JP2019116733A - Working machine - Google Patents

Abstract

To easily make an operator grasp a risk of deviation of the reference point on a work machine including a bucket pawl from an error allowable range set on a target surface.SOLUTION: A working machine comprises a controller 40 having a reference point position calculation unit 43d calculating positional information of the reference point Ps of a work machine 1A, and a display device 53a displaying the positional relation of a target surface to the work machine on the basis of the positional information of the target face 700 and the positional information of the reference point. The controller has a determination unit 43g determining whether or not the reference point exists in a noticed range Ac set at a position separated from the target surface, on the basis of the positional information of the reference point, and a moving direction calculation unit 43h calculating the moving direction of the reference point on the basis of the positional information of the reference point. The display device displays separation of the reference point from the target surface when the determination unit determines the existence of the reference point in the noticed range and when the moving direction calculated by the moving direction calculation unit is in the direction separating from the target surface.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a working machine.

  In a work machine equipped with an articulated work machine (front work machine) represented by a hydraulic shovel, when the operator operates the operation lever, the work machine is driven, and the desired topography for the construction target Format. Machine Guidance (MG) is a technology aimed at supporting such tasks. MG is a technology that realizes operator's operation support by displaying design surface data indicating a desired shape (target surface) of a construction target surface to be finally realized and the positional relationship of the working machine.

  For example, Patent Document 1 discloses a technique for displaying on a screen of a display unit graphic information that graphically indicates the distance between the blade edge of a bucket and a target surface. As graphic information, a plurality of substantially square index bars are arranged along the vertical direction of the screen, and each index bar lights up according to the shortest distance between the tip of the bucket and the target surface. Further, an index mark is displayed on the index bar corresponding to the position where the distance between the blade edge of the bucket and the target surface corresponds to zero.

  Further, in Patent Document 2, a plurality of bars are vertically arranged in a screen of a display device in a cabin, and one of them is different from the other bars according to the distance from the tip of the bucket to the target surface A technology is disclosed that displays the distance from the tip of the bucket to the target surface by displaying in color.

JP, 2014-074319, A

WO 2016/148251 pamphlet

  By the way, the tolerance | permissible_range is normally set to the target surface, and it is calculated | required that the shift | offset | difference of an actual excavated surface and a target surface be restrained in the said tolerance | permissible_range. That is, during the digging operation, it is required to keep the tip of the bucket within a predetermined range from the target surface. However, with the techniques of the above two documents, even if the operator can recognize that the toe (edge) of the bucket is separated from the target surface, it can not easily grasp that it is likely to deviate from the predetermined range. In any document, the distance from the target surface to the tip of the bucket is displayed as a numerical value, but it is difficult to intuitively recognize that it is likely to deviate from the predetermined range.

  An object of the present invention is to provide a working machine capable of making it easy for an operator to grasp that a reference point on a working machine including a bucket toe is likely to be out of a predetermined range set based on a target surface. It is.

  Although the present application includes a plurality of means for solving the above-mentioned problems, one example is that an articulated work machine, an operation device for operating the work machine, and position information of a target surface are stored. A control unit having a storage unit and a position calculation unit that calculates position information of the reference point set in the work machine based on posture information of the work machine; position information of the target surface and the reference point In a working machine provided with a notification device for reaching the target surface and the positional relationship of the work machine based on position information, the control device sets the reference point in a notification area set at a position away from the target surface. Movement direction calculation for calculating the moving direction of the reference point based on the determination unit that determines whether or not the reference point exists based on the position information of the reference point, the position information of the reference point, and the operation information for the operation device Have a part The delivery device determines that the determination unit determines that the reference point is present in the delivery region, and the movement direction calculated by the movement direction calculation unit is a direction away from the target surface. It shall be notified that the reference point leaves the target surface.

  According to the present invention, the operator can easily grasp that the reference point on the working machine including the bucket toe is likely to be out of the predetermined range set on the basis of the target surface. Even an unskilled operator can easily perform finishing work along the target surface.

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram of the hydraulic shovel which concerns on embodiment of this invention. The figure which shows the control controller of the hydraulic shovel which concerns on embodiment of this invention with a hydraulic drive. FIG. 3 is a detailed view of a front control hydraulic unit 160 in FIG. 2; The figure which shows the coordinate system and target surface in the hydraulic shovel of FIG. The hardware block diagram of the control controller 40 of a hydraulic shovel. The functional block diagram of control controller 40 of a hydraulic shovel. FIG. 8 is a functional block diagram of an MG control unit 43 in FIG. 7; The figure which shows an example of the display screen of the display apparatus 53a. Explanatory drawing of the 11 segment 74 which concerns on embodiment of this invention. The figure which shows the relationship between the segment 74 displayed with a 1st segment color, and the target surface distance Ltip. 16 is a flowchart of a process of determining the display color of each segment 74 and background 73 executed by the display control unit 374a. The figure which shows an example of the screen displayed on the display apparatus 53a by S108, when segment 50_ + 1 is the reference point position segment 74a. The figure which shows an example of the screen displayed on the display apparatus 53a by S106, when segment 50_ + 1 is the reference point position segment 74a. The other functional block diagram of the control controller 40 of a hydraulic shovel.

  Hereinafter, embodiments of the present invention will be described using the drawings. In addition, although the hydraulic shovel provided with the bucket 10 is illustrated below as a working tool (attachment) of the front-end | tip of a working machine, you may apply this invention with a working machine provided with attachments other than a bucket. Furthermore, application to a working machine other than a hydraulic shovel is also possible as long as it has an articulated working machine configured by connecting a plurality of link members (attachment, arm, boom, etc.).

  Also, in this document, with regard to the meaning of the words “upper”, “upper” or “lower” used together with a term indicating a certain shape (for example, a target surface, a design surface, etc.), “upper” means "Surface" means "above" means "a position higher than the surface" of the certain shape, "below" means "a position lower than the surface" of the certain shape. Also, in the following description, when there is a plurality of identical components, an alphabet may be added to the end of the code (number), but the alphabet may be omitted and the plurality of components may be collectively described. is there. For example, when there are three pumps 300a, 300b, 300c, they may be collectively referred to as a pump 300.

-Overall configuration of hydraulic shovel-
FIG. 1 is a block diagram of a hydraulic shovel according to an embodiment of the present invention, FIG. 2 is a view showing a controller of the hydraulic shovel according to the embodiment of the present invention together with a hydraulic drive, and FIG. It is a detail view of hydraulic control unit 160 for front control.

  In FIG. 1, the hydraulic shovel 1 is configured of an articulated work machine 1 </ b> A and a vehicle body 1 </ b> B. The vehicle body 1B is mounted on the lower traveling body 11 traveling by the left and right traveling hydraulic motors 3a and 3b (the hydraulic motors 3a and 3b refer to FIG. 2), and on the lower traveling body 11; 4 consists of the upper revolving unit 12 which is pivoted according to FIG.

  The front work implement 1A is configured by connecting a plurality of driven members (the boom 8, the arm 9, and the bucket 10) which rotate in the vertical direction. The proximal end of the boom 8 is rotatably supported at the front of the upper swing body 12 via a boom pin. An arm 9 is rotatably connected to the tip of the boom 8 via an arm pin, and a bucket 10 is rotatably connected to the tip of the arm 9 via a bucket pin. The boom 8 is driven by the boom cylinder 5, the arm 9 is driven by the arm cylinder 6, and the bucket 10 is driven by the bucket cylinder 7.

  The boom angle sensor 30 is mounted on the boom pin, the arm angle sensor 31 is mounted on the arm pin, and the bucket angle sensor is mounted on the bucket link 13 so that the rotation angles α, β and γ (see FIG. 4) of the boom 8, arm 9 and bucket 10 can be measured. 32 is attached, and a vehicle body inclination angle sensor 33 for detecting an inclination angle θ (see FIG. 4) of the upper structure 12 (the vehicle body 1B) with respect to a reference plane (for example, a horizontal surface) is attached. The angle sensors 30, 31, 32 can be replaced by angle sensors with respect to a reference plane (for example, a horizontal plane).

  An operating device 47a (FIG. 2) for operating the traveling right hydraulic motor 3a (lower traveling body 11) having a traveling right lever 23a (FIG. 2) in a cab 16 provided in the upper revolving superstructure 12 , An operating device 47b (FIG. 2) for operating the traveling left hydraulic motor 3b (lower traveling body 11) having the traveling left lever 23b (FIG. 2) and a boom cylinder sharing the operation right lever 1a (FIG. 2) 5 (boom 8) and operating devices 45a and 46a (FIG. 2) for operating the bucket cylinder 7 (bucket 10), the arm cylinder 6 (arm 9) and the swing hydraulic pressure by sharing the operation left lever 1b (FIG. 2) Operating devices 45 b and 46 b (FIG. 2) for operating the motor 4 (the upper swing body 12) are provided. Hereinafter, the travel right lever 23a, the travel left lever 23b, the operation right lever 1a, and the operation left lever 1b may be collectively referred to as operation levers 23 and 1.

  The engine 18 mounted on the upper revolving superstructure 12 drives the hydraulic pump 2 and the pilot pump 48. The hydraulic pump 2 is a variable displacement pump whose capacity is controlled by the regulator 2a, and the pilot pump 48 is a fixed displacement pump. In the present embodiment, as shown in FIG. 2, a shuttle block 162 is provided in the middle of the pilot lines 144, 145, 146, 147, 148 and 149. Hydraulic pressure signals output from the operating devices 45, 46, 47 are also input to the regulator 2a via the shuttle block 162. Although the detailed configuration of the shuttle block 162 is omitted, a hydraulic pressure signal is input to the regulator 2a via the shuttle block 162, and the discharge flow rate of the hydraulic pump 2 is controlled according to the hydraulic pressure signal.

  The pump line 170, which is a discharge pipe of the pilot pump 48, passes through the lock valve 39, and then branches into a plurality of parts and is connected to the valves in the operation devices 45, 46, 47 and the hydraulic unit 160 for front control. The lock valve 39 is an electromagnetic switching valve in this example, and the electromagnetic drive unit is electrically connected to a position detector of a gate lock lever (not shown) disposed in the driver's cab 16 of the upper structure 12. The position of the gate lock lever is detected by a position detector, and a signal corresponding to the position of the gate lock lever is input to the lock valve 39 from the position detector. When the position of the gate lock lever is in the lock position, the lock valve 39 is closed and the pump line 170 is shut off, and when in the lock release position, the lock valve 39 is opened and the pump line 170 is opened. That is, in the state where the pump line 170 is shut off, the operation by the operating devices 45, 46, 47 is invalidated, and the operation such as turning or digging is prohibited.

  The operating devices 45, 46 and 47 are hydraulic pilot systems, and based on the pressure oil discharged from the pilot pump 48, the operating amounts (eg, lever strokes) of the operating levers 1 and 23 operated by the operator respectively A pilot pressure (sometimes referred to as operating pressure) corresponding to the operating direction is generated. The pilot pressure thus generated is transmitted to the hydraulic drive units 150a to 150b of the corresponding flow control valves 15a to 15f (see FIG. 2) in the control valve unit (not shown) (see FIG. 3). , And used as control signals for driving the flow control valves 15a to 15f.

  The pressure oil discharged from the hydraulic pump 2 passes through the flow control valves 15a, 15b, 15c, 15d, 15e and 15f, the traveling right hydraulic motor 3a, the traveling left hydraulic motor 3b, the turning hydraulic motor 4, the boom cylinder 5, the arm It is supplied to the cylinder 6 and the bucket cylinder 7. The boom 8, the arm 9, and the bucket 10 are respectively rotated by the expansion and contraction of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 by the supplied pressure oil, and the position and posture of the bucket 10 are changed. Further, the swing hydraulic motor 4 is rotated by the supplied pressure oil, so that the upper swing body 12 swings relative to the lower traveling body 11. Then, the traveling right hydraulic motor 3a and the traveling left hydraulic motor 3b are rotated by the supplied pressure oil, whereby the lower traveling body 11 travels.

  As shown in FIG. 3, the front control hydraulic unit 160 is provided on the pilot lines 144 a and 144 b of the operating device 45 a for the boom 8 and detects a pilot pressure (first control signal) as an operation amount of the operation lever 1 a. Pressure sensors 70a and 70b, an electromagnetic proportional valve 54a connected to the pilot pump 48 via the pump line 170 on the primary port side to reduce and output the pilot pressure from the pilot pump 48, and a pilot of the operating device 45a for the boom 8 Select the high pressure side of the pilot pressure in the pilot line 144a and the control pressure (second control signal) output from the solenoid proportional valve 54a, connected to the line 144a and the secondary port side of the solenoid proportional valve 54a, and select the flow control valve Of a shuttle valve 82a leading to the hydraulic drive unit 150a of 15a and an operating device 45a for the boom 8 B is installed in the lot line 144b, and a pilot pressure proportional solenoid valve 54b (the first control signal) reduces to the outputs of the pilot line 144b based on the control signal from the controller 40.

  The front control hydraulic unit 160 is installed on the pilot lines 145a and 145b for the arm 9, and detects the pilot pressure (first control signal) as an operation amount of the control lever 1b and outputs it to the controller 40 71a, 71b and a solenoid proportional valve 55b installed in the pilot line 145b and reducing and outputting the pilot pressure (first control signal) based on the control signal from the controller 40, installed in the pilot line 145a and controlled An electromagnetic proportional valve 55a is provided which reduces and outputs the pilot pressure (first control signal) in the pilot line 145a based on the control signal from the controller 40.

  The front control hydraulic unit 160 also detects a pilot pressure (first control signal) as an operation amount of the control lever 1a on the pilot lines 146a and 146b for the bucket 10 and outputs the pressure sensor 72a to the controller 40. , 72b, and solenoid proportional valves 56a and 56b that reduce and output the pilot pressure (first control signal) based on the control signal from the controller 40, and the primary port side is connected to the pilot pump 48 and the pilot pump 48 Select the high pressure side of the solenoid proportional valves 56c and 56d for reducing and outputting the pilot pressure, the pilot pressure in the pilot lines 146a and 146b, and the control pressure output from the solenoid proportional valves 56c and 56d, and The shuttle valves 83a and 83b leading to the hydraulic drive units 152a and 152b respectively It has been kicked. In FIG. 3, connecting lines between the pressure sensors 70, 71, 72 and the controller 40 are omitted for convenience of drawing.

  The electromagnetic proportional valves 54b, 55a, 55b, 56a, 56b have the maximum opening degree when not energized, and the opening degree decreases as the current as the control signal from the controller 40 increases. On the other hand, the electromagnetic proportional valves 54a, 56c, 56d have an opening degree of zero when not energized and an opening degree when energized, and the opening degree increases as the current (control signal) from the controller 40 increases. Thus, the degree of opening 54, 55, 56 of each solenoid proportional valve corresponds to the control signal from the controller 40.

The posture of the work implement 1A can be defined based on the shovel coordinate system (local coordinate system) of FIG. The shovel coordinate system in FIG. 4 is the coordinates set for the upper revolving superstructure 12, and the base of the boom 8 is set as the origin P 0, and the Z axis is set vertically in the upper revolving superstructure 12 and the X axis in the horizontal direction. Also, the direction defined by the right-handed system by the X axis and the Z axis is taken as the Y axis. The inclination angle of the boom 8 with respect to the X axis is the boom angle α, the inclination angle of the arm 9 with respect to the boom is the arm angle β, and the inclination angle of the bucket tip with respect to the arm is the bucket angle γ. The inclination angle of the vehicle body 1B (upper revolving unit 12) with respect to the horizontal plane (reference plane) is taken as the inclination angle θ. The boom angle α is detected by the boom angle sensor 30, the arm angle β is detected by the arm angle sensor 31, the bucket angle γ is detected by the bucket angle sensor 32, and the inclination angle θ is detected by the vehicle body inclination angle sensor 33. The boom angle α is minimized when the boom 8 is raised to the maximum (maximum) (when the boom cylinder 5 is in the stroke end in the upward direction, ie, when the boom cylinder length is longest), and the boom 8 is minimized (minimum) It is maximum when lowered (when the boom cylinder 5 is at the stroke end in the downward direction, that is, when the boom cylinder length is the shortest). The arm angle β is minimum when the arm cylinder length is the shortest, and is maximum when the arm cylinder length is the longest. The bucket angle γ is minimum when the bucket cylinder length is the shortest (in the case of FIG. 4) and is maximum when the bucket cylinder length is the longest. At this time, the length from the base of the boom 8 to the connection with the arm 9 is L1, and the length from the connection between the arm 9 and the boom 8 to the connection between the arm 9 and the bucket 10 is L2, with the arm 9 and the bucket Assuming that the length from the connection portion 10 to the tip of the bucket 10 is L3, the tip position of the bucket 10 in the shovel coordinate system is expressed by the following equation (1) with X _bk as the X direction position and Z _bk as the Z direction position. Can be represented by (2).

X _bk = L ₁ cos (α) + L ₂ cos (α + β) + L ₃ cos (α + β + γ) (1)
Z _bk = L1 sin (α) + L2 sin (α + β) + L3 sin (α + β + γ) Formula (2)
Further, as shown in FIG. 1, the hydraulic shovel 1 is provided with a pair of GNSS (Global Navigation Satellite System) antennas 14A and 14B on the upper swing body 12. The position of the hydraulic shovel 1 in the global coordinate system and the position of the bucket 10 can be calculated based on the information from the GNSS antenna 14.

  FIG. 5 is a block diagram of an MG system provided in the hydraulic shovel according to the present embodiment. As the MG of the front work machine 1A in this system, for example, as shown in FIG. 8, a target surface 700 arbitrarily set for excavating work by the hydraulic shovel 1111 and the work machine 1A (for example, the bucket 10) The processing of displaying the positional relationship of the above on the display device 53a and assisting the operator's operation is performed.

  The system shown in FIG. 5 is a display capable of displaying the positional relationship between the target plane 700 and the work machine 1A, which is installed in the cab 16 and has the work machine posture detection device 50, the target surface setting device 51, the operator operation detection device 52a. A device 53a, a GNSS antenna 14 for acquiring the position of the hydraulic shovel 1 in the global coordinate system, and a controller (control device) 40 which controls the MG.

  The work implement attitude detection device 50 is configured of a boom angle sensor 30, an arm angle sensor 31, a bucket angle sensor 32, and a vehicle body inclination angle sensor 33. These angle sensors 30, 31, 32, 33 function as posture sensors of the work machine 1A.

  The target surface setting device 51 is an interface capable of inputting information on the target surface 700 (including position information and tilt angle information of each target surface). The target surface 700 is a design surface extracted and corrected in a form suitable for construction. The target surface setting device 51 is connected to an external terminal (not shown) which stores three-dimensional data of the target surface defined on the global coordinate system (absolute coordinate system). The position information of the target surface 700 is created based on the position information of the design surface which is the final target shape to be formed in the excavation operation of the hydraulic shovel 1. In general, the target surface 700 is set on or above the design surface in the case of the digging operation, and is set on or below the design surface in the case of the filling operation. The operator may manually input the target surface via the target surface setting device 51.

  The operator operation detection device 52a is a pressure sensor 70a that acquires the operation pressure (first control signal) generated in the pilot lines 144, 145, 146 by the operation of the operation levers 1a, 1b (operation devices 45a, 45b, 46a) by the operator. 70b, 71a, 71b, 72a, 72b (see FIG. 3). That is, the amount of operation of the hydraulic cylinders 5, 6, 7 according to the working machine 1A is detected.

  The controller 40 has an input interface 91, a central processing unit (CPU) 92 as a processor, a read only memory (ROM) 93 and a random access memory (RAM) 94 as a storage device, and an output interface 95. ing. The input interface 91 includes signals from the angle sensors 30 to 32 and the tilt angle sensor 33 which are the working machine posture detection device 50, a signal from the target surface setting device 51, a signal from the GNSS antenna 14, and operator operation detection. A signal from the device 52a is input and converted so that the CPU 92 can calculate. The ROM 93 is a recording medium storing a control program for executing the MG, including processing relating to a flowchart to be described later, and various information and the like necessary for executing the flowchart. The CPU 92 is a control program stored in the ROM 93 In accordance with the above, predetermined arithmetic processing is performed on the signals taken in from the input interface 91, the ROM 93, and the RAM 94. The output interface 95 generates a signal for output according to the calculation result in the CPU 92, and can output the signal to the display device 53a so that the display device 53a can be operated.

  The controller 40 in FIG. 5 includes semiconductor memories such as the ROM 93 and the RAM 94 as storage devices, but any storage device can be substituted in particular. For example, a magnetic storage device such as a hard disk drive may be included.

  FIG. 6 is a functional block diagram of the controller 40. As shown in FIG. The controller 40 includes an MG control unit 43 and a display control unit 374a.

  FIG. 7 is a functional block diagram of the MG control unit 43 in FIG. MG control unit 43 determines operation amount calculation unit 43a, cylinder speed calculation unit 43b, storage unit 43m, reference point position calculation unit 43d, work machine position calculation unit 43e, target surface distance calculation unit 43f, determination A unit 43g and a movement direction calculator 43h are provided. The storage unit 43m includes a delivery area storage unit 43k and a target surface storage unit 43c.

  The operation amount calculator 43a calculates the amount of operation of the operation devices 45a, 45b, 46a (the operation levers 1a, 1b) based on the input from the operator operation detection device 52a. From the detection values of the pressure sensors 70, 71, 72, the amount of operation of the operating devices 45a, 45b, 46a can be calculated.

  The calculation of the operation amount by the pressure sensors 70, 71, 72 is only an example, and for example, the operation lever is detected by a position sensor (for example, a rotary encoder) that detects the rotational displacement of the operation lever of each operation device 45a The amount of operation of may be detected. Also, instead of calculating the operation speed from the operation amount, a stroke sensor that detects the expansion amount of each hydraulic cylinder 5, 6, 7 is attached, and the operation speed of each cylinder is calculated based on the detected time change of the expansion amount. The configuration to calculate is also applicable.

  The cylinder speed calculator 43b calculates the operation speed (cylinder speed) of each hydraulic cylinder 5, 6, 7 based on the operation amount calculated by the operation amount calculator 43a. The operating speeds of the hydraulic cylinders 5, 6, 7 are the operating quantities calculated by the operating quantity calculator 43a, the characteristics of the flow control valves 15a, 15b, 15c, and the cross-sectional areas of the hydraulic cylinders 5, 6, 7. , It can be calculated from a pump flow rate (discharge amount) obtained by multiplying the displacement (tilt angle) of the hydraulic pump 2 and the rotational speed.

  The target surface storage unit 43 c stores the position information (target surface data) of the target surface 700 calculated based on the information from the target surface setting device 51. In this embodiment, as shown in FIG. 5, a cross-sectional shape obtained by cutting a three-dimensional target surface at a plane (working plane of the working machine) along which the working machine 1A moves is used as a target plane 700 (two-dimensional target plane). Do. Although one target surface 700 is shown in the example of FIG. 5, a plurality of target surfaces with different inclinations may be connected. In the case where a plurality of target surfaces are connected, for example, a method of setting the one closest to the work machine 1A as a target surface, a method of setting one below the bucket toe as a target surface, or any other method There is a method etc. which make it a target surface.

  The delivery area storage unit 43 k stores position information of the delivery area Ac, which is a closed area set at a position away from the target surface 700. Although the details will be described later, in this embodiment, as shown in FIG. 9, a range corresponding to the segment 50_ + 1 and the segment 50_-1, ie, a range larger than +50 mm and smaller than +100 mm with respect to the target surface 700, and -50 mm The delivery area Ac is set in a small range of -100 mm or more. The notification area Ac is preferably set so that the target surface 700 is not included in the inside, because the notification that the reference point Ps is separated from the target surface 700 is given by the segment 74 (described later) on the display screen. Also, the position of the communication area Ac can be determined based on, for example, the allowable range of the drilling error. Here, the “permissible range of the digging error” is a range where the difference between the actual surface formed by the work machine 1A and the target surface 700 is permissible, and the notification area Ac should be set within the permissible range of the drilling error. Is preferred. For example, when the allowable range of the digging error is within ± 100 mm, the communication area Ac can be set to a range larger than 50 mm and smaller than or equal to 100 mm. In addition to or instead of this range, the delivery area Ac may be set to a range smaller than -50 mm and greater than or equal to -100 mm. The position of the delivery area Ac may be different for each target surface 700, or may be changed later via an input device (not shown) connected to the controller.

  The working machine position calculation unit 43e is based on the information from the pair of GNSS antennas 14 on the position information of the hydraulic shovel 1 in the global coordinate system (coordinates of the vehicle reference position P0 which is the origin of the shovel coordinate system in FIG. 4) Is calculated, and the data is output to the reference point position calculation unit 43d.

  The reference point position calculation unit (bucket position calculation unit) 43d calculates position information of a reference point Ps (see FIG. 8) arbitrarily set in the work machine 1A. As shown in FIG. 8, the reference point Ps of this embodiment is a central point in the bucket width direction at the tip of the bucket 10, and the position thereof is defined in the global coordinate system. First, the reference point position calculation unit 43d calculates the posture of the front work machine 1A in the shovel coordinate system (local coordinate system) and the position of the tip of the bucket 10 based on the information from the work machine posture detection device 50. As described above, the toe position information (Xbk, Zbk) (bucket position data) of the bucket 10 can be calculated by Expression (1) and Expression (2). The coordinate value of the toe (reference point Ps) of the bucket 10 can be converted from the local coordinates to the global coordinates based on the coordinates of the vehicle reference position P0 in the global coordinate system, the vehicle inclination angle θ, and the toe position in the local coordinate system. . An example will be described below as a global coordinate system. However, the following process may be performed uniformly in the local coordinate system.

  The target surface distance calculation unit 43f determines the reference point based on the position information of the reference point (bucket tip) Ps calculated by the reference point position calculation unit 43d and the position information of the target surface 700 stored in the target surface storage unit 43c. Calculate the target surface distance Ltip (see FIG. 8) which is the distance between the reference point (bucket tip) Ps and the target surface 700 on the virtual straight line Lv (see FIG. 8) extended in a predetermined direction from Ps toward the target surface 700 Do. The “predetermined direction” of the virtual straight line Lv in the present embodiment is the vertical direction as shown in FIG. That is, the distance between the bucket toe and the target surface 700 on the virtual straight line Lv extending in the vertical direction from the bucket toe is the target surface distance Ltip. In this document, the target surface distance Ltip when the reference point Ps is above the target surface 700 is represented by a positive value, and the target surface distance Ltip when the reference point Ps is below the target surface 700 is represented by a negative value. It shall be.

  The determination unit 43g stores the position information of the reference point Ps calculated by the reference point position calculation unit 43d in the delivery area storage unit 43k and determines whether the reference point (bucket tip) Ps is present in the delivery area Ac. The determination is made based on the position information of the notification area Ac, and the determination result is output to the display control unit 374a. In the present embodiment, the determination is performed depending on whether the target surface distance Ltip exists in the notification area Ac. More specifically, the determination is performed by determining whether the target surface distance Ltip is included in any of a range of greater than +50 mm and +100 mm or less and a range of -50 mm and -100 mm or more.

  The movement direction calculation unit 43h calculates the movement direction of the reference point Ps based on the position information of the reference point (bucket tip). The movement direction calculation unit 43h according to the present embodiment includes the position information of the reference point Ps calculated by the reference point position calculation unit 43d and the operation information for the operation devices 45a, 45b, and 46a detected through the operator operation detection device 52a. The moving direction of the reference point Ps is calculated based on the speed information of each of the hydraulic cylinders 5, 6, 7 calculated from. Here, the speed information of the hydraulic cylinders 5, 6, 7 is input from the cylinder speed calculation unit 43b. From the position information of the reference point Ps, the attitude of the front working machine 1A can be specified, and the speed vector of the reference point Ps can be calculated by considering the speed information of each hydraulic cylinder 5, 6, 7 to this. The moving direction of the reference point Ps is the direction of the velocity vector.

  The display control unit 374a controls the display device 53a based on the information input from the MG control unit 43. The controller 40 is provided with a display ROM in which a large number of display related data including the image and the icon of the front work machine 1A are stored, and the display control unit 374a is based on input information from the MG control unit 43. While reading a predetermined program, the display control on the display device 53a is performed. The display control unit 374a of the present embodiment receives the position information of the reference point Ps (bucket tip) and the posture information of the front work machine 1A input from the reference point position calculation unit 43d, and the target input from the target surface storage unit 43c. Based on the position information of the surface 700, the target surface distance Ltip input from the target surface distance calculation unit 43f, the information of the determination result input from the determination unit 43g, and the movement direction information input from the movement direction calculation unit 43h Control the display device 53.

  Specifically, based on the determination result of the determination unit 43g and the movement direction information calculated by the movement direction calculation unit 43h, the display control unit 374a determines whether the reference point Ps exists in the notification area Ac by the determination unit 43g. It is determined whether the movement direction calculated by the movement direction calculation unit 43h is a direction away from the target surface 700 or not. Then, when the determination unit 43g determines that the reference point Ps exists in the delivery area Ac and the movement direction calculated by the movement direction calculation unit 43h is the direction away from the target surface 700, the reference point Ps is Informs the operator via the display screen that the target surface 700 is to be separated. The details of the display screen at that time will be described next.

  FIG. 8 is an example of a display screen of the display device 53a of the present embodiment. The display screen shown in this figure includes a first display portion 71 in which the positional relationship between the target surface 700 and the work machine 1A (reference point Ps) is displayed in a plurality of segments, and the target surface 700 and the work machine 1A (reference point Ps) A second display unit 72 whose positional relationship is displayed as an image of the bucket 10 is provided.

  In the first display portion 71, a plurality of segments 74 (in the embodiment, arranged in one direction (in the example of FIG. 8, the vertical direction of the screen) on the background 73 displayed in the first background color. Eleven segments are displayed. The plurality of segments 74 includes a target surface position segment 74 a that indicates the position of the target surface 700. The distance between the target surface position segment 74a and the other segments indicates the distance of the position corresponding to the other segment from the target surface 700, and the further the segment away from the target surface position segment 74a, the farther the position from the target surface 700 is It shows. The delivery area As is set to a position (distance) corresponding to at least one segment of the plurality of segments 74 excluding the target surface position segment 74a. The plurality of segments 74 includes a reference point position segment 74b displayed in the first segment color according to the position of the reference point Ps. When the reference point Ps is at a position corresponding to the target surface position segment 74a, the target surface position segment 74a becomes the reference point position segment 74b.

  Identifiers “50_-5” to “50_ + 5” are given to the eleven segments 74 of this embodiment as shown in FIG. 9 (hereinafter, this “identifier” and “symbol 74 in the description of the segment will be used. Properly use the A range of the target surface distance Ltip is assigned to each of the eleven segments 74 without duplication. Specifically, in the segment 50_ ± 0, the ranges of 50 mm above and below the target surface 700 are allocated respectively, that is, 100 [mm] in total, and the segment 50_ + 1 is 50 mm to 100 mm above the target surface 700 The range from 100 mm to 150 mm above the target surface 700 for the segment 50_ + 2, the range from 150 mm to 200 mm above the target surface 700 for the segment 50_ + 3, and above the target surface 700 for the segment 50_ + 4. A range from 200 mm to 250 mm is assigned to the segment 50_ + 5, and a range exceeding 250 mm from the target surface 700 is assigned to the segment 50_ + 5. In addition, the range from 50 mm to 100 mm downward from the target surface 700 for the segment 50_-1, the range from 100 mm to 150 mm downward from the target surface 700 for the segment 50_-2, the target surface for the segment 50_-3 A range of 150 mm to 200 mm downward from 700, a range of 200 mm to 250 mm downward from the target surface 700 to the segment 50_-4, and a range of 250 mm downward to the target surface 700 to the segment 50_-5 are allocated It is done.

  Each segment 74 may be displayed in the first segment color according to the target surface distance Ltip. FIG. 10 is a diagram showing the relationship between the segment 74 displayed in the first segment color and the target surface distance Ltip. In FIG. 10, the unit of the target surface distance Ltip is [mm], and the case where each segment 74 is displayed in the first segment color is indicated as "ON", and the case where it is displayed in the first background color is "OFF" It is indicated. Specifically, in the case of 50 [mm] L Ltip − −50 [mm], only the segment 50_ ± 0 is displayed in the first segment color, and in the case of 100 [mm] L Ltip> 50 [mm] Two segments 50_ ± 0, 50_ + 1 are displayed in the first segment color, and three segments 50_ ± 0, 50_ + 1, 50_ + 2 are displayed in the first segment color when 150 [mm] ≧ Ltip> 100 [mm]. , 200 [mm] L Ltip> 150 [mm], the four segments 50_ ± 0, 50_ + 1, 50_ + 2, 50_ + 3 are displayed in the first segment color, and 250 [mm] L Ltip> 200 [mm] The five segments 50_ ± 0, 50_ + 1, 50_ + 2, 50_ + 3, 50_ + 4 are displayed in the first segment color, and Ltip> 25. In the case of 0 [mm], six segments 50_ ± 0, 50_ + 1, 50_ + 2, 50_ + 3, 50_ + 4, 50_ + 5 are displayed in the first segment color. The same applies to the case where the target surface distance Ltip is a negative value (when the reference point Ps is located below the target surface 700). In the example of FIG. 8, since the target surface distance Ltip = 80 mm, two segments 50 _ ± 0, 50 _ 1 are displayed in the first segment color, and according to this display, the operator is 50-100 [mm] above the target surface 700. It can be recognized that there is a bucket toe (reference point Ps) at a distance of.

  However, if the movement direction of the reference point Ps is in the direction away from the target surface 700 within the range of the segment 74 set as the notification area Ac, the segment specified in FIG. It may be displayed in the second segment color. In the present embodiment, as shown in FIG. 9, the delivery area Ac is set in the range corresponding to the segment 50_ + 1 and the segment 50_-1, ie, the range larger than +50 mm and smaller than +100 mm, and smaller than -50 mm and larger than -100 mm. It is done.

  FIG. 11 is a flowchart of the process of determining the display color of each segment 74 and background 73 which is executed by the display control unit 374a. The display control unit 374a repeatedly executes the process of FIG. 11 at a predetermined control cycle.

  When the processing of the flowchart in FIG. 11 is started, the display control unit 374a acquires the target surface distance Ltip from the target surface distance calculation unit 43f (S101), acquires the determination result from the determination unit 43g (S102), and calculates the movement direction. The moving direction (velocity vector of the reference point Ps) of the reference point Ps (bucket tip) is acquired from the part 43h (S103).

  In S104, the display control unit 374a sets the reference point Ps in the range corresponding to the segment 50_ + 1 and the segment 50_-1 in the notification area Ac, that is, in the range of +50 mm to +100 mm and -50 mm and -100 mm or more. It is determined based on the determination result acquired in S102 whether it is positioned. If it is determined that the reference point Ps is present in the notification area Ac, the process proceeds to S105, and if not, the process proceeds to S108.

  In S108, the display control unit 374a identifies the segment 74 in which the reference point Ps exists based on the target surface distance Ltip acquired in S101, and displays the segment 74 as the reference point position segment 74a in the first segment color. In addition, the target surface position segment 74b (segment 50_ ± 0) is displayed in the first segment color, and further, if there is a segment sandwiched between the reference point position segment 74a and the target surface position segment 74b, these are also the first Display in segment color. On the other hand, segments other than the segments displayed in the first segment color and the background 73 are displayed in the first background color. FIG. 12 is a view showing an example of a screen displayed on the display device 53a in S108 when the segment 50_ + 1 is the reference point position segment 74a.

  In S105, the display control unit 374a determines whether the moving direction of the reference point Ps is a direction away from the target plane 700, the vertical component of the velocity vector of the reference point Ps acquired in S103 with respect to the target plane 700 (hereinafter It may be determined based on the direction of the vertical component of the velocity vector of Ps. Specifically, when the reference point Ps is above the target plane 700, the display control unit 374a moves the moving direction of the reference point Ps away from the target plane 700 when the vertical component of the velocity vector of the reference point Ps is upward. If the reference point Ps is below the target plane 700, the movement direction of the reference point Ps is away from the target plane 700 when the vertical component of the velocity vector of the reference point Ps is downward. judge. If it is determined that the moving direction of the reference point Ps is the direction away from the target surface 700, the process proceeds to S106, and if not, the process proceeds to S108. If there is no input to the operating devices 45a, 45b, 46a in S105, the velocity vector of the reference point Ps is zero, so the process proceeds to S108. That is, since the normal first segment color is displayed, the second segment color is displayed in vain when not operated, and the operator does not feel bothersome.

  In S106, the display control unit 374a identifies the segment 74 in which the reference point Ps exists based on the target surface distance Ltip acquired in S101, and displays the segment 74 as the reference point position segment 74a in the second segment color. The second segment color is a color different from the first segment color. In addition, the target surface position segment 74b (segment 50_ ± 0) is displayed in the second segment color, and further, if there is a segment sandwiched between the reference point position segment 74a and the target surface position segment 74b, these are also second Display in segment color. On the other hand, segments other than the segments displayed in the second segment color and the background 73 are displayed in the second background color. The second background color is a color different from the first background color. FIG. 13 is a view showing an example of a screen displayed on the display device 53a in S106 when the segment 50_ + 1 is the reference point position segment 74a.

  By the way, in order to improve the visibility of the display information on the screen, it is preferable that a sufficient contrast be secured by the combination of the background color and the foreground color, and W3C (World Wide Web Consortium) has the brightness of the background color and the foreground color. It is proposed that sufficient contrast can be secured if the difference is 125 or more and the color difference is 500 or more. The lightness difference and the color difference are defined as the following equations (3) and (4). R, G and B in the equations (3) and (4) respectively represent red, green and blue of RGB colors, and each take a decimal value between 0 and 255 (RGB value). R1, G1 and B1 in the equations (3) and (4) indicate RGB values of one of two colors taking lightness difference or color difference, and R2, G2, B2 indicate the other of two colors taking lightness difference or color difference Indicates RGB values.

Brightness difference = | (R1 × 299 + G1 × 587 + B1 × 114) / 1000− (R2 × 299 + G2 × 587 + B2 × 114) / 1000 | Formula (3)
Color difference = (| R1-R2 | + | G1-G2 | + | B1-B2 |) (4)
Based on these, to make it easy for the operator to recognize that the reference point (bucket toe) Ps is separated from the target surface 700 through the display screen, the second segment color and the second background which is the background color at that time The color is preferably a combination of a lightness difference of 125 or more and a color difference of 500 or more. However, in the case where the display device 53a is also used as another display as shown in FIG. 8, it is difficult to make the lightness difference and the color difference the same as these numerical values due to the relationship with the colors used for the other display. Since the lightness difference is 120 or more and the color difference is 400 or more, it may be a combination of colors. It is preferable that the first segment color and the first background color which is the background color at that time be in the same combination. In this paper, a color having a lightness difference of 120 or more and a color difference of 400 or more may be referred to as a contrast color.

In the second display unit 72, the positional relationship between the target surface 700 and the work implement 1A (the toe of the bucket 10) is based on the position information of the reference point Ps, the posture information of the front work implement 1A, and the position information of the target face 700. Is displayed. Further, the second display unit 72 is provided with a numerical value display unit 80 in which the target surface distance Ltip is displayed as a numerical value.
Although the reference point Ps, the virtual straight line Lv, and the dimension line of the target surface distance Ltip are described in the second display section 72, these are the explanation of the figure and are not displayed on the actual display screen. (The same applies to the diagrams of other display screens). The range of the target surface 700 displayed on the display screen can be arbitrarily set. For example, there is a method of displaying a target surface 700 existing within a predetermined range from the reference point Ps based on the position of the reference point Ps (that is, the position of the bucket tip).

-Operation, effect-
The operation and effects of the embodiment configured as described above will be described. Here, it is assumed that the allowable range of the digging error is ± 100 mm, and a scene of a finishing operation in which the flat target surface 700 is formed by the horizontal pulling operation in which the tip of the bucket 10 is pulled toward the vehicle body 1B along the target surface 700.

  (1) For example, when the horizontal pulling operation is performed in the range of ± 50 mm with reference to the target surface 700, only the segment 50_ ± 0 is displayed in the first segment color in the first display section 71, and the other segments The background 73 is displayed in the first background color. By visually recognizing this display screen, the operator can recognize that the bucket tip is present in an appropriate range from the target surface 700.

  (2) Next, when the bucket toe (reference point Ps) moves upward from the range of segment 50_ ± 0 and enters the range of segment 50_ + 1 contrary to the intention of the operator, segment 50_ + 1 is set as the notification area Ac Since the movement direction of the bucket toe is away from the target surface 700, the segment 50_ + 1 (reference point position segment 74b) and the segment 50_ ± 0 (target surface position segment 74a) corresponding to the position where the toe is As shown in FIG. 13, the second segment color is displayed, and the other segments and the background 73 are displayed in the second background color. By visually recognizing a screen display different from such a normal time, the operator can easily grasp that the bucket toe is likely to be out of the error allowable range, and the bucket toe is positioned close to the target plane 700 by adding a boom lowering operation. Since the operator who is immature to operate the front work machine 1A can easily perform the finishing operation along the target surface 700. When the operation of bringing the bucket tip close to the target surface 700 is performed again, the segment 50 _ ± 0, 50_ + 1 is displayed again in the first segment color at the normal time, so the operator operates the bucket 10 in the appropriate direction. Can instantly understand what they are doing.

  (3) On the other hand, even if the bucket toe (reference point Ps) moves downward from the range of segment 50_ ± 0 and enters the range of segment 50_1 from the state of (1) against the intention of the operator ( As in the case of 2), segment 50_-1 (reference point position segment 74b) and segment 50_ ± 0 (target surface position segment 74a) corresponding to the position where the toe is present are displayed in the second segment color, and the other The segment and the background 73 are displayed in the second background color. Therefore, even in this case, even an operator immature to operate the front work machine 1A can easily perform the finishing operation along the target surface 700.

  Particularly, in the present embodiment, since the segments 50_ + 1 and 50_-1 which are adjacent to the segment 50_ ± 0 and included in the error tolerance range are set in the passing area Ac, the situation where the bucket toe is about to leave the target surface 700 is immediately The operator can be notified, and the deviation between the actual excavating surface and the position of the target surface 700 is likely to fall within the allowable range.

  Further, in the present embodiment, the second segment color display is changed to the second segment color display by securing a sufficient contrast by combining the second segment color and the second background color with a lightness difference of 120 or more and a color difference of 400 or more. The visibility of screen changes is significantly improved. Therefore, even if the line of sight of the operator is at the bucket toe in order to focus on the actual movement of the excavated surface and the bucket, if there is the display screen of the display device 53a in the peripheral vision, it is easily recognized that the color of the segment has changed it can. That is, according to the present embodiment, it is easy to recognize a screen change even when the operator is gazing at the bucket toe, so it is easy to grasp that the bucket toe is likely to be out of the error tolerance range. Work becomes easy. In the present embodiment, the background 73 which occupies most of the display portion of the first display portion 71 is changed from the first background color to the second background color, and the lightness difference between the first background color and the second background color is 120 or more. And by securing the color difference to 400 or more, the contrast before and after the change is also sufficiently secured. Therefore, the visibility of the screen change by the peripheral vision is further improved.

-Modification of movement direction calculation unit 43h-
In the above embodiment, the moving direction of the reference point Ps is calculated by calculating the velocity vector of the bucket tip based on the hydraulic cylinder speeds calculated based on the operation amounts for the operating devices 45a, 45b, 46a. The movement direction of the reference point Ps may be predicted based on the history of the position information of the reference point Ps calculated by the point position calculation unit 43d, and the movement direction of the reference point Ps may be calculated from the prediction. A functional block diagram of the MG control unit 43 in this case is shown in FIG. In the block diagram of FIG. 14, the history of the position information of the reference point Ps calculated by the reference point position calculation unit 43d is input to the movement direction calculation unit 43h, and the movement direction calculation unit 43h is based on the history of the position information. The movement direction of the reference point Ps is calculated and output to the display control unit 374a. Even with this configuration, the same effect as that of the previous embodiment can be obtained.

  In the above embodiment, the determination of S105 in FIG. 11 is performed only in the direction of the velocity vector of the reference point Ps, but the magnitude of the velocity vector of the reference point Ps may also be added to the determination material. In this case, when the magnitude of the velocity vector of the reference point Ps is equal to or less than a predetermined value, it may be determined that the target point 700 has not moved in the direction away from it.

  Further, in the above embodiment, the movement direction (speed vector) of the reference point Ps is predicted based on the operation amount of the operation device 45a, 45b, 46a, but the bucket 10 may be operated even if the revolving unit 12 or the traveling unit 11 is operated. The movement direction of the reference point Ps may be predicted in consideration of the amount of operation of the operation device 46b, 47a, 47b in view of the movement of the reference point Ps.

-Notification devices other than display device 53a-
In the above description, the operator is notified that the reference point Ps is separated from the target surface 700 by the display device 53a, but other notification devices can be used. For example, a sound (alarm sound) may be output via an audio output device (for example, a speaker) to notify the operator of the same effect.

-Other-
The present invention is not limited to the above embodiments, and includes various modifications within the scope of the present invention. For example, the present invention is not limited to the one provided with all the configurations described in the above embodiment, but also includes one in which a part of the configuration is deleted.

  In the above embodiment, the straight line extending in the vertical direction from the reference point (bucket tip) Ps is defined as the virtual straight line Lv, but the direction in which the straight line extends from the reference point Ps can be set arbitrarily. The extended straight line may be an imaginary straight line. For example, a straight line passing the reference point (bucket tip) Ps and orthogonal to the target surface 700 can be set as the virtual straight line Lv '.

  In the above embodiment, the segments other than the segments displayed in the first segment color and the background 73 are displayed in the first background color, but the two colors may be different. Also, although the segments other than the segments displayed in the second segment color and the background 73 are displayed in the second background color, the colors of the two may be different. Furthermore, in the present embodiment, the first segment color and the second background color, and the second segment color and the first background color are respectively the same color, but the combination of the respective colors may be different.

  In the above embodiment, in S106 and S108 in FIG. 11, the reference point position segment 74b, the target surface position segment 74a, and the segment sandwiched between the reference point position segment 74b and the target surface position segment 74a are displayed in the first segment color However, only the reference point position segment 74b may be displayed in the first segment color, or only the reference point position segment 74b and the target surface position segment 74a may be displayed in the first segment color.

  In the above embodiment, the interval of the segments excluding the segment 50_ ± 0 is set equal to 50 mm, but the interval of the segments may be changed as appropriate. For example, the distance between the segments 50_ ± 0 and 50_ + 1 may be 50 mm, the distance between the segments 50_ + 1 and 50_ + 2 may be 100 mm, the distance between the segments 50_ + 2 and 50_ + 3 may be 200 mm, and so on. However, in such a case, it is preferable to add a numerical value so that the operator can recognize the interval of each segment or change the vertical length of the segment according to the interval.

  In the above embodiment, a configuration is adopted in which the first segment color is changed to the second segment color when the determinations in S104 and S105 in FIG. 11 are both YES, but in this case not only the color change but also the segment You may make it blink.

  In the above embodiment, the operating devices 45, 46 and 47 are described in the hydraulic pilot system, but it is needless to say that the present invention can be applied to an electric lever system operating device which outputs an electric signal as an operation signal. .

  The position of the delivery area Ac and the unit of each segment may be set in advance, or may be configured to be changeable to a desired value by the operator later.

  The components of the controller 40 described above and the functions and execution processes of the components are realized by hardware (for example, designing logic for executing each function with an integrated circuit). Also good. The configuration according to the controller 40 may be a program (software) in which each function according to the configuration of the controller 40 is realized by being read and executed by an arithmetic processing unit (for example, a CPU). The information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.

  1A: front work machine, 8: boom, 9: arm, 10: bucket, 30: boom angle sensor, 31: arm angle sensor, 32: bucket angle sensor, 40: control controller (control device), 43: MG control unit , 43a: operation amount calculation unit, 43c ... target surface calculation unit, 43c ... target surface storage unit (storage unit), 43d ... reference point position calculation unit (position calculation unit), 43f ... target surface distance calculation unit, 43g ... determination Unit, 43h: Movement direction calculation unit, 43k: Notification area storage unit (storage unit), 44: Electromagnetic proportional valve control unit, 45: Operation device (boom, arm), 46: Operation device (bucket, swing), 50: Work machine attitude detection device, 51 ... Target surface setting device, 52a ... Operator operation detection device, 53a ... Display device (notification device), 54, 55, 56 ... Solenoid proportional valve, 73 ... Background, 74 ... Segment 74a ... target surface position segment, 74b ... reference point position segments, 374a ... display control unit (notification control unit)

Claims (6)

Articulated work machines,
An operating device for operating the work machine;
A control unit having a storage unit in which position information of a target surface is stored, and a position calculation unit that calculates position information of a reference point set in the work machine based on posture information of the work machine;
In a working machine comprising a notification device for reaching the positional relationship between the target surface and the working machine based on the positional information of the target surface and the positional information of the reference point,
The controller is
A determination unit that determines whether or not the reference point is present in a notification area set at a position away from the target surface based on the position information of the reference point;
A movement direction calculation unit that calculates the movement direction of the reference point based on the position information of the reference point and the operation information on the operation device;
When the determining unit determines that the reference point is present in the notification area, and the moving direction calculated by the moving direction calculating unit is a direction away from the target surface, It is notified that the said reference point leaves | separates from the said target surface, The working machine characterized by the above-mentioned. In the work machine of claim 1,
The notification device is a display device,
The display device displays a plurality of segments arranged along one direction on the background displayed in the first background color;
The plurality of segments include a target surface position segment indicating the position of the target surface;
The plurality of segments include a reference point position segment displayed in a first segment color according to the position of the reference point,
The work machine, wherein the communication area is set to a position corresponding to at least one segment of the plurality of segments excluding the target surface position segment. In the working machine of claim 2,
The reference point position segment when the determination unit determines that the reference point is present in the delivery area, and when the movement direction calculated by the movement direction calculation unit is a direction away from the target surface Is displayed in a second segment color different from the first segment color. In the work machine of claim 3,
When the determination unit determines that the reference point is present in the delivery area, and the movement direction calculated by the movement direction calculation unit is a direction away from the target surface, the background is the A working machine characterized by being displayed in a second background color different from the first background color. In the work machine of claim 4,
The work machine according to claim 1, wherein the second segment color has a brightness difference of 120 or more and a color difference of 400 or more with the second background color. In the work machine of claim 1,
The work machine, wherein the movement direction calculation unit calculates the movement direction of the reference point based on a history of position information of the reference point.

Images