Method for controlling work machine, control program for work machine, control system for work machine, and work machine

Abstract

The purpose of the present invention is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine, whereby unintended operation of the work machine by an operator can be easily suppressed. A method for controlling a work machine (3) is a method for controlling a work machine (3) having an interference avoidance function for controlling the operation of a work unit (33) so as to avoid interference of the work unit (33) with a driving unit (321). The control method includes a step of executing an invalidation startup process in which the work unit (33) can be operated in a state in which the interference avoidance function is invalidated when a specific condition including the first operation is being performed is satisfied when the work machine (3) is started on the basis of the startup operation.

Description

Technical Field

[0001] This invention relates to a control method for operating machinery, a control program for operating machinery, a control system for operating machinery, and operating machinery itself. Background Technology

[0002] As related technology, backhoe excavators (e.g., see Patent Document 1) are known to have a driver's cab and a workpiece (bucket). The backhoe excavator in this related technology has a restraining mechanism that spatially defines a danger zone extending a predetermined distance outward from the outermost part of the driver's cab. When the bucket crosses the danger zone and enters the driver's cab side, a hydraulic cylinder stops to restrain it. Therefore, even if an operator mistakenly moves the bucket extremely close to the driver's cab while operating the backhoe excavator, the bucket will automatically stop when it reaches the danger zone.

[0003] Furthermore, the operating machinery involved in the related technology has a switching mechanism capable of switching the "working state" and "stopped state" of the aforementioned restraining mechanism. Therefore, if the restraining mechanism is set to the stopped state by the switching mechanism, even if the operator wants to perform an operation such as the bucket crossing the danger surface to enter the driver's side, the hydraulic cylinder will not stop, so the operator can fully confirm safety and operate the bucket to a very close distance to the driver's side.

[0004] Patent Document 1: Japanese Patent Application Publication No. 4-333730

[0005] In the aforementioned related technologies, for example, when the operator unintentionally puts the restraint mechanism into a stopped state, the machine may perform an unintentional action by the operator due to the operator's operation (the bucket moves very close to the driver's seat). Summary of the Invention

[0006] The purpose of this invention is to provide a control method, control program, control system, and working machine that can easily suppress unintentional actions of the operator.

[0007] One aspect of the present invention relates to a control method for a work machine having an interference-avoidance function that controls the operation of the work unit in a manner that avoids interference between the work unit and the driver. The control method includes a step of performing an invalid start-up process that, when the work machine is started based on a start-up operation and certain conditions, including the ongoing first operation, are met, to enable the operation of the work unit while the interference-avoidance function is disabled.

[0008] One aspect of the present invention relates to a control program for a work machine that is used to cause one or more processors to execute the control method for the work machine described above.

[0009] One aspect of the present invention relates to a control system for a work machine having an interference-avoidance function that controls the operation of the work unit in a manner that prevents the work unit from interfering with the driving unit, and includes a setting processing unit. When the work machine is started based on a start-up operation, the setting processing unit can activate the work unit in a state where the interference-avoidance function is disabled, provided that specific conditions, including the commencement of a first operation, are met.

[0010] One embodiment of the present invention relates to a work machine that includes the aforementioned work machine control system and body.

[0011] According to the present invention, a control method for operating machinery, a control program for operating machinery, a control system for operating machinery, and operating machinery can be provided that can easily suppress unintentional actions of the operating machinery by the operator. Attached Figure Description

[0012] Figure 1 This is a schematic perspective view showing the overall structure of the working machinery involved in Embodiment 1.

[0013] Figure 2 This is a schematic block diagram of the operating machinery involved in Implementation Method 1.

[0014] Figure 3 This is a schematic view of the operating device of the work machinery involved in Embodiment 1.

[0015] Figure 4 This is a diagram showing an example of the main screen displayed by the control system for the operating machinery according to Embodiment 1.

[0016] Figure 5 This is a schematic diagram illustrating an example of the operating mode of the work machinery involved in Embodiment 1.

[0017] Figure 6 This is a diagram showing an example of a setting screen displayed by the control system for the operating machinery according to Embodiment 1.

[0018] Figure 7 This is a diagram showing an example of a setting screen displayed by the control system for the operating machinery according to Embodiment 1.

[0019] Figure 8 This is a diagram showing an example of a setting screen displayed by the control system for the operating machinery according to Embodiment 1.

[0020] Figure 9This is a diagram showing an example of a setting screen displayed by the control system for the operating machinery according to Embodiment 1.

[0021] Figure 10 This is a diagram showing an example of a setting screen displayed by the control system for the operating machinery according to Embodiment 1.

[0022] Figure 11 This diagram illustrates an example of screen transitions on the setting screen displayed by the control system for the operating machinery according to Embodiment 1.

[0023] Figure 12 This diagram illustrates an example of screen transitions on the setting screen displayed by the control system for the operating machinery according to Embodiment 1.

[0024] Figure 13 This is a diagram illustrating an example of screen transitions during startup of the display screen shown by the control system for the operating machinery according to Embodiment 1.

[0025] Figure 14 This is a diagram illustrating an example of screen transitions during startup of the display screen shown by the control system for the operating machinery according to Embodiment 1.

[0026] Figure 15 This is a diagram showing an example of the main screen displayed by the control system for the operating machinery according to Embodiment 1.

[0027] Explanation of reference numerals in the attached figures

[0028] 1...Control system for operating machinery; 2...Display device; 3...Operating machinery; 14...Setting and processing unit; 30...Machine body; 33...Operating unit; 34...Main switch (starting operation unit); 321...Driving unit; 371...Stop switch (locking device); 372...Stop lever (locking device); 391...Approval switch (second operation unit); 392...Release switch (first operation unit); Im11...First image. Detailed Implementation

[0029] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. These embodiments are merely examples embodying the present invention and are not intended to limit the scope of the invention.

[0030] (Implementation Method 1)

[0031] [1] Overall structure

[0032] like Figure 1As shown, the working machine 3 according to this embodiment includes a traveling section 31, a rotating section 32, and a working section 33 in its body 30. Furthermore, as... Figure 2 As shown, the operating machinery 3 also includes an operating machinery control system 1 (hereinafter referred to as "control system 1"). Furthermore, as... Figure 1 and Figure 2 As shown, the machine body 30 also includes a display device 2, a main switch 34, an operating device 35, a sound output unit 36, a sensor 38, an approval switch 391, a release switch 392, a cut-off switch 371, and a cut-off lever 372.

[0033] The term "operating machinery" as used in this disclosure refers to various types of machinery used for operations. For example, it includes backhoe excavators (including hydraulic excavators, mini excavators, etc.), wheel loaders, and transport vehicles. The operating machinery 3 includes an operating section 33 configured to perform more than one operation. The operating machinery 3 is not limited to "vehicles" and may also be, for example, operating vessels, drones, or multi-rotor aircraft. Furthermore, the operating machinery 3 is not limited to construction machinery; it may also be, for example, agricultural machinery such as rice transplanters, tractors, or combine harvesters. In this embodiment, unless otherwise stated, the case where the operating machinery 3 is a passenger-type backhoe excavator capable of performing excavation, land leveling, trench digging, or filling operations will be described as an example. More specifically, it is assumed that the working machine 3 involved in this embodiment is a "micro-slewing type" in which the rotating part 32 including the working part 33 can make a full turn within 120% of the entire width of the traveling part 31 (the entire width of the left and right pairs of tracks 311) or a "rear micro-slewing type" in which the rear turning radius ratio is within 120%.

[0034] In this embodiment, for ease of explanation, the vertical direction of the working machine 3 when it is in an usable state is defined as the up-down direction D1. Furthermore, in the non-rotating state of the rotating section 32, the forward-backward direction D2 and the left-right direction D3 are defined based on the direction observed from the user (operator) riding in the working machine 3 (driving section 321). In other words, all directions used in this embodiment are 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 "forward," and the direction in which the body 30 moves when the working machine 3 moves backward is "rearward." Similarly, the direction in which the front end of the body 30 moves when the working machine 3 turns right is "rightward," and the direction in which the front end of the body 30 moves when the working machine 3 turns left is "leftward." However, the above directions are not intended to limit the operating direction (direction during use) of the working machine 3.

[0035] The working machine 3 is equipped with an engine that serves as a power source. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (here, light oil) supplied from a fuel tank. In the working machine 3, for example, the engine drives the hydraulic pump 41 (see...). Figure 2 The hydraulic pump 41 supplies working oil to the hydraulic actuators (including the hydraulic motor 43 and hydraulic cylinder 44, etc.) of various parts of the machine body 30, thereby driving the machine body 30. Such a work machine 3 is operated, for example, by a user (operator) riding in the driver's unit 321 of the machine body 30, using the operating levers 351, 352 (see reference 351, 352) of the operating device 35. Figure 2 (etc.) to control.

[0036] In this embodiment, as described above, assuming the working machine 3 is a passenger-operated backhoe excavator, the working unit 33 is driven by the user (operator) riding in the driving unit 321 to perform digging and other operations. The driving unit 321, in which the user rides, is located in the slewing unit 32.

[0037] exist Figure 1 In the example shown, a canopy-type driver's unit 321 is illustrated, but the driver's unit 321 can also be a cab-type. A cab-type driver's unit 321 has a cab, and the user sits in the cab space inside the cab. A canopy-type driver's unit 321 has a roof (canopy), and the user sits in the space below the roof. Furthermore, the driver's unit 321 is not limited to cab-type or canopy-type; for example, it can also be a floor-type, where the user sits in an open space above, without a cab or roof.

[0038] Here, a display device 2 and an operating device 35 are mounted on the driver's section 321 of the machine body 30. The user can operate the operating device 35 while observing various information related to the working machine 3 displayed on the display device 2. As an example, by displaying information related to the operating status of the working machine 3, such as the cooling water temperature and the working oil temperature, on the display screen of the display device 2, the user can confirm the information related to the operating status of the working machine 3 required to operate the operating device 35 through the display device 2.

[0039] The traveling unit 31 has a traveling function and is configured to travel on the ground (including turning). The traveling unit 31 includes, for example, a pair of left and right tracks 311 and a bulldozer blade 312. The traveling unit 31 also includes a hydraulic motor 43 (hydraulic actuator) for driving the tracks 311.

[0040] The rotating section 32 is located above the traveling section 31 and is configured to rotate relative to the traveling section 31 about a vertical axis of rotation. The rotating section 32 includes a hydraulic motor 45 (see reference 1) which serves as a hydraulic actuator for rotation. Figure 2In addition to the driving unit 321, the slewing section 32 is also equipped with an engine and a hydraulic pump 41. Furthermore, a boom bracket 322 for mounting the working unit 33 is provided at the front end of the slewing section 32.

[0041] The working unit 33 is configured to perform more than one task. The working unit 33 is supported by the boom bracket 322 of the slewing unit 32 and performs the task. The working unit 33 has an auxiliary device 331, consisting of a bucket or the like. The auxiliary device 331 is an auxiliary device (working tool) installed on the body 30 of the working machine 3, and is composed of any implement selected from a variety of auxiliary devices according to the task. As an example, the auxiliary device 331 is detachably installed on the body 30 and can be replaced according to the task. Examples of (end-of-line) auxiliary devices 331 used for the working machine 3, besides the bucket, include various implements such as crushers, augers, pulverizers, forks, forks, steel frame cutters, asphalt cutters, lawnmowers, rippers, soil covering machines, tilting rotary machines, and tampers.

[0042] The working unit 33 also includes a boom 332, a stick 333, and hydraulic actuators (including a hydraulic cylinder 44 and a hydraulic motor, etc.). An auxiliary device 331 is mounted on the front end of the stick 333. The auxiliary device 331 is supported on the stick 333 in a manner that allows it to rotate around a horizontal axis of rotation.

[0043] The boom 332 is supported by the boom bracket 322 of the slewing section 32 and is rotatable. Specifically, the boom 332 is supported by the boom bracket 322 and is rotatable about a horizontal axis of rotation. The boom 332 has a shape that extends upward from the base end supported by the boom bracket 322. The stick 333 is connected to the front end of the boom 332. The stick 333 is supported on the boom 332 in a manner that allows it to rotate about a horizontal axis of rotation.

[0044] The working unit 33 operates by receiving power from the engine, which serves as the power source. Specifically, the engine drives the hydraulic pump 41, which supplies working oil to the hydraulic actuators (hydraulic cylinder 44, etc.) of the working unit 33, thereby causing the various parts of the working unit 33 (auxiliary device 331, boom 332, and stick 333) to move.

[0045] In this embodiment, in particular, the working unit 33 has a multi-joint structure in which the boom 332 and stick 333 are configured to rotate independently. That is, by rotating the boom 332 and stick 333 around a horizontal axis of rotation, the multi-joint working unit 33, including the boom 332 and stick 333, can, for example, extend and fold as a whole. Furthermore, the bucket, which is an accessory 331, is supported on the machine body 30 (rotating unit 32) via the boom 332 and stick 333. By rotating the bucket (accessory 331) relative to the stick 333, the bucket (accessory 331) can be opened and closed.

[0046] Each of the traveling section 31 and the rotating section 32, like the operating section 33, receives power from the engine, which serves as the power source, to operate. That is, the rotating section 32 and the traveling section 31 operate by supplying working oil from the hydraulic pump 41 to the hydraulic motor 43 of the traveling section 31 and the hydraulic motor 45 of the rotating section 32.

[0047] In addition, the working machine 3 also has a drive device (mechanism) such as a PTO (Power Take-Off) for supplying power to the auxiliary device 331. Specifically, the drive device delivers working oil from the hydraulic pump 41 driven by the engine to the auxiliary device 331, and adjusts the amount of power supplied to the auxiliary device 331 by adjusting the flow rate of the working oil. Here, the drive device has multiple (in this embodiment, four as an example) PTO ports, i.e., output ports (hereinafter referred to as "PTO1", "PTO2", "PTO3", and "PTO4"). PTO1 to PTO4 can each independently adjust the power, i.e., the flow rate of the working oil.

[0048] exist Figure 2 The diagram schematically illustrates the hydraulic circuit and electrical connections (connections) of the working machine 3 involved in this embodiment. Figure 2 In the diagram, solid lines represent high-pressure (working oil) circuits, dashed lines represent low-pressure (pilot oil) circuits, and dotted-dash arrows represent the paths of electrical signals.

[0049] like Figure 2 As shown, the working machine 3, in addition to having a hydraulic pump 41, a hydraulic cylinder 44, and a hydraulic motor 45, also includes a pilot pump 42, first control valves 491-494, a second control valve 47, and a directional switching valve (adjusting valve) 48. Figure 2 Only one hydraulic cylinder 44 for driving the boom 332 is shown in the diagram, but the hydraulic cylinder 44 for driving the stick 333 or auxiliary devices 331 also has the same hydraulic circuit. Furthermore, in Figure 2Only the hydraulic motor 45 of the rotating part 32 is shown in the figure, but the hydraulic motor 43 of the traveling part 31 also has the same hydraulic circuit.

[0050] Working oil from the engine-driven hydraulic pump 41 is supplied to the hydraulic motor 43 of the traveling part 31, the hydraulic motor 45 of the rotating part 32, and the hydraulic cylinder 44 of the working part 33. As a result, the hydraulic actuators such as the hydraulic motors 43 and 45 and the hydraulic cylinder 44 are driven.

[0051] The hydraulic actuators, such as hydraulic motors 43 and 45 and hydraulic cylinders 44, are equipped with pilot-operated directional switching valves 48 capable of switching the direction and flow rate of the working oil from the hydraulic pump 41. The directional switching valves 48 are driven by pilot oil supplied from the pilot pump 42 as input commands.

[0052] Here, first control valves 491 to 494 are provided in the supply path of pilot oil to the directional switching valve 48. Each of the first control valves 491 to 494 is a solenoid-type control valve (solenoid valve), inserted between the directional switching valve 48 and the pilot pump 42. Each of the first control valves 491 to 494 is connected to the control system 1 and operates according to a control signal (supply current) from the control system 1. Specifically, the control system 1 controls the first control valves 491 to 494 according to the operation of the operating device 35, for example, indicating the expansion and contraction of the working part 33. Each of the first control valves 491 to 494 here is a (solenoid) proportional control valve, but is not limited to this; for example, it could also be an on / off valve capable of switching the flow path.

[0053] Such a directional switching valve and a first control valve are not only installed in the hydraulic cylinder 44 for driving the boom 332 and the hydraulic motor 45 for the slewing unit 32, but also in the hydraulic circuit of the hydraulic cylinder 44 for driving the stick 333 or auxiliary device 331 and the hydraulic motor 43 for the traveling unit 31. Therefore, the traveling unit 31, the slewing unit 32 and the working unit 33 can be operated according to the operation of the operating device 35.

[0054] Furthermore, a second control valve 47 is provided upstream of the pilot oil when viewed from the first control valves 491-494. The second control valve 47 is an electromagnetic control valve (solenoid valve) inserted between the pilot pump 42 and the multiple first control valves 491-494. The second control valve 47 is connected to the power supply via a shut-off switch 371 and operates according to the supply current from the power supply. Here, the second control valve 47 opens the pilot oil flow path when it is energized, that is, when it is supplied with current as a control signal, and shuts off the pilot oil flow path when it is de-energized, that is, when the current as a control signal is cut off. Therefore, by cutting off the supply current to the second control valve 47, the hydraulic actuator (hydraulic cylinder 44, etc.) becomes unable to be driven, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35.

[0055] The stop switch 371 is linked to the stop lever 372. The stop lever 372 is located in the control section 321 of the machine body 30 and receives operation input from the user (operator). In this embodiment, as an example, the stop lever 372 can be operated in the vertical direction D1. If the stop lever 372 is in the upper position of its movable range, i.e., the "raised position", the stop switch 371 is "disconnected"; if the stop lever 372 is in the lower position of its movable range, i.e., the "lowered position", the stop switch 371 is "connected". Moreover, the stop switch 371 is connected to the control system 1, and the connection / disconnection of the stop switch 371 is monitored by the control system 1.

[0056] Therefore, if the stop lever 372 is in the "lowered position," the second control valve 47 is energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by the operation of the operating device 35. Conversely, if the stop lever 372 is in the "raised position," the second control valve 47 is de-energized, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35. Therefore, in order to drive the hydraulic actuator (hydraulic cylinder 44, etc.), the user (operator) needs to operate the stop lever 372 to the "lowered position."

[0057] Furthermore, each of the slewing unit 32 and the traveling unit 31 is operated by supplying working oil from the hydraulic pump 41 to the hydraulic actuators (hydraulic motors 43, 45, etc.). Therefore, if the stop lever 372 is in the "raised position," the slewing unit 32 and the traveling unit 31 become inoperable. That is, if the stop lever 372 is in the "raised position," the operating unit 33, the slewing unit 32, and the traveling unit 31 are all forcibly set to an inoperable state.

[0058] In summary, when the stop switch 371 is open, it is in a "locked state" where the movement of the working machine 3 is restricted (including prohibited), and when it is closed, it is in a "locked-out state" where the movement of the working machine 3 is not restricted. Furthermore, if the stop lever 372 is in the "raised position" and the stop switch 371 is in the locked state (open), the movement of the working machine 3 is forcibly restricted regardless of the operation of the operating device 35. The stop lever 372 is a lever that is operated when locking the movement of the working machine 3, and is synonymous with a door locking lever.

[0059] Thus, the stop switch 371 and the stop lever 372 are an example of a locking device. The locking device is a device capable of switching between a locked state that restricts the movement of the working machine 3 and a locked-out state that does not restrict the movement of the working machine 3. That is, if the stop lever 372 is in the "raised position," the locking device is in the "locked state" and restricts the movement of the working machine 3; if the stop lever 372 is in the "lowered position," the locking device is in the "locked-out state" and does not restrict the movement of the working machine 3.

[0060] The main switch 34 is located in the driving section 321 of the machine body 30 and is operated by the user (operator) when the machine 3 is started. While the main switch 34 is off, the machine body 30 (including the traveling section 31, the rotating section 32, and the working section 33) will not operate according to the operation of the operating device 35. The machine body 30 will only operate according to the operation of the operating device 35 after the main switch 34 is turned on. Furthermore, when the main switch 34 is turned on, power is also supplied to the display device 2 and other components. In this embodiment, as an example, the main switch 34 is linked to the lock cylinder and is turned on by using a key to start the engine (ignition).

[0061] The operating device 35 is disposed in the pilot unit 321 of the machine body 30 and is a user interface for receiving operation inputs from the user (operator). The operating device 35 is an electrical operating device that receives various operations performed by the user by outputting electrical signals (operation signals) corresponding to the user's operation to the control system 1. In this embodiment, as an example, the operating device 35 includes a pair of joysticks 351 and 352 (see reference 1). Figure 3 ), etc. Details about the operating device 35 are described in the "[2] Operating Device" section.

[0062] The sound output unit 36 ​​outputs sound (including voice) to the user (operator). The sound output unit 36 ​​includes a buzzer or speaker, etc., and receives electrical signals to output sound. The sound output unit 36 ​​is connected to the control system 1 and outputs sounds such as buzzers or voice according to sound control signals from the control system 1. In this embodiment, the sound output unit 36 ​​is provided in the driving section 321 of the machine body 30, similar to the display device 2. The sound output unit 36 ​​may also be integrated with the display device 2.

[0063] Sensors 38 include, for example, boom angle sensors, stick angle sensors, bucket angle sensors, body tilt sensors, and slewing angular velocity sensors, which are used to detect the posture of various parts of the machine body 30. The boom angle sensor detects the rotation angle (boom angle) of the boom 332 relative to the slewing section 32. The boom angle is smallest when the boom 332 is lowered to its lowest position within the movable range and increases as the boom 332 is raised. The stick angle sensor detects the rotation angle (stick angle) of the stick 333 relative to the boom 332. The stick angle is smallest when the stick 333 is maximally folded and increases as the boom extends, causing the stick 333 to extend. The bucket angle sensor detects the rotation angle (bucket angle) of the bucket (accessory 331) relative to the stick 333. The bucket angle is smallest when the bucket (accessory 331) is maximally closed and increases as the bucket (accessory 331) is opened. The aforementioned sensors consist of accelerometers, gyroscopes, potentiometers, travel sensors, rotary encoders, or combinations thereof. The attitude detection unit 39 outputs the detection results, such as the boom angle, to the control system 1 in real time.

[0064] Sensor 38 also includes an image sensor (camera) that captures images of the periphery of the body 30. The camera, for example, is installed in the rotating part 32 and configured to capture images of the periphery of the body 30 (at least one of the following directions: front, rear, left, right, up, and down). The images captured by the camera can be any of black and white images, infrared images, and full-color images, or any of still images and moving images. In this embodiment, as an example, the camera captures a full-color moving image of the rear of the body 30 (peripheral image) and outputs the image data of the peripheral image to the control system 1 in real time.

[0065] Approval switch 391 and release switch 392 are respectively disposed in the driver's compartment 321 of the machine body 30, which is an operating part that is operated by the user (operator). Approval switch 391 and release switch 392 are disposed in a position that is easy for the operator to operate, such as in front of the driver's seat in the driver's compartment 321.

[0066] Approval switch 391 and release switch 392 are electrically connected to control system 1, respectively, and accept user operation by outputting an electrical signal (operation signal) corresponding to the user's operation to control system 1. In this embodiment, as an example, both approval switch 391 and release switch 392 are composed of momentary push-button switches.

[0067] Here, the approval switch 391 accepts operation from the user (operator) for approving changes to various settings, etc. The release switch 392 accepts operation from the user (operator) for disabling the "interference avoidance function" described later. Details regarding the functions of the approval switch 391 and the release switch 392 are explained in the "[4] Control Method of the Working Machine" section.

[0068] Control system 1, for example, is based on a computer system with one or more processors such as CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory) to perform various processes (information processing). In this embodiment, control system 1 is a comprehensive controller that controls the entire machine 3, and is composed of, for example, an electronic control unit (ECU). However, control system 1 may also be set up separately from the comprehensive controller, or one or more processors may be used as the main structure. Details about control system 1 will be explained in the section "[3] Structure of Control System".

[0069] Display device 2 is disposed in the pilot unit 321 of the machine body 30. It is a user interface for receiving operation inputs from the user (operator) and outputting various information to the user. Display device 2 receives various operations performed by the user, for example, by outputting electrical signals corresponding to the user's operations. As a result, the user (operator) can visually recognize the display screen displayed on display device 2, and can also operate display device 2 as needed.

[0070] 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 communicate with the control system 1 and to send and receive data with the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device for the work machinery 3.

[0071] The control unit 21 controls the display device 2 based on data from the control system 1. Specifically, the control unit 21 outputs an electrical signal corresponding to the user's operation received by the operation unit 22 and displays the display screen generated by the control system 1 on the display unit 23.

[0072] The operation unit 22 is a user interface for receiving operation inputs from the user (operator) on the display screen shown on the display unit 23. The operation unit 22 receives various operations performed by the user, for example, by outputting electrical signals corresponding to the user's operation. The operation unit 22 may include, for example, mechanical (button) switches, touch panels, and operation dials.

[0073] Display unit 23 is a user interface, such as a liquid crystal display or an organic EL display, used to display various information and provide prompts to the user (operator). Display unit 23 provides prompts to the user by displaying various information.

[0074] In addition, the machine body 30 also includes a communication terminal, fuel tank, and battery, based on the above structure.

[0075] [2] Operating device

[0076] Next, refer to Figure 3 The structure of the operating device 35 will be described in detail. As described above, the operating device 35 includes a pair of operating levers 351 and 352.

[0077] like Figure 3 As shown in the "front view," the control lever 351 is located on the right-hand side when viewed from the perspective of the operator seated in the driver's seat 321, and the control lever 352 is located on the left-hand side when viewed from the perspective of the operator seated in the driver's seat 321. Therefore, the operator holds the control lever 351 with their right hand and the control lever 352 with their left hand, and operates the pair of control levers 351 and 352 to make the working machine 3 perform various actions. In this embodiment, the pair of control levers 351 and 352 is an example of the "first operating element" in the operating device 35.

[0078] The levers 351 and 352 are lever-type operating components, which can be operated, for example, by tilting them from a neutral position in any of the following directions: forward, backward, left, and right, thereby outputting an electrical signal (operation signal) corresponding to the operation. As an example, the operating device 35 outputs a different operation signal corresponding to each of the operations of tilting the lever 351 forward, tilting the lever 351 to the right, tilting the lever 352 forward, and tilting the lever 352 to the right.

[0079] Furthermore, if the operating levers 351 and 352, which are the first operating elements, are operated, the operating device 35 outputs an electrical signal (operation signal) corresponding to the amount of operation (tilting amount) of the operating levers 351 and 352. Thus, as an example, assuming that the bending of the boom 333 corresponds to the operation of tilting the operating lever 352 backward (forward), the driving speed of the boom 333 can be varied according to the amount of operation (tilting amount) of the operating lever 352. That is, the greater the amount of operation (tilting amount) of the operating lever 352, the greater the flow of working oil to the hydraulic cylinder 44 for driving the boom 333, and the higher the driving speed of the boom 333 becomes.

[0080] In addition, the operating device 35 has multiple mechanical switches Sw11, Sw12, Sw21, and Sw22. Switch Sw11 is located on the front side of the operating lever 351, and switch Sw12 is located on the back side of the operating lever 351. Switch Sw21 is located on the front side of the operating lever 352, and switch Sw22 is located on the back side of the operating lever 352. That is, in this embodiment, on the right-hand operating lever 351, switches Sw11 and Sw12 are provided separately on their front and back sides, and on the left-hand operating lever 352, switches Sw21 and Sw22 are provided separately on their front and back sides. The aforementioned multiple switches Sw11, Sw12, Sw21, and Sw22 are an example of a "second operating element" in the operating device 35.

[0081] That is, the operating device 35 has a first operating element (operating levers 351, 352) and a second operating element (switches Sw11, Sw12, Sw21, Sw22). Here, the second operating element is an operating element that is operated in association with the operation of the first operating element. That is, the second operating element can be operated in a form that is associated with the operation of the first operating element. However, it is not necessary for the second operating element to be operated in a form that is associated with the operation of the first operating element, but it is also possible to establish a correspondence between the individual operation of the second operating element and a certain action of the machine body 30. In this case, even if the second operating element is operated alone, the machine body 30 can still perform a certain action.

[0082] Specifically, in this embodiment, the second operating element is operated simultaneously with the first operating element, and the operation of the second operating element is associated with the operation of the first operating element. That is, while the operator has operated the second operating element (switches Sw11, Sw12, Sw21, Sw22), the operator operates the first operating element (operating levers 351, 352), thereby enabling the second operating element to be operated in association with the operation of the first operating element. In this way, by operating the second operating element in association with the operation of the first operating element, the machine body 30 can perform actions different from those performed when the first operating element is operated alone.

[0083] However, not only when the second and first operating components are operated simultaneously, but also when the second operating component is operated, for example, within a certain time period before or after the first operating component is operated. Thus, even if there is a time difference between the operation time of the first and second operating components, if the time difference between the two operation times is within a certain period, it can be considered that the second operating component is operated in association with the operation of the first operating component.

[0084] However, the correspondence between the operation of the first operating element (operating levers 351, 352) and the movement of the machine body 30 is defined by an "operation mode," which is stored, for example, in the memory of the control system 1. Therefore, for example, the operation mode determines which part of the machine body 30 performs what kind of movement corresponding to the operation of tilting the operating lever 352 backward (nearly forward).

[0085] Furthermore, in this embodiment, the operating device 35 has multiple operating members Sw1 and Sw2 for independently operating the multiple output ports (PTO1 to PTO4) of the drive device. Operating member Sw1 is disposed on the front side of the operating lever 351, and operating member Sw2 is disposed on the front side of the operating lever 352. These multiple operating members Sw1 and Sw2 constitute an "adjustment operating member" for adjusting the magnitude of the power output from the drive device (flow rate of the working oil).

[0086] In this embodiment, as an example, multiple operating elements Sw1 and Sw2 are each composed of lever switches capable of tilting to the right or left. Specifically, each operating element Sw1 and Sw2 is an instantaneous switch that tilts to the right or left only while an operating force is applied, with the center of its movable range in the left-right direction D3 as its neutral position, and returns to the neutral position when the operating force disappears. The magnitude of the power output (flow rate of working oil) from the corresponding output port is determined by the amount of operation (tilting amount) of the operating elements Sw1 and Sw2, whether operated to the right or left. Basically, the greater the amount of operation of the operating elements Sw1 and Sw2, the greater the power output from their respective output ports, i.e., the greater the flow rate of working oil.

[0087] Additionally, the levers 351 and 352 can be reversed left and right, or arranged in the front-back direction D2 or the up-down direction D1. There can also be only one lever 351 or 352. Furthermore, the multiple switches Sw11 and Sw21 are not limited to the front side of the levers 351 and 352; for example, they can also be arranged on the side surface or back side of the levers 351 and 352. The multiple switches Sw12 and Sw22 are not limited to the back side of the levers 351 and 352; for example, they can also be arranged on the side surface or front side of the levers 351 and 352. The multiple switches Sw11, Sw12, Sw21, and Sw22 are not limited to mechanical push-button switches; for example, they can also be touch sensors, lever switches, toggle switches, rocker switches, rotary switches, slide switches, or encoders, etc.

[0088] Regarding the operating components Sw1 and Sw2, they are not limited to lever switches; for example, they can also be toggle switches, rocker switches, rotary switches, slide switches, or encoders. Furthermore, the operating device 35 may also have operating components other than the aforementioned multiple switches Sw11, Sw12, Sw21, and Sw22, as well as operating components Sw1 and Sw2, on the operating levers 351 and 352, and operating components Sw1 and Sw2 can be appropriately omitted.

[0089] [3] Structure of the control system

[0090] Next, refer to Figure 2 The structure of the control system 1 according to this embodiment will be described. The control system 1 controls various parts of the machine body 30 (including the traveling section 31, the rotating section 32, and the working section 33, etc.) according to the operation of the operating device 35. In this embodiment, as described above, the operating device 35 is mounted on the machine body 30 of the working machine 3. The control system 1 is a constituent element of the working machine 3, and together with the machine body 30, it constitutes the working machine 3. In other words, the working machine 3 according to this embodiment at least includes the control system 1 and the machine body 30.

[0091] like Figure 2 As shown, the control system 1 includes an acquisition processing unit 11, a control processing unit 12, a display processing unit 13, a setting processing unit 14, a avoidance processing unit 15, and a storage unit 16. In this embodiment, as an example, the control system 1 is primarily structured as a computer system with one or more processors. Therefore, the aforementioned multiple functional units (such as the acquisition processing unit 11) are implemented by executing a control program for the working machine using one or more processors. The multiple functional units included in the control system 1 can be distributed across multiple housings or housed in a single housing.

[0092] The control system 1 is configured to communicate with devices installed in various parts of the body 30. Specifically, the control system 1 is connected to at least the display device 2, main switch 34, operating device 35, sound output unit 36, sensor 38, approval switch 391, release switch 392, first control valves 491-494, and cut-off switch 371. Thus, the control system 1 can control the display device 2, sound output unit 36, and first control valves 491-494, and receive electrical signals (operation signals, etc.) from the display device 2, main switch 34, operating device 35, sensor 38, approval switch 391, release switch 392, and cut-off switch 371. In this disclosure, "capable of communication" means the ability to send and receive information (data) directly or indirectly via a communication network or repeater through appropriate communication methods, such as wired or wireless communication (communication using radio waves or light as a medium). Therefore, the control system 1 can directly send and receive various types of information (data) with each device, or indirectly send and receive various types of information (data) via repeaters, etc. As an example, the control system 1 and the devices located in various parts of the body 30 can communicate via communication methods such as CAN (Controller Area Network).

[0093] The acquisition processing unit 11 performs acquisition processing, for example, of electrical signals (operation signals, etc.) acquired from the display device 2, main switch 34, operating device 35, sensor 38, approval switch 391, release switch 392, and cut-off switch 371. As an example, the operating device 35, which has a pair of levers 351 and 352, outputs an operation signal corresponding to the user's (operator's) operation, and the acquisition processing unit 11 acquires this operation signal. Thus, for example, the acquisition processing unit 11 can acquire operation signals indicating the operation content (operation direction and operation amount) of the levers 351 and 352, such as tilting the right lever 351 forward or tilting the left lever 352 forward. Similarly, the acquisition processing unit 11 can acquire operation signals indicating the operation content (on / off) of each of the multiple switches Sw11, Sw12, Sw21, and Sw22. The acquisition processing unit 11 is further configured to also acquire the on / off state of the main switch 34, approval switch 391, release switch 392, and cut-off switch 371.

[0094] The control processing unit 12 performs control processing on the machine body 30 according to the operation of the operating device 35. In this control processing, the control processing unit 12 controls the traveling section 31, the rotating section 32, and the working section 33 of the machine body 30. Specifically, the control processing unit 12 outputs control signals to the first control valves 491-494 based on the operation of the operating device 35 obtained by the acquisition processing unit 11, thereby controlling hydraulic actuators such as hydraulic motors 43 and 45, and hydraulic cylinders 44.

[0095] Here, the control processing unit 12 performs control processing according to the operating mode. The "operating mode" as used in this disclosure refers to the correspondence between the operation of the operating device 35 and the movement of the machine body 30, including data representing the combination of the operation of the operating device 35 and the movement of the machine body 30. That is, the control processing unit 12 implements the movement of the machine body 30 corresponding to the operation of the operating device 35 based on the correspondence between the operation of the operating device 35 and the movement of the machine body 30, which is determined by the operating mode.

[0096] For example, in a certain operating mode, tilting the right-hand operating lever 351 of the operating device 35 forward corresponds to lowering the boom 332 in the machine body 30, and tilting the left-hand operating lever 352 of the operating device 35 backward corresponds to bending the stick 333 in the machine body 30. In this case, if the acquisition processing unit 11 receives an operation to tilt the operating lever 351 forward, the control processing unit 12 controls the first control valves 491-494 to drive the hydraulic cylinder 44 of the working unit 33 to lower the boom 332. Similarly, if the acquisition processing unit 11 receives an operation to tilt the operating lever 352 backward, the control processing unit 12 controls the first control valves 491-494 to drive the hydraulic cylinder 44 of the working unit 33 to bend the stick 333.

[0097] Display processing unit 13 executes various display screens Dp1 (refer to) that contain information related to the working machine 3, and displays various display screens Dp1 (refer to) Figure 4 The display processing unit 13 generates a display screen Dp1 based on data acquired by the acquisition processing unit 11, and displays the display screen Dp1 on the display unit 23 of the display device 2 by controlling the display device 2. Furthermore, the display processing unit 13 operates according to the operation unit 22 of the display device 2.

[0098] Here, the information related to the working machine 3 contained in the display screen Dp1 includes, for example, the remaining fuel, cooling water temperature, working oil temperature, and the suspended weight during lifting operations, which are related to the operating status of the working machine 3. That is, the display processing unit 13 can display the display screen Dp1 containing the operating information related to the operating status of the working machine 3 on the display device 2.

[0099] The term "screen" as used in this disclosure refers to images (pictures) displayed by the display device 2, including images, graphics, photographs, text content, and moving images. That is, the control system 1, for example, can display screen Dp1, which includes images and other information related to the operating status of the machine 3, such as cooling water temperature and operating oil temperature, on the display device 2. Here, when screen Dp1 includes moving images, screen Dp1 is not a constant image but includes images that change continuously.

[0100] The setting processing unit 14 performs setting processing on various setting items related to the working machine 3, setting information accordingly. That is, the various setting items related to the working machine 3 are not fixed and can be appropriately set (changed) by the setting processing unit 14. The "setting items" referred to here include, for example, the operation mode and the activation / deactivation of specific functions such as interference avoidance functions. In other words, the correspondence between the operation of the operating device 35 and the action of the working machine 3, i.e., the operation mode, can be changed by the setting processing unit 14.

[0101] Specifically, the operating mode used by the control processing unit 12 is not fixed and can be arbitrarily changed by the setting processing unit 14. In this embodiment, as an example, the storage unit 16 of the control system 1 stores multiple operating modes in advance, and the setting processing unit 14 selects one of these multiple operating modes as the "current operating mode." Thus, the setting processing unit 14 sets the "current operating mode" by selecting one of the predetermined multiple operating modes. Therefore, the "current operating mode" is switched by switching between the operating modes selected by the setting processing unit 14 among the multiple operating modes. The control processing unit 12 executes control processing to control the machine body 30 based on the operation of the first operating element (operating levers 351, 352) in the operating device 35, according to the operating mode (current operating mode) set by the setting processing unit 14.

[0102] As an example, storage unit 16 stores such as Figure 5 When the four illustrated modes, "Mode A," "Mode B," "Mode C," and "Mode D," are used as operating modes, the setting processing unit 14 selects any one of "Mode A" to "Mode D" as the "current operating mode." "Mode A," "Mode B," "Mode C," and "Mode D" are data representing the correspondence (combination) between the operation of the first operating member (operating lever 351, 352) in the different operating devices 35 and the movement of the machine body 30. For example, when the setting processing unit 14 selects "Mode A" as the operating mode, the control processing unit 12 performs control processing according to "Mode A." On the other hand, when the setting processing unit 14 selects "Mode C" as the operating mode, the control processing unit 12 performs control processing according to "Mode C."

[0103] The avoidance processing unit 15 performs interference avoidance processing to control the operation of the work unit 33 in a way that prevents the work unit 33 from interfering with the driving unit 321. That is, the work machine 3 according to this embodiment has an interference avoidance function to control the operation of the work unit 33 in a way that prevents the work unit 33 from interfering with the driving unit 321.

[0104] Specifically, the avoidance processing unit 15 spatially sets an imaginary surface at a predetermined distance away from the outermost part of the driver's unit 321. Based on the positional relationship between the auxiliary device 331 of the operating unit 33 and the imaginary surface, which is determined by the output of the sensor 38, the operating unit 33 is controlled. That is, when the operator operates the operating device 35 to move the operating unit 33, if the auxiliary device 331 attempts to cross the imaginary surface and enter the driver's unit 321, the avoidance processing unit 15 automatically stops the hydraulic actuator (hydraulic cylinder 44, etc.), forcibly stopping the operating unit 33. Therefore, even if the operator mistakenly moves the auxiliary device 331 to an extremely close distance towards the driver's unit 321 while operating the machine 3, the operating unit 33 can be stopped before the auxiliary device 331 contacts the driver's unit 321. As a result, interference of the operating unit 33 with the driver's unit 321 can be avoided.

[0105] Storage unit 16 includes non-volatile storage devices such as HDDs (Hard Disk Drives) or SSDs (Solid State Drives) for storing various information. Storage unit 16 stores programs such as control programs for the work machinery. These control programs are provided, for example, by being recorded on a computer-readable non-temporary recording medium, and are read from the non-temporary recording medium by the reading device of control system 1 and stored in storage unit 16. Alternatively, the control programs for the work machinery can be provided (downloaded) to control system 1 from a server or the like via an electrical communication line and stored in storage unit 16.

[0106] [4] Control methods for operating machinery

[0107] The following is for reference Figures 4 to 15 This paper mainly describes an example of the control method (hereinafter referred to as "control method") of the working machine 3 executed by the control system 1.

[0108] The control method described in this embodiment is executed by a control system 1, which is primarily based on a computer system. Therefore, in other words, it is specifically embodied through a control program for the working machinery (hereinafter referred to as the "control program"). That is, the control program described in this embodiment is a computer program used to cause one or more processors to execute the control method. Such a control program can also be executed, for example, by the control system 1 and the display device 2 working together.

[0109] Here, the control method involved in this embodiment is a control method for a work machine 3 having an interference avoidance function that controls the operation of the work unit 33 in a way that prevents the work unit 33 from interfering with the driving unit 321. In other words, the control system 1 involved in this embodiment is used in a work machine 3 having an interference avoidance function that controls the operation of the work unit 33 in a way that prevents the work unit 33 from interfering with the driving unit 321. That is, in this embodiment, the obstacle avoidance function is realized by the obstacle avoidance processing unit 15 of the control system 1 performing obstacle avoidance processing to prevent the operation of the work unit 33 from interfering with the driving unit 321.

[0110] Furthermore, the control method involved in this embodiment is a control method for the working machine 3 with the replaceable working unit 33's auxiliary device 331. In other words, the control system 1 involved in this embodiment is used for the working machine 3 with the replaceable working unit 33's auxiliary device 331. That is, in this embodiment, the avoidance processing function is realized by the avoidance processing unit 15 of the control system 1 performing avoidance processing to control the operation of the working unit 33 in a way that avoids the working unit 33 interfering with the driving unit 321.

[0111] Furthermore, when a specific pre-set start operation is performed to execute the control program, the control system 1 performs the various processes involved in the control method. The start operation is, for example, starting the engine of the work machine 3, or turning on the main switch 34. On the other hand, when a specific pre-set end operation is performed, the control system 1 terminates the various processes involved in the control method. The end operation is, for example, stopping the engine of the work machine 3, or turning off the main switch 34.

[0112] [4.1] Main screen

[0113] Here, the structure of the display screen Dp1 displayed on the display section 23 of the display device 2 using the control method described in this embodiment will be explained first. Figure 4 In the accompanying drawings showing the display screen Dp1 displayed in the display section 23 of the display device 2, the dotted lines, leader lines, and reference numerals indicating the areas are added for illustrative purposes only and are not actually displayed on the display device 2.

[0114] Figure 4 The display screen Dp1 shown is the main screen Dp11 displayed through a control method. The main screen Dp11 is the basic display screen Dp11 displayed on the display device 2 in the running state (the state in which the machine body 30 operates according to the operation of the operating device 35, etc.). The display screen Dp11 can be switched from the main screen Dp11 to various display screens Dp11, including menu screens, according to the operation of the operating unit 22.

[0115] like Figure 4 As shown, the main screen Dp11 includes the first area R1, the second area R2, the third area R3, the fourth area R4, the fifth area R5, the sixth area R6, the seventh area R7, the eighth area R8, the ninth area R9, and the tenth area R10.

[0116] Specifically, the display screen Dp1 is divided into four regions vertically (up and down). Furthermore, each of the top three regions is further divided into three regions horizontally (left and right). Thus, the display screen Dp1 is divided into a total of ten regions. The second-layer regions from the top, from left to right, are region 1 R1, region 2 R2, and region 3 R3. The bottom region is region 4 R4. The third-layer regions from the top, from left to right, are region 5 R5, region 6 R6, and region 7 R7, and the top-layer regions from left to right are region 8 R8, region 9 R9, and region 10 R10. In terms of vertical dimensions, among the four regions divided vertically, the second-layer regions (region 1 R1, region 2 R2, and region 3 R3) are the largest. In terms of horizontal dimensions, among the three regions divided horizontally, the central region (region 2 R2, region 6 R6, and region 9 R9) is the largest.

[0117] However, the configuration and dimensions of the areas described above are merely examples and can be changed appropriately. Furthermore, the areas do not necessarily need to be explicitly divided by boundary lines. For example, even in... Figure 4 In the example, the second region R2 and the third region R3 are clearly separated by a dividing line, while there is no dividing line between the first region R1 and the second region R2. Of course, the first region R1 and the second region R2 can also be clearly separated by a dividing line.

[0118] The first region R1 is a rectangular region with a relatively long vertical axis. The first region R1 displays, for example, residual information G1 related to the remaining amount of fuel (e.g., light oil) in the engine. The display processing unit 13 generates the residual information G1 in the main screen Dp11 based on the output (sensor signal) of the residual sensor obtained by the acquisition processing unit 11. In this embodiment, the residual information G1 is a graph simulating an analog indicator with a length in the vertical direction.

[0119] The second region R2, which occupies most of the main screen Dp11, is a rectangular area that is relatively long laterally. In the control method of this embodiment, the second region R2 displays information related to the operating status of the working machine 3. As an example, the second region R2 displays coolant temperature information G3 and oil temperature information G2. The display processing unit 13 generates the coolant temperature information G3 in the main screen Dp11 based on the output (sensor signal) of the coolant temperature sensor obtained by the acquisition processing unit 11. Similarly, the display processing unit 13 generates the oil temperature information G2 in the main screen Dp11 based on the output (sensor signal) of the oil temperature sensor obtained by the acquisition processing unit 11.

[0120] In this embodiment, both the coolant temperature information G3 and the working oil temperature information G2 are simulated graphs of an analog instrument. In an analog instrument, the pointer rotates, and the value is indicated by the position of the pointer. That is, the coolant temperature information G3 is the indexed coolant temperature included in the operating state of the machine tool 3, and is represented by the position of the pointer on the graph. Similarly, the working oil temperature information G2 is the indexed working oil temperature included in the operating state of the machine tool 3, and is represented by the position of the pointer on the graph. The coolant temperature information G3 and the working oil temperature information G2 are not only represented by numerical values, but can also be represented in stages, such as by images (icons).

[0121] The third region R3 is a long, rectangular area. The third region R3 displays images (icons) Im1 indicating the validity / invalidity and abnormal / normal status of various functions of the machine tool 3. Multiple images Im1 can be displayed in the third region R3, and the appearance (pattern) of each image Im1 indicates, for example, which function is related to the seat belt or operating oil temperature. Here, each image Im1 indicates the validity / invalidity and abnormal / normal status of each function through display formats such as display / non-display, display color, or size. The display processing unit 13 uses the outputs of various sensors 38 that detect the operating status of each part of the machine tool 3 to determine the status of each part of the machine tool 3. Furthermore, when any function is valid, the display processing unit 13 displays the validity (or operation) of that function by changing the display format of the image Im1 corresponding to that function. Similarly, when an abnormal value is detected in any part, the display processing unit 13 displays a warning by changing the display format of the image Im1 for that part, such as the display color.

[0122] The fourth region, R4, is a strip-shaped area extending across the entire width of the main screen, Dp11. Region R4 displays the various items used for operations on the display screen, Dp1. Figure 4As an example, the fourth area R4 contains several items such as "Menu," "Engine Resumption," and "Mode." These items correspond to multiple push-button switches located directly below them on the operation unit 22. For example, if the push-button switch corresponding to the "Menu" item is operated by the user (operator), the "Menu" item is activated (selected).

[0123] Furthermore, in this embodiment, any item is highlighted in the fourth area R4 in a manner that corresponds to the operation of the operation dial (or cursor keys) of the operation unit 22. Figure 4 In the example, the "Menu" item is highlighted, and the highlighted item can be switched by operating the dial (or cursor keys). The user (operator) can select the desired item by operating the decision button while the desired item is highlighted. Therefore, for example, if the decision button is operated while the highlight is moved to the "Mode" item, the "Mode" item is operated (selected). Furthermore, if the operation unit 22 includes a touch panel, the user (operator) can select the desired item by touching the desired item on the main screen Dp11.

[0124] The fifth area R5 displays information related to the current operating mode, for example. The sixth area R6 displays information related to the operating unit 33 currently running in the machine 3. The seventh area R7 displays information related to the operating status of the machine 3, such as engine speed. The eighth area R8 displays the current time, for example. The ninth area R9 displays information indicating the item to which the currently displayed screen Dp1 belongs. The tenth area R10 displays information related to the operating time (timer) of the machine 3.

[0125] [4.2] Setting the operation mode

[0126] Next, the setting action of the operation mode, which represents the correspondence between the operation of the operating device 35 and the action of the machine body 30, will be explained.

[0127] In this embodiment, as an example, the storage unit 16 stores... Figure 5 The four examples, "Mode A," "Mode B," "Mode C," and "Mode D," are operating modes. The setting processing unit 14 selects (sets) any one of these four operating modes. Figure 5In the example, as "Mode A", an operating mode suitable for "ISO, XX Company Manufacturing, YY Company Manufacturing" is prepared; as "Mode B", an operating mode suitable for "ZZ Company Manufacturing, XY Company Manufacturing, YX Company Manufacturing" is prepared; as "Mode C", an operating mode suitable for "ZX Company Manufacturing, YZ Company Manufacturing" is prepared; and as "Mode D", an operating mode suitable for "XYZ Company Manufacturing, YXZ Company Manufacturing" is prepared.

[0128] exist Figure 5 In the diagram, for each of “Mode A”, “Mode B”, “Mode C” and “Mode D”, the combination of the operating direction of the pair of control levers 351 and 352 as the first operating element with the movement of the body 30 is schematically shown.

[0129] For example, in "Mode A", the operation of tilting the right-hand control lever 351 forward corresponds to the action of lowering the boom 332 in the machine body 30, the operation of tilting the control lever 351 backward corresponds to the action of raising the boom 332 in the machine body 30, the operation of tilting the control lever 351 to the right corresponds to the action of opening the auxiliary device 331 in the machine body 30, and the operation of tilting the control lever 351 to the left corresponds to the action of closing the auxiliary device 331 (digging) in the machine body 30. Furthermore, in "Mode A", the operation of tilting the left control stick 352 forward corresponds to the action of extending the stick 333 in the body 30, the operation of tilting the control stick 352 backward corresponds to the action of bending the stick 333 in the body 30, the operation of tilting the control stick 352 to the right corresponds to the action of rotating the rotating part 32 in the body 30 to the right, and the operation of tilting the control stick 352 to the left corresponds to the action of rotating the rotating part 32 in the body 30 to the left.

[0130] On the other hand, in "Mode B", the operation of tilting the left control stick 352 forward corresponds to the operation of rotating part 32 in the body 30 to rotate to the right, the operation of tilting the control stick 352 backward corresponds to the operation of rotating part 32 in the body 30 to rotate to the left, the operation of tilting the control stick 352 to the right corresponds to the operation of bending the stick 333 in the body 30, and the operation of tilting the control stick 352 to the left corresponds to the operation of extending the stick 333 in the body 30.

[0131] Thus, depending on the selected operating mode, the action of the machine body 30 corresponding to a certain operation of the operating device 35 (operating sticks 351, 352) is different. In other words, depending on the selected operating mode, the operation of the operating device 35 (operating sticks 351, 352) used to make the machine body 30 perform the same action is different.

[0132] Next, an example of a specific process related to changes in the operating mode in the control method involved in this embodiment will be described in detail.

[0133] In this embodiment, as described above, the setting processing unit 14 of the control system 1 performs setting processing for the operation mode, thereby changing the correspondence between the operation of the operating device 35 and the action of the machine body 30, i.e., the operation mode. Here, the setting (change) of the operation mode is performed according to the operation of the operator (user). That is, the operator changes the current operation mode by selecting any mode from "Mode A", "Mode B", "Mode C" and "Mode D".

[0134] Specifically, such as Figure 6 As shown, the display processing unit 13 has the function of displaying the (operation mode) setting screen Dp12 for changing the operation mode on the display device 2. The operation mode selected in the setting screen Dp12 is set as the "current operation mode" by the setting processing unit 14. Thus, the operator can visually confirm the operation of the operating device 35 (operating joysticks 351, 352, etc.) and the movement of the machine body 30, i.e., the operation mode, while simultaneously determining the corresponding relationship between the operation of the operating device 35 (operating joysticks 351, 352, etc.) and the movement of the machine body 30.

[0135] As an example, such as Figure 6 As shown, the settings screen Dp12 has a first area R11, a second area R12, and a third area R13. The third area R13 displays the "up" and "down" cursors, a "return" option to return to the previous screen, and a "confirm" option. The first area R11 displays the operation mode options: "Mode A," "Mode B," "Mode C," and "Mode D." In the first area R11, any one of "Mode A," "Mode B," "Mode C," or "Mode D" is highlighted. The highlighted mode is switched by manipulating the cursor in the third area R13. Furthermore, each of "Mode A," "Mode B," "Mode C," and "Mode D" corresponds to a radio button, and the radio button corresponding to the selected mode is in a "checked" state. Figure 6 In the example, "Mode A" is highlighted, and "Mode A" is in a state where it has been selected as the operating mode.

[0136] In the second area R12, detailed information related to the highlighted operating mode is displayed as the changed mode information. Figure 6In the example, the second area R12 displays detailed information for "Mode A," which is highlighted. Here, the detailed information, which is the changed mode information, includes images (icons) showing the correspondence between the operation of the operating device 35 and the movement of the machine body 30. Specifically, the detailed information includes text indicating "ISO, manufactured by XX company, manufactured by YY company" and images showing the combination of the operating directions of the pair of control sticks 351 and 352 with the movement of the machine body 30.

[0137] Based on this setup screen Dp12, the highlighted mode is switched by manipulating the cursor in the third area R13. Simultaneously, the detailed information displayed in the second area R12 also switches to the detailed information of the highlighted mode. Therefore, the operator can select the desired mode by operating the "Decide" item while the desired mode is highlighted.

[0138] Furthermore, in the control method described in this embodiment, specific operations need to be performed by an operator as conditions for the setting processing unit 14 to determine various settings such as the operating mode. In this embodiment, the operation of the approval switch 391 (pressing operation) is an example of such a specific operation.

[0139] Specifically, if the "Decision" item is selected in the settings screen Dp12, the display processing unit 13 will perform the following actions: Figure 7 The illustrated first image Im11 is displayed on the display unit 23 of the display device 2. The first image Im11 serves as a guide for a specific operation. In this embodiment, the operator's operation of the approval switch 391 is an example of a specific operation; therefore, the first image Im11 includes, for example, a message (text content) reminding the operator of the approval switch 391 to perform an operation (pressing operation), such as "Please lift the locking lever and press the approval SW in response to the changed settings." Furthermore, the first image Im11 includes, for example, an image (icon) indicating confirmation of the setting, such as a checkbox.

[0140] Furthermore, when the first image Im11 is displayed, the setting processing unit 14 receives a specific operation performed by the operation approval switch 391 and determines the setting (change) of the operation mode. That is, from this point onwards, the setting processing unit 14 applies the operation mode (e.g., "Mode A") already selected (set) in the setting screen Dp12 as the setting information for the operation mode setting item.

[0141] Furthermore, when the setting processing unit 14 applies setting information, the display processing unit 13 will... Figure 8The illustrated second image Im12 is displayed on the display unit 23 of the display device 2. The second image Im12 is an image indicating successful setting. In this embodiment, the second image Im12 includes, for example, a message (text content) indicating that the setting information (here, "Mode A") for the setting item (operation mode) has been successfully set (completed), such as "Set." Furthermore, the second image Im12 includes, for example, an image (icon) indicating that the setting has been confirmed, such as a checkmark.

[0142] As explained above, the control method of this embodiment includes the following steps: displaying a setting screen Dp12 for receiving setting information on a display device 2 for any setting item related to the working machine 3; displaying a first image Im11 that will guide a specific operation on the display device 2; applying setting information for the setting item when the specific operation is performed; and displaying a second image Im12 on the display device 2 instead of the first image Im11 when the setting information is applied.

[0143] According to this structure, setting information for items such as operating modes is applied only after a specific operation guided by the first image Im11 is performed, thus preventing unintentional settings by the operator. Furthermore, if setting information is applied, a second image Im12 is displayed instead of the first image Im11, so even if the operator unintentionally performs a specific operation, the operator is aware that setting information has been applied. As a result, it has the advantage of easily suppressing unintentional actions of the operating machine 3 by the operator.

[0144] Furthermore, in this embodiment, the specific operation is performed while the locking device (stop switch 371 and stop lever 372) is in the locked state. This locking device can switch between a locked state that restricts the movement of the working machine 3 and a locked-out state that does not restrict the movement of the working machine 3. That is, the specific operation can only be performed when the stop lever 372 is in the "raised position" and the locking device is in the "locked state". Therefore, if the stop lever 372 is in the "lowered position" and the locking device is in the "locked-out state", even if the approval switch 391 is operated (pressed), the specific operation will not be considered performed, and the setting will fail.

[0145] Therefore, changes to settings related to the operation of the machine 3 can only be made in a locked state where the operation of the machine 3 is restricted. As a result, it is possible to prevent the machine 3 from changing its behavior drastically during operation.

[0146] Furthermore, the first image Im11 is displayed when a predetermined operation is performed during the display of the setting screen Dp12. In this embodiment, when the operation unit 22 of the display device 2 is operated and the "decision" item in the setting screen Dp12 is selected, the first image Im11 is displayed on the display unit 23 of the display device 2. That is, the operation of the operation unit 22 of the display device 2 to select the "decision" item in the setting screen Dp12 is an example of a predetermined operation.

[0147] Therefore, in addition to specific operations, it is also necessary to specify the operations before setting information for the project, so as to further avoid unintentional settings by the operator.

[0148] Furthermore, a specific operation is performed on an operation unit different from the operation unit used for the prescribed operation. That is, the specific operation is the operation of the approval switch 391, which is provided separately from the display device 2. Setting information is applied to the setting items only after the approval switch 391, which is different from the operation unit 22 (of the display device 2) used for the prescribed operation, is operated.

[0149] Therefore, before setting the setting information for the setting item, the operator needs to operate different operating units (operating unit 22 and approval switch 391), so it can further avoid unintentional settings by the operator.

[0150] Additionally, the first image Im11 is overlaid on the setting screen Dp12. In this embodiment, as... Figure 7 As shown, the first image Im11 is displayed overlaid on the setting screen Dp12 via a pop-up window, spanning both the first region R11 and the second region R12. That is, the first image Im11 is displayed overlaid on the setting screen Dp12 via a pop-up window.

[0151] Therefore, it is easy for operators to understand that the first image Im11 is a guide to the specific operation involved in the setting item (here, the operation mode) being set in the setting screen Dp12, which helps to improve operability.

[0152] In addition, in this embodiment, the second image Im12 is also overlaid on the setting screen Dp12. In this embodiment, as... Figure 8 As shown, similarly to the first image Im11, the second image Im12 is displayed overlaid on the setting screen Dp12 via a pop-up window, spanning both the first region R11 and the second region R12. That is, the second image Im12 is displayed overlaid on the setting screen Dp12 via a pop-up window.

[0153] Therefore, it is easy for operators to understand that the second image Im12 represents the successful (completed) setting of the setting item (in this case, the operation mode) being set in the setting screen Dp12, which helps improve operability.

[0154] In addition, such as Figure 9 As shown, the control method according to this embodiment also includes a step of displaying a third image Im13 on the display device 2 instead of the first image Im11 when setting information is not applied. That is, for example, if the setting processing unit 14 fails to apply the setting information, the display processing unit 13 will... Figure 9 The illustrated third image Im13 is displayed on the display unit 23 of the display device 2. The third image Im13 is an image indicating a setting failure. In this embodiment, the third image Im13 includes, for example, a message (text content) indicating a setting failure for setting information (here, "Mode A") of the setting item (operation mode). Furthermore, the third image Im13 includes, for example, an image (icon) indicating a setting failure, such as a cross.

[0155] Therefore, it is easy for the operator to understand that the second image Im12 indicates that the setting of the setting item (in this case, the operation mode) being set in the setting screen Dp12 has been successfully completed, which helps to improve operability. Here, as for the case of displaying the third image Im13, there are cases where the approval switch 391 is not operated within the display duration of the first image Im11 (for example, a few seconds) (timeout), and cases where the approval switch 391 is operated when the locking device is in the unlocked state, etc.

[0156] Furthermore, the display duration (time for which the second image Im12 and the third image Im13 are displayed on the display device 2 is preferably predetermined. The display duration of the second image Im12 and the third image Im13 (for example, several seconds) can be different from each other or the same. Also, the display duration of the second image Im12 and the third image Im13 can be different from or the same as the display duration of the first image Im11. After the display duration of the second image Im12 or the third image Im13 has elapsed, the pop-up display of the second image Im12 or the third image Im13 ends, and the display returns to the setting screen Dp12.

[0157] Here, the reason for the failure to apply the setting information can also be notified when the third image Im13 is displayed. That is, for example, if the application of the setting information fails because the approval switch 391 was operated while the locking device was in the unlocked state, the operator can be notified by an appropriate method that the stop lever 372 is in the "lowered position" or that the stop lever 372 should be moved to the "raised position" and the approval switch 391 should be operated again.

[0158] Therefore, if the application of the setting information fails, the operator can understand the reason and easily apply the setting information successfully through a specific operation. The notification method for the reason why the setting information was not applied may be, for example, a third image Im13 or other display, or sound output based on the sound output unit 36.

[0159] Furthermore, the operation unit for performing specific operations is shared by multiple setting items. That is, in this embodiment, in addition to the operation mode, the setting items include, for example, settings for the installed auxiliary device 331, sensor calibration, and the activation / deactivation of the interference avoidance function. Moreover, all of the above-mentioned setting items are specific operations that need to be performed by the operator as conditions for the setting processing unit 14 to apply setting information (i.e., determine the setting).

[0160] In this way, the operating unit (here, the approval switch 391) for performing specific operations is shared for multiple settings, which simplifies the approval operation for the settings and helps improve operability.

[0161] [4.3] Setting up the installed auxiliary devices and calibrating the sensors

[0162] Next, the setting operation of the installed auxiliary device 331 and the sensor calibration will be explained.

[0163] As described above, for the installed auxiliary device 331 and sensor calibration, the setting processing unit 14 applies setting information (i.e., confirms the setting) based on the specific operation of the operation unit (here, the approval switch 391) shared with the operation mode.

[0164] Specifically, such as Figure 10 As shown, the display processing unit 13 has the function of displaying a (accessory) setting screen Dp13 on the display device 2 for setting (changing) the accessory 331 installed on the work unit 33. The accessory 331 selected in the setting screen Dp13 is set as "installed accessory" by the setting processing unit 14. Thus, the operator can set the accessory 331 installed on the work unit 33 while visually confirming it through the display device 2.

[0165] As an example, such as Figure 10 As shown, the setting screen Dp13 has a first area R11, a second area R12, and a third area R13. The first area R11 displays the options "Standard," "Slope," and "Crusher" for the auxiliary device 331. Any one of "Standard," "Slope," and "Crusher" is highlighted in the first area R11. The highlighted auxiliary device 331 is switched by manipulating the cursor in the third area R13. Furthermore, each of "Standard," "Slope," and "Crusher" has a corresponding radio button; the radio button corresponding to the selected auxiliary device 331 is in a "checked" state. Figure 10 In the example, the "standard" (bucket) is highlighted, and the "standard" is in the state of being selected as an installed accessory 331.

[0166] In the second area R12, detailed information related to the highlighted accessory 331 is displayed as modified mode information. Figure 10 In the example, the second area R12 displays a message (text content) as detailed information (attention information) about accessory 331, such as "Depending on the accessory used, it may not be safe to avoid interference, and the work section may enter the driving section."

[0167] Based on this setup screen Dp13, the highlighted accessory 331 can be switched by manipulating the cursor in the third area R13. Simultaneously, the detailed information displayed in the second area R12 also switches to the highlighted details of the accessory 331. Therefore, the operator can select the desired accessory 331 by operating the "Decide" option while the desired accessory 331 is highlighted.

[0168] Furthermore, in the control method described in this embodiment, a specific operation needs to be performed by an operator as a condition for the setting processing unit 14 to determine the setting of the installed accessory 331. In this embodiment, the operation of the approval switch 391 (pressing operation) is an example of such a specific operation.

[0169] Specifically, the display screen Dp1 displayed in the display section 23 of the display device 2 is as follows: Figure 11 The conversion will proceed as shown. That is, if the "Decision" item is selected in the settings screen Dp13, the display processing unit 13 will switch as shown. Figure 11 The first image Im11, illustrated in the upper right corner, is displayed on the display section 23 of the display device 2. In this state, if the operator performs an operation on the approval switch 391 as a specific operation, and the setting is successful, then... Figure 11 The second image Im12, illustrated in the lower left corner, is displayed on the display section 23 of the display device 2. On the other hand, if the setting fails, then... Figure 11The third image Im13, shown in the lower right corner, is displayed on the display section 23 of the display device 2.

[0170] In this embodiment, the same operation is performed for sensor calibration. The "sensor calibration" referred to here is the initial setting of various sensors 38, and can also be performed only in mechanical mode based on special instructions.

[0171] Regarding the sensor calibration (sensor) setting screen Dp14, as a condition for the setting processing unit 14 to apply the setting information of the sensor 38, a specific operation also requires the operator. In this embodiment, the operation (pressing operation) of the approval switch 391 is an example of such a specific operation.

[0172] Specifically, the display screen Dp1 displayed in the display section 23 of the display device 2 is as follows: Figure 12 The conversion will proceed as shown. That is, if the "Decision" item is selected in the settings screen Dp14, the display processing unit 13 will switch as shown. Figure 12 The first image Im11, illustrated in the upper right corner, is displayed on the display section 23 of the display device 2. In this state, if the operator performs an operation on the approval switch 391 as a specific operation, and the setting is successful, then... Figure 12 The second image Im12, illustrated in the lower left corner, is displayed on the display section 23 of the display device 2. On the other hand, if the setting fails, then... Figure 12 The third image Im13, shown in the lower right corner, is displayed on the display section 23 of the display device 2.

[0173] [4.4] Startup Actions

[0174] Next, the display screen Dp1 displayed on the display unit 23 of the display device 2 according to the control method involved in this embodiment when the starting operation (engine starting operation) of the working machine 3 is performed will be described.

[0175] In this embodiment, the operation of turning on the main switch 34 (key activation) is an example of a start-up operation. That is, the machine 3 starts when the main switch 34 is turned on. At this time, the display device 2 also starts, and the display screen Dp1 displayed on the display section 23 of the display device 2 is, for example, as shown in the example. Figure 13 That's how it's converted.

[0176] That is, firstly, such as Figure 13 As shown in the upper left, the display processing unit 13 displays the start screen Dp10 on the display unit 23 of the display device 2. The start screen Dp10 is the first screen displayed on the display device 2 after the machine 3 is started. For example, it includes the logo of the manufacturer of the machine 3.

[0177] In this state, if the display duration of the start screen Dp10 (for example, 2 seconds) is elapsed, then... Figure 13 As shown in the upper right corner, the display processing unit 13 displays the main screen Dp11 on the display unit 23 of the display device 2. At this time, the display processing unit 13 overlays specific information Im21 onto the main screen Dp11. Specific information Im21 is overlaid onto the main screen Dp11 in the second area R2 of the main screen Dp11 via a pop-up window. That is, specific information Im21 is overlaid onto the main screen Dp11 via a pop-up display. Specific information Im21 is certain information related to the operating machinery 3. In this embodiment, as an example, an image representing the current operating mode is displayed as specific information Im21.

[0178] In this state, if the display duration of a specific message Im21 (for example, 3 seconds) has elapsed, then as follows: Figure 13 As shown in the lower left, the display processing unit 13 displays the accessory device information Im22 on the display unit 23 of the display device 2 to replace the specific information Im21. At this time, the display processing unit 13 overlays the accessory device information Im22 onto the main screen Dp11. The accessory device information Im22 is overlaid on the main screen Dp11 through a pop-up window in the second area R2 of the main screen Dp11. That is, the accessory device information Im22 is overlaid on the main screen Dp11 through a pop-up display.

[0179] The accessory device information Im22 is information related to the accessory device 331 currently installed on the work unit 33. In this embodiment, as an example, the accessory device information Im22 displays an image and text indicating that the accessory device 331 has been installed. Figure 13 In the example, the bucket has been installed as an accessory 331, so the accessory information Im22, which indicates that it is a "standard" accessory, is displayed.

[0180] In this state, if the display duration of the accessory device information Im22 (for example, 3 seconds) is elapsed, then as follows: Figure 13 As shown in the lower right corner, the display processing unit 13 displays the invalid confirmation information Im23 on the display unit 23 of the display device 2 to replace the auxiliary device information Im22. At this time, the display processing unit 13 overlays the invalid confirmation information Im23 on the main screen Dp11. The invalid confirmation information Im23 is overlaid on the main screen Dp11 through a pop-up window in the second area R2 of the main screen Dp11. That is, the invalid confirmation information Im23 is overlaid on the main screen Dp11 through a pop-up display.

[0181] Invalid confirmation message Im23 indicates that a specific function is invalid. In this embodiment, as an example, invalid confirmation message Im23 displays an image and text content indicating that a specific function has been automatically invalidated through automatic invalidation processing.

[0182] The "specific functions" mentioned here include, for example, a limiting function that restricts the movable range of the working part 33 to a limited position. Specifically, in addition to the interference avoidance function mentioned above, such limiting functions include a boom height limiting function and a stick coiling limiting function. The boom height limiting function restricts the upper end of the movable range of the working part 33 in the vertical direction D1 to a height limiting position by defining the upper end of the movable range of the boom 332. The stick coiling limiting function restricts the limit position of the stick 333's coiling (bending direction) to a coiling limiting position.

[0183] exist Figure 13 In the example, assuming that the boom height limiting function, which is a specific function, has been disabled through automatic invalidation processing, an image and text content indicating that the boom height limiting function has been disabled are displayed as invalidation confirmation information Im23.

[0184] The "automatic invalidation processing" mentioned in this disclosure refers to the processing that automatically invalidates a specific function when the prescribed release conditions are met. That is, the setting processing unit 14 automatically invalidates specific functions such as the boom height limiting function when the release conditions are met.

[0185] In this embodiment, as an example, the working machine 3 is stopped when the release condition for disabling the boom height limiting function includes at least a state where the specific function (boom height limiting function) is active. In this embodiment, the disconnection operation of the main switch 34 (key disconnection) is an example of the stop operation. That is, when the boom height limiting function is active, the main switch 34 is disconnected, thereby the setting processing unit 14 disables the boom height limiting function through automatic invalidation processing. In this case, when the main switch 34 is subsequently turned on and the working machine 3 is started, as follows... Figure 13 As shown, the display unit 23 of the display device 2 displays an invalid confirmation message Im23 indicating that the boom height limiting function has been disabled.

[0186] In this state, if the display duration of the invalid confirmation message Im23 has elapsed (for example, 3 seconds), the display processing unit 13 ends the pop-up display of the invalid confirmation message Im23 and displays the main screen Dp11 on the display unit 23 of the display device 2. Preferably, the display duration of the start screen Dp10, the specific information Im21, the accessory device information Im22, and the invalid confirmation message Im23 on the display device 2 is predetermined and can be different or the same.

[0187] exist Figure 13 In the example, while the start screen Dp10, specific information Im21, and auxiliary device information Im22 are always displayed at startup, the invalid confirmation information Im23 is only displayed after the automatic invalidation process is executed.

[0188] As explained above, the control method involved in this embodiment is a control method for a work machine 3 with an accessory device 331 of a replaceable work unit 33, and includes a step of displaying accessory device information Im22 related to the installed accessory device 331 on a display device 2 when the work machine 3 is started based on a start operation.

[0189] According to this structure, when the auxiliary device 331 already installed at the front end of the working section 33 (stick 333) is replaced with various auxiliary devices 331 such as boom, auger, or fork, the operator riding in the working machine 3 can identify the installed auxiliary device 331. That is, when the operator starts the working machine 3 through the start operation (the operation of turning on the main switch 34), the operator can identify the installed auxiliary device 331 through the auxiliary device information Im22 displayed on the display device 2. As a result, it has the advantage that the operator can easily identify the installed auxiliary device 331.

[0190] Furthermore, the control method according to this embodiment also includes a step of adjusting the interference avoidance function based on the accessory device information Im22 to control the operation of the work unit 33 in a manner that avoids interference between the work unit 33 and the driving unit 321. That is, the avoidance processing unit 15 needs to limit the range of motion of the work unit 33 based on the installed accessory device 331, so it performs interference avoidance processing based on the accessory device information Im22.

[0191] This ensures an appropriate range of motion corresponding to the installed accessory 331 and enables interference avoidance.

[0192] Furthermore, the operating machine 3 can operate even while the auxiliary device information Im22 is displayed. Specifically, in Figure 13 In the example, starting from the point in time when the main screen Dp11 (and specific information Im21) is displayed, the working machine 3 can operate according to the operation of the operating device 35.

[0193] Therefore, the operating machinery 3 can be started without waiting for the display of the auxiliary device information Im22 to end, thus avoiding the start-up delay of the operating machinery 3 caused by the display of the auxiliary device information Im22.

[0194] Additionally, the method includes a step of displaying the main screen Dp11 on the display device 2 after the accessory device information Im22 is displayed. In this embodiment, after the accessory device information Im22 is displayed and the invalid confirmation information Im23 is displayed, the main screen Dp11 is displayed on the display section 23 of the display device 2.

[0195] Therefore, after the auxiliary device information Im22 is displayed, the operator can confirm the various information required to operate the machine 3 through the main screen Dp11.

[0196] Furthermore, this embodiment also includes a step of reading the auxiliary device information Im22 to the display device 2 when the working machine 3 is started. Specifically, the acquisition processing unit 11 acquires at least the auxiliary device information Im22, which determines the type of auxiliary device, from the auxiliary device 331 at the time the auxiliary device 331 is installed on the working unit 33. Furthermore, the acquisition processing unit 11 also acquires at least the auxiliary device information Im22, which determines the type of auxiliary device, from the auxiliary device 331 when the working machine 3 is started. When the working machine 3 is started, the control system 1 outputs the acquired auxiliary device information Im22 to the display device 2 and displays it.

[0197] Thus, even if the auxiliary device 331 is replaced when the working machine 3 stops, for example, it is possible to display auxiliary device information Im22 related to the auxiliary device 331 that was installed at the start time of the working machine 3.

[0198] Here, the control method preferably also includes a step of reporting when the accessory device information Im22 fails to be read. That is, if the accessory device information Im22 fails to be read, the operator can be informed of the failure by issuing a report. Therefore, the possibility of the operator mistakenly identifying the installed accessory device 331 is reduced. The reporting method may be, for example, a third image Im13 or other display, or sound output based on the sound output unit 36.

[0199] Furthermore, in this embodiment, after the operating machinery 3 is started, the auxiliary device information Im22 is displayed after the start screen Dp10 is displayed on the display device 2. Therefore, compared to the case where the auxiliary device information Im22 is displayed immediately after the operating machinery 3 is started, it is less likely for the operator to miss the auxiliary device information Im22.

[0200] Furthermore, the auxiliary device information Im22 is displayed after the start screen Dp10 is displayed, and after the specific information Im21 is displayed. Therefore, compared to the case where the auxiliary device information Im22 is displayed immediately after the start screen Dp10 is displayed, it is less likely for the operator to miss the auxiliary device information Im22.

[0201] Furthermore, the control method described in this embodiment also includes a step of changing the correspondence between the operation of the operating device 35 and the action of the working machine 3, i.e., the operating mode. Here, the specific information Im21 is information related to the current operating mode. Therefore, when the operator starts the working machine 3 through the start operation (the operation of turning on the main switch 34), the current operating mode can be identified through the specific information Im21 displayed on the display device 2. As a result, misoperation is less likely to occur.

[0202] Furthermore, the control method according to this embodiment also includes: a step of performing automatic invalidation processing; and a step of displaying invalidation confirmation information Im23 indicating that a specific function is invalid on the display device 2 after the automatic invalidation processing is performed and after the working machine 3 is started based on a start operation. Here, automatic invalidation processing is a process that automatically invalidates a specific function when a release condition is met. The release condition includes stopping the working machine 3 while the specific function related to the working machine 3 is active. In this embodiment, the boom height limiting function is an example of a specific function.

[0203] According to this structure, by satisfying the release condition including the stopping operation of the working machine 3, a specific function can be automatically disabled. Moreover, when a specific function is automatically disabled through such automatic invalidation processing, invalidation confirmation information Im23 is displayed on the display device 2 after the working machine 3 is started again, so that the operator can know that the specific function has been automatically disabled through automatic invalidation processing.

[0204] Furthermore, the release conditions may also include conditions other than the cessation of operation of the working machine 3. In other words, although the working machine 3 has stopped operating while the specific function related to the working machine 3 is in an effective state, it is not necessarily that the release conditions are met. Only when the release conditions are met in the mainland, including conditions other than the cessation of operation, will the specific function automatically become invalid.

[0205] Specifically, the conditions for deactivation include a certain time interval between the shutdown of the operating machine 3 and the next startup operation, and / or the shutdown of the operating machine 3 not being accompanied by the retention of a specific function. Therefore, stopping the operating machine 3 does not necessarily render a specific function invalid; rather, depending on the circumstances, the specific function can be retained and remain effective.

[0206] Furthermore, the invalid confirmation message Im23 is only displayed during the initial startup of the operating machine 3 after the automatic invalidation process has been executed. That is, the invalid confirmation message Im23 is displayed during the first startup of the operating machine 3 after the automatic invalidation process has been executed, and is not displayed during the second and subsequent startups of the operating machine 3.

[0207] This avoids the frustration of operators who are annoyed by the invalid confirmation message Im23 being displayed every time the machine is started.

[0208] Furthermore, the invalid confirmation message Im23 is displayed after the auxiliary device information Im22. Therefore, the auxiliary device information Im22 and the invalid confirmation message Im23 are displayed sequentially after the machine 3 is started, making them less likely to be missed by the operator.

[0209] Furthermore, the auxiliary device information Im22 is displayed on the display device 2 along with operating information (images Im1, etc.) related to the operating status of the working machine 3. That is, in this embodiment, the auxiliary device information Im22 is displayed in the second area R2 of the main screen Dp11 via a pop-up window overlaying the main screen Dp11. Therefore, for example, in the display section 23 of the display device 2, the auxiliary device information Im22 is displayed side by side with multiple images Im1, etc., in the third area R3 of the main screen Dp11.

[0210] Therefore, operators can simultaneously view auxiliary device information Im22 and operating information related to the operating status of the working machinery 3 via display device 2.

[0211] [4.5] Invalid Startup Handling

[0212] Next, the invalid start-up process for starting the working machine 3 when the interference avoidance function is disabled will be explained.

[0213] That is, the machine 3 has an interference avoidance function. Therefore, if the interference avoidance function is effective, the operation of the machine 33 is controlled by the avoidance processing unit 15 to avoid interference between the machine 33 and the driving unit 321. This interference avoidance function is not always effective and can be set to be effective or ineffective by the setting processing unit 14. Moreover, if the interference avoidance function is ineffective, the operator can operate the machine 33 to a very close distance to the driving unit 321 while fully confirming safety.

[0214] Here, by simultaneously operating (pressing) the release switch 392 and performing a start operation (turning on the main switch 34), the processing unit 14 is configured to perform an "invalid start process" to start the machine 3 while the interference avoidance function is disabled. That is, when the machine 3 is started based on a start operation, the processing unit 14 is configured to operate the work unit 33 while the interference avoidance function is disabled, provided that specific conditions, including the ongoing first operation, are met. In this embodiment, the turning on of the main switch 34 is an example of a start operation, and the operation of releasing the switch 392 (pressing) is an example of the first operation.

[0215] Furthermore, in this embodiment, similar to the case where the setting processing unit 14 determines various settings such as the operating mode, a specific operation needs to be performed by the operator as a condition for disabling the interference avoidance function. In this embodiment, the operation of the approval switch 391 (pressing operation) is an example of such a specific operation.

[0216] Specifically, during invalid startup processing, the display screen Dp1 displayed on the display unit 23 of the display device 2 is as follows: Figure 14 The conversion is as shown. That is, if the release switch 392 is operated (pressed) while the start operation (main switch 34 is turned on) is performed, then as shown... Figure 14 As shown in the upper left, the display processing unit 13 first displays the start screen Dp10 on the display unit 23 of the display device 2.

[0217] In this state, if the display duration of the start screen Dp10 (for example, 2 seconds) has elapsed, then as follows: Figure 14 As shown in the upper right corner, the display processing unit 13 displays the main screen Dp11 on the display unit 23 of the display device 2. At this time, the display processing unit 13 overlays the first image Im11 onto the main screen Dp11. The first image Im11 is overlaid onto the main screen Dp11 in the second area R2 of the main screen Dp11 through a pop-up window. That is, the first image Im11 is overlaid onto the main screen Dp11 through a pop-up display.

[0218] In this state, if the operator performs the operation of the approval switch 391 as a specific operation and the setting is successful, then as follows: Figure 14 As illustrated in the lower left corner, the same specific information Im21 as during normal startup will be overlaid on the main screen Dp11. From then on, as during normal startup, the display screen Dp11 will switch in the order of auxiliary device information Im22, (and invalid confirmation information Im23 if necessary), and the main screen Dp11.

[0219] On the other hand, if the setting fails, then as follows: Figure 14As illustrated in the lower right corner, the display processing unit 13 displays the third image Im13 on the display unit 23 of the display device 2 to replace the first image Im11. At this time, the display processing unit 13 overlays the third image Im13 onto the main screen Dp11. The third image Im13 is overlaid on the main screen Dp11 through a pop-up window in the second area R2 of the main screen Dp11. That is, the third image Im13 is overlaid on the main screen Dp11 through a pop-up display. In this state, if the display duration of the third image Im13 (for example, 3 seconds) has elapsed, then as... Figure 14 As shown in the lower left corner, the display processing unit 13 overlays the same specific information Im21 as during normal startup on the main screen Dp11. From then on, as during normal startup, the display screen Dp11 changes in the order of accessory device information Im22, (if needed, invalid confirmation information Im23), and main screen Dp11.

[0220] As explained above, the control method described in this embodiment is a control method for a work machine 3 having an interference avoidance function that controls the operation of the work unit 33 in a manner that prevents the work unit 33 from interfering with the driving unit 321. This control method includes a step of invalidating the start-up process when the work machine 3 is started based on a start-up operation, and if specific conditions, including the ongoing first operation, are met, performing an invalid start-up process that enables the work unit 33 to operate even when the interference avoidance function is disabled.

[0221] According to this structure, when the machine 3 is started based on the operator's start-up operation, the interference avoidance function is disabled if specific conditions, including the ongoing first operation, are met. Therefore, it is possible to prevent the operator from unintentionally disabling the interference avoidance function, and to prevent the machine 3 from performing actions unintentionally by the operator (such as the bucket approaching the driver's cab 321). As a result, it has the advantage of easily suppressing unintentional actions of the machine 3 by the operator.

[0222] Furthermore, the control method according to this embodiment also includes a step of determining whether a first operation has occurred when the working machine 3 is started based on a start operation in order to determine whether a specific condition is met. That is, the specific condition includes that a first operation is in progress when the working machine 3 is started based on a start operation, so when the working machine 3 is started based on a start operation (the closing operation of the main switch 34), it is determined whether a first operation (the operation of the approval switch 391) is in progress.

[0223] Therefore, when the operating machinery 3 is started, the specific conditions are met only after the operator intentionally performs the first operation, which can avoid the situation where the operator unintentionally renders the interference avoidance function ineffective.

[0224] Furthermore, the specific condition also includes performing the second operation after the working machine 3 has been started. That is, the specific condition is not met if the first operation is performed only when the working machine 3 is started based on the start-up operation. Therefore, the specific condition is met only after the operator intentionally performs the first operation when the working machine 3 is started, and then performs the second operation after start-up, thus avoiding situations where the operator unintentionally disables the interference avoidance function.

[0225] Here, the first operation includes the operation of a first operating unit (release switch 392) that is different from the start-up operating unit (main switch 34) used for the start-up operation. Furthermore, the second operation includes the operation of a second operating unit (approval switch 391) that is different from the first operating unit (release switch 392). That is, the main switch 34 is an example of the start-up operating unit, the release switch 392 is an example of the first operating unit, and the approval switch 391 is an example of the second operating unit.

[0226] Therefore, the specific conditions are met only after the operator performs the first operation through the first operation unit, which is different from the start-up operation unit, and performs the second operation through the second operation unit, which is different from the first operation unit, after startup. This can prevent the operator from unintentionally invalidating the interference avoidance function.

[0227] Here, regardless of the state of the locking device, which can switch between a locked state that restricts the movement of the machine 4 and a unlocked state that does not restrict the movement of the machine 4, the machine 3 can be started based on the start operation. That is, the start of the machine 3 can be performed regardless of whether the stop lever 372 is in the "raised position" and the locking device is in the "locked state" or the stop lever 372 is in the "lowered position" and the locking device is in the "unlocked state".

[0228] On the other hand, the second operation includes the locking device being in a locked state, capable of switching between a locked state that restricts the movement of the working machine 3 and a locked-out state that does not restrict the movement of the working machine 3. That is, invalid start processing based on the second operation can only be performed when the stop lever 372 is in the "raised position" and the locking device is in the "locked state". Therefore, if the stop lever 372 is in the "lowered position" and the locking device is in the "locked-out state", even if the approval switch 391 is operated (pressed operation), the second operation will not be considered to have been performed, thus avoiding the invalidation failure of the interference function.

[0229] Therefore, the inactivation of the interference avoidance function can only be performed in the locked state that restricts the movement of the machine 3. As a result, it is possible to more reliably prevent the operator from unintentionally inactivating the interference avoidance function.

[0230] Furthermore, the control method according to this embodiment also includes the step of displaying a first image Im11, which will serve as a guide for the second operation, on the display device 2 after the working machine 3 is started. Therefore, the interference avoidance function is only deactivated after the second operation (specific operation) guided by the first image Im11 is performed, thus preventing the operator from unintentionally deactivating the interference avoidance function.

[0231] Here, the control method according to this embodiment further includes the step of displaying the execution result of the invalidation start-up process on the display device 2 after the first image Im11 is displayed. That is, the second image Im12, indicating that the interference avoidance function was successfully invalidated, and / or the third image Im13, indicating that the interference avoidance function was not invalidated, are displayed on the display device 2 as the execution result of the invalidation start-up process. In this embodiment, as an example, the second image Im12 when the setting was successful is not displayed, and only the third image Im13 when the setting failed is displayed.

[0232] As a result, operators can know the execution result of invalid startup processing, thus preventing it from becoming an unintended outcome.

[0233] Furthermore, the control method described in this embodiment also includes a step of reporting when the interference prevention function is ineffective. Specifically, as follows: Figure 15 As shown, during the period when the interference avoidance function is ineffective, the display processing unit 13 reports by displaying a fourth image Im14 in the ninth area R9 of the main screen Dp11. The fourth image Im14 is an image indicating that the interference avoidance function is ineffective, and may include messages (text content) such as "Interference avoidance function deactivated". This makes it easy for the operator to understand that the interference avoidance function is ineffective and to suppress unintentional actions of the machine 3. The reporting method may be, for example, the fourth image Im14 or other displays, or it may be based on sound output from the sound output unit 36.

[0234] Furthermore, the interference avoidance function, which was invalidated by the invalid start process, is reactivated when the machine 3 is restarted. That is, if the machine 3 is temporarily stopped by disconnecting the main switch 34 from a state where the interference avoidance function was invalidated by the invalid start process, and then restarted by connecting the main switch 34 (start operation), the interference avoidance function is reactivated. However, if the first operation (disconnecting switch 392) is performed during restart, the interference avoidance function will also be invalidated by the invalid start process during restart.

[0235] Thus, the conditions for making the interference avoidance function effective after the invalid start-up process is executed include at least the restart of the machine 3. That is, in order for the interference avoidance function, which has been invalidated by the invalid start-up process, to be effective, the machine 3 must be temporarily stopped at least by disconnecting the main switch 34. Therefore, it is possible to avoid switching the effectiveness / invalidity of the interference avoidance function during the operation of the machine 3.

[0236] [5] Variations

[0237] Hereinafter, variations of Embodiment 1 are listed. The variations described below can be appropriately combined and applied.

[0238] The control system 1 of this disclosure includes a computer system. The computer system is primarily structured with one or more processors and one or more memories as hardware. The processor executes programs recorded in the computer system's memory to implement the functions of the control system 1. The programs can be pre-recorded in the computer system's memory, provided via electrical communication lines, or recorded on non-temporary recording media such as memory cards, optical discs, or hard disk drives that are readable by the computer system. Furthermore, some or all of the functional units included in the control system 1 can also be constructed using electronic circuits.

[0239] Furthermore, integrating at least a portion of the functions of control system 1 into a single housing is not a necessary structure for control system 1; the components of control system 1 can also be distributed across multiple housings. Conversely, in embodiment 1, functions distributed across multiple devices (e.g., control system 1 and display device 2) can also be integrated into a single housing. Moreover, at least a portion of the functions of control system 1 can also be implemented via the cloud (cloud computing) or similar technologies.

[0240] In addition, the power source of the working machine 3 is not limited to a diesel engine. For example, it can be an engine other than a diesel engine, a motor (electric motor), or a hybrid power source that includes both an engine and a motor (electric motor).

[0241] Furthermore, the display device 2 is not limited to a dedicated device; for example, it can be a general-purpose terminal such as a laptop computer, tablet computer, or smartphone. Also, the display unit 23 is not limited to a form that directly displays images, such as a liquid crystal display or an organic EL display; for example, it can be a structure that displays images by projection, such as a projector.

[0242] Furthermore, the form in which information is input to the operation unit 22 can be other than push-button switches, touch panels, and operation dials. For example, the operation unit 22 can also take the form of a keyboard, mouse, or other pointing devices, voice input, gesture input, or input of operation signals from other terminals.

[0243] Furthermore, the operating device 35 and display device 2 are not limited to being mounted on the body 30; for example, they can be installed separately from the body 30. In this case, the operating device 35 and display device 2 are configured to communicate with the body 30, thereby enabling remote operation of the body 30.

[0244] [Notes on the invention]

[0245] The following is a summary of the invention extracted from the above embodiments. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0246] <Note 1>

[0247] A control method for a work machine is a control method for a work machine that has an interference-avoidance function, which controls the movement of the work unit in a way that avoids interference between the work unit and the driver unit.

[0248] The device has a step of invalid start processing that enables the operation of the work unit to occur when the aforementioned work machinery is started based on a start operation, provided that specific conditions, including the first operation being performed, are met.

[0249] <Note 2>

[0250] According to the control method for the operating machinery described in Note 1, wherein,

[0251] It also includes a step of confirming whether the first operation has been performed when the aforementioned working machinery is started based on the aforementioned start-up operation in order to determine whether the aforementioned specific conditions are met.

[0252] <Note 3>

[0253] According to the control method of the operating machinery described in Note 1 or 2, wherein,

[0254] The aforementioned specific conditions also include performing the second operation after the aforementioned working machinery has been started.

[0255] <Note 4>

[0256] According to the control method for the operating machinery described in Note 3, wherein...

[0257] The first operation described above includes the operation of a first operation unit that is different from the startup operation unit used for the startup operation described above.

[0258] The second operation described above includes the operation of a second operation unit that is different from the first operation unit described above.

[0259] <Note 5>

[0260] According to the control method of the operating machinery described in Note 3 or 4, wherein,

[0261] The second operation mentioned above includes a locking device that is in the locked state, capable of switching between a locked state that restricts the movement of the aforementioned working machinery and a locked-out state that does not restrict the movement of the aforementioned working machinery.

[0262] <Note 6>

[0263] The control method for the operating machinery according to any one of Notes 3 to 5, wherein...

[0264] It also includes the step of displaying a first image on a display device after the aforementioned work machinery is started, which will serve as a guide for the aforementioned second operation.

[0265] <Note 7>

[0266] According to the control method for the operating machinery described in Note 6, wherein,

[0267] It also includes the step of displaying the execution result of the invalid startup process on the display device after the first image is displayed.

[0268] <Note 8>

[0269] The control method for the operating machinery according to any one of Notes 1 to 7, wherein,

[0270] Regardless of the state of the locking device that can switch between a locked state that restricts the movement of the aforementioned working machinery and a locked unlocked state that does not restrict the movement of the aforementioned working machinery, the aforementioned working machinery can be started based on the aforementioned start-up operation.

[0271] <Note 9>

[0272] The control method for the operating machinery according to any one of Notes 1 to 8, wherein,

[0273] It also includes a reporting procedure in case the aforementioned interference avoidance function fails.

[0274] <Note 10>

[0275] The control method for the operating machinery according to any one of Notes 1 to 9, wherein,

[0276] The conditions for making the above-mentioned interference avoidance function effective after the execution of the above-mentioned invalid start-up process include at least the restart of the above-mentioned working machinery.

[0277] <Note 11>

[0278] A control program for a work machinery, wherein,

[0279] A method for controlling a machine to perform the operation described in any of Notes 1 to 10, which enables one or more processors to execute the operation.

Claims

1. A control method of a work machine, which is a control method of a work machine having an interference avoidance function that controls an action of a work section in a manner to avoid interference of the work section with a driving section, characterized by having a step of, when the work machine is started based on a start operation in a case where a specific condition including that a first operation is being performed is satisfied, executing invalid start processing that enables the work section to act in a state where the interference avoidance function is invalidated.

2. The control method of a work machine according to claim 1, characterized by further having a step of, in order to determine whether the specific condition is satisfied, confirming the presence or absence of the first operation when the work machine is started based on the start operation.

3. The control method of a work machine according to claim 1 or 2, characterized in that the specific condition further includes that a second operation is performed after the work machine is started.

4. The control method of a work machine according to claim 3, characterized in that the first operation includes operation of a first operation section different from a start operation section for the start operation, and the second operation includes operation of a second operation section different from the first operation section.

5. The control method of a work machine according to claim 3, characterized in that the second operation includes that a lock device is in a locked state, the lock device being capable of switching between the locked state that restricts an action of the work machine and a lock release state that does not restrict the action of the work machine.

6. The control method of a work machine according to claim 3, characterized by further having a step of displaying a first image that becomes a guide for the second operation on a display device after the work machine is started.

7. The control method of a work machine according to claim 6, characterized by further having a step of displaying a result of execution of the invalid start processing on the display device after the first image is displayed.

8. The control method of a work machine according to claim 1 or 2, characterized in that the work machine is capable of being started based on the start operation regardless of a state of a lock device capable of switching between a locked state that restricts an action of the work machine and a lock release state that does not restrict the action of the work machine.

9. The control method of a work machine according to claim 1 or 2, characterized by further having a step of reporting in a case where the interference avoidance function is invalidated.

10. The control method of a work machine according to claim 1 or 2, characterized in that a condition for validating the interference avoidance function after execution of the invalid start processing includes at least restart of the work machine.

11. A control program for a work machine, characterized by being for causing one or more processors to execute the control method of a work machine according to claim 1 or 2.

12. A control system for a work machine, characterized by being for a work machine having an interference avoidance function that controls an action of a work section in a manner to avoid interference of the work section with a driving section. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The work machine includes a setting processing section that enables the work section to operate in a state in which the interference avoidance function is inactivated when a specific condition including that a first operation is being performed is satisfied at the time of activation of the work machine based on an activation operation.

13. A work machine characterized by comprising: Possesses: The control system for work machine according to claim 12; and Machine body.

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