Construction machinery work support system

Abstract

To provide a work support system capable of providing a warning regarding upcoming work.SOLUTION: A work support system of construction machinery includes a piece of construction machinery, a management unit, and a support unit. The management unit has an image generation unit that generates warning image data to promote warning regarding a scheduled operation of the construction machinery, and a display instruction unit that instructs the support unit to display a warning image represented by the warning image data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work support system for construction machinery.

Background Art

[0002] Conventionally, a technique is known in which a virtual wall, which is a virtual wall for delimiting the working range of construction machinery, is set to prevent contact between an object outside the virtual wall and the construction machinery.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described conventional technology, the work that the construction machinery is scheduled to perform in the future is not considered. For this reason, the conventional technology cannot give a warning regarding the work to be performed in the future.

[0005] Therefore, in view of the above problems, an object is to give a warning regarding the work to be performed in the future.

Means for Solving the Problems

[0006] A work support system for construction machinery according to an embodiment of the present invention is a work support system for construction machinery including a construction machinery, a management device, and a support device, The aforementioned support device is equipped with a display unit and is worn by a worker at the work site where the construction machine is performing its work. where the management device is based on the position information of the construction machinery acquired from the construction machinery, The construction machinery obtained from the construction machinery scheduled work information indicating work content scheduled in the future, and a predetermined period in the future set in the support device, and generates warning image data indicating a work range in which the construction machinery will perform work in the predetermined period in the future, and the warning image indicated by the warning image data , comprising the display unitThis is a work support system for construction machinery, comprising a display instruction unit for displaying information on the aforementioned support device. [Effects of the Invention]

[0007] It can be used to issue warnings regarding the work that is about to be carried out. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows an example of a system configuration for a work support system for construction machinery. [Figure 2] This diagram shows an example of a hydraulic system configuration installed in an excavator. [Figure 3] This figure shows an example of the hardware configuration of the management device. [Figure 4] This is a diagram explaining warning images. [Figure 5] This diagram illustrates the functional configuration of each device in the work support system. [Figure 6] This is a sequence diagram illustrating the operation of the work support system. [Figure 7] This diagram illustrates the screen transitions of the support device. [Figure 8] This figure shows an example of how a warning image can be displayed. [Modes for carrying out the invention]

[0009] The work support system for construction machinery according to this embodiment will be described below with reference to the drawings. Figure 1 is a diagram showing an example of the system configuration of the work support system for construction machinery. In this embodiment, a shovel 100 will be described as an example of construction machinery.

[0010] The construction machine work support system SYS of this embodiment includes a shovel 100, a management device 200, and a support device 300. In the following description, the construction machine work support system SYS will be simply referred to as the work support system SYS.

[0011] In the work support system SYS of the present embodiment, the excavator 100, the management device 200, and the support device 300 are connected via a network or the like.

[0012] The excavator 100 of the present embodiment acquires operation information indicating the operation status of its own machine, transmits it to the management device 200, and receives various information from the management device 200.

[0013] Specifically, the operation information of the excavator 100 includes position information indicating the current position of its own machine, scheduled work information indicating the work content scheduled in the future, orientation information indicating the orientation of its own machine, attitude information indicating the attitude of its own machine, work content information indicating the work content, load factor information recording the load factor, cumulative time information indicating the cumulative operation time, fuel information including the fuel injection amount, CO2 emission amount, work amount, etc.

[0014] Note that the scheduled work information of the present embodiment may be, for example, information indicating the work content scheduled to be performed by the excavator 100 at the work site in one day. In other words, the scheduled work information may be information indicating the work content that the excavator 100 is scheduled to perform in a certain period in the future.

[0015] Further, the scheduled work information of the present embodiment may include, for example, the current target position of the bucket tip and the target trajectory of the bucket tip in the work scheduled in the future.

[0016] The management device 200 receives operation information from the excavator 100 and aggregates the operation information for each work content of the excavator 100 indicated by the status information included in the operation information. Then, the management device 200 identifies the period during which each actuator operation is stopped while the engine is running (the idling state period) within the period when the excavator 100 is in a state of pausing work, and causes the information regarding fuel in the identified period to be displayed on the display device 40 of the excavator 100.

[0017] During the period when the excavator 100 is in a state of pausing work, in addition to the period during which each actuator operation is stopped while the engine is running (the idling state period), there is also a period during which the engine is stopped.

[0018] As described above, the state in which each actuator operation of the excavator 100 is stopped includes a state in which the engine 11 as the prime mover of the excavator 100 is turned on and no lever operation is performed, and a state in which the engine 11 is turned off.

[0019] In addition, an electric motor may be used as the prime mover instead of the engine. In this case, a power storage device is also mounted to supply power to the electric motor. The power storage device is a device for storing power, and examples thereof include an electric double layer capacitor, a lithium ion battery, a nickel metal hydride battery, and the like. In this case, the excavator 100 controls the electric motor using an inverter to rotationally drive the main pump 14 with the power stored in the power storage device.

[0020] Further, the management device 200 of the present embodiment acquires position information indicating the position of the support device 300 and direction information indicating the direction in which the support device 300 is facing. Next, the management device 200 of the present embodiment generates image data for prompting a warning regarding the work of the excavator 100 scheduled in the future from the position information included in the operation information acquired from the excavator 100, the planned work information, and the position information and direction information of the support device 300.

[0021] Then, the management device 200 causes the support device 300 to display an image for prompting a warning regarding the work of the excavator 100 scheduled in the future.

[0022] The support device 300 is, for example, a terminal device for supporting the work of the excavator 100. Specifically, the support device 300 of the present embodiment may be a glasses-type wearable terminal worn by the worker P who supports the work of the excavator 100, or may be AR (Augmented Reality) glasses having an augmented reality function.

[0023] Furthermore, the support device 300 may be a pair of VR (Virtual Reality) glasses that allow worker P to experience virtual reality. In addition, the support device 300 may be a portable tablet device, such as a smartphone. Worker P may be a different person from the operator who operates the shovel 100.

[0024] The support device 300 of this embodiment acquires position information indicating the current position of the machine and direction information indicating the direction the support device 300 is facing, and transmits them to the management device 200. Alternatively, the support device 300 of this embodiment may transmit image data captured by the imaging device to the management device 200. By transmitting image data captured by the imaging device of the support device 300 to the management device 200, for example, a manager who manages the shovel 100 on the management device 200 side can be made aware of the work site environment.

[0025] The position information of the support device 300 may be indicated by coordinate values ​​in the world coordinate system, and the direction that the support device 300 is facing may be, for example, the direction that the imaging device of the support device 300 is facing.

[0026] Furthermore, the support device 300 receives image data from the management device 200 that indicates an image to prompt a warning, and displays this image.

[0027] In the following explanation, images that serve as a warning regarding planned operations for Shovel 100 may be referred to as warning images. Similarly, in the following explanation, image data showing images that serve as a warning regarding planned operations for Shovel 100 may be referred to as warning image data.

[0028] As described above, the management device 200 of this embodiment generates warning image data regarding future operations of the shovel 100 based on the location information and planned work information of the shovel 100, and the location information and direction information of the support device 300, and transmits it to the support device 300. The support device 300 receives the warning image data from the management device 200 and displays the warning image.

[0029] In this case, if the support device 300 is AR glasses with a transparent display device, the warning image is displayed on the support device 300 as an AR image and is visible to the worker P wearing the support device 300 along with the scenery that the worker P is seeing.

[0030] Furthermore, if the support device 300 is a smartphone or VR glasses, the support device 300 transmits image data captured by its own imaging device, along with location information and direction information, to the management device 200. Then, the display device of the support device 300 displays a superimposed image in which the landscape image captured by the support device 300's imaging device and the warning image are superimposed. The superimposed image may be generated in the management device 200.

[0031] In the example shown in Figure 1, the management device 200 is assumed to be implemented by a single information processing device, but this is not limited to that. The management device 200 may be implemented by multiple information processing devices. In other words, the functions implemented by the management device 200 may be implemented by multiple information processing devices.

[0032] Next, the shovel 100 of this embodiment will be described. Figure 1 shows a side view of the shovel 100.

[0033] Excavator 100 has a lower traveling body 1, a slewing mechanism 2, and an upper slewing body 3. In excavator 100, the upper slewing body 3 is rotatably mounted on the lower traveling body 1 via the slewing mechanism 2. A boom 4 is attached to the upper slewing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

[0034] The boom 4, arm 5, and bucket 6 constitute an excavation attachment as an example of an attachment. The boom 4 is driven by the boom cylinder 7, the arm 5 is driven by the arm cylinder 8, and the bucket 6 is driven by the bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0035] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the rotation angle of the boom 4 relative to the upper slewing body 3 (hereinafter referred to as "boom angle"). The boom angle is smallest when the boom 4 is lowered to its lowest position, and increases as the boom 4 is raised.

[0036] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as "arm angle"). The arm angle is smallest when the arm 5 is closed to its shortest extent, and increases as the arm 5 is opened.

[0037] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). The bucket angle is smallest when the bucket 6 is closed to its fullest extent, and increases as the bucket 6 is opened.

[0038] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor for detecting the stroke amount of the corresponding hydraulic cylinder, a rotary encoder for detecting the rotation angle around the connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor.

[0039] The boom cylinder 7 is equipped with a boom rod pressure sensor S7R and a boom bottom pressure sensor S7B. The arm cylinder 8 is equipped with an arm rod pressure sensor S8R and an arm bottom pressure sensor S8B.

[0040] The bucket cylinder 9 is equipped with a bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors".

[0041] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm bottom pressure").

[0042] The bucket rod pressure sensor S9R detects the pressure in the rod-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure").

[0043] The upper rotating body 3 is equipped with a cabin 10, which serves as the driver's cab, and a power source such as an engine 11. A sensor for detecting CO2 emissions may also be provided near the exhaust mechanism of the engine 11.

[0044] Furthermore, the upper rotating body 3 is equipped with a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, an aircraft tilt sensor S4, a rotation angular velocity sensor S5, an imaging device S6, and a communication device T1.

[0045] The upper rotating body 3 may be equipped with a power storage unit for supplying electricity, and a motor-generator that generates electricity using the rotational driving force of the engine 11. The power storage unit may be, for example, a capacitor or a lithium-ion battery. The motor-generator may function as an electric motor to drive a mechanical load, or as a generator to supply power to an electrical load.

[0046] The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, and ROM. Various functions of the controller 30 are realized, for example, by the CPU executing a program stored in ROM. These functions may include, for example, at least one of a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that automatically assists the operator in manually operating the shovel 100.

[0047] The display device 40 is configured to display various types of information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or it may be connected to the controller 30 via a dedicated line.

[0048] The input device 42 is configured to allow the operator to input various types of information to the controller 30. The input device 42 includes at least one of the following: a touch panel, a knob switch, and a membrane switch, all of which are installed inside the cabin 10.

[0049] The audio output device 43 is configured to output sound. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm device such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information as sound in response to an audio output command from the controller 30.

[0050] The storage device 47 is configured to store various types of information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during the operation of the shovel 100, or it may store information acquired via various devices before the operation of the shovel 100 begins.

[0051] The storage device 47 may store data relating to the target construction surface, for example, obtained via a communication device T1. The target construction surface may be set by the operator of the shovel 100, or by the construction manager or the like.

[0052] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may also be configured to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, which detects the position and orientation of the upper rotating body 3 and outputs the detected values ​​to the controller 30. Therefore, the positioning device P1 can also function as an orientation detection device to detect the orientation of the upper rotating body 3. The orientation detection device may be an orientation sensor attached to the upper rotating body 3.

[0053] The machine body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the longitudinal tilt angle of the upper rotating body 3 around the longitudinal axis and the lateral tilt angle around the lateral axis with respect to a virtual horizontal plane. The longitudinal axis and lateral axis of the upper rotating body 3 are orthogonal to each other at the shovel center point, which is a point on the rotation axis of the shovel 100.

[0054] The rotational angular velocity sensor S5 is configured to detect the rotational angular velocity of the upper rotating body 3. The rotational angular velocity sensor S5 may also be configured to detect or calculate the rotation angle of the upper rotating body 3. In this embodiment, the rotational angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may also be a resolver, a rotary encoder, or the like.

[0055] The imaging device S6 is an example of a spatial recognition device and is configured to acquire images of the area around the shovel 100. In this embodiment, the imaging device S6 includes a front camera S6F for imaging the space in front of the shovel 100, a left camera S6L for imaging the space to the left of the shovel 100, a right camera S6R for imaging the space to the right of the shovel 100, and a rear camera S6B for imaging the space behind the shovel 100.

[0056] The imaging device S6 is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured image to the display device 40. The imaging device S6 may also be a stereo camera, a depth image camera, etc. Furthermore, the imaging device S6 may be replaced with other spatial recognition devices such as a 3D depth image sensor, an ultrasonic sensor, a millimeter-wave radar, a LiDAR or an infrared sensor, or it may be replaced with a combination of other spatial recognition devices and a camera.

[0057] The front camera S6F is mounted, for example, on the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may also be mounted on the roof of the cabin 10, the side of the boom 4, or other external locations within the cabin 10. The left camera S6L is mounted on the upper left end of the upper surface of the upper slewing body 3, the right camera S6R is mounted on the upper right end of the upper surface of the upper slewing body 3, and the rear camera S6B is mounted on the upper rear end of the upper surface of the upper slewing body 3. The image data captured by the imaging device S6 of this embodiment may be included in the operation information.

[0058] The communication device T1 is configured to control communication with external devices located outside the excavator 100. In this embodiment, the communication device T1 controls communication with external devices via a satellite communication network, a mobile phone communication network, or the Internet network. The external devices are, for example, a management device 200 such as a server installed in an external facility, or a support device 300 such as a smartphone carried by a worker around the excavator 100.

[0059] Next, with reference to Figure 2, an example of the configuration of the hydraulic system installed in the excavator 100 will be described. Figure 2 is a diagram showing an example of the configuration of the hydraulic system installed in the excavator. In Figure 2, the mechanical power transmission line, hydraulic fluid line, pilot line, and electrical control line are shown with double lines, solid lines, dashed lines, and dotted lines, respectively.

[0060] The hydraulic system circulates hydraulic fluid from the left main pump 14L, driven by engine 11, through the left center bypass pipe 40L or the left parallel pipe 42L to the hydraulic fluid tank, and also circulates hydraulic fluid from the right main pump 14R, driven by engine 11, through the right center bypass pipe 40R or the right parallel pipe 42R to the hydraulic fluid tank.

[0061] The left center bypass pipeline 40L is a hydraulic fluid line that passes through control valves 171, 173, 175L, and 176L located within the control valve unit 17. The right center bypass pipeline 40R is a hydraulic fluid line that passes through control valves 172, 174, 175R, and 176R located within the control valve unit 17.

[0062] The control valve 171 is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the left-side travel hydraulic motor 1L, and to discharge the hydraulic fluid discharged by the left-side travel hydraulic motor 1L to the hydraulic fluid tank.

[0063] The control valve 172 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the right-side travel hydraulic motor 1R, and also switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the right-side travel hydraulic motor 1R to the hydraulic fluid tank.

[0064] The control valve 173 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the swing hydraulic motor 2A, and also switches the flow of the hydraulic fluid discharged by the swing hydraulic motor 2A to the hydraulic fluid tank.

[0065] The control valve 174 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the bucket cylinder 9 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.

[0066] The control valve 175L is a spool valve that switches the flow of hydraulic fluid in order to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7.

[0067] The control valve 175R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the boom cylinder 7 and also switches the flow of hydraulic fluid in order to discharge the hydraulic fluid in the boom cylinder 7 to the hydraulic fluid tank.

[0068] The control valve 176L is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the arm cylinder 8, and also switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0069] The control valve 176R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the arm cylinder 8 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0070] The left parallel pipeline 42L is a hydraulic fluid line running parallel to the left center bypass pipeline 40L. The left parallel pipeline 42L can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the left center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, or 175L. The right parallel pipeline 42R is a hydraulic fluid line running parallel to the right center bypass pipeline 40R. The right parallel pipeline 42R can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the right center bypass pipeline 40R is restricted or blocked by any of the control valves 172, 174, or 175R.

[0071] The left regulator 13L is configured to control the discharge amount of the left main pump 14L. In this embodiment, the left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. The right regulator 13R is configured to control the discharge amount of the right main pump 14R.

[0072] In this embodiment, the right regulator 13R controls the discharge amount of the right main pump 14R by adjusting the swash plate tilt angle of the right main pump 14R in accordance with the discharge pressure of the right main pump 14R. The left regulator 13L reduces the discharge amount by adjusting the swash plate tilt angle of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to ensure that the pump absorption horsepower, which is expressed as the product of the discharge pressure and the discharge amount, does not exceed the output horsepower of the engine 11. The pump absorption horsepower is the sum of the absorption horsepower of the left main pump 14L and the absorption horsepower of the right main pump 14R.

[0073] The left discharge pressure sensor 28L is an example of a discharge pressure sensor 28, which detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R.

[0074] Here, we will explain the negative control system employed in the hydraulic system shown in Figure 2.

[0075] In the left center bypass pipeline 40L, a left throttle 18L is located between the downstream control valve 176L and the hydraulic oil tank. The flow of hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L then generates a control pressure to control the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting the control pressure and outputs the detected value to the controller 30. In the right center bypass pipeline 40R, a right throttle 18R is located between the downstream control valve 176R and the hydraulic oil tank. The flow of hydraulic oil discharged by the right main pump 14R is restricted by the right throttle 18R. The right throttle 18R then generates a control pressure to control the right regulator 13R. The right control pressure sensor 19R is a sensor for detecting the control pressure and outputs the detected value to the controller 30.

[0076] The controller 30 controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with the control pressure. The controller 30 decreases the discharge volume of the left main pump 14L as the control pressure increases, and increases the discharge volume of the left main pump 14L as the control pressure decreases. The discharge volume of the right main pump 14R is controlled in the same manner.

[0077] Specifically, as shown in Figure 2, when the hydraulic actuators in the shovel 100 are in a standby state and not being operated, the hydraulic fluid discharged by the left main pump 14L passes through the left center bypass pipe 40L to the left constrictor 18L. The flow of hydraulic fluid discharged by the left main pump 14L increases the control pressure generated upstream of the left constrictor 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the minimum allowable discharge volume, suppressing the pressure loss (pumping loss) as the discharged hydraulic fluid passes through the left center bypass pipe 40L.

[0078] On the other hand, when either hydraulic actuator is operated, the hydraulic fluid discharged by the left main pump 14L flows into the hydraulic actuator being operated via the control valve corresponding to that actuator. The flow of hydraulic fluid discharged by the left main pump 14L then reduces or eliminates the amount reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge volume of the left main pump 14L, circulating sufficient hydraulic fluid to the hydraulic actuator being operated and ensuring reliable operation of the hydraulic actuator. The same applies to the hydraulic fluid discharged by the right main pump 14R.

[0079] With the configuration described above, the hydraulic system in Figure 2 can suppress wasted energy consumption in both the left main pump 14L and the right main pump 14R when in standby mode. Wasted energy consumption includes pumping losses caused by the hydraulic fluid discharged by the left main pump 14L in the left center bypass pipeline 40L, and pumping losses caused by the hydraulic fluid discharged by the right main pump 14R in the right center bypass pipeline 40R. Furthermore, when operating a hydraulic actuator, the hydraulic system in Figure 2 can supply the necessary and sufficient amount of hydraulic fluid to the hydraulic actuator being operated from both the left main pump 14L and the right main pump 14R.

[0080] Next, a configuration for automatically operating the actuator will be described. The boom operating lever 26A is an example of an electric operating lever as an operating device 26, and is used to operate the boom 4. The boom operating lever 26A detects the operating direction and amount of operation, and outputs the detected operating direction and amount of operation as operation data (electrical signal) to the controller 30. When manually controlled, if the boom operating lever 26A is operated in the boom raising direction, the controller 30 controls the opening degree of the proportional valve 31AL according to the amount of operation of the boom operating lever 26A.

[0081] This allows the pilot pump 15 to use the hydraulic fluid it discharges to apply a pilot pressure corresponding to the amount the boom operating lever 26A is operated to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Furthermore, when manually controlled, if the boom operating lever 26A is operated in the boom lowering direction, the controller 30 controls the opening degree of the proportional valve 31AR according to the amount the boom operating lever 26A is operated to. This allows the pilot pump 15 to use the hydraulic fluid it discharges to apply a pilot pressure corresponding to the amount the boom operating lever 26A is operated to the right pilot port of the control valve 175R.

[0082] The proportional valves 31AL and 31AR constitute a boom proportional valve 31A, which is an example of a proportional valve 31 as a solenoid valve. The proportional valve 31AL operates in response to a current command regulated by the controller 30. The controller 30 adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31AL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R.

[0083] The proportional valve 31AR operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31AR to the right-side pilot port of the control valve 175R. The proportional valves 31AL and 31AR are capable of adjusting the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position.

[0084] With this configuration, during automatic excavation control, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL, independently of the boom raising operation by the operator. In other words, the controller 30 can automatically raise the boom 4. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR, independently of the boom lowering operation by the operator. In other words, the controller 30 can automatically lower the boom 4.

[0085] The arm operating lever 26B is another example of an electrically operated lever as an operating device 26, and is used to operate the arm 5. The arm operating lever 26B detects the direction and amount of operation and outputs the detected direction and amount of operation as operation data (electrical signal) to the controller 30. When manually controlled, if the arm operating lever 26B is operated in the arm opening direction, the controller 30 controls the opening degree of the proportional valve 31BR according to the amount of operation of the arm operating lever 26B.

[0086] This allows the pilot pump 15 to use the hydraulic fluid it discharges to apply pilot pressure corresponding to the amount the arm operating lever 26B is operated to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. Furthermore, when manually controlled, if the arm operating lever 26B is operated in the arm closing direction, the controller 30 controls the opening degree of the proportional valve 31BL according to the amount the arm operating lever 26B is operated. This allows the pilot pump 15 to use the hydraulic fluid it discharges to apply pilot pressure corresponding to the amount the arm operating lever 26B is operated to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.

[0087] The proportional valves 31BL and 31BR constitute an arm proportional valve 31B, which is an example of the proportional valve 31. The proportional valve 31BL operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure using hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31BL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. The proportional valve 31BR operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure using hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31BR to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. The proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.

[0088] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL, independently of the operator's arm closing operation. In other words, the controller 30 can automatically close the arm 5. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR, independently of the operator's arm opening operation. In other words, the controller 30 can automatically open the arm 5.

[0089] As a result, in automatic excavation control, the arm cylinder 8 and boom cylinder 7 operate automatically according to the amount of movement of the arm operation lever 26B, thereby controlling the speed or position of the work area.

[0090] The shovel 100 may be equipped with a configuration for automatically rotating the upper slewing body 3 left and right, a configuration for automatically opening and closing the bucket 6, and a configuration for automatically moving the lower traveling body 1 forward and backward. In this case, the hydraulic system portion related to the slewing hydraulic motor 2A, the hydraulic system portion related to the operation of the bucket cylinder 9, the hydraulic system portion related to the operation of the left-side traveling hydraulic motor 1L, and the hydraulic system portion related to the operation of the right-side traveling hydraulic motor 1R may be configured in the same way as the hydraulic system portion related to the operation of the boom cylinder 7, etc.

[0091] Next, the hardware configuration of the management device 200 in this embodiment will be described with reference to Figure 3. Figure 3 is a diagram showing an example of the hardware configuration of the management device.

[0092] The management device 200 in this embodiment is a computer that includes an input device 201, an output device 202, a drive device 203, an auxiliary storage device 204, a memory device 205, an arithmetic processing unit 206, and an interface device 207, all of which are interconnected via bus B.

[0093] The input device 201 is a device for inputting various types of information and can be implemented, for example, by a touch panel. The output device 202 is for outputting various types of information and can be implemented, for example, by a display. The interface device 207 is used to connect to a network.

[0094] The work support program implemented by the various components described later is at least a part of the various programs that control the management device 200. The work support program is provided, for example, by distribution of the storage medium 208 or by downloading it from a network. The storage medium 208 on which the work support program is recorded can be of various types, such as storage media that record information optically, electrically, or magnetically, or semiconductor memory that records information electrically, such as ROM or flash memory.

[0095] Furthermore, when the storage medium 208 containing the work support program is set in the drive device 203, the work support program is installed from the storage medium 208 to the auxiliary storage device 204 via the drive device 203. Work support programs downloaded from the network are installed to the auxiliary storage device 204 via the interface device 207.

[0096] The auxiliary storage device 204 stores the work support program installed on the management device 200, as well as various necessary files and data from the management device 200. The memory device 205 reads the work support program from the auxiliary storage device 204 and stores it when the management device 200 starts up. The arithmetic processing unit 206 then performs various processes as described later, according to the work support program stored in the memory device 205.

[0097] Furthermore, the support device 300 in this embodiment is a computer including a processing unit and a memory device, similar to the management device 200. The support device 300 may also include a display device as an output device and have hardware switches or the like as input devices.

[0098] Furthermore, in addition to the devices shown in Figure 3, the support device 300 includes a GPS receiver that implements GPS (Global Positioning System) functionality, an IMU (Inertial Measurement Unit), and an imaging device. The GPS receiver receives GPS signals from GPS satellites. The IMU is an inertial measurement device that detects the acceleration of the support device 300 and the direction in which the support device 300 is facing. Moreover, the support device 300 in this embodiment may also have a sound collection device to acquire audio data.

[0099] Next, with reference to Figure 4, the warning images in the SYS work support system of this embodiment will be described. Figure 4 is a diagram illustrating the warning images.

[0100] In the example shown in Figure 4, shovels 100-1 and 100-2 are present at the work site.

[0101] Furthermore, in the example shown in Figure 4, shovel 100-1 is scheduled to rotate, and shovel 100-2 is scheduled to travel in the direction indicated by arrow Y1 and arrow Y2.

[0102] Furthermore, in the example shown in Figure 4, two predetermined periods for issuing warnings are set in advance by worker P: a first predetermined period and a second predetermined period. Here, the second predetermined period is longer than the first predetermined period. Specifically, in the example shown in Figure 4, the first predetermined period is 10 seconds and the second predetermined period is 60 seconds.

[0103] In this case, based on the position information and planned work information of shovel 100-1, it can be seen that shovel 100-1 will rotate within the work range 151 during the first predetermined period. Also, based on the position information and planned work information of shovel 100-2, it can be seen that shovel 100-2 will travel within the work range 152 during the second predetermined period.

[0104] In other words, the control device 200 identifies the work area 151 in which shovel 100-1 will work during a first predetermined period (the next 10 seconds) and the work area 152 in which shovel 100-2 will work during a second predetermined period (the next 60 seconds), based on the location information and scheduled work information obtained from shovel 100-1 and shovel 100-2, respectively.

[0105] In this embodiment, the working range refers to the space in which a part of the excavator 100 may come into contact when it performs a planned operation. In other words, the working range refers to the area in which the excavator 100 will operate over a predetermined period of time.

[0106] In this embodiment, when the management device 200 identifies the work area 151 and the work area 152, it causes the support device 300 to display images of virtual walls indicating the work area 151 and the work area 152.

[0107] Specifically, the management device 200 generates images of virtual walls representing the work area 151 and virtual walls representing the work area 152, based on the position information and direction information of the support device 300 acquired from the support device 300, and aligned with the line of sight of the worker P.

[0108] The images of the virtual wall indicating work area 151 and the virtual wall indicating work area 152 are examples of warning images.

[0109] The management device 200 then transmits warning image data showing a warning image to the support device 300, causing the support device 300 to display the warning image.

[0110] In this case, the control device 200 may generate images of virtual walls representing the work area 151 and virtual walls representing the work area 152 as images of different colors. The control device 200 may also include information in the warning image indicating that the work area 151 is the work area for a first predetermined period (10 seconds) and that the work area 152 is the work area for a second predetermined period (60 seconds).

[0111] In this embodiment, the support device 300 displays an image that alerts worker P to the work that the shovel 100 is scheduled to perform.

[0112] Therefore, according to this embodiment, it is possible to alert worker P to the work that is about to be performed (operation of the shovel 100).

[0113] Next, with reference to Figure 5, the functional configuration of each device in the SYS work support system of this embodiment will be described. Figure 5 is a diagram illustrating the functional configuration of each device in the work support system.

[0114] First, the functional configuration of the support device 300 will be described. The support device 300 of this embodiment includes an input receiving unit 310, a display control unit 320, an information output unit 330, and a communication control unit 340.

[0115] The input receiving unit 310 receives various inputs to the support device 300. Specifically, the input receiving unit 310 receives input operations from the operator P to the input device and operation instructions via voice data acquired by the sound collection device.

[0116] The display control unit 320 causes the display device to display the image data received from the management device 200 via the communication control unit 340. Here, the image data received from the management device 200 may be warning image data.

[0117] The information output unit 330 outputs (transmits) various information acquired by the support device 300 to the management device 200. Specifically, the information output unit 330 outputs the position information of the support device 300 and direction information indicating the orientation of the support device 300 to the management device 200. In this embodiment, the support device 300 may continuously transmit the position information and direction information to the management device 200 from immediately after the support device 300 is started up.

[0118] Furthermore, the information output unit 330 may continuously transmit image data to the management device 200 when the support device 300 is a smartphone or VR glasses.

[0119] The communication control unit 340 controls communication between the support device 300 and the management device 200. The communication control unit 340 may also control communication between the support device 300 and the shovel 100.

[0120] Next, the functional configuration of the management device 200 will be described. The management device 200 includes a display instruction unit 210, a communication control unit 220, an information acquisition unit 230, and an image generation unit 240.

[0121] The display instruction unit 210 instructs the support device 300 to display various types of information. Specifically, the display instruction unit 210 instructs the support device 300 to display a screen for setting a predetermined period or a warning image. The display instruction unit 210 may also instruct the display device 40 of the shovel 100 to display various types of information.

[0122] The communication control unit 220 controls communication between the management device 200 and the support device 300. The communication control unit 220 also controls communication between the management device 200 and the shovel 100.

[0123] The information acquisition unit 230 acquires operational information transmitted from the shovel 100. The information acquisition unit 230 also acquires position information, direction information, and image data transmitted from the support device 300. Furthermore, the information acquisition unit 230 acquires values ​​for a predetermined period set in the support device 300.

[0124] The image generation unit 240 identifies the working range of the shovel 100 during a predetermined period based on the operating information of the shovel 100 acquired by the information acquisition unit 230, and the position and direction information of the support device 300, and generates warning image data corresponding to the identified working range.

[0125] The image generation unit 240 may also retain values ​​for a predetermined period acquired by the information acquisition unit 230. Furthermore, if multiple values ​​are set as the predetermined period, the image generation unit 240 will identify the working range of the shovel 100 for each of the multiple values ​​and generate warning image data.

[0126] Next, the functional configuration of the shovel 100 will be explained. The functional configuration of the shovel 100 is realized by the controller 30 reading a program stored in a storage device such as ROM.

[0127] The shovel 100 has an operation information acquisition unit 110 and a communication control unit 120. The operation information acquisition unit 110 acquires operation information and transmits it to the management device 200. The communication control unit 120 controls communication between the shovel 100 and external devices. Specifically, the communication control unit 120 controls communication between the shovel 100 and the management device 200, and communication between the shovel 100 and the support device 300.

[0128] Next, the operation of the work support system SYS of this embodiment will be described with reference to Figure 6. Figure 6 is a sequence diagram illustrating the operation of the work support system.

[0129] In the work support system SYS of this embodiment, the support device 300 transmits a setting start instruction to the management device 200 for displaying a warning image (step S601). The setting start instruction may also be performed by operating the input device of the support device 300.

[0130] Upon receiving a setting start instruction, the management device 200 transmits a menu screen display instruction to the support device 300 via the display instruction unit 210 (step S602). Upon receiving the display instruction, the support device 300 causes the menu screen to be displayed on the display device via the display control unit 320 (step S603).

[0131] The support device 300 receives an operation on the menu screen to set a predetermined period for issuing warnings and sends a request to the management device 200 to display the screen for setting the predetermined period (step S604).

[0132] The management device 200 transmits a display instruction to the support device 300 via the display instruction unit 210, instructing it to display a setting screen for a predetermined period (step S605).

[0133] Upon receiving this display instruction, the support device 300 displays a screen for setting a predetermined period, and the input reception unit 310 accepts the setting of the predetermined period (step S606). Subsequently, the support device 300 transmits to the management device 200 (step S607).

[0134] Furthermore, the support device 300 starts transmitting its own position information and direction information to the management device 200 via the information output unit 330 (step S608). In this case, if the support device 300 is not an equivalent type device, such as a smartphone or VR glasses, the image data captured by the imaging device may also be transmitted to the management device 200 along with the position information and direction information.

[0135] When the management device 200 obtains a value indicating a predetermined period using the information acquisition unit 230, it sets the obtained value as the predetermined period (step S609).

[0136] When work begins, the shovel 100 acquires operational information using the operational information acquisition unit 110 (step S610) and starts transmitting it to the control device 200 (step S611).

[0137] Note that the timing for starting the transmission of position information and direction information from the support device 300 to the management device 200, and the timing for starting the transmission of operation information from the shovel 100 to the management device 200, are not limited to the timings shown in Figure 6.

[0138] These timings may, for example, occur before the instruction to start setting is given to the control device 200 in step S601. In this embodiment, the transmission of information from the support device 300 to the control device 200 and the transmission of information from the shovel 100 to the control device 200 may be started at any timing. Furthermore, the transmission of information from the support device 300 to the control device 200 and the transmission of information from the shovel 100 to the control device 200 may occur continuously.

[0139] The management device 200 generates warning image data based on the position information, direction information, and operation information acquired from the support device 300 and the shovel 100 using the image generation unit 240 (step S612), and transmits the warning image data to the support device 300 (step S613).

[0140] When the support device 300 receives a warning image data, the display control unit 320 causes the warning image to be displayed on the display device (step S614).

[0141] Next, the screen transitions in the support device 300 of this embodiment will be described with reference to Figures 7 and 8. Note that Figures 7 and 8 show the case where the support device 300 is a smartphone.

[0142] Figure 7 is a diagram illustrating the screen transitions in the support device. Screen 301 shown in Figure 7 is an example of a menu screen displayed on the display device of the support device 300 in step S603 of Figure 6.

[0143] Screen 301 displays a list 301a showing the types of work support. These types of work support include, for example, warning displays and maintenance information displays. In Screen 301, "Warning Display" is selected.

[0144] Furthermore, if the support device 300 is AR glasses with a transparent display device, list 301a will be displayed as an AR image superimposed on the scenery seen by the worker P wearing the support device 300.

[0145] When "Warning Image" is selected on screen 301, and a setting request is sent from the support device 300, screen 301 transitions to screen 302.

[0146] Screen 302 is an example of a settings screen displayed on the support device 300 in step S606 of Figure 6.

[0147] Screen 302 displays a list 302a indicating the period for which a warning should be issued. In the example of screen 302, the list of periods for which a warning should be issued includes "10 seconds," "60 seconds," and "1 minute," and "10 seconds" and "60 seconds" are selected. In other words, in the example of screen 302, multiple values ​​are set for the predetermined period for which a warning should be issued.

[0148] Figure 8 shows an example of a warning image display. Screen 303 shown in Figure 8 is an example of a screen displayed on the support device 300 in step S614 of Figure 6.

[0149] Furthermore, the screen 303 shown in Figure 8 is an example of a screen displayed on the support device 300 when, for example, worker P, who is holding (wearing) the support device 300, is facing the direction indicated by arrow Y3 at the work site shown in Figure 4.

[0150] On screen 303, a warning image 151a showing the work area 151 during a first predetermined period of 10 seconds, and a warning image 152a showing the work area 152 during a second predetermined period of 60 seconds are displayed.

[0151] In Figure 8, the support device 300 is a smartphone, so the screen 303 displays a superimposed image in which the landscape image including shovels 100-1 and 100-2, captured by the support device 300, is superimposed with the warning images 151a and 152a.

[0152] Furthermore, if the support device 300 is a transparent AR glasses, the warning images 151a and 152a are displayed on the support device 300 as AR images and are visible to the worker P along with the scenery that the worker P is viewing.

[0153] Furthermore, on screen 303, an image 303a showing a first predetermined period corresponding to the warning image 151a is displayed in association with the warning image 151a. In addition, on screen 303, an image 303b showing a second predetermined period corresponding to the warning image 152a is displayed in association with the warning image 152a.

[0154] Furthermore, on screen 303, warning image 151a and warning image 152a are displayed in different colors. In other words, on screen 303, the display patterns of warning image 151a and warning image 152a are different.

[0155] Therefore, in this embodiment, the worker P can be visually made aware that multiple values ​​are set as predetermined periods. In other words, according to this embodiment, the worker P can be simultaneously warned about the area where the shovel 100 will operate in the near future and about the area where the shovel 100 will operate in the distant future.

[0156] Furthermore, in this embodiment, the shapes of the warning image 151a and the warning image 152a are rectangular parallelepipeds, but this is not limited to this. The shape of the warning image may be, for example, a hemisphere or any other shape.

[0157] In this embodiment, the warning image data is generated by the management device 200, but this is not limited to this configuration.

[0158] In this embodiment, the support device 300 may have a function to generate warning image data. In that case, the support device 300 can acquire operating information from the shovel 100, use its own position information and direction information to generate and display warning image data.

[0159] Furthermore, in this embodiment, the shovel 100 may have a function to generate warning image data. In that case, the shovel 100 can acquire position information and direction information from the support device 300, generate warning image data using its own operating information, and transmit it to the support device 300 by short-range wireless communication or the like.

[0160] In this embodiment, by generating warning image data using the support device 300 and the shovel 100, warning images related to the upcoming operation can be displayed on the support device 300, for example, even if the communication environment at the work site is not properly set up.

[0161] Thus, according to this embodiment, the worker P using the support device 300 can intuitively grasp the tasks that the shovel 100 will perform in the future, enabling efficient collaborative work.

[0162] Furthermore, in this embodiment, for example, even when worker P is not visually inspecting the shovel 100, a warning can be issued regarding the work that the shovel 100 will perform in the future, thereby improving safety.

[0163] The embodiments for carrying out the present invention have been described above, but the above description does not limit the scope of the invention, and various modifications and improvements are possible within the scope of the present invention. [Explanation of Symbols]

[0164] 1. Lower running body 2. Swivel mechanism 3. Upper rotating body 30 controllers 40 Display device 100 Shovel 110 Operation Information Acquisition Unit 120 Communication Control Unit 200 Management device 230 Information Acquisition Department 240 Image generation unit 300 Support equipment 320 Display Control Unit 330 Information Output Unit

Claims

1. A construction machine work support system including construction machinery, a management device, and a support device, The aforementioned support device is equipped with a display unit and is worn by a worker at the work site where the construction machine is performing its work. The aforementioned control device is An image generation unit generates warning image data indicating the work area in which the construction machine will perform work during the predetermined future period, which is determined based on the location information of the construction machine obtained from the construction machine, the planned work information indicating the planned work content of the construction machine obtained from the construction machine, and the predetermined future period set in the support device. A work support system for construction machinery, comprising: a display instruction unit that causes the support device equipped with the display unit to display the warning image indicated by the warning image data.

2. The aforementioned control device is The support device has an information acquisition unit that further acquires the position information and direction information of the support device from the support device. The image generation unit, A work support system for a construction machine according to claim 1, comprising generating warning image data indicating the work range based on the position information of the support device and the direction information of the support device.

3. A construction machine work support system comprising a construction machine, a management device, and a support device, The aforementioned control device is An image generation unit generates warning image data indicating the work area in which the construction machine will perform work during the predetermined future period, which is determined based on the location information of the construction machine obtained from the construction machine, the planned work information indicating the work content to be performed in the future, and the predetermined future period set in the support device. The system includes a display instruction unit that causes the support device to display the warning image indicated by the aforementioned warning image data, The aforementioned display indicator unit is The support device displays a setting screen for setting the predetermined future period, and a warning image indicated by the warning image data. A work support system for construction machinery.

4. In the aforementioned support device, the predetermined future period is set to multiple values. The aforementioned display indicator unit is A work support system for construction machinery according to any one of claims 1 to 3, wherein the support device displays a warning image indicated by a plurality of warning image data corresponding to a plurality of predetermined future periods.

5. A construction machine work support system including construction machinery, a management device, and a support device, The aforementioned control device is An image generation unit generates warning image data indicating the work area in which the construction machine will perform work during the predetermined future period, which is determined based on the location information of the construction machine obtained from the construction machine, the planned work information indicating the work content to be performed in the future, and the predetermined future period set in the support device. An information acquisition unit further acquires the position information and direction information of the support device from the support device, The system includes a display instruction unit that causes the support device to display the warning image indicated by the aforementioned warning image data, The image generation unit, Based on the position information and direction information of the support device, the warning image data indicating the work area is generated. Multiple different values ​​have been set for the aforementioned future predetermined period. A construction machine work support system in which the aforementioned warning images are displayed on the support device in a different display manner for each of the multiple values.

6. The aforementioned multiple values ​​are, A work support system for a construction machine according to claim 5, comprising a value indicating a first predetermined period and a value indicating a second predetermined period that is longer than the first predetermined period.

7. The work support system for a construction machine according to claim 6, wherein the warning images displayed for each of the plurality of values ​​are associated with images representing the plurality of values ​​and displayed on the support device.

8. The aforementioned control device is A work support system for construction machinery according to any one of claims 1, 2, 5 to 7, wherein the support device receives a setting start instruction for displaying the warning image, and causes the support device to display a setting screen for setting the value for the future predetermined period.

9. The aforementioned work area is the space in which a part of the machine may come into contact when the construction machine performs the work indicated in the planned work information. The work support system for construction machinery according to any one of claims 1 to 8, wherein the warning image is an image of a virtual wall indicating the work area.

10. The image generation unit, The system acquires image data captured by the imaging device of the support device, and generates superimposed image data by superimposing the warning image data. The aforementioned display indicator unit is A work support system for construction machinery according to any one of claims 1 to 9, wherein the superimposed image shown by the superimposed image data is displayed on the support device as the warning image.

Images