CN116122368A

CN116122368A - Work machine control method, work machine control program, work machine control system, and work machine

Info

Publication number: CN116122368A
Application number: CN202211397143.1A
Authority: CN
Inventors: 出口贵司; 荫山侃杜
Original assignee: Yanmar Holdings Co Ltd
Current assignee: Yanmar Holdings Co Ltd
Priority date: 2021-11-12
Filing date: 2022-11-09
Publication date: 2023-05-16
Also published as: EP4180585A1; US20230151588A1; KR20230069858A; JP2023072113A

Abstract

The present invention aims to provide a control method of a working machine, a control program for the working machine, a control system for the working machine and the working machine, wherein the burden of an operator related to operation is easily reduced. A control method for a work machine (3) comprises: receiving an operation of an operation device (35) for controlling the work machine (3); monitoring a specific item as a monitoring target; and if a specific event occurs, determining whether or not a determination condition relating to the operation of the operation device (35) is satisfied.

Description

Work machine control method, work machine control program, work machine control system, and work machine

Technical Field

The present invention relates to a method for controlling a work machine, a control program for a work machine, a control system for a work machine, and a work machine, which are used for a work machine controlled in response to an operation of an operation device.

Background

As a related art, a working machine is known which includes a machine body, a working device mounted on the machine body, and a hydraulic breaker attached to a front end portion of the working device (for example, refer to patent document 1). The work machine according to the related art further includes a change-over switch capable of switching between an automatic hammer prohibition state in which the hydraulic breaker is disabled and an automatic hammer permission state in which the hydraulic breaker is enabled. In this work machine, in order not to perform unintentional striking, the automatic hammer prohibition state is generally set, and the automatic hammer permission state is switched by operating the change-over switch. Specifically, the work machine is configured to: when the change-over switch is operated in the automatic hammer prohibition state, the automatic hammer is shifted to the automatic hammer standby state, and when the change-over switch is operated again in the automatic hammer standby state for a constant time, the automatic hammer permission state is shifted.

Patent document 1: japanese patent application laid-open No. 2010-209461

In the related art described above, the automatic hammer prohibition state is switched to the automatic hammer permission state by the operation of the change-over switch, and therefore, for example, the operator needs to pay attention to the operation in order to avoid the hydraulic breaker suddenly becoming an operable state to start striking.

Disclosure of Invention

The present invention aims to provide a control method of a working machine, a control program for the working machine, a control system for the working machine and the working machine, wherein the burden of an operator related to operation is easily reduced.

The method for controlling a working machine according to one aspect of the present invention includes: receiving an operation of an operation device for controlling the work machine; monitoring a specific item as a monitoring target; and if the specific event occurs, judging whether a judging condition related to the operation of the operation device is met.

A control program for a working machine according to an aspect of the present invention is a program for causing one or more processors to execute the control method of a working machine.

A control system for a work machine according to an aspect of the present invention includes an acquisition processing unit, a monitoring processing unit, and a determination processing unit. The acquisition processing unit receives an operation of an operation device for controlling the work machine. The monitoring processing unit monitors a specific item to be monitored. When the specific event occurs, the determination processing unit determines whether or not a determination condition concerning an operation of the operating device is satisfied.

A work machine according to an aspect of the present invention includes the control system for a work machine, and a body that is controlled in response to an operation of the operating device.

According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine, which can easily reduce the burden on an operator involved in an operation.

Drawings

Fig. 1 is a schematic perspective view showing the overall structure of a work machine according to embodiment 1.

Fig. 2 is a schematic block diagram of the work machine according to embodiment 1.

Fig. 3 is a schematic external view of an operating device of the work machine according to embodiment 1.

Fig. 4 is a schematic external view of a display device of a work machine according to embodiment 1.

Fig. 5 is a flowchart showing an example of the operation of the control system for a work machine according to embodiment 1.

Fig. 6 is a timing chart showing an example of the operation of the control system for a work machine according to embodiment 1.

Fig. 7 is a view showing an example of a display screen displayed on the display device of the work machine according to embodiment 1.

Fig. 8 is a flowchart showing an example of the operation of the control system for a work machine according to embodiment 2.

Description of the reference numerals

A control system for a work machine; work machine; an acquisition processing unit; monitoring the treatment section; a determination processing unit; the body; operating the device; 371. cut off switch; 341-344.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention.

(embodiment 1)

[1] Integral structure

As shown in fig. 1, the work machine 3 according to the present embodiment includes a traveling unit 31, a turning unit 32, and a work unit 33 in a machine body 30. As shown in fig. 2, the work machine 3 further includes a work machine control system 1 (hereinafter, also simply referred to as "control system 1"). As shown in fig. 1 and 2, the body 30 further includes a display device 2, a driving device 34, an operating device 35, a control valve 36, a cut-off switch 371, a cut-off lever 372, and the like.

The term "work machine" as used in the present disclosure refers to various types of work machines, and as one example, is a work vehicle such as a backhoe (including a hydraulic excavator, a mini-excavator, and the like), a wheel loader, and a carrier. The work machine 3 includes a work unit 33, and the work unit 33 is configured to be able to perform one or more tasks. The work machine 3 is not limited to the "vehicle", and may be a work craft such as a work ship, an unmanned aerial vehicle, or a multi-rotor aircraft. The work machine 3 is not limited to a construction machine (construction equipment), and may be an agricultural machine (agricultural equipment) such as a rice transplanter, a tractor, or a combine harvester. In the present embodiment, the working machine 3 is a riding type backhoe, and a case where an excavating operation, a soil preparation operation, a trench excavating operation, a loading operation, or the like is performed as an operation will be described as an example unless otherwise specified.

In the present embodiment, for convenience of explanation, the vertical direction in a state where the work machine 3 is usable is defined as the vertical direction D1. The front-rear direction D2 and the left-right direction D3 are defined based on a direction viewed from a user (operator) riding (the driving unit 321 of) the work machine 3 in a non-pivoted state of the pivoting unit 32. In other words, each direction used in the present embodiment is a direction defined with reference to the body 30 of the work machine 3, the direction in which the body 30 moves when the work machine 3 advances is "forward", and the direction in which the body 30 moves when the work machine 3 retreats is "backward". Similarly, the direction in which the front end portion of the body 30 moves when the work machine 3 turns right is "right", and the direction in which the front end portion of the body 30 moves when the work machine 3 turns left is "left". However, these directions are not intended to limit the direction of use (direction at the time of use) of the work machine 3.

Work machine 3 includes an engine as a power source. In the present embodiment, the engine is a diesel engine as an example. The engine is driven by being supplied with fuel (light oil here) from a fuel tank. In the work machine 3, for example, a hydraulic pump is driven by an engine, and hydraulic oil is supplied from the hydraulic pump to hydraulic actuators (including the hydraulic motor 43, the hydraulic cylinder 44, and the like) in each part of the machine body 30, thereby driving the machine body 30. For example, a user (operator) riding in the driving portion 321 of the machine body 30 operates the operation device 35 such as the operation levers 351 and 352 (see fig. 3) to control the work machine 3.

In the present embodiment, as described above, since the work machine 3 is assumed to be a riding type backhoe, the work unit 33 is driven in response to an operation by a user (operator) riding in the driving unit 321, and works such as excavation work are performed. A driving unit 321 for a user to ride on is provided in the turning unit 32.

Here, the display device 2 and the operation device 35 are mounted on the driving portion 321 of the machine body 30, and the user can operate the pair of operation devices 35 while observing various information related to the work machine 3 displayed on the display device 2. As an example, by displaying information related to the operation state of the work machine 3, such as the cooling water temperature and the operating oil temperature, on the display screen of the display device 2, the user can confirm information related to the operation state of the work machine 3 required for the operation of the operation device 35 on the display device 2.

The traveling unit 31 has a traveling function and is configured to be capable of traveling (including turning) on the ground. The traveling unit 31 includes, for example, a pair of left and right crawler belts 311, a pair of scrapers 312, and the like. The traveling unit 31 further includes a hydraulic motor 43 (hydraulic actuator) or the like for driving the crawler 311.

The turning unit 32 is located above the traveling unit 31 and is configured to be rotatable about a rotation axis extending in the vertical direction with respect to the traveling unit 31. The turning portion 32 includes a hydraulic motor (hydraulic actuator) for turning. The turning unit 32 is equipped with an engine, a hydraulic pump, and the like in addition to the driving unit 321. A boom bracket 322 to which the working unit 33 is attached is provided at the front end of the turning unit 32.

The working unit 33 is configured to be able to execute one or more jobs. The working unit 33 is supported by the boom bracket 322 of the swing unit 32, and performs a work. The working unit 33 has a fitting 331. The attachment 331 is an arbitrary tool (work tool) selected from a plurality of kinds of tools according to the content of the work. The fitting 331 is attached to the body 30 so as to be detachable as an example, and is replaced according to the content of the work. Examples of the attachment 331 for the work machine 3 include various implements such as a crusher, an auger, a pulverizer, a fork, a bucket, a fork claw, a steel frame cutter, an asphalt cutter, a mower, a ripper, a soil covering machine, an inclined rotator, and a ramming machine.

The working unit 33 further includes a boom 332, an arm 333, a hydraulic actuator (including a hydraulic cylinder 44, a hydraulic motor, and the like), and the like. Fitting 331 is mounted to the front end of arm 333. Here, the working unit 33 receives power from an engine as a power source and operates. Specifically, the hydraulic pump is driven by the engine, and hydraulic oil is supplied from the hydraulic pump to the hydraulic actuator of the working unit 33, whereby the working unit 33 operates.

The boom 332 is rotatably supported by the boom bracket 322 of the swing portion 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable about a rotation axis extending in the horizontal direction. The boom 332 has a shape extending upward from a base end portion supported by the boom bracket 322. The arm 333 is coupled to the distal end of the boom 332. The arm 333 is supported rotatably about a rotation axis extending in the horizontal direction with respect to the boom 332.

The work machine 3 includes a driving device 34, and the accessories 331 of the work unit 33 are driven by power from the driving device 34, thereby performing various operations. That is, in the working machine 3, depending on the content of the work, for example, the attachment 331 such as a crusher or an auger is attached to the machine body 30, and the attachment 331 is driven by supplying power from the driving device 34 to the attachment 331, whereby the work is performed. Therefore, when the work machine 3 performs the work, for example, the user (operator) operates the operation device 35 to control the output (power) of the driving device 34 supplied to the attachment 331, etc., so that the attachment 331 performs a desired operation.

The driving device 34 is a device for supplying power to the fitting 331. In the present embodiment, the driving device 34 is constituted by a device (mechanism) such as a PTO (Power take-off) for taking out Power from the engine as Power for driving the attachment 331 constituted by a hydraulic device, as an example. Specifically, the driving device 34 feeds hydraulic oil from a hydraulic pump driven by the engine to the fitting 331 to supply the hydraulic oil to the fitting 331. The driving device 34 adjusts the flow rate of the hydraulic oil supplied to the fitting 331 to adjust the amount of power supplied to the fitting 331.

Here, the driving device 34 has a plurality of (in the present embodiment, four, as an example) output ports 341 to 344 (see fig. 2). The plurality of output ports 341 to 344 are configured to be capable of outputting power, respectively. The plurality of output ports 341 to 344 can individually regulate the flow rate of the working oil, which is the motive power, and the driving device 34 outputs the motive power from each of the plurality of output ports 341 to 344. In the present embodiment, since each of the plurality of output ports 341 to 344 is a PTO port, the output port 341 may be denoted as "PTO1", the output port 342 may be denoted as "PTO2", the output port 343 may be denoted as "PTO3", and the output port 344 may be denoted as "PTO4".

The turning unit 32 and the traveling unit 31 are operated by receiving power from an engine as a power source, similarly to the working unit 33. That is, the hydraulic actuators (hydraulic motors) of the turning unit 32 and the traveling unit 31 are supplied with hydraulic oil from the hydraulic pump, and thereby the turning unit 32 and the traveling unit 31 operate.

The operation device 35 is disposed in the driving portion 321 of the body 30, and is a user interface for receiving an operation input by a user (operator). The operation device 35 receives various operations by the user by outputting an electric signal (operation signal) corresponding to the operation by the user, for example. In the present embodiment, the operation device 35 includes a pair of operation levers 351 and 352 (see fig. 3) as an example. The operation device 35 will be described in detail in the column "[2] operation device".

The control system 1 is configured mainly with a computer system having one or more processors such as CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), for example, and executes various processes (information processing). In the present embodiment, control system 1 is an integrated controller that controls the entire work machine 3, and is constituted by, for example, an electronic control unit (ECU: electronic Control Unit). However, the control system 1 may be provided separately from the integrated controller, or one processor or a plurality of processors may be used as a main configuration. The control system 1 will be described in detail in the column "[3] the structure of the control system".

The display device 2 is disposed in the driving unit 321 of the body 30, and is a user interface for receiving operation inputs by a user (operator) and outputting various information to the user. The display device 2 outputs, for example, an electric signal corresponding to an operation by a user, thereby accepting various operations by the user. As a result, the user (operator) can visually recognize the display screen Dp1 (see fig. 4) displayed on the display device 2, and can operate the display device 2 as necessary.

As shown in fig. 2, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be capable of communicating with the control system 1 and to be capable of transmitting and receiving data to and from the control system 1. In the present embodiment, the display device 2 is a dedicated device for the work machine 3 as an example.

The control unit 21 controls the display device 2 based on data from the control system 1. Specifically, the control unit 21 outputs an electric signal corresponding to the user operation received by the operation unit 22, and displays the display screen Dp1 generated by the control system 1 on the display unit 23.

The operation unit 22 is a user interface for receiving an operation input from a user (operator) to the display screen Dp1 displayed on the display unit 23. The operation unit 22 outputs, for example, an electric signal corresponding to an operation by the user U1 (see fig. 4), and thereby receives various operations by the user U1. In the present embodiment, as an example, as shown in fig. 4, the operation unit 22 includes a plurality of (six in this case) mechanical push switches 221 to 226. The plurality of key switches 221 to 226 are arranged so as to be close to the display area (in the example of fig. 4, arranged below) along the periphery of the display area of the display unit 23. The plurality of key switches 221 to 226 correspond to items displayed on the display screen Dp1 described later, and any item on the display screen Dp1 is operated (selected) by operating any one of the plurality of key switches 221 to 226.

The operation unit 22 may include a touch panel, an operation dial, and the like. Even in this case, any one of the items on the display screen Dp1 is operated (selected) by the operation of the operation unit 22.

The display unit 23 is a user interface for presenting information to the user U1 (operator), such as a liquid crystal display or an organic EL display, which displays various information. The display unit 23 presents various information to the user by displaying. In the present embodiment, the display unit 23 is a full-color liquid crystal display with a backlight, and has a display area of "lateral length" that is laterally long, as shown in fig. 4, as an example.

Fig. 2 schematically illustrates a hydraulic circuit and an electric circuit (electrical connection relationship) of the work machine 3 according to the present embodiment. In fig. 2, a broken line indicates a low-pressure (for the pilot oil) oil passage, and an arrow of a dash-dot line indicates a path of an electric signal.

As shown in fig. 2, the body 30 of the work machine 3 includes a control valve 36, a cut-off switch 371, and a cut-off lever 372 in addition to the display device 2, the driving device 34, and the operating device 35.

Here, the driving device 34 is provided with a pilot-type direction switching valve (control valve) capable of switching the direction and flow rate of the hydraulic oil from the hydraulic pump. The drive device 34 is driven by supplying pilot oil, which is an input command, from the pilot pump to the directional control valve. A solenoid-operated control valve 36 (solenoid valve) is inserted into the supply path of the pilot oil directional control valve. The control valve 36 operates in response to a control signal (current) from the control system 1. Here, the control valve 36 is a (electromagnetic) proportional control valve, but is not limited to this, and may be an on-off valve capable of switching the opening/shutting of the flow path, for example.

Control valve 36 opens the flow path of the pilot oil in the energized state, that is, in the state where the current as the control signal is supplied, and closes the flow path of the pilot oil in the non-energized state, that is, in the state where the current as the control signal is shut off. Therefore, by cutting off the supply of current (control signal) to the control valve 36, the driving device 34 cannot be driven, and the output of the driving device 34 is forcibly stopped without being affected by the operation of the operation device 35.

The cut-off switch 371 is interlocked with the cut-off lever 372. The cut-off lever 372 is disposed in the driving section 321 of the body 30, and receives an operation input by a user (operator). In the present embodiment, as an example, the cutting lever 372 can be operated in the up-down direction D1. The cut-off switch 371 is turned "off" when the cut-off lever 372 is in the "raised position" which is the upper end position of the movable range, and the cut-off switch 371 is turned "on" when the cut-off lever 372 is in the "lowered position" which is the lower end position of the movable range. The cut-off switch 371 is connected to the control system 1, and the control system 1 cuts off the current as a control signal in a state where the cut-off switch 371 is off, thereby forcibly cutting off the hydraulic circuit by the control valve 36. In the case where a shutoff valve that directly switches between on and off of the shutoff switch 371 is provided, the control system 1 may shut off the hydraulic circuit in conjunction with the shutoff switch 371 without intervention. That is, when the cut-off switch 371 is off, the hydraulic circuit is cut off by the cut-off valve, and thus the control system 1 forcibly cuts off the hydraulic circuit without intervention. Accordingly, when the cutting rod 372 is in the "lowered position", the driving device 34 is driven by the operation of the operation device 35, whereas when the cutting rod 372 is in the "raised position", the output of the driving device 34 is forcibly stopped without being affected by the operation of the operation device 35. Therefore, in order to drive the driving device 34, the user (operator) needs to operate the cut-off lever 372 to the "lowered position".

Further, since the turning portion 32 and the traveling portion 31 are also operated by supplying the hydraulic oil from the hydraulic pump to the hydraulic actuator (hydraulic motor), the turning portion 32 and the traveling portion 31 cannot be driven even when the shutoff lever 372 is at the "raised position". That is, when the cutting rod 372 is in the "raised position", the operation unit 33, the turning unit 32, and the traveling unit 31 are all forcibly set to a state in which they cannot be driven.

In short, the cut-off switch 371 is in a "locked state" in which the operation of the work machine 3 is restricted (including prohibition) when it is turned off, and is in an "unlocked state" in which the operation of the work machine 3 is not restricted when it is turned on. When the cut-off lever 372 is in the "raised position" and the cut-off switch 371 is in the locked state (off), the operation of the work machine 3 including the drive device 34 is forcibly restricted without being affected by the operation of the operation device 35. The cut-off lever 372 is a lever operated when the work machine 3 is locked in this manner, and is synonymous with a door (type) locking lever.

The body 30 includes a communication terminal, a fuel tank, a battery, and the like in addition to the above-described configuration. The body 30 is provided with various sensors (including a camera) for detecting a detection target in a monitoring area around the work machine 3, such as a camera for photographing the periphery of the body 30.

[2] Operating device

Next, the structure of the operation device 35 will be described in detail with reference to fig. 3. The operating device 35 includes a pair of

operating levers

351, 352 as described above. As shown in "front view" of fig. 3, the lever 351 is positioned on the right hand side when viewed from the user (operator) riding on the driver 321, and the lever 352 is positioned on the left hand side when viewed from the user riding on the driver 321. Therefore, the user holds the operation lever 351 with the right hand and the operation lever 352 with the left hand, and operates the pair of operation levers 351 and 352, thereby causing the work machine 3 to perform various operations such as forward and backward movements.

Here, the operating device 35 has a plurality of (four in this case) operating pieces Sw1 to Sw4 corresponding one-to-one to the plurality of output ports 341 to 344 so that the plurality of output ports 341 to 344 of the driving device 34 can be individually operated. The operating element Sw1 is disposed on the front surface side (front surface side) of the operating lever 351, and the operating element Sw2 is disposed on the front surface side (front surface side) of the operating lever 352. The operating element Sw4 is disposed on the rear surface side (back surface side) of the operating lever 351, and the operating element Sw3 is disposed on the rear surface side (back surface side) of the operating lever 352. That is, in the present embodiment, the operating lever 351 on the right hand side is provided with the operating element Sw1 and the operating element Sw4 separately on the front and rear surfaces thereof, and the operating lever 352 on the left hand side is provided with the operating element Sw2 and the operating element Sw3 separately on the front and rear surfaces thereof. The plurality of operating elements Sw1 to Sw4 constitute an "adjustment operating element" that adjusts the magnitude of the power (the flow rate of the hydraulic oil) output from the driving device 34.

In the present embodiment, as an example, each of the plurality of operating elements Sw1 to Sw4 is constituted by a lever switch operable to tilt in the right direction A1 or the left direction A2. In particular, the operation elements Sw1 to Sw4 are instantaneous switches, and they tilt to the right A1 or the left A2 only during the operation force is applied, with the center of the movable range in the left-right direction D3 as the neutral position Pn1 (see fig. 3), and return to the neutral position Pn1 when the operation force is lost. By operating such operating elements Sw1 to Sw4 to the right A1 or the left A2, the magnitude of the power (the flow rate of the hydraulic oil) output from the corresponding output ports 341 to 344 is determined according to the operation amount (the tilting amount) thereof. Basically, the larger the operation amount of the operators Sw1 to Sw4 is, the larger the power output from the output ports 341 to 344 respectively corresponding thereto is, that is, the larger the flow rate of the working oil is.

Here, as an example, it is assumed that the operating element Sw1 corresponds to the output port 341, the operating element Sw2 corresponds to the output port 342, the operating element Sw3 corresponds to the output port 343, and the operating element Sw4 corresponds to the output port 344. In this case, when the user operates the operation tool Sw1, the power output from the output port 341 in the driving device 34 is adjusted according to the operation amount of the operation tool Sw 1. On the other hand, when the user operates the operation element Sw4, the power output from the output port 344 in the driving device 34 is adjusted according to the operation amount of the operation element Sw 4. The correspondence between the plurality of output ports 341 to 344 and the plurality of operating elements Sw1 to Sw4 is defined by "assignment information", which is stored in, for example, a memory of the control system 1.

Although a detailed description is omitted, for example, setting concerning the operation of the operation device 35 such as the distribution information (the correspondence relationship between the plurality of output ports 341 to 344 and the plurality of operation elements Sw1 to Sw 4) is performed on the display device 2. That is, on a setting screen or the like displayed on the display unit 23 of the display device 2, the correspondence between the plurality of output ports 341 to 344 and the plurality of operation elements Sw1 to Sw4 can be set by the user's operation.

In the present embodiment, the operating element Sw5 is disposed on the rear surface side (back surface side) of the operating lever 351, and the operating element Sw6 is disposed on the rear surface side (back surface side) of the operating lever 352. The operating members Sw5 and Sw6 are operating members for enabling (turning on) a maintaining function (maintaining function) for maintaining the output of the driving device 34. That is, the operating members Sw5, sw6 constitute "maintenance operating members" for maintaining the output of the driving device 34. In the present embodiment, as an example, the operation pieces Sw5 and Sw6 are each constituted by a momentary push-button switch. Therefore, when the user presses the operation elements Sw5 and Sw6, the hold function becomes effective, and the output of the driving device 34 is held (held).

In particular, in the present embodiment, the operation element Sw5 provided on the operation lever 351 is effective for the maintenance function for the output port 341 corresponding to the operation element Sw1 provided on the same operation lever 351. On the other hand, the operating element Sw6 provided to the operating lever 352 makes the maintenance function effective for the output port 342 corresponding to the operating element Sw2 provided to the same operating lever 352. Therefore, for example, when the user presses the operation tool Sw5, the output is maintained (held) for the output port 341 among the plurality of output ports 341 to 344.

However, the configuration is not limited to the above, and each of the operators Sw5 and Sw6 may correspond to at least one of the output ports 341 to 344 corresponding to the operators Sw1 to Sw4 provided on the

same levers

351 and 352. Therefore, for example, in the case of the operating element Sw5, the maintenance function for both the

output ports

341 and 344 may be enabled, or the maintenance function for the output port 344 may be enabled. On the other hand, in the case of the operating element Sw6, the maintenance function for both the

output ports

342 and 343 may be enabled, or the maintenance function for the output port 343 may be enabled.

In short, in the work machine 3 according to the present embodiment, the drive device 34 operates in response to the operation of the operation device 35 having the plurality of operation elements Sw1 to Sw 6. Here, the plurality of operators Sw1 to Sw6 include adjustment operators (operators Sw1 to Sw 4) for adjustment operation for adjusting the output of the driving device 34, and maintenance operators (operators Sw5, sw 6) for maintenance operation for maintaining the output of the driving device 34. A plurality of adjustment operators (operators Sw1 to Sw 4) are provided for one operation lever 351 (or operation lever 352).

Here, when the adjustment operators (operators Sw1 to Sw 4) and the maintenance operators (operators Sw5, sw 6) are simultaneously operated, the work machine 3 maintains the output of the drive device 34 at a value corresponding to the operation amount of the adjustment operators (operators Sw1 to Sw 4). For example, if the user presses the operating element Sw5 during the operation of the operating element Sw1, the adjustment operating element (operating element Sw 1) and the maintenance operating element (operating element Sw 5) are simultaneously operated. In this case, the magnitude of the power output from the output port 341 is maintained at a value corresponding to the operation amount of the operating element Sw1 at the time when the operating element Sw5 is operated.

On the other hand, when only the maintenance operation members (operation members Sw5 and Sw 6) among the adjustment operation members (operation members Sw1 to Sw 4) and the maintenance operation members (operation members Sw5 and Sw 6) are operated, the work machine 3 maintains the output of the drive device 34 at a predetermined value. For example, when the user performs only the pressing operation on the operation tool Sw5, the magnitude of the power output from the output port 341 corresponding to the operation tool Sw1 is maintained at a predetermined value set in advance for the output port 341.

Therefore, according to the manner of operation by the user, it is possible to easily distinguish between the case of maintaining the output of the driving device 34 at an arbitrary value and the case of maintaining the output of the driving device 34 at a predetermined value. Hereinafter, the operation state of the maintenance function when the output of the driving device 34 is maintained at an arbitrary value is referred to as "arbitrary maintenance", and the operation state of the maintenance function when the output of the driving device 34 is maintained at a predetermined value is referred to as "predetermined value maintenance".

In the present embodiment, as shown in fig. 3, a display lamp 350 for presenting the operation state of the maintenance function is provided at the grip portion of each of the operation levers 351 and 352. The display lamp 350 includes a light emitting element such as an LED, for example, and presents an operation state of the maintenance function according to the light emitting state (lighting state) thereof.

The operation elements Sw1 to Sw4 are not limited to lever switches, and may be, for example, toggle switches, rocker switches, rotary switches, slide switches, encoders, or the like. The operation elements Sw5 and Sw6 are not limited to the push-button switches, and may be, for example, lever switches or touch sensors. The operation levers 351 and 352 may be arranged in opposite directions, or may be arranged in the front-rear direction D2 or the up-down direction D1. The

operation lever

351, 352 may be one. The operating members Sw5 and Sw6 are not limited to being disposed on the rear surface side of the operating levers 351 and 352, and may be disposed on the side surfaces or the front surface side of the operating levers 351 and 352, for example. The operating device 35 may have, in the operating levers 351 and 352, a plurality of operating elements other than the operating elements Sw1 to Sw6 described above. In addition, the display lamp 350 may be omitted as appropriate.

[3] Structure of control system

Next, the configuration of the control system 1 according to the present embodiment will be described with reference to fig. 2. The control system 1 controls each part of the machine body 30 (including the traveling part 31, the turning part 32, the working part 33, the driving device 34, and the like) in accordance with an operation of the operation device 35. In the present embodiment, as described above, operating device 35 is mounted on body 30 of work machine 3. The control system 1 is a component of the work machine 3, and forms the work machine 3 together with the machine body 30 and the like. In other words, the work machine 3 according to the present embodiment includes at least the control system 1 and the machine body 30 controlled in response to the operation of the operation device 35.

As shown in fig. 2, the control system 1 includes an acquisition processing unit 11, a monitoring processing unit 12, a determination processing unit 13, a switching processing unit 14, a control processing unit 15, and a report processing unit 16. In the present embodiment, the control system 1 has a computer system having one or more processors as an example, and thus the plurality of functional units (the acquisition processing unit 11 and the like) are realized by executing a control program for a work machine by the one or more processors. The plurality of functional units included in the control system 1 may be provided in a plurality of housings or may be provided in one housing.

The control system 1 is configured to be capable of communicating with devices provided in each part of the body 30. That is, at least the display device 2, the operation device 35, the control valve 36, the cut-off switch 371, and the like are connected to the control system 1. Thus, the control system 1 can control the display device 2, the control valve 36, and the like, and acquire electric signals (operation signals and the like) from the display device 2, the operation device 35, and the cut-off switch 371. The term "communicable" as used in the present disclosure means that information (data) can be directly transmitted or received by an appropriate communication system such as wired communication or wireless communication (communication using radio waves or light as a medium), or indirectly via a communication network (network) or a relay. Therefore, the control system 1 may directly transfer various information (data) to and from each device, or may indirectly transfer various information (data) via a repeater or the like. As an example, the control system 1 and the devices provided in each part of the body 30 CAN communicate with each other by a communication system such as CAN (Controller Area Network: controller area network).

The acquisition processing unit 11 executes an acquisition process that accepts an operation of the operation device 35 for controlling the work machine 3. That is, the operation device 35 having the plurality of operation elements Sw1 to Sw6 outputs an operation signal corresponding to the operation of the user, and the acquisition processing unit 11 acquires the operation signal. Thus, for example, the operation signal indicating the operation amount with respect to the neutral position Pn1 can be acquired by the acquisition processing unit 11 for the operation element Sw1 among the plurality of operation elements Sw1 to Sw 6.

The monitoring processing unit 12 executes a monitoring process of monitoring a specific item to be monitored. The term "specific item" as used in the present disclosure refers to a predetermined specific item, and the monitoring processing unit 12 monitors whether or not the specific item is generated. That is, when a specific event occurs, the monitoring processor 12 detects the occurrence of the specific event.

In the present embodiment, the specific items include items accompanying a change in the operation state of the work machine 3 according to the operation of the operation device 35. That is, the specific matters include matters that the operation state of the work machine 3 changes in some way although the operation of the operation device 35 is constant (fixed). According to this configuration, when the user (operator) maintains the operation state of the operation device 35, the monitor processor 12 can detect the occurrence of a matter such as an abrupt change in the operation state of the work machine 3 as the occurrence of a specific matter. Thus, for example, a event that causes abrupt driving of work machine 3, abrupt stopping of work machine 3, or the like can be detected as the occurrence of a specific event.

Specifically, in the present embodiment, the specific items include a case where the cut-off switch 371 in the work machine 3 is switched from the locked state (off) to the unlocked state (on). That is, the matter that the cut-off lever 372 is operated to the "lowered position" from the state where the cut-off lever 372 is in the "raised position" and the cut-off switch 371 is in the locked state (off) to thereby switch the cut-off switch 371 to the unlocked state (on) is included in the specific matters. Thus, for example, in a state in which the user operates the operation device 35, the monitoring processor 12 can detect the occurrence of a matter such as sudden driving of the work machine 3 as the occurrence of a specific matter in association with the switching of the cut switch 371 from the locked state to the unlocked state.

The specific items include a case where a setting related to the operation of the operation device 35 is changed. That is, for example, a case where the "assignment information" or the like defining the correspondence relation between the plurality of output ports 341 to 344 and the plurality of operation elements Sw1 to Sw4 is changed to change the setting related to the operation of the operation device 35 is included in the specific matters. Thus, as an example, in a state in which the user operates the operating element Sw1, the monitor processor 12 can detect the occurrence of a specific event as the occurrence of a event in which the output port 342 is suddenly driven, with the change of the assignment information to the operating element Sw1 from the output port 341 to the output port 342.

When the specific event occurs, the determination processing unit 13 executes a determination process of determining whether or not a determination condition concerning the operation of the operation device 35 is satisfied. The "determination condition" in the present disclosure is a predetermined condition associated with the operation of the operation device 35, and is, for example, a condition that the position of each of the operating elements Sw1 to Sw4 is in the neutral position Pn1, that the operating elements Sw5, sw6 are non-operated, that a specific operating element is pressed for a long time (for a predetermined time or longer of operation), or the like.

The switching processing unit 14 performs switching processing for switching between the validity and invalidity of control of the work machine 3 corresponding to the operation of the operation device 35 based on the determination result of whether or not the determination condition is satisfied. If the control of the work machine 3 corresponding to the operation of the operation device 35 is "disabled", for example, the drive device 34 cannot be driven, and the output of the drive device 34 is forcibly stopped without being affected by the operation of the operation device 35. In the present embodiment, as an example, the switching processing unit 14 validates the control of the work machine 3 corresponding to the operation of the operation device 35 when the determination condition is satisfied, and invalidates the control of the work machine 3 corresponding to the operation of the operation device 35 when the determination condition is not satisfied.

The control processing section 15 executes control processing for controlling the body 30 in accordance with the operation of the operation device 35. In the control process, the control processing unit 15 executes control of the traveling unit 31, the turning unit 32, the working unit 33, and the like of the body 30. Specifically, the control processing unit 15 outputs a control signal to the control valve 36 at least in accordance with the operation of the operation device 35, thereby controlling the driving device 34.

The report processing unit 16 performs a report process of reporting a determination result based on whether or not the determination condition is satisfied. The term "report" as used in the present disclosure means a notification to a user (operator) by various means, including, for example, a display (including lighting of a display lamp), a sound (including voice), and transmission to another terminal or writing to a non-transitory recording medium. In the present embodiment, when the determination condition is not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operation device 35 is "disabled", the report processing unit 16 causes the display unit 23 of the display device 2 to display the result of the determination (see fig. 7).

[4] Control method for work machine

Hereinafter, an example of a control method (hereinafter, simply referred to as a "control method") of the work machine 3 executed by the control system 1 will be mainly described with reference to fig. 5 to 7. Fig. 5 is a flowchart showing an example of processing relating to the control method. Fig. 6 is a timing chart showing an example of state changes of the shut-off signal, the PTO operation, and the PTO control on the horizontal axis as the time axis. The "off signal" here is an electrical signal input from the off switch 371 to the control system 1, and indicates the off (locked state) or on (unlocked state) of the off switch 371. The "PTO operation" here is an electric signal (operation signal) input from the operation device 35 to the control system 1, and particularly indicates an operation state of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the driving device 34. The "PTO control" is a state of control based on an electric signal (control signal) input from the control system 1 to the control valve 36, and particularly indicates whether the control of the output ports 341 to 344 of the drive device 34 is effective or ineffective.

The control method according to the present embodiment is executed by the control system 1 having a computer system as a main configuration, and is therefore embodied in a control program for a work machine (hereinafter, simply referred to as a "control program"). That is, the control program according to the present embodiment is a computer program for causing one or more processors to execute the respective processes according to the control method. Such a control program may be executed in cooperation with the display device 2 through the control system 1, for example.

Here, when a specific start operation is performed to cause the control program to execute, the control system 1 executes various processes described below relating to the control method. The start operation is, for example, a start operation of an engine of the work machine 3. On the other hand, when a specific termination operation is performed, which is set in advance, the control system 1 terminates the following various processes related to the control method. The ending operation is, for example, a stop operation of the engine of the work machine 3.

In the following, a control method will be described in which the state in which the cut-off lever 372 is in the "raised position" and the cut-off switch 371 is in the locked state (off) is set to the initial state, as an example. In the following, a case where the cut-off switch 371 is switched from the locked state (off) to the unlocked state (on) will be described as an example of "specific matters", and a case where the positions of the respective operating elements Sw1 to Sw4 are at the neutral position Pn1 will be described as an example of "determination conditions".

As shown in fig. 5, the control system 1 first acquires a cut-off signal from the cut-off switch 371 (S1). Here, in the initial state, the shut-off lever 372 is in the "raised position" as described above, and thus the shut-off signal is in the locked state. Thereafter, the monitoring processing unit 12 of the control system 1 determines whether or not the cut-off switch 371 is in the lock-released state based on the cut-off signal (S2). When the state of the cutting lever 372 is kept at the "raised position", the cutting signal is in the locked state, and therefore the monitoring processing unit 12 determines that the locking state is not released (S2: no), and returns the processing to step S1. On the other hand, when the user performs an operation to lower the cutting rod 372 to set the cutting rod 372 to the "lowered position", the cutting signal is set to the lock released state, and therefore the monitoring processing unit 12 determines that the locking is released state (yes in S2), and the process proceeds to step S3. At this time, the monitoring processing unit 12 determines that the "specific event" has occurred based on the case where the cut-off switch 371 is switched from the locked state (off) to the unlocked state (on).

In step S3, the acquisition processing unit 11 of the control system 1 acquires an operation signal from the operation device 35. At this time, the acquisition processing unit 11 acquires the operating states of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the driving device 34 as PTO operations. In step S4, the determination processing unit 13 of the control system 1 determines whether or not the operation state (PTO operation) of the operators Sw1 to Sw4 determined based on the operation signal is at the neutral position Pn1 (not limited to the precise point, but may be within a predetermined range including the play). The operation elements Sw1 to Sw4 are momentary switches that return to the neutral position Pn1 when the operation force is lost. Therefore, in a state where the user operates at least one of the operating elements Sw1 to Sw4, the determination processing section 13 determines that the neutral position Pn1 is not present (S4: no), and the process proceeds to step S5. On the other hand, in a non-operating state in which the user does not operate any of the operating elements Sw1 to Sw4, the determination processing section 13 determines that the neutral position Pn1 is present (yes in S4), and the process proceeds to step S6. At this time, the determination processing unit 13 determines that the "determination condition" is satisfied based on the case where all of the operating elements Sw1 to Sw4 are at the neutral position Pn 1.

In step S5, the switching processing unit 14 of the control system 1 invalidates the control of the work machine 3 corresponding to the operation of the operation device 35. In the present embodiment, as an example, the switching processor 14 invalidates the control (PTO control) of the output ports 341 to 344 of the drive device 34 corresponding to the operation (PTO operation) of the operators Sw1 to Sw4, thereby invalidating the control of the work machine 3. Thus, the output is forcibly stopped for all of the output ports 341 to 344 of the driving device 34 without being affected by the actual operation amounts of the operators Sw1 to Sw 4.

In step S6, the switching processing unit 14 of the control system 1 validates the control of the work machine 3 corresponding to the operation of the operation device 35. In the present embodiment, as an example, the switching processor 14 validates the control (PTO control) of the output ports 341 to 344 of the drive device 34 corresponding to the operation (PTO operation) of the operators Sw1 to Sw4, thereby validating the control of the work machine 3. Thus, the output of each of the output ports 341 to 344 of the driving device 34 can be controlled according to the actual operation amounts of the operation pieces Sw1 to Sw 4.

Thereafter, in step S7, the acquisition processing unit 11 of the control system 1 acquires an operation signal from the operation device 35. At this time, the acquisition processing unit 11 acquires the operating states of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the driving device 34 as PTO operations. In step S8, the control processing unit 15 of the control system 1 determines whether or not the operating states (PTO operations) of the operators Sw1 to Sw4 determined based on the operation signal are at the neutral position Pn1. In a state where the user operates at least one of the operating elements Sw1 to Sw4, the control processing section 15 determines that the neutral position Pn1 is not present (S8: no), and moves the process to step S9. On the other hand, in a non-operation state in which the user does not operate any of the operators Sw1 to Sw4, the control processing section 15 determines that the neutral position Pn1 is present (yes in S8), and returns the process to step S7.

In step S9, the control processing unit 15 of the control system 1 outputs a control signal to the control valve 36 based on the operation states (PTO operation) of the operators Sw1 to Sw4 determined based on the operation signal, thereby executing PTO control for controlling the output ports 341 to 344 of the drive device 34. The series of processing relating to the control method is ended in step S9.

The control system 1 executes the processing of steps S1 to S9 described above every time the cut-off lever 372 is operated to the "raised position" and the cut-off switch 371 becomes a locked state (off). The flowchart shown in fig. 5 is merely an example, and the process may be added or omitted as appropriate, or the order of the processes may be changed as appropriate.

According to the series of processes described above, as shown in fig. 6, the activation/deactivation of the control signal is switched. That is, the shut-off lever 372 is in the "raised position" and the shut-off signal is in the locked state (off) until time t 1. Therefore, since the PTO is controlled to be "inactive" until time t1, even if the operators Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is in the "operating" state, the control of the drive device 34 is not performed. That is, the output is forcibly stopped for all of the output ports 341 to 344 of the driving device 34 without being affected by the actual operation amounts of the operators Sw1 to Sw 4. In the present embodiment, as an example, if the off signal is in the locked state (off), the control signal is turned off, and unnecessary power consumption by the control signal is not generated, but the present invention is not limited to this configuration. That is, when the shut-off signal is in the locked state (off), the hydraulic circuit is shut off from the beginning to drive the drive device 34, so that the drive device 34 is forcibly stopped without turning off the control signal.

On the other hand, at time t1, when the user operates the shut-off lever 372 to the "lowered position", the shut-off signal is brought into the unlocked state (on). That is, at time t1, "specific matter" is generated in which the cut-off switch 371 is switched from the locked state (off) to the unlocked state (on). However, at time t1, the PTO operation is in the "operating" state and is not in the neutral position Pn1, and therefore the "determination condition" is not satisfied. Therefore, since the PTO control is "disabled" during the period from time t1 to time t2, the control of the drive device 34 is not performed even when the operators Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is in the "operated" state. That is, the output is forcibly stopped for all of the output ports 341 to 344 of the driving device 34 without being affected by the actual operation amounts of the operators Sw1 to Sw 4.

At time t2, the user stops all operations of the operators Sw1 to Sw4, and thereby all the operators Sw1 to Sw4 are shifted to the neutral position Pn1, and the PTO operation is shifted to the "non-operation" state. That is, at time t2, the "determination condition" is satisfied based on the case where all of the operating elements Sw1 to Sw4 are in the neutral position Pn 1. Therefore, at time t2, the PTO control is switched to "active". Therefore, at time t3 after time t2, when the operators Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is in the "operating" state, the control of the drive device 34 is performed. That is, during a period after time t2, the outputs of the output ports 341 to 344 of the driving device 34 are controlled according to the actual operation amounts of the operation pieces Sw1 to Sw 4.

In the present embodiment, when the PTO control is "disabled", not only is the drive of the drive device 34 corresponding to the operation of the adjustment operators (operators Sw1 to Sw 4) not performed, but also the drive of the drive device 34 corresponding to the operation of the maintenance operators (operators Sw5, sw 6) is not performed. That is, even if an operation for driving the driving device 34 is performed by the "predetermined value holding" function, when the PTO control is "invalid", the output of the driving device 34 is forcibly stopped.

As described above, the control method according to the present embodiment includes: receiving an operation of an operation device 35 for controlling the work machine 3; monitoring a specific item as a monitoring target; and if a specific event occurs, determining whether or not a determination condition concerning the operation of the operation device 35 is satisfied. In other words, in the case of the example of fig. 6, when the cut-off switch 371 is switched from the locked state to the unlocked state at time t1 (yes in step S2 of fig. 5), it is determined that "specific matter" is generated. In this case, for example, if the operating elements Sw1 to Sw4 are all in the neutral position Pn1 after the time t1, it is determined that the "determination condition" is satisfied (yes in step S4 of fig. 5).

According to this configuration, for example, after the cut-off switch 371 is switched from the locked state to the unlocked state, it is determined whether or not a determination condition concerning the operation of the operation device 35 is satisfied. Therefore, for example, by notifying the user (operator) of the determination result, the operator can prepare for the abrupt operation of the work machine 3, and thus the burden on the operator involved in the operation can be easily reduced.

The control method according to the present embodiment further includes: based on the determination result of whether the determination condition is satisfied, the validity and invalidity of the control of the work machine 3 corresponding to the operation of the operation device 35 are switched. Thus, for example, after the cut switch 371 is switched from the locked state to the unlocked state, the validity and invalidity of the control of the work machine 3 is automatically switched according to whether or not the determination condition concerning the operation of the operation device 35 is satisfied. Therefore, the abrupt operation of the work machine 3 can be avoided without requiring the user (operator) to pay attention to the operation.

In the present embodiment, after the occurrence of the specific event, the control of the work machine 3 corresponding to the operation of the operation device 35 is validated in response to the determination that the determination condition is satisfied. That is, after the occurrence of the specific event, the control of the work machine 3 is automatically validated by satisfying the determination condition. Therefore, the abrupt operation of the work machine 3 can be avoided without requiring the user (operator) to pay attention to the operation.

In the present embodiment, the operation of the operation device 35 includes an operation for controlling the output of the PTO ports (output ports 341 to 344) of the work machine 3. Thus, for example, after the cut switch 371 is switched from the locked state to the unlocked state, it is possible to avoid abrupt generation of output from the PTO ports (output ports 341 to 344) of the work machine 3.

However, according to the control method of the present embodiment, as illustrated in fig. 7, a report is made on the display screen Dp1 displayed on the display unit 23 of the display device 2 based on the determination result of whether or not the determination condition is satisfied. The "screen" such as the display screen Dp1 in the present disclosure refers to a video (image) displayed by the display device 2, and includes an image, a figure, a photograph, a text, a moving picture, and the like. Here, when the display screen Dp1 includes moving pictures or the like, the display screen Dp1 does not include a constant video but includes a video that changes from time to time. As shown in fig. 7, in the drawing showing the display screen Dp1 displayed on the display unit 23 of the display device 2, the dot-dash line, the lead line, and the reference numeral showing the region are merely given for the sake of explanation, and are not actually displayed on the display device 2.

In the present embodiment, as an example, when the determination condition is not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operation device 35 is set to "invalid", the report processing unit 16 of the control system 1 causes the message M1 to be displayed on the display screen Dp1 as shown in fig. 7. In the present embodiment, when the control of the work machine 3 corresponding to the operation of the operation device 35 is invalidated (step S5 in fig. 5), the switching processing unit 14 causes the report processing unit 16 to display the message M1 and report the message. The message M1 pops up the display, for example, in a manner overlapping with other displays of the display screen Dp1, including, for example, "PTO control: the term "invalid" means a text indicating that the control of the work machine 3 (PTO control in this case) is "invalid". The message M1 includes a text indicating a step of activating the control of the work machine 3 (here, PTO control) as "for activating, please return the switch to neutral once".

In the present embodiment, such a message M1 is displayed only during a period when the control of the work machine 3 is "disabled". Therefore, when the switching processing unit 14 of the control system 1 validates the control of the work machine 3 corresponding to the operation of the operation device 35 (step S6 in fig. 5), the message M1 disappears. In addition, the display form of the report based on the determination result of whether the determination condition is satisfied is not limited to the message M1. For example, similarly to the icon Im1 indicating on/off of the cut-off switch 371, the report of the determination result based on whether or not the determination condition is satisfied may be performed by an icon displayed on the display screen Dp 1.

As described above, the control method according to the present embodiment further includes a step of reporting a determination result based on whether or not the determination condition is satisfied. Thus, the user (operator) can know whether the current control of the work machine 3 is "valid" or "invalid", and can operate the operation device 35. As described above, the configuration is not limited to the configuration in which the determination result is reported only when the determination condition is not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operation device 35 is set to "invalid". That is, the report of the determination result may be such that it is possible to distinguish whether or not the determination condition is satisfied, for example, when the determination condition is satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operation device 35 becomes "effective". Further, only when the determination condition is not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operation device 35 is "disabled", and when the operation device 35 is operated, the control of the work machine 3 may be reported as "disabled".

[5] Other functions

The "specific matter" is not limited to the switching of the cut-off switch 371 from the locked state (off) to the unlocked state (on). Similarly, the "determination condition" is not limited to the position of each of the operating elements Sw1 to Sw4 being at the neutral position Pn1. The control of switching between active and inactive by the switching processing unit 14 is not limited to the output control (PTO control) of the PTO ports (output ports 341 to 344) of the work machine 3.

That is, the "specific item" may be, for example, a case where the setting related to the operation of the operation device 35 is changed, such as "assignment information" which defines the correspondence relation between the plurality of output ports 341 to 344 and the plurality of operation elements Sw1 to Sw 4. In this case, for example, a specific item is generated by changing a setting related to the operation of the operation device 35, such as the assignment information, by the user operating the display device 2. Here, the setting related to the operation of the operation device 35 is not limited to the setting of the correspondence between the plurality of output ports 341 to 344 and the plurality of operation elements Sw1 to Sw4, but includes the setting of the correspondence between the operation of the operation device 35 and the flow rate of the hydraulic oil, and the like.

In the case where the control for switching the activation/deactivation by the switching processing unit 14 is, for example, control of the traveling unit 31, the turning unit 32, the working unit 33, or the like other than PTO control, for example, a case where the correspondence relationship between the operation of the

levers

351 and 352 and the operation of the traveling unit 31, the turning unit 32, or the working unit 33 is changed may be included in specific matters. The change of the operation mode of the traveling unit 31, the turning unit 32, or the working unit 33 with respect to the operation of the operation levers 351 and 352 may be included in a specific matter. In this case, the "determination condition" is set such that the operation levers 351 and 352 are not in the respective operation pieces Sw1 to Sw4 but in the neutral position.

The control for switching the activation/deactivation by the switching processing unit 14 may include control for attaching and detaching the quick coupler of the fitting 331 to and from the body 30. In this case, for example, in particular matters, a case in which a power switch for enabling the quick coupler to operate is switched from off to on may be included instead of the case in which the cut-off switch 371 is switched from the locked state to the unlocked state. Thus, for example, in a state where the user (operator) performs an opening operation of the quick coupler, the monitoring processing unit 12 can detect the occurrence of a matter such that the quick coupler is suddenly driven as the occurrence of a specific matter, as the power switch is switched from off to on.

[6] Modification examples

A modification of embodiment 1 is described below. The modifications described below can be applied in combination as appropriate.

The control system 1 in the present disclosure includes a computer system. The computer system has one or more processors and one or more memories as hardware as a main structure. The functions as the control system 1 in the present disclosure are realized by a processor executing a program recorded in a memory of a computer system. The program may be recorded in advance in a memory of the computer system, and may be provided via an electric communication line, or may be recorded in a non-transitory recording medium such as a memory card, an optical disk, and a hard disk drive that are readable in the computer system. A part or all of the functional units included in the control system 1 may be constituted by an electronic circuit.

The configuration in which the functions of at least a part of the control system 1 are concentrated in one housing is not necessarily required for the control system 1, and the components of the control system 1 may be provided in a plurality of housings in a distributed manner. In contrast, in embodiment 1, functions dispersed in a plurality of devices (for example, the control system 1 and the display device 2) may be concentrated in one housing. Further, at least a part of the functions of the control system 1 may be realized by a cloud (cloud computing) or the like.

The power source of work machine 3 is not limited to a diesel engine, and may be an engine other than a diesel engine, a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor), for example.

The driving device 34 is not limited to a device such as a PTO (Power take-off) for taking out Power from the engine (Power for driving the accessory 331), and may be a device for outputting Power for driving the accessory 331 separately from the engine. The driving device 34 is not limited to a device that supplies power to the fitting 331 by supplying hydraulic oil, and may be a device that generates power by an electric motor such as a motor. In this case, the power output from the driving device 34 is controlled by, for example, a current flowing to the driving device 34.

The attachment 331 may be attached to the body 30, and it is not necessary that the attachment 331 be detachable from the body 30. Further, a plurality of fittings 331 may be attached to the body 30 at the same time.

The display device 2 is not limited to a dedicated device, and may be a general-purpose terminal such as a laptop computer, a tablet terminal, or a smart phone. The display unit 23 is not limited to a configuration in which the display screen Dp1 is directly displayed as in a liquid crystal display or an organic EL display, and may be configured to display the display screen Dp1 by projection as in a projector, for example. The display area of the display unit 23 is not limited to the horizontal length, and may be a vertical length.

The information input to the operation unit 22 may be performed by other modes than the key switches 221 to 226, the touch panel, and the operation dial. For example, the operation unit 22 may be in the form of a pointing device such as a keyboard or a mouse, a voice input, a gesture input, or an input of an operation signal from another terminal.

The operation device 35, the display device 2, and the like are not limited to the structure mounted on the body 30, and may be provided separately from the body 30, for example. In this case, the operation device 35, the display device 2, and the like are configured to be capable of communicating with the body 30, thereby realizing remote operation of the body 30.

(embodiment 2)

As shown in fig. 8, the control method according to the present embodiment differs from the control system 1 according to embodiment 1 in the timing of activating PTO control. Hereinafter, the same components as those of embodiment 1 will be denoted by common reference numerals, and description thereof will be omitted as appropriate.

The flowchart shown in fig. 8 differs from the flowchart shown in fig. 5 in that step S6 of activating the control of the work machine 3 corresponding to the operation of the operation device 35 is omitted, and step S16 of activating the control of the work machine 3 corresponding to the operation of the operation device 35 is added between step S8 and step S9. Other points are as described in embodiment 1, and therefore, the description thereof is omitted here.

That is, in the present embodiment, the control (PTO control) of the work machine 3 is not immediately activated only by determining that the "determination condition" is satisfied based on the fact that all of the operators Sw1 to Sw4 are in the neutral position Pn1 in step S4 (yes in S4). That is, after determining that the determination condition is satisfied (S4: yes), the operation signal is retrieved (S7), and at the time when at least one of the operators Sw1 to Sw4 is operated by the user and it is determined that the neutral position Pn1 is not present (S8: no), the control (PTO control) of the work machine 3 is activated (S16).

In this example, after it is determined that the determination condition is satisfied, the control (PTO control) of the work machine 3 is invalidated until the user operates at least one of the operators Sw1 to Sw4, and thus the display of the message M1 as shown in fig. 7 is continued.

As described above, in the present embodiment, when a specific event occurs, it is determined that the determination condition is satisfied, and the operation device 35 is further operated, whereby the control of the work machine 3 corresponding to the operation of the operation device 35 is enabled. Accordingly, not only the determination condition is satisfied, but also the control of the work machine 3 corresponding to the operation of the operation device 35 is validated after the user (operator) actually operates the operation device 35, so that it is easy to prevent the work machine 3 from being operated by an unintentional operation of the operator.

The configuration according to embodiment 2 can be appropriately combined with the various configurations (including modifications) described in embodiment 1.

Claims

1. A control method of a working machine is characterized in that,

the control method of the work machine includes:

receiving an operation of an operation device for controlling the work machine;

monitoring a specific item as a monitoring target; and

if the specific event occurs, it is determined whether or not a determination condition concerning the operation of the operation device is satisfied.

2. The method for controlling a working machine according to claim 1, wherein,

the method for controlling the working machine further includes: based on a determination result of whether the determination condition is satisfied, the validity and invalidity of the control of the work machine corresponding to the operation of the operation device are switched.

3. The method for controlling a working machine according to claim 2, wherein,

after the specific event is generated, the determination condition is determined to be satisfied, and thereby control of the work machine corresponding to the operation of the operation device is enabled.

4. The method for controlling a working machine according to claim 2, wherein,

when the specific event is generated, the determination condition is determined to be satisfied, and the operation device is further operated, whereby the control of the work machine corresponding to the operation of the operation device is enabled.

5. The method for controlling a working machine according to any one of claims 1 to 4, wherein,

the specific items include items that accompany a change in the operating state of the work machine corresponding to an operation of the operating device.

6. The method for controlling a working machine according to claim 5, wherein,

The specific item includes a case where a cut-off switch in the work machine is switched from a locked state to an unlocked state.

7. The method for controlling a working machine according to claim 5 or 6, wherein,

the specific items include a case where a setting related to an operation of the operation device is changed.

8. The method for controlling a working machine according to any one of claims 1 to 7, wherein,

the operation of the operating device includes an operation for controlling an output of a PTO port of the work machine.

9. The method for controlling a working machine according to any one of claims 1 to 8, wherein,

the method for controlling the working machine further includes: reporting of a determination result based on whether the determination condition is satisfied is performed.

10. A control program for a working machine, characterized in that,

the control program for a working machine is for causing one or more processors to execute the control method for a working machine according to any one of claims 1 to 9.

11. A control system for a working machine is characterized in that,

the control system for a working machine is provided with:

an acquisition processing unit that receives an operation of an operation device for controlling the work machine;

A monitoring processing unit that monitors a specific item to be monitored; and

and a determination processing unit that determines whether or not a determination condition concerning an operation of the operation device is satisfied when the specific event occurs.

12. A working machine, characterized in that,

the work machine includes:

the control system for a work machine of claim 11; and

a body controlled according to the operation of the operation device.