the boom lowering operation is an operation by the operator to move the boom 4 in a boom lowering direction. When the boom operation is applied to the operation lever 21 of the boom operation device 20, hydraulic oil at a flow rate according to the boom operation is supplied to the boom cylinder 7 via the flow rate adjustment valve 70 corresponding to the boom operation device 20, and the boom 4 performs a movement according to the boom operation.
The operation lever 21 of the arm operation device 20 receives an arm operation (arm pulling operation or arm pushing operation). The arm pulling operation is an operation by the operator to move the arm 5 in an arm pulling direction, and the arm pushing operation is an operation by the operator to move the arm 5 in an arm pushing direction. When the arm operation is applied to the operation lever 21 of the arm operation device 20, hydraulic oil having a flow rate according to the arm operation is supplied to the arm cylinder 8 via the flow rate adjustment valve 70 corresponding to the arm operation device 20, and the arm 5 performs a movement according to the arm operation.
The operation lever 21 of the bucket operation device 20 receives a bucket operation (bucket excavation operation or bucket discharge operation). The bucket excavation operation is an operation by the operator to move the bucket 6 in a bucket excavation direction, and the bucket discharge operation is an operation by the operator to move the bucket 6 in a bucket discharge direction. When the bucket operation is applied to the operation lever 21 of the bucket operation device 20, hydraulic oil having a flow rate according to the bucket operation is supplied to the bucket cylinder 9 via the flow rate adjustment valve 70 corresponding to the bucket operation device 20, and the bucket 6 performs a movement according to the bucket operation.
The operation lever 21 of the slewing operation device 20 receives a slewing operation (a rightward slewing operation or a leftward slewing operation). The rightward slewing operation is an operation by the operator for slewing the upper slewing body 2 rightward, and the leftward slewing operation is an operation by the operator for slewing the upper slewing body 2 leftward. When the slewing operation is applied to the operation lever 21 of the slewing operation device 20, hydraulic oil having a flow rate according to the slewing operation is supplied to the slewing motor 11 via the flow rate adjustment valve 70 corresponding to the slewing operation device 20, and the upper slewing body 2 performs a slewing movement according to the slewing operation.
The block diagram in FIG. 2 shows a configuration in a case where the operation device 20 is a so-called electric lever type operation device. In this case, the output device 22 outputs an operation signal according to the operation direction and the operation amount of the operation applied to the operation lever 21 to a controller 60 to be described later, an actuator control command unit 67 of the controller 60 inputs a control command according to the operation signal to the flow rate adjustment valve 70, and the flow rate adjustment valve 70 operates so that hydraulic oil having a flow rate according to the control command is supplied to the hydraulic actuator. When the operation device 20 is an electric lever type, the flow rate adjustment valve 70 includes an electromagnetic proportional valve that receives an input of the control command and outputs a secondary pressure (pilot pressure) according to the control command, and a control valve having a pilot port that receives supply of the pilot pressure. The control valve opens and closes in accordance with the pilot pressure to adjust the flow rate of the hydraulic oil to the hydraulic actuator.
However, the operation device 20 is not limited to the electric lever type. The operation device 20 may include the operation lever 21 and a remote control valve as the output device 22. In this case, the remote control valve (output device 22) supplies the secondary pressure (pilot pressure) according to the operation direction and the operation amount of the operation applied to the operation lever 21 to the pilot port of the control valve as the flow rate adjustment valve. The control valve opens and closes in accordance with the pilot pressure to adjust the flow rate of the hydraulic oil to the hydraulic actuator.
In the present embodiment, the work machine 100 includes the work information indication device 101. The work information indication device 101 indicates work information related to a work performed by the work machine 100 to the operator. The work information indication device 101 includes an orientation detector 30, a three-dimensional information detector 40, a display device 50, an input device 80, and a controller 60.
The orientation detector 30 detects orientation information related to an orientation of the work machine 100 and inputs a detection result to the controller 60.
Specifically, in the present embodiment, the orientation detector 30 includes a boom orientation sensor 31 that detects an orientation of the boom 4, an arm orientation sensor 32 that detects an orientation of the arm 5, and a bucket orientation sensor 33 that detects an orientation of the bucket 6 (see FIG. 1). Each of the boom orientation sensor 31, the arm orientation sensor 32, and the bucket orientation sensor 33 inputs a detection result to the controller 60.
The boom orientation sensor 31 may be, for example, a boom angle sensor that detects an angle of the boom 4 with respect to a reference such as a horizontal plane or a horizontal line or an angle of the boom 4 with respect to the upper slewing body 2, a stroke sensor that detects movement of the boom cylinder 7, or another sensor. The arm orientation sensor 32 may be, for example, an arm angle sensor that detects an angle of the arm 5 with respect to a reference such as the horizontal plane or the horizontal line or an angle of the arm 5 with respect to the boom 4, a stroke sensor that detects movement of the arm cylinder 8, or another sensor. The bucket orientation sensor 33 may be, for example, a bucket angle sensor that detects an angle of the bucket 6 with respect to a reference such as the horizontal plane or the horizontal line or an angle of the bucket 6 with respect to the arm 5, a stroke sensor that detects movement of the bucket cylinder 9, or another sensor.
Examples of the angle sensors include a resolver, a rotary encoder, a potentiometer, and an inertial measurement unit (IMU). The stroke sensor may detect a cylinder length of a hydraulic cylinder or detect a position of a piston rod with respect to a cylinder tube.
The orientation detector 30 may further include a slewing body orientation sensor 34 (see FIG. 1). The slewing body orientation sensor 34 is a sensor for detecting an orientation of the upper slewing body 2. The slewing body orientation sensor 34 may be, for example, a sensor that detects an inclination (orientation) of the upper slewing body 2 with respect to the horizontal plane. The slewing body orientation sensor 34 may be, for example, a slewing angle sensor that detects an angle (slewing angle) of the upper slewing body 2 with respect to the lower travelling body 1, a gyro sensor that detects an angular velocity (slewing angular velocity) of the upper slewing body 2 with respect to the lower travelling body 1, or another sensor. Note that the orientation detector 30 may not include the slewing body orientation sensor 34.
The three-dimensional information detector 40 detects three-dimensional information related to a measurement target at a work site. The three-dimensional information detector 40 is an example of a position information detector that detects position information of the measurement target. The three-dimensional information detector 40 inputs a detection result to the controller 60. In the present embodiment, the three-dimensional information detector 40 is disposed at a position where the measurement target and the attachment 3 (particularly, the bucket 6) are included in a detection range (visual field range). Specifically, for example, as shown in FIG. 1, the three-dimensional information detector 40 is attached to the upper slewing body 2 such that a region in front of the upper slewing body 2 in the work site is included in the detection range.
FIG. 3 is a side view showing an example of a positional relationship between a specific portion of the work machine 100 and the measurement target of a work site 102. The three-dimensional information detector 40 may be, for example, a three-dimensional camera capable of detecting vertical and horizontal two-dimensional information of the measurement target and depth information of the measurement target. The three-dimensional camera may be a stereoscopic three-dimensional camera (stereo camera), a time of flight (TOF) three-dimensional camera, or a three-dimensional camera in which a projector and a camera are combined. The TOF three-dimensional camera may be, for example, light detection and ranging (LiDAR). However, the three-dimensional information detector 40 is not limited to the above specific example as long as capable of detecting the three-dimensional information related to the measurement target at the work site.
The measurement target is an object whose three-dimensional information can be detected by the three-dimensional information detector 40 among a plurality of objects existing at the work site 102. In other words, the measurement target is an object included in the detection range of the three-dimensional information detector 40. Therefore, the measurement target is determined in accordance with various conditions such as a position to which the three-dimensional information detector 40 is attached, a direction of the three-dimensional information detector 40, a characteristic of the three-dimensional information detector 40, various settings in the three-dimensional information detector 40, and the orientation of the work machine 100. For example, in a case where the three-dimensional information detector 40 is a TOF type three-dimensional camera, the various conditions may include a light projection direction (projection range). For example, in the specific example shown in FIG. 3, the measurement target includes a wall 90 that exists at the work site 102.
The specific portion of the work machine 100 is a target portion of the work information. The controller 60 may be configured to set the specific portion in accordance with an input by the operator for setting the specific portion and store the specific portion. In addition, the specific portion may be stored in the controller 60 in advance. The controller 60 stores shape data that is data related to a shape of the specific portion. The shape data may be three-dimensional data corresponding to a shape of a surface of the specific portion, that is, three-dimensional data representing an outer shape of the specific portion (contour of the specific portion). Alternatively, the shape data may be data related to a dimension of the specific portion.
The specific portion may include a part or all of the attachment, and in this case, the specific portion may include at least one of the boom 4, the arm 5, or the bucket 6. The specific portion may include a part or all of the upper slewing body 2. In this case, the specific portion may include a rear portion of the upper slewing body 2 or a side portion of the upper slewing body 2. The rear portion of the upper slewing body 2 may be the counterweight 13. The specific portion may include a part or all of the lower travelling body 1, and in this case, the specific portion may include the crawler travelling device of the lower travelling body 1.
In the present embodiment, the boom 4, the arm 5, and the bucket 6 are stored in advance in the controller 60 as specific portions, and the controller 60 stores in advance shape data related to a shape of the boom 4, shape data related to a shape of the arm 5, and shape data related to a shape of the bucket 6.
The display device 50 performs proximity display for indicating a degree of proximity in a site image region Rw on the basis of a command from the controller 60. The site image region Rw is a region in which the operator can see a work site image which is a picture of the work site 102. The degree of proximity is a degree of proximity between the specific portion of the work machine 100 and the measurement target at the work site. The degree of proximity may be, for example, a distance between the specific portion and the measurement target. In the specific examples in FIGS. 3 and 4, the degrees of proximity are distances from the boom 4, the arm 5, and the bucket 6, to the wall 90.
A specific configuration of the display device 50 is not limited as long as the display can perform the proximity display in the site image region Rw. The site image region Rw is determined in accordance with a type of the display device 50. Specific configurations of the display device 50 and the site image region Rw are as follows.
FIG. 4 is a diagram showing an example of a screen of the display device 50 disposed in the cab 12. The display device 50 shown in FIG. 4 is a display (monitor) such as a liquid crystal display or an organic EL display disposed at a position in which the operator can view in the cab 12. In this case, the site image region Rw is a region (picture display region) in which a picture is displayed on the screen of the display. The site image region Rw is a region in a substantially rectangular outer frame shown in FIG. 4. The work site picture 200 in the site image region Rw (picture display region Rw) of the display device 50 may be displayed by using a detection result input from the three-dimensional information detector 40 to the controller 60 or the display device 50, or may be displayed by using picture data input from a camera (imaging device) different from the three-dimensional information detector 40 to the controller 60 or the display device 50. A specific example is as follows. In a case where the three-dimensional information detector 40 is, for example, a stereo camera, the work site picture 200 in the site image region Rw of the display device 50 is displayed by using image data input from the stereo camera to the controller 60 or the display device 50. In a case where the three-dimensional information detector 40 is, for example, a detector (for example, a TOF sensor) having a distance measuring function but not having a function of acquiring picture data, the work site picture 200 in the site image region Rw of the display device 50 is displayed by using picture data input from a camera (not shown) different from the three-dimensional information detector 40 to the controller 60 or the display device 50. In the specific example shown in FIG. 4, the work site picture 200 displayed in the site image region Rw includes a picture 201 of the wall 90 located in front of the upper slewing body 2, a picture 202 of a scene around the wall 90, and a picture 210 of the specific portion. The picture 210 of the specific portion is an example of an image of the specific portion in the present disclosure. In the specific example in FIG. 4, the picture 210 of the specific portion includes a picture 211 of the boom 4, a picture 212 of the arm 5, and a picture 213 of the bucket 6. The work site picture 200 is not an actual image (real image) of the measurement target of the work site but a picture displayed on the screen of the display (display device 50). The work site picture 200 is an example of the work site image.
The display device 50 may include a projector of a head-up display (HUD) for performing the proximity display on a windshield glass (an example of a transparent plate) disposed in a windshield in the cab 12. The projector of the HUD performs the proximity display on the windshield glass such that information related to the degree of proximity is superimposed on the work site image (real image) seen through the windshield glass. In this case, the site image region Rw includes at least a partial region of the windshield glass.
The display device 50 may be a head mounted display (HMD) mounted on the head of the operator. In this case, the site image region Rw includes a picture display region which is a region where a picture is displayed in the HMD.
The controller 60 includes a processor such as a CPU or an MPU, and a memory. The controller 60 performs indication control which is control for indicating information related to the work performed by the work machine 100 to the operator.
The controller 60 is configured to calculate degrees of proximity of the boom 4, the arm 5, and the bucket 6 to the wall 90, and causes the proximity display to be performed within a range of a boom region Ra, an arm region Rb, and a bucket region Rc. Specifically, the controller 60 is configured to cause the boom proximity display indicating a degree of proximity of the boom 4 to the wall 90 to be performed within a range of the boom region Ra, cause the arm proximity display indicating a degree of proximity of the arm 5 to the wall 90 to be performed within a range of the arm region Rb, and cause the bucket proximity display indicating a degree of proximity of the bucket 6 to the wall 90 to be performed within a range of the bucket region Rc.
As shown in FIG. 2, the controller 60 includes a coordinate calculator 61, a point cloud data creator 62, a proximity calculator 63, a display mode determination unit 64, and a superimposed display unit 65. Each of the coordinate calculator 61, the point cloud data creator 62, the proximity calculator 63, the display mode determination unit 64, and the superimposed display unit 65 is implemented by executing a control program stored in the memory of the controller 60.
The coordinate calculator 61 calculates coordinates of the specific portion by using orientation information detected by the orientation detector 30. The point cloud data creator 62 creates point cloud data of the measurement target at the work site by using the three-dimensional information (an example of the position information) detected by the three-dimensional information detector 40. The proximity calculator 63 calculates the degree of proximity of the specific portion and the measurement target by using the coordinates of the specific portion and the point cloud data. The display mode determination unit 64 determines a display mode of the proximity display for indicating the degree of proximity. The superimposed display unit 65 controls the display device 50 to perform the proximity display in the display mode determined by the display mode determination unit 53 within the range of a specific region Rs which is a part of the site image region Rw.
The specific region Rs is a region corresponding to the picture 210 of the specific portion as shown in FIG. 4. As described above, in the specific example shown in FIGS. 3 and 4, the specific portion includes the boom 4, the arm 5, and the bucket 6. Therefore, as shown in FIG. 4, the specific region Rs includes the boom region Ra corresponding to the picture 211 of the boom 4, the arm region Rb corresponding to the picture 212 of the arm 5, and the bucket region Rc corresponding to the picture 213 of the bucket 6. Specifically, the specific region Rs is a region inside a contour (outer shape) of the picture 210 of the specific portion. The boom region Ra is a region inside a contour (outer shape) of the picture 211 of the boom 4, the arm region Rb is a region inside a contour (outer shape) of the picture 212 of the arm 5, and the bucket region Rc is a region inside a contour (outer shape) of the picture 213 of the bucket 6. The arm 5 is an example of a first portion, and the bucket 6 is an example of a second portion. The arm region Rb is an example of a first region, and the bucket region Rc is an example of a second region.
FIG. 5 is a flowchart showing a calculation processing operation by the controller 60 of the work information indication device 101. The indication control performed by the controller 60 will be described below with reference to the flowchart in FIG. 5.
First, the controller 60 determines whether to start the indication control (step S1). Specifically, for example, the controller 60 starts the indication control when an indication control start condition, which is a predetermined condition for determining whether to start the indication control, is satisfied. The indication control start condition may be, for example, that the input device 80 (see FIG. 2) receives an input by the operator for instructing a start of the indication control. The input device 80 may be disposed in the cab 12, for example. Note that the indication control start condition is not limited to the above specific example.
When the indication control start condition is satisfied (YES in step S1), the controller 60 acquires the orientation information related to the orientation of the work machine 100 from the orientation detector 30 (step S2). Specifically, for example, the controller 60 acquires detection results by the boom orientation sensor 31, the arm orientation sensor 32, and the bucket orientation sensor 33. In this case, the orientation information includes boom orientation information related to the orientation of the boom 4 (for example, the angle of the boom 4), arm orientation information related to the orientation of the arm 5 (for example, the angle of the arm 5), and bucket orientation information related to the orientation of the bucket 6 (for example, the angle of the bucket 6).
The coordinate calculator 61 of the controller 60 calculates three-dimensional coordinates of a representative point P1 (see FIG. 3) set in advance in the bucket 6 by using the orientation information (step S3). In the present embodiment, the representative point P1 is set at a distal end of the bucket 6, but may be set at another part of the bucket 6, or may be set at a specific part in a member (for example, the arm 5) other than the bucket 6. The three-dimensional coordinates of the representative point P1 may be coordinates in a global coordinate system or coordinates in a local coordinate system. The local coordinate system may be, for example, a coordinate system (work machine coordinate system) that can specify a relative position of the representative point P1 with respect to the upper slewing body 2.
The point cloud data creator 62 of the controller 60 creates the point cloud data of the measurement target at the work site by using the three-dimensional information input from the three-dimensional information detector 40 (step S4). The point cloud data may be data (for example, three-dimensional coordinate data) corresponding to the position and shape of the surface of the measurement target. This three-dimensional coordinate data may be coordinates in the global coordinate system or coordinates in the local coordinate system. When the coordinate system of the three-dimensional coordinates of the representative point P1 is different from the coordinate system of the point cloud data (three-dimensional coordinate data), the controller 60 may convert one coordinate system into the other coordinate system.
The proximity calculator 63 of the controller 60 calculates a shortest degree of proximity X from the representative point P1 to the measurement target (the wall 90 in FIG. 3) by using the three-dimensional coordinates of the representative point P1 and the point cloud data (step S5). The shortest degree of proximity X may be the shortest distance from the representative point P1 to the measurement target.
The display mode determination unit 64 of the controller 60 determines the display mode of a part corresponding to the representative point P1 in the proximity display to be described later in accordance with the shortest degree of proximity X (step S6). This display mode may be, for example, a set color which is set for colors such as a degree of brightness and darkness and a 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 an actual orientation of the attachment 3 at that time on the basis of the orientation information and the shape data, and determines a set color of the part corresponding to the representative point P1 in the three-dimensional model, that is, a part corresponding to the distal end 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. For example, as shown in FIG. 4, the set color of the entire three-dimensional model of the attachment 3 may be determined such that gradation such as a stepwise change in brightness and darkness or a stepwise change in color tone is formed according to the distance to the measurement target in the three-dimensional model. The gradation in the three-dimensional model indicates the degree of proximity between each part of the attachment 3 and the measurement target.
The superimposed display unit 65 of the controller 60 controls the display device 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 superimposed display unit 65 of the controller 60 displays the three-dimensional model of the attachment 3 in a superimposed manner on the work site picture 200 on the screen of the display device 50 in the determined display mode. Specifically, the superimposed display unit 65 of the controller 60 controls the display device 50 so that the proximity display (display of the three-dimensional model) for indicating the degree of proximity is performed in the specific region Rs in the site image region Rw of the display device 50. Consequently, the proximity display is performed in the specific region Rs which is a part of the site image region Rw.
Note that the controller 60 may specify in which range the specific region Rs is located in the site image region Rw as follows, for example. The controller 60 may specify a range occupied by the specific region Rs in the site image region Rw (picture display region Rw) of the display device 50 by using the shape data of the boom 4, the arm 5, and the bucket 6 stored in advance and the orientation information detected by the orientation detector 30. Specifically, the controller 60 may specify the range occupied by the specific region Rs in the site image region Rw by using the shape data, the orientation information, and the three-dimensional information related to the measurement target detected by the three-dimensional information detector 40. The controller 60 can calculate the three-dimensional coordinates of the measurement target at that time on the basis of the three-dimensional information, and can calculate the three-dimensional coordinates of the contour of the specific portion (the surface of the specific portion) at that time by using the shape data and the orientation information. Therefore, the controller 60 can specify the range occupied by the specific region Rs in the site image region Rw by using the three-dimensional coordinates of the measurement target and the three-dimensional coordinates of the contour of the specific portion (the surface of the specific portion).
As described above, in the work information indication device 101 according to the present embodiment, the proximity display is performed within the range of the specific region Rs (a region corresponding to the picture of the boom 4, the arm 5, and the bucket 6 which are specific portions of the work machine 100) in the work site picture 200. It is therefore possible to indicate, to the operator, the degrees of proximity of the boom 4, the arm 5, and the bucket 6 to the wall 90 included in the measurement target at the work site while avoiding covering the picture of the vicinity of the specific portion of the work site picture 200. Therefore, the work information indication device 101 can indicate information related to work performed by the work machine 100 to the operator without disturbing the work.
The work information indication device 101 according to the present embodiment includes the three-dimensional information detector 40 that detects three-dimensional information related to the measurement target and the orientation detector 30 that detects the orientation information related to the orientation of the work machine 100, and the controller 60 calculates the degree of proximity by using the three-dimensional information and the orientation information. The controller 60 can know the position of the measurement target on the basis of the three-dimensional information including the vertical and horizontal two-dimensional information and the depth information of the measurement target and the position of the specific portion of the work machine 100 on the basis of the orientation information. It is therefore possible to indicate the degree of proximity according to the orientation of the work machine 100 to the operator even when the orientation of the work machine 100 changes during work at the work site.
In the work information indication device 101 according to the present embodiment, the controller 60 stores the shape data related to the shapes of the boom 4, the arm 5, and the bucket 6, which are specific portions, in advance, and specifies the specific region Rs by using the shape data and the orientation information. That is, the controller 60 can know a region where the contours of the pictures of the boom 4, the arm 5, and the bucket 6 are located in the site image region Rw by using the shape data of the boom 4, the arm 5, and the bucket 6 and the orientation information of the work machine 100 at that time. Therefore, even when the orientation of the work machine 100 changes during work at the work site, the specific region Rs corresponding to the orientation of the work machine 100 can be specified, and the proximity display can be performed within the range of the specific region Rs.
An automatic control device according to the embodiment of the present disclosure and the work machine including the same have been described above, but the present disclosure is not limited to the embodiment, and includes the following modifications, for example.

[Modification 1]

FIG. 6 is a diagram showing an example of work information indicated by a work information indication device 101 according to Modification 1 of the embodiment.
In Modification 1, the controller 60 may be configured to cause the proximity display to be performed within the range of the boom region Ra and the arm region Rb when a preset condition is satisfied, and to cause the proximity display to be avoided within the range of the bucket region Rc for the operator to see the picture 213 of the bucket 6 in the bucket region Rc. The boom region Ra and the arm region Rb are examples of the first region, and the bucket region Rc is an example of the second region.
Depending on a work content, the operator may want to accurately know a motion of the bucket 6 during work. In this case, if the proximity display is performed in the bucket region Rc, the workability may be rather deteriorated. Therefore, in Modification 1, when the preset condition is satisfied, the proximity display displayed within the range of the boom region Ra and the arm region Rb indicates, to the operator, the degree of proximity of the boom 4 and the arm 5 as the specific portions to the measurement target, while the proximity display is not performed in the bucket region Rc. Therefore, the operator can see the picture of the bucket 6. That is, since the proximity display is not performed in the bucket region Rc, the operator can see not only the contour of the bucket 6 but also the portion inside the contour. As a result, the operator can easily recognize the motion of the bucket 6 during work.
In Modification 1, the preset condition may be, for example, a condition that the work content is specific work set in advance. The specific work may be, for example, excavation work in which the operator needs to accurately recognize the motion of the bucket 6. The preset condition may be, for example, a condition that a specific input by the operator is performed on the input device 80.

[Modification 2]

FIG. 7 is a diagram for describing arrangement of a three-dimensional information detector 40 of a work information indication device 101 according to Modification 2 of the embodiment. FIG. 7 depicts a plurality of three-dimensional information detectors 40(40A, 40B, 40C, and 40D). In this manner, the three-dimensional information detectors 40 can be disposed at various positions in accordance with the work content of the work machine 100.
Specifically, as in FIGS. 1 and 3, the three-dimensional information detector 40A is attached to a side portion of the upper slewing body 2 or the inside of the cab 12 such that the region in front of the upper slewing body 2 in the work site 102 is included in the detection range and the attachment 3 and that the measurement target around the attachment 3 are included in the detection range.
The three-dimensional information detector 40B is attached to an upper portion of the upper slewing body 2 such that a relatively high region in the region in front of the upper slewing body 2 in the work site 102 is included in the detection range and that the attachment 3 and the measurement target around the attachment 3 are included in the detection range.
The three-dimensional information detector 40C is attached to a member 91 (for example, a member such as a ceiling of a structure or a beam of a structure) different from the work machine 100 such that a region below the member 91 is included in the detection range and that a part of the attachment 3 (for example, the bucket 6) and the measurement target around the part are included in the detection range.
The three-dimensional information detector 40D is attached to the upper slewing body 2 such that a region behind the upper slewing body 2 in the work site 102 is included in the detection range. Specifically, the three-dimensional information detector 40D may be attached to the upper slewing body 2 such that the region behind the upper slewing body 2 in the work site 102 is included in the detection range and that a rear portion (for example, the counterweight 13) of the upper slewing body 2 and the measurement target around the rear portion are included in the detection range.
The work information indication device 101 is not required to include all of the plurality of three-dimensional information detectors 40 (40A, 40B, 40C,and 40D), and may include only some of the plurality of three-dimensional information detectors 40.

[Modification 3]

FIG. 8 is a side view showing another example of the positional relationship between the specific portion of the work machine and the measurement target of the work site, and FIG. 9 is a diagram showing an example of work information indicated by a work information indication device 101 according to Modification 3 of the embodiment.
The work information indication device 101 according to Modification 3 includes the three-dimensional information detector 40D. The three-dimensional information detector 40D is attached to the upper slewing body 2 such that the region behind the upper slewing body 2 in the work site 102 is included in the detection range and that the counterweight 13 of the upper slewing body 2 and the measurement target around the counterweight 13 are included in the detection range.
In Modification 3, the specific portion includes the counterweight 13 of the upper slewing body 2, and the specific region Rs includes a counterweight region corresponding to the picture 220 of the counterweight 13 as shown in FIG. 9. The counterweight region includes an opposing region Rd which is a region opposing a wall 92 in a front-rear direction, a left region Re which is a region on a left side of the opposing region Rd, and a right region Rf which is a region on a right side of the opposing region Rd. In Modification 3, the work site picture 200 displayed in the site image region Rw of the display device 50 includes a picture 203 of the wall 92 located behind the upper slewing body 2, a picture 204 of a scene around the wall 92, and a picture 220 of the counterweight 13. The picture 220 of the counterweight 13 is an example of an image of the specific portion in the present disclosure.
In Modification 3, the controller 60 also performs indication control similar to the indication control according to the embodiment. In this indication control, the controller 60 is configured to calculate the degree of proximity between the counterweight 13 and the wall 92 and cause the proximity display to be performed within a range of the counterweight region (the opposing region Rd, the left region Re, and the right region Rf). Specifically, the controller 60 is configured to cause the proximity display (opposing region proximity display) indicating a degree of proximity between a portion (opposing portion) of the counterweight 13 corresponding to the opposing region Rd and the wall 92 to be performed within the range of the opposing region Rd, cause the proximity display (left region proximity display) for indicating a degree of proximity between a portion (left portion) of the counterweight 13 corresponding to the left region Re and the wall 92 to be performed within the range of the left region Re, and cause the proximity display (right region proximity display) for indicating a degree of proximity between a portion (right portion) of the counterweight 13 corresponding to the right region Rf and the wall 92 to be performed within the range of the right region Rf.
In the counterweight 13, the opposing portion is an example of the first portion, and each of the left portion and the right portion is an example of the second portion.
In Modification 3, the controller 60 may be configured to cause the opposing region proximity display to be performed within the range of the opposing region Rd, cause the left region proximity display to be performed within the range of the left region Re, and cause the right region proximity display to be performed within the range of the right region Rf in a display mode in which the operator can know a portion closer to the wall 92 among the opposing portion, the left portion, and the right portion. In this case, the operator can easily recognize which of the opposing portion, the left portion, or the right portion is closer to the wall 92 (measurement target) on the basis of the opposing region proximity display, the left region proximity display, and the right proximity display.
Examples of the display mode in which the operator can know the portion closer to the wall 92 include making a difference in shading, blinking the proximity display corresponding to the portion closest to the wall 92, and the like.

[Modification 4]

FIG. 10 is a diagram related to Modification 4 of the embodiment and a side view showing an example of the positional relationship between the specific portion of the work machine 100 and the measurement target of the work site 102.
When the operator performs work while gazing at the site image region Rw on the display device 50, for example, as indicated by a two-dot chain line in FIG. 10, the attachment 3 moves upward (in a standing direction), and thus, the picture of the bucket 6 may not be included in the range of the site image region Rw in the display device 50. In such a case, in Modification 4, the controller 60 is configured to issue an alarm when the bucket 6, which is a specific portion of the work machine 100, is outside the range of the site image region Rw and a distance between the bucket 6 and an obstacle 91 at the work site 102 is equal to or less than a preset threshold Y. As a result, the operator can recognize by the alarm that there is a higher possibility that the bucket 6 of the work machine outside the range of the site image region Rw comes into contact with the obstacle 91.

[Modification 5]

The controller 60 may be configured to store a limit proximity degree as a limit of the degree of proximity, and change the proximity display to a specific display mode as a preset display mode when the degree of proximity reaches the limit proximity degree. In Modification 5, the operator can recognize that the degree of proximity has reached the limit proximity degree, that is, the possibility that the specific portion of the work machine 100 comes into contact with the measurement target of the work site is increased by the change of the display mode of the proximity display. When the degree of proximity is the distance between the specific portion and the measurement target, the limit proximity degree is set to a distance having a size suitable for the work content.
The specific display mode is not limited as long as the operator can recognize that the degree of proximity has reached the limit proximity degree, and examples of the specific display mode include the following display modes. In the specific display mode, for example, the proximity display may be performed such that a part or all of the region within the range of the specific region Rs blinks.
Here, a magnitude of the limit proximity degree necessary for ensuring safety of the work varies depending on a work condition such as an environment of the work site or the work content. Therefore, the input device 80 (see FIG. 2) of the work information indication device 101 may be configured to receive an input for changing the setting of the limit proximity degree. In this case, since the operator can change the setting of the limit proximity degree in accordance with the work condition, the operator can know whether an actual degree of proximity has reached the limit proximity degree set in accordance with the work condition.
The controller 60 may be configured to store a plurality of limit proximity degrees including the limit proximity degree and a second limit proximity degree different from the limit proximity degree, select any of the plurality of limit proximity degrees on the basis of a preset selection criterion, and change the proximity display to the specific display mode when the degree of proximity reaches the selected limit proximity degree. In this case, since the controller 60 selects a limit proximity degree that meets the selection criterion from among the plurality of limit proximity degrees, the operator can know whether the actual degree of proximity has reached the limit proximity degree that meets the condition without inputting to the input device 80 as described above.
The selection criterion may be, for example, a criterion such that a plurality of work contents that can be performed by the work machine 100 and a plurality of limit proximity degrees are associated with each other. As a specific example, the plurality of work contents include excavation work, slewing work, and leveling work, and the plurality of limit proximity degrees includes a first limit proximity degree, a second limit proximity degree, and a third limit proximity degree. In this case, the selection criterion may be a criterion that the first limit proximity degree is selected as the limit proximity degree when the work content is the excavation work, the second limit proximity degree is selected as the limit proximity degree when the work content is the slewing work, and the third limit proximity degree is selected as the limit proximity degree when the work content is the leveling work.

[Modification 6]

The controller 60 may be configured to cause first proximity display indicating the degree of proximity between the arm 5 and the measurement target to be performed within the range of the arm region Rb and second proximity display indicating the degree of proximity between the bucket 6 and the measurement target to be performed within the range of the bucket region Rc in a display mode in which the operator can know a member closer to the measurement target of the arm 5 (an example of the first portion) or the bucket 6 (an example of the second portion). In Modification 6, the arm 5 is an example of the first portion, the bucket 6 is an example of the second portion, the arm region Rb is an example of the first region, and the bucket region Rc is an example of the second region. In Modification 6, the operator can easily recognize which of the arm 5 or the bucket 6 is closer to the measurement target on the basis of the first proximity display and the second proximity display.

[Modification 7]

The measurement target of the work site 102 is not required to be an object such as the walls 90 and 92 at the work site 102, and may be an allowable limit position such as a boundary line or a boundary surface virtually set at the work site 102. In Modification 7, the measurement target includes an allowable limit position set as a limit where a specific portion is allowed to move in the work site 102. Specifically, for example, the bucket 6 (specific portion) also turns leftward or turns rightward as the upper slewing body 2 slews leftward or rightward. The allowable limit position may be a position set as a limit where the bucket 6 is allowed to move along with the leftward slewing or the rightward slewing of the upper slewing body 2.
The controller 60 is configured to calculate a distance between the bucket 6 and the allowable limit position as the degree of proximity. In a case where the measurement target is the allowable limit position as in Modification 7, it is possible to slew the upper slewing body 2 of the work machine within a range in which the bucket 6 does not exceed the allowable limit position by performing the work while the operator sees the proximity display.

[Modification 8]

The work machine 100 may be configured to be operated by a remote operation device 20 disposed at a remote place away from the work machine 100, and the display device 50 may be disposed at the remote place. In this case, each of the work information indication device 101 and the work machine 100 includes a communication device for performing wireless communication or wired communication of information between the work information indication device 101 and the work machine 100. In Modification 8, the proximity display performed by the display device 50 in the range of the specific region Rs at the remote place does not cover the image of a periphery of the specific portion of the work machine 100 in the site image region Rw, and thus does not interfere with remote control performed by the operator at the remote place. Therefore, the operator can operate the remote operation device 20 at the remote place while viewing the proximity display that does not interfere with the work performed by the work machine 100. That is, even in a remote place where the operator cannot directly view the work site 102, the operator can operate the work machine without being disturbed by the proximity display while knowing the distance between the specific portion of the work machine 100 at the work site 102 and the measurement target of the work site 102.

[Modification 9]

The controller 60 may be configured to transmit the information related to the degree of proximity to a management device disposed at a position away from the work machine 100. In this case, each of the work information indication device 101 and the management device includes a communication device for performing wireless communication or wired communication of information between the work information indication device 101 and the management device. In Modification 9, a person concerned with the work other than the operator operating the work machine 100 can recognize a situation of the work from the information transmitted to the management device. The management device may be an information device that can be used by the person concerned with the work other than the operator, or may be an information device such as a server.

[Modification 10]

The site image region Rw includes at least a part of a transparent plate 12A (see FIG. 1) disposed in the windshield in the cab 12 of the work machine 100, and the display device 50 may be configured to perform the proximity display on the transparent plate 12A. In Modification 10, the display device 50 includes a projector of a head-up display (HUD). The projector performs the proximity display on the transparent plate 12A by projecting information related to the degree of proximity to the transparent plate 12A. In 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 (that is, the real image of the work site) through the site image region Rw including at least a partial region of the transparent plate 12A disposed in the windshield and checking the proximity display within the range of the specific region Rs which is a part of the site image region Rw. Therefore, the operator can know the degree of proximity without being disturbed by the proximity display while gazing at the specific region Rs which is a region corresponding to the real image of the specific portion of the work machine 100, and thus, efficiency of the work is improved.

[Other Modifications]

(A) In the embodiment, the specific portion includes the arm 5 and the bucket 6 of the attachment 3, the specific region Rs includes the arm region Rb corresponding to the image of the arm 5 and the bucket region Rc corresponding to the image of the bucket 6, and the measurement target includes the wall 90 disposed at the work site. However, in the work information indication device of the present disclosure, the specific portion, the specific region Rs, and the measurement target are not limited to the specific examples as in the embodiment.
(B) The proximity display is not required to be performed on the entire range of the specific region, and may be performed only on a part of the range of the specific region. The proximity display is not required to be the gradation as described above. For example, the proximity display may be performed by using characters, figures, or the like within the range of the specific region.
(C) In the embodiment, the work machine 100 includes the work information indication device 101, but the work information indication device of the present disclosure is not required to be included in the work machine, and may be provided separately from the work machine.
(D) In the embodiment, the position information detector is configured by the three-dimensional information detector 40, but the position information detector of the present disclosure may be any detector as long as the detector can detect the position information of the measurement target, and is not limited to the three-dimensional information detector 40.
(E) In the work information indication device of the present disclosure, the input device 80 can be omitted.
(F) The work information indication device of the present disclosure does not completely exclude displaying certain information (specific information) in a superimposed manner on a region corresponding to the image of the periphery of the specific portion in the site image region where the operator can see the work site image. That is, the work information indication device of the present disclosure performs the proximity display within the range of the specific region (region corresponding to the image of the specific portion of the work machine) of the work site image. Therefore, even when certain specific information is displayed in a superimposed manner on a region corresponding to the image of the periphery of the specific region in the site image region where the operator can see the work site image, a display region of the specific information can be minimized.

As described above, the present disclosure provides the work information indication device that can indicate information related to work performed by the work machine to the operator without disturbing the work, and provides the work machine including the work information indication device.
Provided is a work information indication device for indicating, to an operator, information related to work performed by a work machine including a machine body and an attachment supported by the machine body, the work information indication device including a controller that calculates a degree of proximity between a specific portion included in the work machine and a measurement target at a work site, and a display device that performs proximity display for indicating the degree of proximity in a site image region in which the operator is allowed to see a work site image that is an image of the work site, in which the controller causes the proximity display to be performed within a range of a specific region that is a partial region of the site image region and corresponds to an image of the specific portion.
In the work information indication device, the proximity display is performed within the range of the specific region (region corresponding to the image of the specific portion of the work machine) at the site image region where the operator can see the work site image. It is therefore possible to indicate, to the operator, the degree of proximity between the specific portion and the measurement target at the work site while avoiding covering the region corresponding to the image of the periphery of the specific portion in the site image region where the operator can see the work site image. The work information indication device can indicate information related to work performed by the work machine to the operator without disturbing the work. Specifically, important information when the operator operates the work machine while viewing the site image region is a positional relationship between the specific portion of the work machine and an image of surroundings of the specific portion. The operator can determine the position of the specific portion by the outer shape (contour) of the specific region corresponding to the image of the specific portion. Therefore, the importance of the information related to the portion inside the contour of the specific region is lower than the importance of the information related to the image of the surroundings of the specific portion. Therefore, in the work information indication device, the proximity display is performed not in the region corresponding to the image of the surroundings of the specific portion but within the range of the specific region. Accordingly, the work information indication device can indicate information related to work performed by the work machine to the operator without disturbing the work.
The work information indication device further preferably includes a position information detector that detects position information of the measurement target, and an orientation detector that detects orientation information related to an orientation of the work machine, in which the controller calculates the degree of proximity by using the position information and the orientation information. In this configuration, the controller can know the position of the measurement target on the basis of the detected position information and the position of the specific portion of the work machine on the basis of the detected orientation information. It is therefore possible to indicate the degree of proximity according to the orientation of the work machine to the operator even when the orientation of the work machine changes during work at the work site.
The work information indication device preferably further includes an orientation detector that detects orientation information related to an orientation of the work machine, in which the controller stores in advance shape data that is data related to a shape of the specific portion, and specifies the specific region by using the shape data and the orientation information. In this configuration, the controller can know the region where the contour of the image of the specific portion is located in the site image region by using the shape data of the specific portion and the orientation information of the work machine at that time. Therefore, even when the orientation of the work machine changes during work at the work site, the controller can specify the specific region according to the orientation of the work machine and perform the proximity display within the range of the specific region.
When the degree of proximity reaches a limit proximity degree set as a limit of the degree of proximity, the controller preferably changes the proximity display to a display mode set in advance. In this configuration, the operator can recognize that the degree of proximity has reached the limit proximity degree, that is, the possibility that the specific portion of the work machine comes into contact with the measurement target of the work site is increased by the change of the display mode of the proximity display.
Here, a magnitude of the limit proximity degree necessary for ensuring safety of the work varies depending on a work condition such as an environment of the work site or the work content. Therefore, the work information indication device more preferably further includes an input device that receives an input for changing setting of the limit proximity degree. In this configuration, since the operator can change the setting of the limit proximity degree in accordance with the work condition, the operator can know whether an actual degree of proximity has reached the limit proximity degree set in accordance with the work condition.
The controller may be configured to store a plurality of limit proximity degrees including the limit proximity degree and a second limit proximity degree different from the limit proximity degree, select any of the plurality of limit proximity degrees on a basis of a preset selection criterion, and change the proximity display to the display mode when the degree of proximity reaches the selected limit proximity degree. In this configuration, since the controller selects a limit proximity degree that meets the selection criterion from among the plurality of limit proximity degrees, the operator can know whether the actual degree of proximity has reached the limit proximity degree that meets the condition without inputting to the input device as described above.
The controller preferably calculates, as the degree of proximity, a distance between a representative point that is a point set in advance in the specific portion and the measurement target. In this configuration, the distance between the representative point of the specific portion and the measurement target is calculated as the degree of proximity instead of the distances between a large number of parts in the entire specific portion and the measurement target. It is therefore possible to cause the operator to recognize the distance between the representative point of the specific portion and the measurement target while reducing a calculation load of the controller.
The attachment may include a first portion and a second portion, the specific portion may include the first portion and the second portion, and the specific region may include a first region corresponding to an image of the first portion and a second region corresponding to an image of the second portion. In this case, the proximity display for indicating a degree of proximity between the first portion and the measurement target may be performed within the range of the first region, and the proximity display for indicating a degree of proximity between the second portion and the measurement target may be performed within the range of the second region.
The controller preferably causes a first proximity display indicating a degree of proximity between the first portion and the measurement target to be performed within a range of the first region and cause a second proximity display indicating a degree of proximity between the second portion and the measurement target to be performed within a range of the second region in a display mode in which the operator knows a portion closer to the measurement target of the first portion or the second portion. In this configuration, the operator can easily recognize which of the first portion or the second portion is closer to the measurement target on the basis of the first proximity display and the second proximity display.
When a preset condition is satisfied, the controller may cause the proximity display to be performed within the range of the first region and causes the proximity display to be avoided within the range of the second region for the operator to see an image of the second portion in the second region. Depending on a work content, the operator may want to accurately know a motion of the second portion during work. In this case, if the proximity display is performed in the second region, the workability may be rather deteriorated. Therefore, in this configuration, when the preset condition is satisfied, the proximity display displayed within the range of the first region indicates, to the operator, the degree of proximity of the first portion as the specific portion to the measurement target, while the proximity display is not performed in the second region. However, the operator can see the image of the second portion. As a result, the operator can easily recognize the motion of the second portion during work.
Specifically, for example, when the first portion is the arm, the second portion is the bucket, and the work is excavation work, the operator needs to accurately recognize the motion of the bucket in particular. Even in such a case, the operator can accurately recognize the motion of the bucket by the image of the bucket in the second region (bucket region) while recognizing the degree of proximity between the first portion (arm) and the measurement target by the proximity display displayed within the range of the first region (arm region).
The controller is preferably configured to issue an alarm when the specific portion of the work machine is outside a range of the site image region and a distance between the specific portion and an obstacle at the work site is equal to or less than a preset threshold. In this configuration, even when the operator performs work while gazing at the site image region, the operator can recognize, by the alarm, that there is a higher possibility that the specific portion of the work machine outside the range of the site image region comes into contact with the obstacle.
The measurement target may include an allowable limit position set as a limit where the specific portion is allowed to move at the work site, and the controller may be configured to calculate a distance between the specific portion and the allowable limit position as the degree of proximity. As in this configuration, the measurement target of the work site is not required to be an object at the work site, and may be an allowable limit position such as a boundary line or a boundary surface virtually set at the work site. In a case where the measurement target is the allowable limit position, it is possible to operate the work machine within a range in which the specific portion does not exceed the allowable limit position by performing the work while the operator sees the proximity display.
The work machine may be configured to be operated by a remote operation device disposed at a remote place away from the work machine, and the display device may be disposed at the remote place. In this configuration, the proximity display performed by the display device in the range of the specific region at the remote place does not cover the image of a periphery of the specific portion of the work machine in the site image region, and thus does not interfere with remote control performed by the operator at the remote place. Therefore, the operator can operate the remote operation device at the remote place while viewing the proximity display that does not interfere with the work performed by the work machine. That is, even in a remote place where the operator cannot directly view the work site, the operator can operate the work machine without being disturbed by the proximity display while knowing the distance between the specific portion of the work machine at the work site and the measurement target of the work site.
The controller may be configured to transmit the information related to the degree of proximity to a management device disposed at a position away from the work machine. In this configuration, a person concerned with the work other than the operator operating the work machine can recognize the situation of the work from the information transmitted to the management device.
The site image region includes at least a part of a transparent plate disposed in a windshield in a cab of the work machine, and the display device may be configured to perform the proximity display 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 (that is, the real image of the work site) through the site image region including at least a partial region of the transparent plate disposed in the windshield and checking the proximity display within the range of the specific region which is a part of the site image region. Therefore, the operator can know the degree of proximity without being disturbed by the proximity display while gazing at the specific region which is a region corresponding to the real image of the specific portion of the work machine, and thus, the efficiency of the work is improved.
The work machine to be provided includes the work information indication device described above, the machine body, and the attachment. Accordingly, this work machine can indicate information related to work performed by the work machine to the operator without disturbing the work.

Claims

work information indication device for indicating, to an operator, information related to work performed by a work machine including a machine body and an attachment supported by the machine body, the work information indication device comprising:
a controller that calculates a degree of proximity between a specific portion included in the work machine and a measurement target at a work site; and

a display device that performs proximity display for indicating the degree of proximity in a site image region in which the operator is allowed to see a work site image that is an image of the work site,

wherein the controller causes the proximity display to be performed within a range of a specific region that is a partial region of the site image region and corresponds to an image of the specific portion.
The work information indication device according to claim 1, further comprising:
a position information detector that detects position information of the measurement target; and

an orientation detector that detects orientation information related to an orientation of the work machine,

wherein the controller calculates the degree of proximity by using the position information and the orientation information.
The work information indication device according to claim 1, further comprising an orientation detector that detects orientation information related to an orientation of the work machine,
wherein the controller stores in advance shape data that is data related to a shape of the specific portion, and specifies the specific region by using the shape data and the orientation information.
The work information indication device according to any one of claims 1 to 3, wherein when the degree of proximity reaches a limit proximity degree set as a limit of the degree of proximity, the controller changes the proximity display to a display mode set in advance.
The work information indication device according to claim 4, further comprising an input device that receives an input for changing setting of the limit proximity degree.
The work information indication device according to claim 4, wherein the controller stores a plurality of limit proximity degrees including the limit proximity degree and a second limit proximity degree different from the limit proximity degree, selects any of the plurality of limit proximity degrees on a basis of a preset selection criterion, and changes the proximity display to the display mode when the degree of proximity reaches the selected limit proximity degree.
The work information indication device according to any one of claims 1 to 6, wherein the controller calculates, as the degree of proximity, a distance between a representative point that is a point set in advance in the specific portion and the measurement target.
The work information indication device according to any one of claims 1 to 7, wherein
the attachment includes a first portion and a second portion,

the specific portion includes the first portion and the second portion, and

the specific region includes a first region corresponding to an image of the first portion and a second region corresponding to an image of the second portion.
The work information indication device according to claim 8, wherein the controller causes a first proximity display indicating a degree of proximity between the first portion and the measurement target to be performed within a range of the first region and cause a second proximity display indicating a degree of proximity between the second portion and the measurement target to be performed within a range of the second region in a display mode in which the operator knows a portion closer to the measurement target of the first portion or the second portion.
The work information indication device according to claim 8, wherein when a preset condition is satisfied, the controller causes the proximity display to be performed within the range of the first region and causes the proximity display to be avoided within the range of the second region for the operator to see an image of the second portion in the second region.
The work information indication device according to any one of claims 1 to 10, wherein the controller is configured to issue an alarm when the specific portion of the work machine is outside a range of the site image region and a distance between the specific portion and an obstacle at the work site is equal to or less than a preset threshold.
The work information indication device according to any one of claims 1 to 11, wherein
the measurement target includes an allowable limit position set as a limit where the specific portion is allowed to move at the work site, and

the controller calculates a distance between the specific portion and the allowable limit position as the degree of proximity.
The work information indication device according to any one of claims 1 to 12, wherein
the work machine is configured to be operated by a remote operation device disposed at a remote place away from the work machine, and

the display device is disposed at the remote place.
The work information indication device according to any one of claims 1 to 13, wherein the controller is configured to transmit the information related to the degree of proximity to a management device disposed at a position away from the work machine.
The work information indication device according to any one of claims 1 to 14, wherein
the site image region includes at least a part of a transparent plate disposed in a windshield in a cab of the work machine, and

the display device is configured to perform the proximity display on the transparent plate.
A work machine comprising:
the work information indication device according to any one of claims 1 to 15;

the machine body; and

the attachment.