Work information setting system, work information setting program, and work information setting method

Abstract

To provide a work information setting system capable of reducing effort and time for instructing location information used for work performed by automatic control of a work machine.SOLUTION: A work information setting system 1 includes: an input unit 41 for inputting information used for controlling work position setting; and a display unit 43 for outputting the information for controlling the work position setting. The work position setting control is configured to display work machine 10 surrounding information A on the display unit 43. The work position setting control acquires an indication position I. The indication position I is a position in the surrounding information A displayed on the display unit 43, which is the position input on the input unit 41. The work position setting control sets a working position W, which is the location information used when the real work machine 10 performs work by automated control on the basis of the indication position I.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a work information setting system, a work information setting program, and a work information setting method for setting work information used in work by a work machine. [Background technology]

[0002] For example, Patent Document 1 describes that an operator operates a work machine to indicate position information used for work by automatically controlling the work machine (see paragraph 0032 of Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-55296 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the invention described in Patent Document 1, the worker needs to operate the work machine in order to specify the position information used for work by the automatic control of the work machine. Therefore, this specifying task is time-consuming and laborious.

[0005] Therefore, an object of the present invention is to provide a work information setting system, a work information setting program, and a work information setting method that can reduce the effort and time required to specify position information used for work performed by automatically controlling a work machine. [Means for solving the problem]

[0006] The work information setting system includes an input unit and a display unit. Information used for work position setting control is input to the input unit. The display unit outputs information for the work position setting control. The work position setting control causes surrounding information of the work machine to be displayed on the display unit. The work position setting control acquires an indicated position. The indicated position is a position in the surrounding information displayed on the display unit, and is a position input by the input unit. The work position setting control sets a work position based on the indicated position. The work position is position information used when the actual work machine performs work under automatic control.

[0007] The work information setting program causes a computer to execute a display step, a designated position acquisition step, and a work position setting step. The display step causes surrounding information of the work machine to be displayed on a display unit. The designated position acquisition step acquires a designated position. The designated position is a position in the surrounding information displayed on the display unit, and is a position input by an input unit. The work position setting step sets a work position based on the designated position. The work position is position information used when the actual work machine performs work under automatic control.

[0008] The work information setting method includes a display step, an instructed position acquisition step, and a work position setting step. The display step causes surrounding information of the work machine to be displayed on a display unit. The instructed position acquisition step acquires the instructed position. The instructed position is a position in the surrounding information displayed on the display unit, and is a position input by an input unit. The work position setting step sets a work position based on the instructed position. The work position is position information used when the actual work machine performs work under automatic control. Effect of the Invention

[0009] Each of the above-described work information setting system, work information setting program, and work information setting method can reduce the effort and time required to specify position information used in work performed by automatically controlling a work machine. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a side view of the work machine 10 and other components of the work information setting system 1. [Diagram 2] 2 is a block diagram of the work information setting system 1 shown in FIG. [Diagram 3] 2 is a diagram showing an image of a work position W and the like displayed on a display unit 43 shown in FIG. [Figure 4] 3 and shows a work start position Wc1, a work end position Wc3, etc. FIG. [Diagram 5] 5 is a diagram corresponding to FIG. 3 in the case where a designated position I shown in FIG. 4 is designated from point cloud information. [Figure 6] 4 is a diagram showing images of an instruction position I and a work position W shown in FIG. 3. FIG. [Figure 7] 7 is a diagram showing images of the capturing and releasing operation positions Wa and the like when the number of the capturing and releasing operation positions Wa shown in FIG. 6 is changed. FIG. [Figure 8] 7 is a diagram showing images of the capturing and releasing operation position Wa and the like when the distance L1 shown in FIG. 6 is changed. FIG. [Figure 9] 5 is a view equivalent to FIG. 3 showing an image of the pile of earth and sand A1a shown in FIG. 4 as seen from the side. [Figure 10] 3 and shows an image of the container A3 shown in FIG. 4 as viewed from the side. [Figure 11] 4 in a case where the indicated position I shown in FIG. 4 is not valid. FIG. [Figure 12] 3 is a flowchart showing a process for setting a working position W by the controller 50 shown in FIG. 2. [Figure 13] 3 is a flowchart of processing such as storage of a working position W by a controller 50 shown in FIG. 2. [Figure 14]14 is a diagram corresponding to FIG. 3, showing a selection screen for preset data including the work position W stored by the process of FIG. 13. FIG. [Figure 15] 15 is a diagram equivalent to FIG. 3 and showing a management screen for the preset data shown in FIG. 14. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The work information setting system 1 will be described with reference to FIGS.

[0012] The work information setting system 1 is a system that sets information (work information) related to work of the work machine 10 shown in Fig. 1. As shown in Fig. 3, the work information setting system 1 is a system that sets work information (e.g., work position W) based on instructions from an input unit 41 while displaying surrounding information A on a display unit 43. As shown in Fig. 1, the work information setting system 1 includes a work machine 10, an attitude sensor 20, a surrounding information sensor 30, an information processing device 40, and a controller 50.

[0013] The work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work. The work machine 10 may be, for example, a shovel or a crane. The following describes the case where the work machine 10 is a shovel. The work machine 10 may be configured to be capable of automatic operation. The work machine 10 may be operated by a worker (operator) in the cab 13a, or may be remotely operated. The work machine 10 includes a machine body 10a, an attachment 15, a drive control unit 17 (see FIG. 2), and a communication unit 19.

[0014] The machine body 10a is a main body portion of the work machine 10. The machine body 10a includes a lower body 11 and an upper rotating body 13.

[0015] The lower body 11 supports the upper rotating body 13. For example, the lower body 11 is a lower traveling body that can travel on a traveling surface (such as the ground). In this case, the lower body 11 may be equipped with crawlers or wheels.

[0016] The upper rotating body 13 is rotatable relative to the lower body 11. The upper rotating body 13 is rotatably mounted on the lower body 11. An attachment 15 is attached to the upper rotating body 13. The upper rotating body 13 includes a cab 13a. The cab 13a is a portion where an operator can operate the work machine 10.

[0017] (direction) The direction in which the rotation axis of the upper rotating body 13 relative to the lower body 11 extends is the vertical direction Z. The direction in which the rotation axis of the attachment 15 (more specifically, the boom 15a) relative to the upper rotating body 13 extends is the horizontal direction of the upper rotating body. The direction intersecting (e.g., perpendicular to) the horizontal direction of the upper rotating body and the vertical direction Z is the front-rear direction X of the upper rotating body. In the front-rear direction X of the upper rotating body, the side (direction) on which the attachment 15 protrudes relative to the upper rotating body 13 is the front side X1 of the upper rotating body. The front-rear direction of the lower body 11 intersecting (e.g., perpendicular to) the vertical direction Z is the front-rear direction U of the lower body. One side in the front-rear direction U of the lower body is the front side U1 of the lower body. When the lower body 11 is capable of traveling, the front side U1 of the lower body is the side (direction) on which the lower body 11 moves forward. For example, when the lower body 11 is equipped with a crawler, the front-rear direction U of the lower body is the longitudinal direction of the crawler. In this case, the lower body front side U1 is, for example, the side (direction) from the travel motor arranged at the rear of the crawler toward the front idler arranged at the front of the crawler. As shown in Fig. 3, the angle of the upper rotating body 13 in the rotating direction relative to the lower body 11 is defined as the rotating angle θ. For example, the rotating angle θ is the angle of the upper rotating body front side X1 relative to a reference angle of the lower body 11 (for example, the lower body front side U1). The rotating angle θ when the lower body front side U1 and the upper rotating body front side X1 coincide is defined as, for example, 0°. As the upper rotating body front side X1 rotates to the right in the rotating direction relative to the lower body front side U1, the rotating angle θ increases (or decreases).

[0018] The attachment 15 is a device that performs work. As shown in Fig. 1, the attachment 15 is attached to the machine body 10a and to the upper rotating body 13. For example, the attachment 15 includes a boom 15a, an arm 15b, and a tip attachment 15c (working device). The boom 15a is attached to the upper rotating body 13 so as to be able to rise and fall (so as to be able to rotate in the front-rear direction X and the up-down direction Z of the upper rotating body). The arm 15b is attached to the boom 15a so as to be able to rotate (so as to be able to rotate in the front-rear direction X and the up-down direction Z of the upper rotating body).

[0019] The tip attachment 15c (working device) is a part that performs work. The tip attachment 15c is provided at the tip of the attachment 15. The tip attachment 15c is rotatably attached to the arm 15b (rotatable in the forward / backward direction X and the up / down direction Z of the upper rotating body). The tip attachment 15c may be, for example, a bucket that can perform work such as scooping and excavating a work object. The tip attachment 15c may be a device that clamps the work object (grapple, nibbler, etc.), a device that crushes the work object (breaker, etc.), or a magnet that attracts a metal work object. The work object that is the target of the work of the tip attachment 15c may be, for example, soil, stone, wood, metal, resin, waste, or a structure (block, etc.).

[0020] The drive control unit 17 (see FIG. 2) controls an actuator that moves the work machine 10. The drive control unit 17 may include a hydraulic circuit that controls a hydraulic actuator, or an electric circuit that controls an electric actuator. The drive control unit 17 controls a rotation motor that rotates the upper rotating body 13 relative to the lower body 11. The drive control unit 17 controls a boom cylinder that raises and lowers the boom 15a relative to the upper rotating body 13. The drive control unit 17 controls an arm cylinder that rotates the arm 15b relative to the boom 15a. The drive control unit 17 controls a tip attachment cylinder (e.g., a bucket cylinder) that rotates the tip attachment 15c relative to the arm 15b.

[0021] The communication unit 19 communicates between the work machine 10 and equipment arranged outside the work machine 10. For example, the communication unit 19 communicates between the work machine 10 and an information processing device 40. For example, when the surrounding information sensor 30 is arranged outside the work machine 10, the communication unit 19 communicates between the work machine 10 and the surrounding information sensor 30. The communication unit 19 may perform wireless communication or wired communication.

[0022] The attitude sensor 20 (see FIG. 2) detects the attitude of the work machine 10. The attitude sensor 20 may detect the position and orientation of the work machine 10 relative to the work site. The attitude sensor 20 may detect the position and orientation of a reference part of the work machine 10 relative to the work site. The reference part of the work machine 10 may be, for example, a specific part of the upper rotating body 13 or the lower body 11, and may be, for example, the mounting part (boom foot) of the boom 15a to the upper rotating body 13. The attitude sensor 20 may detect the inclination of the work machine 10 with respect to the horizontal plane. The attitude sensor 20 may detect information on the rotation of the upper rotating body 13 with respect to the lower body 11 (for example, the rotation angle θ (see FIG. 3)).

[0023] The attitude sensor 20 may detect information on the rotation of the boom 15a relative to the upper rotating body 13 (such as a rotation angle). The attitude sensor 20 may detect information on the rotation of the arm 15b relative to the boom 15a. The attitude sensor 20 may detect information on the rotation of the bucket relative to the arm 15b. The attitude sensor 20 may be equipped with a sensor that detects an angle (e.g., a rotary encoder), may be equipped with a sensor that detects an inclination relative to the horizontal direction, or may be equipped with a sensor that detects a stroke of a cylinder that drives the attachment 15. The attitude sensor 20 may detect the attitude of the work machine 10 based on one or both of two-dimensional information (described later) and three-dimensional information (described later). In this case, one or both of the two-dimensional information and the three-dimensional information may be captured by an imaging device (described later). The attitude sensor 20 may be mounted on the work machine 10, or may be disposed outside the work machine 10 (e.g., at a work site, etc.). The surrounding information sensor 30, the information processing device 40, and the controller 50 may be mounted on the work machine 10 or disposed outside the work machine 10 in the same manner.

[0024] The surrounding information sensor 30 is a sensor that detects information (surrounding information A described later) of objects (peripheral objects) around the work machine 10. For example, the surrounding information sensor 30 is an imaging device that captures images of the surrounding objects. The surrounding information sensor 30 may detect two-dimensional information of the surrounding objects (e.g., position, shape, etc. in a two-dimensional image). The surrounding information sensor 30 may detect three-dimensional information of the surrounding objects (e.g., three-dimensional coordinates, three-dimensional shape, distance image (image having depth information), etc.). The surrounding information sensor 30 may be of a passive type or an active type. Specifically, the surrounding information sensor 30 may include a camera (monocular camera) that detects two-dimensional information. The surrounding information sensor 30 may include a stereo camera that detects three-dimensional information. The surrounding information sensor 30 may detect three-dimensional information of the surrounding objects by irradiating waves such as electromagnetic waves to the surrounding objects and detecting the reflected waves. The surrounding information sensor 30 may include a TOF (Time Of Flight) sensor that detects distance based on the time from when a wave is emitted until the reflected wave returns, or a sensor that detects distance based on the frequency of the reflected wave. The surrounding information sensor 30 may include a device that detects three-dimensional information using light (e.g., laser light), and may include, for example, LiDAR (Light Detection and Ranging). The surrounding information sensor 30 may include a device that detects three-dimensional information using radio waves (e.g., millimeter wave radar, etc.).

[0025] Only one surrounding information sensor 30 may be provided, or multiple surrounding information sensors 30 may be provided. Multiple surrounding information sensors 30 may work together. For example, a surrounding information sensor 30 mounted on the work machine 10 and a surrounding information sensor 30 for detecting the position of a container A3 (see FIG. 4) (described later) may be provided separately. Only one type (method, etc.) of surrounding information sensor 30 may be used, or multiple types of surrounding information sensors 30 may be combined. The surrounding information sensor 30 may detect three-dimensional information of surrounding objects based on three-dimensional information (e.g., distance image) and two-dimensional information (e.g., two-dimensional image). The surrounding information sensor 30 may capture images of objects other than surrounding objects. For example, when the attitude sensor 20 includes an imaging device, the surrounding information sensor 30 may be used as the attitude sensor 20. The surrounding information sensor 30 may output detected three-dimensional information (e.g., point cloud data detected by LiDAR). The surrounding information sensor 30 may output detected two-dimensional information (e.g., image data detected by a single-lens camera).

[0026] The information processing device 40 is a device that processes work information of the work machine 10 (for example, the work position W (see FIG. 3) described below). The information processing device 40 is a device that processes information related to work of the work machine 10. The information processing device 40 may be, for example, a tablet, a smartphone, or a personal computer. The information processing device 40 may be arranged outside the work machine 10. The information processing device 40 may be communicatively connected to the work machine 10 via the communication unit 19. The information processing device 40 may be arranged inside the work machine 10 (for example, inside the driver's cab 13a). The information processing device 40 includes an input unit 41 and a display unit 43.

[0027] The input unit 41 is a device for inputting information. The input unit 41 is a portion into which information used for the work position setting control described later is input (details will be described later). The input unit 41 issues instructions to the controller 50. For example, the input unit 41 is a device that is operated by a worker (accepts the operation of the worker) and allows the worker to input information. The input unit 41 issues instructions to the controller 50 based on the operation of the worker. Specifically, the input unit 41 may include a touch panel, a mouse, or a keyboard.

[0028] The display unit 43 is an output device that outputs information. The display unit 43 displays information. The display unit 43 outputs information for work position setting control, which will be described later. The display unit 43 displays information based on a signal output from the controller 50. Specifically, the display unit 43 is a device (monitor) that displays images. The display unit 43 may be a device that utilizes technology such as VR (Virtual Reality) or AR (Augmented Reality).

[0029] As shown in FIG. 2, the controller 50 is a computer that performs input and output of signals, calculations (processing), storage of information, etc. For example, the functions of the controller 50 are realized by executing a program stored in the memory unit 50b in the calculation unit 50a. The controller 50 and other devices may be connected by wireless communication or by wired communication. When the controller 50 has a plurality of components, the components of the controller 50 may be connected to each other by wireless communication or by wired communication. For example, detection results are input to the controller 50 from the attitude sensor 20 and the surrounding information sensor 30. For example, the controller 50 (operation command unit 55c described later) may perform automatic operation of the work machine 10. The controller 50 performs work position setting control (described later). The controller 50 may be mounted on the work machine 10 or may be disposed outside the work machine 10. The controller 50 may be distributed and disposed in a plurality of parts (a distributed system may be configured). The controller 50 includes a calculation unit 50a and a memory unit 50b. The controller 50 also includes an information processing device controller 51, a surroundings recognition controller 53 (coordinate conversion controller), and a machine controller 55.

[0030] The calculation unit 50a performs calculations (processing) of information. The memory unit 50b stores information. The memory unit 50b stores, for example, information on a work position W (see FIG. 3) described later. The calculation unit 50a and the memory unit 50b are provided in the information processing device controller 51, the surroundings recognition controller 53, and the machine controller 55, respectively.

[0031] The information processing device controller 51 is provided in the information processing device 40. The information processing device controller 51 controls the display (display image) of the display unit 43. The information processing device controller 51 controls the information inputted by the input unit 41.

[0032] The surroundings recognition controller 53 (coordinate conversion controller) is mounted, for example, on the work machine 10 (see FIG. 1). The surroundings recognition controller 53 processes information on surrounding objects (detected surroundings information Ad) acquired by the surroundings information sensor 30. The surroundings recognition controller 53 has a function of a coordinate conversion controller that performs coordinate conversion, which will be described later.

[0033] The machine controller 55 is mounted on the work machine 10 (see FIG. 1). The machine controller 55 controls the movement of the work machine 10. The machine controller 55 may be provided separately from the surroundings recognition controller 53. For example, the functions of the machine controller 55 include a work plan setting unit 55a and an operation command unit 55c.

[0034] The work plan setting unit 55a sets a work plan for the work machine 10, as shown in FIG. 3. This "work plan" is information related to the goal of the work of the work machine 10. The work plan setting unit 55a (see FIG. 2) sets a work plan based on a work position W (described later) that is set based on an instruction position I (described later) specified by the input unit 41. The work plan may include information on a target route for the travel of the work machine 10. The work plan may include information on a target range in which the tip attachment 15c performs work (e.g., a capture work position Wa1 and a release work position Wa3 described later). The work plan may include information on a target path (e.g., a movement path We described later) of a specific portion of the attachment 15 (e.g., the tip of the tip attachment 15c). The target path is information including, for example, position information (coordinates) of a plurality of target points and information on the order of each target point. The work plan may include information on a target trajectory of a specific portion of the attachment 15. The target trajectory is information in which time information is added to information on the target route.

[0035] The parameters representing the work plan set in the work plan setting unit 55a (see FIG. 2) can be set in various ways, and may be set in any way as long as the parameters can derive the attitude of the work machine 10. The coordinate axes of the parameters representing the work plan may be set in any way. The origin (reference position) of the coordinate axes may be set at the work site. The origin of the coordinate axes may be set at a specific part of the work machine 10, for example, at a specific part of the upper rotating body 13. Specifically, for example, the origin of the coordinate axes may be set at the attachment part (boom foot pin) of the boom 15a to the upper rotating body 13, or may be set at the center of rotation of the upper rotating body 13 relative to the lower main body 11. Specifically, the work plan may include information on the fore-and-aft direction X and up-and-down direction Z (see FIG. 1), the rotation angle θ, and the angle (attitude) of the tip attachment 15c of the upper rotating body. The information on the forward / rearward direction X of the upper rotating body may be, for example, information on the distance from the origin of the coordinate axis to a specific part of the attachment 15 (for example, the tip of the tip attachment 15c). The information on the up / down direction Z (see FIG. 1) may be, for example, information on the height from the origin of the coordinate axis to a specific part of the attachment 15. The information on the angle of the tip attachment 15c may be, for example, information on the angle of the tip attachment 15c with respect to the horizontal direction, or information on the angle of the tip attachment 15c with respect to the arm 15b.

[0036] 2, the operation command unit 55c outputs a command (signal) to operate the work machine 10 to the drive control unit 17. For example, the operation command unit 55c may control the work machine 10 so that the work machine 10 moves in accordance with a work plan set in the work plan setting unit 55a (described later). In this case, the operation command unit 55c controls the movement of the work machine 10 based on the detection value of the attitude sensor 20.

[0037] (Activation) The work information setting system 1 is configured to operate as follows. The work information setting program causes the controller 50 (computer) to execute processing that causes the work information setting system 1 to perform the following operations. The work information setting method is performed as follows. Each operation of the work information setting system 1 may be regarded as a "step" in the work information setting program and the work information setting method. Below, the controller 50 and the components of the controller 50 will be described with reference to FIG. 2.

[0038] (Operation of the work machine 10) As described above, the work machine 10 shown in FIG. 1 may be operated by an operator in the cab 13a, may be remotely operated by an operator from outside the work machine 10 (remote control device), or may be automatically operated.

[0039] The work machine 10 is a machine (e.g., ICT construction machine) that utilizes information and communication technology (ICT). For example, the work machine 10 may be operated by an operator using a machine guidance (MG) system function. Specifically, a work plan is set in a work plan setting unit 55a. Then, guidance such as the position where work should be done is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output, for example, to an output device (not shown) provided in the cab 13a of the work machine 10 or a remote control device. Then, the operator operates the work machine 10 according to the guidance. As a result, the work machine 10 works according to the work plan.

[0040] Also, for example, the work machine 10 may be operated by a machine control (MC) system (one example of automatic control). Specifically, a work plan is set in the work plan setting unit 55a. Then, the worker operates, for example, only some of the elements of the attachment 15 (for example, only the boom 15a). At this time, the controller 50 (operation command unit 55c) automatically controls the elements not operated by the worker (for example, the arm 15b, the tip attachment 15c) so that the work machine 10 works according to the work plan. At this time, the controller 50 controls the operation of the work machine 10 based on the detection value of the attitude sensor 20 (see FIG. 2) (the same applies in the case of automatic operation). As a result, the work machine 10 works according to the work plan.

[0041] Also, for example, the work machine 10 may be operated by automatic operation (an example of automatic control). In this case, the controller 50 (operation command unit 55c) controls the operation of the work machine 10 so that the work machine 10 automatically works according to a work plan.

[0042] (Work position setting control) The controller 50 performs work position setting control. Each process performed by the controller 50 below is a process in the work position setting control. The work position setting control is outlined as follows. As shown in FIG. 3, the controller 50 causes the display unit 43 to display surrounding information A of the work machine 10 (display step). The controller 50 acquires the designated position I input to the input unit 41 (designated position acquisition step). The controller 50 sets a work position W in the actual work site based on the designated position I (position in the image) input to the input unit 41 (work position setting step). Then, the controller 50 automatically operates the work machine 10 (more specifically, the actual work machine 10 (see FIG. 1)) based on the work position W.

[0043] In this work position setting control, the worker can indicate (input, specify, set) the designated position I while viewing surrounding information A (e.g., an image of the work site) displayed on the display unit 43. This allows the worker to easily input and confirm the designated position I. The controller 50 then sets the work position W based on the designated position I. This means that the worker does not need to operate the actual work machine 10 (see FIG. 1) to set the work position W. The work position setting control by the controller 50 will be described in detail below.

[0044] (display) The controller 50 causes the display unit 43 to display images (display step). The images displayed by the display unit 43 include, for example, an image of surrounding information A, an image of the work machine 10, an image of the instruction position I, and an image of the work position W. The images displayed by the display unit 43 may include images other than the above images (for example, a graphical user interface (see FIG. 14)).

[0045] (Display of image of surrounding information A) The display unit 43 displays the surrounding information A. The display unit 43 displays an image showing the surrounding information A. The surrounding information A is information about the surroundings of the work machine 10 (specifically, the work site).

[0046] The surrounding information A may include images of the work site around the work machine 10. The display unit 43 may display images of the work site viewed from various directions, may display an image of the work site viewed from above, may display an image of the work site viewed diagonally from above, or may display an image of the work site viewed from the side (see FIG. 9). The fact that the display unit 43 may display images viewed from various directions also applies to images other than the work site (for example, images of the work machine 10, etc.).

[0047] As shown in FIG. 4, the surrounding information A may include, for example, information on the topography A1 of the work site. The topography A1 may include, for example, a pile of dirt A1a, the inclination of the ground (such as a slope), and the unevenness of the ground. The surrounding information A may include information on a container A3 that contains the work object. The container A3 may be the loading platform of a vehicle (such as a dump truck) that transports the work object. The container A3 does not have to be a loading platform, and may be, for example, one placed on the ground or one placed in a hole in the ground (a dirt pit). The surrounding information A may include information on an object A5 placed at the work site. For example, the object A5 may be an obstacle, a member that divides an area at the work site (a cone in FIG. 3), or a fence. The container A3 may be included in the object A5.

[0048] When the surrounding information A changes, the display unit 43 may update the surrounding information A displayed by the display unit 43 to the changed surrounding information A. For example, when the surrounding information A changes due to work by the work machine 10, the display unit 43 may update the surrounding information A displayed by the display unit 43 to the changed surrounding information A. Specifically, as shown in FIG. 4, it is assumed that the terrain A1 changes when the work machine 10 performs work that deforms the terrain A1 (excavation, earth removal, etc.). In this case, the display unit 43 updates the terrain A1 that was being displayed to the changed terrain A1. The changed surrounding information A (e.g., terrain A1) is, for example, the surrounding information A detected by the surrounding information sensor 30 (detected surrounding information Ad described later).

[0049] This surrounding information A may include information indicating a position related to the work by the work machine 10. The surrounding information A may include information indicating a candidate position (candidate position) for the work by the work machine 10. The surrounding information A may include information of a candidate position where the work machine 10 performs a capture operation (e.g., an excavation operation), and may include, for example, information of a pile of earth and sand A1a where the work machine 10 performs an excavation operation. The surrounding information sensor 30 may include information of a candidate position where the work machine 10 performs a release operation (e.g., an earth dumping operation), and may include, for example, information of a container A3 where the work machine 10 performs an earth dumping operation. The surrounding information A may include information of a position where the work by the work machine 10 is desired to be performed with priority. The surrounding information A may include information of a position where the work by the work machine 10 is desired to be avoided. The surrounding information A may include information of a position where the entry of the work machine 10 is prohibited (a no-entry area). The no-entry area information may include, for example, information of a position where a worker may pass through (e.g., a passageway, etc.), and may include information of an obstacle (an example of an object A5). The surrounding information A includes detected surrounding information Ad and undetected surrounding information Ae.

[0050] The detected surrounding information Ad is real surrounding information A. The detected surrounding information Ad is information detected by a surrounding information sensor 30 (see FIG. 1) that detects the actual surrounding conditions of the work machine 10. An image of the detected surrounding information Ad displayed on the display unit 43 may be an image of two-dimensional information detected by the surrounding information sensor 30, or an image of three-dimensional information detected by the surrounding information sensor 30. Specifically, for example, the image of the detected surrounding information Ad may include an image captured by a camera (actual image), or may include an image showing point cloud information detected by LiDAR or the like (point cloud information image). The image of the detected surrounding information Ad may include an image (computer graphics) generated by the controller 50 based on the information detected by the surrounding information sensor 30.

[0051] The undetected surrounding information Ae is surrounding information A that is not the detected surrounding information Ad. For example, the undetected surrounding information Ae may include surrounding information A that is set in the controller 50 by the operator operating the input unit 41 (arbitrarily). The undetected surrounding information Ae may be surrounding information A that is input to the controller 50 from a means other than the input unit 41 (for example, a storage device, a communication line, etc.) and set in the controller 50. The image of the undetected surrounding information Ae displayed on the display unit 43 may be two-dimensional information or three-dimensional information. Specifically, for example, the image of the undetected surrounding information Ae may include an image of map information of the work site. In a case where the work machine 10 performs work to transform the terrain A1, the image of the undetected surrounding information Ae may include an image of the target terrain A1 (design surface). The image of the undetected surrounding information Ae may include an image of a position that is predetermined in the work site, and may include, for example, an image indicating a no-entry area.

[0052] The display unit 43 displays an image in which the various images described above are superimposed (superimposed display). For example, the display unit 43 may superimpose a plurality of types of detected surrounding information Ad, may superimpose non-detected surrounding information Ae, or may superimpose the detected surrounding information Ad and the non-detected surrounding information Ae. Specifically, for example, the display unit 43 may superimpose an actual image captured by a camera and a point cloud information image detected by LiDAR or the like. Also, for example, the display unit 43 may superimpose map information of a work site and a point cloud information image.

[0053] (Display of image of work machine 10) The display unit 43 displays an image of the work machine 10. The display unit 43 superimposes the surrounding information A (more specifically, an image showing the surrounding information A) and the image of the work machine 10. This superimposed display makes it easy for the worker to grasp the relative position between the surrounding information A and the work machine 10. For example, the worker can easily grasp the position of the work machine 10 at the work site. As a result, the worker can easily grasp the relative position between the work machine 10 and a designated position I (described later), and can easily indicate and confirm the designated position I. The image of the work machine 10 may be an actual image, a point cloud image, or computer graphics.

[0054] The display unit 43 displays images of the instruction position I and the work position W.

[0055] (Indicated position I) The controller 50 acquires the designated position I (designated position acquisition step). The designated position I is a position designated by the input unit 41. The designated position I is a position designated to the worker. The designated position I is a position for determining the work position W. In detail, the designated position I is a position in the surrounding information A displayed on the display unit 43 (a position in the displayed image), and is a position input by the input unit 41. Specifically, for example, the worker inputs a position in the image displayed on the display unit 43 (designated position I) by the input unit 41 while looking at the image displayed on the display unit 43. The designated position I may become the work position W as it is, or may become a position for determining the work position W.

[0056] (Compared to the conventional method of indicating position I) Conventionally, the designated position I has been determined by, for example, teaching, and therefore it has taken time and effort to specify the designated position I. More specifically, teaching is performed as follows. An operator gets on and operates the actual work machine 10 (see FIG. 1), or remotely operates the actual work machine 10, and moves a specific portion of the attachment 15 (such as the tip of the tip attachment 15c) to a position that is to be set as the designated position I. In this state, the operator performs an operation (such as pressing a button) to determine the designated position I. As a result, the position of the specific portion of the attachment 15 is determined as the designated position I. If there are multiple designated positions I, the operator needs to perform (repeat) this teaching to specify the designated position I for each of the multiple designated positions I. Specifically, for example, to specify four end points of the work start position Wc1 and four end points of the work end position Wc3, teaching needs to be performed eight times. Furthermore, when changing the designated position I (or the working position W), the worker must perform teaching again, which takes time and effort. In this way, the burden of the work of designating the designated position I is large. Therefore, even in a situation where it is necessary to redo the designation of the designated position I (setting of the working position W), the worker may feel that this work is troublesome and neglect this work. In this case, there is a possibility that the work machine 10 will be automatically operated with the setting of the work position W inappropriate. Furthermore, in teaching, in order to designate the designated position I, it is necessary to actually move the work machine 10. Therefore, the worker performing the teaching work needs to operate the work machine 10 while paying attention to objects (obstacles, workers, etc.) around the work machine 10, which is time-consuming. Therefore, a burden is placed on the worker performing the teaching work. Furthermore, workers around the work machine 10 need to pay attention to the work machine 10.

[0057] On the other hand, in this embodiment, the worker can specify the designated position I and set the work position W while looking at the image on the display unit 43, without having to move the actual work machine 10. This makes it possible to reduce the time and effort required to specify the designated position I. Specifically, the work of specifying the designated position I can be simplified, and the amount of work required can be reduced. Also, the worker who specifies the designated position I does not need to pay attention to the surroundings of the work machine 10. Furthermore, workers around the work machine 10 do not need to pay attention when specifying the designated position I.

[0058] (Shape of indication position I, etc.) The designated position I may be a point (see FIG. 3). The designated position I may be a range (area). When the designated position I is a range, the designated position I may be a polygon, a circle, an ellipse, or a shape similar to these shapes (for example, an approximately polygonal shape). The shape of the designated position I may be selectable by the operator using the input unit 41. The designated position I may be any shape designated by the operator. When the designated position I is a polygon, the designated position I may be a quadrangle, for example, a trapezoid, a parallelogram (including a rhombus), or a rectangle (including a square). For example, when the designated position I is a position for designating a movement path We (described later), the designated position I may be a line. When the designated position I is a line, the designated position I may be a straight line or a curved line. There may be only one designated position I (only one may be designated), or there may be multiple designated positions I. The designated position I may be one or more points, one or more lines, or one or more ranges (areas). The designated position I may be a combination of two or more of a point, a line, and a range.

[0059] The designated position I may include information about the horizontal direction. The designated position I may include information about the height direction (see FIG. 9).

[0060] (Start condition for input of specified position I) The controller 50 may be configured to be able to select a mode (instruction mode) for accepting an instruction (input, designation) of the designated position I. The controller 50 may be in a state for accepting an instruction of the designated position I when selection of the instruction mode is selected by the input unit 41. The controller 50 may determine that the input of the input unit 41 is an instruction of the designated position I when the input manner (e.g., tap, click, etc.) of the input unit 41 is a specific manner (e.g., double tap, double click, etc.) set in the controller 50.

[0061] (How to indicate position I) As described above, the designated position I is specified by inputting a position in the image displayed on the display unit 43 (i.e., the designated position I) through the input unit 41. The designated position I can be specified as a "new instruction" for setting a new designated position I, or as a "change instruction" for changing (adjusting) an already set designated position I. Specific examples of the designated position I are as follows:

[0062] A specific example of the designation of the designated position I when the designated position I is a point as shown in Fig. 3 will be described. A specific example of a new designation of the designated position I of a point is as follows. The designated position I of a point may be designated by tapping on a touch panel (an example of the input unit 41), by clicking on a mouse (an example of the input unit 41), or by key input of a predetermined key (an example of the input unit 41). For example, the tap for newly designating the designated position I of a point may be a single tap or a double tap (the same applies to clicks and key inputs).

[0063] Specific examples of instructions to change the designated position I of a point are as follows: The designated position I before the change may be designated (tapped or clicked (same below)) and selected, and then this designated position I may be dragged and dropped at the position of the changed designated position I, thereby changing (moving) the designated position I. The designated position I may be changed by designating a position to be the changed designated position I, while the designated position I before the change is designated and selected.

[0064] As shown in FIG. 4, a specific example of the designation of the designated position I when the designated position I is a range will be described. A specific example of a new designation of the designated position I of a range is as follows. For example, the designated position I of a polygon may be designated by designating an end point (corner) of the polygon. Specifically, for example, the designated position I of a rectangle may be designated by designating one end point (corner) of the rectangle and dragging it to a position that is the diagonal end point (corner) of the rectangle (see the designated position I of the work start position Wc1). The designated position I of a rectangle may be designated by designating four end points (corners) of the rectangle (see the designated position I of the work end position Wc3). For example, the designated position I of a circle may be designated by designating a position that is the center of the circle and dragging it to a position that is the outer periphery of the circle.

[0065] As shown in Fig. 5, a new designation of the designated position I of the range may be made based on point cloud information acquired by LiDAR or the like. Specifically, for example, the display unit 43 displays an image showing the point cloud information viewed from a certain direction (e.g., directly above). The worker designates (selects) multiple points to be used as end points of the designated position I of the range from among the points of the point cloud information (see the points indicated by black circles in Fig. 5). Then, the controller 50 may designate the range surrounded by the multiple points selected by the worker as the designated position I of the range.

[0066] Specific examples of instructions to change the designated position I of the range shown in Fig. 4 are as follows: With the entire pre-change designated position I in a state where it is designated (selected), this designated position I may be dragged and dropped at the position of the changed designated position I, thereby changing (moving) the designated position I. Alternatively, a part of the outer frame of the range of the pre-change designated position I (such as an end point or a side) may be selected, this part may be dragged, and then dragged at the changed position, thereby changing (moving) the designated position I.

[0067] The above-mentioned method of designating the designated position I (new designation and change designation) is merely an example. Designation of the designated position I may be performed in various ways.

[0068] (Method of indicating the indicated position I according to the type of the work position W) As described above, the designated position I is used to set the work position W. As described below, there are various types of work positions W (e.g., work start position Wc1, movement path We, etc.). Therefore, the method of designating the designated position I may be changed depending on the type of work position W determined by the designated position I. The method of designating the designated position I may be different between the method of designating the designated position I for determining a certain type of work position W and the method of designating the designated position I for determining another type of work position W (a type different from the above-mentioned "certain type").

[0069] The type of work position W determined by the designated position I may be changed according to the manner of input to the input unit 41 for designating the designated position I. Specifically, for example, a single tap on the input unit 41 may designate the designated position I of the work start position Wc1 shown in FIG. 3, and a double tap on the input unit 41 may designate the designated position I of the work end position Wc3.

[0070] The type of work position W determined by the designated position I may be changed according to the order of designation of the designated position I. Specifically, for example, the first designated position I may be set as the designated position I of the work start position Wc1, and the second designated position I may be set as the designated position I of the work end position Wc3.

[0071] (Effect of pointing to position I while looking at the image) The worker can specify the designated position I with the input unit 41 while looking at the surrounding information A displayed on the display unit 43. When the detected surrounding information Ad (information on the actual work site) is displayed on the display unit 43, the worker can specify the designated position I while looking at the situation of the actual work site. Therefore, the worker can specify the designated position I suitable for the situation of the actual work site. Also, as shown in FIG. 4, the non-detected surrounding information Ae (for example, map information, design surface, no-entry area, etc.) may be displayed on the display unit 43. For example, when a no-entry area is displayed on the display unit 43, the worker can specify the designated position I while looking at the no-entry area (area where work should be avoided). In this case, the worker can specify the designated position I so as to avoid the no-entry area. Also, when the design surface (the shape of the target ground) is displayed on the display unit 43, the worker can specify the designated position I while looking at the design surface. Therefore, for example, the worker can set the designated position I in anticipation of the topography A1 at the end of work. Furthermore, since the worker can specify the designated position I while looking at the design surface, the worker can set the designated position I while taking into consideration the location where the work machine 10 should focus its work.

[0072] (Working position W) The controller 50 sets a work position W based on the designated position I input to the input unit 41 (work position setting step). The work position W is position information used when the actual work machine 10 performs work. The work position W is position information used when the actual work machine 10 performs work under automatic control.

[0073] (Type of working position W) The controller 50 is capable of setting various types of work positions W. The work position W may be set according to the content of the work. For example, the work position W may include a work position W according to the type of work. The work position W may include a specific position in one cycle of work during automatic operation of the work machine 10. The work position W may include a movement path We.

[0074] (Work position W according to type of work) The work position W may include work positions W according to the type of work. For example, the work position W may include a capture work position Wa1 and a release work position Wa3.

[0075] The capture work position Wa1 is a position where the tip attachment 15c captures the work target. For example, the capture work position Wa1 may be a position (digging position) where the tip attachment 15c (e.g., a bucket) excavates earth and sand. As shown in FIG. 3, the capture work position Wa1 may be a position where the tip attachment 15c captures the work target in one operation. In this case, the size of the capture work position Wa1 may be set based on the size of the tip attachment 15c (the same applies to the size of the release work position Wa3). In addition, the shape of the capture work position Wa1 may be set based on the shape of the tip attachment 15c (the same applies to the shape of the release work position Wa3). As shown in FIG. 4, the capture work position Wa1 may be a range (e.g., an excavation area) where the tip attachment 15c captures the work target in multiple operations.

[0076] The release operation position Wa3 is a position where the tip attachment 15c releases the work object. For example, the release operation position Wa3 is a position where the tip attachment 15c (e.g., a bucket) discharges earth and sand (earth unloading position). As shown in Fig. 3, the release operation position Wa3 may be a position where the tip attachment 15c releases the work object in one operation. As shown in Fig. 4, the release operation position Wa3 may be an area (e.g., an earth unloading area) where the tip attachment 15c releases the work object in multiple operations.

[0077] (Work position W in one cycle of work) The work position W may include a specific position in one cycle of work during automatic operation of the work machine 10. For example, the work position W may include a work start position Wc1 and a work end position Wc3.

[0078] Here, one cycle of work in automatic operation of the work machine 10 will be described. The work machine 10 may repeat one cycle of work multiple times due to automatic operation. This one cycle of work is set by the work plan setting unit 55a (see FIG. 2). One cycle of work may include work by the tip attachment 15c at the work start position Wc1. One cycle of work may include movement of the tip attachment 15c from the work start position Wc1 to the work end position Wc3. One cycle of work may include work by the tip attachment 15c at the work end position Wc3. One cycle of work may include movement of the tip attachment 15c from the work end position Wc3 to the work start position Wc1.

[0079] The work start position Wc1 is a position where the tip attachment 15c performs work. For example, the work start position Wc1 is a start position of work by the tip attachment 15c in one cycle of work. The work start position Wc1 may be a part or the whole of the capturing work position Wa1.

[0080] The work end position Wc3 is a position where the tip attachment 15c performs work after the work at the work start position Wc1. The work end position Wc3 is, for example, a turning point of the movement of the tip attachment 15c in one cycle of work. The work end position Wc3 may be a part or the whole of the release work position Wa3.

[0081] The movement path We is a position (path) through which the end attachment 15c passes when the end attachment 15c moves between a certain work position W (first position) and another work position W (second position). The movement path We may be a path between a capturing work position Wa1 and a releasing work position Wa3. The movement path We may be a path between a work start position Wc1 and a work end position Wc3. A movement path intermediate position We1 (see FIG. 9), which is an intermediate position on the movement path We, may be set on the movement path We.

[0082] Of the above types of work positions W, only one type may be set, or multiple types may be set. For example, the capture work position Wa1 may be set, and the release work position Wa3 may not be set. For example, the work start position Wc1 may be set, and the work end position Wc3 may not be set. Also, a type of work position W different from the above types may be set.

[0083] (Shape and number of work positions W) The shape of the work position W can be set in various ways, similar to the example of the shape of the designated position I described above. For example, the work position W may be a point, a line, or a range. Specifically, the capture work position Wa1, the release work position Wa3, the work start position Wc1, and the work end position Wc3 may each be a point or a range. The movement path We may be a line. Also, similar to the designated position I, only one work position W may be set, or multiple work positions W may be set. Multiple work positions W of the same type (e.g. multiple work start positions Wc1, etc.) may be set.

[0084] (How to set the work position W) As described above, the controller 50 sets the work position W based on the designated position I. The relationship between the designated position I and the work position W can be set in various ways. For example, the controller 50 may set the work position W at a position overlapping the designated position I. The controller 50 may set the work position W at a position that coincides with the designated position I. The controller 50 may set the work position W at a position different from the designated position I (see FIG. 6, described later). The controller 50 may set one or more work positions W based on one designated position I (see FIG. 6, described later). The controller 50 may set one or more work positions W based on multiple designated positions I. The controller 50 may set the work position W of a point, a line, or a range based on the designated position I of a point (see FIG. 3). The controller 50 may set the work position W of a point, a line, or a range based on the designated position I of a line. The controller 50 may set the work position W of a point, a line, or a range based on the designated position I of a range (see FIG. 4). The controller 50 may set a plurality of work positions W (work positions W smaller than the designated position I) within the range of the designated position I. The controller 50 may limit the positions at which the work positions W are set to within the range of the designated position I.

[0085] In the following, a case where the working position W is a position where the tip attachment 15c captures or releases a work target in one operation will be mainly described. Note that the working position W in the following description may be applied to a working position W different from the "position where the tip attachment 15c captures or releases a work target in one operation."

[0086] 6, the controller 50 may set the work position W at the designated position I (at a position overlapping with the designated position I). Specifically, for example, when the designated position I is a point, the work position W may be a point that coincides with the designated position I, or may be a range centered (centroid) on the designated position I.

[0087] The controller 50 may set the work position W at a position around the designated position I. The controller 50 may set the work position W at a position displaced (away) from the designated position I. For example, the controller 50 may set the work position W so as to surround the designated position I with the designated position I as the center. In this case, the shape formed by the multiple work positions W (the shape surrounding the designated position I) may be a polygon (for example, a rectangle or hexagon in FIG. 6), a circle, an ellipse, or a shape similar to these (for example, an approximately polygonal shape). The shape formed by the multiple work positions W may be selectable by the operator using the input unit 41 (see FIG. 3).

[0088] When the work position W is set at a position shifted (away) from the designated position I, the distance L1 from the designated position I to the work position W can be set in various ways. The distance L1 may be a value set in advance (before the work position W is set) in the controller 50. The distance L1 may be a value input (specified) by the worker at the input unit 41 (see FIG. 3). For example, the distance L1 may be set by dragging the designated position I in a state where the designated position I is selected. For example, the distance L1 may be selected at the input unit 41 from options displayed on the display unit 43 (see FIG. 3). For example, the distance L1 may be set by inputting a numerical value at the input unit 41. The distance L1 may be changeable. For example, the distance L1 may be changed by dragging the work position W in a state where the work position W before the change is selected, and dropping it on the work position W after the change. For example, the distance L1 may be changed by inputting the changed distance L1 at the input unit 41 from options displayed on the display unit 43. For example, the distance L1 may be changed by inputting the changed distance L1 as a numerical value via the input unit 41.

[0089] When a plurality of work positions W are set so as to surround the designated position I with the designated position I at the center, the number of work positions W surrounding the designated position I can be set in various ways. For example, as shown in FIG. 7, the number of all work positions W around the designated position I may be set, or the number of work positions W per revolution surrounding the designated position I may be set. The number of work positions W may be a number set in advance (before the setting of the work positions W) in the controller 50. The number of work positions W (the number of excavations in FIG. 7) may be a number input (specified) by the operator using the input unit 41. The number of work positions W may be selected by the input unit 41 (see FIG. 3) from options displayed on the display unit 43 (see FIG. 3). For example, the number of work positions W may be set by inputting a numerical value in the input unit 41. The number of work positions W may be changeable. For example, the number of work positions W may be changed by inputting a new number from options displayed on the display unit 43 using the input unit 41. The number of work positions W may be changed by inputting a numerical value for the new number. The number of work positions W may be changed as a result of the work positions W being changed (moved) (described later).

[0090] (Order of operations at multiple work positions W) When a plurality of work positions W are set, the order of work at each work position W is set, for example, as follows. As shown in FIG. 7, the order of work at the work positions W may be set (specified) by inputting the input unit 41 (see FIG. 3). Specifically, the controller 50 may set the order of designation when the work positions W are designated (tapped or clicked, etc.) one by one as the order of work. Note that the numbers inside the work positions W shown in FIG. 7 indicate the order of designation. The controller 50 may also automatically determine and set the order of work at the plurality of work positions W. For example, the controller 50 may set the order of work at the work positions W based on the surrounding information A (see FIG. 3). For example, the controller 50 may set the order of work at the work positions W in order of furthest or nearest to the upper rotating body 13.

[0091] (Example of how to set the movement route We) The controller 50 may set the movement path We (see FIG. 3, etc.), for example, as follows. The controller 50 may set the movement path We based on the indicated position I of the line indicated (manually indicated) by the input unit 41, as shown in FIG. 9. The controller 50 may automatically set the movement path We according to conditions. For example, as shown in FIG. 3, when the work start position Wc1 and the work end position Wc3 are set, the controller 50 may set (automatically set) the movement path We so as to connect the work start position Wc1 and the work end position Wc3. When the capture work position Wa1 and the release work position Wa3 are set, the controller 50 may set the movement path We so as to connect the capture work position Wa1 and the release work position Wa3. When the movement path intermediate position We1 is set, as shown in FIG. 9, the controller 50 may set the movement path We so that the movement path We passes through the movement path intermediate position We1. As shown in Fig. 4, the controller 50 may set the travel route We so that it follows a circular arc or an approximate circular arc centered on the center of rotation of the upper rotating body 13 relative to the lower body 11. In this case, the controller 50 may set the travel route We using specification information of the work machine 10 (e.g., information on dimensions, shape, etc.). For example, the controller 50 may set the travel route We so that the distance (turning radius) from the center of rotation to the travel route We is equal to or less than the maximum turning radius of the work machine 10. The controller 50 may set the travel route We based on surrounding information A (described later).

[0092] (Height of working position W) The controller 50 may set the position in the height direction (height position) of the work position W as shown in FIG. 9. For example, as described above, the instruction position I may have information on the height direction. In this case, the controller 50 may set the height position of the work position W based on the position in the height direction (height position) of the instruction position I. The controller 50 may set the height position of the work position W when the instruction position I does not have information on the height position. The controller 50 may set the height position of the work position W based on the information on the height of the work position W input to the input unit 41. The controller 50 may set the height position of the movement path We as in the example shown in FIG. 9, and may set the height positions of the work start position Wc1, the capture work position Wa1, the work end position Wc3, and the release work position Wa3 shown in FIG. 3.

[0093] The controller 50 may set the height of the work position W in response to an operation on the input unit 41, as shown in Fig. 9. The height of the work position W may be set by tapping or clicking on the input unit 41, or by inputting a numerical value. The height of the work position W may be set by operating an image (slide bar B in Fig. 9) for setting the height of the work position W (movement path intermediate position We1 in Fig. 9) on the input unit 41. The controller 50 may set the height of the work position W based on surrounding information A.

[0094] (Setting the work position W based on surrounding information A) The controller 50 may set the work position W based on the designated position I and the surrounding information A. For example, the controller 50 may automatically set the work position W based on the designated position I and the surrounding information A. The controller 50 may determine a position that should not be set as the work position W based on the designated position I and the surrounding information A, and may not set the work position W at this position. A specific example of a case in which the controller 50 sets (or does not set) the work position W based on the designated position I and the surrounding information A is as follows.

[0095] The controller 50 may set the work position W based on information of a position that the end attachment 15c should avoid (an example of the surrounding information A). For example, the controller 50 may not set the work position W in a position that the end attachment 15c should avoid (for example, the position of the pile of earth and sand A1a, the position of the container A3 (see FIG. 10), etc.).

[0096] The controller 50 may set the work position W based on information of a position through which the end attachment 15c should pass (an example of the surrounding information A). For example, the controller 50 may set the work position W (e.g., a movement path We) at a position through which the end attachment 15c should pass.

[0097] The controller 50 may set the work position W taking into consideration changes in the situation at the work site. In particular, the controller 50 may set the work position W based on the surrounding information A that has changed due to the work of the work machine 10 and is predicted surrounding information A. For example, there are cases where an object (such as a pile of dirt A1a) that did not exist when work started comes into existence after work started. In this case, the controller 50 may set the work position W at the position of this object (e.g., the pile of dirt A1a), or may set the work position W so as to avoid this object (e.g., the pile of dirt A1a).

[0098] The controller 50 may determine the highest position (an example of surrounding information A) of the work target (e.g., pile of dirt A1a) within the range of the designated position I shown in Fig. 4 as the work position W where the end attachment 15c will first perform work. The controller 50 may also determine positions around this highest position as the work positions W where the end attachment 15c will perform work next time onwards. The controller 50 may also determine the highest position of the work target (e.g., pile of dirt A1a) after work has been performed at this highest position as the work position W where the end attachment 15c will perform work next time.

[0099] The controller 50 may set the work position W based on information about an obstacle (an example of the surrounding information A). The controller 50 may set the work position W at a position where interference (contact) between the obstacle and the attachment 15 can be suppressed. This "obstacle" may be the terrain A1, the terrain A1 before the start of work, or the terrain A1 changed after the start of work. The "obstacle" may be a container A3 (e.g., the bottom of a loading platform, a gate, etc.) or an object A5 (see FIG. 3) at the work site. The controller 50 may set the work position W based on a no-entry area (an example of the surrounding information A) just as the controller 50 may set the work position W based on information about an obstacle. The controller 50 may set the work position W so that the attachment 15 does not enter the no-entry area.

[0100] The controller 50 may set the work position W based on surrounding information A including the container A3 (e.g., a loading platform). For example, the controller 50 may set the release work position Wa3 based on information on the container A3. Specifically, as shown in FIG. 10, the controller 50 may set the release work position Wa3 so that the work target can be released inside the container A3 when the tip attachment 15c performs the release work. Also, as described above, the controller 50 may set the work position W to a position where interference between the container A3 and the attachment 15 can be suppressed. For example, the controller 50 may set the movement path We so that the tip attachment 15c passes through a position above the container A3.

[0101] (Change (adjust) work position W) The controller 50 may change (adjust) the set (already set) work position W.

[0102] The controller 50 may change the set working position W based on an input from the input unit 41 by the worker (the worker may be able to change the working position W at will). A specific example of a case where the working position W is changed based on an input from the input unit 41 is similar to the specific example of a case where the designated position I is changed based on an input from the input unit 41. For example, when the designated position I is changed, the controller 50 may change the working position W in accordance with the change in the designated position I.

[0103] The controller 50 may automatically change the set work position W in accordance with a predetermined condition. For example, the controller 50 may change the work position W based on the surrounding information A. Specifically, for example, if the surrounding information A is changed after the work position W is set, the controller 50 may change the work position W based on the changed surrounding information A.

[0104] (Change due to interlocking with work position W) When a certain work position W is changed, the controller 50 may automatically change other work positions W in response to (in conjunction with) the change of this work position W.

[0105] For example, when one or both of the work start position Wc1 and the work end position Wc3 shown in Fig. 3 are changed, the controller 50 may automatically change the movement path We between the work start position Wc1 and the work end position Wc3. When one or both of the capture work position Wa1 and the release work position Wa3 are changed, the controller 50 may automatically change the movement path We between the capture work position Wa1 and the release work position Wa3.

[0106] As shown in FIG. 8, when the position (relative position) of the work position W with respect to the designated position I is changed, the controller 50 may automatically change other work positions W in response to the change in the work position W. Specifically, for example, the controller 50 complements or reduces the work position W between the changed work position W and the designated position I. Specifically, for example, the controller 50 complements or reduces the work position W in response to the distance L1 between the changed work position W and the designated position I. When the distance L1 is widened (for example, when the increase in the distance L1 is equal to or greater than a predetermined distance), the controller 50 complements (increases) a new work position W between the changed work position W and the designated position I. When the distance L1 is narrowed (for example, when the decrease in the distance L1 is equal to or greater than a predetermined distance), the controller 50 reduces or eliminates the work position W between the changed work position W and the designated position I.

[0107] (Limitation on changing work position W) The controller 50 may limit the range within which the working position W shown in Fig. 3 can be changed. For example, the controller 50 may limit the change of the working position W based on the surrounding information A. Specifically, for example, the controller 50 may limit (for example, make it impossible) the change of the working position W into an area where work should be avoided. Also, for example, the controller 50 may limit the range within which the working position W can be changed based on the specification information of the work machine 10. Specifically, for example, the controller 50 may limit the change of the working position W to a position where the tip attachment 15c cannot be arranged (specifically, a position that is too close or too far from the upper rotating body 13).

[0108] (Validity determination) As shown in FIG. 11, the controller 50 may determine whether or not one or both of the instruction position I and the work position W are appropriate (appropriateness) based on surrounding information A.

[0109] For example, the controller 50 sets a position (for example, a range) that is appropriate as the designated position I or the work position W based on the surrounding information A. Specifically, the controller 50 may set a position that overlaps with the pile of dirt A1a when viewed from above as an appropriate position for the capture work position Wa1. The controller 50 may also set a position that overlaps with the pile of dirt A1a when viewed from above as an appropriate position for the designated position I that indicates the capture work position Wa1 (see FIG. 4). The controller 50 may set a position that overlaps with the container A3 when viewed from above as an appropriate position for the release work position Wa3 or the designated position I that indicates the release work position Wa3. The controller 50 may set a position that overlaps with an area where work should be avoided as an inappropriate position for the work position W or the designated position I. The following mainly describes a case where the controller 50 judges the appropriateness of the designated position I (not the work position W but the designated position I). The following description of the judgment of the appropriateness of the designated position I may be read as a description of the judgment of the appropriateness of the work position W.

[0110] The controller 50 compares a position that is appropriate for the designated position I (in the example shown in FIG. 11, the position where the pile of sand A1a and the container A3 are present) with the designated designated position I. Specifically, the controller 50 determines whether the designated designated position I deviates from a position that is appropriate for the designated position I (for example, whether the amount of deviation is a predetermined value or more). If the designated designated position I deviates from a position that is appropriate for the designated position I (if the amount of deviation is a predetermined value or more), the controller 50 determines that the designated designated position I is not appropriate. In this case, the controller 50 may output a predetermined signal (such as an NG signal). If the designated designated position I does not deviate from a position that is appropriate for the designated position I (for example, if the amount of deviation is less than a predetermined value), the controller 50 determines that the designated position I is appropriate.

[0111] (Processing after validity determination) The controller 50 may issue a notification when the designated position I is not appropriate. This notification may be a notification to prompt the operator to redo the setting of the designated position I. The controller 50 may cause the display unit 43 to display this notification. The controller 50 may cause the display unit 43 to display candidate positions for the designated position I that will make the designated position I appropriate. The controller 50 may automatically change (automatically adjust) the designated position I so that the designated position I becomes appropriate.

[0112] (Coordinate conversion) As described above, the worker indicates (inputs) the indicated position I or the changed work position W, etc., through the input unit 41 while viewing the image displayed on the display unit 43. The controller 50 sets the work position W in the actual work site based on the input through the input unit 41. At this time, the controller 50 converts the coordinates in the image displayed on the display unit 43 (coordinates in the virtual space) and the coordinates indicating the position in the actual work site (actual coordinates). Note that the above-mentioned "coordinates indicating the position in the actual work site" are, for example, the above-mentioned "coordinate axes of parameters representing the work plan." For example, the controller 50 performs the coordinate conversion using scale information of the image displayed on the display unit 43.

[0113] As described above, the surrounding information sensor 30 (see FIG. 1) detects the detected surrounding information Ad shown in FIG. 4. This detected surrounding information Ad may include information expressed in coordinates in the real work site. Furthermore, the undetected surrounding information Ae may include information expressed in coordinates in the real work site. The controller 50 converts the coordinates (real coordinates) of the surrounding information A expressed in coordinates in the real work site into coordinates in the image displayed on the display unit 43 (coordinates in a virtual space).

[0114] The coordinate conversion can be performed by any of the components of the controller 50 shown in Fig. 2 (the information processing device controller 51, the surroundings recognition controller 53, and the machine controller 55). When a controller 50 other than the machine controller 55 (for example, the surroundings recognition controller 53) performs the coordinate conversion, the machine controller 55 does not need to perform the process (calculation) of the coordinate conversion. This can reduce the processing load of the machine controller 55.

[0115] A specific example of the coordinate conversion is as follows. The surrounding information sensor 30 acquires the detected surrounding information Ad. The surrounding recognition controller 53 converts the detected surrounding information Ad expressed by coordinates indicating a position in the actual work site into detected surrounding information Ad expressed by coordinates in an image displayed on the display unit 43. Then, the display unit 43 displays the detected surrounding information Ad after the coordinate conversion. The display unit 43 may display the non-detected surrounding information Ae (see FIG. 4). As shown in FIG. 4, the worker indicates a position in the image displayed on the display unit 43 with the input unit 41. For example, the worker indicates (inputs) a new or changed indicated position I, or a changed work position W with the input unit 41. The surrounding recognition controller 53 shown in FIG. 2 converts the position information expressed by the coordinates (coordinates in a virtual space) in the image displayed on the display unit 43 into coordinates (real coordinates) indicating a position in the actual work site. Then, the controller 50 (for example, the information processing device controller 51 or the machine controller 55) sets the work position W based on the position information after the coordinate conversion.

[0116] (Example of setting the work position W) A specific example of setting the work position W will be described with reference to the flow chart shown in FIG. 12. Here, a specific example will be described in which the work start position Wc1 and the work end position Wc3 shown in FIG. 3 are set (more specifically, manually set (step S10)). The following will be described following the order of processing by the controller 50 unless otherwise specified. Note that the order of processing can be changed in various ways. Steps S1 to S80 shown in FIG. 12 will be described with reference to FIG. 12.

[0117] In step S1, the controller 50 acquires surrounding information A shown in Fig. 3. For example, the controller 50 (more specifically, the surrounding recognition controller 53) may acquire detected surrounding information Ad detected by the surrounding information sensor 30 (see Fig. 1). The controller 50 may acquire undetected surrounding information Ae (see Fig. 4).

[0118] In step S2, the controller 50 causes the display unit 43 to display surrounding information A (for example, an image of the work site around the work machine 10, etc.).

[0119] In step S3, the controller 50 determines whether the working position W is set manually (set without using preset data, which will be described later). For example, the controller 50 allows the worker to select whether to set the working position W manually or to select a stored working position W. Specifically, for example, the controller 50 causes the display unit 43 to display a selection section (such as a button) for selecting to set the working position W manually and a selection section for selecting to select a stored working position W (not shown). If the working position W is not set manually (NO in step S3), the controller 50 causes the display unit 43 to display a preset data selection screen (see FIG. 14, which will be described later). Then, the controller 50 applies the stored working position W to the work of the work machine 10 (for example, transmits it to the machine controller 55) (step S90), and ends the process. If the working position W is set manually (YES in step S3), the controller 50 causes the process flow to proceed to step S10.

[0120] In step S10 (steps S11 to S31), the working position W is manually set. A specific example of the manual setting of the working position W is as follows.

[0121] In step S11, the controller 50 (for example, the information processing device controller 51) determines whether or not one or both of the work start position Wc1 and the work end position Wc3 have not been set. If one or both of the work start position Wc1 and the work end position Wc3 have not been set (YES in step S11), the controller 50 advances the process flow to step S12. If both the work start position Wc1 and the work end position Wc3 have been set (NO in step S11), the controller 50 ends the process of setting the work position W. In this case, the controller 50 applies the set work position W to the work of the work machine 10. Specifically, for example, the operation command unit 55c controls the movement of the work machine 10 based on the set work position W (the work start position Wc1 and the work end position Wc3 in this example) so that the work machine 10 performs automatic driving or machine control. Also, for example, when machine guidance is performed, guidance for the worker is output based on the set work position W.

[0122] In step S12, the controller 50 judges whether or not the work start position Wc1 is to be set. When the controller 50 judges that the work start position Wc1 is to be set (YES in step S12), the controller 50 advances the flow to step S21. For example, the controller 50 may judge that the work start position Wc1 is to be set when the setting of the work start position Wc1 is selected by the input unit 41. Also, for example, the controller 50 may judge that the work start position Wc1 is to be set when the work start position Wc1 is not set. When the controller 50 judges that the work start position Wc1 is not to be set (YES in step S12), the controller 50 advances the flow to step S31. For example, the controller 50 may judge that the work end position Wc3 is not to be set (the work end position Wc3 is to be set) when the input unit 41 is selected to set the work end position Wc3. Also, for example, when the work start position Wc1 has been set and the work end position Wc3 has not been set, the controller 50 may determine that the work start position Wc1 is not being set (the work end position Wc3 is being set).

[0123] In steps S21 to S23, the controller 50 sets the work start position Wc1.

[0124] In step S21, the controller 50 acquires the position of the work start position Wc1, which is a point. In detail, the controller 50 acquires the designated position I input by the worker via the input unit 41, thereby acquiring the position of the work start position Wc1, which is a point.

[0125] In step S23, the controller 50 acquires the shape of the work start position Wc1, which is a range (area), as shown in Fig. 4. For example, the controller 50 acquires information on the shape (polygon, circle, etc.) of the work start position Wc1 input by the worker via the input unit 41.

[0126] In step S24, the controller 50 acquires the position of the work start position Wc1, which is a range. In detail, the controller 50 acquires the designated position I input by the worker via the input unit 41, thereby acquiring the position of the work start position Wc1, which is a range.

[0127] In steps S31 to S33, the controller 50 sets the work end position Wc3 in substantially the same manner as the controller 50 sets the work start position Wc1 in steps S21 to S23. Specifically, in step S31, the controller 50 acquires the position of the work end position Wc3, which is a point, as shown in Fig. 3. In step S32, the controller 50 acquires the shape of the work end position Wc3, which is a range, as shown in Fig. 4. In step S33, the controller 50 acquires the position of the work end position Wc3, which is a range.

[0128] In step S80, the controller 50 applies the set work position W (work start position Wc1 or work end position Wc3) to the work of the work machine 10. Specifically, for example, when the work machine 10 is performing automatic driving or machine control and the information processing device controller 51 sets the work position W, the following processing is performed. In this case, the information processing device controller 51 transmits the set work position W to the machine controller 55 (more specifically, the operation command unit 55c). Also, for example, when machine guidance is performed, guidance for the worker is output based on the set work position W. Then, the controller 50 returns the flow to step S11.

[0129] (Storage and reading of working position W) The controller 50 may read the stored work position W (a work position W previously set, a preset work position W). The outline of the process of storing (work information storage control) and reading (work information reading control) the work position W by the controller 50 is as follows.

[0130] The controller 50 stores the work position W set by the controller 50 (stores it in the memory unit 50b). The controller 50 displays the stored work position W on the display unit 43 so that it can be selected by the input unit 41 (see FIG. 14). The controller 50 sets the work position W selected by the input unit 41 as the work position W to be used for work by the work machine 10.

[0131] In this way, by the controller 50 reading the stored working position W, the working position W that was set once (in the past) can be used (reused) for the next or subsequent work. Therefore, the working position W that was set once can be used multiple times. This saves the worker the trouble and time of manually setting the working position W. Therefore, work can be started earlier by the time saved in manually setting the working position W. In addition, because the controller 50 reads the stored working position W, it is possible to eliminate changes in the working position W for each worker (variation in the setting of the working position W). Therefore, when a working position W setting that provides good work efficiency is used for work, the work efficiency of the work machine 10 can be ensured.

[0132] Details of the process of storing (work information storage control) and reading (work information reading control) the work position W are as follows: Note that, hereinafter, steps S10 to S92 shown in FIG.

[0133] (Preset data storage) The controller 50 stores the work position W set in the manual setting (step S10) in the storage unit 50b (step S41). Information including the work position W stored by the controller 50 is called preset data.

[0134] 15, the preset data may include information on the type of work position W (work item in FIG. 15). The "type of work position W" may include, for example, a work start position Wc1, a work end position Wc3, a capture work position Wa1, a release work position Wa3, and a movement path We, as shown in FIG.

[0135] As shown in Fig. 15, the preset data may include information on the registration date. This registration date may be the date on which the preset data was registered (stored), or the date on which the work position W was set. The registration date information may include information on the year, the day, or the day of the week. The registration date information may include information on the time when the preset data was registered.

[0136] The preset data may include information on a name (preset name). The preset name may be set by inputting the input unit 41 (for example, arbitrarily by the worker). The preset name or the initial value of the preset name may be automatically set by the controller 50 based on the contents of the preset data (for example, the registration date, the model, the type of the work position W, etc.). The controller 50 may change the set preset name to the preset name set by the input unit 41.

[0137] The preset data may include information on the model of the work machine 10. This "information on the model of the work machine 10" is, for example, information on the model of the work machine 10 that can use the information on the work position W set in the preset data. Specifically, the "information on the model of the work machine 10" may include information on the size (e.g., tonnage) of the work machine 10, and may include information on the type (bucket, grapple, etc.) of the end attachment 15c (see FIG. 4). The "information on the model of the work machine 10" may include specification information of the work machine 10, may include the model name of the work machine 10, and may include information that identifies an individual work machine 10.

[0138] The preset data may include an information tag. The information tag may be used, for example, to classify the preset data or to search for the preset data. The number of information tags in one preset data may be one or more, and may be increased or decreased as desired by the worker (see "Add Tag" in FIG. 15). Among the contents of the preset data described above, information other than the work position W (such as the model and the type of work position W) may be an information tag.

[0139] The preset data may include visual information V corresponding to the work position W. The visual information V makes it easy for the worker to select an appropriate work position W. The visual information V prevents the worker from selecting (setting) an incorrect work position W. Specifically, the visual information V may include an image (e.g., a point, a line, an area, etc.) indicating the work position W, and may include an image indicating surrounding information A corresponding to the work position W. The image indicating the surrounding information A as the visual information V may be an image displayed on the display unit 43 when the indicated position I corresponding to the work position W is indicated, as shown in FIG. 4. The image indicating the surrounding information A as the visual information V may be an image of the work site, and may be, for example, an actual image, a point cloud information image, computer graphics, etc., as described above. The visual information V may include an image of the work machine 10.

[0140] (Specific example of storing the work position W) The storage unit 50b (see FIG. 2) in which the work position W (preset data) is stored (registered) may be a storage unit 50b at any position, for example, the storage unit 50b of the information processing device controller 51 or the storage unit 50b of the machine controller 55. In the following, unless otherwise specified, the "work position W" may be read as "preset data".

[0141] There are various settings possible for the timing at which the controller 50 stores (registers) the working position W. Specific examples of this timing are as follows.

[0142] For example, when a working position W is manually set (newly set) (step S10 in FIG. 13), the controller 50 may store (register) this working position W (step S41 in FIG. 13). Specifically, for example, when a working position W is newly set, the controller 50 causes the display unit 43 to display a screen (not shown) that allows the user to select via the input unit 41 whether or not to store this working position W. Then, when it is input (selected) via the input unit 41 that this working position W should be stored, the controller 50 may store this working position W.

[0143] Also, for example, the controller 50 may be set to a mode for storing the working position W. Specifically, for example, when the controller 50 is set to the mode for storing the working position W, the controller 50 allows the worker to manually set (newly set) the working position W (step S10). At this time, the controller 50 may store the newly set working position W (step S41).

[0144] (Number of work positions W to be memorized) The controller 50 may store only one work position W, or may store multiple work positions W. The controller 50 may store multiple work positions W of different types (e.g., capturing work position Wa1, releasing work position Wa3, etc.). The controller 50 may store multiple work positions W of different models in which the work positions W are used. The controller 50 may store multiple work positions W of different work sites in which the work positions W are used. Storing various work positions W makes it possible to use the stored work positions W in various situations (work sites, models, work contents, etc.).

[0145] (Linking work position W) When storing a plurality of work positions W, the controller 50 may link (associate, correspond) the plurality of work positions W together (see steps S51 to S56 in FIG. 13). For example, the controller 50 may link a plurality of work positions W of different types together. Specifically, for example, the controller 50 may link two or more work positions W among the capture work position Wa1, the work start position Wc1, the work end position Wc3, the release work position Wa3, and the movement path We together.

[0146] The controller 50 may collectively process a plurality of linked work positions W. For example, the controller 50 may be able to collectively select a plurality of linked work positions W, collectively apply them to work, or collectively manage them (described later).

[0147] The controller 50 may link a plurality of newly set (manually set) work positions W together (see the case of YES in step S51 in FIG. 13). For example, the worker manually sets a plurality of work positions W (e.g., work start position Wc1 and work end position Wc3) collectively (at substantially the same timing in a series of operations) (step S52 in FIG. 13). The controller 50 collectively stores the plurality of work positions W set collectively. At this time, the controller 50 may link the plurality of work positions W stored collectively (step S53 in FIG. 13). At this time, the controller 50 may display on the display unit 43 a screen that allows the user to select with the input unit 41 whether or not to link the plurality of work positions W together. Then, when linking the newly set plurality of work positions W together is selected with the input unit 41, the controller 50 may link the plurality of work positions W together.

[0148] The controller 50 may link a plurality of existing (stored) work positions W together (see the case of NO in step S51 of FIG. 13). For example, the controller 50 causes the display unit 43 to display a screen for linking a plurality of work positions W together. A plurality of work positions W to be linked are selected by the input unit 41 (step S55 of FIG. 13). Then, the controller 50 links the plurality of work positions W together based on an input of the input unit 41 (step S56 of FIG. 13).

[0149] (Management of work position W) The controller 50 may be configured to be able to manage the stored work position W. The management of the work position W may include searching for the work position W, changing the work position W, or deleting the work position W (steps S61 and S62 in FIG. 13). For example, the controller 50 may display a screen for managing the stored work position W on the display unit 43 as shown in FIG. 15. The controller 50 then executes management of the work position W based on an input from the input unit 41 for managing the work position W. Note that the process of linking the above-mentioned existing (stored) multiple work positions W together (step S56 in FIG. 13) may be included in the management of the work position W.

[0150] The controller 50 may be capable of managing each content of the preset data (such as name, model, and information tag). Specifically, the controller 50 may be capable of searching for preset data based on each content of the preset data (for example, by preset name, for example, by model). For example, the controller 50 may display the preset data for each content of the preset data on the display unit 43 (see FIG. 14). Specifically, for example, when the display of the capture operation position Wa1 ("digging area" in FIG. 14) is selected by the input unit 41, the controller 50 displays the preset data of the capture operation position Wa1 on the display unit 43. In this case, the controller 50 may not display the preset data other than the capture operation position Wa1 on the display unit 43.

[0151] The controller 50 may be capable of managing each work position W individually. The controller 50 may be capable of collectively managing a plurality of work positions W linked to each other. The controller 50 may be capable of collectively managing a plurality of preset data for each content of the preset data (for example, for each preset data of the capturing work position Wa1). The controller 50 may be capable of collectively deleting all work positions W stored in the memory unit 50b.

[0152] (Application of working position W to work) The controller 50 applies the stored work position W to the work of the work machine 10 (steps S91 and S92 in FIG. 13). For example, the controller 50 causes the worker to select the stored work position W (step S91 in FIG. 13). Specifically, the controller 50 causes the display unit 43 to display a screen (preset data selection screen) for selecting the work position W, as shown in FIG. 14. The preset data selection screen includes, for example, a list of selectable preset data. Then, the controller 50 applies the selected work position W to the work of the work machine 10 based on the input of the input unit 41. For example, when the work machine 10 is operated by automatic driving or machine control, information on the work position W is transmitted from the information processing device controller 51 to the machine controller 55 (more specifically, the operation command unit 55c) (step S92 in FIG. 13). Also, for example, when machine guidance is performed, guidance for the worker is output based on the selected work position W.

[0153] (Effects of the first invention) The effects of the work information setting system 1 shown in Fig. 1 are as follows. The work information setting system 1 includes an input unit 41 and a display unit 43. Information used for work position setting control is input to the input unit 41. The display unit 43 outputs the information for the work position setting control.

[0154] [Configuration 1] The work position setting control (controller 50) displays surrounding information A of the work machine 10 on the display unit 43, as shown in Fig. 3. The work position setting control acquires an instructed position I. The instructed position I is a position in the surrounding information A displayed on the display unit 43, and is a position input by the input unit 41. Based on the instructed position I, the work position setting control sets a work position W, which is position information used when the actual work machine 10 performs work under automatic control.

[0155] With the above [Configuration 1], the work information setting system 1 can receive, at the input unit 41, an instruction for the designated position I for setting the work position W, while displaying surrounding information A on the display unit 43. Therefore, the worker does not need to operate the actual work machine 10 (see FIG. 1) to specify the designated position I. This makes it possible to reduce the effort and time required to specify the designated position I (position information used for work performed by automatic control of the work machine 10). As a result, the effort and time required for setting the work position W can be reduced.

[0156] (Effects of the second invention) [Configuration 2] As shown in FIG. 4, the display unit 43 displays the detected surrounding information Ad detected by the surrounding information sensor 30 (see FIG. 1) which detects the surrounding information A.

[0157] With the above [Configuration 2], the input unit 41 can receive an instruction for the instruction position I while displaying the (actual) surrounding information A (i.e., detected surrounding information Ad) detected by the surrounding information sensor 30 on the display unit 43. This makes it possible to further reduce the effort and time required for instructing the instruction position I. As a result, it is possible to further reduce the effort and time required for setting the work position W.

[0158] (Effects of the third invention) [Configuration 3] When the surrounding information A changes due to work being performed by the work machine 10, the display unit 43 updates the detected surrounding information Ad displayed by the display unit 43.

[0159] With the above [Configuration 3], even if the surrounding information A changes due to work by the work machine 10, the changed detected surrounding information Ad is displayed on the display unit 43. Therefore, the input of the designated position I corresponding to the changed detected surrounding information Ad can be received by the input unit 41. This makes it possible to further reduce the effort and time required to designate the designated position I. As a result, it is possible to further reduce the effort and time required to set the work position W.

[0160] (Effect of the fourth invention) [Configuration 4] The display unit 43 displays an image of the work machine 10 superimposed on the surrounding information A.

[0161] The above [Configuration 4] makes it possible to cause the display unit 43 to display the relative positions of the work machine 10, the surrounding information A, and the designated position I. This makes it possible to further reduce the effort and time required to designate the designated position I. As a result, it is possible to further reduce the effort and time required to set the work position W.

[0162] (Effect of the fifth aspect of the invention) [Configuration 5] The work position W is one or more of the work start position Wc1, the work end position Wc3, and the movement path We. The work start position Wc1 is the position where the tip attachment 15c (working device) of the work machine 10 performs work. The work end position Wc3 is the position where the tip attachment 15c performs work after the work at the work start position Wc1. The movement path We is the position through which the tip attachment 15c passes when it moves between the work start position Wc1 and the work end position Wc3.

[0163] The above [Configuration 5] makes it possible to reduce the effort and time required to designate the designated position I for determining one or more of the work start position Wc1, the work end position Wc3, and the movement path We.

[0164] (Effect of the sixth aspect of the invention) [Configuration 6] The work position W is one or more of a capturing work position Wa1, a release work position Wa3, and a movement path We. The capturing work position Wa1 is a position where the tip attachment 15c of the work machine 10 captures the work object. The release work position Wa3 is a position where the tip attachment 15c releases the work object. The movement path We is a position through which the tip attachment 15c passes when it moves between the capturing work position Wa1 and the release work position Wa3.

[0165] The above [Configuration 6] makes it possible to reduce the effort and time required to specify the specified position I for determining one or more of the capturing operation position Wa1, the releasing operation position Wa3, and the movement path We.

[0166] (Effects of the seventh aspect of the invention) [Configuration 7] The work position setting control sets the work position W based on the instruction position I and the surrounding information A.

[0167] In the above [Configuration 7], the work position W is set based on the surrounding information A. Therefore, compared to the case where the worker manually sets the work position W while taking the surrounding information A into consideration, for example, the effort and time required for setting the work position W can be further reduced.

[0168] (Effect of the eighth aspect of the invention) [Configuration 8] The work position setting control changes the work position W set by the work position setting control based on the input from the input unit 41.

[0169] According to the above [Configuration 8], the work position W can be changed according to the input to the input unit 41. For example, by having the worker input to the input unit 41, the work position W can be changed (for example, arbitrarily changed).

[0170] (Effect of the ninth aspect of the invention) [Configuration 9] The work position setting control sets the work position W based on one or more of the following information [Information 9A], [Information 9B], [Information 9C], and [Information 9D]. [Information 9A] Information on positions that the tip attachment 15c should avoid. [Information 9B] Information on positions that the tip attachment 15c should pass through. [Information 9C] Surrounding information A after the situation has changed due to the work of the work machine 10, which is predicted surrounding information A. [Information 9D] Information on the specifications of the work machine 10.

[0171] According to the above [Configuration 9], an appropriate work position W according to the above various information can be automatically set by the work position setting control.

[0172] (Effect of the 10th Invention) [Configuration 10] As shown in FIG. 6, the work position setting control sets a work position W at either or both of an indicated position I and a position around the indicated position I.

[0173] By the above [Configuration 10], the work position W based on the designated position I designated by the input unit 41 can be set.

[0174] (Effects of the eleventh aspect of the invention) [Configuration 11] As shown in FIG. 8, when the position of the working position W relative to the instructed position I is changed, the working position setting control complements or reduces the working position W between the changed working position W and the instructed position I.

[0175] The above [Configuration 11] makes it possible to reduce the effort and time required to set the work position W, compared to, for example, a case in which an operator manually performs all operations to complement or delete the work position W between the work position W and the instruction position I.

[0176] (Effects of the twelfth aspect of the invention) [Configuration 12] As shown in FIG. 11, the work position setting control determines whether or not one or both of the designated position I and the work position W (see FIG. 3) are appropriate, based on the surrounding information A.

[0177] By the above [Configuration 12], it is possible to automatically determine whether one or both of the designated position I and the working position W (see FIG. 3) are appropriate or not by the working position setting control. There is no need for the worker to determine whether these positions are appropriate or not.

[0178] (Effects of the thirteenth aspect of the invention) [Configuration 13] As shown in Fig. 2, the work information setting system 1 includes a controller 50 that controls work position setting. The controller 50 includes a surroundings recognition controller 53 (coordinate conversion controller) and a machine controller 55. The surroundings recognition controller 53 converts coordinates in the surroundings information A displayed on the display unit 43 and coordinates indicating a position in the actual work site. The machine controller 55 is provided separately from the surroundings recognition controller 53, and controls the movement of the work machine 10.

[0179] In the above [Configuration 13], the surrounding recognition controller 53 (coordinate conversion controller) performs the coordinate conversion process. Therefore, the machine controller 55 does not need to perform the coordinate conversion process. Therefore, the calculation load of the machine controller 55 can be reduced.

[0180] (Effects of the fourteenth aspect of the invention) [Configuration 14] The work position setting control stores the set work position W (see FIG. 3) in the memory unit 50b (see FIG. 2). As shown in FIG. 14, the work position setting control displays the work position W stored in the memory unit 50b (see FIG. 2) on the display unit 43 so that it is selectable by the input unit 41. The work position setting control sets the work position W selected by the input unit 41 as the work position W to be used for work by the work machine 10 (see steps S91 and S92 in FIG. 13).

[0181] By the above [Configuration 14], a working position W that was previously set can be applied (reused) as the working position W used for the work of the work machine 10.

[0182] (Effects of the fifteenth aspect of the invention) [Configuration 15] The work position setting control stores a plurality of work positions W in the memory unit 50b (see FIG. 2).

[0183] With the above [Configuration 15], the work position W used for work by the work machine 10 can be changed depending on, for example, the work situation. For example, it is possible to have the worker select an appropriate work position W from among a plurality of work positions W.

[0184] (Effects of the 16th Invention) [Configuration 16] The work position setting control links a plurality of work positions W with each other (see steps S51 to S56 in FIG. 13).

[0185] According to the above [Configuration 16], the work information setting system 1 can process (eg, search, manage, apply, etc.) a plurality of linked work positions W collectively.

[0186] (Effects of the 17th Invention) [Configuration 17] The work position setting control causes the visual information V corresponding to the set work position W to be stored in the memory unit 50b (see FIG. 2) and displayed on the display unit 43.

[0187] The above [Configuration 17] enables the display unit 43 to display visual information V corresponding to the stored work position W. For example, when an operator selects a work position W to be used for work by the work machine 10, it is possible to allow the operator to select an appropriate work position W.

[0188] (Effects of the 18th Invention) The effects of the work information setting program are as follows.

[0189] [Configuration 18] The work information setting program causes the controller 50 (computer) to execute a display step, an instructed position acquisition step, and a work position setting step. The display step causes the display unit 43 to display surrounding information A of the work machine 10 as shown in Fig. 4 (see step S2 in Fig. 12). The instructed position acquisition step acquires an instructed position I (see steps S21 to S23 and steps S31 to S33 in Fig. 12). The instructed position I is a position in the surrounding information A displayed on the display unit 43, and is a position input by the input unit 41. The work position setting step sets a work position W, which is position information used when the actual work machine 10 performs work by automatic control, based on the instructed position I (see the same step).

[0190] With the above [Configuration 18], the controller 50 can receive, at the input unit 41, an instruction for the designated position I for setting the work position W, while displaying the surrounding information A on the display unit 43. Therefore, the worker does not need to operate the actual work machine 10 to specify the designated position I. This makes it possible to reduce the effort and time required to specify the designated position I. As a result, it is possible to reduce the effort and time required to set the work position W.

[0191] (Effects of the 19th Invention) The effects of the work information setting method are as follows.

[0192] [Configuration 19] The work information setting method includes a display step, a designated position acquisition step, and a work position setting step. The display step causes surrounding information A of the work machine 10 to be displayed on the display unit 43 (see step S2 in Fig. 12). The designated position acquisition step acquires a designated position I (see steps S21-S23 and steps S31-S33 in Fig. 12). The designated position I is a position in the surrounding information A displayed on the display unit 43, and is a position input by the input unit 41. The work position setting step sets a work position W, which is position information used when the actual work machine 10 performs work under automatic control, based on the designated position I (see the same step).

[0193] With the above [Configuration 19], the input unit 41 can receive an instruction for the designated position I for setting the work position W while the surrounding information A is displayed on the display unit 43. Therefore, the worker does not need to operate the actual work machine 10 to specify the designated position I. This makes it possible to reduce the effort and time required to specify the designated position I. As a result, it is possible to reduce the effort and time required to set the work position W.

[0194] (Modification) The above embodiment may be modified in various ways. For example, the modified examples in the above embodiment may be combined in various ways. For example, the number of components (including modified examples) in the above embodiment may be changed, or some of the components may not be provided. For example, the connection of each component shown in FIG. 2 may be changed. For example, the inclusion relationship of the components may be changed in various ways. For example, a component described as a lower component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, a component described as a plurality of different members or parts may be treated as a single member or part. For example, a component described as a single member or part may be provided as a plurality of different members or parts. For example, the order of the steps in the flow charts shown in FIG. 12 and FIG. 13 may be changed, or some of the steps may not be performed. For example, the controller 50 may perform substantially the same process as the process of the above embodiment (including modified examples). Various processes may be combined in various ways. For example, each component may have only a part of each feature (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0195] 1. Work information setting system 10. Working Machinery 15c End attachment (working device) 30 Surrounding Information Sensor 41 Input section 43 Display section 50b Storage section 53 Surrounding recognition controller (coordinate conversion controller) 55 Machine Controller A Surrounding Area Information I Indication position W Working position Wa1 Capture position Wa3 Release work position Wc1 Work start position Wc3 Work end position We travel route

Claims

1. an input unit to which information used for the work position setting control is input; A display unit that outputs information about the work position setting control; Equipped with The work position setting control includes: Displaying surrounding information of the work machine on the display unit; acquiring an indicated position, the indicated position being a position in the surrounding information displayed on the display unit and inputted by the input unit; a work position, which is position information used when the actual work machine performs work under automatic control, is set based on the indicated position; Work information setting system.

2. The work information setting system according to claim 1, The display unit displays the detected surrounding information detected by a surrounding information sensor that detects the surrounding information. Work information setting system.

3. The work information setting system according to claim 2, the display unit updates the detected surrounding information displayed by the display unit when the surrounding information has changed due to an operation of the work machine. Work information setting system.

4. The work information setting system according to claim 1, The display unit displays an image of the work machine in a superimposed manner on the surrounding information. Work information setting system.

5. The work information setting system according to claim 1, The working position is a work start position where a work device of the work machine performs work; a work end position at which the working device performs work after the work at the work start position; a movement path which is a position through which the working device passes when the working device moves between the work start position and the work end position; , wherein the position is one or more of Work information setting system.

6. The work information setting system according to claim 1, The working position is a capture operation position where a work device of the work machine captures a work object; a release operation position where the working device releases the work object; a movement path that is a position through which the working device passes when the working device moves between the capturing operation position and the releasing operation position; one or more positions among Work information setting system.

7. The work information setting system according to claim 1, The work position setting control sets the work position based on the indicated position and the surrounding information. Work information setting system.

8. The work information setting system according to claim 1, The work position setting control changes the work position set by the work position setting control based on an input from the input unit. Work information setting system.

9. The work information setting system according to claim 1, The work position setting control includes: Information on positions that a work implement of the work machine should avoid; Information on the position where the working device should pass; the surrounding information after being changed by the work of the work machine, the surrounding information being predicted; Information on the specifications of the work machine; The work position is set based on one or more pieces of information. Work information setting system.

10. The work information setting system according to claim 1, The work position setting control sets the work position to one or both of the designated position and a position around the designated position. Work information setting system.

11. The work information setting system according to claim 10, The work position setting control, when the position of the work position relative to the instructed position is changed, complements the work position or reduces the work position between the changed work position and the instructed position. Work information setting system.

12. The work information setting system according to claim 1, The work position setting control determines whether or not one or both of the designated position and the work position are appropriate based on the surrounding information. Work information setting system.

13. The work information setting system according to claim 1, A controller for controlling the work position setting is provided. The controller: a coordinate conversion controller that converts between coordinates in the surrounding information displayed on the display unit and coordinates indicating a position in an actual work site; a machine controller that is provided separately from the coordinate transformation controller and controls the movement of the work machine; Equipped with Work information setting system.

14. The work information setting system according to claim 1, The work position setting control includes: The set work position is stored in a memory unit, Displaying the work position stored in the memory unit on the display unit so as to be selectable by the input unit; setting the work position selected by the input unit as the work position to be used for work by the work machine; Work information setting system.

15. The work information setting system according to claim 14, The work position setting control includes: storing a plurality of the work positions in the storage unit; Work information setting system.

16. The work information setting system according to claim 15, The work position setting control includes: Linking the plurality of work positions together; Work information setting system.

17. The work information setting system according to claim 14, The work position setting control includes: The visual information corresponding to the set work position is stored in the storage unit and displayed on the display unit. Work information setting system.

18. a display step of displaying surrounding information of the work machine on a display unit; a designated position acquisition step of acquiring a designated position, which is a position in the surrounding information displayed on the display unit and inputted by an input unit; a work position setting step of setting a work position, which is position information used when the actual work machine performs work under automatic control, based on the indicated position; to cause a computer to execute Work information setting program.

19. a display step of displaying surrounding information of the work machine on a display unit; a designated position acquisition step of acquiring a designated position, which is a position in the surrounding information displayed on the display unit and inputted by an input unit; a work position setting step of setting a work position, which is position information used when the actual work machine performs work under automatic control, based on the indicated position; Equipped with How to set up work information.

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