Working machinery

Abstract

To obtain a work machine 100 that improves work efficiency by appropriately notifying the operator of the sense of distance by changing the image to an appropriate magnification ratio according to the distance between the bucket tip and the target surface for construction. [Solution] The distance between the bucket tip and the construction target surface 410, calculated by the bucket tip distance calculation unit 303, and the basic scaling factor α and minimum scaling factor β determined based on the operator's settings, are used to calculate the scaling factor of the distance display image 401 to be displayed on the monitor 114. The image is then changed and displayed on the monitor 114 based on this scaling factor. As a result, when the distance between the bucket tip and the construction target surface is far, the scaling factor becomes low, allowing the operator to acquire information over a wide area, and when the distance between the bucket tip and the construction target surface is close, the scaling factor becomes high, providing the operator with information that satisfies the required resolution.

Description

[[Technical Field]]

[0001] The present invention relates to a work machine. [[Background Art]]

[0002] In recent years, against the background of the expanding application of ICT technology to construction and civil engineering sites, demand has been increasing for a function called machine guidance that provides operators with information to assist them in operating work machines. Work machines such as hydraulic excavators equipped with machine guidance are fitted with devices including attitude detectors such as IMUs (Inertial Measurement Units) and inclination angle sensors that measure the attitude of the front work implement and upper revolving superstructure, and GNSS (Global Navigation Satellite System) antennas for calculating the position and orientation of the vehicle body. By performing calculation using the output values of these devices and the dimension values of the structure, for example, the three-dimensional position of the bucket toe in a coordinate system defined at the construction site is calculated, and the function is provided to supply information such as the distance between the bucket toe and the target construction surface to the operator via a display device such as a monitor. [[Prior Art Literature]] [[Patent Literature]]

[0003] [[Patent Literature 1]] WO2017 / 047654 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] On the monitor of a work machine having a machine guidance function, there are displayed an image for visually showing the distance between the bucket toe and the target construction surface, and images showing the bucket from the side and the front for notifying the operator of the relationship of the distance and angle between the bucket and the target construction surface.

[0005] Because the display space on the monitor is limited, settings functions are provided to enlarge or reduce the displayed image, for example. In the technology described in Patent Document 1, the display space for the image representing the distance between the bucket tip and the construction target surface, which is the most important information when the operator is operating the vehicle, is enlarged, making it easier for the operator to recognize the information.

[0006] The distance between the bucket tip and the construction target surface in Patent Document 1 is displayed as a bar display where the color and location of the color change according to the distance, and the distance that can be represented by this image is determined by the magnification of the image. For example, if the operator wants to check the distance in detail, they will increase the magnification. In that case, the resolution of the distance that can be represented by a single bar increases, but on the other hand, the distance that can be represented by the entire bar becomes shorter. When performing construction using machine guidance, the operator moves the bucket tip while looking at the image that displays the distance, but if the magnification is high and the distance represented by the entire bar is short, there is no change in the image when the bucket tip is not closest to the construction target surface, and the operator has difficulty judging the distance. As a result, even at distances where it would not be a problem to move the bucket tip quickly, the operator may operate cautiously, leading to a decrease in work efficiency. Also, because the operator cannot judge the distance, they may misjudge the amount of force to use and exceed the construction target surface.

[0007] The present invention has been made in view of the above points, and its purpose is to improve work efficiency by making it easier for the operator to grasp the sense of distance in machine guidance by changing the image to an appropriate magnification ratio according to the distance between the bucket tip and the target surface for construction. [Means for solving the problem]

[0008] The present invention, which solves the above problems, is a working machine that, A work machine comprising a vehicle body having a lower traveling body and an upper rotating body rotatably mounted on the upper part of the lower traveling body, a work device attached to the upper rotating body, a posture sensor for detecting the posture of the vehicle body and the work device, a monitor for displaying information related to the vehicle body or the work device, and a control device for controlling the display of the monitor, The control device is A posture calculation unit that calculates the posture of the vehicle body and the posture of the work device using the information from the posture sensor, A construction target surface data storage unit that stores construction target surface data, A toe-tip distance calculation unit calculates the toe-tip distance between the construction target surface and the toe of the work device based on the attitude of the vehicle body and the attitude of the work device calculated by the attitude calculation unit and the construction target surface data stored in the construction target surface data storage unit, A monitor image generation unit generates an image showing the positional relationship between the tip of the work device and the target surface of the work, The system includes a scaling factor calculation unit that calculates the scaling factor of the image generated by the monitor image generation unit, The aforementioned monitor image generation unit, The image is changed and displayed on the monitor based on the scaling factor calculated by the scaling factor calculation unit, according to the distance between the tip of the work device and the target surface of the work, as calculated by the tip distance calculation unit. It is characterized by the following: [Effects of the Invention]

[0009] According to the present invention, within a limited display space, the image can be changed to an appropriate scaling factor according to the distance between the bucket tip and the target surface for construction, making it easier for the operator to grasp the sense of distance and improving the operator's work efficiency.

[0010] Further features related to the present invention will become apparent from the description herein and the accompanying drawings. Problems, configurations, and effects other than those described above will be revealed by the following description of embodiments. [Brief explanation of the drawing]

[0011] [Figure 1] A diagram schematically illustrating the external appearance of a hydraulic excavator, which is an example of a work machine. [Figure 2] A diagram extracting and showing the control system of a hydraulic excavator along with related configurations. [Figure 3] A functional block diagram in an information controller according to the present embodiment. [Figure 4] An example of a machine guidance screen according to the present embodiment. [Figure 5] An example of a distance display image between a bucket tooth tip and a target construction surface according to the present embodiment. [Figure 6] An example of a distance display image between a bucket tooth tip and a target construction surface according to the present embodiment. [Figure 7] An example of a distance display image between a bucket tooth tip and a target construction surface according to the present embodiment. [Figure 8] A graph showing changes in the scaling magnification of a distance display image according to the present embodiment. [Figure 9] An example of a change in the display mode of a distance display image resulting from a change in scaling magnification according to the present embodiment. [Figure 10] An example of display constraint conditions according to the present embodiment. [Figure 11] An example of a scaling magnification setting screen according to the present embodiment. MODE FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, taking an example in which the embodiments of the present invention are applied to a hydraulic excavator. In the present embodiment, a hydraulic excavator provided with a front work implement is described as an example of a work machine, but the present invention is not limited thereto, and can also be applied to other work machines involved in excavation at construction sites. In addition, in the present embodiment, 3D machine guidance equipped with GNSS is taken as an example, but the present invention can also be applied to 2D machine guidance not equipped with GNSS.

[0013] <First Embodiment> A first embodiment of the present invention will be described with reference to FIGS. 1 to 11.

[0014] FIG. 1 is a diagram schematically illustrating the external appearance of a hydraulic excavator, which is an example of a working machine according to the present embodiment. FIG. 2 is a diagram extracting and showing a control system of the hydraulic excavator together with related configurations.

[0015] In FIGS. 1 and 2, the hydraulic excavator 100 includes an articulated front working machine (working device) 103 configured by connecting a plurality of rotatable driven members (a boom 104, an arm 105, and a bucket 106), and an upper revolving structure 101 and a lower traveling structure 102 that constitute a vehicle body. The upper revolving structure 101 is provided on an upper portion of the lower traveling structure 102 so as to be revolvable relative to the lower traveling structure 102. A center axis 107 about which the upper revolving structure 101 revolves is referred to as an O-axis. Further, a base end of the boom 104 of the working device 103 is supported at a front portion of the upper revolving structure 101 so as to be rotatable in a vertical direction. One end of the arm 105 is supported at an end (distal end) different from the base end of the boom 104 so as to be rotatable in the vertical direction, and the bucket 106 is supported at the other end of the arm 105 so as to be rotatable in the vertical direction. The boom 104, the arm 105, the bucket 106, the upper revolving structure 101, and the lower traveling structure 102 are respectively driven by hydraulic actuators 108 to 112, namely a boom cylinder 108, an arm cylinder 109, a bucket cylinder 110, a revolving motor 111, and left and right traveling motors 112.

[0016] The operation of the boom cylinder 108, arm cylinder 109, bucket cylinder 110, slewing motor 111, and left and right travel motors 112 is controlled by a control valve 203 that controls the direction and flow rate of the hydraulic fluid supplied to each hydraulic actuator 108-112 from a hydraulic pump 202 driven by a prime mover such as an engine 201. The control valve 203 is driven by pilot pressure generated based on a drive signal from the main controller 204 using hydraulic pressure output from a pilot pump (not shown). The operation of each hydraulic actuator 108-112 is controlled by the main controller 204 generating pilot pressure based on an operation signal from the operating lever 206.

[0017] An operator's cab 113 is located at the upper front of the upper rotating body 101. The operator's cab 113 is equipped with multiple control levers 206 that output control signals for operating hydraulic actuators 108 to 112. Note that in Figure 2, only one of the multiple control levers 206 is shown as a representative example. Each of the multiple control levers 206 is assigned to operate one of the hydraulic actuators 108 to 112.

[0018] For example, the operation of hydraulic actuators 108-111 is assigned to a pair of left and right operating levers, each of which can be tilted forward, backward, left, and right. The system includes a detection device (not shown) that electrically detects the amount of tilt of the levers, i.e., the amount of lever operation, which is the operation signal. The detection device outputs the detected amount of lever operation to the main controller 204, which constitutes the control system of the hydraulic excavator 100, via electrical wiring. Similarly, the operation of hydraulic actuator 112 is also assigned to another pair of left and right operating levers. The operator's cab 113 is equipped with a monitor 114, which serves as a display device for notifying the operator of information related to the vehicle body or work equipment 103. The monitor 114 is configured, for example, as a tablet terminal with a touch panel, and the basic scaling factor α and minimum scaling factor β, described later, can be changed by touch operation.

[0019] Two position detection devices 115 and 116 are arranged side by side at the rear of the upper rotating body 101. The position detection devices 115 and 116 described here refer to devices that detect the center position of the device, such as antennas or GNSS. In addition, the position detection devices 115 and 116 also constitute a position measurement device that measures the position of the hydraulic excavator 100 at the construction site and outputs the measurement result as position information.

[0020] The position detection devices 115 and 116 have a position calculation function that receives positioning signals output from satellites flying high above, calculates the position of the hydraulic excavator 100 in the Earth coordinate system based on the received positioning signals, and outputs it as position information. Furthermore, since the relative positions of the position detection devices 115 and 116 with respect to the upper rotating body 101 are fixed, the orientation of the upper rotating body 101 can be calculated from the deviation of the position information measured by the two position detection devices 115 and 116.

[0021] The upper slewing body 101, boom 104, arm 105, and bucket 106 are each equipped with attitude sensors (IMUs) 117-120 that measure angle (or angular velocity) and acceleration. Hereafter, when it is necessary to distinguish between these attitude sensors 117-120, they will be referred to as the slewing body attitude sensor 117, boom attitude sensor 118, arm attitude sensor 119, and bucket attitude sensor 120, respectively. Here, the attitude sensors 117-120 constitute an attitude information detection device that detects information related to the attitude of the hydraulic excavator 100 and outputs the detection results as attitude information.

[0022] The control system for the hydraulic excavator 100 includes a main controller 204 that controls the overall operation of the hydraulic excavator 100, as well as an information controller (control device) 205 that controls information related to the hydraulic excavator 100. Although not shown in the figures, the main controller 204 is computer-equivalent hardware having a processing unit (e.g., CPU), a storage device (e.g., semiconductor memory such as ROM or RAM) that stores the program executed by the processing unit and the data necessary for the execution of that program. Similarly, the information controller 205 is computer-equivalent hardware in which a CPU 2051 as a processing unit, a storage device (e.g., semiconductor memory such as ROM 2053 or RAM 2052) that stores the program executed by the CPU 2051 and the data necessary for the execution of that program, and an external interface 2055 are connected by a bus 2054.

[0023] The information controller 205 is connected to the main controller 204, position detection devices 115 and 116, attitude sensors 117 to 120, and monitor 114 via an external interface 2055. The external interface 2055 can also connect to an external storage medium 207 such as a USB memory stick and a communication terminal 208 that can send and receive information with an external system.

[0024] The information controller 205 calculates the posture of the hydraulic excavator 100 based on the location information of the construction site detected by the position detection devices 115 and 116, the posture acquired by the posture sensors 117 to 120, and the data necessary for calculation (e.g., vehicle dimension data) stored in the information controller 205's storage device.

[0025] Based on the posture information calculated by the information controller 205, the positional relationship between the predetermined design plane (work target plane) and the position of the excavator's claw is calculated, and the calculation result is transmitted to the main controller 204 via the external interface 2055. The calculation result is also displayed on the monitor 114 via the external interface 2055.

[0026] Figure 3 is a functional block diagram showing the functions implemented in the information controller 205 related to this embodiment. The attitude calculation unit 302 calculates the attitude of the vehicle body and the attitude of the work device 103 using information from the attitude sensors. The attitude calculation unit 302 calculates the attitude of the vehicle body, including the bucket tip position coordinates of the hydraulic excavator 100, and the attitude of the work device 103, including the bucket tip position coordinates of the hydraulic excavator 100, from the attitude information acquired and transmitted by the attitude sensors 117, 118, 119, and 120, the position information in the field coordinate system transmitted from the position sensors 115 and 116, and data necessary for calculations such as structural dimensions transmitted from the machine dimension storage unit 301.

[0027] The bucket toe distance calculation unit (toe distance calculation unit) 303 calculates the toe distance between the bucket toe and the construction target surface based on the posture of the vehicle body and the posture of the work device 103 calculated by the posture calculation unit 302, and the construction target surface data stored in the construction target surface data storage unit 304. The bucket toe distance calculation unit 303 calculates the distance between the bucket toe and the construction target surface from the bucket toe position of the hydraulic excavator 100 in the site coordinate system obtained from the posture calculation unit 302 and the construction target surface data obtained from the construction target surface data storage unit 304. The construction target surface data storage unit 304 stores the construction target surface data obtained from the external storage medium 207 or the communication terminal 208.

[0028] The scaling factor calculation unit 305 calculates the scaling factor from the distance between the bucket tip and the construction target surface obtained from the bucket tip distance calculation unit 303, and the basic scaling factor α and minimum scaling factor β obtained from the scaling parameter storage unit 306. The calculation method will be explained later.

[0029] The basic scaling factor α and minimum scaling factor β stored in the scaling parameter storage unit 306 can be changed by the operator via the operation of the monitor 114.

[0030] The monitor operation processing unit 307 processes the operation signals from the monitor 114 associated with the changes to the basic scaling ratio α and minimum scaling ratio β mentioned above, as well as the creation and modification of construction target surface data, and transmits signals and setting values ​​related to the operation to the construction target surface data storage unit 304 and the scaling ratio calculation unit 305.

[0031] The monitor image generation unit 308 generates an image showing the positional relationship between the bucket tip and the construction target surface. The monitor image generation unit 308 changes the image based on the scaling factor calculated by the scaling factor calculation unit 305, according to the distance between the bucket tip and the construction target surface calculated by the bucket tip distance calculation unit 303, and displays it on the monitor 114. The monitor image generation unit 308 generates a video signal to output to the monitor 114 using the vehicle's attitude and the working device 103's attitude obtained from the attitude calculation unit 302, the distance between the bucket tip and the construction target surface obtained from the bucket tip distance calculation unit 303, the scaling factor obtained from the scaling factor calculation unit 305, and the construction target surface data obtained from the construction target surface data storage unit 304, and transmits it to the monitor 114.

[0032] Figure 4 shows the machine guidance screen displayed on the monitor 114 in this embodiment.

[0033] The machine guidance display area 400 on monitor 114 displays a distance display image 401 that shows the distance between the bucket tip and the construction target surface, a longitudinal display screen 402 that shows the bucket and construction target surface as seen from the side to inform the operator of the front-to-back positional relationship between the bucket and the construction target surface, and a transverse display screen 403 that shows the bucket and construction target surface as seen from the front to inform the operator of the left-to-right positional relationship between the bucket and the construction target surface.

[0034] The bucket icon 411 is an image that shows the position and angle of the bucket. The distance display image 401 is simplified in its display form because it only shows the distance relationship between the construction target surface and the tip of the bucket. The longitudinal display screen 402 and the transverse display screen 403 draw the outline of the bucket based on the bucket position and attitude information calculated by the attitude calculation unit 302 in order to inform the operator of the bucket's position and attitude.

[0035] The construction target surface 410 is drawn based on the construction target surface data acquired from the construction target surface data storage unit 304. In the distance display image 401, the construction target surface 410 is displayed horizontally based on the height of the point closest to the vertical reference point of the bucket tip on the construction target surface. In the longitudinal direction display screen 402, it is displayed as a cross-sectional shape parallel to the front direction, which is in front of the front work machine 103, passing through the bucket tip reference point icon 413. In the transverse direction display screen 403, it is displayed as a cross-sectional shape perpendicular to the front direction, passing through the bucket tip reference point icon 413.

[0036] The vertical guide line 412 is a line drawn vertically from the reference point icon 413 at the tip of the bucket to the construction target surface 410, and informs the operator of the vertical direction. The reference point icon 413 is an image that indicates whether the left end, right end, or center of the bucket tip is being used as the reference position in the current calculation. Figure 4 shows an image where the center of the bucket tip is being used as the reference position. The operator can change the reference position as needed depending on the case in use, and the position of the reference point icon 413 in the image will change accordingly.

[0037] Referring to Figures 4 to 7, the details of the distance display image 401 that is subject to scaling in this embodiment will be described.

[0038] The permissible accuracy range 414 visually indicates the acceptable accuracy relative to the construction target surface 410, and this range can be arbitrarily set by the operator. Depending on the set value, the vertical width of the permissible accuracy range 414 in the distance display image 401 is changed. The status display area 415 changes its appearance depending on the positional relationship between the bucket tip and the permissible accuracy range 414, visually notifying the operator of the current position of the bucket tip.

[0039] Figure 5 shows the distance display image 401 when the bucket tip is above the allowable accuracy range 414, Figure 6 shows the distance display image 401 when the bucket tip is within the allowable accuracy range 414, and Figure 7 shows the distance display image 401 when the bucket tip is below the allowable accuracy range 414.

[0040] If the bucket tip is above the allowable accuracy range 414, there is no need to give the operator any special notification, so for example, the color of the status display area 415 can be changed to an inconspicuous color. If the bucket tip is within the allowable accuracy range 414, the operator needs to maintain a certain distance during finishing work, so for example, the color of the status display area 415 can be changed to a safe and conspicuous color such as green. If the bucket tip is below the allowable accuracy range 414, the operator has dug too far beyond the construction target surface 410, and the operator needs to be warned, so for example, the color of the status display area 415 can be changed to a warning and conspicuous color such as red. The numerical display 416 in the distance display image 401 displays the distance between the bucket tip and the construction target surface 410 calculated by the bucket tip distance calculation unit 303 as a numerical value.

[0041] Using Figures 8 and 9, we will explain the method for determining the scaling factor in the scaling factor calculation unit 305 and the changes in the display state of the distance display image 401 according to the scaling factor.

[0042] Figure 8 shows the change in the expansion / contraction ratio according to the distance between the bucket tip and the target surface for construction. The scaling factor δ is determined by the distance D between the bucket tip and the target surface for construction, the starting point distance L2 which is the starting point of the change in scaling factor, the ending point distance L1 which is the ending point of the change in scaling factor, the basic scaling factor α which is the scaling factor at the ending point distance L1, and the minimum scaling factor β which is the scaling factor at the starting point distance L2. The starting point distance L2 and the ending point distance L1 are linked to the allowable accuracy range and display range set by the operator.

[0043] The scaling factor δ is calculated using the following formula. L2 <Dのとき:δ=β ···(1) When L1 ≤ D ≤ L2: δ = α + γ(D - L1) ... (2) -L1 <D<L1のとき:δ=α ···(3) When -L2≦D≦-L1: δ=α+γ((-L1)-D) ...(4) -When L2 > D: δ = β ···(5) The scaling fluctuation rate γ, which shows the relationship between distance D and scaling factor δ in the above formula, is calculated by the following formula. γ = (β - α) / (L2 - L1) ... (6)

[0044] Figure 9 shows the display of distance indicator image 401 according to the distance between each bucket tip and the target surface for construction. When the variable endpoint distance L1 (in the case shown in Figure 9(1), the variable endpoint distance L1 is assumed to be the case where the upper limit of the allowable accuracy range 414 and the position of the bucket tip are the same), the scaling factor δ becomes the basic scaling factor α. When the variable starting point distance L2 (in the case shown in Figure 9(2), the variable starting point distance L2 is assumed to be the case where the construction target surface 410 is at the bottom edge of the display area), the scaling factor δ becomes the minimum scaling factor β. Between the variable endpoint L1 and the variable starting point L2, the scaling factor δ changes dynamically according to the distance D between the current bucket tip and the construction target surface 410 based on the calculation formula described above (see formulas (2) and (4) above). In addition, in this embodiment, in order to visually represent the change in the scaling factor, the width of the bucket icon 411 and the height of the allowable accuracy range 414 are changed according to the scaling factor δ.

[0045] The operator can recognize that the scaling factor is changing by observing the change in the size of the bucket icon 411. The width of the bucket icon 411 and the height of the tolerance range 414 are based on the starting size of the scaling variation and increase in proportion to the increase in the scaling factor. If the distance D between the bucket tip and the construction target surface becomes greater than the variation starting distance L2, the scaling factor δ remains fixed at the minimum scaling factor β, as shown in Figure 8. In this explanation, the case where the bucket tip is above the construction target surface 410 is used as an example, but the same changes in display behavior occur even when the bucket tip is below the construction target surface 410.

[0046] An example of how to set the basic scaling factor α and the minimum scaling factor β will be explained using Figures 10 and 11. Figures 10(1) and 10(2) show the display width L'1 and display area height L'2 of the tolerance accuracy range 414 at the end point of the variation used in the explanation. The display width L'1 and display area height L'2 of the tolerance accuracy range 414 are the sizes shown on the monitor 114. In this explanation, the display width L'1 of the tolerance accuracy range 414 at the end point of the variation is set to a value determined by the design requirements from the standpoint of visibility (e.g., 10 mm), and the display area height L'2 at the start point of the variation is set to a value determined by the size constraints of the monitor 114 (e.g., 40 mm).

[0047] Figure 11 shows an example of a settings screen 1100 for setting the basic scaling factor α and minimum scaling factor β to be displayed on the monitor 114. The operator can set L1, which is the setting value 1101 for the allowable accuracy range, and L2, which is the setting value 1102 for the display range, on the settings screen 1100.

[0048] The basic scaling factor α is calculated from the length L'1 of the allowable accuracy range displayed on the screen and the allowable accuracy range set by the operator using the following formula. α = L'1 / L1 ... (7) The minimum scaling factor β is calculated from the limit display range L'2 of the design surface on the screen and the display range set by the operator using the following formula. β = L'² / L² ···(8)

[0049] Using the values ​​shown in Figures 10 and 11, the base scaling factor α is 0.400 and the minimum scaling factor β is 0.040. To notify the operator of the set result, the calculated base scaling factor α and minimum scaling factor β are displayed in the base scaling factor display area 1103 and the minimum scaling factor display area 1104.

[0050] If only the calculation results are displayed, it may be difficult for the operator to intuitively understand how the display of the distance display image 401 will change. Therefore, for example, the change in the display of the distance display image 401 after the settings change can be displayed as a video in the preview display area 1105. After checking the preview, the operator can apply the settings by pressing the OK button 1106.

[0051] The work machine 100 of this embodiment includes a vehicle body having a lower traveling body 102 and an upper rotating body 101 rotatably mounted on the upper part of the lower traveling body 102, a work device 103 attached to the upper rotating body 101, attitude sensors 117-120 for detecting the attitude of the vehicle body and the work device 103, a monitor 114 for displaying information about the vehicle body or the work device 103, and a control device 205 for controlling the display of the monitor 114. The control device 205 includes an attitude calculation unit 302 for calculating the attitude of the vehicle body and the attitude of the work device 103 from the information of the attitude sensors 117-120, a construction target surface data storage unit 304 for storing construction target surface data, and a bucket toe distance calculation unit 303 for calculating the toe distance between the construction target surface 410 and the bucket toe of the work device 103 based on the attitude of the vehicle body and the attitude of the work device 103 calculated by the attitude calculation unit 302 and the construction target surface data stored in the construction target surface data storage unit 304, and work The system includes a monitor image generation unit 308 that generates an image showing the positional relationship between the tip of the device 103 and the construction target surface 410, and a scaling factor calculation unit 305 that calculates the scaling factor of the image generated by the monitor image generation unit 308. The monitor image generation unit 308 is characterized by changing the image based on the scaling factor calculated by the scaling factor calculation unit 305 according to the distance between the tip of the work device 103 and the construction target surface 410, which is calculated by the bucket tip distance calculation unit 303, and displaying it on the monitor 114.

[0052] According to the work machine 100 of this embodiment, the image is changed and displayed on the monitor 114 based on a scaling factor appropriately calculated according to the distance between the bucket tip and the construction target surface 410, making it easier for the operator to grasp the sense of distance and improving work efficiency. In addition, when the operator moves the bucket tip, the change in distance can be visually confirmed on the monitor 114, thereby reducing the risk of deviation from the construction target surface due to operator error.

[0053] In this embodiment, the work machine 100 uses a scaling factor calculation unit 305 to decrease the scaling factor δ of the image as the distance between the bucket tip and the construction target surface 410 increases, and to increase the scaling factor δ as the distance decreases. As a result, when the bucket tip and the construction target surface 410 are far apart, the distance that can be represented in the entire image increases, allowing the operator to visually confirm the change in distance when moving the bucket tip. Furthermore, when the bucket tip and the construction target surface 410 are close together, the scaling factor increases, making it possible to represent even small changes in distance, thus providing the operator with information that satisfies the required resolution.

[0054] In this embodiment, the work machine 100 uses a scaling factor calculation unit 305 to set the scaling factor at the starting point distance L2, where the image begins to enlarge when the tip of the work device 103 approaches the target surface 410, as the minimum scaling factor β, and to set the scaling factor at the ending point distance L1, where the image enlargement ends, as the basic scaling factor α. This allows the operator to arbitrarily set the starting point distance L2 and the ending point distance L1, and to change the relationship between the distance between the tip of the work device 103 and the target surface 410 and the scaling factor according to the operator's preference.

[0055] In this embodiment, the work machine 100 maintains the scaling factor at the minimum scaling factor β when the distance between the bucket tip and the construction target surface 410 is greater than the variable endpoint distance L2, thanks to the monitor image generation unit 308. For example, if the operator is moving the bucket tip toward the construction target surface 410, but the scaling factor δ does not change from the minimum scaling factor β, the operator can easily understand that there is a large distance between the bucket tip and the construction target surface 410.

[0056] In this embodiment, the work machine 100 maintains the scaling factor δ at the basic scaling factor α when the distance between the bucket tip and the construction target surface 410 is shorter than the variable endpoint distance L1, thanks to the monitor image generation unit 308. For example, even if the operator is moving the bucket tip toward the construction target surface 410, if the scaling factor δ does not change from the basic scaling factor α, the operator can easily understand that the distance between the bucket tip and the construction target surface 410 is short and the bucket tip is within the allowable accuracy range.

[0057] The work machine 100 of this embodiment is characterized by the monitor image generation unit 308 changing the size of the bucket icons displayed on the monitor 114 according to the scaling factor δ of the image. This allows the operator to intuitively know that the scaling factor is changing.

[0058] The work machine 100 of this embodiment is characterized in that the monitor image generation unit 308 changes the display width of the allowable accuracy range displayed on the monitor 114 according to the scaling factor δ of the image. This allows the operator to intuitively know that the scaling factor is changing.

[0059] Although embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various design modifications can be made without departing from the spirit of the invention as described in the claims. For example, the embodiments described above are described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add a configuration of another embodiment to the configuration of one embodiment. Moreover, it is possible to add, delete, or replace a part of the configuration of each embodiment with other configurations. [Explanation of Symbols]

[0060] 100...Hydraulic excavator (working machine), 101...Upper slewing body, 102...Lower traveling body, 103...Front working machine (working device), 106...Bucket, 114...Monitor, 115, 116...Position detection device, 117...Slewing body attitude sensor, 118...Boom attitude sensor, 119...Arm attitude sensor, 120...Bucket attitude sensor, 205...Information controller (control device), 302...Appearance 303... Bucket tip distance calculation unit, 304... Construction target surface data storage unit, 305... Scaling ratio calculation unit, 306... Scaling parameter storage unit, 307... Monitor operation processing unit, 308... Monitor image generation unit, 400... Machine guidance display area, 401... Distance display image, 402... Longitudinal direction display screen, 403... Cross-sectional direction display screen, 410... Construction target surface, 411... Bucket icon

Claims

1. A work machine comprising a vehicle body having a lower traveling body and an upper rotating body rotatably mounted on the upper part of the lower traveling body, a work device attached to the upper rotating body, a posture sensor for detecting the posture of the vehicle body and the work device, a monitor for displaying information related to the vehicle body or the work device, and a control device for controlling the display of the monitor, The control device is A posture calculation unit that calculates the posture of the vehicle body and the posture of the work device using the information from the posture sensor, A construction target surface data storage unit that stores construction target surface data, A toe-tip distance calculation unit calculates the toe-tip distance between the construction target surface and the toe of the work device based on the attitude of the vehicle body and the attitude of the work device calculated by the attitude calculation unit and the construction target surface data stored in the construction target surface data storage unit, A monitor image generation unit that generates an image showing the positional relationship between the tip of the work device and the target surface of the work, The system includes a scaling factor calculation unit that calculates the scaling factor of the image generated by the monitor image generation unit, The aforementioned monitor image generation unit, A work machine characterized in that it changes the image on the monitor based on the scaling factor calculated by the scaling factor calculation unit, according to the distance between the tip of the work device and the target surface of the work, calculated by the tip distance calculation unit.

2. The scaling factor calculation unit, The work machine according to claim 1, characterized in that the scaling factor of the image is reduced as the distance between the tip of the work device and the target surface for construction increases, and the scaling factor of the image is increased as the distance between the tip of the work device and the target surface for construction decreases.

3. The scaling factor calculation unit, The work machine according to claim 1, characterized in that the scaling factor at the starting point of the variation, where the image begins to be enlarged by bringing the tip of the work device close to the target surface of the work device, is set as the minimum scaling factor, and the scaling factor at the ending point of the variation, where the image ends, is set as the basic scaling factor.

4. The aforementioned monitor image generation unit, The work machine according to claim 3, characterized in that when the distance between the tip of the work device and the target surface for construction is greater than the starting distance of the variation, the scaling factor is maintained at the minimum scaling factor.

5. The aforementioned monitor image generation unit, The work machine according to claim 3, characterized in that when the distance between the tip of the work device and the target surface for construction is shorter than the variable endpoint distance, the scaling factor is maintained at the basic scaling factor.

6. The aforementioned monitor image generation unit, The work machine according to claim 1, characterized in that the size of the bucket icon displayed on the monitor is changed according to the scaling factor of the video.

7. The aforementioned monitor image generation unit, The work machine according to claim 1, characterized in that the display width of the allowable accuracy range displayed on the monitor is changed according to the scaling factor of the image.

Images