Work machine, support device for supporting work performed by the work machine, and system for managing the work machine

Abstract

To present information on a front region of an upper turning body to an operator, and more effectively support operation of a work machine such as a shovel by the operator.SOLUTION: A display device 40 of a shovel 100 displays a guidance for a dump truck 60 detected by a periphery monitoring device. Specifically, the display device 40 displays graphics GP10 to GP14 as guidances indicating the position in a turning radial direction of an attachment AT to the dump truck 60 positioned in the periphery of the shovel 100. The graphic GP12 is displayed so as to correspond to the position vertically below the tip of the attachment AT on the surface of a loading platform 61 of the dump truck 60 and extend in a width direction of the attachment AT.SELECTED DRAWING: Figure 6A

Description

[Technical field]

[0001] The present disclosure relates to a work machine, an assistance device that assists work performed by the work machine, and a system for managing the work machine. [Background technology]

[0002] Conventionally, there is known an excavator that captures images of areas that are blind spots for an operator using a camera attached to an upper rotating body and displays the captured images on a display device installed in a cabin (see Patent Document 1).

[0003] This shovel is configured to display guidelines as distance indication lines superimposed on an image captured by the camera. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2016-065449 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above excavator is not configured to provide the operator with information regarding the area in front of the upper rotating body.

[0006] It is therefore desirable to provide the operator with information regarding the area in front of the upper rotating body so as to more effectively assist the operator in operating a work machine such as a shovel. [Means for solving the problem]

[0007] BooksA working machine according to an embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment attached to the upper rotating body, a surroundings monitoring device, and a display device, and the display device displays surroundings detected by the surroundings monitoring device. , having a height or depth different from the ground level at which the work machine is located The device is configured to display a figure as guidance representing the position of the attachment or an object lifted by the attachment in the turning radius direction with respect to the object, the figure being a position vertically below the tip of the attachment on the surface of the object, or a position vertically below the object lifted by the attachment on the ground. Through and extending in the width direction of the attachment. Effect of the Invention

[0008] The above-mentioned means provide a work machine that can more effectively assist the operator in operating the work machine. [Brief description of the drawings]

[0009] [Figure 1A] FIG. 1 is a side view of a shovel according to an embodiment of the present invention. [Figure 1B] FIG. 1B is a top view of the shovel shown in FIG. 1A. [Diagram 2] 1B is a schematic diagram showing a configuration example of a hydraulic system mounted on the excavator shown in FIG. 1A. [Diagram 3] FIG. 2 is a functional block diagram of a controller. [Figure 4A] FIG. 2 is a diagram showing the positional relationship between a shovel and a dump truck. [Figure 4B] FIG. 2 is a diagram showing the positional relationship between a shovel and a dump truck. [Figure 5A] FIG. 13 is a diagram showing an example of an image displayed during a loading operation. [Figure 5B] FIG. 13 is a diagram showing another example of an image displayed during a loading operation. [Figure 5C] FIG. 11 is a diagram showing yet another example of an image displayed during a loading operation. [Figure 6A] FIG. 11 is a diagram showing yet another example of an image displayed during a loading operation. [Figure 6B] FIG. 11 is a diagram showing yet another example of an image displayed during a loading operation. [Figure 6C] FIG. 11 is a diagram showing yet another example of an image displayed during a loading operation. [Figure 6D] FIG. 11 is a diagram showing yet another example of an image displayed during a loading operation. [Figure 6E] FIG. 11 is a diagram showing yet another example of an image displayed during a loading operation. [Figure 7] FIG. 13 is a diagram showing an example of an image displayed during crane operation. [Figure 8] FIG. 13 is a diagram showing an example of an image displayed during crane operation. [Figure 9] FIG. 13 is a diagram showing an example of an image displayed during crane operation. [Figure 10] FIG. 1 is a schematic diagram showing a configuration example of an excavator management system. [Figure 11] FIG. 1 is a diagram illustrating a configuration example of an electric operation system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First, a shovel 100 as an excavator according to an embodiment of the present invention will be described with reference to Figures 1A and 1B. Figure 1A is a side view of the shovel 100, and Figure 1B is a top view of the shovel 100.

[0011] In this embodiment, the lower traveling body 1 of the excavator 100, which is an example of a work machine, includes a crawler 1C. The crawler 1C is driven by a traveling hydraulic motor 2M mounted on the lower traveling body 1. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR.

[0012] An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. The rotating mechanism 2 is driven by a rotating hydraulic motor 2A mounted on the upper rotating body 3. However, the rotating mechanism 2 may be driven by a rotating motor-generator.

[0013] A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment. The boom 4, arm 5, and bucket 6 constitute an excavation attachment AT, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

[0014] The boom 4 is rotatably supported by the upper rotating body 3. A boom angle sensor S1 is attached to the boom 4. The boom angle sensor S1 can detect a boom angle θ1 which is a rotation angle of the boom 4. The boom angle θ1 is, for example, an angle of ascent from the state in which the boom 4 is lowered to the maximum. Therefore, the boom angle θ1 is maximum when the boom 4 is raised to the maximum.

[0015] The arm 5 is rotatably supported by the boom 4. An arm angle sensor S2 is attached to the arm 5. The arm angle sensor S2 can detect an arm angle θ2 which is a rotation angle of the arm 5. The arm angle θ2 is, for example, an opening angle from the fully closed state of the arm 5. Therefore, the arm angle θ2 is maximum when the arm 5 is fully opened.

[0016] The bucket 6 is rotatably supported by the arm 5. A bucket angle sensor S3 is attached to the bucket 6. The bucket angle sensor S3 can detect a bucket angle θ3 which is a rotation angle of the bucket 6. The bucket angle θ3 is, for example, an opening angle from the bucket 6's most closed state. Therefore, the bucket angle θ3 is maximum when the bucket 6 is most open.

[0017] 1A and 1B, each of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 is configured with a combination of an acceleration sensor and a gyro sensor. However, at least one of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be configured with only an acceleration sensor. In addition, the boom angle sensor S1 may be a stroke sensor attached to the boom cylinder 7, or may be a rotary encoder, a potentiometer, an inertial measurement unit, or the like. The same applies to the arm angle sensor S2 and the bucket angle sensor S3.

[0018] The upper rotating body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11. The upper rotating body 3 is also equipped with an object detection device 70, an imaging device 80, a machine body tilt sensor S4, a rotation angular velocity sensor S5, etc. An operation device 26, a controller 30, a display device 40, a sound output device 43, etc. are provided inside the cabin 10. For convenience, in this specification, the side of the upper rotating body 3 to which the excavation attachment AT is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

[0019] The object detection device 70 is an example of a surrounding monitoring device (space recognition device) and is configured to detect objects present around the excavator 100. The objects are, for example, people, animals, vehicles including dump trucks, construction machines, buildings, walls, fences, drainage pipes, U-shaped gutters, trees such as shrubbery, or holes. The object detection device 70 may detect the presence or absence of an object, the shape of the object, the type of the object, or the position of the object. The object detection device 70 is, for example, a camera, an ultrasonic sensor, a millimeter wave radar, a stereo camera, a LIDAR, a distance image sensor, or an infrared sensor. In this embodiment, the object detection device 70 includes a front sensor 70F that is a LIDAR attached to the front end of the upper surface of the cabin 10, a rear sensor 70B that is a LIDAR attached to the rear end of the upper surface of the upper rotating body 3, a left sensor 70L that is a LIDAR attached to the left end of the upper surface of the upper rotating body 3, and a right sensor 70R that is a LIDAR attached to the right end of the upper surface of the upper rotating body 3. The front sensor 70F may be attached to the ceiling surface of the cabin 10, i.e., inside the cabin 10.

[0020] The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the shovel 100. The object detection device 70 may be configured to distinguish between humans and non-human objects. The object detection device 70 may be configured to calculate a distance from the object detection device 70 or the shovel 100 to a recognized object.

[0021] The imaging device 80 is another example of a surroundings monitoring device (space recognition device) and captures an image of the surroundings of the excavator 100. In this embodiment, the imaging device 80 includes a rear camera 80B attached to the rear end of the upper surface of the upper rotating body 3, a left camera 80L attached to the left end of the upper surface of the upper rotating body 3, a right camera 80R attached to the right end of the upper surface of the upper rotating body 3, and a front camera 80F attached to the front end of the upper surface of the cabin 10. When the object detection device 70 is a camera, the object detection device 70 may be configured to function as the imaging device 80 as well. In this case, the imaging device 80 may be integrated into the object detection device 70. That is, the imaging device 80 may be omitted.

[0022] The rear camera 80B is positioned adjacent to the rear sensor 70B, the left camera 80L is positioned adjacent to the left sensor 70L, the right camera 80R is positioned adjacent to the right sensor 70R, and the front camera 80F is positioned adjacent to the front sensor 70F.

[0023] The image captured by the imaging device 80 is displayed on the display device 40. The imaging device 80 may be configured to display a viewpoint converted image such as an overhead image on the display device 40. The overhead image is generated by, for example, synthesizing images output from the rear camera 80B, the left camera 80L, and the right camera 80R.

[0024] The machine body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilt angle (roll angle) about the front-rear axis and the tilt angle (pitch angle) about the left-right axis of the upper rotating body 3 with respect to a virtual horizontal plane. The front-rear axis and the left-right axis of the upper rotating body 3 are, for example, perpendicular to each other and pass through the center point of the shovel 100, which is a point on the rotation axis of the shovel 100. The machine body tilt sensor S4 may be configured by a combination of an acceleration sensor and a gyro sensor. The machine body tilt sensor S4 may be an inertial measurement device.

[0025] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may be a resolver or a rotary encoder, etc. The rotation angular velocity sensor S5 may detect a rotation speed. The rotation speed may be calculated from the rotation angular velocity.

[0026] Hereinafter, the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the turning angular velocity sensor S5 will each be referred to as an attitude detection device.

[0027] The display device 40 is configured to display various information. In this embodiment, the display device 40 is a display installed in the cabin 10. However, the display device 40 may be a projection device such as a projector or a head-up display that projects an image onto the windshield of the cabin 10, or may be a display attached to or embedded in the windshield of the cabin 10.

[0028] Specifically, the display device 40 has a control unit 40a, an image display unit 41 (see FIG. 5A), and an operation unit 42 (see FIG. 5A). The control unit 40a controls the image displayed on the image display unit 41. In this embodiment, the control unit 40a is configured as a computer including a CPU, a volatile storage device, a non-volatile storage device, and the like. The control unit 40a reads out a program corresponding to each function from the non-volatile storage device, loads it into the volatile storage device, and causes the CPU to execute the corresponding process.

[0029] The sound output device 43 is configured to output sound. In this embodiment, the sound output device 43 is a speaker installed at the rear of the cabin 10.

[0030] The operation device 26 is a device used by an operator to operate the actuators. The actuators include hydraulic actuators and electric actuators. The hydraulic actuators are, for example, a swing hydraulic motor 2A, a traveling hydraulic motor 2M, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9. The electric actuators are, for example, a swing electric motor.

[0031] The controller 30 is a control device for controlling the shovel 100. In this embodiment, the controller 30 is configured with a computer including a CPU, a volatile storage device, a nonvolatile storage device, and the like. The controller 30 reads out and executes a program corresponding to each function from the nonvolatile storage device. Each function is, for example, a machine guidance function that guides (guides) the operator in manual operation of the shovel 100, and a machine control function that autonomously supports the operator in manual operation of the shovel 100, and the like.

[0032] FIG. 2 is a diagram showing an example of the configuration of a hydraulic system mounted on the excavator 100, in which a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0033] The hydraulic system circulates hydraulic oil from a main pump 14, which serves as a hydraulic pump driven by the engine 11, through a center bypass line 45 to a hydraulic oil tank. The main pump 14 includes a left main pump 14L and a right main pump 14R. The center bypass line 45 includes a left center bypass line 45L and a right center bypass line 45R.

[0034] The left center bypass line 45L is a hydraulic oil line that passes through control valves 151, 153, 155, and 157 arranged in the control valve unit, and the right center bypass line 45R is a hydraulic oil line that passes through control valves 150, 152, 154, 156, and 158 arranged in the control valve unit.

[0035] The control valve 150 is a straight travel valve. The control valve 151 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic oil in the left traveling hydraulic motor 2ML to the hydraulic oil tank. The control valve 152 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L or the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic oil in the right traveling hydraulic motor 2MR to the hydraulic oil tank.

[0036] The control valve 153 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7. The control valve 154 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7, and also to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0037] The control valve 155 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. The control valve 156 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8.

[0038] The control valve 157 is a spool valve that switches the flow of hydraulic oil so that the hydraulic oil discharged from the left main pump 14L is circulated through the swing hydraulic motor 2A.

[0039] The control valve 158 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0040] The regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 according to the discharge pressure of the main pump 14. In the example shown in Fig. 2, the regulator 13 includes a left regulator 13L corresponding to the left main pump 14L and a right regulator 13R corresponding to the right main pump 14R.

[0041] The boom operation lever 26A is an operating device for extending and retracting the boom cylinder 7 to raise and lower the boom 4. The boom operation lever 26A uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure according to the lever operation amount to the pilot port of the control valve 154. This controls the amount of movement of the spool in the control valve 154, and controls the flow rate of the hydraulic oil supplied to the boom cylinder 7. The same applies to the control valve 153. Note that, for clarity, pilot lines connecting the boom operation lever 26A to the left and right pilot ports of the control valve 153 and the left and right pilot ports of the control valve 154 are omitted in FIG. 2.

[0042] The operation pressure sensor 29A detects the operation content of the operator on the boom operation lever 26A in the form of pressure, and outputs the detected value to the controller 30. The operation content is, for example, the lever operation direction and the lever operation amount (lever operation angle).

[0043] The bucket operating lever 26B is an operating device for expanding and contracting the bucket cylinder 9 to open and close the bucket 6. The bucket operating lever 26B uses, for example, hydraulic oil discharged from the pilot pump 15 to introduce a control pressure according to the amount of lever operation to the pilot port of the control valve 158. This controls the amount of movement of a spool in the control valve 158, and the flow rate of hydraulic oil supplied to the bucket cylinder 9.

[0044] Operation pressure sensor 29B detects the operation of bucket operation lever 26B by the operator in the form of pressure, and outputs the detected value to controller 30.

[0045] The excavator 100 has a travel lever, a travel pedal, an arm operation lever, and a swing operation lever (none of which are shown in the figure) in addition to the boom operation lever 26A and the bucket operation lever 26B. Like the boom operation lever 26A and the bucket operation lever 26B, these operation devices use hydraulic oil discharged from the pilot pump 15 to apply a control pressure corresponding to the lever operation amount or the pedal operation amount to the pilot port of the corresponding control valve. Furthermore, the operation content of each of these operation devices by the operator is detected in the form of pressure by a corresponding operation pressure sensor similar to the operation pressure sensor 29A. Then, each operation pressure sensor outputs the detected value to the controller 30. Note that in FIG. 2, for clarity, pilot lines connecting these operation devices and the pilot ports of the corresponding control valves are omitted from the illustration.

[0046] The controller 30 receives outputs from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the operating pressure sensor 29A, the operating pressure sensor 29B, the discharge pressure sensor 28, etc., and outputs control commands to the engine 11, the regulator 13, etc. as appropriate.

[0047] The controller 30 may output a control command to the pressure reducing valve 50 and adjust the control pressure acting on the corresponding control valve to control the corresponding actuator. In FIG. 2, the pressure reducing valve 50 includes a pressure reducing valve 50L and a pressure reducing valve 50R. Specifically, the controller 30 may output a control command to the pressure reducing valve 50L and adjust the control pressure acting on the left pilot port of the control valve 158 to control the bucket opening operation. The controller 30 may also output a control command to the pressure reducing valve 50R and adjust the control pressure acting on the right pilot port of the control valve 158 to control the bucket closing operation. The same applies to the boom raising operation, the boom lowering operation, the arm closing operation, the arm opening operation, the left turning operation, the right turning operation, the forward operation, and the reverse operation.

[0048] In this way, the controller 30 can adjust the control pressure acting on the pilot port of the control valve by the pressure reducing valve. Therefore, the controller 30 can operate the actuator regardless of the operator's manual operation of the operating device 26. The pressure reducing valves 50L and 50R may be electromagnetic proportional valves.

[0049] Next, the function of the controller 30 will be described with reference to FIG. 3. FIG. 3 is a functional block diagram of the controller 30. In the example shown in FIG. 3, the controller 30 is configured to receive signals output from the attitude detection device, the operation device 26, the object detection device 70, the imaging device 80, etc., execute various calculations, and output control commands to the display device 40, the sound output device 43, the pressure reducing valve 50, etc. The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, and a turning angular velocity sensor S5. The controller 30 has a position acquisition unit 30A, an image presentation unit 30B, and an operation support unit 30C as functional elements. Each functional element may be configured by hardware or software.

[0050] The position acquisition unit 30A is configured to acquire information related to the position of an object. In this embodiment, the position acquisition unit 30A is configured to acquire information related to the position of the bed of a dump truck located in front of the shovel 100 and information related to the position of the bucket 6.

[0051] The information on the position of the object is expressed, for example, by coordinates in a reference coordinate system. The reference coordinate system is, for example, a three-dimensional Cartesian coordinate system with the center point of the shovel 100 as its origin. The center point of the shovel 100 is, for example, the intersection point of the virtual ground surface of the shovel 100 and the rotation axis. The reference coordinate system may be a world geodetic coordinate system. The controller 30 may determine the coordinates of the center point of the shovel 100 based on the output of a GNSS receiver or the like attached to the shovel 100.

[0052] Specifically, the position acquisition unit 30A acquires information about the position of the bed of the dump truck based on the coordinates of a known mounting position of the front sensor 70F in the reference coordinate system and the output of the front sensor 70F. The information about the position of the bed of the dump truck includes information about the position of at least one of the front panel, the bed bottom, the side gate, and the rear gate.

[0053] Alternatively, the position acquisition unit 30A may acquire information about the position of the bed of the dump truck based on the coordinates of a known mounting position of the front camera 80F in the reference coordinate system and an image captured by the front camera 80F (hereinafter referred to as a "front image"). In this case, the position acquisition unit 30A acquires information about the position of the front panel by, for example, applying various image processing to the front image including an image of the front panel to derive the distance between the front camera 80F and the front panel.

[0054] Furthermore, the position acquisition unit 30A acquires information related to the position of the bucket 6 based on the coordinates of a known mounting position of the attachment in the reference coordinate system and the output of the attitude detection device. The position acquisition unit 30A may acquire information related to the position of the bucket 6 by, for example, performing various image processing on a front image including an image of the bucket 6 to derive the distance between the front camera 80F and the bucket 6.

[0055] The image presentation unit 30B is configured to present a forward image, which is an image relating to the area in front of the upper rotating body 3. In this embodiment, the image presentation unit 30B is configured to present, on the display device 40, an image showing the positional relationship between the bed of a dump truck located in front of the excavator 100 and the bucket 6 as the forward image.

[0056] Specifically, the image presenter 30B presents, as the forward image, an illustrated image showing the positional relationship between the bed of the dump truck and the tip of the bucket 6. The illustrated image may be an animation image configured so that a figure showing the bucket 6 moves in accordance with the actual movement of the bucket 6.

[0057] The image presentation unit 30B may be configured to utilize AR (augmented reality) technology to present an augmented reality image (hereinafter referred to as an "AR image") as a forward image on top of the image of the bed of the dump truck included in the front image.

[0058] The AR image is, for example, a marker representing a position directly below the tip of the bucket 6. The AR image may include at least one of a marker representing a position distant by a predetermined distance from the position directly below the tip of the bucket 6 and a marker representing a position close by a predetermined distance from the position directly below. In this case, the multiple markers function as scales representing the distance from the position directly below the tip of the bucket 6. The multiple markers functioning as scales may be configured to represent the distance from the shovel 100. The AR image may include a marker representing a position directly below the tip of the bucket 6 when the bucket 6 is fully opened. The marker may be any figure such as a solid line, a dashed line, a dashed line, a circle, a rectangle, or a triangle. In addition, the brightness, color, thickness, and the like of the marker may be set arbitrarily. The image presenting unit 30B may be configured to flash the marker.

[0059] When a projector is used as the display device 40, the image presenting unit 30B may be configured to use AR (Augmented Reality) technology to present an AR image (e.g., the above-mentioned main marker) on the bed of the actual dump truck viewed through the windshield as if the AR image actually exists. That is, the image presenting unit 30B may use projection mapping technology to display the main marker on the bed of the dump truck.

[0060] The image presentation unit 30B may be realized as a functional element included in the control unit 40a of the display device 40.

[0061] The operation support unit 30C is configured to support the operator in operating the excavator 100. In this embodiment, the operation support unit 30C is configured to output an alarm when a predetermined condition is satisfied regarding the positional relationship between the bed of the dump truck and the bucket 6. The predetermined condition is, for example, that the distance between the front panel of the bed of the dump truck and the bucket 6 becomes less than a predetermined value.

[0062] For example, when the operation support unit 30C determines that the distance between the front panel and the bucket 6 is less than a predetermined value, the operation support unit 30C outputs a control command to the sound output device 43 to cause the sound output device 43 to output an alarm sound. The distance is, for example, a horizontal distance. The operation support unit 30C may inform the operator of the distance between the front panel and the bucket 6 by changing the interval and frequency (high / low) of the sound output by the sound output device 43 according to the distance between the front panel and the bucket 6. For example, when the operation support unit 30C determines that the distance between the front panel and the bucket 6 is less than a predetermined value, the operation support unit 30C may output a control command to the display device 40 to cause a warning message to be displayed.

[0063] For example, when the operation support unit 30C determines that the distance between the front panel and the bucket 6 is less than a predetermined value, the operation support unit 30C may set an upper limit for the motion speed of the attachment. Specifically, the operation support unit 30C may set an upper limit for the opening speed of the bucket 6. In this case, the operation support unit 30C monitors the opening speed of the bucket 6 based on the transition of the position of the tip of the bucket 6, and outputs a control command to the pressure reducing valve 50L corresponding to the left pilot port of the control valve 158 when the opening speed reaches a predetermined upper limit. The pressure reducing valve 50L that receives the control command reduces the control pressure acting on the left pilot port of the control valve 158, suppressing the opening operation of the bucket 6. The operation support unit 30C may monitor the opening speed of the bucket 6 based on the output of the bucket angle sensor S3.

[0064] The operation support unit 30C may stop the movement of the attachment, for example, when it is determined that there is a risk of contact between the front panel and the bucket 6. Specifically, the operation support unit 30C may stop the movement of the attachment, for example, when it is determined that the distance between the front panel and the bucket 6 is less than a predetermined value.

[0065] Here, with reference to Fig. 4A and Fig. 4B, the positional relationship between the excavation attachment AT and the dump truck 60 when the image display unit 30B displays an image will be described. Fig. 4A and Fig. 4B show an example of the positional relationship between the excavation attachment AT and the dump truck 60 when the image display unit 30B displays an image. In the example shown in Fig. 4A and Fig. 4B, the excavator 100 is located behind the dump truck 60 and lifts the bucket 6 onto the bed of the dump truck 60. For clarity, Fig. 4A and Fig. 4B show the excavation attachment AT in a simplified model. Specifically, Fig. 4A is a right side view of the excavation attachment AT and the dump truck 60, and Fig. 4B is a rear view of the excavation attachment AT and the dump truck 60.

[0066] As shown in FIG. 4A, the boom 4 is configured to be rotatable about a rotation axis J parallel to the Y axis (the left-right axis of the upper rotating body 3). Similarly, the arm 5 is rotatably attached to the tip of the boom 4, and the bucket 6 is rotatably attached to the tip of the arm 5. The boom angle sensor S1 is attached to the connection between the upper rotating body 3 and the boom 4 at a position indicated by point P1. The arm angle sensor S2 is attached to the connection between the boom 4 and the arm 5 at a position indicated by point P2. The bucket angle sensor S3 is attached to the connection between the arm 5 and the bucket 6 at a position indicated by point P3. Point P4 indicates the position of the tip (tip) of the bucket 6. Point P5 indicates the mounting positions of the front sensor 70F and the front camera 80F.

[0067] In the example shown in FIG. 4A, the boom angle sensor S1 measures the angle between the longitudinal direction of the boom 4 and the reference horizontal plane (XY plane) as the boom angle θ1. The arm angle sensor S2 measures the angle between the longitudinal direction of the boom 4 and the longitudinal direction of the arm 5 as the arm angle θ2. The bucket angle sensor S3 measures the angle between the longitudinal direction of the arm 5 and the longitudinal direction of the bucket 6 as the bucket angle θ3. The longitudinal direction of the boom 4 means the direction of a straight line passing through points P1 and P2 in a plane perpendicular to the rotation axis J (in the XZ plane). The longitudinal direction of the arm 5 means the direction of a straight line passing through points P2 and P3 in the XZ plane. The longitudinal direction of the bucket 6 means the direction of a straight line passing through points P3 and P4 in the XZ plane.

[0068] The controller 30 can derive the relative position of point P1 with respect to the center point of the shovel 100 based on, for example, the outputs of the machine body inclination sensor S4 and the swing angular velocity sensor S5. The controller 30 can then derive the relative positions of each of points P2 to P4 with respect to point P1 based on the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. Similarly, the controller 30 can derive the relative position of any part of the excavation attachment AT, such as the end of the back surface of the bucket 6, with respect to point P1.

[0069] Additionally, the controller 30 can derive the relative position of point P5 with respect to point P1 based on the known mounting positions of the front sensor 70F and the front camera 80F, respectively.

[0070] In the example shown in Figures 4A and 4B, the dump truck 60 has a gate 62 attached to the bed 61. The gate 62 is an openable / closable member constituting a side wall of the bed 61, and includes a rear gate 62B, a left side gate 62L, and a right side gate 62R. The dump truck 60 also has a support pillar 61P formed at the rear end of the bed 61. The support pillar 61P is a member that supports the rear gate 62B so that it can be opened and closed, and includes a left support pillar 61PL and a right support pillar 61PR. The dump truck 60 also has a front panel 63 that separates the bed from the driver's cab.

[0071] The controller 30 can derive the relative position of each part of the dump truck 60 with respect to the point P1 based on the output of the front sensor 70F. The parts of the dump truck 60 are, for example, the upper ends of the left and right ends of the rear gate 62B, the upper end of the left side gate 62L, the upper end of the right side gate 62R, the upper left and upper right ends of the front panel 63, etc.

[0072] In this manner, the controller 30 can derive the coordinates of each part on the excavation attachment AT and the coordinates of each part of the dump truck 60 in the reference coordinate system.

[0073] Next, an example of guidance for a dump truck detected as an object by the surroundings monitoring device during loading work will be described with reference to Fig. 5A. The loading work is work in which an excavator 100 loads earth and sand into the bed of a dump truck 60. Fig. 5A shows an example of an image displayed on the display device 40 during loading work.

[0074] The image display section 41 includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control status display area 41e, an engine operating time display area 41f, a coolant temperature display area 41g, a remaining fuel amount display area 41h, a rotation speed mode display area 41i, a remaining urea water amount display area 41j, a hydraulic oil temperature display area 41k, an air conditioner operation status display area 41m, an image display area 41n, and a menu display area 41p.

[0075] The travel mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed mode display area 41i, and the air conditioner operation state display area 41m are areas that display setting state information, which is information about the setting state of the excavator 100. The fuel consumption display area 41d, the engine operation time display area 41f, the coolant temperature display area 41g, the remaining fuel amount display area 41h, the remaining urea water amount display area 41j, and the hydraulic oil temperature display area 41k are areas that display operating state information, which is information about the operating state of the excavator 100.

[0076] The date and time display area 41a is an area for displaying the current date and time. The travel mode display area 41b is an area for displaying the current travel mode. The attachment display area 41c is an area for displaying an image representing the currently attached attachment. The fuel efficiency display area 41d is an area for displaying fuel efficiency information calculated by the controller 30. The fuel efficiency display area 41d includes an average fuel efficiency display area 41d1 for displaying the average fuel efficiency for the entire period or the average fuel efficiency for a partial period, and an instantaneous fuel efficiency display area 41d2 for displaying the instantaneous fuel efficiency. The entire period means, for example, the entire period after the excavator 100 is shipped. The partial period means, for example, a period arbitrarily set by the operator.

[0077] The engine control status display area 41e is an area that displays the control status of the engine 11. The engine operating time display area 41f is an area that displays information related to the operating time of the engine 11. The coolant temperature display area 41g is an area that displays the current temperature state of the engine coolant. The remaining fuel amount display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank. The rotation speed mode display area 41i is an area that displays, as an image, the current rotation speed mode set by the engine rotation speed adjustment dial 75. The urea water remaining amount display area 41j is an area that displays, as an image, the remaining amount of urea water stored in the urea water tank. The hydraulic oil temperature display area 41k is an area that displays the temperature state of the hydraulic oil in the hydraulic oil tank.

[0078] The air conditioner operation status display area 41m includes an air outlet display area 41m1 that displays the current air outlet position, an operation mode display area 41m2 that displays the current operation mode, a temperature display area 41m3 that displays the current set temperature, and an air volume display area 41m4 that displays the current set air volume.

[0079] The image display area 41n is an area in which various images are displayed. The various images are, for example, an image presented by the image presentation unit 30B of the controller 30 and an image captured by the imaging device 80. The image display area 41n has a first image display area 41n1 located at the top and a second image display area 41n2 located at the bottom. In the example shown in FIG. 5A, the first image display area 41n1 displays an illustration image AM generated by the image presentation unit 30B, and the second image display area 41n2 displays a rear image CBT captured by the rear camera 80B. However, the rear image CBT may be displayed in the first image display area 41n1, and the illustration image AM may be displayed in the second image display area 41n2. In the example shown in FIG. 5A, the first image display area 41n1 and the second image display area 41n2 are arranged adjacent to each other vertically, but may be arranged with an interval therebetween.

[0080] The rear image CBT is an image that shows the space behind the shovel 100, and includes an image GC that shows a part of the upper surface of the counterweight. In this embodiment, the rear image CBT is a real viewpoint image generated by the control unit 40a, and is generated based on an image acquired by the rear camera 80B.

[0081] In the second image display area 41n2, an overhead image may be displayed instead of the rear image CBT. The overhead image is a virtual viewpoint image generated by the control unit 40a, and is generated based on images acquired by the rear camera 80B, the left camera 80L, and the right camera 80R. In addition, a shovel figure corresponding to the shovel 100 is arranged in the center of the overhead image. This is to allow the operator to intuitively grasp the positional relationship between the shovel 100 and objects existing around the shovel 100.

[0082] In the example shown in FIG. 5A, the image display area 41n is a vertically long area, but may be a horizontally long area. When the image display area 41n is a horizontally long area, the image display area 41n may display, for example, an illustration image AM in the first image display area 41n1 on the left side and a rear image CBT in the second image display area 41n2 on the right side. In this case, the first image display area 41n1 and the second image display area 41n2 may be arranged with a gap between them on the left and right. Also, the first image display area 41n1 may be arranged on the right side, and the second image display area 41n2 may be arranged on the left side.

[0083] Menu display area 41p has tab areas 41p1 to 41p7. In the example shown in Fig. 5A, tab areas 41p1 to 41p7 are arranged at intervals from each other on the left and right at the bottom of image display unit 41. Icons representing the contents of related information are displayed in each of tab areas 41p1 to 41p7.

[0084] In the tab area 41p1, menu detail item icons for displaying menu detail items are displayed. When the operator selects the tab area 41p1, the icons displayed in the tab areas 41p2 to 41p7 are switched to icons associated with the menu detail items.

[0085] An icon for displaying information related to the digital level is displayed in the tab area 41p4. When the operator selects the tab area 41p4, the back image CBT is switched to a first image showing information related to the digital level.

[0086] In the tab area 41p6, an icon for displaying information related to information-based construction is displayed. When the operator selects the tab area 41p6, the back image CBT is switched to a second image showing information related to information-based construction.

[0087] An icon for displaying information related to the crane mode is displayed in the tab area 41p7. When the operator selects the tab area 41p7, the back image CBT is switched to a third image showing information related to the crane mode.

[0088] However, any of the menu images, such as the first image, the second image, or the third image, may be superimposed on the rear image CBT. Alternatively, the rear image CBT may be reduced to make room for displaying the menu image. Alternatively, the image display area 41n may be configured such that the illustration image AM is switched to the menu image. Alternatively, the menu image may be superimposed on the illustration image AM. Alternatively, the illustration image AM may be reduced to make room for displaying the menu image.

[0089] No icons are displayed in the tab areas 41p2, 41p3, and 41p5, so that even if the operator operates the tab area 41p2, 41p3, or 41p5, no change occurs in the image displayed on the image display unit 41.

[0090] It should be noted that the icons displayed in the tab areas 41p1 to 41p7 are not limited to the above examples, and icons for displaying other information may be displayed.

[0091] In the example shown in FIG. 5A, the operation unit 42 is configured with a plurality of button-type switches for the operator to select tab areas 41p1 to 41p7 and input settings. Specifically, the operation unit 42 includes seven switches 42a1 to 42a7 arranged in an upper row and seven switches 42b1 to 42b7 arranged in a lower row. The switches 42b1 to 42b7 are arranged below the switches 42a1 to 42a7, respectively. However, the number, form, and arrangement of the switches of the operation unit 42 are not limited to the above example. For example, the operation unit 42 may be a form in which the functions of a plurality of button-type switches are integrated into one, such as a jog wheel or a jog switch. The operation unit 42 may be configured as a member independent of the display device 40. The tab areas 41p1 to 41p7 may be configured as software buttons. In this case, the operator can select any tab area by touching the tab areas 41p1 to 41p7.

[0092] 5A, the switch 42a1 is disposed below the tab region 41p1 in correspondence with the tab region 41p1, and functions as a switch for selecting the tab region 41p1. The same applies to each of the switches 42a2 to 42a7.

[0093] This configuration allows the operator to intuitively recognize which of the switches 42a1 to 42a7 to operate when selecting a desired one of the tab areas 41p1 to 41p7.

[0094] The switch 42b1 is a switch that switches the captured image displayed in the image display area 41n. The captured image means an image captured by the imaging device 80. The display device 40 is configured such that the captured image displayed in the first image display area 41n1 of the image display area 41n is switched between, for example, the rear image CBT, the left image captured by the left camera 80L, the right image captured by the right camera 80R, and the illustration image AM every time the switch 42b1 is operated. Alternatively, the display device 40 may be configured such that the captured image displayed in the second image display area 41n2 of the image display area 41n is switched between, for example, the rear image CBT, the left image, the right image, and the illustration image AM every time the switch 42b1 is operated. Alternatively, the display device 40 may be configured such that the captured image displayed in the first image display area 41n1 of the image display area 41n and the captured image displayed in the second image display area 41n2 are replaced with each other every time the switch 42b1 is operated.

[0095] In this way, the operator may switch between the images displayed in the first image display area 41n1 and the second image display area 41n2 by operating the switch 42b1 serving as the operation unit 42. Alternatively, the operator may switch between the images displayed in the first image display area 41n1 and the second image display area 41n2 by operating the switch 42b1. The display device 40 may be provided with a separate switch for switching the image displayed in the second image display area 41n2.

[0096] Switches 42b2 and 42b3 are switches for adjusting the air volume of the air conditioner. In the example shown in Fig. 5A, operation unit 42 is configured so that when switch 42b2 is operated, the air volume of the air conditioner is decreased, and when switch 42b3 is operated, the air volume of the air conditioner is increased.

[0097] The switch 42b4 is a switch that switches the cooling / heating function between ON and OFF. In the example shown in Fig. 5A, the operation unit 42 is configured so that the cooling / heating function is switched between ON and OFF every time the switch 42b4 is operated.

[0098] Switches 42b5 and 42b6 are switches for adjusting the set temperature of the air conditioner. In the example shown in Fig. 5A, operation unit 42 is configured so that the set temperature is lowered when switch 42b5 is operated, and the set temperature is raised when switch 42b6 is operated.

[0099] The switch 42b7 is a switch for switching the content of information displayed in the engine operation time display area 41f regarding the operation time of the engine 11. The information regarding the operation time of the engine 11 includes, for example, an accumulated operation time for an entire period and an accumulated operation time for a partial period.

[0100] The switches 42a2 to 42a6 and 42b2 to 42b6 are configured to allow the user to input numbers displayed on or near the switches. The switches 42a3, 42a4, 42a5 and 42b4 are configured to allow the user to move a cursor to the left, up, right and down, respectively, when the cursor is displayed on the image display unit 41.

[0101] The functions given to the switches 42a1 to 42a7 and 42b1 to 42b7 are merely examples, and the switches 42a1 to 42a7 may be configured to execute other functions.

[0102] Next, the details of the illustrative image AM will be described. The illustrative image AM is an example of a forward image presented by the image presenting unit 30B, which indicates the positional relationship between the bed of the dump truck and the tip of the bucket 6. In the example shown in Fig. 5A, the illustrative image AM includes graphics G1 to G4.

[0103] The graphic G1 is a graphic representing the upper part of the boom 4 as seen from the left side. In the example shown in FIG. 5A, the graphic G1 is a graphic representing the upper part of the boom 4 including a part to which an arm foot pin is attached and includes a graphic representing the arm cylinder 8. That is, the graphic G1 does not include a graphic representing the lower part of the boom 4 including a part to which a boom foot pin is attached and a part to which a tip of the boom cylinder 7 is attached. The graphic G1 does not include a graphic representing the boom cylinder 7. This is to simplify the graphic G1 by omitting the display of a graphic representing the lower part of the boom 4, which is a part that is less necessary to be presented to an operator when supporting a loading operation, in order to increase the visibility of the graphic representing the upper part of the boom 4, which is a part that is more necessary to be presented to an operator when supporting a loading operation. The graphic G1 does not need to include a graphic representing the arm cylinder 8.

[0104] The graphic G1 is displayed so as to move in accordance with the actual movement of the boom 4. Specifically, the controller 30 changes the position and attitude of the graphic G1 in accordance with, for example, a change in the boom angle θ1 detected by the boom angle sensor S1.

[0105] The graphic G2 is a graphic representing the arm 5 as viewed from the left side. In the example shown in Fig. 5A, the graphic G2 is a graphic representing the entire arm 5, and includes a graphic representing the bucket cylinder 9. However, the graphic G2 does not have to include a graphic representing the bucket cylinder 9.

[0106] The figure G2 is displayed so as to move in accordance with the actual movement of the arm 5. Specifically, the controller 30 changes the position and posture of the figure G2 in accordance with, for example, a change in the boom angle θ1 detected by the boom angle sensor S1 and a change in the arm angle θ2 detected by the arm angle sensor S2.

[0107] The graphic G3 is a graphic that represents the bucket 6 as viewed from the left side. In the example shown in Fig. 5A, the graphic G3 is a graphic that represents the entire bucket 6, and includes a graphic that represents a bucket link. However, the graphic G3 does not necessarily need to include a graphic that represents a bucket link.

[0108] Graphic G3 is displayed so as to move in accordance with the actual movement of the bucket 6. Specifically, the controller 30 changes the position and posture of graphic G3 in accordance with, for example, a change in the boom angle θ1 detected by the boom angle sensor S1, a change in the arm angle θ2 detected by the arm angle sensor S2, and a change in the bucket angle θ3 detected by the bucket angle sensor S3.

[0109] In this way, the illustrated image AM is generated so as to include a graphic of the distal portion of the attachment, which is the portion excluding the base portion (proximal portion) of the attachment. The proximal portion of the attachment means the portion of the attachment that is closer to the upper rotating body 3, and includes, for example, the lower portion of the boom 4. The distal portion of the attachment means the portion of the attachment that is farther from the upper rotating body 3, and includes, for example, the upper portion of the boom 4, the arm 5, and the bucket 6. This is to increase the visibility of the graphic representing the distal portion of the attachment, which is the portion that needs to be presented to the operator when supporting the loading operation, by simplifying the illustrated image AM by omitting the display of the graphic representing the proximal portion of the attachment, which is the portion that needs to be presented to the operator when supporting the loading operation.

[0110] The graphic G4 is a graphic representing the dump truck 60 as viewed from the left side. In the example shown in FIG. 5A, the graphic G4 is a graphic representing the entire dump truck 60, and includes a graphic G40 representing the rear gate 62B, a graphic G41 representing the left side gate 62L, and a graphic G42 representing the front panel 63. The graphic G4 may not include any graphic representing any part other than the rear gate 62B, the left side gate 62L, and the front panel 63. Alternatively, the graphic G4 may not include any graphic representing any part other than the left side gate 62L and the front panel 63. On the other hand, the graphic G4 may include a graphic (e.g., a dashed line) representing the bottom surface of the loading platform 61 of the dump truck 60, which is actually invisible.

[0111] The graphic G4 is displayed so as to move in accordance with the actual movement of the dump truck 60. Specifically, the controller 30 changes the position and attitude of the graphic G4 in response to a change in the output of at least one of the object detection device 70 and the imaging device 80, for example. The controller 30 may be configured to be able to notify the driver of the dump truck 60 of the stopping position of the dump truck 60. For example, the controller 30 may use a sound output device installed outside the cabin 10 and change the interval and frequency (high and low) of the sound output by the sound output device, thereby notifying the driver of the dump truck 60 of the distance between the current position of the dump truck 60 and a position suitable for loading work.

[0112] The controller 30 may change at least one of the positions, attitudes, and shapes of the figures G1 to G4 in response to changes in the detected values ​​of the vehicle tilt sensor S4, the turning angular velocity sensor S5, etc. Also, the controller 30 may change at least one of the positions, attitudes, and shapes of the figures G1 to G4 in response to a difference between the height of the ground where the dump truck 60 is located and the height of the ground where the shovel 100 is located.

[0113] A plurality of types of each of the graphics G1 to G4 may be prepared in advance. In this case, the type of the graphic G3 may be switched according to at least one of the type and size of the bucket 6, for example. The type of the graphic G4 may be switched according to at least one of the type and size of the dump truck 60, for example. The same applies to the graphics G1 and G2.

[0114] 5A, the operator of the excavator 100 can intuitively grasp the distance between the tip of the bucket 6 represented by the figure G3 and the upper end of the left side gate 62L represented by the figure G41. Also, the operator of the excavator 100 can intuitively grasp the distance between the tip or back of the bucket 6 and the front panel 63 represented by the figure G42. Also, when the illustrated image AM includes a figure representing the bottom surface of the loading platform 61, the operator of the excavator 100 can intuitively grasp the distance between the tip of the bucket 6 and the bottom surface of the loading platform 61.

[0115] 5A, graphics G1 to G4 represent the excavation attachment AT and the dump truck 60 as viewed from the left side, but they may represent the excavation attachment AT and the dump truck 60 as viewed from the right side, or may represent the excavation attachment AT and the dump truck 60 as viewed from directly above. Furthermore, at least two of the states as viewed from the left side, the right side, and the top may be displayed simultaneously.

[0116] Next, another example of guidance for a dump truck detected as an object by the surroundings monitoring device during loading work will be described with reference to Fig. 5B. Fig. 5B shows another example of an illustrated image AM displayed in the image display area 41n of the display device 40 during loading work.

[0117] The illustrated image AM shown in FIG. 5B differs from the illustrated image AM shown in FIG. 5A, which includes figures G1 to G4 that are displayed dynamically (variably), mainly in that it includes figures G5 and G6 that are displayed statically (fixedly).

[0118] The figure G5 is a figure representing the tip of the excavation attachment AT as seen from the left side. In the example shown in FIG. 5B, the figure G5 is a figure representing a part of the excavation attachment AT on the tip side of the arm connection part at the tip of the boom 4, that is, a simplified figure representing the arm 5 and the bucket 6, and does not include figures representing the bucket link and the bucket cylinder 9. The figure of the bucket 6 included in the figure G5 represents the bucket 6 in a practically most open state. The bucket angle θ3 in the "practically most open state" is the practical maximum bucket opening angle when opening the bucket 6 in normal work such as soil removal work, and is smaller than the specified maximum bucket opening angle, which is the bucket angle θ3 in the specified most open state. In normal work, the bucket angle θ3 rarely exceeds the practical maximum bucket opening angle. A plurality of types of the figure G5 may be prepared in advance. In this case, the type of the figure G5 may be switched according to at least one of the type and size of the bucket 6, for example.

[0119] Specifically, the graphic G5 includes graphic G51 to graphic G54. The graphic G51 to graphic G54 have the same size, posture, and shape. However, the postures of the graphic G51 to graphic G54 may be different from each other so as to match the actual postures of the arm 5 and the bucket 6, respectively.

[0120] The figures G51 to G54 are displayed statically (fixedly) and simultaneously in the first image display area 41n1 regardless of the actual movement of the excavation attachment AT. On the other hand, the figures G51 to G54 are displayed so that at least one of the color, brightness, and shade, etc. changes according to the actual movement of the excavation attachment AT so that the operator of the excavator 100 can recognize the positional relationship between the actual excavation attachment AT and the dump truck 60. Specifically, among the figures G51 to G54, the figure that represents the positional relationship closest to the positional relationship between the actual excavation attachment AT and the dump truck 60 is filled with a first color (for example, dark blue). Also, among the figures G51 to G54, the figure that represents the positional relationship closest to the positional relationship between the excavation attachment AT and the dump truck 60 after a predetermined time has elapsed is filled with a second color (for example, light blue).

[0121] In the example shown in Fig. 5B, the graphic G53 is filled in with a first color as a graphic representing the positional relationship that is closest to the current positional relationship between the excavation attachment AT and the dump truck 60. Moreover, the graphic G54 is filled in with a second color as a graphic representing the positional relationship that is closest to the positional relationship between the excavation attachment AT and the dump truck 60 after a predetermined time has elapsed. By looking at the graphic G53 filled in with the first color, the operator of the excavator 100 can grasp the current positional relationship between the excavation attachment AT and the dump truck 60, and by looking at the graphic G54 filled in with the second color, the operator can grasp that the excavation attachment AT is moving toward the front panel 63 of the dump truck 60.

[0122] The graphic G6 is a graphic representing the dump truck 60 as viewed from the left side. In the example shown in FIG. 5B, the graphic G6 is a graphic representing the entire dump truck 60, and includes a graphic G60 representing the rear gate 62B, a graphic G61 representing the left side gate 62L, and a graphic G62 representing the front panel 63. The graphic G6 does not need to include graphics representing parts other than the rear gate 62B, the left side gate 62L, and the front panel 63. On the other hand, the graphic G6 may include a graphic (e.g., a dashed line) representing the bottom surface of the loading platform 61 of the dump truck 60, which is actually invisible.

[0123] The graphic G6 is statically (fixedly) displayed in the first image display region 41n1 regardless of the actual movement of the dump truck 60. However, the graphic G6 may be displayed so as to move in accordance with the actual movement of the dump truck 60. Alternatively, the graphic G6 may be hidden until the dump truck 60 reaches a predetermined position, and may be displayed when the dump truck 60 reaches the predetermined position. The predetermined position is, for example, a position where the distance between the pivot shaft of the excavator 100 and the rear gate 62B of the dump truck 60 becomes a predetermined value.

[0124] A plurality of types of the graphic G6 may be prepared in advance. In this case, the type of the graphic G6 may be switched according to at least one of the type and size of the dump truck 60, for example.

[0125] 5B, the operator of the excavator 100 can roughly and intuitively grasp the current positional relationship between the bucket 6 and the dump truck 60. In addition, the operator can intuitively grasp that the bucket 6 is approaching the front panel 63, and can roughly grasp the size of the distance between the bucket 6 and the front panel 63.

[0126] In the example shown in Fig. 5B, figures G5 and G6 represent the excavation attachment AT and the dump truck 60 as viewed from the left side, but they may represent the excavation attachment AT and the dump truck 60 as viewed from the right side, or may represent the excavation attachment AT and the dump truck 60 as viewed from directly above. Furthermore, at least two of the states as viewed from the left side, the right side, and the top may be displayed simultaneously.

[0127] Next, another example of the illustrated image AM will be described with reference to Fig. 5C. Fig. 5C shows another example of the illustrated image AM displayed in the image display area 41n of the display device 40 during loading work. Specifically, Fig. 5C is an enlarged view of a part of the illustrated image AM shown in Fig. 5A.

[0128] The illustrated image AM shown in FIG. 5C differs from the illustrated image AM shown in FIG. 5A mainly in that it includes a figure G3A and a figure G3B. The figures G3A and G3B are figures related to the position of the bucket 6 when the bucket 6 is opened or closed from the current position of the bucket 6. Specifically, the figure G3A represents the bucket 6 in the most open state according to the specifications. The figure G3B represents the trajectory of the tip of the bucket 6 when the bucket 6 is opened from the most closed state according to the specifications to the most open state according to the specifications. In the example shown in FIG. 5C, the figure G3A shown by the dashed line and the figure G3B shown by the dotted line are displayed to move according to the change in the actual position of the bucket 6 together with the figure G3 representing the current state of the bucket 6. In addition, when the bucket 6 is opened or closed, the figure G3 is displayed to change its posture according to the actual degree of opening of the bucket 6, but the figure G3A is displayed to maintain its posture regardless of the actual degree of opening of the bucket 6. Note that the figures G3A and G3B may be displayed only when a predetermined condition is satisfied. The predetermined condition is, for example, that the distance between the bucket 6 and the front panel 63 is less than a predetermined value. This is to simplify the illustrated diagram when there is no risk of the bucket 6 and the front panel 63 coming into contact with each other.

[0129] For example, if the operation support unit 30C determines that the above-mentioned trajectory has interfered with the bed of the dump truck 60, it may output a control command to the sound output device 43 to output an alarm sound from the sound output device 43, or it may output a control command to the display device 40 to display a warning message.

[0130] The operator of the excavator 100, who sees the illustrated image AM as shown in FIG. 5C, can simultaneously and intuitively grasp the magnitude of the distance between the current bucket 6 and the front panel 63 and the magnitude of the distance between the bucket 6 and the front panel 63 when the bucket 6 is fully opened. Furthermore, by looking at the graphic G3B, the operator can easily grasp the positional relationship between the toe of the bucket 6 and the dump truck 60 when the bucket 6 is opened or closed. For example, the operator can easily determine whether the bucket 6 will come into contact with the front panel 63 when the bucket 6 is fully opened from the current position of the bucket 6. At least one of the graphic G3A and the graphic G3B may be added to the illustrated image AM shown in FIG. 5B.

[0131] It should be noted that the images shown in Figures 5A to 5C may be displayed not on a display device 40 installed in the cabin 10 of the shovel 100, but on a display device attached to a support device such as a mobile terminal outside the shovel 100 and used by an operator performing remote operation.

[0132] Next, another example of guidance for a dump truck detected as an object by the surroundings monitoring device during loading work will be described with reference to Fig. 6A. Fig. 6A shows an example of an image displayed in the image display area 41n of the display device 40 during loading work.

[0133] The image shown in FIG. 6A differs from the image shown in FIG. 5A, which does not include the front image VM, mainly in that it includes a front image VM captured by the front camera 80F and figures GP10 to GP14 as AR images superimposed on the front image VM.

[0134] The front image VM shown in Fig. 6A includes an image of the dump truck 60 located in front of the excavator 100. Specifically, the front image VM includes images V1 to V5. The image V1 is an image of the bucket 6. The image V2 is an image of the front panel 63. The image V3 is an image of the left side gate 62L. The image V4 is an image of the right side gate 62R. The image V5 is an image of the rear gate 62B.

[0135] The figures GP10 to GP14 are semi-transparent dotted markers that indicate the distance from a reference point. The reference point is, for example, the center point of the shovel 100. The reference point may be the front end point or the rear end point of the loading platform 61 of the dump truck 60, or may be a survey point installed at a construction site. In the example shown in FIG. 6A, the figure GP10 indicates a position 3.0 meters away from the center point of the shovel 100, the figure GP11 indicates a position 3.5 meters away from the center point of the shovel 100, the figure GP12 indicates a position 4.0 meters away from the center point of the shovel 100, the figure GP13 indicates a position 4.5 meters away from the center point of the shovel 100, and the figure GP14 indicates a position 5.0 meters away from the center point of the shovel 100. That is, the figures GP10 to GP14 are dotted markers that are arranged at equal intervals in a direction away from the reference point. In the example shown in FIG. 6A, the figures GP10 to GP14 are dotted markers arranged at 0.5 meter intervals in the direction away from the center point of the shovel 100.

[0136] The reference point may be calculated taking into consideration the height of the dump truck 60 as the target object. Specifically, the controller 30 may detect the position, shape (dimensions) or type of the dump truck 60 as the target object by a surroundings monitoring device. From this detection result, the controller 30 may detect the height of the dump truck 60 and calculate the center point of the excavator 100 on a plane located at the height of the dump truck 60 as the reference point. The figures GP10 to GP14 may be displayed at regular intervals from this reference point.

[0137] Also, the rear end point of the bed 61 of the dump truck 60 may be calculated as a reference point based on the detected height of the dump truck 60. In this case, on the same plane on the bed 61 of the dump truck 60, the figures GP10 to GP14 may be displayed at regular distances from the rear end point serving as the reference point.

[0138] Specifically, the graphic GP10 may represent a position 1.0 meter away from the rear end point of the bed 61 of the dump truck 60, the graphic GP11 may represent a position 2.0 meters away from the rear end point of the bed 61 of the dump truck 60, the graphic GP12 may represent a position 3.0 meters away from the rear end point of the bed 61 of the dump truck 60, the graphic GP13 may represent a position 4.0 meters away from the rear end point of the bed 61 of the dump truck 60, and the graphic GP14 may represent a position 5.0 meters away from the rear end point of the bed 61 of the dump truck 60. In other words, the graphic GP10 to the graphic GP14 are dotted markers arranged at equal intervals in a direction away from the rear end point of the bed 61 of the dump truck 60 as a reference point.

[0139] The controller 30 may also detect the width of the bed 61 of the dump truck 60 and the depth of the bed 61 of the dump truck 60 based on the detection result of the surroundings monitoring device. Based on the detected width of the bed 61 and the detected depth of the bed 61, the figures GP10 to GP14 are displayed. At this time, the width of the detected bed 61 and the width of the figures GP10 to GP14 are displayed so as to match each other. In this way, the controller 30 can associate information such as the height, width, and depth of the dump truck 60 as the object with the dotted line marker as the guidance. Therefore, the controller 30 can display the figures GP10 to GP14 at appropriate positions on the bed 61 of the dump truck 60. In the above example, the controller 30 may calculate the reference point based only on the height of the dump truck 60, or may calculate the reference point based on the height and width of the dump truck 60.

[0140] Also, in the example shown in FIG. 6A, among figures GP10 to GP14, figure GP12, which is the figure closest to the position of the toe of the bucket 6 projected onto the bed 61 of the dump truck 60 (the position vertically below the toe), has been switched from a translucent dotted marker to a translucent solid marker.

[0141] An operator of the shovel 100 looking at the front image VM as shown in Fig. 6A can intuitively understand that the position vertically below the tip of the bucket 6 is close to a position a predetermined distance (4.0 meters in the example shown in Fig. 6A) away from the shovel 100. Furthermore, when the reference point is the rear end point of the dump truck 60, the operator can intuitively understand that the position vertically below the tip of the bucket 6 is close to a position a predetermined distance away from the rear end point of the dump truck 60.

[0142] The image shown in FIG. 6A may be displayed not on a display device 40 installed in the cabin 10, but on a display device attached to a support device such as a mobile terminal outside the shovel 100 and used by an operator performing remote operation.

[0143] Next, referring to Fig. 6B, yet another example of guidance for a dump truck detected as an object by the surroundings monitoring device during loading operation will be described. Fig. 6B shows another example of an image displayed in the image display area 41n of the display device 40 during loading operation, and corresponds to Fig. 6A. Specifically, the image shown in Fig. 6B differs from the image shown in Fig. 6A in that figures GP20 to GP22 are displayed instead of figures GP10 to GP14, but is common to the image shown in Fig. 6A in other respects. Therefore, a description of the common parts will be omitted, and the different parts will be described in detail.

[0144] The figure GP20 is a semi-transparent solid line marker representing a position directly below the tip of the bucket 6. The figure GP21 is a dashed line marker representing a position away from the center point of the excavator 100 by a predetermined first distance. The figure GP22 is a semi-transparent dashed line marker representing a position away from the center point of the excavator 100 by a predetermined second distance greater than the first distance. The figures GP21 and GP22 may be figures relating to the position of the bucket 6 when the bucket 6 is opened or closed from the current position of the bucket 6. For example, the figure GP21 may be a marker representing a position directly below the tip of the bucket 6 when the bucket 6 is closed to the maximum from the current position of the bucket 6. The figure GP22 may be a marker representing a position directly below the tip of the bucket 6 when the bucket 6 is opened to the maximum from the current position of the bucket 6. In the example shown in FIG. 6B, all of the figures GP20 to GP22 are displayed so as to extend over the entire width of the loading platform 61 of the dump truck 60. The area between the figures GP20 and GP21 may be filled with a predetermined semi-transparent color. The same applies to the area between the graphic GP20 and the graphic GP22. The area between the graphic GP20 and the graphic GP21 may be filled with a semi-transparent color different from that of the area between the graphic GP20 and the graphic GP22.

[0145] The reference point may be calculated taking into consideration the height of the dump truck 60 as the target object. Specifically, the controller 30 may detect the position, shape (dimensions), or type of the dump truck 60 as the target object by a surroundings monitoring device. From this detection result, the controller 30 may detect the height of the dump truck 60 and calculate the center point of the excavator 100 on a plane located at the height of the dump truck 60 as the reference point. The figures GP20 to GP22 may be displayed at regular intervals from this reference point.

[0146] An operator of the shovel 100 looking at the previous image VM as shown in Figure 6B can intuitively understand that the position vertically below the tip of the bucket 6 is located between a position that is a first distance away from the shovel 100 and a position that is a second distance away.

[0147] It should be noted that the image shown in FIG. 6B may be displayed not on a display device 40 installed in the cabin 10 of the shovel 100, but on a display device attached to a support device such as a mobile terminal outside the shovel 100 and used by an operator performing remote operation.

[0148] Next, referring to Fig. 6C, another example of guidance for a dump truck detected as an object by the surroundings monitoring device during loading work will be described. Fig. 6C is a diagram showing the state inside the cabin 10 during loading work. Specifically, Fig. 6C shows a state in which an AR image is displayed on the windshield FG of the cabin 10.

[0149] An operator in the cabin 10 visually recognizes the boom 4, the arm 5, the bucket 6, and the dump truck 60 through the windshield FG. Specifically, the operator seated in the driver's seat in the cabin 10 visually recognizes through the windshield FG that the tip of the bucket 6 is positioned directly above the bed 61 of the dump truck 60, which is separated by the rear gate 62B, the left side gate 62L, the right side gate 62R, and the front panel 63. The operator also visually recognizes a marker (AR image) that is displayed on the bed 61 of the dump truck 60 as if it were actually present.

[0150] The AR image shown in Fig. 6C is projected onto the windshield FG using a projector. However, the AR image shown in Fig. 6C may also be displayed using a display device such as a transmissive organic EL display or a transmissive liquid crystal display attached to the windshield FG.

[0151] The AR image shown in Fig. 6C mainly includes figures GP30 to GP34. Figures GP30 to GP34 correspond to figures GP10 to GP14 shown in Fig. 6A. Specifically, figure GP30 represents a position 3.0 meters away from the center point of the shovel 100, figure GP31 represents a position 3.5 meters away from the center point of the shovel 100, figure GP32 represents a position 4.0 meters away from the center point of the shovel 100, figure GP33 represents a position 4.5 meters away from the center point of the shovel 100, and figure GP34 represents a position 5.0 meters away from the center point of the shovel 100. That is, figures GP30 to GP34 are dotted markers arranged at equal intervals in a direction away from the reference point. In the example shown in FIG. 6C, the figures GP30 to GP34 are dotted markers arranged at 0.5 meter intervals in the direction away from the center point of the shovel 100.

[0152] The reference point is calculated taking into consideration the height of the dump truck 60 as the target object. Specifically, the controller 30 may detect the position, shape (dimensions), or type of the dump truck 60 as the target object by a surroundings monitoring device. From this detection result, the controller 30 may detect the height of the dump truck 60 and calculate the center point of the excavator 100 on a plane located at the height of the dump truck 60 as the reference point. The figures GP30 to GP14 may be displayed at regular intervals from this reference point.

[0153] Furthermore, the controller 30 may calculate the rear end point of the bed 61 of the dump truck 60 as a reference point based on the detected height of the dump truck 60. At this time, the graphics GP30 to GP34 may be displayed at regular distances from the rear end point serving as the reference point on the same plane on the bed 61 of the dump truck 60.

[0154] Specifically, the graphic GP30 may represent a position 1.0 meter away from the rear end point of the bed 61 of the dump truck 60, the graphic GP31 may represent a position 2.0 meters away from the rear end point of the bed 61 of the dump truck 60, the graphic GP32 may represent a position 3.0 meters away from the rear end point of the bed 61 of the dump truck 60, the graphic GP33 may represent a position 4.0 meters away from the rear end point of the bed 61 of the dump truck 60, and the graphic GP34 may represent a position 5.0 meters away from the rear end point of the bed 61 of the dump truck 60. In other words, the graphic GP30 to the graphic GP34 are dotted markers arranged at equal intervals in a direction away from the rear end point of the bed 61 of the dump truck 60 as a reference point.

[0155] The controller 30 may also detect the width of the bed 61 of the dump truck 60 and the depth of the bed 61 of the dump truck 60 based on the detection result of the surroundings monitoring device. Based on the detected width of the bed 61 and the detected depth of the bed 61, the figures GP30 to GP34 are displayed. At this time, the width of the detected bed 61 and the width of the figures GP30 to GP34 are displayed so as to match. In this way, the controller 30 can associate information such as the height, width, and depth of the dump truck 60 as the object with the dotted line marker as the guidance. Therefore, the controller 30 can display the figures GP30 to GP34 at appropriate positions on the bed 61 of the dump truck 60. In the above example, the controller 30 may calculate the reference point based only on the height of the dump truck 60, or may calculate the reference point based on the height and width of the dump truck 60.

[0156] In the example shown in FIG. 6C, among the figures GP30 to GP34, the figure GP32 which is closest to the position vertically below the tip of the bucket 6 is switched from a semi-transparent dotted line marker to a semi-transparent solid line marker.

[0157] An operator of the shovel 100 who views an AR image such as that shown in Fig. 6C can intuitively grasp that the position vertically below the tip of the bucket 6 is near a position a predetermined distance (4.0 meters in the example shown in Fig. 6C) away from the shovel 100, just as in the case of viewing the front image VM shown in Fig. 6A. Furthermore, when the reference point is set to the rear end point of the dump truck 60, the operator can intuitively grasp that the position vertically below the tip of the bucket 6 is near a position a predetermined distance away from the rear end point of the dump truck 60.

[0158] Next, another example of guidance for a dump truck detected as an object by the surroundings monitoring device during loading work will be described with reference to Fig. 6D. Fig. 6D is a diagram showing the state inside the cabin 10 during loading work, and corresponds to Fig. 6C.

[0159] The AR image shown in FIG. 6D mainly includes figures GP40 to GP42. The figures GP40 to GP42 correspond to the figures GP20 to GP22 shown in FIG. 6B. Specifically, the figure GP40 is a semi-transparent solid line marker representing a position directly below the tip of the bucket 6. The figure GP41 is a semi-transparent dashed line marker representing a position away from the center point of the shovel 100 by a predetermined first distance. The figure GP42 is a semi-transparent dashed line marker representing a position away from the center point of the shovel 100 by a predetermined second distance greater than the first distance. The figures GP41 and GP42 may be figures relating to the position of the bucket 6 when the bucket 6 is opened or closed from the current position of the bucket 6. For example, the figure GP41 may be a marker representing a position directly below the tip of the bucket 6 when the bucket 6 is closed to the maximum from the current position of the bucket 6. Also, the figure GP42 may be a marker representing a position directly below the tip of the bucket 6 when the bucket 6 is opened to the maximum from the current position of the bucket 6. The area between the graphics GP40 and GP41 may be filled with a predetermined semi-transparent color. The same applies to the area between the graphics GP40 and GP42. The area between the graphics GP40 and GP41 may be filled with a semi-transparent color different from that of the area between the graphics GP40 and GP42.

[0160] The reference point may be calculated taking into consideration the height of the dump truck 60 as the target object. Specifically, the controller 30 may detect the position, shape (dimensions), or type of the dump truck 60 as the target object by a surroundings monitoring device. From this detection result, the controller 30 may detect the height of the dump truck 60 and calculate the center point of the excavator 100 on a plane located at the height of the dump truck 60 as the reference point. Graphics GP40 to GP42 may be displayed at regular intervals from this reference point.

[0161] An operator of the excavator 100 who sees the AR image as shown in Fig. 6D can intuitively understand that the position of the tip of the bucket 6 projected onto the bed 61 of the dump truck 60 is located between a position that is a first distance away and a position that is a second distance away from the excavator 100, just like when the operator sees the front image VM as shown in Fig. 6B. In addition, when the reference point is the rear end point of the dump truck 60, the operator can intuitively understand that the position of the tip of the bucket 6 projected onto the bed 61 of the dump truck 60 is located between a position that is a first distance away and a position that is a second distance away from the rear end point of the dump truck 60.

[0162] Next, another example of guidance for a dump truck detected as an object by the surroundings monitoring device during loading work will be described with reference to Fig. 6E. Fig. 6E shows another example of the AR image shown in Fig. 6A, Fig. 6B, Fig. 6C, or Fig. 6D.

[0163] The AR image shown in FIG. 6E differs from the AR images shown in FIGS. 6A to 6D in that it includes a figure GP51 that represents the position directly below the tip of the bucket 6 when it is fully opened.

[0164] Specifically, the AR image shown in Fig. 6E includes a figure GP50 and a figure GP51. The figure GP50 is a semi-transparent solid line marker representing the position directly below the tip of the bucket 6. The figure GP51 is a figure relating to the position of the bucket 6 when the bucket 6 is opened from the current position of the bucket 6. Specifically, the figure GP51 is a semi-transparent dashed line marker representing the position directly below the tip of the bucket 6 when the bucket 6 is fully opened. The AR image shown in Fig. 6E may include a figure such as a marker representing the position directly below the tip of the bucket 6 when the bucket 6 is fully closed.

[0165] 6E, the operator of the excavator 100 can simultaneously and intuitively grasp the position of the tip of the bucket 6 projected vertically downward onto the bed 61 of the dump truck 60, and the position of the tip of the bucket 6 when the bucket 6 is fully opened projected vertically downward onto the bed 61 of the dump truck 60. Therefore, the operator can easily confirm whether or not there is a risk of the bucket 6 coming into contact with the front panel 63 of the dump truck 60, even if the operator opens the bucket 6 to unload excavated material such as soil and sand that has been taken into the bucket 6.

[0166] Next, another example of the illustrated image AM will be described with reference to Fig. 7. Fig. 7 shows an example of an illustrated image AM as guidance regarding crane work displayed in the image display area 41n of the display device 40 during crane work. Crane work is work in which the shovel 100 lifts and moves a suspended load. The suspended load is, for example, a water pipe such as a clay pipe or a Hume pipe.

[0167] In the example shown in Fig. 7, the illustration image AM is an example of a forward image presented by the image presenting unit 30B, which shows the positional relationship between the water pipe hoisted by the shovel 100 and a water pipe already installed in an excavation trench formed in the ground (hereinafter referred to as the "existing water pipe"). In the example shown in Fig. 7, the illustration image AM includes figures G1 to G3, figures G70 to G74, and figures G80 to G82.

[0168] The figure G1 is a figure representing the upper part of the boom 4 as seen from the left side. In the example shown in FIG. 7, the figure G1 is a figure representing the upper part of the boom 4 including a part to which an arm foot pin is attached and includes a figure representing the arm cylinder 8. That is, the figure G1 does not include a figure representing the lower part of the boom 4 including a part to which a boom foot pin is attached and a part to which a tip of the boom cylinder 7 is attached. Moreover, the figure G1 does not include a figure representing the boom cylinder 7. This is to increase the visibility of the figure representing the upper part of the boom 4 which is a part that is highly necessary to be presented to an operator when supporting a crane operation by simplifying the figure G1 by omitting the display of the figure representing the lower part of the boom 4 which is a part that is highly necessary to be presented to an operator when supporting a crane operation. The figure G1 does not have to include a figure representing the arm cylinder 8. That is, the figure representing the arm cylinder 8 may be omitted.

[0169] The graphic G1 is displayed so as to move in accordance with the actual movement of the boom 4. Specifically, the controller 30 changes the position and attitude of the graphic G1 in accordance with, for example, a change in the boom angle θ1 detected by the boom angle sensor S1.

[0170] The graphic G2 is a graphic that represents the arm 5 as viewed from the left side. In the example shown in Fig. 7, the graphic G2 is a graphic that represents the entire arm 5, and includes a graphic that represents the bucket cylinder 9. However, the graphic G2 does not have to include the graphic that represents the bucket cylinder 9. In other words, the graphic that represents the bucket cylinder 9 may be omitted.

[0171] The figure G2 is displayed so as to move in accordance with the actual movement of the arm 5. Specifically, the controller 30 changes the position and posture of the figure G2 in accordance with, for example, a change in the boom angle θ1 detected by the boom angle sensor S1 and a change in the arm angle θ2 detected by the arm angle sensor S2.

[0172] The graphic G3 is a graphic that represents the bucket 6 as viewed from the left side. In the example shown in Fig. 7, the graphic G3 is a graphic that represents the entire bucket 6, and includes a graphic that represents a bucket link. However, the graphic G3 does not have to include a graphic that represents a bucket link. In other words, the graphic that represents a bucket link may be omitted.

[0173] Graphic G3 is displayed so as to move in accordance with the actual movement of the bucket 6. Specifically, the controller 30 changes the position and posture of graphic G3 in accordance with, for example, a change in the boom angle θ1 detected by the boom angle sensor S1, a change in the arm angle θ2 detected by the arm angle sensor S2, and a change in the bucket angle θ3 detected by the bucket angle sensor S3.

[0174] In this way, the illustrated image AM is generated so as to include a figure of the distal portion of the attachment, which is the portion excluding the base portion (proximal portion) of the attachment. The proximal portion of the attachment means the portion of the attachment that is closer to the upper rotating body 3, and includes, for example, the lower portion of the boom 4. The distal portion of the attachment means the portion of the attachment that is farther from the upper rotating body 3, and includes, for example, the upper portion of the boom 4, the arm 5, and the bucket 6. This is to increase the visibility of the figure representing the distal portion of the attachment, which is the portion that needs to be presented to the operator when supporting crane operation, by simplifying the illustrated image AM by omitting the display of the figure representing the proximal portion of the attachment, which is the portion that needs to be presented to the operator when supporting crane operation.

[0175] Graphic G70 represents the hook as seen from the left side. In the example shown in Figure 7, graphic G70 represents the hook retractably mounted at the bucket link.

[0176] The figure G71 represents a hanging cord attached to a suspended load. In the example shown in Fig. 7, the figure G71 represents a hanging cord wound around a water pipe as a suspended load. The hanging cord may be a wire.

[0177] 7, the figure G72 represents a water conduit as a load being lifted by the excavator 100. The position, size, shape, etc. of the figure G72 change according to changes in the position, attitude, etc. of the water conduit. The position, attitude, etc. of the water conduit are calculated based on the output of at least one of the object detection device 70 and the imaging device 80.

[0178] A figure G73 represents an excavation trench. In the example shown in Fig. 7, the figure G73 represents a cross section of an excavation trench formed by excavation by the shovel 100. The position, size, shape, etc. of the figure G73 change according to changes in the position, depth, etc. of the excavation trench. The position, depth, etc. of the excavation trench are calculated based on the output of at least one of the object detection device 70 and the imaging device 80.

[0179] The figure G74 represents an object installed in the excavation trench. In the example shown in Fig. 7, the figure G74 represents an existing water pipe that has already been installed in the excavation trench. The position, size, shape, etc. of the figure G74 change according to changes in the position, attitude, etc. of the existing water pipe. The position, attitude, etc. of the existing water pipe are calculated based on the output of at least one of the object detection device 70 and the imaging device 80.

[0180] The graphic G80 represents the position of the distal end of the load being lifted by the shovel 100. In the example shown in FIG 7, the graphic G80 is a dashed line extending in the vertical direction, and represents the position of the distal end of the water pipe being lifted by the shovel 100.

[0181] The graphic G81 represents the position of the proximal end of the load being lifted by the shovel 100. In the example shown in Fig. 7, the graphic G81 is a dashed line extending in the vertical direction, and represents the position of the proximal end of the water pipe being lifted by the shovel 100.

[0182] The figure G82 represents the target position of the load, which is the position of the distal end of the load when the load is lowered to the ground. In the example shown in FIG. 7, the figure G82 is a dashed line extending vertically, and represents the target position of the distal end of the water conduit being lifted by the shovel 100. The target position of the distal end of the water conduit is set at a position a predetermined distance before (a position a predetermined distance closer to the shovel 100) the position of the proximal end of the adjacent existing water conduit already installed in the excavation trench. This is because the water conduit lowered to the bottom of the excavation trench is then dragged over the bottom, and its distal end is inserted into the proximal end of the existing water conduit to be connected to the new water conduit.

[0183] The graphic G83 represents the distance between the target position of the distal end of the load and the current position. In the example shown in Fig. 7, the graphic G83 is a double-headed arrow, and represents the distance between the target position of the distal end of the water pipe and the current position. The graphic G80 to the graphic G83 may be omitted to clarify the illustration image AM.

[0184] The operator of the shovel 100 who sees the illustrated image AM as shown in FIG. 7 can intuitively grasp the horizontal distance between the distal end of the aerial water conduit represented by the figure G72 and the proximal end of the existing water conduit represented by the figure G74. Therefore, the shovel 100 can prevent the operator from accidentally touching the aerial water conduit with the existing water conduit. The operator of the shovel 100 can also intuitively grasp the horizontal distance between the proximal end of the aerial water conduit represented by the figure G72 and the proximal end of the excavated trench represented by the figure G73. The operator of the shovel 100 can also intuitively grasp the vertical distance between the bottom end of the aerial water conduit represented by the figure G72 and the bottom surface of the excavated trench represented by the figure G73.

[0185] 7, the illustrated image AM shows the drilling attachment AT and the water pipe as viewed from the left side, but it may show the drilling attachment AT and the water pipe as viewed from the right side, or it may show the drilling attachment AT and the water pipe as viewed from above. Furthermore, at least two of the views as viewed from the left side, the right side, and the top may be displayed simultaneously or switchably.

[0186] 7, the controller 30 displays a figure G82 as the target position of the distal end of the load, but may display a figure indicating the target position of the proximal end of the load. For example, the controller 30 may display the target position of the proximal end of the load based on a preset length of the load, or the length of the load measured by at least one of the object detection device 70 and the imaging device 80, and the target position of the distal end of the load.

[0187] Next, an example of guidance displayed during crane operation will be described with reference to Fig. 8. Fig. 8 shows an example of an image displayed in the first image display area 41n1 of the image display area 41n of the display device 40 during crane operation.

[0188] The image shown in FIG. 8 mainly includes a front image VM captured by the front camera 80F, and a graphic GP60 and a graphic GP61 as an AR image superimposed and displayed on the front image VM.

[0189] The previous image VM shown in Fig. 8 includes an image of an excavation trench located in front of the shovel 100. Specifically, the previous image VM includes images V11 to V14. Image V11 is an image of the excavation trench. Images V12 and V13 are images of an existing water pipe that has already been installed in the excavation trench. Image V14 is an image of a water pipe being lifted by the shovel 100.

[0190] The graphic GP60 is a marker that represents the target position of the distal end of the load being lifted by the shovel 100. The graphic GP61 is a marker that represents the projected shape of the outer shape of the load being lifted by the shovel 100 when projected onto the ground.

[0191] In the example shown in Fig. 8, the figure GP60 is a semi-transparent dashed-dotted line marker, which represents the target position of the distal end of the water pipe being hoisted by the shovel 100, and is displayed so as to extend across the entire width of the excavation trench. The figure GP61 is a semi-transparent dashed line marker, which represents the projected shape of the outline of the water pipe being hoisted by the shovel 100 onto the bottom surface of the excavation trench. At least one of the figures GP60 and GP61 may be a semi-transparent solid line marker.

[0192] Furthermore, when the suspended load descends and approaches the bottom of the excavation trench, images of features such as the bottom of the excavation trench or the existing water pipe become hidden behind the image of the suspended load and cannot be seen. Therefore, the controller 30 may generate an image in which the image of the suspended load has been removed from the forward image by image processing, and may superimpose markers such as the figures GP60 and GP61 on the generated image.

[0193] 8, the controller 30 displays the graphic GP60 as a marker representing the target position of the distal end of the load being lifted by the shovel 100, but may display a graphic as a marker representing the target position of the proximal end of the load. For example, the controller 30 may display a marker representing the target position of the proximal end of the load based on a preset length of the load, or the length of the load measured by at least one of the object detection device 70 and the imaging device 80, and the target position of the distal end of the load.

[0194] The operator of the shovel 100, who sees the previous image VM as shown in FIG. 8, can intuitively grasp the positional relationship between the water conduit being lifted by the shovel 100 and the existing water conduit. Therefore, the shovel 100 can prevent the operator from accidentally touching the airborne water conduit with the existing water conduit. In addition, the operator can intuitively grasp that the water conduit being lifted by the shovel 100 is directly above the excavation trench and that the horizontal distance between the current position of the distal end and the target position is not zero. In other words, the operator can intuitively grasp that the distal end of the airborne water conduit needs to be moved further away (needs to be moved closer to the existing water conduit already installed in the excavation trench).

[0195] 8 may be displayed on a display device attached to a support device such as a mobile terminal outside the shovel 100 and used by an operator performing remote operation, instead of on the display device 40 installed in the cabin 10 of the shovel 100. Alternatively, the image presenting unit 30B may display each of the figures GP60 and GP61 on the bottom surface of the excavation trench by utilizing a projection mapping technique.

[0196] In addition, the image shown in Fig. 7 and the image shown in Fig. 8 may be displayed in a switchable manner. For example, the controller 30 may switch the image when a predetermined button operation is performed, or may switch the image every time a predetermined time has elapsed.

[0197] Next, another example of guidance displayed during crane operation will be described with reference to Fig. 9. Fig. 9 shows another example of an image displayed in the first image display area 41n1 of the image display area 41n of the display device 40 during crane operation. For clarity, Fig. 9 omits the image of the excavation attachment AT and the image of the load (U-shaped ditch) being lifted by the excavation attachment AT.

[0198] 9 mainly includes a front image VM captured by the front camera 80F, and a figure GP70 and a figure GP71 as an AR image superimposed on the front image VM. Note that the front image VM may be a three-dimensional computer graphic generated based on design data input in advance to the controller 30.

[0199] The previous image VM shown in FIG. 9 includes an image of an excavation trench located in front of the excavator 100. Specifically, the previous image VM includes images V21 to V24. Image V21 is an image of an excavation trench in which a U-shaped concrete trench will be installed. Image V22 is an image of a U-shaped trench that has already been installed in the excavation trench (hereinafter referred to as an "existing U-shaped trench"). Image V23 is an image of a utility pole. Image V24 is an image of a guardrail.

[0200] The figure GP70 is a semi-transparent dashed line marker that represents the shape of the existing U-shaped gutter. The figure GP71 is a semi-transparent dashed line marker that represents the projected shape of the outline of the U-shaped gutter being lifted by the shovel 100 when projected onto the ground.

[0201] Although the image shown in FIG. 9 uses an image captured by the front camera 80F, an overhead image generated based on an image captured by the imaging device 80 may also be used.

[0202] Furthermore, the controller 30 may superimpose a graphic representing the target position of the distal end of the suspended load, or a graphic representing the target position of the proximal end of the suspended load, on the previous image VM.

[0203] The operator of the shovel 100 who sees the previous image VM as shown in Fig. 9 can intuitively grasp the positional relationship between the U-shaped gutter being lifted by the shovel 100 and the existing U-shaped gutter. Therefore, the operator can move the U-shaped gutter currently being lifted to a position close to the existing U-shaped gutter and appropriately lower it into the excavated trench. In other words, the shovel 100 can prevent the operator from accidentally causing a U-shaped gutter in the air to come into contact with the existing U-shaped gutter.

[0204] In the examples of Figures 7 to 9, the controller 30 may detect the position, shape (dimensions) or type of the object installed by the crane operation using the surroundings monitoring device, and display guidance based on the detection results. Specifically, the controller 30 obtains the shape of the object and the shape of the groove around the object using the surroundings monitoring device, and identifies the object and the groove. Then, the controller 30 calculates the position of the object on the plane on which the object is to be installed as a reference point. At this time, the figures G82, GP60, and GP70 may be displayed at a certain distance from the reference point on the plane on which the load is to be installed.

[0205] Furthermore, the controller 30 may detect the position, shape (dimensions), or type of an object lifted by the attachment, and display guidance based on the detection results. For example, referring to the example of FIG. 8, the surroundings monitoring device detects a clay pipe (suspended load) lifted by the attachment and a clay pipe as an installed object installed by crane work. At this time, the positions, shapes, and types of the suspended load and the installed object are detected, and guidance such as GP60 and GP61 is displayed based on the detection results. For example, GP60 is displayed based on the width of the installed object. Also, GP61 is displayed based on the width and length of the suspended load. Detection may also be based on the shape or type (dimensions, position).

[0206] In the above example, the guidance for loading or crane work has been described, but the guidance may be applied to excavation or compaction work. For example, in the case of excavation work, the controller 30 may obtain an arbitrary position on the ground surface a predetermined distance away from an object (e.g., a wall, a tree, a pylon, a stake, a ditch, or a change in the ground) as a reference point, which is an excavation start position, by the surroundings monitoring device, and display a line for each predetermined distance from this reference point. In addition, in the case of compaction work, the controller 30 may obtain an arbitrary position on the ground surface a predetermined distance away from an object (e.g., a wall, a tree, a pylon, a stake, or a change in the ground) as a reference point, which is a target compaction area, by using the output information of the surroundings monitoring device or the attitude information of the attachment, and display a line for each predetermined distance from this reference point. At this time, the guidance is performed in a manner that allows the distance from the reference point in the turning radius direction to be known. Then, the distance from the current attachment position to the displayed line is displayed. In this way, the controller 30 detects objects present at the work site or parts where the ground shape is changing as targets, and displays guidance based on the detected targets. Therefore, the operator of the shovel 100 can intuitively grasp the excavation start position or the distance to the target compaction area even during excavation work or compaction work.

[0207] As described above, the excavator 100, which is an example of a work machine according to an embodiment of the present invention, includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, an excavation attachment AT as an attachment attached to the upper rotating body 3, a surroundings monitoring device, and a display device 40. The display device 40 is configured to display guidance for an object detected by the surroundings monitoring device. The object detected by the surroundings monitoring device is, for example, a dump truck 60 as shown in FIG. 4A, an existing water pipe installed in an excavation trench as shown in FIG. 7, or a U-shaped trench installed in an excavation trench as shown in FIG. 9. The object detected by the surroundings monitoring device may be a water pipe such as a clay pipe or a Hume pipe as a suspended load, a U-shaped trench, or soil and sand taken into a bucket by excavation. Furthermore, the display device 40 may be configured to display guidance corresponding to the height of the object. The display device 40 may be configured to display guidance in the turning radius direction for the object. With this configuration, the shovel 100 can more effectively support the operation of the shovel 100 by the operator. The shovel 100 can reduce the risk that the operator will bring the bucket 6 into contact with the loading platform 61 of the dump truck 60, for example. This is because the difficulty in grasping the distance between the bucket 6 and the front panel 63 in the front-rear direction of the loading platform 61, which is visible from inside the cabin 10 through the windshield FG, can be alleviated. In addition, the shovel 100 can reduce the operator's fatigue caused by continuing careful operation for a long period of time by allowing the operator to easily monitor the relative positional relationship between the bucket 6 and the loading platform 61 of the dump truck 60 during loading work. In addition, for the same reason, the shovel 100 can suppress a decrease in work efficiency when the excavated material is discharged near the front panel 63, compared to when the excavated material is discharged in the center of the loading platform 61 of the dump truck 60. Alternatively, the shovel 100 can reduce the risk that the operator will bring the suspended load into contact with an existing object, for example. This is because it makes it easier to grasp the distance between the suspended load visible through the windshield FG from inside the cabin 10 and the existing object.Furthermore, the excavator 100 allows the operator to easily monitor the relative positional relationship between the suspended load and the existing object during crane work, thereby reducing the operator's fatigue caused by continuing careful operation for a long period of time. The suspended load is, for example, a water conveyance pipe such as an earthen pipe or a Hume pipe, or a U-shaped ditch. The existing object is, for example, an existing water conveyance pipe or an existing U-shaped ditch that has already been installed in the excavated trench.

[0208] The forward image may be, for example, an image including a marker whose display position changes according to the movement of the attachment, or an image including a marker whose display position does not change even if the attachment moves. Specifically, the marker whose display position changes according to the movement of the attachment is, for example, the figures GP20 to GP22 in Fig. 6B. Also, the marker whose display position does not change even if the attachment moves is, for example, the figures GP10 to GP14 in Fig. 6A.

[0209] The forward image may also include a marker whose display position changes in response to a change in the horizontal position of a specific part of the attachment, but whose display position does not change in response to a change in the vertical position of the specific part. Specifically, examples of the marker whose display position changes in response to a change in the horizontal position of a specific part of the attachment, but whose display position does not change in response to a change in the vertical position of the specific part, are the figures GP20 to GP22 in FIG. 6B.

[0210] The front image may be an image configured to allow the operator to recognize, for example, a stepwise change in the relative positional relationship between an object located in front of the upper rotating body 3 and the attachment or an object lifted by the attachment. Specifically, the front image may include figures G51 to G54 representing the tip side portion of the excavation attachment AT, which are displayed so that at least one of color, brightness, and shade changes according to the actual movement of the excavation attachment AT, as shown in FIG. 5B. The figures G51 to G54 are typically arranged at a predetermined interval. In this case, the front image may be configured to allow the operator to recognize the number of steps of change. FIG. 5B shows that the number of steps is four. In the example shown in FIG. 5B, the outlines of the figures G51 to G54 are always displayed on the illustration image AM, but may be switched between displayed and hidden according to the movement of the excavation attachment AT.

[0211] Also, as shown in FIG. 5A, the front image may include a figure G1 representing the upper part of the boom 4 including a part to which the arm foot pin is attached and the like. The figure G1 may or may not include a figure representing the arm cylinder 8. On the other hand, the figure G1 does not include a figure representing the lower part of the boom 4 including a part to which the boom foot pin is attached and a part to which the tip of the boom cylinder 7 is attached and the like. Also, the figure G1 does not include a figure representing the boom cylinder 7. This is to increase the visibility of the figure representing the upper part of the boom 4 which is a part that is highly necessary to be presented to the operator when supporting loading work, crane work, etc., by simplifying the figure G1 by omitting the display of the figure representing the lower part of the boom 4 which is a part that is highly necessary to be presented to the operator when supporting loading work, crane work, etc. In this way, the front image may be configured to include an image of the upper part of the attachment but not include an image of the lower part of the attachment.

[0212] The display device 40 is typically configured to display a graphic representing the relative positional relationship in the turning radius direction between objects located around the work machine and the excavating attachment AT or objects being lifted by the excavating attachment AT.

[0213] The object located around the work machine is, for example, an installed object installed by the excavator 100 as the work machine. The installed object is, for example, a water pipe such as a clay pipe or a Hume pipe, or a U-shaped ditch. The installed object may also be a pile of soil formed by excavation. In this case, the graphic may be configured to represent the relative positional relationship in the turning radius direction between the position of the installed object and the object being lifted by the excavation attachment AT.

[0214] The figures showing the relative positional relationship between the dump truck 60 and the excavation attachment AT are, for example, figures G1 to G4 shown in Fig. 5A, figures G5 and G6 shown in Fig. 5B, figure G3A shown in Fig. 5C, figures GP10 to GP14 shown in Fig. 6A, figures GP20 to GP22 shown in Fig. 6B, figures GP30 to GP34 shown in Fig. 6C, figures GP40 to GP42 shown in Fig. 6D, figures GP50 and GP51 shown in Fig. 6E, etc. Alternatively, the figures showing the relative positional relationship between an existing object and an object being lifted by the excavation attachment AT are, for example, figures G1 to G3, figures G70 to G74, and figures G80 to G83 shown in Fig. 7, figures GP60 and GP61 shown in Fig. 8, figures GP70 and GP71 shown in Fig. 9, etc. With this configuration, an operator of the shovel 100 looking at the figure displayed on the display device 40 can intuitively grasp the relative positional relationship between an object located in front of the upper rotating body 3 and the excavation attachment AT or an object being lifted by the excavation attachment AT.

[0215] The graphic representing the relative positional relationship between the dump truck 60 and the excavation attachment AT may be displayed so as to correspond to each of the current state of the bucket 6 and the state of the bucket 6 when the bucket 6 is opened. For example, the graphic G3 shown in Fig. 5C is displayed so as to correspond to the current state of the bucket 6, and the graphic G3A is displayed so as to correspond to the state of the bucket 6 when the bucket 6 is opened. With this configuration, the operator of the excavator 100 who sees the graphic displayed on the display device 40 can intuitively grasp the relative positional relationship between the bucket 6 and the dump truck 60 when the bucket 6 is opened, for example, before opening the bucket 6.

[0216] The excavator 100 may have a controller 30 as a control device that limits the movement of the excavation attachment AT. The controller 30 may be configured to stop the movement of the excavation attachment AT, for example, when it is determined that there is a risk of contact between an object located in front of the upper rotating body 3 and the excavation attachment AT or an object being lifted by the excavation attachment AT. With this configuration, the controller 30 can effectively prevent contact between the dump truck 60 and the excavation attachment AT.

[0217] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise.

[0218] For example, the shovel 100 may simultaneously display the illustrated image AM shown in FIG. 5A, FIG. 5B, or FIG. 5C and the AR image shown in FIG. 6A, FIG. 6B, FIG. 6C, FIG. 6D, or FIG. 6E. Alternatively, the shovel 100 may selectively switch between at least two of the illustrated images AM shown in FIG. 5A, FIG. 5B, and FIG. 5C, may selectively switch between the AR images shown in FIG. 6A, FIG. 6B, and FIG. 6E, or may selectively switch between the AR images shown in FIG. 6C, FIG. 6D, and FIG. 6E. Similarly, the shovel 100 may simultaneously display the illustrated image AM shown in FIG. 7 and the AR image shown in FIG. 8. Alternatively, the shovel 100 may selectively switch between the illustrated image AM shown in FIG. 7 and the AR image shown in FIG. 8.

[0219] The information acquired by the shovel 100 may be shared with related parties through a management system SYS of the shovel as shown in FIG. 10. The related parties are, for example, an operator of the shovel 100, a worker at the construction site, an operator of another shovel, or a manager of the shovel 100. FIG. 10 is a schematic diagram showing a configuration example of the management system SYS of the shovel 100. The management system SYS is a system that manages one or more shovels 100. In this embodiment, the management system SYS is mainly composed of the shovel 100, a support device 200, and a management device 300. The shovel 100, the support device 200, and the management device 300 constituting the management system SYS may each be one or more. In the example shown in FIG. 10, the management system SYS includes one shovel 100, one support device 200, and one management device 300.

[0220] The support device 200 is communicatively connected to the management device 300 through a predetermined communication line. The support device 200 may also be communicatively connected to the shovel 100 through a predetermined communication line. The predetermined communication line may include, for example, a mobile communication network terminated at a base station, a satellite communication network using a communication satellite, a short-range wireless communication network using a communication standard such as Bluetooth (registered trademark) or Wi-Fi, and the like. The support device 200 is a user terminal used by, for example, an operator or owner of the shovel 100, a worker or supervisor at a work site, or a user such as an administrator or worker of the management device 300 (hereinafter referred to as an "support device user"). The support device 200 is, for example, a laptop computer terminal, a tablet terminal, or a mobile terminal such as a smartphone. The support device 200 may also be, for example, a stationary terminal device such as a desktop computer terminal.

[0221] The management device 300 is communicatively connected to the shovel 100 or the support device 200 through a predetermined communication line. The management device 300 is, for example, a cloud server installed in a management center or the like outside the work site. The management device 300 may also be, for example, an edge server installed in a temporary office or the like in the work site or a communication facility (for example, a base station or station building) relatively close to the work site. The management device 300 may also be, for example, a terminal device used in the work site. The terminal device may be, for example, a laptop computer terminal, a tablet terminal, or a mobile terminal such as a smartphone, or may also be, for example, a stationary terminal device such as a desktop computer terminal.

[0222] At least one of the support device 200 and the management device 300 may include a monitor and an operation device for remote operation. In this case, the operator may operate the shovel 100 using the operation device for remote operation. The operation device for remote operation is connected to the controller 30 through a wireless communication network such as a wireless LAN, for example. The following describes the exchange of information between the shovel 100 and the support device 200, but the following description also applies to the exchange of information between the shovel 100 and the management device 300.

[0223] Furthermore, information images similar to the contents that can be displayed on the display device 40 of the cabin 10 (for example, image information showing the surroundings of the shovel 100, various setting screens, previous image VM, illustrated image AM, or screens equivalent to AR images, etc.) may be displayed on the display device of the support device 200 or the management device 300. Image information showing the surroundings of the shovel 100 may be generated based on an image captured by the imaging device 80, etc. This allows the support device user or the management device user to remotely operate the shovel 100 or make various settings related to the shovel 100 while checking the surroundings of the shovel 100.

[0224] In the management system SYS for the shovel 100 as described above, the controller 30 of the shovel 100 may transmit to the support device 200 an illustrated image AM or an AR image, etc., as a forward image generated by the image presenting unit 30B. At that time, the controller 30 may transmit to the support device 200, for example, an image captured by the imaging device 80, which serves as a surroundings monitoring device (space recognition device). Furthermore, the controller 30 may transmit to the support device 200 information on at least one of data on the work content of the shovel 100, data on the attitude of the shovel 100, data on the attitude of the excavation attachment, etc. This is to enable the relevant parties using the support device 200 to obtain information on the work site. The data on the work content of the shovel 100 is, for example, at least one of the following: the number of loadings, which is the number of times the earth-discharging operation has been performed; information on the excavated material, such as soil and sand, loaded onto the loading platform 61 of the dump truck 60; the type of the dump truck 60 related to the loading operation; information on the position of the shovel 100 when the loading operation has been performed; information on the work environment; and information on the operation of the shovel 100 when the loading operation is performed. The information on the excavated material is, for example, at least one of the weight and type of the excavated material excavated in each excavation operation, the weight and type of the excavated material loaded onto the dump truck 60, and the weight and type of the excavated material loaded in one day's loading operation. The information on the work environment is, for example, information on the slope of the ground around the shovel 100, or information on the weather around the work site. The information on the operation of the shovel 100 is, for example, at least one of the output of the operating pressure sensor 29 and the output of the cylinder pressure sensor.

[0225] At least one of the position acquisition unit 30A, the image presentation unit 30B, and the operation support unit 30C, which are functional elements of the controller 30, may be realized as a functional element of the control device in the support device 200.

[0226] In this manner, the support device 200 according to the embodiment of the present invention is configured to support work by an excavator 100 having a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and an excavation attachment AT attached to the upper rotating body 3. The support device 200 has a display device that displays a front image showing the relative positional relationship between the dump truck 60 located in front of the upper rotating body 3 and the excavation attachment AT. With this configuration, the support device 200 can present information about the area in front of the upper rotating body 3 to relevant persons.

[0227] When the shovel 100 is operated remotely, the distance between the bucket 6 and the front panel 63 in the fore-and-aft direction of the loading platform 61, which the operator can see through the image displayed on the display device of the support device 200, is even more difficult to grasp than when viewed through the windshield FG of the cabin 10. However, by displaying the forward image as described above, the support device 200 can effectively support the operator in operating the shovel 100, just as in the case of operation from the cabin 10.

[0228] Also, in the above-described embodiment, a hydraulic operation system including a hydraulic pilot circuit is disclosed. For example, in a hydraulic pilot circuit related to boom operation lever 26A, hydraulic oil supplied from pilot pump 15 to boom operation lever 26A is supplied to a pilot port of control valve 154 at a pressure corresponding to the opening degree of a remote control valve moved by tilting boom operation lever 26A in the opening direction. Alternatively, in a hydraulic pilot circuit related to bucket operation lever 26B, hydraulic oil supplied from pilot pump 15 to bucket operation lever 26B is supplied to a pilot port of control valve 158 at a pressure corresponding to the opening degree of a remote control valve moved by tilting bucket operation lever 26B in the opening direction.

[0229] However, instead of a hydraulic operation system having such a hydraulic pilot circuit, an electric operation system having an electric pilot circuit may be adopted. In this case, the lever operation amount of the electric operation lever in the electric operation system is input to the controller 30 as, for example, an electric signal. In addition, a solenoid valve is arranged between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electric signal from the controller 30. With this configuration, when manual operation is performed using the electric operation lever, the controller 30 can move each control valve by controlling the solenoid valve with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure. Note that each control valve may be configured as an electromagnetic spool valve. In this case, the solenoid spool valve operates electromagnetically in response to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

[0230] When an electric operation system having an electric operation lever is employed, the controller 30 can easily execute the machine guidance function and the machine control function, etc., compared with when a hydraulic operation system having a hydraulic operation lever is employed. FIG. 11 shows an example of the configuration of an electric operation system. Specifically, the electric operation system of FIG. 11 is an example of a boom operation system for raising and lowering the boom 4, and is mainly composed of a pilot pressure operated control valve unit 17, a boom operation lever 26A as an electric operation lever, a controller 30, a solenoid valve 65 for a boom raising operation, and a solenoid valve 66 for a boom lowering operation. The electric operation system of FIG. 11 can be similarly applied to a traveling operation system for traveling the lower traveling body 1, a swing operation system for swinging the upper swing body 3, an arm operation system for opening and closing the arm 5, and a bucket operation system for opening and closing the bucket 6, etc.

[0231] 2, the pilot pressure operated control valve unit 17 includes a control valve 150 as a straight travel valve, a control valve 151 for the left travel hydraulic motor 2ML, a control valve 152 for the right travel hydraulic motor 2MR, a control valve 153 and a control valve 154 for the boom cylinder 7, a control valve 155 and a control valve 156 for the arm cylinder 8, a control valve 157 for the swing hydraulic motor 2A, and a control valve 158 for the bucket cylinder 9. The solenoid valve 65 is configured to adjust the pressure of the hydraulic oil in the pipeline connecting the pilot pump 15 to the boom-up pilot port of each of the control valves 153 and 154. The solenoid valve 66 is configured to adjust the pressure of the hydraulic oil in the pipeline connecting the pilot pump 15 to the boom-down pilot port of each of the control valves 153 and 154.

[0232] When manual operation is performed, the controller 30 generates a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in response to an operation signal (electrical signal) output by an operation signal generating section of the boom operation lever 26A. The operation signal output by the operation signal generating section of the boom operation lever 26A is an electric signal that changes in response to the amount and direction of operation of the boom operation lever 26A.

[0233] Specifically, when the boom operation lever 26A is operated in the boom-raising direction, the controller 30 outputs a boom-raising operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 65. The solenoid valve 65 operates in response to the boom-raising operation signal (electrical signal) and controls the pilot pressure as a boom-raising operation signal (pressure signal) acting on the boom-raising side pilot ports of each of the control valves 153 and 154. Similarly, when the boom operation lever 26A is operated in the boom-lowering direction, the controller 30 outputs a boom-lowering operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 66. The solenoid valve 66 operates in response to the boom-lowering operation signal (electrical signal) and controls the pilot pressure as a boom-lowering operation signal (pressure signal) acting on the boom-lowering side pilot ports of each of the control valves 153 and 154.

[0234] When performing autonomous control, the controller 30 generates a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in response to a corrective operation signal (electrical signal) instead of in response to an operation signal (electrical signal) output by an operation signal generating unit of the boom operation lever 26A. The corrective operation signal may be an electric signal generated by the controller 30, or may be an electric signal generated by a control device other than the controller 30.

[0235] Furthermore, in the above-described embodiment, the shovel 100 is configured so that an operator can ride inside the cabin 10, but the shovel 100 may be a remote-controlled shovel. In this case, the operator can remotely operate the shovel 100 using an operation device and a communication device installed in a remote control room outside the work site, for example. In this case, the controller 30 may be installed in the remote control room. In other words, the controller 30 installed in the remote control room and the shovel 100 may form a system for the shovel.

[0236] This application claims priority based on Japanese Patent Application No. 2019-132194, filed on July 17, 2019, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0237] 1···Lower traveling body 1C···Crawler 1CL··Left crawler 1CR··Right crawler 2···Slewing mechanism 2A···Slewing hydraulic motor 2M···Travel hydraulic motor 2ML··Left traveling hydraulic motor 2MR··Right traveling hydraulic motor 3···Upper rotating body 4···Boom 5··Arm 6··Bucket 7···Boom cylinder 8··Arm cylinder 9··Bucket cylinder 10··Cabin 11··Engine 13··Regulator 14··Main pump 15··Pilot pump 17··Control valve unit 26···Operating device 26A··Boom operating lever 26B··Bucket operating lever 28··Discharge pressure sensor 29, 29A, 29B··Operating pressure sensor 30··Controller 30A...position acquisition section 30B...image presentation section 30C...operation support section 40...display device 40a...control section 41...image display section 42...operation section 43...sound output device 45...center bypass pipe 50, 50L, 50R...pressure reducing valve 60...dump truck 61...loading platform 61P...support 62...gate 62B...rear gate 62L...left side gate 62R...right side gate 63...front panel 65, 66...solenoid valve 70...object detection device 70B...rear sensor 70F...front sensor 70L...left sensor 70R...right sensor 80...imaging device 80B...rear camera 80F···Front camera 80L···Left camera 80R···Right camera 100···Shovel 150~158···Control valve 200···Support device 300···Management device AM···Illustration image AT···Digging attachment CBT···Rear image FG···Windshield G1~G6, G3A, G3B, G10~G12, G20~G22, G40~G42, G51~G54, G60~G62, G70~G74, G80~G83, GP10~GP14, GP20~GP22, GP30~GP34, GP40~GP42, GP50, GP51, GP60, GP61, GP70, GP71···Figure S1···Boom angle sensor S2···Arm angle sensor S3 Bucket angle sensor S4 Machine body tilt sensor S5 Turning angular velocity sensorSYS...Management system V1~V5, V11~V14, V21~V24...Image VM...Previous image

Claims

1. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; An attachment attached to the upper rotating body; A surrounding monitoring device; A display device, the display device is configured to display a graphic as guidance representing a position of the attachment or an object lifted by the attachment in a turning radius direction for an object detected by the surroundings monitoring device and having a height or depth different from the height of the ground on which the work machine is located, The figure is displayed so as to pass through a position vertically below the tip of the attachment on the surface of the object, or a position vertically below an object being lifted by the attachment on the ground, and to extend in the width direction of the attachment. Working machinery.

2. The display device is configured to display guidance corresponding to the height of the object.

2. The work machine of claim 1.

3. Setting a reference point based on the object; The display device is configured to display guidance regarding a distance from the reference point in a turning radius direction.

2. The work machine of claim 1.

4. the object located around the work machine is a dump truck, The graphic is displayed to correspond to the current state of the bucket and the state of the bucket when the bucket is opened.

2. The work machine of claim 1.

5. A lower running body, An upper rotating body rotatably mounted on the lower traveling body; An attachment attached to the upper rotating body; A surrounding monitoring device; A display device, the display device is configured to display a graphic as guidance representing a position of the attachment or an object lifted by the attachment in a turning radius direction with respect to an object detected by the surroundings monitoring device, The figure is displayed so as to correspond to a position vertically below the tip of the attachment on the surface of the object, or a position vertically below an object being lifted by the attachment on the ground, and to extend in a width direction of the attachment; the object located around the work machine is an installed object installed by the work machine, The figure is configured to represent a positional relationship between a position of the installation object and an object lifted by the attachment in a turning radius direction. Working machinery.

6. The display device displays only a portion of the attachment.

2. The work machine of claim 1.

7. The surroundings monitoring device detects a width of the object or the object being lifted by the attachment, and provides guidance based on the width.

2. The work machine of claim 1.

8. The surroundings monitoring device detects the position of the object, and displays guidance on the position of the object at a predetermined distance from a reference point.

2. The work machine of claim 1.

9. The surroundings monitoring device detects an upper surface of the object, and provides guidance with respect to the detected upper surface.

2. The work machine of claim 1.

10. A support device that supports work performed by a work machine having a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment attached to the upper rotating body, and a surroundings monitoring device, a display device that displays a graphic as guidance representing a position of the attachment or an object lifted by the attachment in a turning radius direction for an object detected by the surroundings monitoring device and having a height or depth different from the height of the ground where the work machine is located, The figure is displayed so as to pass through a position vertically below the tip of the attachment on the surface of the object, or a position vertically below an object being lifted by the attachment on the ground, and to extend in the width direction of the attachment. Support equipment.

11. A system for managing a work machine having a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment attached to the upper rotating body, and a surroundings monitoring device, The device is configured to display guidance on a display device for an object having a height or depth different from the height of the ground where the work machine is located, the object being detected by the surroundings monitoring device, the display device is configured to display a graphic as guidance representing a position of the attachment or an object lifted by the attachment in a turning radius direction with respect to an object detected by the surroundings monitoring device, The figure is displayed so as to pass through a position vertically below the tip of the attachment on the surface of the object, or a position vertically below an object being lifted by the attachment on the ground, and to extend in the width direction of the attachment. system.

Images