Control device, control system, and work machine

Abstract

A control device (4) controls a work machine (1) having: a work unit (33) that performs prescribed work; an engine (30); and an actual machine operation unit (17) that can be operated by an operator. The control device (4): is capable of communicating with a remote operation apparatus (8) provided outside the work machine (1), and with a portable terminal (90) which is separate from the remote operation apparatus (8); is capable of acquiring operation signals for operating the work unit (33) from the actual machine operation unit (17) and the remote operation apparatus (8) and also acquiring, from the portable terminal (90), a stop instruction signal for stopping the engine (30); and invalidates the stoppage of the engine (30) based on the stop instruction signal acquired from the portable terminal (90) in an external operation state where the work unit (33) is being controlled on the basis of the operation signal acquired from the remote operation apparatus (8).

Description

Control Device, Control System, and Working Machine

[0001] The present invention relates to a control device, a control system, and a working machine.

[0002] Conventionally, a working machine that can be remotely operated by an operator from the outside is known (see, for example, Patent Document 1). Also, a working machine that can stop the engine by operating an electronic key is known (see, for example, Patent Document 2).

[0003] Japanese Patent Application Laid-Open No. 2021-088835 Japanese Patent Application Laid-Open No. 2021-151835

[0004] Here, when the engine of a remotely operable working machine such as that in Patent Document 1 can be stopped by operating an electronic key as in Patent Document 2, the following problems may occur. When the working machine is being remotely operated by an external operator, if a third party different from the external operator operates the electronic key and an unexpected signal for stopping the engine is transmitted from the electronic key to the working machine, the engine may stop and the work by the working machine may be interrupted unintentionally. Therefore, in such a working machine, there may arise a problem that it is difficult to ensure the continuity of work.

[0005] An object of the present invention is to provide a control device, a control system, and a working machine capable of ensuring the continuity of work by the working machine.

[0006] The control device according to the present invention is a control device that controls a working machine having a working unit that performs a predetermined work, a power source, and a real machine operation unit that can be operated by an operator. The control device includes a communication unit that can communicate with each of an external operation device provided outside the working machine and a portable terminal separate from the external operation device, and a processing unit that can acquire an operation signal for operating the working unit from each of the real machine operation unit and the external operation device, and can acquire a stop instruction signal for stopping the power source from the portable terminal. The processing unit invalidates the stop of the power source based on the stop instruction signal acquired from the portable terminal in an external operation state in which the working unit is controlled based on the operation signal acquired from the external operation device.

[0007] With the above configuration, the control device can obtain operation signals for operating the work unit of the work machine not only from the actual machine operation unit of the work machine but also from an external operation device installed outside the work machine. Therefore, even when the work machine is unmanned (when no operator is on board the work machine), it is possible to operate the work unit from outside the work machine using the external operation device.

[0008] Furthermore, with the above configuration, the control device can obtain a stop command signal to stop the power source of the work machine from a portable terminal separate from the external operating device, making it possible to stop the power source of the work machine by operating the portable terminal as needed.

[0009] Furthermore, with the above configuration, when the control device is in an external operation state, controlling the work unit based on operation signals acquired from an external operating device, it disables the stopping of the power source based on a stop instruction signal acquired from a mobile terminal. Therefore, even if an unexpected stop instruction signal that stops the power source is transmitted from the mobile terminal to the control device while the control device is in an external operation state, unintended interruptions to the work performed by the work unit can be avoided. This ensures the continuity of work performed by the work machine.

[0010] Furthermore, the control system according to the present invention is a control system for a work machine having a work unit that performs predetermined tasks, a power source, and a machine operation unit that can be operated by an operator. The control system comprises a control device, an external operating device provided outside the work machine, and a portable terminal separate from the external operating device. The control device is capable of communicating with the external operating device and the portable terminal, and can acquire operation signals for operating the work unit from the machine operation unit and the external operating device, as well as a stop instruction signal for stopping the power source from the portable terminal. In an external operation state where the work unit is being controlled based on the operation signals acquired from the external operating device, the control device disables the stopping of the power source based on the stop instruction signal acquired from the portable terminal. With this configuration, unintended interruptions to work performed by the work unit can be avoided, as described above. Therefore, continuity of work performed by the work unit can be ensured.

[0011] Furthermore, the work machine according to the present invention comprises a work unit that performs a predetermined task, a power source, a machine operation unit that can be operated by an operator, and a control device. The control device is capable of communicating with an external operating device provided outside the work machine and a portable terminal separate from the external operating device, and is capable of obtaining operation signals for operating the work unit from the machine operation unit and the external operating device, as well as obtaining a stop instruction signal for stopping the power source from the portable terminal. In an external operation state where the work unit is being controlled based on the operation signals obtained from the external operating device, the control device disables the stopping of the power source based on the stop instruction signal obtained from the portable terminal. With this configuration, unintended interruptions to work performed by the work unit can be avoided, as described above, and therefore, the continuity of work performed by the work unit can be ensured.

[0012] Figure 1 is a left side view showing an example of a work machine according to one embodiment of the present invention. Figure 2 is a block diagram showing a control system including a control device in Embodiment 1 of the present invention. Figure 3 is a flowchart showing an example of a processing procedure by the control device in Embodiment 1 of the present invention. Figure 4 is a block diagram showing a control system including a control device in Embodiment 2 of the present invention.

[0013] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The following embodiments are examples that embody the present invention and are not intended to limit the technical scope of the present invention. Hereinafter, unless otherwise specified, the direction in which the operator of the work machine 1 (hereinafter referred to as the "actual machine operator") is seated in the driver's seat 16 and facing forward will be referred to as the "forward direction," the direction opposite to the forward direction will be referred to as the "rear direction," the direction in which the operator is seated in the driver's seat 16 and facing to the left relative to the front will be referred to as the "left direction," and the direction opposite to the left direction will be referred to as the "right direction."

[0014] (Embodiment 1) (Configuration of the work machine) Figure 1 is a schematic left side view showing an example of the work machine 1. First, the configuration of the work machine 1 will be described. The work machine 1 is, for example, a hydraulic excavator, and as shown in Figure 1, comprises a lower traveling body 10, an upper rotating body 11, and an attachment 2.

[0015] The lower traveling body 10 is the part that allows the work machine 1 to travel (forward, backward), turn, etc., and is, for example, a crawler type. The upper rotating body 11 has a box-shaped driver's cab 12 that is rotatably mounted on the lower traveling body 10, and a machine room 13 located behind the driver's cab 12 that houses the engine 30 (power source).

[0016] As shown in Figure 1, the left side of the cab 12 is provided with an entrance / exit 14 for the operator to get in and out, and a door 15 for opening and closing the entrance / exit 14. Inside the cab 12 is a driver's seat 16 and a machine control unit 17 that can be operated by the operator seated in the driver's seat 16. The machine control unit 17 includes a travel lever 17a positioned in front of the driver's seat 16 to move the lower traveling body 10, and operating levers 17b positioned on both the left and right sides of the driver's seat 16 to move the attachment 2. In addition, although not shown, an ignition switch for starting and stopping the engine 30 is provided inside the cab 12.

[0017] The machine room 13, although not shown in the figure, houses the engine 30, a battery (power supply), and a pump that is driven by the engine 30 to supply hydraulic fluid to the hydraulic circuit 31 (not shown in Figure 1). The hydraulic circuit 31, although not shown in the figure, is equipped with a hydraulic motor that drives the lower traveling body 10, a hydraulic cylinder that drives the attachment 2, and a control valve that adjusts the flow rate of hydraulic fluid supplied from the pump to the hydraulic motor and hydraulic cylinder.

[0018] Attachment 2 is the part that performs excavation and other operations, and as shown in Figure 1, it has a boom 20, an arm 21, a bucket 22, etc. The boom 20 is attached to the upper slewing body 11 so as to be able to be raised and lowered (rotatable around an axis extending in the left and right direction, the same applies hereinafter), the arm 21 is attached to the boom 20 so as to be able to be raised and lowered, and the bucket 22 is attached to the arm 21 so as to be able to be raised and lowered.

[0019] The work machine 1, configured as described above, performs predetermined tasks including travel and rotation by the lower traveling body 10, and excavation by the attachment 2. In other words, the work machine 1 has a work unit 33 that performs predetermined tasks, including the lower traveling body 10 and the attachment 2. The machine operator operates the work unit 33 using the machine operation unit 17.

[0020] Figure 2 is a block diagram showing an example of a control system A including a control device 4 in Embodiment 1. As shown in Figure 2, in addition to the above, the work machine 1 includes a control device 4 for controlling the work machine 1, and a camera 70 and a mode switch 71 electrically connected to the control device 4.

[0021] The control device 4 is composed of, for example, one or more electronic control units (ECUs) and can communicate with a remote control device 8 (external control device) located outside the work machine 1, and with a portable terminal 90 separate from the remote control device 8. The control device 4 has a communication unit 40, a storage unit 41, and a processing unit 42.

[0022] The communication unit 40 communicates wirelessly with the remote control device 8 and the mobile terminal 90, respectively, and includes communication hardware such as an antenna and a communication circuit. The wireless communication performed by the communication unit 40 may be short-range wireless communication compliant with communication standards such as BLE (Bluetooth® Low Energy) and Wi-Fi®, or long-range wireless communication compliant with communication standards such as LTE (Long Term Evolution) and 5G (Fifth Generation Mobile Communication System). The communication unit 40 may also communicate wirelessly with the remote control device 8 and the mobile terminal 90 via a server or the like (not shown).

[0023] The memory unit 41 stores various programs, data, etc., that are executed by the processing unit 42, and includes a storage medium such as an SSD (Solid Disk Drive). The processing unit 42 executes the various programs stored in the memory unit 41 and includes a processor such as a CPU (Central Processing Unit). The processing by the control device 4 will be explained later with reference to a flowchart.

[0024] The control device 4 (processing unit 42) can acquire operation signals for operating the work unit 33 of the work machine 1 from the actual machine operation unit 17 of the work machine 1. Based on the operation signals, the control device 4 controls the work unit 33 by adjusting the pilot pressure input to the control valve in the hydraulic circuit 31. The operation signals may be on / off commands for operating the work unit 33, or information regarding the operation content, etc. Furthermore, the control device 4 can acquire operation signals not only from the actual machine operation unit 17 but also from the remote control device 8. This makes it possible to operate the work unit 33 from outside the work machine 1 using the remote control device 8, even when the work machine 1 is unmanned (when the actual machine operator is not on the work machine 1).

[0025] In this embodiment, the control device 4 can switch between a real machine operation mode, in which operation signals are acquired only from the real machine operation unit 17 of the real machine operation unit 17 and the remote control device 8, and an external operation mode, in which operation signals are acquired only from the remote control device 8 of the real machine operation unit 17 and the remote control device 8. This allows the real machine operation mode, operated by the real machine operation unit 17 operated by a real machine operator riding on the work machine 1, and the external operation mode, operated by the remote control device 8 operated by an operator outside the work machine 1 (hereinafter simply referred to as "external operator"), to be appropriately switched according to the conditions at the work site of the work machine 1 (hereinafter simply referred to as "work site").

[0026] Furthermore, the control device 4 can acquire instruction signals related to the engine 30 from the ignition switch and controls the engine 30 based on these instruction signals. These instruction signals include a stop instruction signal to stop the engine 30 and a start instruction signal to start the engine 30. In addition, the control device 4 can acquire instruction signals from the portable terminal 90 as well as the ignition switch. This makes it possible to start or stop the engine 30 of the work machine 1 by operating the portable terminal 90 as needed (for example, for warming up the engine 30). The control device 4 may also acquire only the stop instruction signal from the portable terminal 90.

[0027] With respect to the above-mentioned operation signals and instruction signals, the control device 4 may first perform wireless authentication with the remote control device 8 and the mobile terminal 90, respectively, and only permit the reception of each signal if authentication is successful.

[0028] Camera 70 is used to capture images of the work site and is installed on the front, rear, and sides of the upper rotating body 11. Mode switch 71 is used to select between the actual machine operation mode and the external operation mode controlled by the control device 4 and is installed on the outer surface of the upper rotating body 11 so that it can be reached from outside the work machine 1. Mode switch 71 is composed of a physical switch such as a dial switch.

[0029] The control device 4 described above, along with the remote control device 8 and the portable terminal 90 described below, constitute a control system A for controlling the work machine 1. The configurations of the remote control device 8 and the portable terminal 90 will be described below.

[0030] (Configuration of Remote Control Device and Mobile Terminal) The remote control device 8 is located in a remote control center or the like, far from the work site, and is operated by an external operator. The remote control device 8 comprises a remote control unit 80, a display unit 81, and a remote control device 82. The remote control unit 80, although not shown in the figure, includes a travel lever for moving the lower traveling body 10 and an operating lever for moving the attachment 2, similar to the actual machine operation unit 17. The display unit 81 displays information such as images (videos) captured by the camera 70 of the work machine 1, and is composed of, for example, a liquid crystal display.

[0031] The remote control device 82 is, for example, a personal computer, which acquires images captured by the camera 70 from the control device 4 and displays those images on the display unit 81 in real time. The external operator operates the remote control unit 80 based on the images displayed on the display unit 81. The remote control device 82 outputs an operation signal based on the operation of the remote control unit 80 by the external operator and inputs it to the control device 4 via the communication. With such a remote control device 8, the external operator can operate the work unit 33 using the remote control unit 80 in the same way that a real machine operator operates the work unit 33 using the real machine operation unit 17.

[0032] The portable terminal 90 has functions such as locking and unlocking the door 15 of the work machine 1 and stopping the engine 30, and is operated and carried by the machine operator or the like. The portable terminal 90 has operation buttons (not shown) and outputs instruction signals to the control device 4 based on the operation of the operation buttons.

[0033] Incidentally, when the work unit 33 of the work machine 1 is being operated by the remote control device 8, if a third party other than the external operator who operates the remote control device 8 (for example, the actual machine operator) operates the mobile terminal 90 and sends an unexpected stop command signal to the control device 4 to stop the engine 30 of the work machine 1, there is a risk that the engine 30 will stop and the work performed by the work unit 33 will be unintentionally interrupted. In this regard, as will be explained below, the control device 4 invalidates the engine 30 stop based on the stop command signal received from the mobile terminal 90 when the work unit 33 is being controlled by an external operation based on the operation signal received from the remote control device 8.

[0034] (Processing Procedure by the Control Device) Figure 3 is a flowchart showing an example of the processing procedure by the control device 4 according to Embodiment 1. Next, the processing procedure by the control device 4 in Embodiment 1 will be described with reference to the flowchart in Figure 3. The processing shown in Figure 3 starts, for example, after the engine 30 has started (for example, after the engine 30 has started and the machine operation unit 17 is in a standby state and has not been operated), when the control device 4 receives a stop command signal from the mobile terminal 90. More specifically, each process is executed by the processing unit 42 of the control device 4, etc.

[0035] As shown in step S1 of Figure 3, the control device 4 determines whether or not the control device 4 is in an external operation state. For example, if the control device 4 is in external operation mode, for example, if the mode switch 71 of the work machine 1 has selected external operation mode, then the control device 4 determines that it is in an "external operation state". If the control device 4 determines that it is in an "external operation state" (YES in step S1), the process proceeds to step S2; otherwise (NO in step S1), the process proceeds to step S3.

[0036] In step S2, the control device 4 disables the engine 30 stop based on the stop instruction signal received from the mobile terminal 90, and then terminates the process. Once the control device 4 has disabled the engine 30 stop based on the mobile terminal 90 in this manner, it will not perform engine 30 stop control even if it receives a stop instruction signal from the mobile terminal 90, until the engine 30 stop based on the mobile terminal 90 is re-enabled.

[0037] On the other hand, in step S3, the control device 4 enables the stopping of the engine 30 by the mobile terminal 90, then proceeds to step S4, executes the engine 30 stop control, and then terminates the process.

[0038] The processing procedure by the control device 4 described above is just one example and is not limited to this. For example, the control device 4 may disable the engine 30 stop based on the stop command signal acquired from the mobile terminal 90 when it enters an external operation state (for example, when switching from actual machine operation mode to external operation mode), and enable the engine 30 stop based on the stop command signal acquired from the mobile terminal 90 when it is no longer in an external operation state (for example, when switching from external operation mode to actual machine operation mode). In addition, the control device 4 may refuse to accept the stop command signal from the mobile terminal 90 when it is in an external operation state (for example, in external operation mode).

[0039] As described above, when the control device 4 is in an external operation state, controlling the work unit 33 based on operation signals acquired from the remote control device 8, it disables the stopping of the engine 30 based on a stop instruction signal acquired from the mobile terminal 90. Therefore, even if an unexpected stop instruction signal to stop the engine 30 is transmitted from the mobile terminal 90 to the control device 4 while the control device 4 is in an external operation state, unintended interruptions to the work performed by the work unit 33 can be avoided. This ensures the continuity of work performed by the work machine 1.

[0040] (Modification) Although one embodiment of the present invention has been described above, the power source of the work machine 1 may be an electric motor, and the invention is not limited to the above. The control device 4 may be located in a different position from the work machine 1, and the control device 4 may not be equipped with a mode switch 71, and the invention is not limited to the above. In this case, the control device 4 may determine in step S1 that it is in an "external operation state" if the control of the work unit 33 currently being performed or most recently performed is based on an operation signal obtained from the remote control device 8. In this case, the control device 4 may use, for example, a determination flag that turns ON when the work unit 33 is controlled based on an operation signal obtained from the remote control device 8, and in step S1, it may determine whether or not it is in an external operation state based on the determination flag. Also, if the control device 4 is not equipped with a mode switch 71, it may switch from the actual machine operation mode to the external operation mode when authentication by communication with the remote control device 8 is successful.

[0041] Furthermore, in addition to disabling the stopping of the engine 30 based on the stop instruction signal acquired from the mobile terminal 90 as described above, the control device 4 may also disabling the starting of the engine 30 based on the start instruction signal acquired from the mobile terminal 90 when the control device 4 is in an external operation state. This makes it possible to avoid unintended starting of the engine 30 even if an unexpected start instruction signal to start the engine 30 is transmitted to the control device 4 from the mobile terminal 90 when the control device 4 is in an external operation state.

[0042] For example, the control device 4 may be able to obtain a start instruction signal from the mobile terminal 90 before starting the engine 30, and may start the following process when it obtains a start instruction signal from the mobile terminal 90.

[0043] The control device 4 determines whether or not it is in an external operation state. If it determines that it is in an external operation state, it disables the starting of the engine 30 based on the start command signal received from the mobile terminal 90, and then terminates processing. Once the control device 4 disables the starting of the engine 30 by the mobile terminal 90 in this way, it will not perform engine starting control of the engine 30 even if it receives a start command signal from the mobile terminal 90, until the starting of the engine 30 by the mobile terminal 90 is re-enabled. On the other hand, if the control device 4 does not determine that it is in an external operation state, it enables the starting of the engine 30 by the mobile terminal 90, performs engine starting control of the engine 30, and then terminates processing. This series of processes is equivalent to the process in the flowchart of Figure 3, where "engine stop" is replaced with "engine start". In this way, the control device 4 can disable the starting of the engine 30 based on the start command signal received from the mobile terminal 90 when it is in an external operation state.

[0044] The procedure for processing by the control device 4 described above is just one example and is not limited to this. For example, the control device 4 may disable the starting of the engine 30 based on the start command signal acquired from the mobile terminal 90 when it enters an external operation state, and enable the starting of the engine 30 based on the start command signal acquired from the mobile terminal 90 when it is no longer in an external operation state. Alternatively, the control device 4 may refuse to accept the start command signal from the mobile terminal 90 when it is in an external operation state.

[0045] In addition to the above, in an external operation state, the control device 4 may invalidate one or more of the stop of the engine 30 based on a stop instruction signal acquired from the mobile terminal 90, the start of the engine 30 based on a start instruction signal acquired from the mobile terminal 90, and other controls of the engine 30 (i.e., controls other than stop and start) based on an instruction signal acquired from the mobile terminal 90. For example, in an external operation state, the control device 4 may simply invalidate the start of the engine 30 based on a start instruction signal acquired from the mobile terminal 90. Thereby, even if an unexpected start instruction signal for starting the engine 30 is transmitted from the mobile terminal 90 to the control device 4 when the control device 4 is in an external operation state, an unintended start of the engine 30 can be avoided.

[0046] Further, in addition to the mobile terminal 90, the control device 4 may be able to acquire a stop instruction signal from the remote operation device 8, and in an external operation state, may validate the stop of the engine 30 based on the stop instruction signal acquired from the remote operation device 8. Thereby, in addition to the mobile terminal 90, the engine 30 can be stopped by operating the remote operation device 8, and even when the control device 4 is in an external operation state, the engine 30 can be stopped by operating the remote operation device 8 as necessary.

[0047] (Embodiment 2) FIG. 4 is a block diagram showing a control system B including a control device 5 in Embodiment 2. This embodiment is different from the above Embodiment 1 in that the working machine 1 is configured to be able to control (automatically control) the working machine 1 according to a predetermined automatic control program. The processing unit 52 of the control device 5 can execute the automatic control program stored in the storage unit 51. The automatic control of the working machine 1 may be executed not only in an unmanned state but also in a manned state (a state where an actual operator is on board the working machine 1).

[0048] Further, this embodiment is different from the above-described embodiment 1 in that a tablet terminal 91 is adopted as an external operation device instead of the above-described remote operation device 8. The tablet terminal 91 has functions such as starting and stopping the automatic control of the working machine 1, and is operated and carried by an external operator or the like. The tablet terminal 91 has a touch panel (not shown) and outputs an operation signal to the control device 5 based on the operation of the touch panel.

[0049] When the control device 5 acquires an operation signal from the tablet terminal 91, it enters an external operation state and executes the control (automatic control) of the working machine 1 according to the automatic control program. Thus, when the control device 5 executes the automatic control of the working machine 1 using the operation signal acquired from the tablet terminal 91 as a trigger, since it enters an external operation state to invalidate the stop of the engine 30 by the portable terminal 90, the same as in the above case (when the control device 4 in embodiment 1 controls the working unit 33 based on the operation signal acquired from the remote operation device 8), it is possible to avoid an unintended interruption of the work by the working unit 33, and therefore, it is possible to ensure the continuity of the work by the working unit 33.

[0050] Note that when the actual operator is on board the working machine 1 (for example, when the portable terminal 90 is brought inside the cab 12 by the actual operator), the control device 5 does not have to enter an external operation state when executing the automatic control of the working machine 1. Thereby, even during the automatic control of the working machine 1, if necessary, the actual operator on board the working machine 1 can operate the portable terminal 90 to stop the engine 30.

[0051] The above-described embodiments are illustrative in every respect and do not serve as a basis for a limiting interpretation. Therefore, the technical scope of the present invention is not interpreted only by the above-described embodiments and examples, but is defined based on the description of the claims. Also, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

[0052] Note that the following inventions mainly include the following configurations in the above-described specific embodiments.

[0053] A control device according to a first aspect of the present invention is a control device for controlling a work machine having a work unit that performs a predetermined task, a power source, and a machine operation unit that can be operated by an operator. The control device comprises a communication unit capable of communicating with an external operation device provided outside the work machine and a portable terminal separate from the external operation device, and a processing unit capable of acquiring operation signals for operating the work unit from the machine operation unit and the external operation device, and capable of acquiring a stop instruction signal for stopping the power source from the portable terminal. In an external operation state in which the work unit is being controlled based on the operation signals acquired from the external operation device, the processing unit disables the stopping of the power source based on the stop instruction signal acquired from the portable terminal.

[0054] With the above configuration, the control device can obtain operation signals for operating the work unit of the work machine not only from the actual machine operation unit of the work machine but also from an external operation device installed outside the work machine. Therefore, even when the work machine is unmanned (when no operator is on board the work machine), it is possible to operate the work unit from outside the work machine using the external operation device.

[0055] Furthermore, with the above configuration, the control device can obtain a stop command signal to stop the power source of the work machine from a portable terminal separate from the external operating device, making it possible to stop the power source of the work machine by operating the portable terminal as needed.

[0056] Furthermore, with the above configuration, when the control device is in an external operation state, controlling the work unit based on operation signals acquired from an external operating device, it disables the stopping of the power source based on a stop instruction signal acquired from a mobile terminal. Therefore, even if an unexpected stop instruction signal that stops the power source is transmitted from the mobile terminal to the control device while the control device is in an external operation state, unintended interruptions to the work performed by the work unit can be avoided. This ensures the continuity of work performed by the work machine.

[0057] A control device according to a second aspect of the present invention, in which the processing unit is capable of further acquiring a start command signal for starting the power source from the mobile terminal, and in the external operation state, the starting of the power source based on the start command signal acquired from the mobile terminal may be disabled. With this configuration, it is possible to start the power source of the work machine by operating the mobile terminal as needed (for example, for warming up the power source). Furthermore, with this configuration, even if an unexpected start command signal for starting the power source is transmitted from the mobile terminal to the control device when the control device is in an external operation state, it is possible to avoid unintended starting of the power source.

[0058] A control device according to a third aspect of the present invention, in a control device according to the first or second aspect, may have a processing unit that can switch between a real machine operation mode in which the operation signal is acquired only from the real machine operation unit among the real machine operation unit and the external operation device, and an external operation mode in which the operation signal is acquired only from the external operation device among the real machine operation unit and the external operation device. With this configuration, the real machine operation mode operated by the real machine operation unit operated by an operator riding on the work machine and the external operation mode operated by an external operation device operated by an operator outside the work machine can be appropriately switched according to the working conditions of the work machine.

[0059] A control device according to the fourth aspect of the present invention, in a control device according to the first to third aspects, the processing unit may enter the external operation state when it acquires the operation signal from the external operation device and execute control of the work machine according to a predetermined program. With this configuration, when the control device executes automatic control of the work machine triggered by the operation signal acquired from the external operation device, it enters the external operation state, thereby invalidating the stopping of the power source by the portable terminal. Thus, unintended interruptions to work by the work unit can be avoided, as described above, and the continuity of work by the work unit can be ensured.

[0060] A control device according to the fifth aspect of the present invention, in the control device according to the first to fourth aspects, the processing unit is capable of further acquiring the stop instruction signal from the external operating device, and in the external operating state, the stopping of the power source based on the stop instruction signal acquired from the external operating device may be enabled. With this configuration, the power source can be stopped not only by a mobile terminal but also by operation of the external operating device, and even when the control device is in the external operating state, the power source can be stopped by operation of the external operating device as needed.

[0061] Furthermore, the control system according to the present invention is a control system for a work machine having a work unit that performs predetermined tasks, a power source, and a machine operation unit that can be operated by an operator. The control system comprises a control device, an external operating device provided outside the work machine, and a portable terminal separate from the external operating device. The control device is capable of communicating with the external operating device and the portable terminal, and can acquire operation signals for operating the work unit from the machine operation unit and the external operating device, as well as a stop instruction signal for stopping the power source from the portable terminal. In an external operation state where the work unit is being controlled based on the operation signals acquired from the external operating device, the control device disables the stopping of the power source based on the stop instruction signal acquired from the portable terminal. With this configuration, unintended interruptions to work performed by the work unit can be avoided, as described above, and therefore, the continuity of work performed by the work unit can be ensured.

[0062] Furthermore, the work machine according to the present invention comprises a work unit that performs a predetermined task, a power source, a machine operation unit that can be operated by an operator, and a control device. The control device is capable of communicating with an external operating device provided outside the work machine and a portable terminal separate from the external operating device, and is capable of obtaining operation signals for operating the work unit from the machine operation unit and the external operating device, as well as obtaining a stop instruction signal for stopping the power source from the portable terminal. In an external operation state where the work unit is being controlled based on the operation signals obtained from the external operating device, the control device disables the stopping of the power source based on the stop instruction signal obtained from the portable terminal. With this configuration, unintended interruptions to work performed by the work unit can be avoided, as described above, and therefore, the continuity of work performed by the work unit can be ensured.

[0063] According to the present invention, it is possible to ensure the continuity of work performed by the work machine.

Claims

1. A control device for controlling a work machine having a work unit that performs a predetermined task, a power source, and a machine operation unit that can be operated by an operator, comprising: a communication unit capable of communicating with an external operating device provided outside the work machine and a portable terminal separate from the external operating device; and a processing unit capable of acquiring operation signals for operating the work unit from each of the machine operation unit and the external operating device, and capable of acquiring a stop instruction signal for stopping the power source from the portable terminal, wherein the processing unit, in an external operation state where the work unit is being controlled based on the operation signals acquired from the external operating device, invalidates the stopping of the power source based on the stop instruction signal acquired from the portable terminal.

2. A control device according to claim 1, wherein the processing unit is capable of further acquiring a start command signal for starting the power source from the mobile terminal, and the control device disables the starting of the power source based on the start command signal acquired from the mobile terminal in the external operation state.

3. A control device according to claim 1, wherein the processing unit can switch between a real machine operation mode in which the operation signal is acquired only from the real machine operation unit among the real machine operation unit and the external operation device, and an external operation mode in which the operation signal is acquired only from the external operation device among the real machine operation unit and the external operation device.

4. A control device according to claim 1, wherein the processing unit enters the external operation state when it receives the operation signal from the external operation device, and controls the work machine according to a predetermined program.

5. A control device according to claim 1, wherein the processing unit is capable of further acquiring the stop instruction signal from the external operating device, and enables the stopping of the power source based on the stop instruction signal acquired from the external operating device in the external operating state.

6. A control system for controlling a work machine having a work unit that performs a predetermined task, a power source, and a machine operation unit that can be operated by an operator, comprising: a control device; an external operating device provided outside the work machine; and a portable terminal separate from the external operating device, wherein the control device is capable of communicating with the external operating device and the portable terminal, can acquire operation signals for operating the work unit from the machine operation unit and the external operating device, and can acquire a stop instruction signal for stopping the power source from the portable terminal, and in an external operation state where the work unit is being controlled based on the operation signals acquired from the external operating device, the control system invalidates the stopping of the power source based on the stop instruction signal acquired from the portable terminal.

7. A work machine comprising a work unit for performing a predetermined task, a power source, an actual machine operation unit that can be operated by an operator, and a control device, wherein the control device is capable of communicating with an external operating device provided outside the work machine and a portable terminal separate from the external operating device, and is capable of obtaining operation signals for operating the work unit from the actual machine operation unit and the external operating device, and is capable of obtaining a stop instruction signal for stopping the power source from the portable terminal, and in an external operation state in which the work unit is controlled based on the operation signals obtained from the external operating device, the control device invalidates the stopping of the power source based on the stop instruction signal obtained from the portable terminal.

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