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

Abstract

The invention provides a work machine control method, a work machine control program, a work machine control system, and a work machine. A work machine control method includes: acquiring operation information pertaining to an operation of an operation unit of a display device for a work machine; in a display screen (Dp1) displayed by a display unit of a display device, an operation menu (M1) is displayed at a position corresponding to an operation unit. Performing control based on the operation information; and when the switching condition is satisfied, changing the display form of the operation menu (M1) in the display screen (Dp1) from the normal form to the specific form.

Description

Technical Field

[0001] The present invention relates to a working machine control method for a working machine, a working machine control program, a working machine control system, and a working machine. Background Art

[0002] As a related art, a technology for displaying various information of a working machine on a display device mounted on a working machine (construction machine) is known (for example, see Patent Document 1). When the working machine is in operation, the display device involved in the related art displays at least information on the amount of fuel and information on the engine water temperature. In addition, in the related art, the display of the guidance mark for guiding the function of the display switching switch can be eliminated.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2013-104236

[0004] In the above-described related art configuration, if the display device becomes smaller as the working machine becomes smaller, for example, the display size of the guidance mark becomes smaller, and the operability of the display device may be reduced. Summary of the invention

[0005] An object of the present invention is to provide a working machine control method, a working machine control program, a working machine control system, and a working machine that can easily improve operability.

[0006] A working machine control method involved in one form of the present invention has the following processing: obtaining operation information related to the operation of an operating part of a display device for the working machine; displaying an operation menu at a position corresponding to the above-mentioned operation part in a display screen displayed on the display part of the above-mentioned display device; performing control based on the above-mentioned operation information; and changing the display form of the above-mentioned operation menu in the above-mentioned display screen from a normal form to a specific form when a switching condition is met.

[0007] A working machine control program according to one aspect of the present invention is a program for causing one or more processors to execute the above-mentioned working machine control method.

[0008] A control system for a working machine according to one aspect of the present invention comprises an acquisition processing unit, a display processing unit, and a control processing unit. The acquisition processing unit acquires operation information related to the operation of an operation unit of a display device for the working machine. The display processing unit displays an operation menu at a position corresponding to the operation unit in a display screen displayed by the display unit of the display device. The control processing unit performs control based on the operation information. When a switching condition is satisfied, the display processing unit changes the display form of the operation menu in the display screen from a normal form to a specific form.

[0009] A working machine according to one aspect of the present invention includes: the working machine control system described above; and a machine body on which the display device is mounted.

[0010] According to the present invention, it is possible to provide a working machine control method, a working machine control program, a working machine control system, and a working machine that can easily improve operability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic perspective view showing the overall structure of the working machine according to the first embodiment.

[0012] Figure 2 This is a schematic diagram showing a hydraulic circuit and the like of a working machine according to the first embodiment.

[0013] Figure 3 This is a schematic plan view schematically showing a monitoring area and the like set around the working machine when the working machine according to the first embodiment is viewed from above.

[0014] Figure 4 This is a schematic external view of a display device that displays a display screen by the working machine control system according to the first embodiment.

[0015] Figure 5 This is a diagram showing an example of a display screen displayed by the working machine control system according to the first embodiment.

[0016] Figure 6 This is a diagram showing an example of a display screen displayed by the working machine control system according to the first embodiment.

[0017] Figure 7 It is a diagram showing an example of switching of display screens displayed by the working machine control system according to the first embodiment.

[0018] Figure 8 This is a flowchart showing an example of processing related to the control method executed by the working machine control system according to the first embodiment.

[0019] Fig. 9 It is a schematic diagram showing a modified example of the display form of the operation menu.

[0020] Description of Reference Numerals

[0021] 1…(for working machinery) display control system; 2…display device; 3…working machinery; 11…acquisition processing unit; 12…display processing unit; 13…control processing unit; 22…operation unit; 23…display unit; 30…machine body; 221 to 225…button switch (switch); 226…button switch (specific operating element); Dp1…display screen; M1…operation menu; M11 to M15…item; M16…item (specific item); R11…notification area; M161…first image; M162…second image. DETAILED DESCRIPTION

[0022] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following embodiment is an example of a concrete embodiment of the present invention and is not intended to limit the technical scope of the present invention.

[0023] (Implementation Method 1)

[0024] [1] Overall structure

[0025] like Figure 1 As shown in FIG. 1 , the working machine 3 according to the present embodiment includes a traveling unit 31, a rotating unit 32, and a working unit 33 in a machine body 30. Figure 2 As shown, the working machine 3 further includes a working machine control system 1 (hereinafter also simply referred to as a "control system 1"). In addition, the machine body 30 further includes a display device 2, an operating device, and the like.

[0026] The so-called "working machinery" in the present disclosure refers to various working machines, as an example, working vehicles such as backhoe excavators (including hydraulic excavators, mini excavators, etc.), wheel loaders and carriers. The working machinery 3 has a working unit 33, and the working unit 33 is configured to be able to perform at least one operation including a lifting operation. The working machinery 3 is not limited to a "vehicle", for example, it can also be a working ship, a working aircraft such as an unmanned aerial vehicle or a multi-rotor helicopter, etc. In addition, the working machinery 3 is not limited to engineering machinery (construction machinery), for example, it can also be agricultural machinery (agricultural machinery) such as a rice transplanter, a tractor or a combine harvester. In this embodiment, unless otherwise specified, the following situation is cited as an example for explanation: the working machinery 3 is a backhoe excavator with a lifting function (with a crane function), and in addition to the lifting operation, it can also perform excavation operations, land leveling operations, trenching operations or loading operations as operations.

[0027] In addition, in the present embodiment, for the sake of convenience, the vertical direction when the working machine 3 is in a usable state is defined as the up-down direction D1. And, when the rotating part 32 is not rotating, the front-to-back direction D2 and the left-to-right direction D3 are defined based on the direction observed by the user (operator) riding on the working machine 3 (driving part 321). In other words, the directions used in the present embodiment are all directions defined based on the body 30 of the working machine 3, and the direction in which the body 30 moves when the working machine 3 moves forward is the "front", and the direction in which the body 30 moves when the working machine 3 moves backward is the "rear". Similarly, the direction in which the front end of the body 30 moves when the working machine 3 rotates right is the "right", and the direction in which the front end of the body 30 moves when the working machine 3 rotates left is the "left". However, these directions are not intended to limit the use direction of the working machine 3 (the direction when in use).

[0028] The working machine 3 includes an engine serving as a power source. In the working machine 3, for example, a hydraulic pump 41 (see Figure 2 ), the hydraulic pump 41 supplies hydraulic oil to the hydraulic actuators (including the hydraulic motor 43 and the hydraulic cylinder 44) of each part of the machine body 30, thereby driving the machine body 30. In addition, the working machine 3 is controlled, for example, by a user (operator) riding on the driving part 321 of the machine body 30 operating an operating lever of an operating device.

[0029] In this embodiment, the working machine 3 is assumed to be a riding backhoe as described above, so the working unit 33 is driven according to the operation of the user (operator) riding on the driving unit 321 to perform work such as excavation. The driving unit 321 for the user to ride on is provided on the swing unit 32.

[0030] The travel unit 31 has a travel function and is configured to be able to travel on the ground (including turning). The travel unit 31 includes, for example, a pair of left and right crawler tracks 311 and a bulldozer 312. The travel unit 31 also includes a travel hydraulic motor 43 (hydraulic actuator) for driving the crawler tracks 311.

[0031] The slewing section 32 is located above the traveling section 31 and is configured to be slewing relative to the traveling section 31 about a rotation axis along the vertical direction. The slewing section 32 has a slewing hydraulic motor (hydraulic actuator) and the like. In addition to the driving section 321, the slewing section 32 is also equipped with an engine and a hydraulic pump 41 and the like. In addition, a boom bracket 322 for mounting the working section 33 is provided at the front end of the slewing section 32.

[0032] The working unit 33 is configured to be able to perform operations including lifting operations. The working unit 33 is supported by the boom bracket 322 of the rotating unit 32 to perform operations. The working unit 33 has a bucket 331, a boom 332, and a boom 333. The working unit 33 also has a hydraulic actuator (including a hydraulic cylinder 44 and a hydraulic motor, etc.) for driving each part.

[0033] The bucket 331 is a kind of accessory (working tool) mounted on the body 30 of the working machine 3, and is composed of any tool selected from a variety of accessories according to the content of the work. As an example, the bucket 331 is detachably mounted relative to the body 30 and replaced according to the content of the work. As accessories for the working machine 3, in addition to the bucket 331, there are various tools such as a crusher, an auger, a crusher, a fork, a fork claw, a steel frame cutter, an asphalt cutter, a lawn mower, a tiller, a mulcher, a tiltrotator (Japanese: チルトローテータ) and a tamping machine. The working unit 33 drives the bucket 331 using power from a driving device to perform the work.

[0034] The boom 332 is supported by the boom bracket 322 of the slewing portion 32 so as to be rotatable. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable around a rotation axis along 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 connected to the front end of the boom 332. The arm 333 is supported so as to be rotatable relative to the boom 332 around a rotation axis along the horizontal direction. The bucket 331 is mounted at the front end of the arm 333.

[0035] The working part 33 receives power from the engine as a power source to operate. Specifically, the engine drives the hydraulic pump 41, and the hydraulic pump 41 supplies working oil to the hydraulic actuator (hydraulic cylinder 44, etc.) of the working part 33, so that each part of the working part 33 (bucket 331, boom 332 and arm 333) operates.

[0036] In this embodiment, the working part 33 has a multi-joint structure in which the boom 332 and the arm 333 are independently rotatable. That is, the multi-joint working part 33 including the boom 332 and the arm 333 can be extended or folded as a whole by rotating the boom 332 and the arm 333 around a rotation axis in the horizontal direction.

[0037] The travel unit 31 and the revolving unit 32 also operate by receiving power from the engine as a power source, similarly to the working unit 33. That is, the hydraulic pump 41 supplies hydraulic oil to the hydraulic motor 43 of the travel unit 31 and the hydraulic motor 43 of the revolving unit 32, so that the revolving unit 32 and the travel unit 31 operate.

[0038] As described above, the engine functions as a power source for supplying power to each part. Here, the engine is mounted on the rotary part 32 together with the hydraulic pump 41 and the like. In the present embodiment, as an example, the engine is a diesel engine. The engine is driven by being supplied with fuel (here, light oil) from a fuel tank.

[0039] Here, the machine body 30 is equipped with a camera or the like that captures images of the surroundings of the machine body 30 for detecting a monitoring area A1 (see FIG. Figure 3 ) in the detection object Ob1 (refer to Figure 3 ) of various sensor types (including cameras). In this embodiment, as an example, Figure 3 As shown, a plurality of (here, three) cameras including a left camera 341, a right camera 342, and a rear camera 343 are mounted on the rotating portion 32 of the machine body 30. The left camera 341, the right camera 342, and the rear camera 343 are connected to the control system 1 and output images captured by each of them to the control system 1. Figure 3 It is a top view of the working machine 3 viewed from above, schematically showing a monitoring area A1 set around the working machine 3, a detection target object Ob1, and a body 30 of the working machine 3 (including a left camera 341, a right camera 342, and a rear camera 343).

[0040] The left camera 341, the right camera 342, and the rear camera 343 are respectively arranged to face left, right, and rear with respect to the driving unit 321 as a reference so as to be able to photograph the monitoring area A1 which is the left, right, and rear as viewed from the operator of the driving unit 321 of the revolving unit 32. Figure 3 As shown, the monitoring area A1 includes a plurality of (here, three) small areas A11, A12, and A13, and the left camera 341 photographs the small area A11 (left area) which is on the left side from the perspective of the operator riding on the driving unit 321. Similarly, the right camera 342 photographs the small area A12 (right area) which is on the right side from the perspective of the operator riding on the driving unit 321, and the rear camera 343 photographs the small area A13 (rear area) which is on the rear side from the perspective of the operator riding on the driving unit 321. Thus, the left camera 341, the right camera 342, and the rear camera 343 can cover the side (left and right) and rear side which are easily blind spots for the operator.

[0041] exist Figure 2 , the hydraulic circuit and the electrical circuit (electrical connection relationship) of the working machine 3 according to the present embodiment are schematically shown. Figure 2In the figure, the solid line represents the high-pressure (for working oil) oil circuit, the dotted line represents the low-pressure (for pilot oil) oil circuit, and the dot-dash arrows represent the paths of electrical signals.

[0042] like Figure 2 As shown, the working machine 3 includes a hydraulic pump 41 and a hydraulic motor 43 (in Figure 2 In addition to the hydraulic cylinder 44 (not shown in the figure) and the hydraulic cylinder 44, it also includes a pilot pump 42, a remote control valve 45, a control valve 46, a direction switching valve (regulating valve) 47, etc.

[0043] The hydraulic oil from the hydraulic pump 41 driven by the engine is supplied to the hydraulic motor 43 of the travel unit 31, the hydraulic motor of the swing unit 32, and the hydraulic cylinder 44 of the working unit 33. Thus, the hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are driven.

[0044] The hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are provided with a pilot-operated direction switching valve 47 capable of switching the direction and flow rate of the hydraulic oil from the hydraulic pump 41. The direction switching valve 47 is driven by pilot oil supplied as an input command from the pilot pump 42.

[0045] Here, for example, a remote control valve 45 is provided in the supply path of the pilot oil of the direction switching valve 47 corresponding to the hydraulic cylinder 44 of the working part 33. The remote control valve 45 outputs the operation instruction of the working part 33 according to the operation of the operating lever. The operation instruction instructs the expansion action and the contraction action of the working part 33. In addition, an electromagnetic control valve 46 (solenoid valve) is inserted between the remote control valve 45 and the pilot pump 42. The control valve 46 is connected to the power supply 351 via the cut-off relay 352 and the cut-off switch 353, and operates according to the supply current from the power supply 351.

[0046] Similarly, a remote control valve is also provided in the supply path of the pilot oil of the direction switching valve corresponding to the hydraulic motor 43 of the travel part 31. The remote control valve outputs the travel operation instruction of the travel part 31 according to the operation of the operating lever. The travel operation instruction indicates the travel action (forward or backward, etc.) of the travel part 31. In addition, a remote control valve is also provided in the supply path of the pilot oil of the direction switching valve corresponding to the hydraulic motor of the rotating part 32. The remote control valve outputs the rotation operation instruction of the rotating part 32 according to the operation of the operating lever. The rotation operation instruction indicates the rotation action (left rotation or right rotation, etc.) of the rotating part 32. In addition, an electromagnetic control valve 46 (solenoid valve) is also inserted between the above-mentioned remote control valve and the pilot pump 42. The control valve 46 is connected to the power supply 351 via the cut-off relay 352 and the cut-off switch 353, and operates according to the supply current from the power supply 351.

[0047] The control valve 46 opens the flow path of the pilot oil from the pilot pump 42 to the remote control valve 45 when it is energized, i.e., supplied with current, and blocks the flow path of the pilot oil when it is not energized, i.e., when the supply current is cut off. Therefore, by cutting off the supply current to the control valve 46, the hydraulic actuator corresponding to the remote control valve 45 becomes unable to be driven, and the output of the hydraulic actuator is forcibly stopped regardless of the operation of the operating lever.

[0048] Here, the cut-off relay 352 is connected to the control system 1, and switches on / off according to the control signal (electrical signal) from the control system 1. The cut-off switch 353 switches on / off according to the operation of the cut-off lever (synonymous with the door lock lever), for example, it is turned on when the cut-off lever is operated to the bottom. Therefore, when the cut-off relay 352 and the cut-off switch 353 are both turned on, the control valve 46 becomes energized, and the flow path of the pilot oil from the pilot pump 42 to the remote control valve 45 is opened, so that the hydraulic actuator is driven according to the operation of the operating lever. In contrast, when at least one of the cut-off relay 352 and the cut-off switch 353 is disconnected, the control valve 46 becomes non-energized, and the flow path of the pilot oil is cut off, so that the hydraulic actuator cannot be driven.

[0049] For example, when at least one of the cut-off relay 352 and the cut-off switch 353 connected to the control valve 46 between the remote control valve corresponding to the hydraulic motor of the rotating part 32 and the pilot pump 42 is disconnected, the hydraulic motor of the rotating part 32 cannot be driven. In this state, the output of the hydraulic actuator (the hydraulic motor of the rotating part 32) is forcibly stopped regardless of the operation of the operating lever, so the rotating action of the rotating part 32 is prohibited.

[0050] The control system 1 is mainly composed of a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and performs various processes (information processing). In the present embodiment, the control system 1 is an integrated controller that controls the entire working machine 3, for example, it is composed of an electronic control unit (ECU). However, the control system 1 can also be provided separately from the integrated controller. Details about the control system 1 are described in the column "[2] Structure of the control system".

[0051] The display device 2 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation inputs by the user (operator) and outputting various information to the user. The display device 2 receives various operations performed by the user by, for example, outputting electrical signals corresponding to the user's operations. Thus, the user (operator) can visually confirm the display screen Dp1 (see FIG. 1 ) displayed on the display device 2. Figure 4 ), and in addition, the display device 2 can be operated as needed.

[0052] like Figure 2 As shown, 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 able to communicate with the control system 1 and to transmit and receive data between the display device 2 and the control system 1. In this embodiment, the display device 2 is a dedicated device for the working machine 3 as an example.

[0053] The control unit 21 controls the display device 2 according to data from the control system 1 . Specifically, the control unit 21 outputs an electric signal according to a 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 .

[0054] The operation unit 22 is a user interface for receiving operation inputs from a user (operator) on the display screen Dp1 displayed on the display unit 23. The operation unit 22 outputs, for example, Figure 4 ) to receive various operations performed by the user U1. In this embodiment, as an example, Figure 4 As shown, the operation unit 22 includes a plurality of (six in this case) mechanical push button switches 221 to 226. The plurality of push button switches 221 to 226 are arranged along the periphery of the display area of ​​the display unit 23 close to the display area (in Figure 4 The plurality of push button switches 221 to 226 are arranged in a manner similar to items M11 to M16 (see FIG. 1 ) displayed on the display screen Dp1 described later. Figure 5 ) establishes a correspondence, and by operating any one of the multiple button switches 221 to 226, any one of the items M11 to M16 in the display screen Dp1 is operated (selected).

[0055] In addition, the operation unit 22 may include a touch panel, an operation dial, etc. In this case as well, any one of the items on the display screen Dp1 is operated (selected) by operating the operation unit 22 .

[0056] The display unit 23 is a user interface such as a liquid crystal display or an organic EL display that displays various information and is used to present information to the user U1 (operator). The display unit 23 presents various information to the user by displaying. In this embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, such as Figure 4 The display area shown has a "horizontal length" that is longer in the horizontal direction.

[0057] The display device 2 displays various information to the user U1 (operator) operating the working machine 3 through the display screen Dp1. That is, the user U1 operating the working machine 3 can visually obtain various information related to the working machine 3 by observing the display screen Dp1 displayed on the display device 2. As an example, the display device 2 displays information related to the operating state of the working machine 3, such as the cooling water temperature and the working oil temperature, so that the user U1 can confirm the information related to the operating state of the working machine 3 required for operating the working machine 3 through the display device 2. In addition, the display device 2 can also display the peripheral image of the working machine 3 (the image of the monitoring area A1) captured by the left camera 341, the right camera 342, and the rear camera 343 on the display screen Dp1. As a result, when operating the working machine 3, the user U1 (operator) can confirm the conditions of the side and rear of the working machine 3, which are easy to become blind spots when viewed from the driving unit 321, through the display screen Dp1 displayed on the display device 2.

[0058] Furthermore, the working machine 3 includes a sound output unit 36 ​​(see Figure 2 ). The sound output unit 36 ​​includes a buzzer or a speaker, etc., which receives an electrical signal and outputs a sound. The sound output unit 36 ​​is connected to the control system 1, and outputs a sound such as a buzzer or a voice according to a sound control signal from the control system 1. In this embodiment, the sound output unit 36 ​​is provided in the driving unit 321 of the body 30 in the same manner as the display device 2. The sound output unit 36 ​​can also be provided integrally with the display device 2.

[0059] In addition to the above-mentioned structure, the machine body 30 is also equipped with an operating lever, a shutoff lever, a communication terminal, a fuel tank, a battery, etc. In addition, the machine body 30 is equipped with sensors for monitoring the operating state of the machine body 30, such as a cooling water temperature sensor, a working oil temperature sensor, a tachometer for measuring the engine speed, and a timer for measuring the operating time. In addition, the machine body 30 is also equipped with sensors for detecting the state of the shutoff lever and the start key switch.

[0060] [2]Control system structure

[0061] Next, refer to Figure 2The structure of the control system 1 involved in this embodiment is described. The control system 1 controls the display device 2 to display the display screen Dp1 on the display device 2. In this embodiment, the display device 2 is mounted on the body 30 of the working machine 3 as described above. The control system 1 is a component of the working machine 3, and constitutes the working machine 3 together with the body 30 and the like. In other words, the working machine 3 involved in this embodiment at least includes: the control system 1, and the body 30 (including the traveling part 31, the rotating part 32, and the working part 33) on which the display device 2 is mounted.

[0062] The "screen" such as the display screen Dp1 in the present disclosure refers to an image (image) displayed by the display device 2, including images, graphics, photos, textual expressions, and dynamic images. That is, the control system 1 can display the display screen Dp1 including images and other information related to the operating state of the working machine 3, such as the cooling water temperature and the working oil temperature, on the display device 2. Here, when the display screen Dp1 includes dynamic images, the display screen Dp1 is not a constant image, but includes an image that changes from moment to moment.

[0063] like Figure 2 As shown, the control system 1 includes an acquisition processing unit 11, a display processing unit 12, and a control processing unit 13. In this embodiment, as an example, the control system 1 is mainly structured as a computer system having one or more processors, so the above-mentioned multiple functional units (acquisition processing unit 11, display processing unit 12, control processing unit 13, etc.) are implemented by executing a control program for a working machine through one or more processors. The above-mentioned multiple functional units included in the control system 1 can be dispersedly arranged in multiple housings, or can be arranged in one housing.

[0064] The control system 1 is configured to be able to communicate with the devices provided in each part of the machine body 30. That is, the control system 1 is connected to at least the display device 2, the sound output unit 36, the cutoff relay 352, the left camera 341, the right camera 342, and the rear camera 343. Thus, the control system 1 can control the display device 2 and the sound output unit 36, control the cutoff relay 352 and control the control valve 46, and obtain the images captured by the left camera 341, the right camera 342, and the rear camera 343. Here, the control system 1 can directly transmit and receive various information (data) with each device, or can do so indirectly via a repeater or the like.

[0065] The acquisition processing unit 11 performs an acquisition process of acquiring operation information related to the operation of the operation unit 22 of the display device 2 and sensor information (including captured images) related to the detection results of sensors (including the left camera 341, the right camera 342, and the rear camera 343) for monitoring the operating state of the machine body 30. That is, the control system 1 receives various operations for controlling the working machine 3 through the acquisition processing unit 11, and receives outputs of sensors for monitoring the operating state of the machine body 30, such as a fuel remaining gauge.

[0066] Specifically, an operation signal corresponding to the operation of the user U1 is outputted through the operation unit 22 of the display device 2, and the acquisition processing unit 11 acquires the operation signal. In addition, the acquisition processing unit 11 acquires sensor signals from sensors such as a cooling water temperature sensor, a working oil temperature sensor, a tachometer for measuring the engine speed, a speedometer for measuring the running speed, and a timer for measuring the running time, which monitor the operating state of the machine body 30. The data acquired by the acquisition processing unit 11 is stored in, for example, a memory.

[0067] The display processing unit 12 performs at least Figure 5 The illustrated display screen Dp1 is displayed on the display device 2 . Specifically, the display processing unit 12 generates the display screen Dp1 based on the data acquired by the acquisition processing unit 11 , and controls the display device 2 to display the display screen Dp1 on the display unit 23 of the display device 2 .

[0068] The control processing unit 13 performs control based on the operation information. That is, the control processing unit 13 performs control based on the operation information related to the operation of the operating unit 22 of the display device 2 obtained by the acquisition processing unit 11. The so-called "control" here includes various controls based on the operation information, such as the control (including setting) of each part of the machine body 30 (travel unit 31, rotation unit 32, and working unit 33, etc.), and the control of the display processing unit 12. Therefore, the control processing unit 13 can change the display screen Dp1 displayed on the display unit 23 of the display device 2 according to the operation of the operating unit 22, etc. by controlling the display processing unit 12.

[0069] [3] Operating machinery control method

[0070] Below, refer to Figures 5 to 8 , an example of a control method of the working machine 3 executed by the control system 1 (hereinafter referred to as “control method”) will be mainly described.

[0071] The control method involved in this embodiment is executed by a control system 1 whose main structure is a computer system, in other words, it is specifically embodied by a control program for a working machine (hereinafter referred to as a "control program"). That is, the control program involved in this embodiment is a computer program for causing one or more processors to execute various processes involved in the control method. Such a control program can also be executed by the control system 1 and the display device 2 in cooperation, for example.

[0072] Here, when a specific start operation preset for executing the control program is performed, the control system 1 performs the following various processes involved in the control method. The start operation is, for example, the start operation of the engine of the working machine 3. On the other hand, when a specific end operation preset is performed, the control system 1 ends the following various processes involved in the control method. The end operation is, for example, the stop operation of the engine of the working machine 3.

[0073] [3.1] Display screen

[0074] Here, first, a basic structure of a display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to the present embodiment will be described. Figure 5 In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2 , the dot-dash lines, lead lines, and reference numerals indicating regions are provided for explanation only and are not actually displayed on the display device 2 .

[0075] Figure 5 The display screen Dp1 shown is the main screen that is first displayed by the control method. The main screen is the basic display screen Dp1 that is first displayed on the display device 2 during the operation of the working machine 3. The display screen Dp1 can be transferred from the main screen to various display screens Dp1 including a menu screen and a setting screen, etc., according to the operation of the operation unit 22.

[0076] like Figure 5 As shown, the display screen Dp1 as the main screen includes a first area R1, a second area R2, a third area R3, a fourth area R4, a fifth area R5, a sixth area R6, a seventh area R7, an eighth area R8, a ninth area R9 and a tenth area R10. The fifth area R5, the sixth area R6 and the seventh area R7 are examples of the notification area R11.

[0077] Specifically, the display screen Dp1 as the main screen is divided into four areas in the vertical direction (up and down direction). Then, the three areas from the top are further divided into three areas in the horizontal direction (left and right direction). Thus, the display screen Dp1 as the main screen is divided into a total of 10 areas. And, the areas of the second layer from the top are the first area R1, the second area R2, and the third area R3 from the left. The area of ​​the bottom layer is the fourth area R4. And, the areas of the third layer from the top are the fifth area R5, the sixth area R6, and the seventh area R7 from the left, and the areas of the top layer are the eighth area R8, the ninth area R9, and the tenth area R10 from the left. For the vertical size, among the four areas divided in the vertical direction, the area of ​​the second layer from the top (the first area R1, the second area R2, and the third area R3) is the widest. For the horizontal size, among the three areas divided in the horizontal direction, the area in the middle (the second area R2, the sixth area R6, and the ninth area R9) is the widest.

[0078] However, the configuration and size of each area described above are merely examples and can be changed as appropriate. In addition, each area does not necessarily have to be clearly divided by a boundary line. Figure 5 In the example, the second region R2 and the third region R3 are clearly divided by a boundary line, but there is no boundary line between the first region R1 and the second region R2. Of course, the first region R1 and the second region R2 may also be clearly divided by a boundary line.

[0079] The first region R1 is a rectangular region that is long in the longitudinal direction. The remaining amount information G1 related to the remaining amount of the monitored object is displayed in the first region R1. Here, the monitored object is an object (including liquid and gas) that is consumed along with the operation of the working machine 3. In the present embodiment, it is assumed that the working machine 3 is provided with a urea SCR (Selective Catalytic Reduction) system attached to the engine. The urea SCR system removes NOx contained in the exhaust gas by injecting urea water into the exhaust gas. In the working machine 3 of such a structure, not only the fuel but also the urea water in the urea water tank needs to be properly replenished. Therefore, in the present embodiment, as an example, the monitored object includes the fuel (such as light oil) and urea water of the engine. Therefore, the remaining amount information G1 displayed in the first region R1 includes the fuel remaining amount information G11 related to the remaining amount of fuel and the urea water remaining amount information G12 related to the remaining amount of urea water. The display processing unit 12 generates the remaining amount information G1 in the display screen Dp1 based on the output (sensor signal) of the remaining amount sensor obtained by the acquisition processing unit 11.

[0080] In the present embodiment, the fuel remaining amount information G11 and the urea water remaining amount information G12 are both bar graphs. That is, the remaining amount information G1 is information that indexes the remaining amount of the monitored object (here, fuel and urea water) and is represented by the length (height) of the bar graph. The remaining amount information G1 is displayed by a graph (bar graph), so that the user has the advantage of good visibility and can intuitively understand the remaining amount of the monitored object. The remaining amount information G1 can be any information related to the remaining amount of the monitored object, for example, it can also be information that hierarchically represents the remaining amount by a pattern of an image (icon), information that indirectly represents the remaining amount by representing the consumption of the monitored object, etc., rather than information that represents the remaining amount itself by a numerical value.

[0081] The second region R2 is a rectangular region that is long in the horizontal direction. Information related to the operating status of the working machine 3 is displayed in the second region R2. Figure 5 In the example of FIG. 3 , the cooling water temperature information G3 and the operating oil temperature information G2 are displayed in the second region R2 . The cooling water temperature information G3 and the operating oil temperature information G2 are examples of information related to the operating state of the working machine 3 .

[0082] The display processing unit 12 generates the cooling water temperature information G3 on the display screen Dp1 based on the output (sensor signal) of the cooling water temperature sensor acquired by the acquisition processing unit 11. Similarly, the display processing unit 12 generates the hydraulic oil temperature information G2 on the display screen Dp1 based on the output (sensor signal) of the hydraulic oil temperature sensor acquired by the acquisition processing unit 11.

[0083] In the present embodiment, the cooling water temperature information G3 and the working oil temperature information G2 are both graphs imitating analog meters. In the analog meter, the needles G21 and G31 rotate, and the positions of the needles G21 and G31 indicate the numerical values. That is, the cooling water temperature information G3 is information obtained by indexing the cooling water temperature included in the operating state of the working machine 3 and indicating it by the position of the needle G31 of the graph. Similarly, the working oil temperature information G2 is information obtained by indexing the working oil temperature included in the operating state of the working machine 3 and indicating it by the position of the needle G21 of the graph. The cooling water temperature information G3 and the working oil temperature information G2 are displayed in a graph, so that the user has the advantage of good visibility and can intuitively understand the operating state of the working machine 3. The cooling water temperature information G3 and the working oil temperature information G2 may be information that indicates the cooling water temperature and the working oil temperature in a hierarchical manner, for example, by a pattern of an image (icon), rather than simply indicating the cooling water temperature and the working oil temperature by numerical values.

[0084] In addition, the information displayed in the second region R2 can be switched as appropriate. As an example, the surrounding images captured by the left camera 341, the right camera 342, and the rear camera 343 can also be displayed in the second region R2.

[0085] The third region R3 is a rectangular region that is longer in the longitudinal direction. In the third region R3, images (icons) Im1 corresponding to the operating status of each part of the working machine 3 are displayed. A plurality of images Im1 can be displayed in the third region R3, and the appearance design (pattern) of each image Im1 can indicate, for example, which of the status of the seat belt, cooling water temperature, working oil temperature, etc. is indicated. Here, each image Im1 indicates the operating status, for example, by displaying a display form such as display color or size. The display processing unit 12 uses the outputs of various sensors (including cooling water temperature sensors and working oil temperature sensors) that detect the operating status of each part of the working machine 3 to determine the status of each part of the working machine 3. Moreover, when an abnormal value is detected at any part, the display processing unit 12 performs a warning display by changing the display form such as the display color of the image Im1 of the part.

[0086] The fourth region R4 is a strip-shaped region extending over the entire width of the display screen Dp1. The operation menu M1 for operating the display screen Dp1 is displayed in the fourth region R4. Figure 5 As shown, the operation menu M1 is displayed at the lower end of the display screen Dp1 along the lower edge 231 of the display area of ​​the display unit 23. The operation menu M1 is a strip-shaped (rectangular) object having a length in the horizontal direction (left-right direction) of the display screen Dp1. Figure 5 In the example shown in FIG. 1 , the operation menu M1 has a width of about 10% of the entire display screen Dp1 in the vertical direction (vertical direction).

[0087] The operation menu M1 displayed along the lower edge 231 of the display area of ​​the display unit 23 is displayed on the display screen Dp1 together with the operation unit 22 (see Figure 4 That is, the plurality of key switches 221 to 226 in the operation unit 22 are arranged adjacent to the lower edge 231 of the display area of ​​the display unit 23, and the operation menu M1 displayed along the lower edge 231 of the display area of ​​the display unit 23 in the display screen Dp1 is displayed adjacent to the operation unit 22.

[0088] The operation menu M1 includes a plurality of (six in this embodiment) items M11 to M16 for operating the display screen Dp1. The plurality of items M11 to M16 are arranged in the longitudinal direction of the operation menu M1 (the lateral direction of the display screen Dp1).

[0089] The six items M11 to M16 are respectively associated with the six key switches 221 to 226 of the operation unit 22 located below them (see Figure 4). For example, the "Menu" item M11 is associated with the key switch 221. Similarly, the item M12 is associated with the key switch 222, the item M13 is associated with the key switch 223, the item M14 is associated with the key switch 224, the item M15 is associated with the key switch 225, and the item M16 is associated with the key switch 226. Therefore, when the operation menu M1 is displayed, if the key switch 221 corresponding to the "Menu" item M11 is operated by the user U1, the "Menu" item M11 is operated (selected).

[0090] As an example, when the "menu" item M11 is operated (selected), the control processing unit 13 controls the display processing unit 12 to change the display screen Dp1 from Figure 5 The displayed screen Dp1 can also be changed from the menu screen to various setting screens.

[0091] Furthermore, any one of the items M11 to M16 may be highlighted in the fourth region R4 in a manner corresponding to the operation of the operation dial (or cursor key) of the operation unit 22. For example, the highlighted items M11 to M16 are switched by the operation of the operation dial (or cursor key). The user U1 can select the desired items M11 to M16 by operating the decision button in a state where the desired items M11 to M16 are highlighted. Therefore, for example, if the decision button is operated in a state where the "menu" item M11 is highlighted, the "menu" item M11 is operated (selected). In addition, when the operation unit 22 includes a touch panel, the user U1 can select the desired items M11 to M16 by operating the desired items M11 to M16 on the touch display screen Dp1.

[0092] In the fifth region R5 and the sixth region R6, for example, information related to the working unit 33 in the working machine 3 is displayed. In the seventh region R7, for example, information related to the operating state of the working machine 3, such as the cooling water temperature or the engine speed of the working machine 3, is displayed. In the eighth region R8, for example, the current time is displayed. In the ninth region R9, for example, an error message is displayed. In the tenth region R10, for example, information related to the operating time (timer) of the working machine 3 is displayed.

[0093] [3.2] Display form of operation menu

[0094] Next, refer to Figure 5 to Figure 7 , the display form of the operation menu M1 displayed on the display unit 23 of the display device 2 is described in more detail.

[0095] In the control method according to the present embodiment, when the switching condition is satisfied, the display processing unit 12 changes the display mode of the operation menu M1 on the display screen Dp1 from the normal mode to the specific mode. Figure 5 The display screen Dp1 (first display screen Dp11) shows that the display mode of the operation menu M1 is the "normal mode", Figure 6 The display screen Dp1 (second display screen Dp12) shows that the display mode of the operation menu M1 is "specific mode". Figure 5 When the first display screen Dp11 shown in FIG. 1 is displayed on the display unit 23, if the switching condition is satisfied, the display screen Dp1 is switched to Figure 6 The second display screen Dp12 is shown.

[0096] According to this structure, the display form of the operation menu M1 in the display screen Dp1 is not fixed, but the display form of the operation menu M1 can be changed from the normal form to the specific form as needed. Therefore, for example, in the normal form, the operation menu M1 is displayed smaller so as not to hinder the display of other information, and in the specific form, the operation menu M1 is displayed in an enlarged manner, so that the operability of the operation unit 22 based on the operation menu M1 can be improved. Therefore, according to this embodiment, for example, a control method for a working machine 3, a control program for a working machine, a control system 1 for a working machine, and a working machine 3 can be provided, which can easily achieve improved operability even when the display device 2 becomes smaller due to the miniaturization of the working machine 3.

[0097] Specifically, in the present embodiment, the operation unit 22 includes a plurality of switches (key switches 221 to 226), and the operation menu M1 includes a plurality of items M11 to M16 corresponding to the plurality of switches (key switches 221 to 226). Such an operation menu M1 can prompt the user U1 on the display screen Dp1 what operation is assigned to each of the plurality of switches (key switches 221 to 226). Therefore, improving the visibility of the operation menu M1, for example by enlarging the display, is directly related to improving the operability of the operation unit 22.

[0098] Here, the notification area R11 having a length in the arrangement direction (horizontal) of the plurality of items M11 to M16 displays the operation information related to the operation state of the working machine 3 in the normal form, and displays the operation menu M1 in the special form. That is, in the first display screen Dp11 displaying the operation menu M1 in the normal form, as shown in FIG. Figure 5As shown in FIG. 1 , the fifth region R5, the sixth region R6, and the seventh region R7, which are examples of the notification region R11 and are adjacent to the fourth region R4 displaying the operation menu M1, display information related to the operation unit 33 and information related to the operation status of the operation machine 3, such as the cooling water temperature of the operation machine 3 (operation information). In contrast, in the second display screen Dp12 displaying the operation menu M1 in a specific form, as shown in FIG. Figure 6 As shown, the fourth region R4 displaying the operation menu M1 expands upward to the notification region R11, and the operation menu M1 is also displayed in the notification region R11.

[0099] Thus, in the control method according to the present embodiment, in the limited display area of ​​the display unit 23, in a specific form, the notification area R11 can be used to display the operation menu M1. At this time, since the operation menu M1 is displayed, the operation information in the notification area R11 is hidden by the operation menu M1. Therefore, the operation information displayed in the fifth area R5, the sixth area R6, and the seventh area R7 hidden by the operation menu M1 is preferably information with a relatively low degree of urgency, such as information that has a small impact on the operation (operation) of the working machine 3.

[0100] Here, the specific form is a display form in which the display size of the operation menu M1 is at least enlarged compared to the normal form. In this embodiment, when the normal form is changed to the specific form, the fourth area R4 displaying the operation menu M1 expands upward, so the display size of each item M11 to M16 of the operation menu M1 is enlarged in the vertical direction (up and down direction) of the display screen Dp1. Figure 6 In the example of FIG. 1 , the display size of the images (icons) and characters (text expressions) included in each of the items M11 to M16 is Figure 5 As a result, by switching the display form of the operation menu M1 from the normal form to the specific form, the visibility of the operation menu M1 is improved, which leads to improved operability of the operation unit 22.

[0101] However, the so-called "switching condition" in the present disclosure is a condition for changing the display form of the operation menu M1 from the normal form to the specific form. When the switching condition is satisfied, the display form of the operation menu M1 changes from the normal form (see Figure 5 ) changes to a specific form (refer to Figure 6 ).

[0102] The switching condition includes performing a specific operation on the operating unit 22. In the present embodiment, when the display form of the operation menu M1 is in the normal form, the switching condition is satisfied only by performing a specific operation on the operating unit 22. That is, for the user U1, the display form of the operation menu M1 can be changed from the normal form to the specific form by performing a specific operation on the operating unit 22. Thus, the display form of the operation menu M1 can be changed to the specific form according to the intention of the user U1.

[0103] Here, the operation unit 22 has a specific operation element for performing a specific operation. The operation menu M1 includes a specific item displayed in a position corresponding to the specific operation element in the display screen Dp1. In the present embodiment, the key switch 226 located at the right end among the plurality of key switches 221 to 226 in the operation unit 22 is an example of a specific operation element. Therefore, the item M16 located at the right end among the plurality of items M11 to M16 in the operation menu M1 is an example of a specific item.

[0104] Therefore, by the user U1 pressing the key switch 226 (specific operating element) corresponding to the item M16 (specific item), the switching condition is satisfied, and the display form of the operation menu M1 changes from the normal form to the specific form. Thus, for the user U1, by operating the specific operating element with the specific item (item M16) as a mark, the display form of the operation menu M1 can be changed to the specific form.

[0105] In addition, in the present embodiment, the display processing unit 12 changes the display form of the operation menu M1 in the display screen Dp1 from the specific form to the normal form when the release condition is satisfied. Thus, after changing the display form of the operation menu M1 from the normal form to the specific form, the display form of the operation menu M1 can be returned to the normal form.

[0106] The so-called "release condition" in the present disclosure is a condition for changing the display form of the operation menu M1 from a specific form to a normal form. When the release condition is met, the display form of the operation menu M1 changes from a specific form to a normal form. The release condition can be the same as the switching condition or different from the switching condition.

[0107] In the present embodiment, as an example, the release condition includes, like the switching condition, performing a specific operation on the operating unit 22. In the present embodiment, when the display form of the operation menu M1 is in a specific form, the release condition is satisfied only by performing a specific operation on the operating unit 22. That is, when the display screen Dp1 is displayed on the display unit 23, each time the push switch 226 (specific operation element) corresponding to the item M16 (specific item) is pressed, the release condition is satisfied. Figure 7As shown, the display mode of the operation menu M1 is switched alternately between the normal mode and the special mode.

[0108] Furthermore, in this embodiment, the specific item includes the first image M161 (see Figure 5 ), including a second image M162 different from the first image M161 in a specific form (refer to Figure 6 ). Thus, the user U1 can understand whether the display mode of the operation menu M1 is the normal state or the specific state, depending on whether the image included in the item M16 (specific item) is the first image M161 or the second image M162.

[0109] Here, if Figure 5 As shown in FIG. 1 , the first image M161 is an image displayed so as to be directed to the inside of the display screen Dp1. Figure 6 As shown, the second image M162 is an image displayed as pointing to the outside of the display screen Dp1. In the present embodiment, as an example, the first image M161 and the second image M162 are images displayed as "arrow" shapes pointing to specific directions. Here, the item M16 (specific item) is located at a position opposite to the lower edge 231 of the display area of ​​the display unit 23, so the first image M161 is composed of an arrow-shaped image facing upward, which is the inner side of the display area, that is, the side opposite to the lower edge 231. The second image M162 is composed of an arrow-shaped image facing downward, which is the outer side of the display area, that is, the side of the lower edge 231.

[0110] Since the item M16 (specific item) includes an image displayed as pointing to the inside or outside of the display screen Dp1, it is easy for the user U1 to intuitively understand whether the display form of the operation menu M1 is switched to a specific state or a normal state by operating the key switch 226 (specific operating element) corresponding to the item M16. That is, when the first image M161 displayed as pointing to the inside of the display screen Dp1 is displayed in the item M16 (specific item), if the key switch 226 (specific operating element) is operated, the operation menu M1 expands to the inside (upper) of the display screen Dp1 and switches to the specific form. On the other hand, when the second image M162 displayed as pointing to the outside of the display screen Dp1 is displayed in the item M16 (specific item), if the key switch 226 (specific operating element) is operated, the operation menu M1 shrinks to the outside (lower) of the display screen Dp1 and switches to the normal form.

[0111] However, the images including the first image M161 and the second image M162 are not limited to arrow shapes as long as they are displayed as images pointing in a specific direction. For example, they may also be in the shape of a triangle or an image imitating a human finger.

[0112] [3.3] Flowchart

[0113] Next, refer to Figure 8 In the control method, in particular, the flow of processing executed by the display processing unit 12 will be described.

[0114] like Figure 8 As shown in FIG. 1 , the display processing unit 12 of the control system 1 displays the display screen Dp1 on the display device 2 (S1). Figure 5 As shown, the display processing unit 12 displays the operation menu M1 in a normal form ( S2 ), and displays the first image M161 in the item M16 (specific item).

[0115] In this state, the display processing unit 12 determines whether the switching condition is satisfied (S3). At this time, if the key switch 226 (specific operating element) corresponding to the item M16 (specific item) is pressed, the display processing unit 12 determines that the switching condition is satisfied (S3: Yes), and the process moves to step S4. On the other hand, if the key switch 226 (specific operating element) is not pressed, the display processing unit 12 determines that the switching condition is not satisfied (S3: No), and the process moves to step S2, and the display of the operation menu M1 in the normal form continues.

[0116] In step S4, Figure 6 As shown, the display processing unit 12 displays the operation menu M1 in a specific form, and displays the second image M162 in the item M16 (specific item).

[0117] In this state, the display processing unit 12 determines whether the release condition is satisfied (S5). At this time, if the key switch 226 (specific operation element) corresponding to the item M16 (specific item) is pressed, the display processing unit 12 determines that the release condition is satisfied (S5: Yes), and the process moves to step S2. On the other hand, if the key switch 226 (specific operation element) is not pressed, the display processing unit 12 determines that the release condition is not satisfied (S5: No), and the process moves to step S4, and the display of the operation menu M1 in the specific form continues.

[0118] The control system 1 repeatedly executes the processing of the above steps S1 to S5. Figure 8 The flowchart shown is merely an example, and processing may be appropriately added or omitted, and the order of processing may be appropriately changed.

[0119] [4] Modifications

[0120] The following lists modifications of Embodiment 1. The modifications described below can be applied in combination as appropriate.

[0121] 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 the main structure. The functions of the control system 1 in the present disclosure are realized by executing the program recorded in the memory of the computer system by the processor. The program can be pre-recorded in the memory of the computer system, or provided through an electrical communication line, or recorded in a non-temporary recording medium such as a memory card, an optical disk, a hard disk drive, etc. that can be read by the computer system. In addition, part or all of the functional parts included in the control system 1 can also be composed of electronic circuits.

[0122] In addition, it is not necessary for the control system 1 to integrate at least a part of the functions of the control system 1 into one housing, and the components of the control system 1 may also be dispersed in multiple housings. On the contrary, in the first embodiment, the functions dispersed in multiple devices (such as the control system 1 and the display device 2) may also be integrated in one housing. Furthermore, at least a part of the functions of the control system 1 may also be implemented by the cloud (cloud computing) or the like.

[0123] In addition, 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. Furthermore, the display unit 23 is not limited to a form that directly displays a display screen like a liquid crystal display or an organic EL display, and may be a structure that displays a display screen by projection like a projector.

[0124] In addition, the information input form of the operation unit 22 may be in forms other than button switches, touch panels, and operation dials. For example, the operation unit 22 may be in forms such as a keyboard, a pointing device such as a mouse, voice input, gesture input, or input of an operation signal from another terminal.

[0125] The power source of the working machine 3 is not limited to the diesel engine, and may be, for example, an engine other than the diesel engine, a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0126] In addition, the switching condition is not limited to the pressing operation (specific operation) of the key switch 226 (specific operating member) corresponding to the item M16 (specific item). For example, the switching condition may also include a specific operation performed on an operating device different from the operating unit 22, such as voice input. The switching condition may also include: a person is detected by a person detection device provided on the display device 2, the user U1 is located in front of the display device 2, it is determined based on the line of sight of the user U1 that the user U1 is looking at the display screen Dp1, or an error related to the working machine 3 occurs, or a combination of the above.

[0127] In addition, the switching of the display mode of the operation menu M1 from the normal mode to the specific mode is not limited to the example described in the first embodiment, and various modes can be considered. Fig. 9 As shown in "Mode 1" shown in FIG. 1 , when changing from the normal mode to the specific mode, the display size of each item M11 to M16 of the operation menu M1 may be enlarged in the vertical direction (up and down direction), and the display size of the image (icon) and text (text expression) contained in each item M11 to M16 may be kept unchanged. Fig. 9 As shown in "Mode 2", when changing from the normal form to the specific form, the display shape of each item M11 to M16 of the operation menu M1 can be changed from horizontal length to vertical length, and the display size of each item M11 to M16 remains unchanged. In addition, for example, when changing from the normal form to the specific form, it is also possible to add an image (icon) and text (text expression) to each item M11 to M16 of the operation menu M1.

[0128] [Notes on the invention]

[0129] The following is a summary of the invention extracted from the above-mentioned embodiment. In addition, each structure and each processing function described in the following notes can be selected and combined arbitrarily.

[0130] <Note 1>

[0131] A method for controlling a working machine, wherein the method comprises the following steps:

[0132] acquiring operation information related to operation of an operating unit of a display device for a working machine;

[0133] In a display screen displayed by a display unit of the display device, an operation menu is displayed at a position corresponding to the operation unit;

[0134] Performing control based on the above operation information; and

[0135] When a switching condition is satisfied, the display form of the operation menu in the display screen is changed from a normal form to a specific form.

[0136] <Note 2>

[0137] A method for controlling a working machine according to Note 1, wherein:

[0138] The operating unit includes a plurality of switches.

[0139] The operation menu includes a plurality of items corresponding to the plurality of switches respectively.

[0140] <Note 3>

[0141] A method for controlling a working machine according to Note 2, wherein:

[0142] The notification area has a length in the arrangement direction of the plurality of items, displays operation information related to the operation state of the working machine in the normal mode, and displays the operation menu in the specific mode.

[0143] <Note 4>

[0144] A working machine control method according to any one of Notes 1 to 3, wherein:

[0145] The specific mode is a display mode in which at least the display size of the operation menu is enlarged compared to the normal mode.

[0146] <Note 5>

[0147] A working machine control method according to any one of Notes 1 to 4, wherein:

[0148] The switching condition includes performing a specific operation on the operating unit.

[0149] <Note 6>

[0150] A method for controlling a working machine according to Note 5, wherein:

[0151] The operating unit has a specific operating element for performing the specific operation.

[0152] The operation menu includes a specific item displayed at a position corresponding to the specific operation element in the display screen.

[0153] <Note 7>

[0154] A method for controlling a working machine according to Note 6, wherein:

[0155] The specific item includes a first image in the normal form, and includes a second image different from the first image in the specific form.

[0156] <Note 8>

[0157] A method for controlling a working machine according to Note 7, wherein:

[0158] The first image is an image displayed to point to the inside of the display screen.

[0159] The second image is an image displayed so as to be directed outside the display screen.

[0160] <Note 9>

[0161] A working machine control method according to any one of Notes 1 to 8, wherein:

[0162] The method further includes a process of changing the display mode of the operation menu on the display screen from the specific mode to the normal mode when a release condition is satisfied.

[0163] <Note 10>

[0164] A control program for a working machine, wherein:

[0165] Used to cause one or more processors to execute the working machine control method described in any one of Appendix 1 to 9.

Claims

1. A method for controlling a working machine, characterized in that: With the following processing: acquiring operation information related to operation of an operating unit of a display device for a working machine; In a display screen displayed by a display unit of the display device, an operation menu is displayed at a position corresponding to the operation unit; executing control based on the operation information; as well as When a switching condition is satisfied, the display form of the operation menu in the display screen is changed from a normal form to a specific form.

2. The working machine control method according to claim 1, characterized in that: The operating unit includes a plurality of switches. The operation menu includes a plurality of items corresponding to the plurality of switches, respectively.

3. The working machine control method according to claim 2, characterized in that: The notification area has a length in the arrangement direction of the plurality of items, displays operation information related to the operation state of the working machine in the normal form, and displays the operation menu in the specific form.

4. The working machine control method according to any one of claims 1 to 3, characterized in that: The specific form is a display form in which at least the display size of the operation menu is enlarged compared to the normal form.

5. The working machine control method according to any one of claims 1 to 3, characterized in that: The switching condition includes performing a specific operation on the operating unit.

6. The working machine control method according to claim 5, characterized in that: The operating portion has a specific operating member for performing the specific operation. The operation menu includes a specific item displayed at a position corresponding to the specific operation element in the display screen.

7. The working machine control method according to claim 6, characterized in that: The specific item includes a first image in the normal form, and includes a second image different from the first image in the specific form.

8. The working machine control method according to claim 7, characterized in that: The first image is an image displayed to be directed to the inside of the display screen, The second image is an image displayed so as to be directed outside the display screen.

9. The working machine control method according to any one of claims 1 to 3, characterized in that: The method further includes a process of changing the display mode of the operation menu on the display screen from the specific mode to the normal mode when a release condition is satisfied.

10. A control program for a working machine, characterized in that: A method for causing one or more processors to execute the working machine control method according to any one of claims 1 to 3.

11. A control system for a working machine, characterized in that: have: an acquisition processing unit that acquires operation information related to operation of an operation unit of a display device for a working machine; a display processing unit configured to display an operation menu at a position corresponding to the operation unit in a display screen displayed by the display unit of the display device; as well as a control processing unit that performs control based on the operation information, The display processing unit changes the display form of the operation menu on the display screen from a normal form to a specific form when a switching condition is satisfied.

12. A working machine, characterized in that: have: The control system for a working machine according to claim 11; and A body for carrying the display device.

Images