Area indication device for work machines

Abstract

To present to a user what area a work machine is scheduled to pass through at an actual work site to improve a work efficiency of the entire work site.SOLUTION: An area presentation device 50 of a work machine 1 comprises: a planned passage area calculation portion 55 calculating a planned passage area that is an area which the work machine 1 automatically moving according to a predetermined movement plan plans to pass during movement; an overhead image acquisition portion 56 acquiring an overhead image of surroundings of the work machine 1; a superimposed image generation portion 57 that generates a superimposed image in which the overhead image and the planned passage area are superimposed; and an output portion 58 that outputs the superimposed image.SELECTED DRAWING: Figure 2

Description

Technical Field

[0006] , ,

[0001] The present invention relates to an area presentation device for a work machine.

Background Art

[0002] In recent years, in response to problems such as a decline in the working population, technologies have been developed to automate the operation of work machines such as hydraulic excavators using a control device to save labor. In order to further improve work efficiency in such technologies, a work machine has been proposed in which the control device calculates an operation plan for a certain degree of grouped work instructions rather than for each operation, and operates the work machine according to the operation plan. According to such a work machine that operates according to an operation plan, it is possible to perform long-term work without a command from an operator to the work machine.

[0003] On the other hand, at a work site, in addition to operators, there are often peripheral workers who perform fine work that cannot be performed by work machines. In order to ensure the safety of such peripheral workers, it is desired that it be possible to easily confirm which area of the actual work site the operating range of the work machine corresponds to.

[0004] Patent Document 1 discloses a peripheral monitoring device for a work machine that superimposes and displays the maximum range in which a front work device calculated from the posture of the work machine can operate on a captured image of the work machine.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, the technology disclosed in Patent Document 1 only shows surrounding workers the maximum range that the front work device can mechanically pass through, and it is difficult to show what areas the work machine will actually pass through while it is operating at the work site. Furthermore, the area that the front work device passes through moves as the work machine moves. The technology disclosed in Patent Document 1 only shows the range in relation to the current position of the work machine. Surrounding workers need to check the range each time the work machine moves and restrict their entry into that range. Therefore, the technology disclosed in Patent Document 1 reduces the overall work efficiency at the work site.

[0007] In view of the above circumstances, the present invention aims to improve the overall work efficiency of a work site by showing the user which areas the work machine is expected to pass through in the actual work site. [Means for solving the problem]

[0008] To solve the above problems, the present invention provides a region presentation device for a work machine, comprising: a region calculation unit that calculates a planned passage region, which is the region that a work machine operating according to a predetermined motion plan is scheduled to pass through during operation, based on the motion plan; an image acquisition unit that acquires an overhead view image of the area around the work machine; an image generation unit that generates a superimposed image by superimposing the overhead view image and the planned passage region; and an image output unit that outputs the superimposed image. [Effects of the Invention]

[0009] According to the present invention, it is possible to show the user which areas the work machine is scheduled to pass through in the actual work site, thereby improving the overall work efficiency of the work site. [Brief explanation of the drawing]

[0010] [Figure 1] A diagram showing the basic configuration of the work machine of this embodiment. [Figure 2] Figure 1 shows a diagram illustrating the functional configuration of the work machine. [Figure 3]A flowchart of the region calculation process performed by the region calculation unit shown in Figure 2. [Figure 4] A flowchart of the region presentation process performed by the superimposed image generation unit shown in Figure 2. [Figure 5] Figure 4 shows an example of a superimposed image generated by the process shown in Figure 4. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described below with reference to the drawings. Components denoted by the same reference numerals in each embodiment have the same function in each embodiment unless otherwise specified, and their description will be omitted.

[0012] The work machine 1 is a work machine capable of automatically operating each component of the work machine 1 according to an operation plan calculated in response to a work command (hereinafter also referred to as "automatic operation control"). The work machine 1 may be a manned work machine that performs automatic operation control based on work commands input by an operator operating the work machine 1. The work machine 1 may be an unmanned work machine that performs automatic operation control based on work commands transmitted from an external device without an operator on board. The work machine 1 may be an unmanned work machine that performs automatic operation control based on work commands autonomously created by the work machine 1.

[0013] In this embodiment, the working machine 1 is described using a hydraulic excavator with a bucket 11 attached as an attachment to the front working device 2 as an example. The working machine 1 may be a hydraulic excavator with attachments other than the bucket 11 attached, or it may be a working machine other than a hydraulic excavator.

[0014] Figure 1 shows the basic configuration of the work machine 1 of this embodiment.

[0015] The work machine 1 comprises a multi-jointed front work device 2 and a vehicle body 3. The vehicle body 3 includes a lower travel body 4 that is driven by left and right travel hydraulic motors 17, and an upper slewing body 5 that is attached to the upper part of the lower travel body 4 and slewing by a slewing hydraulic motor 18. The front work device 2 is composed of a boom 9, an arm 10, and a bucket 11 that rotate in the vertical direction, respectively. The base end of the boom 9 is rotatably connected to the front of the upper slewing body 5 via a boom pin. The arm 10 is rotatably connected to the tip of the boom 9 via an arm pin. The bucket 11 is rotatably connected to the tip of the arm 10 via a bucket pin. A tooth 12 is fixed to the tip of the bucket 11. The boom 9 is driven by a boom cylinder 6. The arm 10 is driven by an arm cylinder 7. The bucket 11 is driven by a bucket cylinder 8.

[0016] The cab 20, which is the operator's seat mounted on the upper rotating body 5, is equipped with a monitor 21 that can display information to the operator, a select switch 22 that can select and input options, and a numeric keypad 23 that can input numerical values. The work machine 1 may also be equipped with operating devices other than the select switch 22 and numeric keypad 23 as a device for inputting work commands. The device for inputting work commands may not be mounted on the work machine 1, but may be mounted on an external device that is connected to the work machine 1 in a manner that allows communication.

[0017] The upper slewing body 5 is equipped with an engine 15, which is the prime mover. The engine 15 drives a hydraulic pump 16. The pressurized oil discharged from the hydraulic pump 16 is supplied to the boom cylinder 6, arm cylinder 7, bucket cylinder 8, travel hydraulic motor 17, and slewing hydraulic motor 18 via a flow control valve.

[0018] The boom cylinder 6, arm cylinder 7, and bucket cylinder 8 each expand and contract by the supplied pressurized oil, causing the boom 9, arm 10, and bucket 11 to rotate respectively. From this, the position and orientation of the bucket 11 change. The traveling hydraulic motor 17 rotates by the supplied pressurized oil, causing the lower traveling body 4 to travel. The slewing hydraulic motor 18 rotates by the supplied pressurized oil, causing the upper slewing body 5 to slew with respect to the lower traveling body 4.

[0019] In automatic operation control, the flow control valve is driven by a pilot hydraulic signal from the electromagnetic proportional valve, operating the boom cylinder 6, arm cylinder 7, bucket cylinder 8, traveling hydraulic motor 17, and slewing hydraulic motor 18. The electromagnetic proportional valve is controlled by a control command from the operation control device 40.

[0020] A boom angle sensor 32 for measuring the rotation angle of the boom 9 is attached to the boom 9. An arm angle sensor 33 for measuring the rotation angle of the arm 10 is attached to the arm 10. A bucket angle sensor 34 for measuring the rotation angle of the bucket 11 is attached to the bucket link of the bucket 11.

[0021] A vehicle body tilt angle sensor 35 for measuring the tilt angle of the vehicle body 3 (upper slewing body 5) with respect to a reference plane (e.g., horizontal plane) is attached to the upper slewing body 5. A vehicle body position sensor 36 for measuring the position of the vehicle body 3 (upper slewing body 5) is attached to the upper slewing body 5. The vehicle body position sensor 36 may be constituted by, for example, a GNSS receiver or the like.

[0022] An imaging device 31 for acquiring an image of the periphery of the working machine 1 is attached to the upper slewing body 5. Note that the imaging device 31 of this embodiment is constituted by a plurality of cameras that acquire images over the entire circumference of the working machine 1. The imaging device 31 may be constituted by a device other than a camera as long as it is a device for acquiring an image of the periphery of the working machine 1. The imaging device 31 may not be mounted on the working machine 1 and may be installed at, for example, the work site.

[0023] Figure 2 shows the functional configuration of the work machine 1 shown in Figure 1.

[0024] The work machine 1 includes an operation control device 40 that controls the operation of each component of the work machine 1, and an area presentation device 50 that presents to the user the area that the work machine 1 is scheduled to pass through during its operation. The user is a peripheral worker performing work around the work machine 1 at the work site, the operator of the work machine 1, or a manager of the peripheral worker or operator, etc.

[0025] Each of the motion control device 40 and the area presentation device 50 may be a controller that includes a processor and memory, and realizes various functions by the processor executing a program stored in the memory. In this embodiment, the motion control device 40 and the area presentation device 50 are provided separately, but they may also be provided as an integrated unit. At least one of the motion control device 40 and the area presentation device 50 may not be mounted on the work machine 1, but may be mounted on an external device that is communicatively connected to the work machine 1.

[0026] The motion control device 40 calculates an operation plan in response to the work command input to the work machine 1, and also calculates control commands to operate the work machine 1 according to the calculated operation plan. The motion control device 40 outputs the calculated control commands to the electromagnetic proportional valve to drive the flow control valve and control the operation of each hydraulic actuator such as the boom cylinder 6 and the hydraulic pump 16. The motion control device 40 outputs various information, including the calculated operation plan, to the area display device 50.

[0027] The region presentation device 50 includes a first input unit 51, a second input unit 52, a third input unit 53, a fourth input unit 54, a planned traversal region calculation unit 55, an overhead image acquisition unit 56, a superimposed image generation unit 57, and an output unit 58.

[0028] The first input unit 51 receives the motion plan output from the motion control device 40. The motion plan is time-series data in which target values ​​for the position or posture of the work machine 1 are calculated for each time step. The target values ​​for the position or posture of the work machine 1 include target values ​​for the rotation angles of the boom 9, arm 10, and bucket 11, target values ​​for the rotation angle of the upper slewing body 5, and target values ​​for the position and direction of the lower traveling body 4. In other words, the motion plan may include a plan for the travel motion of the work machine 1. The time step is a predetermined time interval corresponding to the operating cycle of the motion control device 40 during the operation of the work machine 1 according to the motion plan.

[0029] The second input unit 52 receives dimensional information of the work machine 1 output from the motion control device 40. The dimensional information includes the shape, dimensions, and connection position of the lower traveling body 4, upper slewing body 5, boom 9, arm 10, and bucket 11. The dimensional information does not need to perfectly match the actual shape and dimensions of the parts, as long as it is set to a value larger than the actual shape and dimensions of the parts, and may be set as a simple rectangular parallelepiped, for example, to reduce the computational load.

[0030] The third input unit 53 receives the progress status of the operation plan output from the operation control device 40. The progress status is the percentage of time steps in the operation plan that have already been completed (time steps in which the plan has been executed) relative to the total time steps in the operation plan.

[0031] The fourth input unit 54 receives images of the work machine 1 and its surroundings output from the imaging device 31.

[0032] The planned passage area calculation unit 55 calculates the planned passage area, which is the area that the work machine 1 is scheduled to pass through while operating according to the motion plan. The planned passage area may also be the overall motion trajectory of the work machine 1 that is scheduled to be drawn during the operation of the work machine 1 according to the motion plan. The planned passage area includes at least one of the areas that the front work device 2 is scheduled to pass through during the rotational operation of the front work device 2, the area that the work machine 1 is scheduled to pass through during the travel operation of the lower travel body 4, and the area that the upper slewing body 5 and the front work device 2 are scheduled to pass through during the slewing operation of the upper slewing body 5. The planned passage area calculation unit 55 calculates the planned passage area based on the motion plan input from the first input unit 51 and the dimensional information input from the second input unit 52. The planned passage area calculation unit 55 calculates the planned passage area before the work machine 1 operates according to the motion plan. The planned passage area calculation unit 55 calculates multiple planned passage areas for each time step that constitutes the motion plan.

[0033] The overhead image acquisition unit 56 acquires an overhead image of the area around the work machine 1. Specifically, the overhead image acquisition unit 56 generates an overhead image based on the image of the area around the work machine 1 input from the fourth input unit 54. The overhead image may also be generated by the imaging device 31 and input to the fourth input unit 54. The overhead image acquisition unit 56 may acquire the overhead image input from the fourth input unit 54.

[0034] The superimposed image generation unit 57 generates a superimposed image by superimposing the planned passage area calculated by the planned passage area calculation unit 55 and the overhead image acquired by the overhead image acquisition unit 56. Specifically, based on the progress of the operation plan input from the third input unit 53, the superimposed image generation unit 57 identifies from among the multiple planned passage areas calculated for each time step that the work machine 1 has already passed through before a certain point in the period during which the operation plan is executed and will not pass through after that point in time. The superimposed image generation unit 57 excludes the identified planned passage areas from the superimposed images on the overhead image and generates a superimposed image at that point in time. In other words, the superimposed image generation unit 57 uses only the planned passage areas that are scheduled to be passed through after a certain point in the period during which the operation plan is executed as objects for superimposing onto the overhead image, and generates a superimposed image at that point in time.

[0035] Furthermore, if the planned passage area calculated by the planned passage area calculation unit 55 is outside the area shown in the overhead image acquired by the overhead image acquisition unit 56, the superimposed image generation unit 57 generates a superimposed image that includes the planned passage area that is outside the area. In addition, if the planned passage area calculated by the planned passage area calculation unit 55 is an area that the work machine 1 is scheduled to pass through with travel movement, the superimposed image generation unit 57 generates the superimposed image using a different display format than when the work machine 1 is scheduled to pass through an area that the work machine 1 is scheduled to pass through without travel movement. Different display formats for the two means, for example, that they are displayed using different colors, patterns, or shapes.

[0036] The output unit 58 outputs the superimposed image generated by the superimposed image generation unit 57. The output unit 58 outputs the generated superimposed image to the monitor 21 of the work machine 1 or to a portable terminal 60 of a nearby worker, and displays it on the monitor 21 or the portable terminal 60.

[0037] In this embodiment, the process by which the planned traverse area calculation unit 55 calculates the planned traverse area is also referred to as the "area calculation process." The process by which the superimposed image generation unit 57 generates and outputs a superimposed image is also referred to as the "area presentation process." The area calculation process is started when an operation plan is input from the operation control device 40 to the planned traverse area calculation unit 55 via the first input unit 51. The area presentation process is started when the user requests the presentation of the planned traverse area. Alternatively, the area presentation process may be started when the planned traverse area calculation unit 55 inputs the planned traverse area to the superimposed image generation unit 57.

[0038] Figure 3 is a flowchart of the region calculation process performed by the region calculation unit 55 shown in Figure 2.

[0039] In S110, the planned passage area calculation unit 55 acquires dimensional information output from the operation control device 40.

[0040] In S120, the planned passage area calculation unit 55 acquires one hour step of the operation plan output from the operation control device 40.

[0041] In S130, the planned passage area calculation unit 55 calculates the planned passage area of ​​the work machine 1 based on the dimensional information acquired in S110 and the motion plan acquired in S120. The planned passage area calculation unit 55, for example, performs a coordinate transformation on the target values ​​and dimensional information of each component of the work machine 1 included in the motion plan, plots them against the position of the upper rotating body 5 measured by the vehicle position sensor 36, and calculates the three-dimensional area occupied by each component. Then, the planned passage area calculation unit 55 defines the two-dimensional area obtained by projecting the calculated three-dimensional area onto a plane from an overhead view as the planned passage area.

[0042] In S140, the planned passage area calculation unit 55 determines whether the motion plan acquired in S120 involves travel. A motion plan involving travel means that the position or direction of the lower traveling body 4 has changed from the previous time step. If the motion plan acquired in S120 involves travel, the planned passage area calculation unit 55 proceeds to S150. If the motion plan acquired in S120 does not involve travel, the planned passage area calculation unit 55 proceeds to S160.

[0043] In S150, the planned passage area calculation unit 55 sets the planned passage area calculated in S130 as the planned passage area accompanied by travel. After that, the planned passage area calculation unit 55 proceeds to S170. The planned passage area accompanied by travel is the area that the work machine 1 is scheduled to pass through as the lower traveling body 4 travels.

[0044] In S160, the planned passage area calculation unit 55 sets the planned passage area calculated in S130 as a planned passage area that does not involve travel. The planned passage area that does not involve travel is the area that the work machine 1 is scheduled to pass through without any travel of the lower traveling body 4. The planned passage area that does not involve travel is the area that the work machine 1 is scheduled to pass through by at least one of the following: the rotation of the upper rotating body 5 and the rotation of the front work device 2.

[0045] In S170, the planned passage area calculation unit 55 records the planned passage area calculated in S130 and the information related to the driving operation set in S150 or S160, linking them together.

[0046] In S180, the planned traverse area calculation unit 55 determines whether or not it has acquired all the time steps of the operation plan in S120. If the planned traverse area calculation unit 55 has acquired all the time steps of the operation plan, it proceeds to S190. If the planned traverse area calculation unit 55 has not acquired all the time steps of the operation plan, it proceeds to S120.

[0047] In S190, the planned passage area calculation unit 55 outputs all planned passage areas calculated for each time step of the motion plan, along with information related to the driving motion associated with those planned passage areas, to the superimposed image generation unit 57. After that, the planned passage area calculation unit 55 terminates the process shown in Figure 3.

[0048] Figure 4 is a flowchart of the region presentation process performed by the superimposed image generation unit 57 shown in Figure 2.

[0049] In S210, the superimposed image generation unit 57 acquires all planned passage areas calculated for each time step of the motion plan, and information related to the driving motion associated with said planned passage areas.

[0050] In S220, the superimposed image generation unit 57 acquires the progress status of the operation plan output from the operation control device 40.

[0051] In S230, the superimposed image generation unit 57 identifies from all the planned passage areas acquired in S210 the planned passage areas that the work machine 1 has already passed through before the time indicated by the progress status acquired in S220 (the current time) and will not pass through after that time. The superimposed image generation unit 57 excludes the identified planned passage areas from the superimposed images on the overhead view image as completed planned passage areas.

[0052] In S240, the superimposed image generation unit 57 generates an image of the remaining planned passage area that was excluded in S230. At this time, the superimposed image generation unit 57 generates the image of the planned passage area using different display formats for the planned passage area that involves driving and the planned passage area that does not involve driving.

[0053] In S250, the superimposed image generation unit 57 acquires an overhead image from the overhead image acquisition unit 56.

[0054] In S260, the superimposed image generation unit 57 superimposes the image of the planned passage area generated in S240 with the overhead view image acquired in S250 to generate a superimposed image. At this time, if the planned passage area is outside the area shown in the overhead view image, the superimposed image generation unit 57 generates the superimposed image including the planned passage area that is outside the area. The superimposed image generation unit 57 then outputs the generated superimposed image to the output unit 58 for display on the monitor 21 or mobile terminal 60. After that, the superimposed image generation unit 57 terminates the process shown in Figure 4.

[0055] Figure 5 shows an example of the display of the superimposed image generated by the process shown in Figure 4.

[0056] The superimposed image 70 shown in Figure 5 displays an overhead view 71 of the work machine 1 and its surroundings. The overhead view 71 displays a dump truck, which is another work machine 72, located in the vicinity of work machine 1. The superimposed image 70 displays the overhead view 71 and the planned passage areas 73 and 74 superimposed on each other. The planned passage areas 73 and 74 consist of a planned passage area 73 that does not involve travel and a planned passage area 74 that does involve travel, and these are displayed in different formats. The planned passage area 74 that involves travel also exists outside the area shown in the overhead view 71. The superimposed image 70 displays the planned passage area 74 that exists outside the area shown in the overhead view 71. The superimposed image 70 displays an icon 75 indicating that the planned passage area 74 continues outside the display range of the superimposed image 70.

[0057] As described above, the area presentation device 50 for the work machine 1 includes a planned passage area calculation unit 55 that calculates the planned passage area, which is the area that the work machine 1 is scheduled to pass through during operation according to a predetermined motion plan, based on the motion plan; an overhead image acquisition unit 56 that acquires an overhead image of the area around the work machine 1; an overlay image generation unit 57 that generates an overlay image by superimposing the overhead image and the planned passage area; and an output unit 58 that outputs the overlay image.

[0058] When the work machine 1 is not moving, the area it is scheduled to pass through is part of the maximum range that the front work device 2 can mechanically pass through, and is an area where there is a risk of contact with surrounding workers. If this maximum range is presented to surrounding workers, they may restrict their entry into that area for safety reasons, even though there is actually no risk of contact with the work machine 1 in that area. In this case, the overall work efficiency of the work site will decrease. In contrast, the area presentation device 50 can present to surrounding workers, etc., what area the work machine 1 is scheduled to pass through in the actual work site by outputting a superimposed image of the area the work machine 1 is scheduled to pass through and an overhead view of the surrounding area. As a result, surrounding workers can easily distinguish between the area where there is a risk of contact and the area other than the area where there is no risk of contact, thus expanding the area they can enter compared to before. Therefore, the area presentation device 50 can improve the overall work efficiency of the work site.

[0059] Furthermore, the motion plan is time-series data in which target values ​​for the position or orientation of the work machine 1 are calculated at each time step. The planned passage area calculation unit 55 calculates multiple planned passage areas at each time step. Based on the progress of the motion plan, the superimposed image generation unit 57 selects from the multiple calculated planned passage areas that the work machine 1 is scheduled to pass through after a certain point in time during the period in which the motion plan is executed, and uses these areas as the superimposed objects on the overhead view image to generate a superimposed image at that point in time.

[0060] As a result, the area display device 50 does not display areas where the operation of the work machine 1 has finished and there is no longer a risk of contact with surrounding workers, for example, so that surrounding workers can expand the area they can enter. Therefore, the area display device 50 can improve the overall work efficiency of the work site. Furthermore, the area display device 50 can display only the areas that the work machine 1 will pass through after that future point in time as a superimposed image, for example, so that surrounding workers can accurately predict the area they can enter and work efficiently. Therefore, the area display device 50 can further improve the overall work efficiency of the work site.

[0061] Furthermore, if the area to be traversed is located outside the area shown in the overhead image, the superimposed image generation unit 57 generates a superimposed image that includes the area to be traversed that is located outside the area shown in the overhead image.

[0062] The motion plan may include a plan for the movement of the work machine 1. In this case, the area to be passed through may be outside the area shown in the overhead view image. In this case, the area presentation device 50 generates a superimposed image that includes the area to be passed through that is outside the area shown in the overhead view image. This allows surrounding workers to easily understand the area to be passed through that is outside the area shown in the overhead view image. Therefore, the area presentation device 50 can further improve the overall work efficiency of the work site.

[0063] Furthermore, the motion plan may include a plan for the travel motion of the work machine 1. The superimposed image generation unit 57 generates a superimposed image using a different display format depending on whether the planned passage area is an area that the work machine 1 is scheduled to pass through in conjunction with the travel motion or an area that the work machine 1 is scheduled to pass through independently of the travel motion.

[0064] The movement of the work machine 1 is more difficult for surrounding workers to predict than movements other than movement. The area display device 50 can display different formats for areas that will be traversed with movement and areas that will not be traversed with movement. This allows surrounding workers to easily understand areas that will be traversed with movement. Therefore, the area display device 50 can further improve the overall work efficiency of the work site.

[0065] Although embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention as described in the claims. The present invention can be modified by adding the configuration of one embodiment to the configuration of another embodiment, replacing the configuration of one embodiment with that of another embodiment, or deleting a part of the configuration of one embodiment. [Explanation of Symbols]

[0066] 1...Work machine, 50...Area presentation device, 55...Planned passage area calculation unit (area calculation unit), 56...Overview image acquisition unit (image acquisition unit), 57...Superimposed image generation unit (image generation unit), 58...Output unit (image output unit), 70...Superimposed image, 71...Overview image, 73...Planned passage area without travel motion, 74...Planned passage area with travel motion

Claims

1. A work machine area display device that operates according to a motion plan which is time-series data in which target values ​​for the position or orientation of the work machine, including predetermined target values ​​for the rotation angles of the boom, arm and bucket, target values ​​for the rotation angle of the upper slewing body and target values ​​for the position and direction of the lower traveling body, are calculated at each time step, A region calculation unit calculates a planned trajectory, which is the overall motion trajectory of the work machine that will be drawn while the work machine is operating according to the motion plan, based on the motion plan and the dimensional information of the work machine. An image acquisition unit that acquires an overhead image of the area around the aforementioned work machine, An image generation unit that generates a superimposed image by superimposing the aforementioned overhead view image and the area to be passed over, The system includes an image output unit that outputs the superimposed image, The area calculation unit calculates multiple areas to be traversed at each time step before the work machine operates according to the motion plan, The image generation unit generates the superimposed image at a certain point in time, using the multiple planned passage areas that are scheduled to be passed through after a certain point in time during the period in which the operation plan is executed as the superimposed object on the overhead image, based on the progress status which represents the proportion of time steps in the operation plan that have already been completed relative to the total time steps of the operation plan. The image output unit outputs the superimposed image at a certain point in time that was generated by the image generation unit. A device for indicating the area of ​​a work machine, characterized by the above.

2. The image generation unit generates the superimposed image including the planned passage area that is outside the area shown in the overhead view image if the planned passage area is outside the area shown in the overhead view image. A region indicating device for a work machine according to feature 1.

3. The aforementioned operation plan includes a plan for the travel motion of the work machine, The image generation unit generates the superimposed image using a different display format when the area to be passed is an area that the work machine is scheduled to pass through with the travel operation, compared to when the area to be passed is an area that the work machine is scheduled to pass through without the travel operation. A region indicating device for a work machine according to feature 1.

Images