Work information notification device and construction machine provided with same

Abstract

A work information notification device (101) is provided with: a controller (60) for calculating the proximity between specific parts (4, 5, 6, 13) included in a construction machine (100) and an observation object (90) at a work site; and a display (50) that performs proximity display indicating proximity in a field screen region (Rw) that allows an operator to see a work field screen (200), which is a screen of a work field. The controller (60) performs the proximity display within a range of a specific region (Rs) that is a part of the field screen region (Rw) and corresponds to the screen of the specific portion (4, 5, 6, 13).

Description

Technical Field

[0001] The present disclosure relates to an operation information notification device for notifying an operator of information related to an operation performed by an engineering machine. Background Art

[0002] In the construction machine of Patent Document 1, a controller calculates the proximity between the boundary of the operable region of the working device and the working device, and changes the display mode of the three-dimensional shape of the boundary displayed on a display device according to the proximity.

[0003] Patent Document 2 discloses a display system for a construction machine including a work machine and a main body having a cab and a work machine mounted thereon. The display system displays a projection image of work support information around the work machine.

[0004] In the construction machine disclosed in Patent Document 1, a three-dimensional shape representing the boundary of the operable area is displayed on the display device, overlapping the image surrounding the working device (attachment). Consequently, the three-dimensional shape obscures a portion of the work scene image surrounding the attachment. Similarly, in the display system disclosed in Patent Document 2, a projected image of work support information is displayed around the working machine (attachment). Consequently, the work support information obscures a portion of the work scene image surrounding the attachment. This obscured portion of the work scene image is invisible to the operator. Consequently, this partial obscuration of the work scene image interferes with the operation of the construction machine.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 2021-155949

[0008] Patent Document 2: Japanese Patent Application Laid-Open No. 2017-186901 Summary of the Invention

[0009] An object of the present disclosure is to provide a work information notification device capable of notifying an operator of work-related information without interfering with the work of a construction machine, and a construction machine equipped with the work information notification device.

[0010] Provided is an operation information notification device for notifying an operator of relevant information about an operation performed by an engineering machine, wherein the engineering machine includes a machine body and an auxiliary device supported by the machine body, and the operation information notification device includes: a controller for calculating the proximity between a specific part included in the engineering machine and an observation object at a work site; and a display for performing a proximity display representing the proximity in a scene picture area, wherein the scene picture area enables the operator to see a picture of the work site, i.e., a work site picture, wherein the controller performs the proximity display within the range of a specific area which is a part of the scene picture area and corresponds to the picture of the specific part. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a side view showing a construction machine equipped with the work information notification device according to the embodiment of the present disclosure.

[0012] Figure 2 This is a block diagram of a system including the operation information notification device.

[0013] Figure 3 This is a side view showing an example of the positional relationship between a specific portion of a construction machine and an observation object at a work site.

[0014] Figure 4 This is a diagram showing an example of the work information notified by the work information notification device.

[0015] Figure 5 This is a flowchart showing the calculation processing operation of the controller of the operation information notification device.

[0016] Figure 6 This is a diagram showing an example of work information notified by the work information notification device according to Modification 1 of the above-described embodiment.

[0017] Figure 7 It is a diagram for explaining the arrangement of a position information detector of a work information notifying device according to a second modification of the embodiment.

[0018] Figure 8 This is a side view showing another example of the positional relationship between a specific portion of a construction machine and an observation object at a work site.

[0019] Figure 9 This is a diagram showing an example of work information notified by a work information notification device according to a third modification of the above-described embodiment.

[0020] Figure 10 This is a diagram related to Modification 4 of the above-described embodiment, and is a side view showing an example of the positional relationship between a specific portion of a construction machine and an observation target at a work site. DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure are described with reference to the accompanying drawings. Figure 1 1 is a side view showing a construction machine 100 according to the present embodiment. The construction machine 100 according to the present embodiment is a hydraulic excavator. Figure 2 1 is a block diagram of a system including the work information notification device 101 according to the present embodiment. The work information notification device 101 according to the present embodiment performs control to notify an operator of information related to work performed by a construction machine 100.

[0022] like Figure 1 and Figure 2 As shown, the engineering machine 100 includes: a lower traveling body 1 , an upper rotating body 2 , an attachment 3 , a plurality of hydraulic actuators and a plurality of manipulators 20 .

[0023] The lower traveling unit 1 includes a pair of left and right crawler tracks. The upper revolving unit 2 is supported on the lower traveling unit 1 so as to be rotatable about the vertical Z-axis. The upper revolving unit 2 includes a cab 12 with a seat for the operator and a counterweight 13 positioned behind the cab 12. The lower traveling unit 1 and the upper revolving unit 2 are examples of a machine body.

[0024] The attachment 3 is supported by the upper revolving body 2 and includes a boom 4 supported on the upper revolving body 2 so as to be movable, an arm 5 rotatably supported at the distal end of the boom 4 , and a bucket 6 rotatably supported at the distal end of the arm 5 .

[0025] The plurality of hydraulic actuators are operated by receiving the 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 swing motor 11.

[0026] The boom cylinder 7 is a hydraulic cylinder that operates in such a manner that it receives the supply of hydraulic oil from the hydraulic pump to raise and lower the boom 4 relative to the upper revolving body 2. The base end of the boom cylinder 7 is rotatably mounted to the upper revolving body 2, and the distal end of the boom cylinder 7 is rotatably mounted to the boom 4.

[0027] The arm cylinder 8 is a hydraulic cylinder that operates in such a manner that it receives the supply of hydraulic oil from the hydraulic pump and rotates the arm 5 relative to the boom 4. The base end of the arm cylinder 8 is rotatably mounted on the boom 4, and the distal end of the arm cylinder 8 is rotatably mounted on the arm 5.

[0028] The bucket cylinder 9 is a hydraulic cylinder that operates in such a manner that it receives the supply of hydraulic oil from the hydraulic pump and rotates the bucket 6 relative to the arm 5. The base end of the bucket cylinder 9 is rotatably mounted on the arm 5, and the distal end of the bucket cylinder 9 is rotatably mounted on the bucket 6 via a link member.

[0029] The slewing motor 11 is a hydraulic motor that operates to slew the upper slewing body 2 relative to the lower traveling body 1 by receiving the supply of hydraulic oil from the hydraulic pump.

[0030] The plurality of operators 20 include a boom operator 20, an arm operator 20, a bucket operator 20, and a swing operator 20. Figure 2 In the figure, only one of these operating devices 20 is shown, and the other operating devices 20 are omitted. Each of the multiple operating devices 20 includes an operating lever 21 that receives an operator's operation and an output device 22. When the operating lever 21 is operated, hydraulic oil at a flow rate corresponding to the direction and amount of the operation is supplied to the hydraulic actuator through the flow control valve 70. This causes the hydraulic actuator to operate in accordance with the operation of the operating lever 21.

[0031] Specifically, the operating lever 21 of the boom operator 20 receives a boom operation (boom raising or boom lowering). The boom raising operation is performed by the operator to drive the boom 4 in the boom raising direction, while the boom lowering operation is performed by the operator to drive the boom 4 in the boom lowering direction. When the boom operation is applied to the operating lever 21 of the boom operator 20, hydraulic oil at a flow rate corresponding to the boom operation is supplied to the boom cylinder 7 via the flow control valve 70 corresponding to the boom operator 20, causing the boom 4 to perform the corresponding movement.

[0032] The operating lever 21 of the arm operator 20 receives arm operations (arm retraction or arm push). Arm retraction is an operator-operated operation to move the arm 5 in the arm retraction direction, while arm push is an operator-operated operation to move the arm 5 in the arm push direction. When an arm operation is applied to the operating lever 21 of the arm operator 20, hydraulic oil at a flow rate corresponding to the arm operation is supplied to the arm cylinder 8 via the flow control valve 70 associated with the arm operator 20, causing the arm 5 to perform the corresponding movement.

[0033] The operating lever 21 of the bucket operator 20 receives a bucket operation (bucket digging operation or bucket dumping operation). The bucket digging operation is an operation performed by the operator to drive the bucket 6 in the bucket digging direction, while the bucket dumping operation is an operation performed by the operator to drive the bucket 6 in the bucket dumping direction. When the operating lever 21 of the bucket operator 20 is applied with a bucket operation, hydraulic oil at a flow rate corresponding to the bucket operation is supplied to the bucket cylinder 9 via the flow control valve 70 corresponding to the bucket operator 20, and the bucket 6 performs the operation corresponding to the bucket operation.

[0034] The operating lever 21 of the rotary operator 20 receives a rotary operation (right or left). The right rotary operation is performed by the operator to rotate the upper rotary body 2 to the right, while the left rotary operation is performed by the operator to rotate the upper rotary body 2 to the left. When the operating lever 21 of the rotary operator 20 is rotated, hydraulic oil at a flow rate corresponding to the rotary operation is supplied to the rotary motor 11 through the flow control valve 70 corresponding to the rotary operator 20, and the upper rotary body 2 performs the rotary motion corresponding to the rotary operation.

[0035] Figure 2 The block diagram shows the structure of the operator 20 when it is a so-called electric control lever type operator. In this case, the output device 22 outputs an operation signal corresponding to the operation direction and operation amount applied to the operating lever 21 to the controller 60 described below. The actuator control command unit 67 of the controller 60 inputs a control command corresponding to the operation signal into the flow control valve 70. The flow control valve 70 operates to supply hydraulic oil at a flow rate corresponding to the control command to the hydraulic actuator. In the case of an electric control lever type operator 20, the flow control valve 70 includes: an electromagnetic proportional valve that receives input of a control command and outputs a secondary pressure (pilot pressure) corresponding to the control command; and a control valve having a pilot port that receives the supply of the pilot pressure. The control valve adjusts the flow rate of hydraulic oil to the hydraulic actuator by opening and closing in response to the pilot pressure.

[0036] However, the operator 20 is not limited to an electric control lever. It may also include an operating lever 21 and a remote control valve as an output 22. In this case, the remote control valve (output 22) supplies a secondary pressure (pilot pressure) corresponding to the direction and amount of operation applied to the operating lever 21 to the pilot port of a control valve, which functions as a flow control valve. The control valve opens and closes in response to the pilot pressure, thereby regulating the flow of hydraulic oil to the hydraulic actuator.

[0037] In this embodiment, the construction machine 100 includes a work information notification device 101. The work information notification device 101 notifies the operator of information related to the work performed by the construction machine 100. The work information notification device 101 includes a posture detector 30, a three-dimensional information detector 40, a display 50, an input device 80, and a controller 60.

[0038] The posture detector 30 detects posture information related to the posture of the construction machine 100 and inputs the detection result to the controller 60 .

[0039] Specifically, in this embodiment, the posture detector 30 includes a boom posture sensor 31 for detecting the posture of the boom 4, an arm posture sensor 32 for detecting the posture of the arm 5, and a bucket posture sensor 33 for detecting the posture of the bucket 6 (see FIG. Figure 1 The boom posture sensor 31 , the arm posture sensor 32 , and the bucket posture sensor 33 each input detection results to the controller 60 .

[0040] The boom posture sensor 31 may be, for example, a boom angle sensor that detects the angle of the boom 4 relative to a reference such as a horizontal plane or a horizontal line, or the angle of the boom 4 relative to the upper rotating body 2, or a stroke sensor that detects the movement of the boom cylinder 7, or other sensors. The arm posture sensor 32 may be, for example, an arm angle sensor that detects the angle of the boom 5 relative to a reference such as a horizontal plane or a horizontal line, or the angle of the boom 5 relative to the boom 4, or a stroke sensor that detects the movement of the boom cylinder 8, or other sensors. The bucket posture sensor 33 may be, for example, a bucket angle sensor that detects the angle of the bucket 6 relative to a reference such as a horizontal plane or a horizontal line, or the angle of the bucket 6 relative to the boom 5, or a stroke sensor that detects the movement of the bucket cylinder 9, or other sensors.

[0041] Examples of angle sensors include resolvers, rotary encoders, potentiometers, and IMUs. A stroke sensor can be a sensor that detects the cylinder length of a hydraulic cylinder or a sensor that detects the position of a piston rod relative to the cylinder body.

[0042] The posture detector 30 may further include a rotation body posture sensor 34 (see Figure 1 ). The rotating body posture sensor 34 is a sensor for detecting the posture of the upper rotating body 2. The rotating body posture sensor 34 may be, for example, a sensor that detects the inclination (posture) of the upper rotating body 2 relative to the horizontal plane. In addition, the rotating body posture sensor 34 may be, for example, a rotation angle sensor that detects the angle (rotation angle) of the upper rotating body 2 relative to the lower traveling body 1, or a sensor such as a gyro sensor that detects the angular velocity (rotation angular velocity) of the upper rotating body 2 relative to the lower traveling body 1, or other sensors. In addition, the posture detector 30 may not include the rotating body posture sensor 34.

[0043] The three-dimensional information detector 40 detects three-dimensional information about the observation object at the work site. The three-dimensional information detector 40 is an example of a position information detector that detects position information of the observation object. The three-dimensional information detector 40 outputs the detection result to the controller 60. In this embodiment, the three-dimensional information detector 40 is arranged at a position that includes the observation object and the attachment 3 (especially the bucket 6) within its detection range (field of view). Specifically, for example Figure 1As shown, the three-dimensional information detector 40 is mounted on the upper slewing body 2 so that the area in front of the upper slewing body 2 at the work site is included in the detection range.

[0044] Figure 3 It is a side view showing an example of the positional relationship between a specific part of the construction machinery 100 and the observation object at the work site 102. The three-dimensional information detector 40 may be, for example, a three-dimensional camera that can detect vertical and horizontal two-dimensional information about the observation object and information about the depth of the observation object. The three-dimensional camera may be a stereoscopic three-dimensional camera (stereo camera), a TOF (Time Of Flight) three-dimensional camera, or a three-dimensional camera composed of a projector and a camera. A TOF three-dimensional camera may be, for example, LiDAR (Light Detection And Ranging). However, the three-dimensional information detector 40 only needs to be a device that can detect three-dimensional information about the observation object at the work site, and is not limited to the above specific examples.

[0045] The observation object is an object whose three-dimensional information can be detected by the three-dimensional information detector 40 among the multiple objects existing in the work site 102. In other words, the observation object is an object included in the detection range of the three-dimensional information detector 40. Therefore, the observation object is determined according to various conditions such as the position where the three-dimensional information detector 40 is installed, the orientation of the three-dimensional information detector 40, the characteristics of the three-dimensional information detector 40, the various settings of the three-dimensional information detector 40, and the posture of the construction machinery 100. For example, in the case where the three-dimensional information detector 40 is a TOF-type three-dimensional camera, the various conditions may also include the projection direction (projection range) of light. For example, Figure 3 In the specific example shown, the observation target includes a wall 90 existing at the work site 102 .

[0046] The specific portion of the construction machine 100 is the portion that is the subject of the operation information. The controller 60 may also set the specific portion based on input from the operator for setting the specific portion and store the specific portion. Furthermore, the controller 60 may also pre-store the specific portion. The controller 60 stores shape data, which is data related to the shape of the specific portion. The shape data may also be three-dimensional data corresponding to the surface shape of the specific portion, that is, three-dimensional data representing the external shape (contour of the specific portion) of the specific portion. Alternatively, the shape data may be data related to the dimensions of the specific portion.

[0047] The specific portion may be part or all of an attachment. In this case, the specific portion may be at least one of the boom 4, arm 5, and bucket 6. Furthermore, the specific portion may include part or all of the upper slewing body 2. In this case, the specific portion may include either the rear portion or the side portion of the upper slewing body 2. The rear portion of the upper slewing body 2 may also be the counterweight 13. Furthermore, the specific portion may include part or all of the lower traveling body 1. In this case, the specific portion may also include the crawler track of the lower traveling body 1.

[0048] In this embodiment, the controller 60 pre-stores the boom 4 , the arm 5 , and the bucket 6 as specific parts. The controller 60 pre-stores shape data on the boom 4 , the arm 5 , and the bucket 6 .

[0049] The display 50 displays proximity in the on-site image area Rw based on the instruction of the controller 60. The on-site image area Rw is an area where the operator can see the image of the work site 102 as the work site image. Proximity is the degree of proximity between a specific part of the construction machine 100 and an observation object at the work site. For example, the proximity can be the distance between the specific part and the observation object. Figure 3 and Figure 4 In the specific example of , the proximity is the distance between the boom 4 , the arm 5 , and the bucket 6 and the wall 90 .

[0050] The display 50 only needs to be a device capable of displaying proximity in the live image region Rw, and its specific structure is not particularly limited. The live image region Rw is determined by the type of display 50. The specific structures of the display 50 and the live image region Rw include the following.

[0051] Figure 4 This is a diagram showing an example of a screen of the display 50 arranged in the cockpit 12 . Figure 4 The display 50 shown is a display screen (monitor) such as a liquid crystal display screen or an organic EL display screen, which is arranged in a position visible to the operator in the cockpit 12. In this case, the live image area Rw is an area (image display area) that displays an image on the screen of the display screen. The live image area Rw is Figure 4The area within the roughly rectangular outer frame shown. The work site image 200 of the live screen area Rw (image display area Rw) of the display 50 can be displayed using the detection result input from the three-dimensional information detector 40 to the controller 60 or the display 50, and can also be displayed using image data input from a camera (camera) different from the three-dimensional information detector 40 to the controller 60 or the display 50. A specific example is described below. In the case where the three-dimensional information detector 40 is, for example, a stereo camera, the work site image 200 of the live screen area Rw of the display 50 is represented by the image data input from the stereo camera to the controller 60 or the display 50. In addition, in the case where the three-dimensional information detector 40 is, for example, a detector having a ranging function but not having a function of acquiring image data (such as a TOF sensor), the work site image 200 of the live screen area Rw of the display 50 is displayed using image data input from a camera (not shown) different from the three-dimensional information detector 40 to the controller 60 or the display 50. Figure 4 In the specific example shown, the work site image 200 displayed in the on-site image area Rw includes an image 201 of the wall 90 located in front of the upper rotating body 2, an image 202 of the scenery around the wall 90, and an image 210 of a specific portion. The image 210 of the specific portion is an example of a specific portion image of the present disclosure. Figure 4 In this specific example, image 210 of the specific portion includes image 211 of boom 4, image 212 of arm 5, and image 213 of bucket 6. Worksite image 200 is not an actual image (real image) of the worksite being observed, but rather an image displayed on a display screen (display 50). Worksite image 200 is an example of a worksite image.

[0052] The display 50 may also include a projector for a heads-up display (HUD) that displays proximity information on the windshield (an example of a transparent panel) disposed on the front window of the cockpit 12. The HUD projector displays proximity information on the windshield by superimposing proximity-related information on the work site image (real image) viewed through the windshield. In this case, the live image area Rw includes at least a portion of the windshield.

[0053] The display 50 may be a head mounted display (HMD) worn on the operator's head. In this case, the live screen area Rw includes an image display area that is an area where an image is displayed on the head mounted display.

[0054] The controller 60 includes a CPU (Central Processing Unit), an MPU (Microprocessor Unit), and other processing devices and a memory. The controller 60 performs notification control, which is a control for notifying an operator of information related to work performed by the construction machine 100.

[0055] The controller 60 calculates the proximity between the boom 4, arm 5, and bucket 6 and the wall 90, and displays the proximity within the boom region Ra, arm region Rb, and bucket region Rc. Specifically, the controller 60 displays the boom proximity indicating the proximity between the boom 4 and the wall 90 within the boom region Ra, displays the arm proximity indicating the proximity between the arm 5 and the wall 90 within the arm region Rb, and displays the bucket proximity indicating the proximity between the bucket 6 and the wall 90 within the bucket region Rc.

[0056] like Figure 2 As shown, the controller 60 includes a coordinate calculation unit 61, a point cloud data generation unit 62, a proximity calculation unit 63, a display form determination unit 64, and an overlay display unit 65. The coordinate calculation unit 61, the point cloud data generation unit 62, the proximity calculation unit 63, the display form determination unit 64, and the overlay display unit 65 are implemented by executing a control program stored in the memory of the controller 60.

[0057] The coordinate calculation unit 61 calculates the coordinates of the specific part using the posture information detected by the posture detector 30. The point cloud data generation unit 62 generates point cloud data of the observation object at the work site using the three-dimensional information (an example of position information) detected by the three-dimensional information detector 40. The proximity calculation unit 63 calculates the proximity between the specific part and the observation object using the coordinates of the specific part and the point cloud data. The display mode determination unit 64 determines the display mode of the proximity display indicating the proximity. The overlapping display unit 65 controls the display 50 so that the proximity display is performed in the display mode determined by the display mode determination unit 53 within the range of the specific area Rs that is part of the on-site screen area Rw.

[0058] like Figure 4 As shown, the specific region Rs is a region corresponding to a specific portion of the image 210. Figure 3 and Figure 4 In the specific example shown, the specific parts include the boom 4, the arm 5 and the bucket 6. Figure 4As shown, the specific area Rs includes: a boom area Ra corresponding to the image 211 of the boom 4, an arm area Rb corresponding to the image 212 of the arm 5, and a bucket area Rc corresponding to the image 213 of the bucket 6. More specifically, the specific area Rs is an area inside the outline (outer shape) of the image 210 of the specific portion. The boom area Ra is an area inside the outline (outer shape) of the image 211 of the boom 4, the arm area Rb is an area inside the outline (outer shape) of the image 212 of the arm 5, and the bucket area Rc is an area inside the outline (outer shape) of the image 213 of the bucket 6. The arm 5 is an example of the first part, and the bucket 6 is an example of the second part. The arm area Rb is an example of the first area, and the bucket area Rc is an example of the second area.

[0059] Figure 5 1 is a flowchart showing the operation processing operation of the controller 60 of the operation information notification device 101. Figure 5 The notification control performed by the controller 60 is described with reference to the flowchart of FIG.

[0060] First, the controller 60 determines whether to start notification control (step S1). Specifically, for example, the controller 60 starts notification control when a condition predetermined in order to determine whether to start notification control, i.e., a notification control start condition, is satisfied. The notification control start condition may also be, for example, the input device 80 (refer to Figure 2 ) receives an input from an operator to instruct the start of notification control. The input device 80 may be disposed in the cockpit 12, for example. In addition, the notification control start condition is not limited to the above-mentioned specific example.

[0061] When the control start condition is satisfied ("Yes" in step S1), the controller 60 obtains posture information related to the posture of the construction machine 100 from the posture detector 30 (step S2). Specifically, for example, the controller 60 obtains detection results from the boom posture sensor 31, the arm posture sensor 32, and the bucket posture sensor 33. In this case, the posture information includes: boom posture information related to the posture of the boom 4 (e.g., the angle of the boom 4), arm posture information related to the posture of the arm 5 (e.g., the angle of the arm 5), and bucket posture information related to the posture of the bucket 6 (e.g., the angle of the bucket 6).

[0062] The coordinate calculation unit 61 of the controller 60 calculates a representative point P1 (see Figure 3) (step S3). In this embodiment, the representative point P1 is set at the distal end of the bucket 6, but it can also be set at other parts of the bucket 6, or at a specific part of a component other than the bucket 6 (such as the boom 5). The three-dimensional coordinates of the representative point P1 can be coordinates in the global coordinate system or in the local coordinate system. The local coordinate system can also be a coordinate system (engineering machinery coordinate system) that can determine the relative position of the representative point P1 with respect to the upper rotating body 2.

[0063] The point cloud data generation unit 62 of the controller 60 uses the three-dimensional information input from the three-dimensional information detector 40 to generate point cloud data of the observed object at the work site (step S4). The point cloud data may also be data corresponding to the position and shape of the surface of the observed object (e.g., three-dimensional coordinate data). This three-dimensional coordinate data may be coordinates in either a global coordinate system or a local coordinate system. If the coordinate system representing the three-dimensional coordinates of point P1 differs from the coordinate system of the point cloud data (three-dimensional coordinate data), the controller 60 may also transform one coordinate system into the other.

[0064] The proximity calculation unit 63 of the controller 60 calculates the distance from the representative point P1 to the observed object (in the distance between the representative point P1 and the observed object) using the three-dimensional coordinates of the representative point P1 and the point cloud data. Figure 3 The shortest proximity X is calculated (step S5) by calculating the shortest distance from the representative point P1 to the observation object.

[0065] The display mode determination unit 64 of the controller 60 determines the display mode of the portion corresponding to the representative point P1 in the proximity display (described below) based on the shortest proximity X (step S6). This display mode may also be a set color that sets the brightness, hue, and other colors of the portion corresponding to the representative point P1 in the proximity display. Specifically, for example, the controller 60 generates a three-dimensional model corresponding to the actual posture of the attachment 3 at that time based on the posture information and the shape data, and determines the set color for the portion of the three-dimensional model corresponding to the representative point P1, i.e., the portion of the three-dimensional model corresponding to the distal end of the bucket 6.

[0066] The display mode determination unit 64 of the controller 60 determines the display mode of the three-dimensional model of the attachment 3 (target component) (step S7). Specifically, for example, the display mode determination unit 64 of the controller 60 determines the setting 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 setting color of each 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, Figure 4As shown, the set color of the entire three-dimensional model of the accessory device 3 can also be determined so that a gradient, such as a gradual change in brightness or color tone, is formed in the three-dimensional model based on the distance from the observation object. The gradient in the three-dimensional model represents the proximity of each part of the accessory device 3 to the observation object.

[0067] The superimposed display unit 65 of the controller 60 controls the display 50 so that the three-dimensional model of the attachment 3 is displayed in the determined display format in the specific region Rs (step S8). Specifically, the superimposed display unit 65 of the controller 60 displays the three-dimensional model of the attachment 3 superimposed on the work site image 200 on the screen of the display 50 in the determined display format. Specifically, the superimposed display unit 65 of the controller 60 controls the display 50 so that a proximity display (display of the three-dimensional model) indicating the proximity is performed in the specific region Rs of the live image area Rw of the display 50. Thus, the proximity display is performed in the specific region Rs, which is a portion of the live image area Rw.

[0068] In addition, the controller 60 may also determine in which range of the live picture area Rw the specific area Rs is located, for example, by the following method. The controller 60 may also use the pre-stored shape data of the boom 4, the arm 5, and the bucket 6 and the posture information detected by the posture detector 30 to determine the range occupied by the specific area Rs in the live picture area Rw (image display area Rw) of the display 50. More specifically, the controller 60 may also use the shape data, the posture information, and the three-dimensional information related to the observed object detected by the three-dimensional information detector 40 to determine the range occupied by the specific area Rs in the live picture area Rw. The controller 60 can calculate the three-dimensional coordinates of the observed object at this time based on the three-dimensional information, and can calculate the three-dimensional coordinates of the contour of the specific part (the surface of the specific part) at this time using the shape data and the posture information. Therefore, the controller 60 uses the three-dimensional coordinates of the observed object and the three-dimensional coordinates of the contour of the specific part (the surface of the specific part) to determine the range occupied by the specific area Rs in the live picture area Rw.

[0069] As described above, the work information notification device 101 of this embodiment displays proximity within a specific region Rs in the work site image 200 (the region corresponding to the images of the boom 4, arm 5, and bucket 6, which are specific parts of the construction machine 100). This allows the operator to be informed of the proximity of the boom 4, arm 5, and bucket 6 to the wall 90 included in the work site observation object, while avoiding obstruction of the image surrounding the specific part of the work site image 200. This allows the work information notification device 101 to provide the operator with work-related information without interfering with the work of the construction machine 100.

[0070] Furthermore, the work information notification device 101 of this embodiment includes a three-dimensional information detector 40 for detecting three-dimensional information related to the observed object, and a posture detector 30 for detecting posture information related to the posture of the construction machine 100. The controller 60 uses the three-dimensional information and posture information to calculate proximity. The controller 60 can determine the position of the observed object based on the three-dimensional information, including two-dimensional information about the vertical and horizontal dimensions and depth information of the observed object, and can also determine the position of a specific portion of the construction machine 100 based on the posture information. Therefore, even if the posture of the construction machine 100 changes during work at the work site, the operator can be notified of the proximity corresponding to the posture of the construction machine 100.

[0071] Furthermore, in the work information notification device 101 of this embodiment, the controller 60 pre-stores shape data corresponding to the shapes of the specific parts (the boom 4, arm 5, and bucket 6). This shape data and the posture information are used to identify the specific area Rs. Specifically, the controller 60 uses the shape data of the boom 4, arm 5, and bucket 6 and the posture information of the construction machine 100 at that time to determine the position of the outline of the image of the boom 4, arm 5, and bucket 6 within the on-site image area Rw. Therefore, even if the posture of the construction machine 100 changes during work at the work site, the specific area Rs corresponding to the posture of the construction machine 100 can be identified, and proximity display can be performed within the scope of this specific area Rs.

[0072] While the automatic control device and the construction machine equipped with the automatic control device according to the embodiment of the present disclosure have been described above, the present disclosure is not limited to the above embodiment and includes, for example, the following modified examples.

[0073] [Variation 1]

[0074] Figure 6 This is a diagram showing an example of work information notified by the work information notification device 101 according to the first modification of the above-described embodiment.

[0075] In this first modification, the controller 60 may perform the proximity display within the boom region Ra and the arm region Rb when a predetermined condition is satisfied, and avoid the proximity display within the bucket region Rc, so that the operator can see the image 213 of the bucket 6 in the bucket region Rc. The boom region Ra and the arm region Rb are each an example of a first region, and the bucket region Rc is an example of a second region.

[0076] Depending on the task, the operator may want to accurately understand the movement of bucket 6 during operation. In such cases, displaying a proximity indicator in bucket region Rc would actually reduce workability. Therefore, in this first variation, when the predetermined conditions are met, a proximity indicator displayed within boom region Ra and arm region Rb informs the operator of the proximity of specific portions of boom 4 and arm 5 to the observed object. Meanwhile, the proximity indicator is not displayed in bucket region Rc, allowing the operator to see an image of bucket 6. Specifically, since the proximity indicator is not displayed in bucket region Rc, the operator can see not only the outline of bucket 6 but also the portion within that outline. This allows the operator to easily understand the movement of bucket 6 during operation.

[0077] In this first modification, the predetermined condition may be, for example, that the work content is a predetermined specific work. The specific work may be, for example, an excavation operation that requires the operator to accurately recognize the movement of the bucket 6. Alternatively, the predetermined condition may be, for example, that the operator performs a specific input on the input device 80.

[0078] [Variation 2]

[0079] Figure 7 It is a diagram for explaining the arrangement of the three-dimensional information detector 40 of the work information notifying device 101 according to the second modification of the above-described embodiment. Figure 7 , a plurality of three-dimensional information detectors 40 ( 40A, 40B, 40C, 40D) are depicted in FIG. As described above, the three-dimensional information detectors 40 can be arranged at various positions according to the content of the work of the construction machine 100 .

[0080] Specifically, with Figure 1 and Figure 3 Similarly, the three-dimensional information detector 40A is installed on the side of the upper rotating body 2 or inside the cockpit 12, so that the area in front of the upper rotating body 2 at the work site 102 is included in the detection range, and the attachment 3 and the observation objects around it are included in the detection range.

[0081] The three-dimensional information detector 40B is mounted on the upper part of the upper rotating body 2 so that the higher area in front of the upper rotating body 2 of the work site 102 is included in the detection range, and the attachment 3 and the surrounding observation objects are also included in the detection range.

[0082] The three-dimensional information detector 40C is installed on component 91 so that the area below other components 91 different from the construction machinery 100 (such as the ceiling of the structure, the beams of the structure, etc.) is included in the detection range, and a part of the attachment 3 (such as the bucket 6) and the observation objects around it are included in the detection range.

[0083] The three-dimensional information detector 40D is mounted on the upper rotating body 2 so that the rear area of the upper rotating body 2 at the work site 102 is included in the detection range. Specifically, the three-dimensional information detector 40D may be mounted on the upper rotating body 2 so that the rear area of the upper rotating body 2 at the work site 102 is included in the detection range, and the rear portion of the upper rotating body 2 (e.g., the counterweight 13) and the surrounding observation objects are included in the detection range.

[0084] Furthermore, the operation information notification device 101 does not necessarily need to include all of the plurality of three-dimensional information detectors 40 ( 40A, 40B, 40C, 40D), and may include only a part of the plurality of three-dimensional information detectors 40 .

[0085] [Variation 3]

[0086] Figure 8 is a side view showing another example of the positional relationship between a specific portion of a construction machine and an observation object at a work site. Figure 9 This is a diagram showing an example of work information notified by the work information notification device 101 according to Modification 3 of the above-described embodiment.

[0087] The work information notification device 101 of this modification 3 includes a three-dimensional information detector 40D. The three-dimensional information detector 40D is mounted on the upper swing body 2 so that the area behind the upper swing body 2 at the work site 102 is included in the detection range, and the counterweight 13 of the upper swing body 2 and the surrounding observation objects are also included in the detection range.

[0088] In this modification 3, the specific portion includes the counterweight 13 of the upper rotating body 2, such as Figure 9 As shown, the specific area Rs includes a counterweight area corresponding to an image 220 of the counterweight 13. The counterweight area includes a facing area Rd, which faces the wall 92 from front to back; a left area Re, which is the area to the left of the facing area Rd; and a right area Rf, which is the area to the right of the facing area Rd. In this third variation, the work site image 200 displayed in the on-site image area Rw of the display 50 includes an image 203 of the wall 92 located behind the upper slewing body 2, an image 204 of the scenery surrounding the wall 92, and an image 220 of the counterweight 13. The image 220 of the counterweight 13 is an example of a specific portion of the image disclosed herein.

[0089] In this third variation, the controller 60 can also perform notification control similar to that of the aforementioned embodiment. In this notification control, the controller 60 calculates the proximity between the counterweight 13 and the wall 92 and displays the proximity within the counterweight regions (the facing region Rd, the left region Re, and the right region Rf). Specifically, the controller 60 displays the proximity within the facing region Rd (facing region proximity display) indicating the proximity between the portion of the counterweight 13 corresponding to the facing region Rd (the facing portion) and the wall 92. It also displays the proximity within the left region Re (left region proximity display) indicating the proximity between the portion of the counterweight 13 corresponding to the left region Re (the left portion) and the wall 92. It also displays the proximity within the right region Rf (right region proximity display) indicating the proximity between the portion of the counterweight 13 corresponding to the right region Rf (the right portion) and the wall 92.

[0090] The facing portion of the counterweight 13 is an example of a first portion, and the left portion and the right portion are each an example of a second portion.

[0091] In this third modification, the controller 60 may display the facing area proximity display within the facing area Rd, the left area proximity display within the left area Re, and the right area proximity display within the right area Rf, so that the operator can understand which of the facing area, left area, and right area is closer to the wall 92. In this case, the operator can easily recognize which of the facing area, left area, and right area is closer to the wall 92 (observation target) based on the facing area proximity display, the left area proximity display, and the right area proximity display.

[0092] As a display mode that allows the operator to grasp the closer portion, for example, there can be mentioned: adding a gradation difference; blinking the proximity display corresponding to the portion closest to the wall 92 ; and the like.

[0093] [Variation 4]

[0094] Figure 10 This is a diagram related to Modification 4 of the above-described embodiment, and is a side view showing an example of a positional relationship between a specific portion of the construction machine 100 and an observation target at the work site 102 .

[0095] When the operator performs work while looking at the live image area Rw on the display 50, for example, Figure 10As shown by the two-dot chain line, as the attachment 3 moves upward (in the upright direction), the image of the bucket 6 on the display 50 may sometimes fall outside the live view area Rw. In this case, in Modification 4, the controller 60 issues an alarm when the bucket 6, a specific part of the construction machine 100, is outside the live view area Rw and the distance between the bucket 6 and an obstacle 91 in the work site 102 is less than a predetermined threshold value Y. This alarm allows the operator to be aware that the bucket 6 of the construction machine, which is outside the live view area Rw, is more likely to come into contact with the obstacle 91.

[0096] [Variation 5]

[0097] Alternatively, the controller 60 may store a limit proximity value, representing the limit of the proximity, and change the proximity display to a predetermined display mode, i.e., a specific display mode, when the proximity value reaches the limit proximity value. In this fifth variation, the operator can recognize that the proximity value has reached the limit proximity value, i.e., that the probability of contact between a specific portion of the construction machine 100 and an observation object at the work site has increased, by observing the change in the display mode of the proximity display. When the proximity value is the distance between the specific portion and the observation object, the limit proximity value is set to a distance appropriate for the workload.

[0098] The specific display mode is not particularly limited as long as it allows the operator to recognize that the proximity has reached the limit proximity. For example, the following display modes may be exemplified. For example, the specific display mode may flash a portion or all of the specific region Rs to display the proximity.

[0099] Here, the degree of the extreme proximity required to ensure the safety of the work varies depending on the work conditions such as the environment of the work site and the work content. Therefore, the input device 80 (refer to Figure 2 ) is configured to receive input for changing the setting of the limit proximity. In this case, the operator can change the setting of the limit proximity according to the working conditions, and thus can understand whether the limit proximity set according to the working conditions reaches the actual proximity.

[0100] Alternatively, the controller 60 may store a plurality of extreme proximity levels, including an extreme proximity level and a second extreme proximity level different from the extreme proximity level, select one of the plurality of extreme proximity levels based on a predetermined selection criterion, and change the proximity display to the specific display mode when the proximity level reaches the selected extreme proximity level. In this case, the controller 60 selects the extreme proximity level that matches the selection criterion from the plurality of extreme proximity levels. Therefore, even if the operator does not input an input to the input device 80 as described above, the operator can still determine whether the actual proximity level has reached the extreme proximity level that matches the conditions.

[0101] The selection criteria may also be, for example, a criteria obtained by associating multiple work types capable of being performed by the construction machine 100 with multiple extreme proximity levels. Specifically, the multiple work types may include excavation, swinging, and leveling, and the multiple extreme proximity levels may include a first extreme proximity level, a second extreme proximity level, and a third extreme proximity level. In this case, the selection criteria may be: when the work type is excavation, the first extreme proximity level may be selected as the extreme proximity level; when the work type is swinging, the second extreme proximity level may be selected as the extreme proximity level; and when the work type is leveling, the third extreme proximity level may be selected as the extreme proximity level.

[0102] [Variation 6]

[0103] The controller 60 may also be configured to display a first proximity display indicating the proximity of the arm 5 to the observation object within the arm region Rb and a second proximity display indicating the proximity of the bucket 6 to the observation object within the bucket region Rc, so that the operator can determine which of the arm 5 (an example of the first portion) and the bucket 6 (an example of the second portion) is closer to the observation object. In this sixth variation, 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 this sixth variation, the operator can easily determine which of the arm 5 and the bucket 6 is closer to the observation object based on the first and second proximity displays.

[0104] [Variation 7]

[0105] The observation object of the work site 102 does not necessarily have to be an object such as the walls 90, 92 of the work site 102; it may also be a hypothetical allowable limit position set at a boundary line or boundary surface of the work site 102. In Modification 7, the observation object includes an allowable limit position set as a limit for the movement of a specific part in the work site 102. Specifically, for example, as the upper rotating body 2 rotates left or right, the bucket 6 (the specific part) also rotates left or right. The allowable limit position may also be a position set as a limit for the movement of the bucket 6 as the upper rotating body 2 rotates left or right, as described above.

[0106] The controller 60 calculates the distance between the bucket 6 and the permissible limit position as the proximity. As described in Modification 7, when the observation target is the permissible limit position, the operator can rotate the upper swing body 2 of the construction machine within a range where the bucket 6 does not exceed the permissible limit position by performing operations while observing the proximity display.

[0107] [Variation 8]

[0108] Alternatively, the construction machine 100 may be operated by a remote operator 20 located at a distance from the construction machine 100, and the display 50 may be located at the distance. In this case, the operation information notification device 101 and the construction machine 100 each include a communicator for wireless or wired communication of information therebetween. In this modification 8, at a distance, the proximity display performed by the display 50 within the specific area Rs does not obscure the image around the specific portion of the construction machine 100 in the on-site image area Rw, and therefore does not interfere with the remote operation performed by the operator at a distance. Therefore, the operator can operate the remote operator 20 while observing the proximity display that does not interfere with the operation of the construction machine 100 at a distance. That is, even if the operator is at a distance where he cannot directly see the work site 102, he can still grasp the distance between the specific portion of the construction machine 100 at the work site 102 and the observation object at the work site 102, and operate the construction machine without being disturbed by the proximity display.

[0109] [Variation 9]

[0110] The controller 60 may also be configured to transmit the proximity information to a management device located remote from the construction machine 100. In this case, the operation information notification device 101 and the management device each include a communicator for wireless or wired communication between them. In this ninth variation, those involved in the operation other than the operator operating the construction machine 100 can understand the operation status through the information transmitted to the management device. The management device may be an information device accessible to those involved in the operation other than the operator, or an information device such as a server.

[0111] [Variation 10]

[0112] Alternatively, the scene image area Rw may include the transparent plate 12A (see FIG. 1 ) disposed on the front window of the cab 12 of the construction machine 100. Figure 1 ), the display 50 performs the proximity display on the transparent plate 12A. In this modification 10, the display 50 includes a projector for a head-up display (HUD). The projector displays the proximity on the transparent plate 12A by projecting information about the proximity onto the transparent plate 12A. In this modification 10, the operator can see the work site picture (i.e., the real picture of the work site) through the live picture area Rw including at least a part of the transparent plate 12A arranged on the front window, and operate the construction machine 100 in the cockpit 12 of the construction machine 100 while confirming the proximity display within the range of the specific area Rs, which is a part of the live picture area Rw. Therefore, the operator can grasp the proximity without being disturbed by the proximity display while looking at the specific area Rs, which is the area corresponding to the real picture of the specific part of the construction machine 100, thereby improving the working efficiency.

[0113] [Other Modifications]

[0114] (A) In the above embodiment, the specific portion includes the arm 5 and 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 observation object includes the wall 90 located at the work site. However, in the work information notification device of the present disclosure, the specific portion, specific region Rs, and observation object are not limited to the specific examples in the above embodiment.

[0115] (B) The proximity display does not necessarily need to be displayed over the entire specific area; it may be displayed over only a portion of the specific area. Furthermore, the proximity display may not be a gradual display as described above. For example, the proximity display may be displayed using text, graphics, or the like within the specific area.

[0116] (C) In the above embodiment, the construction machine 100 includes the operation information notification device 101. However, the operation information notification device of the present disclosure does not necessarily need to be included in the construction machine, and may be provided separately from the construction machine.

[0117] (D) In the above embodiment, the position information detector is composed of the three-dimensional information detector 40. However, the position information detector of the present disclosure only needs to be a detector capable of detecting the position information of the observed object and is not limited to the three-dimensional information detector 40.

[0118] (E) In the operation information notification device of the present disclosure, the input device 80 may be omitted.

[0119] (F) The work information notification device disclosed herein does not completely exclude the possibility of displaying certain information (specific information) overlapping with an area of the work site image area corresponding to the area surrounding a specific portion of the work site image area visible to the operator. Specifically, the work information notification device disclosed herein performs proximity display within the specific area of the work site image area (the area corresponding to the area of the work site image area corresponding to the specific portion of the construction machine). Therefore, even if certain specific information is displayed overlapping with an area of the work site image area corresponding to the area surrounding the specific portion of the work site image area visible to the operator, the display area of the specific information can be minimized.

[0120] As described above, the present disclosure provides a work information notification device capable of notifying an operator of work-related information without interfering with the work of a construction machine, and a construction machine equipped with the work information notification device.

[0121] Provided is an operation information notification device for notifying an operator of relevant information about an operation performed by an engineering machine, wherein the engineering machine includes a machine body and an auxiliary device supported by the machine body, and the operation information notification device includes: a controller for calculating the proximity between a specific part included in the engineering machine and an observation object at a work site; and a display for performing a proximity display representing the proximity in a scene picture area, wherein the scene picture area enables the operator to see a picture of the work site, i.e., a work site picture, wherein the controller performs the proximity display within the range of a specific area which is a part of the scene picture area and corresponds to the picture of the specific part.

[0122] This work information notification device displays the proximity within a specific area (the area corresponding to the image of a specific part of the construction machine) within the on-site image area where the operator can view the work site image. This allows the operator to be informed of the proximity of the specific part to the object being observed at the work site while avoiding obstructing the area corresponding to the image surrounding the specific part within the on-site image area where the operator can view the work site image. Consequently, the work information notification device can provide the operator with information related to the work without disrupting the work of the construction machine. Specifically, when the operator operates the construction machine while observing the on-site image area, important information is the positional relationship between the specific part of the construction machine and the image surrounding the specific part. The operator can determine the position of the specific part based on the outline (contour) of the specific area corresponding to the image of the specific part. Therefore, the importance of information inside the outline of the specific area is lower than that of information related to the image surrounding the specific part. Therefore, the work information notification device displays the proximity within the specific area, rather than within the area corresponding to the image surrounding the specific part. This allows the operator to be informed of information related to the work without disrupting the work of the construction machine.

[0123] Preferably, the work information notification device further includes a position information detector for detecting position information of the observation object; and a posture detector for detecting posture information related to the posture of the construction machine, wherein the controller calculates the proximity using the position information and the posture information. With this configuration, the controller can grasp the position of the observation object based on the detected position information and grasp the position of a specific part of the construction machine based on the detected posture information. Therefore, even if the posture of the construction machine changes during work at the work site, the operator can be informed of the proximity corresponding to the posture of the construction machine.

[0124] Preferably, the work information notification device further includes a posture detector for detecting posture information related to the posture of the construction machine, wherein the controller pre-stores shape data related to the shape of the specific portion, and uses the shape data and the posture information to determine the specific area. With this configuration, the controller can determine the position of the outline of the specific portion within the on-site image area by using the shape data of the specific portion and the posture information of the construction machine at that time. Therefore, even if the posture of the construction machine changes during work at the work site, the specific area corresponding to the posture of the construction machine can be determined, and proximity display can be performed within the scope of the specific area.

[0125] Preferably, the controller changes the proximity display to a preset display mode when the proximity reaches a limit proximity value set as the proximity limit. With this configuration, the operator can recognize that the proximity has reached the limit proximity value, i.e., that the probability of a specific part of the construction machine coming into contact with an observation object at the work site has increased, by the change in the display mode of the proximity display.

[0126] The degree of extreme proximity required to ensure operational safety varies depending on operational conditions such as the worksite environment and the nature of the work. Therefore, the operational information notification device preferably further includes an input device for receiving input for changing the setting of the extreme proximity. With this configuration, the operator can change the extreme proximity setting based on operational conditions, thereby ensuring that the extreme proximity set based on operational conditions meets the actual approach.

[0127] Alternatively, the controller may store a plurality of limit proximity levels, including a limit proximity level and a second limit proximity level different from the limit proximity level, select one of the plurality of limit proximity levels based on a predetermined selection criterion, and change the proximity display to the display mode when the proximity level reaches the selected limit proximity level. With this configuration, the controller selects a limit proximity level that matches the selection criterion from the plurality of limit proximity levels. Therefore, even if the operator does not input an input to the input device as described above, the operator can determine whether the actual proximity level has reached the limit proximity level that matches the conditions.

[0128] Preferably, the controller calculates the distance between a pre-set point, i.e., a representative point, in the specific portion and the observed object as the proximity. With this configuration, rather than calculating the distances between multiple portions of the entire specific portion and the observed object, the distance between the representative point of the specific portion and the observed object is calculated as the proximity. This reduces the computational load on the controller while allowing the operator to clearly identify the distance between the representative point of the specific portion and the observed object.

[0129] Alternatively, the accessory device may include a first portion and a second portion, the specific portion may include the first portion and the second portion, and the specific area may include a first area corresponding to the screen of the first portion and a second area corresponding to the screen of the second portion. In this case, a proximity display indicating the proximity of the first portion to the observed object may be performed within the range of the first area, and a proximity display indicating the proximity of the second portion to the observed object may be performed within the range of the second area.

[0130] Preferably, the controller displays a first proximity display indicating the proximity of the first portion to the observed object within the first region, and displays a second proximity display indicating the proximity of the second portion to the observed object within the second region, in a display format that allows the operator to determine which of the first and second portions is closer to the observed object. With this configuration, the operator can easily determine which of the first and second portions is closer to the observed object based on the first and second proximity displays.

[0131] Alternatively, the controller may perform the proximity display within the range of the first area when a pre-set condition is satisfied, and avoid the proximity display within the range of the second area in the second area so that the operator can see the screen of the second part. Depending on the content of the operation, the operator may want to correctly grasp the action of the second part of the operation. In this case, if the proximity display is performed in the second area, it may lead to a decrease in workability. Therefore, according to this structure, when the pre-set condition is satisfied, the proximity display within the range of the first area is displayed to inform the operator of the proximity between the first part of the specific part and the observed object. On the other hand, the proximity display is not performed in the second area, allowing the operator to see the screen of the second part. As a result, the operator can easily recognize the action of the second part of the operation.

[0132] Specifically, for example, when the first portion is an arm, the second portion is a bucket, and the operation is excavation, it is particularly important for the operator to accurately recognize the movement of the bucket. In this case, the operator can accurately recognize the proximity between the first portion (arm) and the observed object using the proximity display within the first area (arm area) while accurately recognizing the movement of the bucket using the image of the bucket in the second area (bucket area).

[0133] Preferably, the controller issues an alarm when the specific portion of the construction machine is outside the live view area and the distance between the specific portion and an obstacle at the work site is below a predetermined threshold. With this configuration, even when the operator is working while observing the live view area, the alarm allows the operator to be aware of the increased likelihood that the specific portion of the construction machine, located outside the live view area, will come into contact with an obstacle.

[0134] Alternatively, the observation object may include an allowable limit position set as a limit for the movement of the specific part at the work site, and the controller may calculate the distance between the specific part and the allowable limit position as the proximity. As described above, the observation object at the work site does not necessarily have to be an object existing at the work site, but may also be an allowable limit position such as a boundary line or boundary surface hypothetically set at the work site. If the observation object is at the allowable limit position, the operator can operate the construction machinery within the range of the specific part not exceeding the allowable limit position by observing the proximity display while performing the operation.

[0135] Alternatively, the construction machinery may be operated by a remote operator that is located at a distance away from the construction machinery, and the display may be located at the distance. According to this structure, at a distance, the proximity display performed by the display within a specific area will not cover the image around the specific part of the construction machinery in the on-site image area, and therefore will not interfere with the remote operation performed by the operator at a distance. Therefore, the operator can operate the remote operator while observing the proximity display that does not interfere with the operation of the construction machinery at a distance. That is, even if the operator is at a distance where he cannot directly see the work site, he can still grasp the distance between the specific part of the construction machinery at the work site and the observation object at the work site, and operate the construction machinery without being interfered with by the proximity display.

[0136] The controller may be configured to transmit the proximity information to a management device located away from the construction machine. With this configuration, people involved in the work other than the operator operating the construction machine can understand the status of the work through the information transmitted to the management device.

[0137] Alternatively, the on-site image area includes at least a portion of a transparent plate disposed on the front window of the cockpit of the construction machine, and the display performs the proximity display on the transparent plate. According to this structure, the operator can see the work site image (i.e., the real image of the work site) through the on-site image area that includes at least a portion of the transparent plate disposed on the front window, and can operate the construction machine in the cockpit of the construction machine while confirming the proximity display within a portion of the on-site image area, i.e., a specific area. Therefore, the operator can grasp the proximity without being disturbed by the proximity display while observing the area corresponding to the real image of the specific part of the construction machine, i.e., the specific area, thereby improving work efficiency.

[0138] The provided engineering machine comprises: the above-mentioned operation information notification device, the machine body, and the auxiliary device. The engineering machine can notify the operator of the relevant information of the operation without interfering with the operation of the engineering machine.

Claims

1. An operation information notification device for notifying an operator of information related to an operation performed by a construction machine, wherein the construction machine comprises a machine body and an auxiliary device supported by the machine body, the operation information notification device comprising: a controller that calculates a proximity between a specific portion of the engineering machine and an observation object at a work site; as well as The display performs a proximity display indicating the proximity in a scene picture area, wherein the scene picture area enables the operator to see the picture of the work site, that is, the work site picture, wherein The controller performs the proximity display within a range of a specific area that is a part of the live screen area and corresponds to the specific portion of the screen.

2. The operation information notification device according to claim 1, characterized in that Also includes: A position information detector for detecting the position information of the observed object; as well as A posture detector detects posture information related to the posture of the engineering machine, wherein: The controller calculates the proximity using the position information and the posture information.

3. The operation information notification device according to claim 1, characterized in that Also includes: A posture detector detects posture information related to the posture of the engineering machine, wherein: The controller pre-stores shape data, which is data related to the shape of the specific portion, and specifies the specific area using the shape data and the posture information.

4. The operation information notification device according to any one of claims 1 to 3, characterized in that: The controller changes the proximity display to a preset display mode when the proximity reaches a limit proximity set as the proximity limit.

5. The operation information notification device according to claim 4, characterized in that Also includes: The input device receives an input for changing the setting of the limit proximity.

6. The operation information notification device according to claim 4, characterized in that: The controller stores a plurality of extreme proximity levels including an extreme proximity level and a second extreme proximity level different from the extreme proximity level, selects one of the plurality of extreme proximity levels based on a pre-set selection criterion, and changes the proximity display to the display form when the proximity level reaches the selected extreme proximity level.

7. The operation information notification device according to any one of claims 1 to 6, characterized in that: The controller calculates the distance between a pre-set point in the specific portion, ie, a representative point, and the observed object as the proximity.

8. The operation information notification device according to any one of claims 1 to 7, characterized in that: The attachment device comprises a first part and a second part, The specific part includes the first part and the second part, The specific area includes a first area corresponding to the first portion of the screen and a second area corresponding to the second portion of the screen.

9. The operation information notification device according to claim 8, characterized in that: The controller performs a first proximity display indicating the proximity of the first part to the observation object within the scope of the first area, and performs a second proximity display indicating the proximity of the second part to the observation object within the scope of the second area, in a display form that allows the operator to grasp the part of the first part and the second part that is closer to the observation object.

10. The operation information notification device according to claim 8, characterized in that: The controller performs the proximity display within the first area when a preset condition is satisfied, and avoids the proximity display within the second area in the second area so that the operator can see the second portion of the screen.

11. The operation information notification device according to any one of claims 1 to 10, characterized in that: The controller issues an alarm when the specific portion of the construction machine is outside the on-site image area and the distance between the specific portion and an obstacle in the work site is equal to or smaller than a preset threshold.

12. The operation information notification device according to any one of claims 1 to 11, characterized in that: The observation object includes an allowable limit position set as a limit for allowing the specific part to move at the work site. The controller calculates the distance between the specific portion and the allowable limit position as the proximity.

13. The operation information notification device according to any one of claims 1 to 12, characterized in that: The construction machine is operated by a remote operator located at a remote location away from the construction machine, and the display is located at the remote location.

14. The operation information notification device according to any one of claims 1 to 13, characterized in that: The controller transmits information about the proximity to a management device disposed at a location remote from the construction machine.

15. The operation information notification device according to any one of claims 1 to 14, characterized in that: The live image area includes at least a portion of a transparent panel disposed on a front window of a cab of the construction machine, and the display performs the proximity display on the transparent panel.

16. An engineering machine, characterized in that include: The operation information notification device according to any one of claims 1 to 15; the body; as well as The accessory device.

Images