Work surface display system

Abstract

To make an operator understand the scope of work to be performed on a work target.SOLUTION: A target shape setting part 51 sets the target shape At of a work target A. A detected shape acquisition part 52 acquires the detected shape Ad. A target work amount setting part 54 sets a target work amount that is the work amount of the work target A. A work surface calculation part 57 calculates the work surface W1. A display processing part 58 makes a display device 41 to display the work surface W1. The work surface W1 has a detected shape Ad above the target shape At, is the scope of work target A that has a difference (Ad-At) larger than a preset difference threshold, and the scope that indicates the amount of work target A that corresponds to the target amount of work.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a work surface display system for displaying a work surface on which a work machine performs work.

Background Art

[0002] For example, Patent Document 1 describes a technique for displaying the shape of a target work object (construction design surface information in the same document) on a display device of a work machine (see

[0038] , FIG. 6, etc. of the same document).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique described in Patent Document 1, the shape of the target (final) work object is displayed. However, it is difficult for an operator to grasp which range of the work object should be worked before and during the work.

[0005] Therefore, an object of the present invention is to provide a work surface display system that can allow an operator to grasp the range in which work should be performed on a work object.

Means for Solving the Problems

[0006] The work surface display system comprises a target shape setting unit, a detected shape acquisition unit, a difference calculation unit, a target work amount setting unit, a work surface calculation unit, and a display processing unit. The target shape setting unit sets a target shape. The target shape is the surface shape of the work object that the work machine is working on, and is the target surface shape. The detected shape acquisition unit acquires the detected shape, which is the detected surface shape. The difference calculation unit calculates the height difference between the detected shape and the target shape. The target work amount setting unit sets a target work amount, which is the target amount of work on the work object. The work surface calculation unit calculates the work surface. The display processing unit causes a display device to display the work surface. The work surface is the range of the work object where the detected shape is above the target shape and the difference is greater than a preset difference threshold, and it is the range that shows an amount of the work object corresponding to the target work amount. [Effects of the Invention]

[0007] With the above configuration, the work surface display system can enable the worker to understand the area on the work object where work should be performed. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view of the work machine 10 and other components of the work surface display system 1. [Figure 2] Figure 1 is a block diagram of the work surface display system 1. [Figure 3] Figure 2 is a flowchart of the processing performed by the controller 50. [Figure 4] The image on screen 41b shown in Figure 1, or the foreground as seen from the driver's cab 11b1. [Figure 5] Figure 1 shows the display of the work surface W1 by the display device 41. [Figure 6] Figure 2 is a flowchart of the processing of the work surface calculation unit 57. [Figure 7] Figure 6 shows the mesh M and other parameters set in step S21. [Figure 8] It is an enlarged view of a working position W1a shown in FIG. 9 and the like. [Figure 9] It is a view corresponding to FIG. 5 showing a working surface W1 narrower than the example shown in FIG. 5. [Figure 10] It is a view corresponding to FIG. 5 after a part of the working surface W1 shown in FIG. 5 has been worked on. [Figure 11] It is a view showing a container C and the like detected by the container sensor 35 shown in FIG. 2. [Figure 12] It is a view corresponding to FIG. 5 of the second embodiment and shows a negative difference surface W2. [Figure 13] It is a flowchart of the processing of the working surface calculation unit 57 shown in FIG. 2 in the second embodiment. [Figure 14] It is a view corresponding to FIG. 4 showing a work object A having a shape different from the example shown in FIG. 4. [Figure 15] It is a view showing the display of the working surface W1 in the third embodiment. [Figure 16] It is a flowchart of the processing of the working surface calculation unit 57 shown in FIG. 2 in the third embodiment. [Figure 17] It is a view of the mesh M and the like set in step S32 in FIG. 16 as seen from the side. [Figure 18] It is a view of the mesh M and the like shown in FIG. 17 as seen from above. [Figure 19] It is a view showing the working surface W1 in each stage of the mesh M shown in FIG. 16.

Mode for Carrying Out the Invention

[0009] (First Embodiment) Referring to FIGS. 1 to 11, the working surface display system 1 of the first embodiment will be described.

[0010] As shown in FIG. 1, the work surface display system 1 is a system that shows (enables the operator, such as the operator of the work machine 10, to grasp and recognize) the range (position, quantity) where work should be performed. The work surface display system 1 includes a work machine 10, a remote control device 21, a surface shape sensor 32 shown in FIG. 2, a container sensor 35, an attitude sensor 36, an input device 39, a display device 41, and a controller 50.

[0011] As shown in FIG. 1, the work machine 10 is a machine that performs work. For example, it is a construction machine that performs construction work, such as an excavator. The work machine 10 may be operated by an operator (operator) inside the cab 11b1 (described later), or may be remotely operated (remotely controlled) by an operator (operator) who operates the remote control device 21. The work machine 10 includes a machine body 11 and an attachment 13.

[0012] The machine body 11 is the main body part of the work machine 10. The machine body 11 includes a lower traveling body 11a and an upper revolving body 11b. The lower traveling body 11a can travel on a traveling surface (such as the ground). The lower traveling body 11a may include crawlers or may include wheels. The upper revolving body 11b is mounted on the lower traveling body 11a so as to be able to revolve. The upper revolving body 11b includes a cab 11b1. The cab 11b1 is a part where an operator can operate the work machine 10 and is a part having a driver's seat for operating the work machine 10.

[0013] Attachment 13 is the part (working device) that performs the work. Attachment 13 comprises, for example, a boom 13a, an arm 13b, and a tip attachment 13c. The boom 13a is rotatably (up and down) attached to the upper slewing body 11b. The arm 13b is rotatably attached to the boom 13a. The tip attachment 13c is provided at the tip of attachment 13 and is rotatably attached to the arm 13b. For example, the tip attachment 13c is a bucket that performs the work of capturing the work object A (specifically, excavating work, scooping work). Work object A is the object that is the target of the work of the working machine 10 (attachment 13). For example, work object A may be soil, granular, chipped, powdered, etc. Work object A may be soil and sand, stones, wood, metal, resin, or waste. Let the upper surface of object A be defined as surface As. If object A is soil, then surface As is the soil surface.

[0014] The remote control device 21 is a device that allows an operator to remotely control the work machine 10. The remote control device 21 is located outside the work machine 10.

[0015] The surface shape sensor 32 detects the shape (surface shape) of the surface As of the work object A. The surface shape sensor 32 detects the three-dimensional shape (detected shape Ad, described later) of the surface As of the work object A. For example, the surface shape sensor 32 includes an imaging device. The imaging device acquires an image (distance image) that has distance information (depth information). The imaging device may include a stereo camera. The imaging device may detect the distance to the object to be imaged (in this case, surface As) by irradiating it with waves such as electromagnetic waves and detecting the reflected waves. The imaging device may include a TOF (Time Of Flight) sensor that detects distance based on the time from wave irradiation to the return of the reflected wave, or a sensor that detects distance based on the frequency of the reflected wave. The imaging device may include a device that detects three-dimensional information using light (e.g., laser light), for example, a LIDAR (Light Detection and Ranging). The imaging device may include a device that detects three-dimensional information using radio waves (e.g., millimeter-wave radar). The imaging device may detect three-dimensional information of the object to be imaged based on the distance image and the two-dimensional image. The imaging device may detect two-dimensional information of the object being imaged (e.g., position and shape in the image). The imaging device may be equipped with a camera (monocular camera) that detects two-dimensional information. There may be only one imaging device or there may be multiple imaging devices. The surface shape sensor 32 may be mounted on the work machine 10 or placed outside the work machine 10 (e.g., at the work site). The same applies to the container sensor 35, attitude sensor 36, input device 39, display device 41, and controller 50 shown in Figure 2, which may be mounted on the work machine 10 or placed outside the work machine 10.

[0016] The container sensor 35 detects information about container C (see Figure 11) (described later). For example, the container sensor 35 detects the shape of container C. The container sensor 35 also detects container size information, which will be described later. For example, the container sensor 35 includes an imaging device. This imaging device may detect the three-dimensional shape of the object being imaged (in this case, container C), or it may detect two-dimensional information of the object being imaged, or it may detect both the three-dimensional shape and two-dimensional information. The imaging device of the container sensor 35 and the imaging device of the surface shape sensor 32 may be used interchangeably (the same applies when the attitude sensor 36 includes an imaging device).

[0017] The attitude sensor 36 detects the attitude of the work machine 10 shown in Figure 1. For example, the attitude sensor 36 (see Figure 2) may detect the position and orientation of the work machine 10 with respect to the work site where it is performing its work. The attitude sensor 36 may detect the slewing angle of the upper slewing body 11b relative to the lower traveling body 11a. The attitude sensor 36 may detect the rotation angle (elevation angle) of the boom 13a relative to the upper slewing body 11b. The attitude sensor 36 may detect the rotation angle of the arm 13b relative to the boom 13a. The attitude sensor 36 may detect the rotation angle of the tip attachment 13c relative to the arm 13b. The attitude sensor 36 may include an angle detection sensor (e.g., a rotary encoder), a sensor for detecting tilt relative to the horizontal, and a sensor for detecting the stroke of a hydraulic cylinder that drives the attachment 13. The attitude sensor 36 may detect the attitude of the work machine 10 based on at least one of a two-dimensional image and a distance image. In this case, at least one of the two-dimensional image and the depth image may be captured by an imaging device.

[0018] The input device 39 (see Figure 2) is a device for the operator to input information. Based on the operator's operation, the input device 39 gives instructions (outputs signals) to the controller 50 (see Figure 2). The input device 39 may be used to specify the work position W1a (described later), or to specify the target work amount (described later). The input device 39 may be used to specify the target shape At (described later), or to specify the target height position Ath (see Figure 17) (described later). The input device 39 may be installed in the operator's cab 11b1 or in the remote control device 21. In this case, the input device 39 may be an operating lever for operating the work machine 10, or other input devices (buttons, switches, touch panels, etc.). The input device 39 may be a tablet, a smartphone, or a personal computer. The input device 39 may be installed outside the work machine 10, in a management device for managing the work machine 10, etc.

[0019] The display device 41 is a device that displays an image to the worker. The display device 41 displays an image of the work surface W1 (see Figure 5) (described later). The display device 41 may also display an image of the negative difference surface W2 (see Figure 12, second embodiment). For example, the display device 41 may be equipped with a projection device 41a or a screen 41b.

[0020] The projection device 41a projects onto the work object A. More specifically, the projection device 41a displays an image on the surface As of the work object A by irradiating it with light. Specifically, for example, the projection device 41a uses projection mapping technology. The projection device 41a may be mounted on the work machine 10, or it may be placed outside the work machine 10 (at the work site).

[0021] Screen 41b allows the operator (e.g., the operator) to view an image. For example, screen 41b may be a device using AR (Augmented Reality) technology. [Example A1] Screen 41b may allow the operator inside the cab 11b1 (the operator actually riding in the work machine 10) to view an image. [Example A1a] Screen 41b may be a light-transmitting type. For example, screen 41b may be a combiner (head-up display) installed on the front (glass, etc.) of the cab 11b1. In this case, screen 41b displays an image so that the image is superimposed (superimposed display) on the actual work object A that the operator sees through the combiner. Alternatively, screen 41b may be a light-transmitting AR goggle worn by the operator. [Example A1b] For example, screen 41b may be a non-light-transmitting display installed inside the cab 11b1. In this case, screen 41b displays an image superimposed on the image of the work object A captured by the imaging device (for example, the image in front of the driver's cab 11b1). [Example A2] Screen 41b may also be used to allow the operator performing remote control with the remote control device 21 to recognize the image. For example, screen 41b displays an image superimposed on the image of the work object A captured by the imaging device (for example, the image in front of the driver's cab 11b1).

[0022] The controller 50 (see Figure 2) is a computer that performs signal input / output, calculations (processing), and information storage. For example, the functions of the controller 50 shown in Figure 2 are realized by the execution of a program stored in the controller 50's memory unit by the calculation unit. For example, signals (such as detection results) are input to the controller 50 from the surface shape sensor 32, the container sensor 35, the posture sensor 36, and the input device 39. The controller 50 controls the display on the display device 41 (see the description of the display processing unit 58) and outputs signals to the display device 41. The controller 50 may also control the operation of the work machine 10 (see Figure 1), or it may be provided separately from the unit that controls the operation of the work machine 10. When the work machine 10 is remotely operated, the controller 50 receives signals from the remote control device 21 (see Figure 1) for remotely operating the work machine 10. The controller 50 includes a target shape setting unit 51, a detected shape acquisition unit 52, a difference calculation unit 53, a target work amount setting unit 54, a container size acquisition unit 55, a work position setting unit 56, a work surface calculation unit 57, and a display processing unit 58.

[0023] The operation of this controller 50 will be explained with reference to the flowchart shown in Figure 3. In this explanation, each step (S11 to S90) of the flowchart will be explained with reference to Figure 3. The target shape setting unit 51 (see Figure 2) sets the target shape At of the work object A shown in Figure 1 (step S11). The detected shape acquisition unit 52 (see Figure 2) acquires the detected shape Ad of the work object A (step S12). The difference calculation unit 53 (see Figure 2) calculates the difference (Ad-At) between the target shape At and the detected shape Ad (step S13). The target work amount setting unit 54 (see Figure 2) sets the target work amount (step S14). The work position setting unit 56 (see Figure 2) sets the work position W1a (step S15). The work surface calculation unit 57 (see Figure 2) calculates the work surface W1 (see Figure 5) based on the difference (Ad-At) (step S13), the target work amount (step S14), and the work position W1a (step S15) (step S20). The display processing unit 58 (see Figure 2) displays the work surface W1 (see Figure 5) on the display device 41 (step S90).

[0024] The target shape setting unit 51 (see Figure 2) sets the target shape At. The target shape At is the target shape (surface shape) of the surface As of the work object A. The target shape At includes information on the target height of the surface As. "Height" is the position in the vertical direction. For example, the target shape At may include information on the target three-dimensional shape of the surface As. For example, the target shape At may include information on the shape of the surface (target construction surface, final construction surface). The target shape At may include information on the shape including a plane, or it may include information on the shape including a curved surface. Specifically, for example, the target shape At may be a planar shape that allows a vehicle to travel on it.

[0025] The target shape At is set by the target shape setting unit 51 (see Figure 2) as follows: [Setting Example B1] The target shape At may be information pre-set in the target shape setting unit 51. For example, the "pre-set information" may be three-dimensional shape information for guiding the operator (operator) in the operation of the work machine 10 (or a machine other than the work machine 10) (machine guidance). Alternatively, for example, the "pre-set information" may be three-dimensional shape information for automatically controlling the work machine 10 (or a machine other than the work machine 10) (machine control). [Setting Example B2] The target shape At may be automatically set in the controller 50 (see Figure 2) based on some conditions. For example, the target shape At may be automatically set (calculated, determined) in the controller 50 based on the surrounding conditions of the work machine 10 (e.g., detected shape Ad). [Setting Example B3] The target shape At may be set (manually) based on the operation of the input device 39 (see Figure 2) by the operator. For example, information regarding the setting height for setting a target height position Ath (see Figure 17), which is an example of a target shape At, may be set (manually) based on the operation of the input device 39 by the operator. As a result, the target shape At may be set (manually) based on the operation of the input device 39 by the operator.

[0026] The detected shape acquisition unit 52 (see Figure 2) acquires the detected shape Ad. The detected shape Ad is the shape of the surface As detected by the surface shape sensor 32. The detected shape Ad is the current shape of the surface As (at the time of detection). The detected shape Ad includes information about the three-dimensional shape and information about the height of the surface As. For example, the detected shape Ad is a distance image. When work is performed on the work object A, the detected shape Ad changes.

[0027] The difference calculation unit 53 (see Figure 2) calculates the difference in height (Ad-At) between the detected shape Ad and the target shape At. Specifically, for example, the difference calculation unit 53 calculates the difference (Ad-At) by subtracting the height of the target shape At from the height (vertical position) of the detected shape Ad. For example, the difference calculation unit 53 calculates the difference (Ad-At) for each unit calculation range (e.g., grid) of the mesh M (see Figure 7) (described later).

[0028] The target work volume setting unit 54 (see Figure 2) sets the target work volume. The target work volume is the amount of work done on the target work object A. The target work volume is the target amount of work object A captured by the work machine 10 (by the tip attachment 13c). The target work volume is the target amount of work object A that the work machine 10 excavates and scoops up.

[0029] The target workload is set by the target workload setting unit 54 (see Figure 2) in the following ways, for example: The target workload may be a value pre-set in the target workload setting unit 54 (for example, an initial value, a fixed value, etc.). The target workload may be set (manually) based on the operation of the input device 39 (see Figure 2) by the operator. The target workload may also be automatically set by the controller 50 (see Figure 2) based on some condition.

[0030] The target workload set in this target workload setting unit 54 (see Figure 2) may be set based on information about the size of the container C (see Figure 11) (container size information described later). When the work machine 10 performs the operation of placing the captured work object A into the container C (releasing it, for example, removing soil), it is preferable that the target workload be set based on the container size information. In this case, the target workload setting unit 54 (see Figure 2) can appropriately (accurately and clearly) calculate the amount of work object A that needs to be captured and released (required workload) in a series of operations in which the work machine 10 repeatedly captures and releases work object A.

[0031] The container size acquisition unit 55 (see Figure 2) acquires container size information for container C (see Figure 11). Container C is into which the work object A captured by the work machine 10 is placed. Container C may be the cargo bed of a vehicle (such as a dump truck). Container C does not have to be a cargo bed; it may be buried in the ground (such as a soil pit), or placed on the ground other than a cargo bed. The container size information may be a numerical value of the capacity of container C (the internal volume of container C). The container size information may also be a limit value (e.g., allowable value) of the amount of work object A that can be placed in container C (e.g., load capacity). The container size information may include information for calculating the size of container C. For example, the container size information may include information on the dimensions and shape of container C, or it may include information on the three-dimensional shape of container C as captured by the container sensor 35 (e.g., imaging device). The container size information may also be information related to the size of container C. For example, if container C is the cargo bed of a vehicle, the "size of container C and related information" above may be information representing the vehicle's size class (e.g., 4-ton class, 10-ton class, etc.).

[0032] The container size acquisition unit 55 (see Figure 2) acquires container size information as follows. The container size acquisition unit 55 may acquire container size information detected by the container sensor 35. The container size acquisition unit 55 may be set (manually) based on the operation of the input device 39 (see Figure 2) by the operator (for example, inputting the vehicle size class).

[0033] The work position setting unit 56 (see Figure 2) sets the work position W1a. As shown in Figure 5, the work position W1a is a position included in the work surface W1 (described later). The work position W1a is the position where the calculation of the work surface W1 (determination of which position will be the work surface W1) begins. The work position W1a is information indicating a position, such as three-dimensional coordinates. Note that the outer frame of the screen 41b shown in Figure 5 may be a frame indicating the field of view of the worker (operator) in the driver's cab 11b1 (see Figure 1), or a frame indicating the detection range of the surface shape sensor 32 (see Figure 2).

[0034] The setting of the work position W1a by the work position setting unit 56 (see Figure 2) is performed, for example, as follows: [Setting Example C1] The work position W1a shown in Figure 4 may be set (manually specified) based on the operation of the operator's input device 39 (see Figure 2). In this case, the operator can set the work position W1a to any position. [Setting Example C1a] The work position W1a may be specified based on the position of a specific part of the attachment 13. For example, the work position W1a may be specified based on the position of a specific part of the tip attachment 13c (e.g., the tip, e.g., the bucket claw). In this case, the position directly below the specific part of the attachment 13 may be set as the work position W1a. The position of the specific part of the attachment 13 is calculated based on the posture of the attachment 13 (see Figure 1) detected by the posture sensor 36 (see Figure 2).

[0035] A specific example of setting the work position W1a in this [Setting Example C1a] is as follows: The operator operates the attachment 13 while actually riding the work machine 10 shown in Figure 1, or operates the attachment 13 remotely using the remote control device 21. Through this operation, the operator positions a specific part of the attachment 13 (e.g., the bucket claw) directly above the position to be set as the work position W1a. The operator then gives instructions to determine the work position W1a (e.g., operations on the input device 39 (see Figure 2)). The work position setting unit 56 (see Figure 2) then sets the position of the surface As of the work object A, directly below the specific part of the attachment 13, as the work position W1a.

[0036] [Setting Example C1b] The work position W1a may be set by an operation different from that of the operator operating the attachment 13. For example, the operator may specify the position of the surface As of the work object A displayed on the screen 41b using a cursor operation (e.g., directional key operation) or a manual operation such as touch operation. Alternatively, for example, the operator may specify the actual position of the surface As, or the position of the surface As displayed on the screen 41b, using their finger or line of sight. The work position setting unit 56 may then set the specified position as the work position W1a.

[0037] [Setting Example C2] The work position W1a may be automatically set by the work position setting unit 56 (see Figure 2). For example, the work position setting unit 56 may set the work position W1a based on the detected shape Ad. For example, the work position setting unit 56 may set the work position W1a at a predetermined position within the range of the work object A that can be detected by the surface shape sensor 32. For example, the work position setting unit 56 may set the work position W1a at the highest point (highest point Atop) of the detected shape Ad.

[0038] The work surface calculation unit 57 (see Figure 2) calculates the work surface W1 shown in Figure 5. The work surface W1 is the range (location range) of the object A to be worked on, and the range of surface As. The work surface W1 is the range of surface As to be worked on by the work machine 10. The work surface W1 includes information on the three-dimensional position of surface As. The work surface calculation unit 57 (see Figure 2) sets the range that satisfies predetermined conditions (referred to as "conditions for work surface W1") as the work surface W1. The conditions for work surface W1 are set, for example, as follows.

[0039] [Condition α1] The conditions for the work surface W1 include that the detected shape Ad is above the target shape At (see Figure 1), and that the difference (Ad-At) is greater than a preset difference threshold. The difference threshold is a threshold related to the difference (Ad-At), and is set in advance (before calculating the work surface W1) in the work surface calculation unit 57 (see Figure 2). The difference threshold may be a value greater than 0. The difference threshold may also be 0. In other words, the condition for the work surface W1 may include that the height of the detected shape Ad is greater than or equal to the height of the target shape At.

[0040] [Condition α2] The condition of the work surface W1 includes that it is within a range that shows an amount of work object A corresponding to the target amount of work. More specifically, the condition of the work surface W1 includes that the amount (specifically, volume) of work object A between the detected shape Ad and the target shape At (see Figure 1) in the height direction within the range of the work surface W1 is the "amount corresponding to the target amount of work". The "amount corresponding to the target amount of work" is, for example, an amount that matches or approximately matches the target amount of work. In this [Condition α2], when the target shape At is a certain shape, the larger the target amount of work, the wider the work surface W1 becomes, and the smaller the target amount of work, the narrower the work surface W1 becomes (see Figure 9).

[0041] If the amount of work object A satisfying the above [condition α1] does not reach the target amount of work, the entire area of ​​work object A satisfying the above [condition α1] may be set as the work surface W1. In this case, the "amount corresponding to the target amount of work" in the above [condition α2] may be the amount of work object A in the entire area of ​​work object A satisfying the above [condition α1].

[0042] [Condition α3] Other conditions for the work surface W1 may be set, in addition to the above conditions [Condition α1] and [Condition α2]. For example, the conditions for the work surface W1 may include being within the range detectable by the surface shape sensor 32 (see Figure 1) (i.e., within the range that the imaging device can capture). The conditions for the work surface W1 may also include being within the range that the display device 41 (see Figure 1) can display. Specifically, for example, the range that the projection device 41a (see Figure 1) can project is limited by the shape of the work object A and the intensity of the light emitted by the projection device 41a. Therefore, the conditions for the work surface W1 may include being within the range that the projection device 41a can project.

[0043] The work surface calculation unit 57 sets the work surface W1 so that it includes the work position W1a. It is preferable that the work surface calculation unit 57 (see Figure 2) sets the work surface W1 so that it forms a continuous area (and not a scattered area). For example, the work surface calculation unit 57 sets the work surface W1 in order from the position closest to the work position W1a (details will be described later).

[0044] (Specific example of calculating the working surface W1) A specific example of how the work surface calculation unit 57 calculates the work surface W1 will be explained with reference to the flowchart shown in Figure 6. In the following, the work surface calculation unit 57 will be explained with reference to Figure 2, and each step of the flowchart will be explained with reference to Figure 6. The outline of this specific example is as follows: The work surface calculation unit 57 specifies the work position W1a shown in Figure 7 as the initial mesh Ms (steps S21, S22). The work surface calculation unit 57 determines whether or not there is a detected shape Ad above the target shape At (see Figure 1) in the specified unit mesh (specified mesh) (step S31). If the answer in step S31 is YES, the work surface calculation unit 57 adds the amount of work object within the specified mesh (amount of soil within the specified mesh in Figure 6) to the total amount of work object (total amount of soil in Figure 6) (step S32). The work surface calculation unit 57 performs the processing (calculations) in steps S31, S32, and S33 sequentially for adjacent meshes as well (see step S61), and repeats this until the total amount of work objects reaches the target amount of work (until YES is reached in step S41). Details of this specific example are as follows.

[0045] In step S21, the work surface calculation unit 57 cuts (sets) a mesh M on the detected shape Ad (ground surface) of the surface As of the work object A. The work surface calculation unit 57 divides the detected shape Ad into a large number of unit meshes (unit calculation ranges). The shape and size of the unit mesh can be set in various ways. In the example shown in Figure 7, the unit mesh is a square, but it does not have to be a square; it may be a trapezoid, or a shape that includes curves (e.g., arcs). For example, the size of the unit mesh (fineness or coarseness of the mesh M) may be smaller or larger than in the example shown in Figure 7 (the same applies to the mesh M shown in Figures 17 to 19).

[0046] In step S22, the work surface calculation unit 57 specifies (selects) an initial mesh Ms from the mesh M shown in Figure 7. The initial mesh Ms is the unit mesh from which the determination (calculation) of whether or not to set it as the work surface W1 (see Figure 5) is performed first among the mesh M (a number of unit meshes). The work surface calculation unit 57 specifies the work position W1a set in the work position setting unit 56 (see Figure 2) as the initial mesh Ms. The unit mesh specified in the work surface calculation unit 57 is also called the "specified mesh".

[0047] In step S31, the work surface calculation unit 57 determines the difference (Ad-At) (see Figure 1) calculated by the difference calculation unit 53 (see Figure 2). Specifically, the work surface calculation unit 57 determines whether the above condition α1 is met in the specified mesh. That is, the work surface calculation unit 57 determines whether the detected shape Ad is above the target shape At (see Figure 1) in the specified mesh, and whether the difference (Ad-At) is greater than the difference threshold. Note that in step S31 of Figure 6, the meeting of the above condition α1 is simply described as "the detected shape is above the target shape". If the above condition α1 is met (YES in step S31), the work surface calculation unit 57 sets the specified mesh as the work surface W1 (see Figure 5). In this case, the work surface calculation unit 57 proceeds to step S32. If the above [condition α1] is not met (the answer is NO in step S31), the work surface calculation unit 57 does not set the specified mesh as the work surface W1 (see Figure 5). In this case, the flow proceeds to step S51.

[0048] If the above [condition α1] is not met in the initial mesh Ms, the work position W1a may be reset. For example, the controller 50 (see Figure 2) may have a notification device (e.g., display device 41) notify the worker to reset the work position W1a. For example, the controller 50 may set the position where the above [condition α1] is met as the initial mesh Ms.

[0049] In step S32, the work surface calculation unit 57 adds (cumulatively calculates) the amount of work object within the specified mesh (amount of soil within the specified mesh in Figure 6) to the total amount of work object (total amount of soil in Figure 6). The "amount of work object within the specified mesh" is the amount (specifically, volume) of work object A in the specified mesh between the detected shape Ad and the target shape At (see Figure 1) (in the height direction). The "total amount of work object" is the amount (specifically, volume) of work object A in the unit mesh set as the work surface W1 (see Figure 5) between the detected shape Ad and the target shape At (see Figure 1).

[0050] In step S33, the work surface calculation unit 57 decides to display a predetermined color, pattern, etc., at the location of the surface As corresponding to the specified mesh (the location set as the work surface W1 (see Figure 5)) (details will be described later).

[0051] In step S41, the work surface calculation unit 57 determines whether the total amount of work objects (see step S32) is equal to or greater than the target amount of work. If the total amount of work objects is equal to or greater than the target amount of work (if YES in step S41), the work surface calculation unit 57 terminates the calculation of the current work surface W1 (see Figure 5). If the total amount of work objects is not equal to or greater than the target amount of work (if NO in step S41), the process proceeds to step S51.

[0052] In step S51, the work surface calculation unit 57 determines whether the search (determination of whether or not to set a unit as work surface W1 (see Figure 5)) is complete. For example, the work surface calculation unit 57 may determine that the search is complete when it has determined whether or not to set a unit as work surface W1 for the entire mesh M (all unit meshes). Alternatively, for example, the work surface calculation unit 57 may determine that the search is complete when all unit meshes adjacent to a unit mesh set as work surface W1 do not correspond to work surface W1. For example, the work surface calculation unit 57 may specify unit meshes sequentially in a spiral pattern, as will be described later (see Figure 8). In this case, the work surface calculation unit 57 may determine that the search is complete when all unit meshes for one (or more) rotations of the spiral do not correspond to work surface W1. If the search is complete (if YES in step S51), the work surface calculation unit 57 terminates the process of calculating the current work surface W1 (see Figure 5). If the search is not complete (if the answer is NO in step S51), the flow proceeds to step S61.

[0053] In step S61, the work surface calculation unit 57 specifies (selects) the next unit mesh (next designated mesh) for which it will make a determination (step S31) as to whether or not to set it as the work surface W1 (see Figure 5). For example, the work surface calculation unit 57 specifies a unit mesh (adjacent mesh) adjacent to the designated mesh that was specified up to that point (up to the determination in step S51) as the next designated mesh. It is preferable for the work surface calculation unit 57 to specify a unit mesh as close as possible to the work position W1a as the next designated mesh. In this case, the work surface calculation unit 57 will set the work surface W1 in order from the position closest to the work position W1a. Then, the work surface calculation unit 57 makes a determination as to whether or not to set the next designated mesh as the work surface W1 (see Figure 5). Specifically, the flow returns to step S31.

[0054] Figure 8 shows an example of the order in which specified meshes are designated. In the example shown in the figure, the initial mesh Ms is designated as "1", the unit mesh to the right of the initial mesh Ms is designated as "2", and the unit mesh above this unit mesh is designated as "3". Similarly, the order in which unit meshes are designated from the fourth onwards is shown as "4", "5", "6", ...

[0055] Specifically, for example, the work surface calculation unit 57 selects the specified mesh sequentially in a spiral pattern starting from the work position W1a. This "spiral pattern" may be a square spiral, a rectangular spiral, a square spiral, a rhombus spiral, or a spiral pattern similar to these shapes (such as a roughly square), as shown in the example in Figure 8. Furthermore, this "spiral pattern" may be a circular spiral, an elliptical spiral, or a spiral pattern similar to these shapes (such as a roughly circular spiral).

[0056] (Update of work surface W1) The work surface calculation unit 57 calculates the work surface W1 for the detected shape Ad before work is performed on the work object A shown in Figure 5. Then, the work machine 10 performs work on the work surface W1 of the work object A (more specifically, at the actual location of the work object A corresponding to the work surface W1 as information). As a result, the detected shape Ad of the work object A changes. The work surface calculation unit 57 calculates the work surface W1 for the detected shape Ad after work (after the change), similar to how it calculates the work surface W1 for the detected shape Ad before work. This updates the work surface W1 (see Figure 6). Specifically, for example, the work surface calculation unit 57 performs the processing in steps S21 to S61 (see Figure 6) for the detected shape Ad after work.

[0057] The difference between the calculation of the work surface W1 before work and the calculation of the work surface W1 after work by the work surface calculation unit 57 is as follows. The work surface calculation unit 57 may subtract the target work amount (see step S41) based on the amount of work object A captured by the work. Specifically, for example, the work surface calculation unit 57 calculates the amount of work object A captured by the work (completed work amount) based on the difference between the detected shape Ad before work and the detected shape Ad after work. Then, the work surface calculation unit 57 may subtract the completed work amount from the target work amount.

[0058] The display processing unit 58 (see Figure 2) causes the display device 41 to display the work surface W1 (work surface W1 display). The display processing unit 58 may also cause the display device 41 to display the negative difference surface W2 (see Figure 12) (see Second Embodiment). In the following, the display processing unit 58 will be described with reference to Figure 2. The work surface W1 display shown in Figure 5 is a display that shows which range (range of position) of the work object A is the work surface W1. By displaying the position of the work surface W1 display, the worker can grasp the position to be worked on. The size of the range of the work surface W1 display allows the worker to grasp the amount of work to be done. Specifically, for example, the work surface W1 display may be a display by projection device 41a (see Figure 1), and more specifically, it may be a display by projection of the work surface W1 onto the actual work object A. Furthermore, for example, the work surface W1 display may be displayed on screen 41b, or more specifically, the work surface W1 may be superimposed on the surface As of the work object A displayed on screen 41b. The work surface W1 display may be displayed in a specific color, in a specific pattern, or in a combination of these.

[0059] (Area of ​​the work surface W1 according to the target workload) The display processing unit 58 changes the width of the work surface W1 display based on the target workload (see Figures 5 and 9). More specifically, as described above, the work surface calculation unit 57 calculates the work surface W1 based on the target workload (see step S41). When the target shape At (see Figure 1) is a certain shape, the display processing unit 58 widens the work surface W1 display as the target workload increases, and narrows the work surface W1 display as the target workload decreases (see Figure 9). Specifically, for example, if the target workload is set based on the container size information of container C (see Figure 11), the display processing unit 58 widens the work surface W1 display as the container C is larger, and narrows the work surface W1 display as the container C is smaller (see Figure 9). Specifically, for example, let's consider the case where container C is the bed of a dump truck. If the dump truck is a 10-ton class, the display processing unit 58 sets the work surface W1 display to an area equivalent to 10 tons (more specifically, an amount corresponding to the capacity of a 10-ton class truck bed). If the dump truck is in the 4-ton class, the display processing unit 58 sets the work surface W1 display to an area equivalent to 4 tons (more specifically, an amount corresponding to the capacity of the 4-ton class cargo bed).

[0060] (Display based on the difference (Ad-At)) The display processing unit 58 changes the display on the display device 41 based on the difference (Ad-At) between the detected shape Ad and the target shape At (see Figure 1). For example, the area of ​​surface As of the work object A where the difference (Ad-At) is less than or equal to the difference threshold (see [Condition α1] above) is defined as the "unworkable surface". The unworkable surface includes the area where the difference (Ad-At) is less than or equal to the difference threshold even before work is performed on the work object A. In addition, as shown in Figure 10, the unworkable surface also includes the area Ast which becomes an unworkable surface from the work surface W1 as a result of work being performed on the work surface W1.

[0061] The display processing unit 58 displays the non-working surface differently from the display of the work surface W1. It is preferable that the display processing unit 58 hides the display of the work surface W1 on the non-working surface. If the display device 41 is a projection device 41a (see Figure 1), it is preferable that the display processing unit 58 does not project onto the area of ​​the actual work object A corresponding to the non-working surface. If the display device 41 is a screen 41b, it is preferable that the display processing unit 58 displays the work object A within the range of the non-working surface of the work object A displayed on the screen 41b, and does not perform superimposed display of colors, patterns, etc. It is preferable that the display processing unit 58 turns off the display of the work surface W1 in the range Ast where the work surface W1 has changed to a non-working surface as a result of work performed on the work surface W1.

[0062] By hiding the display of the work surface W1 on surfaces that do not require work, accidental work on these surfaces is prevented. In this case, the operator of the work machine 10 performs the task of capturing the work object A by gradually removing the display of the work surface W1 on the display device 41. When all displays of the work surface W1 are hidden, the work object A becomes the target shape At (see Figure 1).

[0063] The display processing unit 58 may also display a different color or pattern on the non-working surface than the display on the work surface W1. Furthermore, the display processing unit 58 may change the display on the work surface W1 (e.g., color, pattern, transparency, etc.) based on the magnitude of the difference (Ad-At) (see Figure 1).

[0064] (Effects of the first invention) The effects of the work surface display system 1 shown in Figure 1 are as follows. As shown in Figure 2, the work surface display system 1 includes a target shape setting unit 51, a detected shape acquisition unit 52, a difference calculation unit 53, a target work amount setting unit 54, a work surface calculation unit 57, and a display processing unit 58. The target shape setting unit 51 sets the target shape At shown in Figure 1. The target shape At is the surface shape (shape of surface As) of the work object A that the work machine 10 will work on, and is the target surface shape. The detected shape acquisition unit 52 (see Figure 2) acquires the detected surface shape Ad. The difference calculation unit 53 (see Figure 2) calculates the height difference (Ad-At) between the detected shape Ad and the target shape At. The target work amount setting unit 54 (see Figure 2) sets the target work amount, which is the amount of work on the target work object A. The work surface calculation unit 57 (see Figure 2) calculates the work surface W1 shown in Figure 5.

[0065] [Configuration 1] The display processing unit 58 (see Figure 2) causes the display device 41 to display the work surface W1. The work surface W1 is the range of the work object A where the detected shape Ad is above the target shape At (see Figure 1) and the difference (Ad-At) (see Figure 1) is greater than a preset difference threshold, and it is the range that shows an amount of work object A corresponding to the target work amount.

[0066] With the above configuration [Configuration 1], the work surface display system 1 (see Figure 1) can enable the worker to understand the range (location and amount) of work to be performed on the work object A by looking at the display on the display device 41.

[0067] (Effects of the second invention) [Configuration 2] The display processing unit 58 (see Figure 2) changes the display indicating the work surface W1 based on the difference (Ad-At) (see Figure 1).

[0068] With the above configuration [Configuration 2], the work surface display system 1 (see Figure 1) can enable the worker to understand information regarding the difference (Ad-At) (see Figure 1) by looking at the display on the display device 41.

[0069] (Effects of the third invention) [Configuration 3] The display processing unit 58 (see Figure 2) hides the display indicating the work surface W1 in the area of ​​the work object A (surface where work is not required) where the difference (Ad-At) (see Figure 1) is less than or equal to the difference threshold.

[0070] As described in [Configuration 3] above, the work surface display system 1 (see Figure 1) allows the worker to understand the area of ​​work object A (surface that does not require work) where the difference (Ad-At) (see Figure 1) is below the difference threshold, by looking at the display on the display device 41.

[0071] As a result, the following effects may be obtained: Work on object A is suppressed on surfaces where work is not needed. Also, since work is suppressed on surfaces where work is not needed, damage to the target shape At (see Figure 1) can be suppressed. Also, since work is suppressed on surfaces where work is not needed, unnecessary work by the work machine 10 (see Figure 1) can be suppressed.

[0072] (Effects of the sixth invention) [Configuration 6] The work surface display system 1 (see Figure 1) includes a work position setting unit 56 (see Figure 2). The work position setting unit 56 sets a work position W1a, which is a position included in the work surface W1. The work position setting unit 56 sets the work position W1a based on the operator's operation.

[0073] As described in [Configuration 6] above, the worker can set the work position W1a at any position. Therefore, convenience can be improved compared to when the worker cannot set the work position W1a at any position.

[0074] (Effects of the seventh invention) [Configuration 7] The work surface display system 1 (see Figure 1) includes a container size acquisition unit 55 (see Figure 2). The container size acquisition unit 55 acquires container size information, which is information about the size of the container C (see Figure 11) in which the work object A captured by the work machine 10 is placed. The target work amount setting unit 54 (see Figure 2) sets the target work amount based on the container size information.

[0075] As described in [Configuration 7] above, the target workload setting unit 54 (see Figure 2) can automatically set the target workload based on the container size information. As a result, the target workload setting unit 54 can automatically set an appropriate target workload based on the container size information. Furthermore, since the target workload is set automatically, the effort required for the operator to manually input the target workload can be reduced.

[0076] (Effects of the 8th Invention) [Configuration 8] The display device 41 is at least one of a projection device 41a (see Figure 1) that projects onto the work object A, and a screen 41b that allows the worker to view the image.

[0077] With the above configuration [8], the display device 41 can reliably allow the worker to grasp the work surface W1.

[0078] (Effects of the 11th Invention) [Configuration 11] The work surface display system 1 (see Figure 1) includes a work position setting unit 56 (see Figure 2). The work position setting unit 56 sets a work position W1a, which is a position included in the work surface W1. The work surface calculation unit 57 sets the work surface W1 in order from the position closest to the work position W1a (see Figure 8).

[0079] As a result of the above [Configuration 11], the work surface W1 is more likely to be set close to the work position W1a, and less likely to be set far from the work position W1a. As a result, the work surface W1 is more likely to be set in a continuous area (not scattered area) near the work position W1a. As a result, the work efficiency of the work machine 10 is more likely to be ensured.

[0080] (Effects of the 12th Invention) [Configuration 12] As shown in Figure 1, the work surface display system 1 includes a work machine 10. The target shape setting unit 51, detected shape acquisition unit 52, difference calculation unit 53, target work amount setting unit 54, work surface calculation unit 57, and display processing unit 58 shown in Figure 2 are mounted on the work machine 10 shown in Figure 1.

[0081] The above configuration

[12] makes it possible to reduce the need to install the components of the work surface display system 1 outside the work machine 10.

[0082] (Second Embodiment) The differences between the work surface display system 201 of the second embodiment and the first embodiment will be explained, mainly with reference to Figures 1, 2, 12, and 13. The commonalities between the work surface display system 201 of the second embodiment and the first embodiment will not be explained. The same omission of commonalities will be applied to the explanation of the third embodiment, which will be described later. The main difference is the display of the negative difference surface W2 shown in Figure 12. The work surface calculation unit 57 and the display processing unit 58 will be explained with reference to Figure 2.

[0083] The work surface calculation unit 57 calculates the negative difference surface W2 shown in Figure 12. The negative difference surface W2 is the range of the work object A and the range of surface As. The negative difference surface W2 is the range of surface As that does not need to be worked on by the work machine 10. For example, the negative difference surface W2 is surface As that has been excessively excavated relative to the target shape At (see Figure 1). The negative difference surface W2 includes information on the three-dimensional position of surface As. The work surface calculation unit 57 sets the range that satisfies predetermined conditions (referred to as "conditions for negative difference surface W2") as the negative difference surface W2. The conditions for negative difference surface W2 are set, for example, as follows.

[0084] [Condition β1] The conditions for a negative difference surface W2 include the presence of a detected shape Ad below the target shape At (see Figure 1) and a difference (|Ad-At|) (see Figure 1) greater than a preset negative difference threshold. In [Condition β1], the difference (|Ad-At|) is the magnitude (absolute value) of the height difference between the detected shape Ad and the target shape At. The negative difference threshold is a threshold related to the difference (|Ad-At|) and is preset in the working surface calculation unit 57 (before calculating the negative difference surface W2). The negative difference threshold may be 0 or a value greater than 0 (same as the difference threshold above).

[0085] [Condition β2] The condition for negative difference surface W2 includes a change from the state in which the work surface calculation unit 57 had set the work surface W1 to a state that satisfies the condition of [Condition β1] above (see Figures 5 and 12). More specifically, the condition for negative difference surface W2 includes a change at a certain position in a plan view that was set as the work surface W1, from the state in which it was set as the work surface W1 to a state in which the condition of [Condition β1] above is satisfied. Specifically, for example, when work is performed to capture the work object A at a certain position on the work surface W1 shown in Figure 5, the detected shape Ad of the surface As becomes lower (the work object A is excessively excavated). Then, the detected shape Ad of the surface As (see Figure 1) becomes lower than the target shape At, and the state in which the condition of [Condition β1] above is satisfied is met.

[0086] [Condition β3] Other conditions for the negative difference surface W2 may be set in addition to [Condition β1] above (specific examples are the same as for [Condition α3] above).

[0087] (Display of negative difference W2) The display processing unit 58 (see Figure 2) displays the negative difference surface W2 differently from the display displaying the work surface W1. It is preferable that the display processing unit 58 differentiates the display for the negative difference surface W2 and the display for the work surface W1 so that an operator looking at the display device 41 can easily distinguish between the negative difference surface W2 and the work surface W1. Specifically, for example, the display processing unit 58 differentiates the color or pattern of the display for the negative difference surface W2 and the display for the work surface W1. More specifically, for example, if the work surface W1 is colored yellow, the display processing unit 58 may color the negative difference surface W2 blue or purple.

[0088] If a negative difference surface W2 exists, and the task of capturing object A continues, the amount of object A captured may exceed the target amount. Displaying the negative difference surface W2 allows the operator viewing the display on the display device 41 to understand that the amount of object A will exceed the target amount. In addition, there may be a task of placing the captured object A into container C (see Figure 11). In this case, if a negative difference surface W2 exists, and the task of placing object A into container C continues, the amount of object A placed into container C may exceed the limit value (e.g., allowable value) of the amount of object A that can be placed into container C. Displaying the negative difference surface W2 allows the operator viewing the display on the display device 41 to understand that the amount of object A placed into container C will exceed the limit value.

[0089] (Process to reduce the working surface W1 when there is a negative difference surface W2) The work surface calculation unit 57 may reduce the work surface W1 when there is a negative difference surface W2 compared to when there is no negative difference surface W2. For example, the work surface calculation unit 57 reduces the work surface W1 based on the difference (Ad-At) between the detected shape Ad and the target shape At (see Figure 1) at the negative difference surface W2. For example, the work surface calculation unit 57 reduces the work surface W1 the deeper the negative difference surface W2 is below the target shape At.

[0090] It is assumed that the work object A is replenished (e.g., excavated soil) at the location of the negative difference surface W2. In this case, the work surface calculation unit 57 may increase the work surface W1 based on the difference (Ad-At) between the detected shape Ad and the target shape At (see Figure 1) at the negative difference surface W2, which becomes smaller. In this case, the display processing unit 58 may hide the display of the negative difference surface W2 if the conditions for the negative difference surface W2 are no longer met.

[0091] (Specific example of processing for negative difference W2) A specific example of the calculation of the work surface W1 and negative difference surface W2 by the work surface calculation unit 57, etc., will be explained by referring to the flowchart shown in Figure 13, and the differences from the flowchart shown in Figure 6. In the following, each step will be explained by referring to Figure 13, and the negative difference surface W2 will be explained by referring to Figure 12.

[0092] In step S22, when the initial mesh Ms (see Figure 7) is specified, the work surface calculation unit 57 proceeds to step S231.

[0093] In step S231, the work surface calculation unit 57 determines the difference (Ad-At) (see Figure 1) calculated by the difference calculation unit 53 (see Figure 2). Specifically, the work surface calculation unit 57 determines whether the "condition for negative difference surface W2" is met in the specified mesh. Note that in step S231 of Figure 13, whether the condition for negative difference surface W2 shown in Figure 12 is met is described as "whether the detected shape is below the target shape." If the "condition for negative difference surface W2" is met (YES in step S231), the work surface calculation unit 57 sets the specified mesh as negative difference surface W2. In this case, the flow proceeds to step S233. If the "condition for negative difference surface W2" is not met (NO in step S231), the work surface calculation unit 57 does not set the specified mesh as negative difference surface W2. In this case, the flow proceeds to step S31.

[0094] In step S232, the work surface calculation unit 57 adds (accumulates) the "negative amount within the specified mesh" to the total amount of work material (total amount of soil in Figure 13). The "negative amount within the specified mesh" is the volume of the space between the detected shape Ad and the target shape At (see Figure 1) in the specified mesh (the space in the height direction). In the repetition of steps S231 to S233 and S31 to S61, the larger the negative amount within the specified mesh, the sooner the total amount of work material reaches the target work amount. Therefore, the larger the negative amount within the specified mesh, the fewer unit meshes are calculated as the work surface W1, and the narrower the range of the work surface W1 display becomes.

[0095] In step S233, the work surface calculation unit 57 decides to display a predetermined color or pattern at the location of the surface As corresponding to the specified mesh (the location set as the negative difference surface W2). The flow then proceeds to step S31.

[0096] (Effects of the fourth invention) The effects of the work surface display system 201 shown in Figure 12 are as follows:

[0097] [Configuration 4] The work surface calculation unit 57 (see Figure 2) calculates the negative difference surface W2. The negative difference surface W2 is the range of the work object A that has changed from the state set as the work surface W1 to a state that satisfies the following condition β1. The "state that satisfies condition β1" is a state in which the detected shape Ad is below the target shape At (see Figure 1), and there is a difference (|Ad-At|) (see Figure 1) that is greater than a preset negative difference threshold. The display processing unit 58 (see Figure 2) causes the display device 41 to display the negative difference surface W2 in a way that is different from the display that shows the work surface W1.

[0098] As described in [Configuration 4] above, the operator viewing the display device 41 can be made aware that there is a negative difference surface W2. Therefore, the operator viewing the display device 41 can be made aware that the work object A on the work surface W1 has been excessively captured.

[0099] (Effects of the fifth invention) [Configuration 5] The work surface calculation unit 57 (see Figure 2) reduces the work surface W1 based on the difference (Ad-At) between the negative difference surface W2 and the target shape At (see Figure 1) (see steps S232 and S41 in Figure 13).

[0100] The following effect is obtained with the above [Configuration 5]. If the workpiece A on the work surface W1 is excessively captured and a negative difference surface W2 is generated, the amount of workpiece A that needs to be captured afterward is reduced compared to when the negative difference surface W2 is not generated. Therefore, in the above [Configuration 5], the work surface W1 is reduced based on the difference (Ad-At) between the negative difference surface W2 and the target shape At (see Figure 1). Thus, the worker viewing the display device 41 can be made to understand the amount of workpiece A that results in an appropriate amount of work on workpiece A.

[0101] (Third embodiment) The differences between the work surface display system 301 of the third embodiment and the first embodiment will be explained, mainly with reference to Figures 1, 2, and 14-19. The differences include the method of setting the target shape At (see Figures 1 and 17). In the following, the target shape setting unit 51 will be explained with reference to Figure 2.

[0102] As shown in Figure 1, the target shape setting unit 51 sets the target shape At at a target height position Ath that is set to a height lower than the highest point (highest point Atop) of the work object A. The "set height" is set in the target shape setting unit 51. For example, the target height position Ath is the target height in the direction of the upper surface of the work object A after the work is completed. Specifically, for example, as shown in Figure 17, the target height position Ath may be set to a position higher than the height of the lower surface of the lower traveling body 11a. For example, as shown in Figure 1, the target height position Ath may be set to the height of the lower surface of the lower traveling body 11a. For example, the target height position Ath may be set to the height at which the vehicle is to travel. In this case, the height position of the surface As after the work is completed becomes the target height position Ath, ensuring a vehicle entry path and facilitating vehicle entry.

[0103] The target shape setting unit 51 sets, for example, the target height position Ath of a planar target shape At. For example, the target shape setting unit 51 may also set the target height position Ath of a predetermined position of a non-planar target shape At. The following description will mainly focus on the case where the target height position Ath of a planar target shape At is set. The setting of the target height position Ath by the target shape setting unit 51 is performed, for example, as follows.

[0104] [Example D1] The target height position Ath may be set (manually specified) based on the operator's operation of the input device 39 (see Figure 2). For example, the target height position Ath may be specified by a numerical value (set height) of the height from the highest point Atop of the work object A to the target height position Ath (specifically, for example, 50 cm).

[0105] In this [Example D1], the target work amount setting unit 54 (see Figure 2) may set the amount (volume) of the work object A at a height of Ath or higher within a continuous range (not scattered) including the work position W1a as the target work amount. The work surface calculation unit 57 (see Figure 2) then calculates the work surface W1 as the surface As at a height of Ath or higher within a continuous range including the work position W1a. The display processing unit 58 (see Figure 2) displays this work surface W1 on the display device 41 (see Figure 15).

[0106] [Example D2] The target height position Ath may be set based on the target workload set in the target workload setting unit 54 (see Figure 2). For example, the larger the target workload, the lower the target height position Ath will be set, and the smaller the target workload, the higher the target height position Ath will be set. As described above, the target workload may be set manually or automatically based on container size information of container C (see Figure 11). As a result, the target height position Ath, which is set based on the target workload, may be set manually or automatically based on container size information. For example, there may be cases where the worker knows the target workload but does not know the target height position Ath. Even in this case, if the worker inputs the target workload into the input device 39 (see Figure 2), the target shape setting unit 51 can automatically calculate the target height position Ath based on the target workload.

[0107] In this [Example D2], the work surface calculation unit 57 (see Figure 2) calculates the surface As at a height of Ath (see Figure 17) or higher, corresponding to the target work amount, within a continuous range including the work position W1a, as the work surface W1 (see also Figure 14). The display processing unit 58 (see Figure 2) displays this work surface W1 on the display device 41. In this example, the worker can understand, by looking at the display on the display device 41, what height the work object A needs to be worked to reach the target work amount.

[0108] (Specific example of calculating the work surface W1 based on the target height position Ath) A specific example of the calculation of the work surface W1 based on the target height position Ath shown in Figure 17 by the work surface calculation unit 57 will be explained, mainly by referring to the flowchart shown in Figure 16, and highlighting the differences from the flowchart shown in Figure 6. The work surface calculation unit 57 will be explained with reference to Figure 2.

[0109] In step S321 (corresponding to step S21 in Figure 6), the work surface calculation unit 57 divides the detected shape Ad into a number of unit meshes (see Figures 7 and 18). Furthermore, as shown in Figure 17, the work surface calculation unit 57 divides the detected shape Ad into multiple meshes M in the height direction. For example, starting from the top mesh M, the first mesh M1 is designated as the first mesh M1, the second mesh M2 as the second mesh M2, and so on. For example, the work surface calculation unit 57 may set the height of the highest point Atop closest to the work position W1a as the first mesh M1. The number of meshes M is set in various ways based on the height of the detected shape Ad, etc., and in the example shown in Figure 17, five meshes M from the first to the fifth are set.

[0110] In step S322 (corresponding to step S22 in Figure 6), the work surface calculation unit 57 specifies the initial mesh Ms (see Figure 18). The initial mesh Ms is set to the first-level mesh M1. If the work position W1a set in the work position setting unit 56 (see Figure 2) is located in the first-level mesh M1, the work surface calculation unit 57 sets this work position W1a as the initial mesh Ms (see Figure 18). For example, if the work position W1a is located in a mesh M (M2 to M5) lower than the first level, the controller 50 may have a notification device (e.g., display device 41) notify the operator to reset the work position W1a. Alternatively, for example, if the work position W1a is located in a mesh M (M2 to M5) lower than the first level, the work surface calculation unit 57 may set the unit mesh containing the highest point Atop closest to the work position W1a as the initial mesh Ms.

[0111] In step S331 (corresponding to step S31 in Figure 6), the work surface calculation unit 57 determines whether or not to set the specified mesh of the specified row as the work surface W1, as shown in Figure 19. The "specified row" is the row of mesh M specified to the work surface calculation unit 57. A specific example of determining whether or not to set it as the work surface W1 is the same as in step S31 (see Figure 6) above.

[0112] In step S332 (corresponding to step S32 in Figure 6), the work surface calculation unit 57 adds the amount of work object A within the specified mesh of the specified stage (the amount of soil within the specified mesh of the specified stage in Figure 16) to the total amount of work object (the total amount of soil in Figure 16).

[0113] In step S333 (corresponding to step S33 in Figure 6), the work surface calculation unit 57 decides to display a predetermined color or pattern on the position of the surface As corresponding to the specified mesh of the specified stage (the position set as the work surface W1 (see Figure 15)) (details will be described later). The flow then proceeds to step S41.

[0114] In step S351 (corresponding to step S51 in Figure 6), the work surface calculation unit 57 determines whether or not it has completed the determination (search) of whether or not to set each mesh M of all stages as the work surface W1 (see Figure 15). A specific example of the search is the same as in step S51 (see Figure 6) above (the search in the next step S352 is also the same).

[0115] In step S352, if the search for mesh M in all stages has not been completed (if the answer is NO in step S351), the work surface calculation unit 57 determines whether the search for the specified stage has been completed. If the search for the specified stage has not been completed (if the answer is NO in step S352), the work surface calculation unit 57 specifies the next specified mesh for the current specified stage (step S61). In this case, the work surface calculation unit 57 does not change the specified stage. The work surface calculation unit 57 selects the specified meshes sequentially, for example, in a spiral pattern (see the arrows indicated by dashed lines in Figure 19 for an example of the selection order). The flow then returns to step S331. If the search for the specified stage is completed (if the answer is YES in step S352), the flow proceeds to step S353.

[0116] In step S353, the work surface calculation unit 57 changes the specified stage to the next stage. The "next stage" is the stage immediately below the specified stage (the stage where the search was completed) immediately before the processing in step S353. The work surface calculation unit 57 also specifies the initial mesh Ms for the "next stage," as shown in Figure 19. The initial mesh Ms for the "next stage" is the unit mesh directly below the initial mesh Ms in the specified stage immediately before the processing in step S353. The flow then returns to step S331.

[0117] In the example shown in Figure 19, the target height position Ath is set between the fourth mesh M4 and the fifth mesh M5. In this example, the work surface calculation unit 57 considers the work surface W1 to be the work surface for the work objects A from the first to the fourth stages, but does not consider the work surface W1 to be the work surface for the work object A in the fifth stage (the final stage, the lowest stage). Note that in Figures 17 to 19, the size of the unit mesh (fineness or coarseness of mesh M) is described as large (coarse mesh M) relative to the size of the work machine 10 and the work object A.

[0118] (e.g., display of the work surface W1 based on the target height position Ath) The display processing unit 58 (see Figure 2) displays the work surface W1 based on the target height position Ath on the display device 41 (see Figure 15), for example, as follows: If the surface As of the work object A is calculated as the work surface W1, the display processing unit 58 displays this surface As as the work surface W1 on the display device 41 (same as in the first embodiment). In addition, the unit mesh inside the work object A (the interior that is not the surface As) is called the "internal unit mesh". When this internal unit mesh is calculated as the work surface W1, the unit mesh directly above the internal unit mesh may also be calculated as the work surface W1. In this case, displaying the surface As directly above the internal unit mesh as the work surface W1 may be considered as displaying the work surface W1 using the internal unit mesh. Furthermore, when the work object A is captured, the position of the unit mesh that was inside the work object A before this work was performed may change to the position of the surface As. In this case, the display processing unit 58 causes the display device 41 to display the work surface W1 at the position of this unit mesh (the position that was the internal unit mesh).

[0119] (Effects of the 9th Invention) The effects of the work surface display system 301 shown in Figure 17 are as follows:

[0120] [Configuration 9] The target shape setting unit 51 (see Figure 2) sets the target shape At at a target height position Ath that is lower by a set height set in the target shape setting unit 51 from the highest position (highest point Atop) of the work object A.

[0121] As described in [Configuration 9] above, as shown in Figure 15, the range (position and amount) of work to be performed in order to capture the work object A up to the target height position Ath (see Figure 17) can be understood by the operator by looking at the display on the display device 41.

[0122] (Effects of the 10th Invention) [Configuration 10] The target shape setting unit 51 (see Figure 2) sets the target height position Ath shown in Figure 17 based on the target workload.

[0123] With the above [Configuration 10], the target height position Ath can be set to an appropriate height according to the target workload.

[0124] (Other variations) Each of the above embodiments may be modified in various ways. For example, the components of each of the above embodiments (including modified versions) may be combined in various ways. For example, the number of components may be changed, or some components may not be provided. For example, the fixing or connection of components may be direct or indirect. For example, the connection (flow of information input and output) of each component shown in Figure 2 may be changed. The arrangement of components may be changed. For example, the inclusion relationships of components may be changed in various ways. For example, a component described as a subordinate component included in a higher-level component may not be included in this higher-level component, or it may be included in other components. For example, what was described as multiple different members or parts may be treated as a single member or part. For example, what was described as a single member or part may be divided and provided as multiple different members or parts. For example, various parameters (set values, thresholds, ranges, etc.) may be pre-set in the controller 50, or they may be directly set by manual operation by the operator (operation of the input device 39). Various parameters may be calculated by the controller 50 based on information set by manual operation by the operator, or they may be calculated by the controller 50 based on information detected by a sensor (imaging device, etc.). For example, the various parameters may not be changeable, may be changed by manual operation, or may be automatically changed by the controller 50 based on some conditions. For example, the order of the steps in the flowcharts shown in Figures 3, 6, 13, and 16 may be changed, some steps may not be performed, and steps from different flowcharts may be combined. For example, each component may have only some of its characteristics (function, arrangement, shape, operation, etc.). [Explanation of Symbols]

[0125] 1, 201, 301 Work Surface Marking System 10 Working Machines 41 Display device 41a Projection device 41b screen 51 Target shape setting unit 52 Detection Shape Acquisition Unit 53 Difference calculation part 54 Target Workload Setting Unit 55 Container size acquisition section 56 Working position setting section 57 Work surface calculation section 58 Display Processing Unit A. Object to be worked on Ad detection shape As surface At target shape Ath Target height position C container W1 Working surface W1a Working position W2 Negative Differences

Claims

1. A target shape setting unit sets a target shape which is the surface shape of the work object that the work machine is working on, and the target surface shape of the work object. A detection shape acquisition unit acquires the detected surface shape, which is the detected surface shape, A difference calculation unit that calculates the difference in height between the detected shape and the target shape, A target work amount setting unit sets a target work amount, which is the amount of work done on the target object, A work surface calculation unit that calculates the work surface, A display processing unit that causes a display device to display the aforementioned work surface, Equipped with, The work surface is a range of the work object in which the detected shape is above the target shape and the difference is greater than a preset difference threshold, and which represents an amount of the work object corresponding to the target work amount. Work surface marking system.

2. A work surface display system according to claim 1, The display processing unit changes the display indicating the work surface based on the difference. Work surface marking system.

3. A work surface display system according to claim 2, The display processing unit hides the display indicating the work surface in the range of the work object where the difference is less than or equal to the difference threshold. Work surface marking system.

4. A work surface display system according to claim 1, The work surface calculation unit calculates the negative difference surface, which is the range of the work object that has changed from the state set as the work surface to a state in which the detected shape is below the target shape and the difference is greater than a preset negative difference threshold. The display processing unit causes the display device to display the negative difference surface in a manner different from the display showing the work surface. Work surface marking system.

5. A work surface display system according to claim 4, The work surface calculation unit reduces the work surface based on the difference between the negative difference surface and the target shape. Work surface marking system.

6. A work surface display system according to claim 1, The unit includes a work position setting unit for setting a work position which is a position included in the work surface, The work position setting unit sets the work position based on the operator's operation. Work surface marking system.

7. A work surface display system according to claim 1, The aforementioned work machine is equipped with a container size acquisition unit that acquires container size information, which is information about the size of the container in which the object to be worked on is placed. The target workload setting unit sets the target workload based on the container size information. Work surface marking system.

8. A work surface display system according to claim 1, The display device is at least one of the following: a projection device that projects an image onto the work object, and a screen that allows the worker to view the image. Work surface marking system.

9. A work surface display system according to claim 1, The target shape setting unit sets the target shape at a target height position that is lower than the highest position of the workpiece by a set height set in the target shape setting unit. Work surface marking system.

10. A work surface display system according to claim 9, The target shape setting unit sets the target height position based on the target amount of work. Work surface marking system.

11. A work surface display system according to claim 1, The unit includes a work position setting unit for setting a work position which is a position included in the work surface, The work surface calculation unit sets the work surfaces in order from the position closest to the work position. Work surface marking system.

12. A work surface display system according to any one of claims 1 to 11, Equipped with the aforementioned work machine, The target shape setting unit, the detected shape acquisition unit, the difference calculation unit, the target work amount setting unit, the work surface calculation unit, and the display processing unit are mounted on the work machine. Work surface marking system.

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