Work assist system for work machine
A work assist system for a self-propelled hydraulic excavator includes a controller ( 18 ) configured to determine a region in which an assumed excavation amount is obtained from an object to be excavated by one excavation operation of the hydraulic excavator ( 1 ) as a region to be excavated S on the basis of the assumed excavation amount in the one excavation operation of the hydraulic excavator ( 1 ), and to calculate a work position Pw of the hydraulic excavator ( 1 ) at which the hydraulic excavator ( 1 ) performs a next excavation operation on the basis of the region to be excavated S. A distance Lw from the hydraulic excavator to the work position Pw is calculated by the controller ( 18 ) and this distance Lw is displayed on the monitor ( 21 ).
1. A hydraulic excavator comprising:
a lower travel structure;
an upper swing structure swingably provided on the lower travel structure;
a work device provided in front of the upper swing structure and having a boom, an arm and a bucket; and
a controller configured to:
acquire a datum point that is set at an intersection of a plane that passes through both a swing center of the upper swing structure and a center of the work device and a boundary portion between a bench upper surface that is a flat surface on which the hydraulic excavator is placed at a time of excavation work and a surface to be excavated that is a downward inclined surface connected to the bench upper surface, and acquire a height of the bench upper surface from a predetermined reference plane, on the basis of input terrain data of an object to be excavated;
determine, on the basis of an assumed excavation amount set with reference to a capacity of the bucket of the work device and the height of the bench upper surface, a region to be excavated in which the assumed excavation amount is obtained from the object to be excavated by one excavation operation of the hydraulic excavator;
calculate a first work position that is a stop position of the hydraulic excavator for a next excavation operation on the basis of the region to be excavated;
calculate a distance from the datum point to the first work position;
calculate a work position distance that is a horizontal distance from a tip end of the lower travel structure to the first work position; and
a display device that displays the work position distance calculated by the controller,
wherein the controller is further configured to calculate:
a second work position of the hydraulic excavator on the bench upper surface based on a stabilizing angle of the object to be excavated, the stabilizing angle being a maximum tilt angle of the surface to be excavated at which the object to be excavated is stable without sliding.
2. The hydraulic excavator according to claim 1 , further comprising a shape sensor that detects the terrain data of the object to be excavated,
wherein the controller is configured to:
generate a surface shape image of the object to be excavated on the basis of the terrain data detected by the shape sensor, and
display the region to be excavated on the surface shape image on the display device.
3. The hydraulic excavator according to claim 2 , wherein
the controller is configured to calculate anew a work position of the hydraulic excavator upon determining at least one of:
an operation of the hydraulic excavator,
an input from an operation device, and
a change of the terrain data, and
display information related to the work position calculated anew on the display device.
4. The hydraulic excavator according to claim 3 ,
wherein
the work position distance is the longer of a distance from the datum point to the first work position and a distance from the datum point to the second work position.