Work assistance system

Abstract

A work assistance system (1) assists work of a work machine (10) having a machine body (10a) and an attachment (15). The work assistance system (1) comprises an attachment operation lever (35a) and a controller (50). The attachment (15) is operatively attached to the machine body (10a) and performs work. The attachment operation lever (35a) receives input of an operation for operating the attachment (15). The controller (50) determines an offset amount (O) according to the amount of lever operation input to the attachment operation lever (35a).

Description

Work Support System

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

[0002] Patent Document 1 describes a control device for a work machine that switches the target terrain for work based on the posture of the attachment. The control device switches the target terrain for work between a target construction terrain, which is the target for the finished work, and an offset terrain that is a predetermined distance away from the target construction terrain.

[0003] International Publication No. 2016 / 129708

[0004] In the technology described in Patent Document 1, depending on the relative attitude of the work machine with respect to the target construction surface, it may not be possible to accurately determine whether the current work is finishing work based solely on the attitude of the attachment. As a result, the work may exceed the final target construction terrain, which is the target for finishing, and the construction terrain may collapse.

[0005] An object of the present invention is to provide a work support system that can prevent work from being carried out that exceeds the final target construction terrain.

[0006] A work assistance system according to one aspect of the present invention assists work by a work machine having a machine body and an attachment. The work assistance system includes an operation lever and a controller. The attachment is operably attached to the machine body and performs work. The operation lever receives operation inputs for operating the attachment. The controller determines an offset amount according to at least the lever operation amount input to the operation lever. The offset amount is the amount of offset from a target construction terrain, which is a target for the finished work, to a work target terrain, which is a target for the work by the work machine.

[0007] FIG. 1 is a side view of a work machine and the like of the work support system. FIG. 2 is a block diagram of the work support system shown in FIG. 1. FIG. 3 is a flowchart of the operation of the controller shown in FIG. 2 to determine an offset amount based on a lever operation amount. FIG. 4 is a flowchart of the operation of the controller shown in FIG. 2 to determine an offset amount based on the lever operation amount and the actual speed of the attachment. FIG. 5 is a flowchart of the operation of the controller shown in FIG. 2 to determine an offset amount based on the lever operation amount and the distance from the target construction terrain to the end attachment. FIG. 6 is a flowchart of the operation of the controller shown in FIG. 2 to determine an offset amount by judging the lever operation amount with a threshold value. FIG. 7 is a flowchart of the operation of the controller shown in FIG. 2 to determine an offset amount by integrating the lever operation amount over time. FIG. 8 is a flowchart of the operation of the controller shown in FIG. 2 to determine an offset amount by integrating the lever operation amount over time and reset the offset amount. FIG. 9 is a diagram showing the relationship between the lever operation amount, the offset amount, etc. in the flowchart shown in FIG. 8. FIG. 10 is a diagram showing modified examples of the offset amount of the work support system and the target construction terrain, etc.

[0008] The work support system 1 will be described below with reference to the drawings.

[0009] The work assistance system 1 is a system that sets a target terrain (work target terrain T2) for work by the work machine 10. The work assistance system 1 determines an offset amount O between the target construction terrain T1 and the work target terrain T2. ​​The work assistance system 1 determines the offset amount O according to the amount of lever operation. As shown in FIG. 1 , the work assistance system 1 includes a work machine 10, an attitude sensor 31, a distance detection device 34 (distance detection unit) (see FIG. 2), an input device 35 (see FIG. 2), a controller 50 (computer), and a teaching device 70 (see FIG. 2). Note that the work assistance system 1 may not include the entire work machine 10. In this case, the work assistance system 1 may include some of the devices (e.g., an operation unit) mounted on the work machine 10. The work assistance system 1 may also assist the work of the work machine 10 by sending and receiving signals to and from the work machine 10.

[0010] The work machine 10 is a machine that performs work. For example, the work machine 10 is a construction machine that performs construction work. For example, the work machine 10 is a shovel. The work machine 10 may be configured to be operable by automatic control. The automatic control may be semi-automatic operation (machine control, described below). The work machine 10 may also operate without the use of automatic control. The work machine 10 may be operated by a worker (operator) on board the work machine 10, or may be remotely operated. The following mainly describes the case where the work machine 10 is a shovel.

[0011] The work machine 10 includes a machine body 10 a, an attachment 15 , a drive control unit 17 (see FIG. 2 ), an actuator 21 , and an attitude sensor 31 .

[0012] The machine body 10a is the main body portion of the work machine 10. The machine body 10a includes a lower body 11 and an upper rotating body 13. The lower body 11 is capable of traveling on a traveling surface (such as the ground).

[0013] The lower body 11 may be provided with crawlers or wheels. The upper rotating body 13 is mounted on the lower body 11 so as to be able to rotate.

[0014] The cab 13a is a section where an operator can operate the work machine 10. When the work machine 10 operates in response to operation by an operator, the work machine 10 may be operated by the operator in the cab 13a, or may be remotely operated from outside the work machine 10.

[0015] (Directions) The direction in which the rotation axis of the upper rotating body 13 extends relative to the lower body 11 is the up-down direction Z. In the up-down direction Z, the direction from the lower body 11 toward the upper rotating body 13 is the up-down direction Z1, and the direction opposite to the up-down direction Z1 is the down-down direction Z2. The direction perpendicular to the up-down direction Z and the direction in which the rotation axis of the boom 15b (described later) extends relative to the upper rotating body 13 is the fore-aft direction X (the fore-aft direction of the upper rotating body 13). In the fore-aft direction X, the direction in which the attachment 15 protrudes from the upper rotating body 13 is the forward direction X1, and the direction opposite to the forward direction X1 is the rearward direction X2.

[0016] The attachment 15 is the part that performs work. The attachment 15 is attached to the machine body 10a. For example, the attachment 15 includes a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper rotating body 13 so that it can be raised and lowered (so that it can rotate in the up-down direction Z). The arm 15c is attached to the boom 15b so that it can be rotated (so that it can rotate along a plane that includes the front-to-back direction X and the up-down direction Z).

[0017] The tip attachment 15d is provided at the tip of the attachment 15. The tip attachment 15d is rotatably attached to the arm 15c (rotatable in directions including the forward / backward direction X and the up / down direction Z). The tip attachment 15d may be a bucket capable of scooping and digging a work object. The tip attachment 15d may be a device for clamping a work object (grapple, nibbler, etc.), a device for crushing a work object (breaker, etc.), or a magnet for attracting a metal work object.

[0018] The work object is an object that is the target of work by the work machine 10. The work object may be soil, sand, stone, wood, metal, resin, waste, or a structure (such as a block).

[0019] The actuator 21 is a device that moves the work machine 10. The actuator 21 may include a hydraulic actuator that is driven by hydraulic pressure, or an electric actuator that is driven by electricity. The actuator 21 may include a motor or an extendable cylinder. The actuator 21 includes a cylinder that moves the attachment 15. The actuator 21 includes a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The swing motor 21a swings the upper swing body 13 relative to the lower body 11. The boom cylinder 21b raises and lowers the boom 15b relative to the upper swing body 13. The boom cylinder 21b is, for example, a cylinder (hydraulic cylinder) that is driven (extends and retracts) by hydraulic pressure (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c relative to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d relative to the arm 15c.

[0020] The drive control unit 17 (see FIG. 2 ) (also referred to as a drive unit) controls the actuator 21. The drive control unit 17 may include a hydraulic circuit that controls the hydraulic actuator 21. The drive control unit 17 may include an electric circuit that controls the electric actuator 21.

[0021] The attitude sensor 31 (also referred to as an attitude sensor unit) detects the attitude of the work machine 10. The attitude sensor 31 detects the attitude of the attachment 15. The attitude sensor 31 may be mounted on the work machine 10 or may be arranged external to the work machine 10 (for example, at the work site). The attitude sensor 31 may be equipped with an imaging device, which will be described later. The same applies to the position sensor 33, the input device 35 (see FIG. 2), the controller 50, and the teaching device 70 (see FIG. 2), which may be mounted on the work machine 10 or arranged external to the work machine 10. The attitude sensor 31 includes a swing sensor 31a, a boom sensor 31b, an arm sensor 31c, a tip attachment sensor 31d, and a reference position sensor 31e.

[0022] The swing sensor 31a detects the angle (swing angle) of the upper swing structure 13 with respect to the lower main body 11 (or the work site). The boom sensor 31b detects the attitude of the boom 15b. For example, the boom sensor 31b detects the angle (tilt or rotation angle) of the boom 15b with respect to the horizontal direction or the upper swing structure 13. The arm sensor 31c detects the attitude of the arm 15c. The arm sensor 31c detects the angle of the arm 15c with respect to the horizontal direction or the boom 15b. The tip attachment sensor 31d detects the attitude of the tip attachment 15d. For example, the tip attachment sensor 31d detects the angle of the tip attachment 15d with respect to the horizontal direction or the arm 15c. In Figure 2, the "tip attachment" is written as "tip ATT." The reference position sensor 31e detects the position and orientation of a reference part of the work machine 10 shown in Figure 1 with respect to the work site. The reference portion of the work machine 10 may be, for example, a specific portion of the upper rotating body 13 or the lower body 11, for example, the mounting portion (boom foot) of the boom 15b to the upper rotating body 13, or the center of rotation of the upper rotating body 13 relative to the lower body 11. The reference position sensor 31e may perform detection using a positioning system. The positioning system may be a satellite positioning system, for example, a global navigation satellite system (GNSS). The positioning system may use a total station. The reference position sensor 31e may be equipped with an antenna for using the satellite positioning system. Note that in FIG. 1 , when the reference position sensor 31e performs detection using a positioning system using GNSS, the position of the GNSS antenna is denoted by the symbol for the reference position sensor 31e.

[0023] The position sensor 33 detects position information of objects present in the vicinity of the work machine 10. For example, the position sensor 33 may detect position information of the ground, or may detect position information of obstacles, etc. The position sensor 33 may be equipped with, for example, an imaging device (described later).

[0024] The distance detection device 34 (see FIG. 2) detects the distance from the target construction terrain T1 to the tip attachment 15d. The distance detection device 34 may detect the height from the target construction terrain T1 to the tip attachment 15d. The distance detection device 34 may detect the distance from the target construction terrain T1 to the tip from the data of the target construction terrain T1 and the position of the tip of the tip attachment 15d. In this case, the distance detection device 34 may include an attitude sensor 31. The distance detection device 34 may detect the distance to the tip attachment 15d from the position of the tip attachment 15d detected based on information of the image detected by the imaging device and the data of the target construction terrain T1.

[0025] The imaging device may detect two-dimensional information of an object to be imaged (e.g., its position and shape in an image). The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a distance image and detect three-dimensional information of the object to be imaged (e.g., its three-dimensional coordinates and three-dimensional shape) based on the distance image. The imaging device may include a device that detects three-dimensional information using laser light, such as a LIDAR (Light Detection and Ranging) sensor, or a TOF (Time Of Flight) sensor. The imaging device may include a device that detects three-dimensional information using radio waves (e.g., a millimeter-wave radar). The imaging device may include a stereo camera. The imaging device may detect three-dimensional information of the object to be imaged based on a distance image and a two-dimensional image. Only one imaging device may be provided, or multiple imaging devices may be provided.

[0026] The input device 35 (see FIG. 2) is a device through which the operator inputs information. The input device 35 issues instructions to the controller 50 based on operation by the operator. When the input device 35 is provided on the work machine 10, the input device 35 may be, for example, a display or control lever provided in the operator's cab 13a. The input device 35 may be a mobile terminal (tablet, smartphone, etc.) or a personal computer. The input device 35 may also be provided on a server or the like external to the work machine 10. The input device 35 communicates with the controller 50. The input device 35 includes an attachment control lever 35a (control lever) (see FIG. 2). The attachment control lever 35a is operated to control the attitude of the attachment 15. The operating speed of the attachment 15 changes depending on the amount of lever operation of the attachment control lever 35a.

[0027] The controller 50 is a computer that performs signal input / output, calculations (processing), and information storage. The functions of the controller 50 are realized by a calculation unit (not shown) executing a program stored in a storage unit 51 (see FIG. 2 ) of the controller 50. The controller 50 and other devices (e.g., the input device 35) may be connected via wireless communication or wired communication. When the controller 50 includes multiple components, the components of the controller 50 may be connected to each other via wireless communication or wired communication. For example, communication is performed via a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN. For example, as shown in FIG. 2 , detection results from the attitude sensor 31, the position sensor 33, the distance detection device 34 (see FIG. 2 ), and the like are input to the controller 50. For example, information input via the input device 35 (e.g., the lever operation amount of the attachment control lever 35 a (see FIG. 2 )) is input to the controller 50. For example, the controller 50 performs semi-automatic operation of the work machine 10. For example, the controller 50 outputs commands (command signals) to the drive control section 17 (see FIG. 2) to operate the work machine 10. For example, the controller 50 outputs information to a teaching device 70 (see FIG. 2). The controller 50 may be mounted on the work machine 10 or may be located external to the work machine 10. The controller 50 may be located in a distributed manner in multiple parts (a distributed system may be formed).

[0028] As shown in FIG. 2 , the controller 50 includes a calculation unit (not shown) and a memory unit 51. Focusing on the functions of the controller 50, the controller 50 includes a lever operation detection unit 52, an offset amount determination unit 53, an offset amount reset unit 54, a work target setting unit 55, an attachment actual speed detection unit 56, and a motion control unit 59. The memory unit 51 stores information. The memory unit 51 stores programs. The memory unit 51 stores target motions. The memory unit 51 stores, for example, a work target topography T2 (see FIG. 1 ). The memory unit 51 stores, for example, a target construction topography T1 (see FIG. 1 ) and an offset amount O (see FIG. 1 ). The offset amount O will be described later. The memory unit 51 stores a threshold value (described later) of the lever operation amount for determining work.

[0029] The lever operation detector 52 detects the operation of the attachment control lever 35a. The lever operation detector 52 detects that the attachment control lever 35a has been operated. The lever operation detector 52 detects the amount of lever operation of the attachment control lever 35a.

[0030] The offset amount determination unit 53 determines the offset amount O (see FIG. 1). The offset amount determination unit 53 determines the offset amount O based on the operation of the attachment control lever 35a. The determination of the offset amount O will be described in detail later.

[0031] The offset amount reset unit 54 resets the offset amount O (see FIG. 1). The offset amount reset unit 54 resets the offset amount O depending on conditions. Resetting the offset amount O will be described in detail later.

[0032] The work target setting unit 55 sets a target operation of the work machine 10 (see FIG. 1). As an example, the work target setting unit 55 sets a target operation of the work machine 10 based on a preset target construction terrain T1. The work target setting unit 55 sets a work target terrain T2 (see FIG. 1) based on a set offset amount O (see FIG. 1). If the offset amount O is zero, the work target setting unit 55 sets the work target terrain T2 to the target construction terrain T1 (see FIG. 1).

[0033] The actual attachment speed detection unit 56 detects the actual speed of the attachment 15. The actual attachment speed detection unit 56 may determine the actual speed of the attachment 15 based on information from the attitude sensor 31. In this case, the actual attachment speed detection unit 56 acquires the information detected by the attitude sensor 31.

[0034] The movement control unit 59 controls the movement (operation) of the work machine 10 (see Figure 1). The movement control unit 59 outputs commands to the drive control unit 17. The movement control unit 59 may output commands to the drive control unit 17 in response to operation by the operator. The movement control unit 59 may semi-automatically control the work machine 10 (see Figure 1) so that the work machine 10 moves in accordance with a target operation (for example, work target topography T2 (see Figure 1)). The operation of the work machine 10 will be described in detail below.

[0035] The teaching device 70 is a device that teaches information to a worker (e.g., an operator). The teaching device 70 teaches the worker a target action. For example, the teaching device 70 teaches the worker a work target topography T2 (see FIG. 1 ). The teaching device 70 is not particularly limited as long as it can present information to the operator, and may be, for example, a display device that displays video / images or a speaker that outputs audio. The teaching device 70 may include one or more of these multiple devices.

[0036] (Operations) The work assistance system 1 (mainly the controller 50) is configured to perform the following operations. The work assistance program causes the controller 50 to execute the following operations. The work assistance system 1 realizes a method for performing the following operations. Note that each operation (function) of the work assistance system 1 may be considered a "step" in the work assistance program and the work assistance method.

[0037] 1 may be operated by an operator in the cab 13a, may be remotely operated by an operator from outside the work machine 10 (by a remote control device), or may be automatically operated. The work machine 10 is a machine that utilizes information and communication technology (ICT) (for example, ICT construction machinery).

[0038] For example, the work machine 10 may be operated by an operator using a machine guidance (MG) system function. Specifically, a target operation (for example, an operation to excavate along the work target topography T2) is set in the controller 50. Then, guidance such as the position where work should be done is shown to the operator so that the work machine 10 can operate (perform) in accordance with the target operation. This guidance is output, for example, to an output device provided in the operator's cab 13a of the work machine 10 or an output device provided in a remote control device. Then, the operator operates the work machine 10 in accordance with the guidance. As a result, the work machine 10 operates in accordance with the target operation (for example, an operation to excavate along the work target topography T2).

[0039] Furthermore, for example, the work machine 10 may be operated by a machine control system (MC). Specifically, a target operation (for example, an operation to excavate along the work target topography T2) is set in the controller 50. Then, for example, the operator operates only some of the elements of the attachment 15 (for example, only the boom 15b). At this time, the controller 50 (see FIG. 2) automatically controls the elements that are not operated by the operator (for example, the arm 15c and the tip attachment 15d) so that the work machine 10 operates in accordance with the target operation (for example, an operation to excavate along the work target topography T2). At this time, the controller 50 controls the operation of the work machine 10 based on the detection value of the attitude sensor 31. As a result, the work machine 10 operates in accordance with the target operation (for example, an operation to excavate along the work target topography T2).

[0040] (Operation: Determining the Offset Amount O) The controller 50 shown in FIG. 1 (more specifically, the offset amount determiner 53 (see FIG. 2)) determines the offset amount O. The offset amount O is the distance (separation distance) between the target construction terrain T1, which is the target for the finished work, and the work target terrain T2, which is the target for the work of the work machine 10. The controller 50 may determine the offset amount O in accordance with the lever operation amount for the attachment control lever 35a. Hereinafter, the lever operation amount for the attachment control lever 35a will also be simply referred to as the "lever operation amount." Furthermore, the operation amount of the boom 15b by the attachment control lever 35a will also be simply referred to as the "operation amount of the boom 15b" (the same applies to the arm 15c and the tip attachment 15d). The controller 50 may determine the offset amount O based on the lever operation amount of the entire attachment 15 (the operation amount of the boom 15b, the operation amount of the arm 15c, and the operation amount of the tip attachment 15d). The controller 50 may determine the offset amount O based on the amount of operation of a part of the elements of the attachment 15 (for example, the boom 15b). In other words, part of the operation of the attachment 15 by the attachment control lever 35a (for example, the operation of the boom 15b) may be used as the operation for determining the offset amount O.

[0041] An outline of a specific example of a method by which the controller 50 determines the offset amount O according to the lever operation amount is as follows (details of each specific example will be described later). The controller 50 may determine the offset amount O according to the type of work determined according to the lever operation amount. The controller 50 may determine the type of work based on a threshold value of the lever operation amount. Specifically, the types of work are, for example, leveling work and excavation work. Generally, the lever operation amount when performing leveling work is smaller than the lever operation amount when performing excavation work. For example, when the controller 50 determines that the work is leveling work, the controller 50 may determine the offset amount O to be zero. For example, the work target topography T2 when performing leveling work may be the target construction topography T1. The controller 50 may determine the offset amount O to a value corresponding to the lever operation amount. The controller 50 may determine the offset amount O according to other parameters in addition to the lever operation amount. The other parameters may be information about the attachment 15, such as the actual speed of the attachment 15 or the attitude of the attachment 15. The actual speed of the attachment 15 may be the actual speed of any element of the attachment 15. The attitude of the attachment 15 may be the attitude of any element of the attachment 15. The attitude of the attachment 15 may be, for example, the distance from the target construction terrain T1 to the end attachment 15d. The controller 50 may determine the offset amount O based on the lever operation amount for a predetermined period of time. The controller 50 may determine the offset amount O based on a value obtained by integrating the lever operation amount over time.

[0042] (Operation: Resetting the Offset Amount O) The controller 50 shown in FIG. 1 (more specifically, the offset amount reset unit 54 (see FIG. 2)) resets the offset amount O. The resetting may be to set the offset amount O to zero, or to set the offset amount O to an initial value other than zero. Specific examples of how the controller 50 resets the offset amount O are outlined below (details of each specific example will be described later). The controller 50 may reset the offset amount O when the work changes. For example, the controller 50 may reset the offset amount O when the attachment operating lever 35a returns to the default position (neutral position). The controller 50 may reset the offset amount O depending on the type of work. For example, the controller 50 may reset when the type of work is ground leveling. The controller 50 may perform the reset based on a manual operation to the input device 35.

[0043] (Operation: Specific example of method for determining offset amount O) A specific example in which the controller 50 (see FIG. 2) determines the offset amount O (see FIG. 1) based on the lever operation amount for the attachment operation lever 35a (see FIG. 2) will be described using a flowchart.

[0044] As shown in FIG. 3 , the controller 50 (see FIG. 2 ) first determines whether or not operation of the attachment control lever 35 a (see FIG. 2 ) has been detected (step S10). If the controller 50 does not detect operation of the attachment control lever 35 a (NO in step S10), it repeats the process of step S10 until it detects operation of the attachment control lever 35 a. If the controller 50 detects operation of the attachment control lever 35 a (YES in step S10), it calculates the lever operation amount (step S20). Then, the controller 50 calculates the offset amount O (see FIG. 1 ) (step S30). Thereafter, the controller 50 determines the work target terrain T2 based on the offset amount O (step S40) and ends this process. Note that, as with the subsequent flowcharts, the controller 50 may proceed to the first step without ending the process.

[0045] Here, the offset amount O (see FIG. 1 ) corresponds to the lever operation amount. For example, the offset amount O may increase as the lever operation amount increases. For example, the offset amount O may increase stepwise as the lever operation amount increases. For example, the offset amount O may increase continuously as the lever operation amount increases. For example, the offset amount O may be proportional to the lever operation amount. For example, the offset amount O may be a linear function of the lever operation amount. Specifically, the offset amount O may be a value obtained by multiplying the lever operation amount by a constant. Specifically, the offset amount O may be expressed as offset amount O = constant a × lever operation amount β. In this case, the offset amount O may be a value obtained by adding or subtracting another constant that is independent of the lever operation amount to or from a value obtained by multiplying the lever operation amount by the constant. Specifically, the offset amount O may be expressed as offset amount O = constant a × lever operation amount β + constant c. For example, the offset amount O may be a quadratic function of the lever operation amount. For example, the offset amount O may be set based on a relationship (map) between the lever operation amount and the offset amount O.

[0046] Next, a specific example in which the controller 50 (see FIG. 2) determines the offset amount O (see FIG. 1) based on the lever operation amount of the attachment operation lever 35a (see FIG. 2) and the actual speed of the attachment 15 (see FIG. 1) will be described using a flowchart.

[0047] As shown in FIG. 4, the controller 50 (see FIG. 2) first determines whether or not operation of the attachment control lever 35a (see FIG. 2) has been detected (step S110). If the controller 50 does not detect operation of the attachment control lever 35a (NO in step S110), it repeats the process of step S110 until it detects operation. If the controller 50 detects operation of the attachment control lever 35a (YES in step S110), it calculates the lever operation amount (step S120). Then, the controller 50 calculates the actual attachment speed (step S130). Then, the controller 50 calculates an offset amount O based on the lever operation amount and the actual attachment speed (step S140). Thereafter, the controller 50 determines the work target terrain T2 based on the offset amount O (step S150) and ends this process.

[0048] Here, the offset amount O (see FIG. 1 ) corresponds to the actual speed of the attachment 15 (see FIG. 1 ). For example, the offset amount O may increase as the actual speed of the attachment 15 increases. The offset amount O may increase stepwise as the actual speed of the attachment 15 increases. The offset amount O may increase continuously as the actual speed of the attachment 15 increases. The offset amount O may be proportional to the actual speed of the attachment 15. For example, the offset amount O may be the sum of a value obtained by multiplying the lever operation amount by a constant and a value obtained by multiplying the actual speed of the attachment 15 by another constant. Specifically, the offset amount O may be expressed as: offset amount O = constant a × lever operation amount β + constant b × actual speed ω of the attachment 15. For example, the offset amount O may be a quadratic function. For example, the offset amount O may be set based on a relationship (map) of the offset amount O with respect to the lever operation amount and the actual speed of the attachment 15. The actual speed of the attachment 15 may be measured on the boom 15b, the arm 15c, or the tip attachment 15d. For example, the actual speed of the attachment 15 may be the moving speed of the bucket.

[0049] Next, a specific example will be described using a flowchart in which the controller 50 (see Figure 2) determines the offset amount O (see Figure 1) based on the lever operation amount and the distance from the target construction terrain T1 (see Figure 1) to the tip attachment 15d (see Figure 1).

[0050] As shown in FIG. 5, the controller 50 (see FIG. 2) first determines whether operation of the attachment control lever 35a (see FIG. 2) has been detected (step S210). If the controller 50 does not detect operation of the attachment control lever 35a (NO in step S210), it repeats the process of step S210 until it detects operation. If the controller 50 detects operation of the attachment control lever 35a (YES in step S210), it calculates the lever operation amount (step S220). Then, the controller 50 measures the distance from the target construction terrain T1 (see FIG. 1) to the end attachment 15d (see FIG. 1) (step S230). Then, the controller 50 calculates the offset amount O (see FIG. 1) based on the lever operation amount and the distance from the target construction terrain T1 to the end attachment 15d (step S240). Thereafter, the controller 50 determines the work target terrain T2 based on the offset amount O (step S250) and ends this process.

[0051] Here, the timing for measuring the distance from the target construction terrain T1 (see FIG. 1) to the tip attachment 15d (see FIG. 1) may be the timing when the operation of the attachment control lever 35a is started. The timing for measuring the distance from the target construction terrain T1 to the tip attachment 15d may be the timing immediately before the operation of the attachment control lever 35a is started. The timing for measuring the distance from the target construction terrain T1 to the tip attachment 15d may be the timing immediately before the attachment 15 moves. The timing for measuring the distance from the target construction terrain T1 to the tip attachment 15d may be the timing at the moment the attachment 15 moves.

[0052] Further, the offset amount O (see FIG. 1) corresponds to the distance from the target construction terrain T1 (see FIG. 1) to the tip attachment 15d (see FIG. 1). For example, the offset amount O may increase as the distance L (see FIG. 1) from the target construction terrain T1 to the tip attachment 15d increases. The distance L may be the shortest distance from the target construction terrain T1 to the tip attachment 15d, or may be the height from the target construction terrain T1 to the tip attachment 15d. The offset amount O may increase stepwise as the distance L increases. The offset amount O may also increase continuously as the distance L increases. The offset amount O may be proportional to the distance L. For example, the offset amount O may be the sum of a value obtained by multiplying the lever operation amount by a constant and a value obtained by multiplying the distance from the target construction terrain T1 to the tip attachment 15d by another constant. Specifically, the offset amount O may be expressed as: offset amount O = constant a × lever operation amount β + constant c × distance L. For example, the offset amount O may be a quadratic function, etc. For example, the offset amount O may be set based on a relationship (map) of the offset amount O with respect to the lever operation amount and the distance from the target construction terrain T1 to the end attachment 15d.

[0053] Next, a specific example will be described using a flowchart in which the controller 50 (see FIG. 2) determines the offset amount O (see FIG. 1) in accordance with the work (e.g., the type of work) determined from the lever operation amount of the attachment operating lever 35a (see FIG. 2).

[0054] As shown in FIG. 6 , first, the controller 50 (see FIG. 2 ) determines whether or not operation of the attachment control lever 35 a (see FIG. 2 ) has been detected (step S310). If the controller 50 does not detect operation of the attachment control lever 35 a (step S310: NO), it repeats the processing of step S310 until it detects operation. If the controller 50 detects operation of the attachment control lever 35 a (step S310: YES), it calculates the lever operation amount (step S320). Then, the controller 50 determines whether the calculated lever operation amount is equal to or less than a threshold value (step S330). If the controller 50 determines that the calculated lever operation amount is not equal to or less than the threshold value (step S330: NO), it determines that the work being performed by the work machine 10 (see FIG. 1 ) is excavation work (step S340). Then, the controller 50 sets the offset amount O to a predetermined value (predetermined offset amount, fixed value) (step S350). On the other hand, if the controller 50 determines that the calculated lever operation amount is equal to or less than the threshold value (YES in step S330), it determines that the work being performed by the work machine 10 is ground leveling work (step S360). The controller 50 then determines the offset amount O to be a value smaller than the predetermined offset amount (step S370). The controller 50 then determines the work target terrain T2 based on the offset amount O determined in step S350 or step S370 (step S380), and ends this process.

[0055] In this way, the controller 50 (see FIG. 2) determines the work (e.g., the type of work) depending on whether the lever operation amount is greater than or equal to a threshold value, and switches the offset amount O depending on the determined work. When the lever operation amount is greater than the threshold value, the controller 50 sets the offset amount O to a predetermined offset amount. When the lever operation amount is equal to or less than the threshold value, the controller 50 sets the offset amount O to an offset amount O smaller than the predetermined offset amount. Here, the predetermined offset amount may be a constant value. The predetermined offset amount may also be a value that varies depending on the lever operation amount. Furthermore, the offset amount O smaller than the predetermined offset amount may be zero or a value larger than zero. The work target topography T2 (see FIG. 1) determined by the offset amount O smaller than the predetermined offset amount may be the same topography as the target construction topography T1 (see FIG. 1).

[0056] Next, a specific example in which the controller 50 (see FIG. 2) determines the offset amount O based on the integrated (for example, time-integrated) value of the lever operation amount will be described using a flowchart.

[0057] As shown in Fig. 7, first, the controller 50 (see Fig. 2) determines whether or not operation of the attachment control lever 35a (see Fig. 2) has been detected (step S410). If the controller 50 does not detect operation of the attachment control lever 35a (NO in step S410), it repeats the processing of step S410 until it detects operation. If the controller 50 detects operation of the attachment control lever 35a (YES in step S410), it calculates the lever operation amount (step S420). Then, the controller 50 determines the work (e.g., the type of work) being performed by the work machine 10 in accordance with the operation of the attachment control lever 35a. Specifically, the controller 50 determines whether or not the work being performed by the work machine 10 is ground leveling (step S430). If the work being performed by the work machine 10 is not ground leveling (NO in step S430), the controller 50 transitions to processing in step S410. If the work being performed by the construction machine 10 is ground leveling work (YES in step S430), the controller 50 proceeds to step S410. Specifically, the controller 50 determines whether the amount of operation of the arm 15c (see FIG. 1) by the attachment control lever 35a is equal to or greater than a threshold value and whether the distance L (see FIG. 1) is equal to or less than a threshold value (step S430). As described above, the distance L is the distance from the target construction terrain T1 (see FIG. 1) to the end attachment 15d (see FIG. 1). The reason why the determination of whether ground leveling work is being performed is based on the amount of operation of the arm 15c and the distance L will be described later. In FIG. 8, which will be described later, the amount of operation of the arm 15c is referred to as the "arm lever operation amount." If the amount of operation of the arm 15c is not equal to or greater than the threshold value or the distance from the target construction terrain T1 to the end attachment 15d is not equal to or less than the threshold value (NO in step S430), the controller 50 proceeds to step S410. If the operation amount of the arm 15c is equal to or greater than the threshold value and the distance L from the target construction terrain T1 to the end attachment 15d is equal to or less than the threshold value (YES in step S430), the controller 50 integrates (e.g., time-integrates) the operation amount of the boom 15b (step S440). Note that in Fig. 8, which will be described later, the operation amount of the boom 15b is referred to as the "boom lever operation amount."The controller 50 then calculates the offset amount O (see FIG. 1) based on the time-integrated value of the operation amount of the boom 15b (step S450). The controller 50 determines the work target topography T2 based on the offset amount O (step S460), and ends this process.

[0058] 7, when it is determined that the work being performed by the work machine 10 is ground leveling work, the controller 50 determines the offset amount O based on the integrated value of the lever operation amounts. The controller 50 may also determine the offset amount O based on the integrated value of the lever operation amounts without determining the work being performed by the work machine 10.

[0059] Here, the offset amount O (see FIG. 1) may increase each time the attachment control lever 35a (see FIG. 2) is operated. The offset amount O may not return to zero even when the lever operation amount becomes zero. The offset amount O may be determined based on an integrated value of the lever operation amount. The offset amount O may be determined based on a value obtained by integrating the lever operation amount over time. The target period for the time integration may be any period. For example, the target period for the time integration may be a predetermined period from the present to a predetermined time ago. For example, the target period for the time integration may be the entire period of one work cycle.

[0060] The reason why the controller 50 determines the offset amount O based on the integrated (e.g., time-integrated) value of the lever operation amount is as follows. For example, consider a case where the offset amount O increases as the lever operation amount increases and decreases as the lever operation amount decreases (for example, a case where the offset amount O = constant a × lever operation amount β). In this case, consider a case where the lever operation amount of the attachment control lever 35a suddenly decreases (for example, disappears) from a state where the lever operation amount is constant. In this case, the offset amount O also suddenly decreases due to the sudden decrease in the lever operation amount. As a result, the work target topography T2 (see FIG. 1) before the sudden decrease in the offset amount O will differ greatly from the work target topography T2 after the sudden decrease in the offset amount O. As a result, the operation signal (signal input to the drive control unit 17 (see FIG. 2), signal for moving the attachment 15) for causing the work machine 10 to work in accordance with the work target topography T2 may suddenly change before and after the sudden decrease in the offset amount O. In this case, the movement of the work machine 10 will suddenly change. On the other hand, when the controller 50 determines the offset amount O based on a value obtained by integrating (e.g., integrating over time) the lever operation amount, even if the lever operation amount suddenly decreases, the offset amount O (see FIG. 1) does not suddenly decrease in accordance with the lever operation amount. For example, even if the lever operation amount suddenly decreases, the offset amount O does not suddenly become zero (see FIG. 9). For example, the offset amount O may gradually decrease depending on the target period of the time integration.

[0061] For example, consider a case where the attachment control lever 35a (see FIG. 2) is suddenly operated from a state where the lever operation amount is not being operated, resulting in a sudden increase in the lever operation amount. In this case, as in the case where the lever operation amount suddenly decreases, the work target terrain T2 before the sudden increase in the offset amount O will diverge significantly from the work target terrain T2 after the sudden increase in the offset amount O. This may result in a sudden change in the movement of the work machine 10. Alternatively, the controller 50 may determine the offset amount O based on a value obtained by integrating (e.g., integrating over time) the lever operation amount, so that the offset amount O increases gradually rather than suddenly in response to the lever operation amount. For example, a target period for the time integration may be set so that the offset amount O increases gradually. In this way, by basing the offset amount O on a value obtained by integrating (e.g., integrating over time) the lever operation amount, a sudden change in the offset amount O can be prevented, even if the attachment control lever 35a is suddenly operated.

[0062] (Operation: Specific Example of Resetting the Offset Amount O) For example, the determination of the offset amount O (see FIG. 1) performed by the controller 50 may include resetting the offset amount O. The resetting of the offset amount O may be performed as the determination of the offset amount O. Specifically, in the example of FIG. 3, the offset amount O may be reset (set to zero or a default value) when the lever operation amount is zero. Specifically, in the example of FIG. 4, the offset amount O may be reset (to 0 or a default value) when the lever operation amount and / or the actual attachment speed are zero. Specifically, in the example of FIG. 5, the offset amount O may be reset (to 0 or a default value) when the lever operation amount and / or the distance from the target construction terrain T1 to the tip attachment 15d are zero. Specifically, in the example of FIG. 6, the offset amount O may be reset (to 0 or a default value) when the lever operation amount is equal to or less than a threshold value (leveling work). Specifically, in the example of FIG. 7, the offset amount O may be reset (to 0 or a larger default value) based on a comparison between an integrated value (e.g., time integration) of the lever operation amount and a threshold value. For example, when the integrated value of the lever operation amounts exceeds a threshold, the offset amount O may be reset. For example, depending on the setting of the target period of the time integration, the integrated value of the lever operation amounts may decrease, and when the integrated value of the lever operation amounts becomes equal to or less than the threshold, the offset amount O may be reset.

[0063] Further, for example, resetting of the offset amount O may be performed as a process separate from determining the offset amount O. A specific example in which the controller 50 resets the offset amount O as a process separate from determining the offset amount O will be described using the flowchart shown in Fig. 8. Furthermore, the relationship between the lever operation amount, the offset amount O, etc. in the flowchart of Fig. 8 is shown in Fig. 9.

[0064] Steps S510 to S560 shown in Figure 8 are the same as steps S410 to S460 described with reference to Figure 7, and therefore description thereof will be omitted. When calculating the offset amount O from the integrated value of the lever operation amount, there is a possibility that the offset amount O will remain without being reset. For this reason, the controller 50 (see Figure 2) may perform the following reset processing. In the example of Figure 8, the controller 50 resets the offset amount O on the condition that the work machine 10 has performed a predetermined task. Specifically, the controller 50 resets the offset amount O on the condition that the work machine 10 has completed one cycle of ground leveling work.

[0065] As shown in Figure 8, after step S560, the controller 50 (see Figure 2) determines whether one cycle of ground leveling work by the work machine 10 has been completed. Specifically, the controller 50 determines whether the operation amount of the arm 15c (see Figure 1) is less than or equal to a threshold value, or whether the distance L (see Figure 1) from the target construction terrain T1 (see Figure 1) to the end attachment 15d (see Figure 1) is greater than or equal to a threshold value (step S570) (the reason for this determination will be described later). If the operation amount of the arm 15c is not less than or equal to the threshold value and the distance from the target construction terrain T1 to the end attachment 15d is not greater than or equal to the threshold value (NO in step S570), the controller 50 transitions to step S540. If the operation amount of the arm 15c is below the threshold value or the distance from the target construction terrain T1 to the tip attachment 15d is above the threshold value (YES in step S570), the controller 50 resets the offset amount O and determines the work target terrain T2 (see Figure 1) (step S580).

[0066] In the example of FIG. 8, the controller 50 (see FIG. 2) resets the offset amount O (see FIG. 1) on the condition that the work machine 10 (see FIG. 1) has completed one cycle of ground leveling work, but this is not limiting. Also, in the examples of step S430 in FIG. 7 and step S530 in FIG. 8, it is determined whether the work being performed by the work machine 10 is ground leveling work. In this determination, the conditions for determining that the work is ground leveling work are that the operation amount of the arm 15c (see FIG. 1) is equal to or greater than a threshold value, and that the distance L (see FIG. 1) from the target construction terrain T1 to the tip attachment 15d (see FIG. 1) is equal to or less than a threshold value. The reason for this is as follows. Generally, in ground leveling work when the work machine 10 is operated by machine control, the operator manually operates the arm 15c, and the boom 15b (see FIG. 1) and the tip attachment 15d (e.g., a bucket) (see FIG. 1) are automatically operated. When the work of the work machine 10 shifts from excavation work to ground leveling work, it is assumed that the tip attachment 15d is located in a position close to the target construction terrain T1. For example, in ground leveling work, it is assumed that the tip attachment 15d is located in a position close to the target construction terrain T1 and is moved so as to follow the target construction terrain T1. Therefore, in the example of Figure 8, the condition for determining that the work is ground leveling work is that "when the tip attachment 15d is located near the target construction terrain T1, manual operation of the attachment 15 (e.g., the arm 15c) (see Figure 1) is equal to or greater than a threshold value."

[0067] On the other hand, when one cycle of ground leveling work is completed, it is generally assumed that the arm 15c is not operated, the boom 15b is raised, and the tip attachment 15d is moved away from the target construction terrain T1. Therefore, in step S570 of FIG. 8 , the conditions for determining that one cycle of ground leveling work is complete are that the operation amount of the arm 15c is equal to or less than a threshold value or that the distance L is equal to or greater than a threshold value. The conditions for determining that the work is ground leveling work and that one cycle of ground leveling work is complete can be set in various ways. For example, the controller 50 may determine that ground leveling work is being performed using pressure information of the actuator 21 (see FIG. 1 ) or posture information of the attachment 15, or may determine that ground leveling work is being performed using a combination of these.

[0068] Let us consider another system that can be compared with the work assistance system 1 according to this embodiment. For example, assume that there is a raised earth wall in front of the work machine 10, and that the target construction terrain is set within this earth wall. In this case, the attachment 15 performs work on the earth wall in a position that extends forward and upward from the upper rotating body 13. When the attachment 15 is in this upwardly raised position, the other system determines that the work to be performed is excavation work. In this case, the work target terrain is set with a predetermined offset amount relative to the target construction terrain.

[0069] When the excavation of the earth wall is completed, the attachment 15 is lowered to a lower position than during the excavation work, and the earth wall is leveled. In this case, the target construction terrain is set as the work target terrain. At this time, when the attachment 15 is lowered to a relatively low position, the other system determines that the work to be performed is leveling work.

[0070] Meanwhile, in the other systems described above, assume that there is a downward-sloping slope in front of the work machine 10 that is lower than the ground, and that excavation and leveling work is to be performed on this slope. In this case, the attachment 15 is set to a low posture along the slope. As a result, the other system determines that the work to be performed is leveling work, even though it is actually excavation work. As a result, excavation work is performed in a position close to the target construction topography, causing the target construction topography to collapse.

[0071] Meanwhile, the effects of the work assistance system 1 shown in Fig. 2 according to this embodiment are as follows. The work assistance system 1 assists work by a work machine 10 having a machine body 10a (see Fig. 1) and an attachment 15 (see Fig. 1). The work assistance system 1 includes an attachment control lever 35a and a controller 50. The attachment 15 is operably attached to the machine body 10a and performs work. The attachment control lever 35a receives operation inputs for operating the attachment 15.

[0072] [Configuration 1] The controller 50 determines the offset amount O in accordance with at least the lever operation amount input to the attachment operation lever 35a. The offset amount O is the amount of offset (distance or angle) from the target construction terrain T1, which is the target for the finished product, to the work target terrain T2, which is the target for the work of the work machine 10. The work target terrain T2 is a target terrain (work surface) that is set on the nearer side (towards the work machine 10) than the final target construction terrain T1.

[0073] In the above-mentioned [Configuration 1], the offset amount O from the target construction terrain T1 is determined according to the lever operation amount of the attachment control lever 35a when performing work aimed at at least the target construction terrain T1. The work target terrain T2 based on the offset amount O can be set as the work target. Therefore, it is possible to prevent work from being performed that exceeds the final target construction terrain T1.

[0074] [Configuration 2] As shown in Fig. 2, the work support system 1 further includes an actual attachment speed detection unit 56. The actual attachment speed detection unit 56 detects the actual speed of the attachment 15. The controller 50 determines an offset amount O based on the lever operation amount and the actual speed.

[0075] In the above-described [Configuration 2], the offset amount O is determined based on the lever operation amount and the actual speed of the attachment 15. The offset amount O is determined based on the operating speed of the attachment 15 not only when the position of the attachment 15 changes due to lever operation but also when the position of the attachment 15 changes due to other external factors. This makes it possible to prevent work from being performed that exceeds the final target construction terrain T1 due to other external factors. For example, depending on the wind, terrain, slope, etc. at the work site, the attachment 15 may move beyond the position and operating amount corresponding to the lever operation amount. Even in such cases, the offset amount O is set taking into account the actual speed of the attachment 15. Therefore, if the attachment 15 approaches the target construction terrain T1 at an actual speed that exceeds the speed corresponding to the lever operation amount, the offset amount O is adjusted to a larger value, thereby preventing work from being performed beyond the target construction terrain T1. Note that the attachment speed is higher in excavation work than in finishing work. If the attachment speed is high, and it gets caught on buried objects during excavation or if cavitation occurs, the actuator speed may not correspond to the lever input amount, which may damage the intended construction surface (final target construction topography T1). For this reason, if the actual speed is high, by offsetting the target construction topography using the offset amount O, it is possible to perform excavation work without exceeding the final target construction topography T1.

[0076] [Configuration 3] As shown in Fig. 1, the attachment 15 has a tip attachment 15d. As shown in Fig. 2, the work support system 1 further includes a distance detection device 34 that detects the distance (or a characteristic value corresponding to the distance) from the target construction terrain T1 to the tip attachment 15d. As shown in Fig. 5, the controller 50 determines the offset amount O based on the lever operation amount and the distance L from the target construction terrain T1 to the tip attachment 15d.

[0077] In the above-described [Configuration 3], the offset amount O is determined based on the lever operation amount and the distance from the target construction terrain T1 to the tip attachment 15d. Therefore, an offset amount O appropriate for the distance L can be determined. For example, when different tasks are divided depending on the distance from the target construction terrain T1 to the tip attachment 15d, an offset amount O appropriate for each different task can be determined. Note that when the lever operation amount is large or the distance from the target construction terrain to the tip attachment is far, the currently performed task is often excavation work rather than finishing work. As described above, during excavation work, there is a possibility that the final construction surface may be exceeded. Therefore, a target construction terrain offset from the final target construction terrain T1 is set, and in the case of finishing work, a position closer to the final target construction terrain is set as the target construction terrain.

[0078] [Configuration 4] As shown in Fig. 6, when the lever operation amount is equal to or greater than a predetermined threshold, the controller 50 (see Fig. 2) sets the offset amount O (see Fig. 1) to a predetermined fixed value. Note that, as an example, the threshold is set corresponding to the operation amount by which the operator operates the attachment control lever 35a when performing excavation work (excavation work threshold).

[0079] In the above [Configuration 4], the offset amount O is determined to a predetermined fixed value when the lever operation amount is equal to or greater than the threshold value. This allows the offset amount O to be set to a stable value. For example, by offsetting the target construction surface by a stable offset amount O during excavation work, it is possible to prevent the target construction surface from changing during excavation work and interfering with the excavation operation.

[0080] [Configuration 5] As shown in Fig. 6, the controller 50 (see Fig. 2) sets the offset amount O (see Fig. 1) to zero when the lever operation amount is less than a predetermined threshold. Note that, as an example, the threshold is set corresponding to the operation amount by which the operator operates the attachment control lever 35a when performing ground leveling work (ground leveling work threshold).

[0081] In the above [Configuration 5], when the lever operation amount is less than the threshold value, the offset amount O (see FIG. 1) is set to zero, and the target construction terrain T1 (see FIG. 1) becomes the target for the work. Generally, when the lever operation amount is small, it is assumed that the work performed by the work machine 10 is ground leveling work at a position close to the target construction terrain T1. This makes it possible to prevent the offset amount O from being set when work is being performed at a position close to the target construction terrain T1. More specifically, during ground leveling work, construction accuracy is required, so construction needs to be performed according to the final target terrain. For this reason, if the offset amount O is set, it will not be possible to excavate up to the final target terrain, and to prevent this from deteriorating construction accuracy, the offset amount is set to zero.

[0082] [Configuration 6] The lever operation amount changes in accordance with changes in the position (tilt) of the attachment control lever 35a, and the controller 50 (see Figure 2) resets the offset amount O (see Figure 1) when the attachment control lever 35a (see Figure 2) returns to the default position.

[0083] In the above [Configuration 6], when the attachment control lever 35a (see FIG. 2) returns to the default position, the offset amount O (see FIG. 1) is reset. When the attachment control lever 35a returns to the default position, there is a possibility that the next task will be different from the previous task. Therefore, by resetting the offset amount O when the attachment control lever 35a returns to the default position, it is possible to prevent the offset amount O for the previous task from being applied to the next task.

[0084] [Configuration 7] As shown in FIG. 7, the controller 50 (see FIG. 2) determines the offset amount O (see FIG. 1) based on the integrated value (integrated value) of the lever operation amount.

[0085] In the above [Configuration 7], the offset amount O (see FIG. 1 ) is determined based on (according to) the integrated value of the lever operation amount. As a result, even if the lever operation is suddenly stopped, the value obtained by integrating the lever operation amount over time does not suddenly decrease, and therefore a sudden change in the offset amount O is suppressed. Therefore, when the offset amount O is applied to machine control, it is possible to suppress unexpected operation of the work machine 10 due to a sudden change in the offset amount O.

[0086] [Configuration 8] As shown in Fig. 6, the controller 50 (see Fig. 2) can determine whether the work is ground leveling work on the target construction terrain T1 (see Fig. 1). When the controller 50 determines that one preset cycle of ground leveling work has been completed, it resets the offset amount O.

[0087] In the above [Configuration 8], when the work is switched to ground leveling work on the target construction topography T1 (see FIG. 1), the offset amount O (see FIG. 1) can be reset.

[0088] (Modifications) The above-described embodiments may be modified in various ways. For example, various examples (including modifications) of the above-described embodiments may be combined in various ways. For example, the connections of the components shown in FIG. 2 and the like may be changed. For example, the number of components (including modifications) of the above-described embodiments may be changed, or some of the components may not be provided. For example, the arrangement of the components may be changed.

[0089] For example, the inclusion relationships of components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, a component described as multiple different members or parts may be combined into a single member or part. For example, a component described as a single member or part may be provided as multiple different members or parts. For example, the order of steps in the flowcharts shown in Figures 3 to 8 may be changed, or some steps may not be performed. For example, each component may have only some of its features (functions, arrangement, shape, operation, etc.).

[0090] For example, as shown in Fig. 10, the offset amount O may be an angle with respect to the target construction terrain T1. The controller 50 (more specifically, the offset amount determination unit 53 (see Fig. 2)) may set the terrain obtained by rotating the target construction terrain T1 by the offset amount O as the work target terrain T2.

[0091] A work assistance system according to a first aspect of the present invention is a work assistance system that assists work by a work machine having a machine body and an attachment that is operably attached to the machine body and performs work, and is equipped with an operation lever that receives operation input for operating the attachment, and a controller, and the controller determines an offset amount from a target construction terrain that is a target for the finished product to a work target terrain that is a target for work by the work machine, depending on at least the lever operation amount input to the operation lever.

[0092] A work assistance system according to a second aspect of the present invention is the work assistance system according to the first aspect, further comprising an actual attachment speed detection unit that detects an actual speed of the attachment, and the controller determines the offset amount based on the lever operation amount and the actual speed.

[0093] A work support system according to a third aspect of the present invention is the work support system according to the first or second aspect, wherein the attachment has a tip attachment and further includes a distance detection unit that detects the distance from the target construction terrain to the tip attachment, and the controller determines the offset amount based on the lever operation amount and the distance.

[0094] A work assistance system according to a fourth aspect of the present invention is the work assistance system according to any one of the first to third aspects, wherein the controller determines the offset amount to a predetermined fixed value when the lever operation amount is equal to or greater than a predetermined threshold.

[0095] A work assistance system according to a fifth aspect of the present invention is the work assistance system according to any one of the first to fourth aspects, wherein the controller determines the offset amount to be zero when the lever operation amount is less than a predetermined threshold value.

[0096] A work assistance system according to a sixth aspect of the present invention is the work assistance system according to the first to fifth aspects, wherein the lever operation amount changes in response to a change in the position of the operating lever, and the controller resets the offset amount when the operating lever returns to a default position.

[0097] A work assistance system according to a seventh aspect of the present invention is the work assistance system according to any one of the first to sixth aspects, wherein the controller determines the offset amount based on an integrated value of the lever operation amount.

[0098] A work support system according to an eighth aspect of the present invention is the work support system according to the seventh aspect, wherein the controller is capable of determining whether the work is leveling work on the target construction terrain, and resets the offset amount when it is determined that one preset cycle of the leveling work has been completed.

Claims

1. A work support system for supporting the work of a work machine having a machine body and an attachment that is operably attached to the machine body and performs work, the work support system comprising: an operation lever that receives an input of an operation for operating the attachment; and a controller, wherein the controller determines an offset amount from a target construction terrain that is a finish target to a work target terrain that is a work target of the work machine according to at least a lever operation amount input to the operation lever.

2. The work support system according to claim 1, further comprising an attachment actual speed detection unit that detects an actual speed of the attachment, wherein the controller determines the offset amount based on the lever operation amount and the actual speed.

3. The work support system according to claim 1, wherein the attachment has a tip attachment, and further comprising a distance detection unit that detects a distance from the target construction terrain to the tip attachment, wherein the controller determines the offset amount based on the lever operation amount and the distance.

4. The work support system according to claim 1, wherein the controller determines the offset amount to a predetermined fixed value when the lever operation amount is equal to or greater than a predetermined threshold value.

5. The work support system according to claim 1, wherein the controller determines the offset amount to be zero when the lever operation amount is less than a predetermined threshold value.

6. The work support system according to claim 1, wherein the lever operation amount changes according to a change in the position of the operation lever, and the controller resets the offset amount when the operation lever returns to a default position.

7. The work support system according to claim 1, wherein the controller determines the offset amount based on an integrated value of the lever operation amount.

8. The work support system according to claim 7, wherein the controller is capable of determining whether the work is a land leveling work on the target construction terrain, and when it is determined that the land leveling work for one preset cycle has been completed, the work support system that resets the offset amount.

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