Display system, display method, and work machine

Abstract

To provide a display system, a display method, and a work machine that appropriately present planned work and its progress.SOLUTION: A display system 1 comprises: a display portion 11 displaying a plurality of work processes executed by a work machine; and a display portion controller 20 controlling display on the display portion 11. The display portion controller 20 displays an ongoing work process in execution by the work machine and a scheduled work process scheduled to be executed after the ongoing work process.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a display system, a display method, and a work machine. [Background technology]

[0002] BACKGROUND ART As disclosed in Patent Document 1, an automatic excavator technology is known that automatically performs a series of processes of excavating an object with an excavator and loading the excavated material into a loading object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-088625 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, when work is automated and performed by a work machine at a work site such as a construction site, it is desirable to appropriately present the planned work and its progress.

[0005] An object of aspects of the present disclosure is to provide a display system, a display method, and a work machine that appropriately present planned work and its progress. [Means for solving the problem]

[0006] According to an aspect of the present disclosure, there is provided a display system comprising a display unit that displays a plurality of work processes performed by a work machine, and a controller that controls the display on the display unit, wherein the controller displays a work process currently being performed by the work machine and a planned work process that is scheduled to be performed after the currently performing work process.

[0007] According to an aspect of the present disclosure, there is provided a display method comprising: a vehicle body including a work machine that performs work; a display unit that displays a plurality of work processes performed by the work machine; and a controller that controls the display on the display unit, wherein the controller displays a work process currently being performed by the work machine and a planned work process that is scheduled to be performed after the currently performing work process.

[0008] According to an aspect of the present disclosure, there is provided a work machine, comprising: a display method executed by a controller of the work machine to display a plurality of work processes to be performed by the work machine, the display including an ongoing work process that is being performed by the work machine and a planned work process that is scheduled to be performed after the ongoing work process. [Effects of the Invention]

[0009] According to aspects of the present disclosure, a display system, a display method, and a work machine are provided that appropriately present planned work and its progress. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a side view showing a work machine according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing an example of a plurality of work processes that are automatically performed by a work machine according to an embodiment. [Figure 3] FIG. 3 is a functional block diagram showing an outline of a display system according to an embodiment. [Figure 4] FIG. 4 is a schematic diagram showing an example of a plurality of work processes. [Figure 5] FIG. 5 is a schematic diagram showing another example of a plurality of work processes. [Figure 6] FIG. 6 is a schematic diagram showing another example of a plurality of work processes. [Figure 7] FIG. 7 is a schematic diagram showing another example of a plurality of work processes. [Figure 8] FIG. 8 is a schematic diagram showing an example of displaying a plurality of work processes. [Figure 9]FIG. 9 is a block diagram illustrating a computer system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited thereto. The components of each embodiment described below can be combined as appropriate. In addition, some components may not be used.

[0012] [Embodiment] <Work machinery> The work machine displays multiple work processes performed by a work machine that performs automated work at a work site. In this embodiment, the work machine 100 is, for example, a wheel loader or forklift that performs automated work at a work site. The work machine 100 may be a manned vehicle that is operated by a driver, or an unmanned vehicle that operates autonomously. The unmanned vehicle may be an unmanned vehicle that can be remotely operated from a remote location away from the work site.

[0013] 1 is a side view showing a work machine according to an embodiment. In the embodiment, the work machine 100 will be described as a wheel loader, as an example. The wheel loader 100 performs work of loading excavated material excavated by a work implement 110 onto a loading target.

[0014] In the following explanation, the terms "up-down direction," "vehicle width direction," and "front-rear direction" are used to describe the positional relationship of each part. The "up-down direction" refers to the direction perpendicular to the contact surface of the tire 106 that contacts the ground RS. The "vehicle width direction" refers to the direction parallel to the rotation axis of the tire 106. The "front-rear direction" refers to the direction perpendicular to the "up-down direction" and the "vehicle width direction."

[0015] "Up" refers to one direction in the up-down direction, and refers to the direction in which the cab 103R is located relative to the contact surface of the tire 106. "Down" refers to the opposite direction of "up" in the up-down direction. "Left" refers to one direction in the vehicle width direction. "Right" refers to the opposite direction of "left" in the vehicle width direction. "Front" refers to one direction in the front-to-rear direction, and refers to the direction in which the work implement 110 is located relative to the cab 103R. "Rear" refers to the opposite direction of "front" in the front-to-rear direction.

[0016] As shown in FIG. 1, the wheel loader 100 includes a vehicle body 102 , a traveling device 104 , and a work implement 110 .

[0017] The vehicle body 102 includes a vehicle front portion 102F and a vehicle rear portion 102R disposed rearward of the vehicle front portion 102F. The vehicle front portion 102F and the vehicle rear portion 102R are connected via a joint mechanism 109 so as to be able to bend.

[0018] The traveling device 104 supports the vehicle body 102 and travels on the ground surface RS. The traveling device 104 has a power source 104A, a steering device 104B, tires 106, and a power transmission device 108.

[0019] The power source 104A generates power for driving the wheel loader 100. The power source 104A is, for example, an engine. The power source 104A may also be, for example, a battery or a fuel cell.

[0020] The steering device 104B is provided to the joint mechanism 109 in order to steer the wheel loader 100. When the steering device 104B is actuated, the front vehicle body part 102F bends relative to the rear vehicle body part 102R. When the front vehicle body part 102F bends relative to the rear vehicle body part 102R, the traveling direction of the wheel loader 100 is adjusted. The steering device 104B is, for example, a hydraulic cylinder.

[0021] The tires 106 include two front tires 106F rotatably supported on the vehicle body front portion 102F, and two rear tires 106R rotatably supported on the vehicle body rear portion 102R.

[0022] In this embodiment, the left-right direction is a direction parallel to the rotation axes of the front tires 106F and rear tires 106R when the wheel loader 100 travels in a straight line. The up-down direction is a direction perpendicular to the contact surfaces of the front tires 106F and rear tires 106R. The front-rear direction is a direction perpendicular to both the left-right direction and the up-down direction.

[0023] The power transmission device 108 transmits the driving force of the power source 104A to the tires 106. The power transmission device 108 optionally includes a gearbox. The power transmission device 108 changes the output from the power source 104A, thereby accelerating or decelerating the wheel loader 100. The power transmission device 108 switches the rotation direction of the tires 106, thereby causing the wheel loader 100 to move forward or backward.

[0024] The work implement 110 is supported by the vehicle body front section 102F. At least a portion of the work implement 110 is disposed forward of the vehicle body front section 102F. The work implement 110 has a boom 111, a bucket 112, a bell crank 113, a link 114, a boom cylinder 115, and a bucket cylinder 116.

[0025] The boom 111 is rotatably connected to the front vehicle body 102F. The bell crank 113 is connected to the bucket 112 via a link 114. The bucket 112 is rotatably connected to the tip of the boom 111. The bucket 112 is a working member having a tip 112B including a cutting edge. The bucket 112 is positioned forward of the front tires 106F.

[0026] The boom cylinder 115 is a hydraulic cylinder that generates power to operate the boom 111. The boom cylinder 115 extends and retracts, causing the boom 111 to move up and down.

[0027] The bucket cylinder 116 is a hydraulic cylinder that generates power to operate the bucket 112. The bucket 112 performs a dumping operation or a tilting operation when the bucket cylinder 116 extends and retracts. When the bucket 112 performs a tilting operation, the bucket 112 scoops up the excavated material. When the bucket 112 performs a dumping operation, the excavated material held in the bucket 112 is ejected from the bucket 112.

[0028] <Work processes performed automatically by work machines> The work process is a task that the wheel loader 100 automatically performs at the work site using the work implement 110. The work process includes moving to the excavation target, excavation, moving to the loading target, and loading. The work process may also include shoveling up collapsed earth and sand to move it above the natural ground DS. These work processes are merely examples and are not limiting.

[0029] Automatic work is performed by switching from a manned mode in which the wheel loader 100 is manually operated by an operator to an automatic mode in which automatic operation by the work machine controller 60 (see FIG. 3), which will be described later, is permitted.

[0030] An example of a work process performed by the wheel loader 100 configured in this manner will be described using FIG. 2. FIG. 2 is a schematic diagram showing an example of a plurality of work processes that are automatically performed by a work machine according to the embodiment. In the embodiment, the wheel loader 100 performs four standard work processes: movement to the natural ground DS that is the excavation target, excavation of the natural ground DS, movement of the transport vehicle LS that is the loading target from the natural ground DS to the vessel BE, and loading into the vessel BE. The work processes performed by the wheel loader 100 are only examples and are not limited to those described above. The wheel loader 100 may perform the standard work processes as a series, or may perform each as a separate work process, or may perform any combination of separate work processes. In the following description, as an example, the wheel loader 100 will be described as performing a series of standard work processes.

[0031] In the work process of moving to the natural ground DS, the wheel loader 100 moves forward toward the natural ground DS as shown by the arrow (1) in FIG. 2, with no excavated material held in the bucket 112.

[0032] In the work process of excavating the natural ground DS, as shown by (2) in FIG. 2, the wheel loader 100 controls the work implement 110 so that the natural ground DS is excavated with the bucket 112.

[0033] In the work process of moving to the vessel BE, the wheel loader 100, with the excavated material held in the bucket 112, moves backward so as to move away from the mound of ground DS, as shown by arrow (3) in Figure 2, and then moves forward towards the transport vehicle LS. In a state in which the wheel loader 100 is moving forward to approach the transport vehicle LS, the boom 111 performs a raising operation, and the work implement 110 is controlled so that the bucket 112 is positioned above the vessel BE.

[0034] In the work process of loading into the vessel BE, as shown by (4) in Figure 2, the wheel loader 100 controls the work implement 110 so that the bucket 112 performs a dumping operation. The excavated material is discharged from the bucket 112 that has performed the dumping operation, and is loaded into the vessel BE.

[0035] After a series of work processes are completed, including movement to the natural ground DS, excavation of the natural ground DS, movement to the vessel BE, and loading into the vessel BE, the excavated material excavated from the natural ground DS is loaded into the vessel BE.

[0036] After the series of work steps has been performed, the wheel loader 100 moves backward away from the transport vehicle LS and moves to the next pile of ground DS to be excavated, with no excavated material held in the bucket 112. In this way, the next series of work steps are performed in order, starting with the work step of moving to the pile of ground DS that is scheduled to be performed next.

[0037] In this way, the above-described operations are repeated until the vessel BE is filled with excavated material, or until the work is terminated due to completion of excavation of the natural ground DS, etc.

[0038] Furthermore, if, for example, the ground DS collapses while a series of work processes is being carried out, it becomes necessary to perform raking work to move the collapsed earth and sand above the ground DS. A series of work processes including the raking work process includes, for example, two work processes: moving to the target to be raked, and raking up. The raking work is performed by interrupting the other work processes.

[0039] <Complete work machine system> Figure 3 shows the entire work machine system. The work machine system comprises a display system 10, a work machine position calculation system 40, and a work machine controller 60. Figure 3 is a functional block diagram showing an outline of the display system according to the embodiment. The display system 10 of the wheel loader 100 displays on a display unit 11, which will be described later, based on work data acquired from a work position calculation system 40, which calculates the position at which the wheel loader 100 will perform work.

[0040] <Work position calculation system> In the embodiment, the work position calculation system 40 is disposed in the wheel loader 100. The work position calculation system 40 may be disposed outside the vehicle. The work position calculation system 40 calculates the shape of the surrounding natural ground DS from measurement results obtained by a 3D sensor such as a LiDAR (not shown) mounted on the wheel loader 100 while the wheel loader 100 is performing a work process. Then, based on the calculated shape of the surrounding natural ground DS, the attitude of the body of the wheel loader 100, the installation position of the 3D sensor on the body, the attitude of the 3D sensor, etc., the work position, movement path, etc. of the wheel loader 100 corresponding to the shape of the surrounding natural ground DS is calculated. Alternatively, the work position, movement path, etc. of the wheel loader 100 corresponding to the shape of the surrounding natural ground DS may be calculated based on the calculated shape of the surrounding natural ground DS and the position of the body of the wheel loader 100 in the global coordinate system detected by a position sensor, etc. These calculation methods are merely examples and are not limiting.

[0041] The position sensor detects the position of the work machine. The position of the work machine is detected using a global navigation satellite system (GNSS). The global navigation satellite system includes a global positioning system (GPS). The global navigation satellite system detects the position in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The global coordinate system is a coordinate system fixed to the Earth. The position sensor includes a GNSS receiver and detects the absolute position of the work machine, which indicates the position of the work machine in the global coordinate system.

[0042] Based on these calculation results, the work position calculation system 40 plans (formulates) the work process that is scheduled to be executed next (hereinafter referred to as the "planned work process"). The planned work process may include multiple work processes that are executed as a series. The work position calculation system 40 outputs the planned work data to the wheel loader 100 as needed. The work position calculation system 40 outputs the work data, including the planned planned work process, to the work machine controller 60 that controls the work machine 110 as needed.

[0043] The work data is data indicating a plurality of work processes to be executed by the wheel loader 100 in an automatic operation. The work data is data indicating at least one work process. When a planned work process is planned, the work data includes data indicating the planned work process. The work data includes data on at least one of the position of the wheel loader 100, the position of the excavation target, the position of the loading target, and the movement path of the wheel loader 100 in the work process. The work data includes the traveling conditions and the work implement operating conditions when the wheel loader 100 is controlled in automatic mode.

[0044] The traveling conditions are, for example, a travel path, a target direction, and a target speed along which the wheel loader 100 travels. The work machine operation conditions are, for example, a target work machine path, or a target work machine position and target work machine speed for operating the work machine in response to traveling.

[0045] The planning (formulation) of the scheduled work process in the work position calculation system 40 will now be described. At a work site, the condition of the natural ground DS, which is the excavation target, changes constantly. For this reason, work needs to be planned as needed in accordance with changes in the condition of the natural ground DS. For example, if the shape of the natural ground DS changes, it may be necessary to change the position of the excavation target. For example, a collapse of soil in the natural ground DS may necessitate shoveling work. For example, loading work may need to be carried out as soon as a transport vehicle waiting for loading arrives. For example, it may be necessary to move soil by carrying it horizontally in an appropriate manner depending on the size of the natural ground DS. Therefore, while the wheel loader 100 is performing a series of work processes, the work position calculation system 40 plans a scheduled work process, which is the series of work processes to be performed next.

[0046] <Work machine controller> In the embodiment, the work machine controller 60 is installed in the wheel loader 100. The work machine controller 60 controls the operation of the work machine 110 of the wheel loader 100. In the manned mode, the work machine controller 60 operates the work machine 110 by manual operation by an operator. In the automatic mode, the work machine controller 60 performs automatic work by driving the work machine 110, the tires 106, and bending parts such as the joint mechanism 109 based on the traveling conditions and work machine operating conditions of the work data, which will be described later, in each work process, and performs the above work process.

[0047] The work position calculation system 40 adds the planned scheduled work process to the end of the work data, which includes the work process in progress and the scheduled work process.

[0048] When a scheduled work process with a high priority is planned while the wheel loader 100 is executing a series of work processes, the work position calculation system 40 may insert the planned work process immediately after the work process being executed in the work data.

[0049] For example, when a scheduled work process including a lifting work process is planned, the work position calculation system 40 inserts the planned scheduled work process into the work data at the end of the currently running work process and the scheduled work process, or immediately after the currently running work process.

[0050] An example of an ongoing work process and a scheduled work process will be described using FIGS. 4 and 5. FIG. 4 is a schematic diagram showing an example of a work process. FIG. 5 is a schematic diagram showing another example of a work process. FIGS. 4 and 5 show, in a list format, work processes performed automatically by the wheel loader 100. In FIG. 4, of a series of ongoing work processes consisting of (1) movement (to the natural ground DS), (2) excavation, (3) movement (to the vessel BE), and (4) loading, the work process (3) movement is currently being performed. When work data indicating the next series of scheduled work processes is acquired while the work process (3) movement is being performed, as shown in FIG. 5, a series of scheduled work processes consisting of (5) movement (to the natural ground DS), (6) excavation, (7) movement (to the vessel BE), and (8) loading is added to the end of the ongoing work processes, i.e., after the work process (4) loading. In this example, the work position calculation system 40 adds the planned scheduled work process to the end of the ongoing work processes in the work data.

[0051] Other examples of ongoing work processes and scheduled work processes will be described using Figures 6 and 7. Figure 6 is a schematic diagram showing another example of a work process. Figure 7 is a schematic diagram showing another example of a work process. Figures 6 and 7 show, in a list format, work processes that are performed automatically by the wheel loader 100. In Figure 6, there is a series of ongoing work processes: (1) movement (to the natural ground DS), (2) excavation, (3) movement (to the vessel BE), and (4) loading; and a series of scheduled work processes: (5) movement (to the natural ground DS), (6) excavation, (7) movement (to the vessel BE), and (8) loading, and the work process of (4) loading is currently being performed. When raking becomes necessary while the work process (4) is being carried out and work data indicating the next series of scheduled work processes including the raking work process is acquired, the scheduled work processes are added to the end of the work process in progress, i.e., after the work process (4) of loading, by inserting (5) movement (to the raking target), (6) raking, and (7) movement (from the raking target to the natural ground DS), as shown in Figure 7. In this example, the work position calculation system 40 inserts the planned scheduled work process in the work data immediately after the work process in progress.

[0052] <Processing by the work position calculation system and work machine controller> The functions (processing) performed by the work position calculation system 40 and the work machine controller 60 configured as described above during the automatic mode will be described. In the work process of excavating the natural ground DS during the automatic mode, <1> The work position calculation system 40 recognizes the natural ground DS, <2> The work position calculation system 40 determines travel conditions such as a travel path for penetrating into the natural ground DS in order to excavate the natural ground DS, and work machine operation conditions such as a raising operation of the boom 111 and a tilt operation of the bucket 112 performed when penetrating into the natural ground DS, <3> The work machine controller 60 drives the tires 106 , the boom 111 and the bucket 112 based on the travel conditions and work machine operating conditions for excavating the natural ground DS determined by the work position calculation system 40 .

[0053] In the process of loading into vessel BE in automatic mode, <1> The work position calculation system 40 recognizes the vessel BE, <2> The work position calculation system 40 determines travel conditions such as a travel route that allows loading to be performed without interference between the vessel BE and the work implement 110, and work implement operation conditions for the boom 111 and the bucket 112 that allow loading to be performed without interference between the work implement 110 and the vessel BE, <3> When proceeding toward the vessel BE based on the travel path of the travel conditions determined by the work position calculation system 40, the work machine controller 60 raises the work machine 110 while approaching the vessel BE based on the determined travel conditions and work machine operating conditions, and after the bucket 112 passes the vessel BE, performs a dump operation on the bucket 112 based on the work machine operating conditions.

[0054] During the automatic mode, <1> The work position calculation system 40 recognizes the natural ground DS to be plowed up, <2> The work position calculation system 40 determines, based on the shape of the natural ground DS, travel conditions such as a movement path toward the top of the natural ground DS, and work machine operation conditions such as a raising operation of the boom 111 performed while excavating earth and sand in the natural ground DS and proceeding toward the natural ground DS, and a dumping operation of the bucket 111 performed when positioned above the natural ground DS, <3> The work machine controller 60 performs operations under the travel conditions and work machine operating conditions while proceeding toward the natural ground DS determined by the work position calculation system 40.

[0055] <Display system for work machines> 3, the display system 10 includes a display unit 11 and a display unit controller 20. The output unit 19 and the display unit controller 20 are connected to each other wirelessly or via a wire so as to be able to communicate data.

[0056] The display unit 11 may be, for example, a monitor arranged so that it can be seen by a control operator monitoring the work at the work site or in a remote location. The display unit 11 may be, for example, a monitor arranged in the driver's cab 103R of the wheel loader 100. The display unit 11 outputs the work process. More specifically, under the control of the display control unit 29, the display unit 11 displays a plurality of work processes that the wheel loader 100 will perform during automatic work.

[0057] The display unit 11 will be described in detail using Fig. 8. Fig. 8 is a schematic diagram showing an example of a display of a work process. The display unit 11 includes a first display unit 11a and a second display unit 11b. In the embodiment, the display screen of the display unit 11 is divided into left and right halves, with the first display unit 11a located on the left side and the second display unit 11b located on the right side.

[0058] The first display unit 11a displays a list of completed work processes, work processes in progress, and scheduled work processes. The first display unit 11a displays all work processes included in the work data. On the first display unit 11a, the text of a work process in progress is displayed in a different display mode from the text of other work processes, such as by changing the color or thickness of the text, or by blinking.

[0059] In FIG. 8, the first display unit 11a displays a list video 210 that displays work processes in a list format, including completed work processes, work processes in progress, and scheduled work processes. In the list video 210, each work process is displayed on one line. In the list video 210, the work processes to be performed by the wheel loader 100 are displayed in the order in which they will be performed, starting from the top. In the list video 210, the text for the currently performed work process "Move to Pile" is displayed so that it can be distinguished from the text for other work processes, for example, by changing the color. When the work process "Move to Pile" by the wheel loader 100 is completed, the color of the text for "Move to Pile" becomes the same color as the text for the completed work process, and the color of the text for the scheduled work process "No Dig" on the next line changes to a color different from the other work processes.

[0060] The second display unit 11b displays the ongoing work process and the scheduled work process in a graphical manner. More specifically, the second display unit 11b displays an image that schematically shows the positional relationship between the wheel loader 100, the natural ground DS, and the vessel BE of the transport vehicle LS for at least the ongoing work process and the scheduled work process. In the embodiment, the second display unit 11b illustrates at least one of the position of the wheel loader 100, the position of the natural ground DS that is the excavation target, the position of the vessel BE of the transport vehicle LS that is the loading target, and the movement path of the wheel loader 100, which correspond to the ongoing work process and the scheduled work process. The movement path of the wheel loader 100 corresponding to the ongoing work process is displayed in a different display mode from the movement path of the wheel loader 100 corresponding to the scheduled work process, for example by changing the color or flashing.

[0061] In FIG. 8, the second display unit 11b displays a graphic image 250 illustrating a wheel loader icon image 261 indicating the position of the wheel loader 100, an excavation target icon image 262 indicating the position of the natural ground DS to be excavated, a loading target icon image 263 indicating the position of the loading target, a movement path image 271 indicating the movement path corresponding to the work process currently being performed by the wheel loader 100, and a planned movement path image 272 indicating the movement path corresponding to the next work process. In the graphic image 250, the wheel loader icon image 261 indicates the position and orientation of the wheel loader 100. The position and orientation of the wheel loader icon image 261 change in accordance with the actual movement of the wheel loader 100. The excavation target icon image 262 indicates the target excavation position of the natural ground DS to be excavated. The loading target icon image 263 indicates the center of the vessel BE (target loading position). The position of the loading target icon image 263 changes in accordance with the actual movement of the transport vehicle. In the illustrated image 250, a movement path image 271 of the wheel loader 100 corresponding to the ongoing work process "Move to Pile" and a planned movement path image 272, which is the movement path of the wheel loader 100 corresponding to the next scheduled work process "No Dig", are displayed so as to be distinguishable by changing colors, etc. When the work process "Move to Pile" by the wheel loader 100 is completed, the movement path image 271 is hidden, the planned movement path image 272 is displayed in a color that indicates that it is being executed, and furthermore, the next movement path image is displayed in a color that indicates the planned movement path.

[0062] In FIG. 8, the second display section 11b further displays point cloud data indicating the natural ground DS and the like, which are the measurement results obtained by the three-dimensional sensor mounted on the wheel loader 100, superimposed thereon.

[0063] The first display section 11a and the second display section 11b change their displays in synchronization with the progress of the work process in the wheel loader 100.

[0064] <Display controller> The display unit controller 20 displays the work process on the display unit 11. The display unit controller 20 can acquire work data from the work position calculation system 40. The display unit controller 20 includes a numerical calculation device (processor) such as a CPU (Central Processing Unit).

[0065] FIG. 9 is a block diagram showing a computer system according to an embodiment. The display controller 20 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU, a main memory 1002 including a nonvolatile memory such as a read-only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the display controller 20 described above are stored as a program in the storage 1003. The processor 1001 reads the program from the storage 1003, loads it into the main memory 1002, and executes the above-described processing in accordance with the program. The program may be distributed to the computer system 1000 via a network.

[0066] The display controller 20 controls the display on the display unit 11. The display controller 20 causes the wheel loader 100 to display, on the display unit 11, the work process currently being performed and the planned work process that is to be performed after the currently being performed work process. The display controller 20 includes a work data acquisition unit 21, a storage unit 25, and a display control unit 29.

[0067] In the embodiment, the display controller 20 causes the first display section 11a of the display section 11 to display a list of the ongoing work processes and the scheduled work processes, and causes the second display section 11b to display the ongoing work processes as an illustration.

[0068] The work data acquisition unit 21 acquires work data as needed from the work position calculation system 40. The work data acquisition unit 21 acquires from the work machine controller 60 data indicating the progress of the work process, which indicates the work process currently being performed, the current position of the wheel loader 100, the current position of the transport vehicle LS, etc.

[0069] The storage unit 25 includes at least one of a RAM, a ROM, a flash memory, and a hard disk drive. The storage unit 25 stores data used in the processing of the display controller 20.

[0070] The storage unit 25 stores the work data acquired by the work data acquisition unit 21.

[0071] The display control unit 29 controls the display on the display unit 11. Based on at least the work data, the display control unit 29 causes the display unit 11 to display an ongoing work process, which is a work process currently being performed by the wheel loader 100, and a planned work process that is scheduled to be performed after the ongoing work process.

[0072] In the embodiment, the display control unit 29 displays a list of completed work processes, work processes currently being performed, and scheduled work processes on the first display unit 11a of the display unit 11 based on at least the work data, and displays an illustration of the work processes currently being performed and scheduled work processes on the second display unit 11b.

[0073] The display control unit 29 causes the first display unit 11a to display the character string of the currently executed work process in a different display mode from the character strings of the other work processes, for example by changing the color or thickness of the characters, or by blinking.

[0074] The display control unit 29 causes the second display unit 11b to display an image that schematically shows the positional relationship between the wheel loader 100, the natural ground DS, and the vessel BE of the transport vehicle LS at least for the ongoing work process and the scheduled work process. The display control unit 29 causes the second display unit 11b to display the movement path of the wheel loader 100 corresponding to the ongoing work process in a different display mode from the movement path of the wheel loader 100 corresponding to the scheduled work process, for example by changing the color or flashing.

[0075] In the embodiment, the display control unit 29 changes the display on the first display unit 11a and the second display unit 11b in synchronization with the progress of the work process in the wheel loader 100, based on the work data and the progress of the work process acquired from the work machine controller 60.

[0076] <Processing by the display controller> When the display system 10 is started up while the wheel loader 100 is running, the display process is executed.

[0077] The display controller 20 acquires task data from the task position calculation system 40 at any time using the task data acquisition unit 21.

[0078] The display controller 20 causes the first display section 11a of the display section 11 to display a list of completed work processes, work processes currently being performed, and scheduled work processes, and causes the second display section 11b to display an illustration of the work processes currently being performed and scheduled work processes, based at least on the work data.

[0079] <Effects> As explained above, in the embodiment, the wheel loader 100 can display on the display unit 11 the work process currently being performed and the planned work process that is to be performed after the currently being performed work process. In this way, according to the embodiment, while an automated work is being performed by the wheel loader 100, the planned status and progress status of the automated work can be visually and intuitively displayed to a control operator who monitors the work at the work site or in a remote location. In this way, the embodiment can appropriately present the planned work and its progress.

[0080] In an embodiment, the work process can be defined as including at least one of the work processes of excavation, loading, or shoveling. In an embodiment, the work performed by the wheel loader 100 can be managed as a work process that combines regular work processes.

[0081] In the embodiment, the first display unit 11a can display a list of ongoing work processes and scheduled work processes, and the second display unit 11b can display an illustration of the ongoing work process. According to the embodiment, the planned status and progress status of the automated work can be displayed visually and intuitively.

[0082] In the embodiment, the second display unit 11b illustrates at least one of the position of the wheel loader 100, the position of the excavation target, the position of the loading target, and the movement route of the wheel loader 100. According to the embodiment, the planned status and progress status of the automated work can be displayed visually and intuitively.

[0083] In the embodiment, the ongoing work process displayed on the first display unit 11a and the ongoing work process displayed on the second display unit 11b can be displayed in synchronization with the progress of the work processes. According to the embodiment, the planned status and progress status of the automated work can be displayed visually and intuitively.

[0084] <Modification> In the above description, the display screen of display unit 11 is divided into left and right halves, with first display unit 11a arranged on the left side and second display unit 11b arranged on the right side, but this is not limiting. Second display unit 11b may be arranged on the left side and first display unit 11a arranged on the right side. The display screen of display unit 11, which is long vertically, may be divided into top and bottom halves, with first display unit 11a arranged on one of the top and bottom halves and second display unit 11b arranged on the other.

[0085] In the above description, the first display unit 11a and the second display unit 11b are arranged on a divided display screen, but this is not limiting. The first display unit 11a and the second display unit 11b may be separate monitors arranged side by side, either horizontally or vertically.

[0086] <Additional Notes> The display system described in the above embodiment may be configured as follows. (Appendix 1) a display unit that displays a plurality of work processes executed by the work machine; a controller that controls display on the display unit; Equipped with The controller displaying a work process currently being executed by the work machine and a planned work process to be executed after the work process currently being executed; Work machine display system. (Appendix 2) The work process is at least one of excavation, loading, or shoveling. 10. A display system as described in Appendix 1. (Appendix 3) the display unit comprises a first display unit that displays the ongoing work process and the scheduled work process as a list, and a second display unit that displays the ongoing work process and the scheduled work process as a diagram, The controller displaying a list of the ongoing work process and the scheduled work process on the first display unit; causing the second display unit to graphically display the ongoing work process and the scheduled work process; 3. A display system according to claim 1 or 2. (Appendix 4) The second display unit illustrates at least one of the position of the work machine, the position of an excavation target, the position of a loading target, and a movement path of the work machine. 10. A display system as described in Appendix 3. (Appendix 5) The controller The ongoing work process and the scheduled work process displayed on the first display unit and the ongoing work process and the scheduled work process displayed on the second display unit are displayed in synchronization with the progress of the work processes. 5. A display system according to claim 3 or 4. [Explanation of symbols]

[0087] 10...display system, 11...display unit, 11a...first display unit, 11b...second display unit, 20...display unit controller, 21...work data acquisition unit, 25...storage unit, 29...display control unit, 40...work position calculation system, 60...work machine controller, 100...wheel loader (work machine), 102...vehicle body, 102F...front body, 102R...rear body, 104...traveling device, 104A...power source, 104B...steering device, 106...tire 106F...front tire, 106R...rear tire, 108...power transmission device, 109...articulation mechanism, 110...work implement, 111...boom, 112...bucket, 112B...tip, 113...bell crank, 114...link, 115...boom cylinder, 116...bucket cylinder, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface.

Claims

1. a display unit that displays a plurality of work processes executed by the work machine; a controller that controls display on the display unit; Equipped with The controller displaying a work process currently being executed by the work machine and a planned work process to be executed after the work process currently being executed; Work machine display system.

2. The work process includes at least one of excavation, loading, or shoveling. The display system of claim 1 .

3. the display unit comprises a first display unit that displays the ongoing work process and the scheduled work process as a list, and a second display unit that displays the ongoing work process and the scheduled work process as a diagram, The controller displaying a list of the ongoing work process and the scheduled work process on the first display unit; causing the second display unit to graphically display the ongoing work process and the scheduled work process; 3. A display system according to claim 1 or 2.

4. The second display unit illustrates at least one of the position of the work machine, the position of an excavation target, the position of a loading target, and a movement path of the work machine. The display system of claim 3 .

5. The controller The ongoing work process and the scheduled work process displayed on the first display unit and the ongoing work process and the scheduled work process displayed on the second display unit are displayed in synchronization with the progress of the work processes. The display system of claim 3 .

6. A display method executed by a controller of a work machine to display a plurality of work processes performed by the work machine, comprising: displaying a plurality of work processes to be executed by the work machine, including a work process currently being executed by the work machine and a planned work process to be executed after the work process currently being executed; Display methods including.

7. a vehicle body including a work implement for performing work; a display unit that displays a plurality of work processes executed by the work machine; a controller that controls display on the display unit; Equipped with The controller displaying a work process currently being executed by the work machine and a planned work process to be executed after the work process currently being executed; Work machinery.

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