Control method for work machine, control program for work machine, control system for work machine, and work machine

Abstract

This invention provides a control method, a control program, a control system, and a work machine for easily improving work efficiency. The control method comprises a prime mover for driving a hydraulic pump that discharges working oil, a working unit, and a pair of locking levers (463L, 463R). The working unit is driven by a hydraulic actuator that receives working oil. The pair of locking levers (463L, 463R) can be switched between a first position and a second position. The control method differs between a first state where the prime mover's action is in a first position only one of the locking levers (463L, 463R) is in the first position, and a second state where both locking levers (463L, 463R) are in the first position.

Description

Technical Field

[0001] This invention relates to a control method for a working machine having a prime mover for driving a hydraulic pump that discharges working oil, a control program for the working machine, a control system for the working machine, and the working machine itself. Background Technology

[0002] As a related technology, it is known that there are work machines (hydraulic excavators) equipped with an electric motor as the prime mover to drive a hydraulic pump (see, for example, Patent Document 1). In addition to the operating lever used to drive the hydraulic actuator, the work machine involved in this related technology also has a locking lever (stop lever). The locking lever is located on the left side of the driver's seat (operator's seat).

[0003] If the locking lever is in the second position (lowered position), the operator can operate the lever to drive the hydraulic actuator. Conversely, if the locking lever is in the first position (raised position), the operator cannot drive the hydraulic actuator even if they operate the lever. Furthermore, when the operator turns the key to start the prime mover, if the locking lever is in the lowered position, the prime mover will not start even if the key is turned; if the locking lever is in the raised position, the prime mover will start when the key is turned. Moreover, after work has been performed using the machinery, if the operator returns the locking lever to the first position, control is applied to stop the rotation of the prime mover (idle stop control).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2022-109462

[0005] In the aforementioned related technologies, the locking lever has two operating states: a first position and a second position. Therefore, for example, in a standby state where work is temporarily interrupted, if the locking lever is in the first position, the prime mover also stops. Consequently, when restarting work from the standby state, the locking lever needs to be in the second position to restart the prime mover and re-drive the hydraulic pump. This process takes time to restore the working oil pressure required for operation, potentially leading to decreased work efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a control method, a control program, a control system, and a machine for operating machinery that can easily improve work efficiency.

[0007] One aspect of the present invention relates to a control method for a working machine comprising a prime mover for driving a hydraulic pump that discharges working oil, a working unit driven by a hydraulic actuator that receives the working oil, and a pair of locking levers capable of switching between a first posture and a second posture. The control method further comprises: making the operation of the prime mover different in a first state where only one of the pair of locking levers is in the first posture, and in a second state where both of the pair of locking levers are in the first posture.

[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, which includes: a prime mover for driving a hydraulic pump that discharges working oil; a working unit driven by a hydraulic actuator that receives the working oil; and a pair of locking levers capable of switching between a first posture and a second posture. The control system includes a control processing unit. This control processing unit differentiates the operation of the prime mover in a first state where only one of the locking levers is in the first posture and in a second state where both locking levers are in the first posture.

[0010] One aspect of the present invention relates to a working machine that includes the aforementioned working machine control system and machine 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 easily improves operating efficiency. Attached Figure Description

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

[0013] Figure 2 This is a simplified diagram showing the hydraulic circuit and the like of the working machine involved in Embodiment 1.

[0014] Figure 3 This is a simplified perspective view showing the driving unit of the operating machinery involved in Embodiment 1.

[0015] Figure 4 This is a flowchart illustrating an example of the operation of the prime mover in the control system for the work machinery according to Embodiment 1.

[0016] Figure 5 This is a flowchart illustrating an example of the operation of the prime mover in the control system for the work machinery involved in Embodiment 1 when it starts.

[0017] Figure 6 This is an explanatory diagram showing a specific example of the operation of the control system for the work machinery involved in Embodiment 1.

[0018] Explanation of reference numerals in the attached figures

[0019] 1…Control system for operating machinery; 3…Operating machinery; 12…Control processing unit; 30…Machine body; 33…Operating unit; 35…Operating device; 40…Prime mover; 41…Hydraulic pump; 43…Hydraulic motor (hydraulic actuator); 44…Hydraulic cylinder (hydraulic actuator); 323…Driver's seat; 381…Battery (power source); 463, 463L, 463R…Locking lever; D3…Left and right directions. Detailed Implementation

[0020] 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.

[0021] (Implementation Method 1)

[0022] [1] Overall structure

[0023] like Figure 1 As shown, the machine tool 3 according to this embodiment includes a traveling section 31, a rotating section 32, and a working section 33 on its body 30. Furthermore, as... Figure 2 As shown, the operating machine 3 also includes a control system 1 for the operating machine (hereinafter also referred to as "control system 1"). Furthermore, as... Figure 1 and Figure 2 As shown, the body 30 also includes a display device 2, an operating device 35, a main switch 36, and an acceleration operating unit 37.

[0024] 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 pallet trucks. The operating machinery 3 has an operating unit 33 configured to perform more than one operation. The operating machinery 3 is not limited to "vehicles" and can also be, for example, operating vessels, drones, or multi-rotor aircraft. Furthermore, the operating machinery 3 is not limited to construction machinery; it can also be, for example, agricultural machinery such as rice transplanters, tractors, or combine harvesters. In this embodiment, unless otherwise specified, the operating machinery 3 will be described as a passenger-type backhoe excavator capable of performing excavation, land preparation, ditching, or loading operations.

[0025] In this embodiment, for ease of explanation, the vertical direction of the working machine 3 in its 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; 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 "right," and the direction in which the front end of the body 30 moves when the working machine 3 turns left is "left." However, these directions are not intended to limit the operating direction (direction during use) of the working machine 3.

[0026] The operating machinery 3 is equipped with a prime mover 40 that can serve as a power source (see reference). Figure 2 The prime mover 40 is, for example, a device that converts energy such as electricity, or heat from combustion or steam, into mechanical force (power) to generate power for driving the various parts of the machine body 30. In this embodiment, as an example, the prime mover 40 is an electric motor (electric motor). The prime mover 40 receives power from the battery 381 (see reference 1). Figure 2 The prime mover 40 is driven by the power supply from the inverter circuit 39 (see reference 1). In this embodiment, the prime mover 40 is an AC motor, driven by the power supply from the inverter circuit 39. Figure 2 The drive circuit 39 is electrically connected to the battery 381 and drives the prime mover 40 by converting the DC voltage output from the battery 381 into AC voltage and supplying it to the prime mover 40. That is, the working machine 3 includes a battery unit 38 (see reference 381) that includes the battery 381. Figure 2 ) and drive circuit 39.

[0027] The output shaft of the prime mover 40 is connected to the hydraulic pump 41 (see reference) via a power transmission unit, etc. Figure 2 The hydraulic pump 41 is driven by power from the prime mover 40. Furthermore, in the working machine 3, the prime mover 40 drives the hydraulic pump 41, and the hydraulic pump 41 supplies working oil to the hydraulic actuators (including hydraulic motors 43 and hydraulic cylinders 44, etc.) of various parts of the machine body 30, thereby driving the machine body 30. That is, the prime mover 40 drives the hydraulic pump 41 to discharge working oil from the hydraulic pump 41 and supplies power (working oil) to various parts of the machine body 30 to drive those parts.

[0028] Such a work machine 3 is controlled, for example, by a user (operator) sitting in the driver's seat 321 on the fuselage 30, operating the control levers of the control device 35. The driver's seat 321 has a driver's seat 323 for the operator to sit in (see...). Figure 1 The operator sits in the driver's seat 323 while riding in the driver's unit 321 and operates the operating devices 35 arranged around the driver's seat 323. That is, the power generated by the prime mover 40 is distributed to various parts of the machine body 30 according to the operator's operation, thereby the working machine 3 operates according to the operator's operation.

[0029] In this embodiment, as described above, it is assumed that the working machine 3 is a passenger-operated backhoe excavator. Therefore, the working unit 33 is driven by the user (operator) riding in the driving unit 321 to perform digging operations and other tasks. The driving unit 321 (including the driver's seat 323) is located in the slewing unit 32.

[0030] Here, in the driver's section 321 of the fuselage 30, in addition to the driver's seat 323, a display device 2 and an operating device 35 are also installed. 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, the display screen of the display device 2 displays information related to the operating status of the working machine 3, such as the cooling water temperature and the working oil temperature. Thus, the user can confirm the information related to the operating status of the working machine 3 required for operating the operating device 35 through the display device 2.

[0031] 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.

[0032] The slewing unit 32 is located above the traveling unit 31 and is configured to rotate relative to the traveling unit 31 about a rotation axis along the vertical direction D1. The slewing unit 32 includes a hydraulic motor (hydraulic actuator) for rotation. In addition to the driving unit 321, the slewing unit 32 also houses a prime mover 40 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 unit 32.

[0033] 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 a bucket 331. The bucket 331 is an accessory (working tool) installed on the body 30 of the working machine 3, and is composed of any implement selected from various accessories according to the task. The bucket 331 is, as an example, detachably installed relative to the body 30 and can be replaced according to the task. In addition to the bucket 331, accessories for the working machine 3 include various implements such as crushers, augers, pulverizers, forks, fork claws, iron frame cutters, asphalt cutters, lawnmowers, rippers, soil covering machines, tilting rotary machines, and tampers.

[0034] 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.). The bucket 331 is mounted on the front end of the stick 333.

[0035] The boom 332 is supported by the boom bracket 322 of the slewing section 32 so that it is rotatable. Specifically, the boom 332 is supported by the boom bracket 322 so that it can rotate about a rotation axis in the horizontal direction. 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 so that it can rotate relative to the boom 332 about a rotation axis in the horizontal direction.

[0036] The working section 33 is operated by receiving power from the prime mover 40, which serves as the power source. Specifically, the prime mover 40 drives the hydraulic pump 41, which supplies working oil to the hydraulic actuators (hydraulic cylinder 44, etc.) of the working section 33, thereby causing the various parts of the working section 33 (bucket 331, boom 332, and stick 333) to move.

[0037] In this embodiment, the working unit 33 has a multi-joint structure in which the boom 332 and stick 333 are configured to rotate independently. That is, the boom 332 and stick 333 each rotate about a rotation axis in the horizontal direction, thereby enabling the multi-joint working unit 33, including the boom 332 and stick 333, to perform overall extension and folding operations.

[0038] The traveling section 31 and the rotating section 32, like the working section 33, are powered by the prime mover 40. That is, working oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling section 31 and the hydraulic motor of the rotating section 32, thereby causing the rotating section 32 and the traveling section 31 to move.

[0039] Furthermore, the actuators (in this embodiment, hydraulic actuators such as hydraulic motors 43 and hydraulic cylinders 44) installed in various parts of the machine body 30 operate according to the operation of the operating device 35. That is, the work machine 3 according to this embodiment has actuators that operate according to the operation of the operating device 35. Therefore, the work machine 3 performs various actions such as forward and backward movement based on the travel unit 31, rotation based on the slewing unit 32, and digging operation based on the work unit 33, according to the operation of the user (operator) on the operating device 35.

[0040] exist Figure 2 The diagram schematically illustrates the hydraulic circuit and electrical circuit (electrical connection relationship) of the working machine 3 involved in this embodiment. Figure 2 In the diagram, solid lines represent high-pressure (working oil) oil circuits, dashed lines represent low-pressure (pilot oil) oil circuits, and single-dot-dash arrows represent electrical signal paths. Furthermore, the thick (solid) line between the prime mover 40 and the hydraulic pump 41 represents the physical connection between the prime mover 40 (output shaft) and the hydraulic pump 41.

[0041] like Figure 2 As shown, the operating machinery 3, in addition to the hydraulic pump 41 and hydraulic motor 43 (in... Figure 2 In addition to the hydraulic cylinder 44, prime mover 40, battery unit 38 and drive circuit 39 (illustrations omitted), it also includes a pilot pump 42, remote control valve 45, control valve 461, a pair of shut-off switches 462L and 462R, a pair of locking levers 463L and 463R, temperature sensor 47, direction switching valve (control valve) 48, working oil tank 49, main switch 36 and acceleration operation unit 37, etc.

[0042] Working oil from the hydraulic pump 41 driven by the prime mover 40 is supplied to the hydraulic motor 43 of the traveling part 31, the hydraulic motor 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 motor 43 and the hydraulic cylinder 44 are driven.

[0043] The drive circuit 39 drives the prime mover 40 at any rotational speed. That is, the drive circuit 39 can control the rotational speed of the hydraulic pump 41 driven by the prime mover 40 by controlling the rotational speed of the prime mover 40, thereby changing the discharge rate of the working oil from the hydraulic pump 41. Thus, in this embodiment, the flow rate of the working oil supplied from the hydraulic pump 41 is not fixed, but can be changed (variable) by appropriate means. The drive circuit 39 can continuously and steplessly change the rotational speed of the prime mover 40, or it can change it in stages (e.g., 2 stages, 5 stages, or 10 stages).

[0044] A pilot-operated directional switching valve 48 is provided in the hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44. This pilot-operated directional switching valve 48 can switch the direction and flow rate of the working oil from the hydraulic pump 41. The directional switching valve 48 is driven by pilot oil supplied from the pilot pump 42 as input command.

[0045] Here, for example, a remote control valve 45 is provided in the supply path of pilot oil to the direction switching valve 48 corresponding to the hydraulic cylinder 44 of the working unit 33. The remote control valve 45 outputs operation commands for the working unit 33 according to the operation of the operating device 35 (operating lever). The operation commands instruct the working unit 33 to perform actions such as unfolding and retracting. In addition, the flow rate of pilot oil supplied from the pilot pump 42 to the remote control valve 45 can be adjusted by the control valve 461.

[0046] Control valve 461 is an electromagnetic control valve (solenoid valve) inserted between remote control valve 45 and pilot pump 42. Control valve 461 is connected to a power source via a pair of shut-off switches 462L and 462R, and operates according to the current supplied from the power source. Control valve 461 is a (solenoid) proportional control valve here, but is not limited to this; for example, it could also be an on / off valve capable of switching the flow path.

[0047] Control valve 461 cuts off the pilot oil flow path when it is energized, i.e., when it is supplied with current as a control signal, and opens the pilot oil flow path when it is de-energized, i.e., when the current as a control signal is cut off. Therefore, by supplying current (control signal) to control valve 461, the hydraulic actuator (hydraulic cylinder 44, etc.) corresponding to remote control valve 45 cannot be driven, and the hydraulic actuator is forcibly stopped regardless of the operation of operating device 35.

[0048] Similarly, a remote control valve is also provided in the supply line of pilot oil to the direction switching valve corresponding to the hydraulic motor 43 of the traveling unit 31. This remote control valve outputs a traveling operation command for the traveling unit 31 based on the operation of the operating device 35 (operating lever). The traveling operation command instructs the traveling unit 31 to perform a traveling action (forward or backward, etc.). Furthermore, a remote control valve is also provided in the supply line of pilot oil to the direction switching valve corresponding to the hydraulic motor of the slewing unit 32. This remote control valve outputs a slewing operation command for the slewing unit 32 based on the operation of the operating device 35 (operating lever). The slewing operation command instructs the slewing action of the slewing unit 32 to perform a slewing action (left slewing or right slewing, etc.). A control valve 461 is also inserted between these remote control valves and the pilot pump 42.

[0049] A pair of stop switches 462L and 462R are respectively linked to a pair of locking levers 463L and 463R. Stop switch 462L is linked to locking lever 463L to switch on / off, and stop switch 462R is linked to locking lever 463R to switch on / off. Hereinafter, without distinguishing between stop switches 462L and 462R, they will be referred to as "stop switch 462," and without distinguishing between locking levers 463L and 463R, they will be referred to as "locking lever 463."

[0050] A pair of locking levers 463 are disposed on the control section 321 of the fuselage 30 to receive operation input from the user (operator). In this embodiment, as an example, the locking levers 463 can be operated along the vertical direction D1, and the pair of locking levers 463 can be operated independently. If the locking lever 463 is in the upper position of its movable range, i.e., the "raised position", the stop switch 462 linked to it is "on", and if the locking lever 463 is in the lower position of its movable range, i.e., the "lowered position", the stop switch 462 linked to it is "off". Moreover, the stop switch 462 is connected to the control system 1, and the on / off state of the stop switch 462, i.e., the operating state of the locking levers 463, is monitored by the control system 1. Specifically, the operating state of each of the pair of locking levers 463L and 463R is monitored by the control system 1.

[0051] Therefore, if both locking levers 463 are in the "lowered position," the control valve 461 is de-energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by the operation of the operating device 35. Conversely, if at least one of the locking levers 463 (i.e., either or both) is in the "upper position," the control valve 461 is 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 both locking levers 463 to the "lowered position."

[0052] Furthermore, the rotating section 32 and the traveling section 31 are operated by supplying working oil from the hydraulic pump 41 to the hydraulic actuator (hydraulic motor 43, etc.). Therefore, if at least one of the pair of locking levers 463 is in the "raised position", the rotating section 32 and the traveling section 31 cannot be driven. That is, if at least one of the pair of locking levers 463 is in the "raised position", the operating section 33, the rotating section 32, and the traveling section 31 are all forcibly set to an inoperable state.

[0053] In this embodiment, a pair of stop switches 462 and a pair of locking levers 463 constitute a locking device. The state of the locking device when at least one of the locking levers 463 is in the "raised position," i.e., when the working machine 3 cannot be operated, is defined as the "locked state." On the other hand, the state of the locking device when both of the locking levers 463 are in the "lowered position," i.e., when the working machine 3 can be operated, is defined as the "locked-out state."

[0054] In summary, when at least one of the pair of locking levers 463 is in the "raised position," the locking device is in a "locked state" where the movement of the working machine 3 is restricted (including prohibited). When both of the pair of locking levers 463 are in the "lowered position," the locking device is in a "locked-out state" where the movement of the working machine 3 is not restricted. Furthermore, if the locking device is in the locked state, even if the hydraulic pump 41 is driven, the hydraulic actuator (hydraulic cylinder 44, etc.) cannot be driven (cannot be driven), and the movement of the working machine 3 is forcibly restricted regardless of the operation of the operating device 35. The locking lever 463 is a lever operated when locking the movement of the working machine 3 in this way, and is synonymous with a stop lever or door locking lever.

[0055] Here, as Figure 3 As shown, a pair of locking levers 463L and 463R are positioned on either side of the operator's seat 323 in the left-right direction D3 within the operating machine 3. Furthermore, the operator can sit in the operator's seat 323 from either side of the left-right direction D3. Specifically, the locking lever 463L is positioned on the left side of the operator's seat 323 in the driver's unit 321, and the locking lever 463R is positioned on the right side of the operator's seat 323 in the driver's unit 321. Figure 3 In the diagram, the locking lever 463L in the "lowered position" and the locking lever 463R in the "raised position" are shown with solid lines, while the locking lever 463L in the "raised position" and the locking lever 463R in the "lowered position" are shown with dashed lines (double-dotted lines).

[0056] If the operator gets on or off the vehicle from the left side of the driver's seat 323, for example, the left locking lever 463L is moved to the "raised position" relative to the driver's compartment 321. On the other hand, if the operator gets on or off the vehicle from the right side of the driver's seat 323, for example, the right locking lever 463R is moved to the "raised position" relative to the driver's compartment 321. Thus, although locking levers 463L and 463R are arranged on both sides of the driver's seat 323 in the left-right direction D3, when the operator gets on or off the vehicle from either the left or right direction D3 relative to the driver's seat 323, at least one locking lever 463 is in the "raised position", thereby forcibly restricting the operation of the working machine 3.

[0057] The operating device 35 is located in the driver's section 321 of the machine body 30 and serves as a user interface for receiving operational inputs from the user (operator). The operating device 35 includes, for example, a joystick, which controls the remote control valve 45 based on the amount of operation of the joystick. Thus, the operator can operate the operating device 35 to activate the remote control valve 45, indicating the direction and flow rate of the working oil from the hydraulic pump 41, thereby causing the machine 3 to move.

[0058] Temperature sensor 47 detects the temperature (working oil temperature) of the working oil discharged from hydraulic pump 41. Specifically, in this embodiment, temperature sensor 47 is disposed in working oil tank 49, which stores working oil, and detects the temperature of the working oil stored in working oil tank 49. Hydraulic pump 41 draws in and discharges the working oil stored in working oil tank 49, therefore temperature sensor 47 detects the temperature of the working oil discharged from hydraulic pump 41. Temperature sensor 47 is connected to control system 1, meaning that the temperature (working oil temperature) detected by temperature sensor 47 is input to control system 1.

[0059] Here, temperature sensor 47 is an example of a detection unit that detects the state quantity of the working oil. As used in this disclosure, "state quantity" is a physical quantity that represents the state of an object (here, the working oil), referring to a value determined by the state. As an example, besides temperature, it includes viscosity, pressure, volume, density, or oil type. In this embodiment, temperature sensor 47 detects the temperature of the working oil discharged from hydraulic pump 41 as the state quantity of the working oil.

[0060] Battery cell 38 includes battery 381 and battery management unit 382. Battery management unit 382 manages various states related to battery 381, such as the remaining charge (SOC), voltage, and temperature of battery 381. Battery management unit 382 is connected to control system 1, and information such as the remaining charge of battery 381 (battery information) managed by battery management unit 382 is input to control system 1.

[0061] The main switch 36 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. When the main switch 36 is off, the machine body 30 (including the traveling section 31, the rotating section 32, and the working section 33) is not in a state that operates according to the operation of the operating device 35. Only after the main switch 36 is turned on does the machine body 30 enter a state that operates according to the operation of the operating device 35. Furthermore, when the main switch 36 is turned on, power is also supplied to the display device 2, etc. In this embodiment, as an example, the main switch 36 and the lock cylinder 361 (see...) Figure 6 Linked by using key 362 (see reference) Figure 6 ( ) is used to start the prime mover 40 and turn it on.

[0062] An acceleration operation unit 37 is located in the driver's section 321 of the machine body 30 and is operated by the user (operator) when the machine 3 is started. The acceleration operation unit 37 is a device operated to set the steady-state speed of the prime mover 40, such as an acceleration dial, accelerator lever, or accelerator pedal. The acceleration operation unit 37 is connected to the control system 1, and the operation signal generated by the operation of the acceleration operation unit 37 is input to the control system 1. In this embodiment, as an example, the acceleration operation unit 37 is a rotary dial-type operation unit, and the steady-state speed of the prime mover 40 is set according to its rotational position.

[0063] Control system 1, for example, is primarily structured as a computer system with one or more processors such as CPU (Central Processing Unit) and one or more memory units such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, control system 1 is a comprehensive controller that controls the entire machine 3, and is, for example, composed of an electronic control unit (ECU). However, control system 1 can be set separately from the comprehensive controller, or it can be based on one or more processors. Detailed description of control system 1 is provided in the section "[2] Structure of Control System".

[0064] Display device 2 is disposed in the control unit 321 of the fuselage 30 and 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 confirm the display screen on display device 2, and can also operate display device 2 as needed.

[0065] 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.

[0066] 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, or displays a display screen generated by the control system 1 on the display unit 23.

[0067] The operation unit 22 is a user interface for receiving operation inputs from the user (operator) to 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.

[0068] 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 various information to the user by displaying information.

[0069] In addition to the aforementioned structure, the machine body 30 also includes a drive unit and a communication terminal. The drive unit is a device for supplying power to the components of the work unit 33, and consists of a power take-off (PTO) device (mechanism) for extracting power from the prime mover 40 to drive the hydraulically constructed components. Furthermore, the machine body 30 includes cameras for capturing images of its surroundings, and various sensors (including cameras) for detecting objects in the monitoring area surrounding the work machine 3.

[0070] [2] Structure of the control system

[0071] 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 part 31, the rotating part 32, and the working part 33, etc.). In this embodiment, 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 has at least the control system 1 and the machine body 30.

[0072] like Figure 2 As shown, the control system 1 includes an acquisition processing unit 11, a control processing unit 12, and a setting processing unit 13. In this embodiment, as an example, the control system 1 is mainly structured as a computer system with one or more processors. Therefore, the above-mentioned multiple functional units (acquisition processing unit 11, etc.) are implemented by executing a control program for the working machine through one or more processors. The above-mentioned multiple functional units included in the control system 1 can be distributed in multiple housings or disposed in a single housing.

[0073] The control system 1 is configured to communicate with devices installed in various parts of the fuselage 30. Specifically, the control system 1 is connected to at least the drive circuit 39, the prime mover 40, the main switch 36, the acceleration operation unit 37, the battery unit 38 (including the battery management unit 382), the temperature sensor 47, the display device 2, and a pair of cut-off switches 462. Thus, the control system 1 can control the drive circuit 39 and the display device 2, or acquire information such as the rotational speed of the prime mover 40, the on / off state of the pair of cut-off switches 462, the operating state of the acceleration operation unit 37, the remaining charge of the battery 381, and the detection results (operating oil temperature) from the temperature sensor 47. Here, the control system 1 can directly transmit and receive various information (data) with each device, or indirectly transmit and receive various information (data) via repeaters or the like. As an example, the control system 1 and the devices installed in various parts of the fuselage 30 can communicate using a communication method such as CAN (Controller Area Network).

[0074] The acquisition and processing unit 11 performs acquisition processing to obtain the rotational speed of the prime mover 40, the operating status of the acceleration operation unit 37, the remaining power of the battery 381, and the detection results (operating oil temperature) of the temperature sensor 47. In this embodiment, the acquisition and processing unit 11 acquires the rotational speed of the prime mover 40, the operating status of the acceleration operation unit 37, the remaining power of the battery 381, and the detection results (operating oil temperature) of the temperature sensor 47 periodically or irregularly.

[0075] Furthermore, the acquisition processing unit 11 can periodically or irregularly acquire the on / off states of the main switch 36 and the pair of cut-off switches 462. The operating state of the pair of locking levers 463 can be determined based on the on / off states of the pair of cut-off switches 462. For example, if the cut-off switch 462L is "on," the locking lever 463L is determined to be in the "raised position," and if the cut-off switch 462R is "off," the locking lever 463R is determined to be in the "lowered position." The acquisition processing unit 11 can acquire various data directly from various sensors (including cameras) or indirectly via electronic control units. The data acquired by the acquisition processing unit 11 is stored, for example, in a memory.

[0076] The control processing unit 12 controls the prime mover 40 by controlling the drive circuit 39. In this embodiment, the control processing unit 12 controls the prime mover 40 at least by adjusting its rotational speed and starting / stopping it.

[0077] Here, the control processing unit 12 sets the target speed of the prime mover 40 and controls the speed of the prime mover 40 through the drive circuit 39, so that the actual speed (actual speed) of the prime mover 40 obtained by the acquisition processing unit 11 from the prime mover 40 is close to the target speed. Specifically, when the actual speed of the prime mover 40 is lower than the target speed, the control processing unit 12 controls the drive circuit 39 to increase the speed of the prime mover 40 (make it high speed). Conversely, when the actual speed of the prime mover 40 is higher than the target speed, the control processing unit 12 controls the drive circuit 39 to decrease the speed of the prime mover 40 (make it low speed).

[0078] Furthermore, the control processing unit 12 starts the prime mover 40 under the control of the drive circuit 39, so that the prime mover 40 changes from a stopped state (i.e., a state with a rotational speed of 0) to an operating (rotating) state. Conversely, the control processing unit 12 stops the prime mover 40 under the control of the drive circuit 39, so that the prime mover 40 changes from an operating (rotating) state to a stopped state (i.e., a state with a rotational speed of 0).

[0079] The setting processing unit 13 performs the setting processing of the steady-state speed of the prime mover 40. The setting processing unit 13 changes the steady-state speed according to the operation of the acceleration operation unit 37. That is, the steady-state speed of the prime mover 40 is not constant and can be arbitrarily set by the operator operating the acceleration operation unit 37. Thus, for example, it is possible to set a high steady-state speed when performing heavy-load work and a low steady-state speed when performing light-load work, setting a steady-state speed that corresponds to the operation of the working machine 3.

[0080] More specifically, the setting processing unit 13 changes the steady-state speed of the prime mover 40 to a speed lower or higher than the current setting value based on the operating state of the acceleration operation unit 37 obtained by the acquisition processing unit 11. In this embodiment, as an example, the acceleration operation unit 37 is a dial-type operation unit that is rotated, so the setting processing unit 13 sets the steady-state speed of the prime mover 40 to a value (speed) corresponding to the rotational position of the acceleration operation unit 37. Here, the setting processing unit 13 can either continuously change the steady-state speed of the prime mover 40 steplessly, or it can change it in stages (e.g., 2 stages, 5 stages, or 10 stages).

[0081] [3] Control methods for operating machinery

[0082] The following is for reference Figures 4-6 An example of a control method (hereinafter referred to as "control method") for the working machine 3, which is mainly executed by the control system 1, will be described.

[0083] The control method described in this embodiment is executed by a control system 1, which is primarily structured as a computer system. In other words, it is embodied by a control program for the working machinery (hereinafter referred to as "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 various processes involved in the control method. Such a control program can also be executed collaboratively by the control system 1 and the display device 2, for example.

[0084] Here, 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 described below. The start operation is, for example, starting the prime mover 40 of the working machine 3, or turning on the main switch 36. 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 described below. The end operation is, for example, stopping the prime mover 40 of the working machine 3, or turning off the main switch 36.

[0085] [3.1] Basic control of prime mover

[0086] Here, firstly, the basic control of the prime mover 40 in the operation of the control method involved in this embodiment, that is, the operation of the control system 1 involved in this embodiment, will be explained.

[0087] In this embodiment, the control processing unit 12 of the control system 1 causes the prime mover 40 to operate differently depending on the operating state of the locking lever 463. In particular, when the working machine 3 is equipped with a pair of locking levers 463L and 463R, the control processing unit 12 determines the operation of the prime mover 40 based on the combination of the operating states of the locking levers 463L and 463R.

[0088] Here, a pair of locking levers 463 can switch between the first posture and the second posture, respectively. In this embodiment, the locking levers 463 can switch between an "upward position" and a "downward position," so the "upward position" is an example of the first posture, and the "downward position" is an example of the second posture. That is, the pair of locking levers 463 can independently switch between the "upward position" as the first posture and the "downward position" as the second posture.

[0089] Furthermore, as a combination of operating states of a pair of locking levers 463, if locking levers 463L and 463R are not distinguished, there are three combinations: a first state, a second state, and a third state. The first state is when only one locking lever 463 is in the first position (raised position), while the other locking lever 463 is in the second position (lowered position). The second state is when both locking levers 463 are in the first position (raised position). The third state is when both locking levers 463 are in the second position (lowered position).

[0090] The pair of locking levers 463 are levers that are operated to lock the movement of the working machine 3. Furthermore, if at least one of the pair of locking levers 463 is in the first position (raised position), the locking device is in a "locked state," the hydraulic actuator cannot be driven, and the movement of the working machine 3 is forcibly restricted regardless of the operation of the operating device 35. On the other hand, if both of the pair of locking levers 463 are in the second position (lowered position), the locking device is in a "lock-out state," the hydraulic actuator can be driven, and the working machine 3 moves according to the operation of the operating device 35. Thus, the locking device becomes "lock-out state" only in the third state where both of the pair of locking levers 463 are in the second position; in the first and second states, the locking device is in a "locked state."

[0091] That is, in the control method of this embodiment, in the third state where both of the pair of locking levers 463 are in the second posture, the working part 33 can be moved by operating the operating device 35. In the first and second states, the working part 33 cannot be moved regardless of the operation of the operating device 35. Therefore, by simply placing either of the pair of locking levers 463 in the first posture (raised position), the hydraulic actuator cannot be driven, thus restricting the movement of the working part 33 of the machine tool 3. Therefore, the movement of the machine tool 3 can be reliably locked by the pair of locking levers 463.

[0092] Furthermore, in the control method described in this embodiment, as above, the operation of the prime mover 40 can also be determined based on the combination of the operating states of the pair of locking levers 463L and 463R.

[0093] That is, the control method involved in this embodiment is a control method for a working machine 3 equipped with a prime mover 40, a working unit 33, and a pair of locking levers 463. The prime mover 40 is used to drive a hydraulic pump 41 that discharges working oil. The working unit 33 is driven by a hydraulic actuator (including a hydraulic cylinder 44, etc.) that receives working oil. The pair of locking levers 463 can switch between a first posture and a second posture respectively. This control method has the characteristic that the operation of the prime mover 40 is different in a first state where only one of the pair of locking levers 463 is in the first posture and in a second state where both of the pair of locking levers 463 are in the first posture.

[0094] According to this structure, a variety of control methods can be achieved compared to the case where the operation of the prime mover 40 is different based on the operating state of a single locking lever 463. Specifically, by making the operation of the prime mover 40 different in a first state where only one of the pair of locking levers 463 is in a first position and in a second state where both of the pair of locking levers 463 are in the first position, for example, in a standby state where work is temporarily interrupted, the prime mover 40 can continue to be driven without stopping by making one locking lever 463 in the first position. Therefore, when restarting work from a standby state, making the locking lever 463 in the first position in the second position allows work to resume immediately, thus shortening the time until work resumes and improving work efficiency. Therefore, a control method for the work machine 3, a control program for the work machine, a control system 1 for the work machine, and the work machine 3 that easily improve work efficiency can be provided.

[0095] More specifically, the actions of the prime mover 40 corresponding to the operating states (first state / second state / third state) of the pair of locking levers 463 differ during the driving of the prime mover 40 and during the starting of the prime mover 40. Therefore, the specific actions of the prime mover 40 during driving are described in the column “[3.2] Actions during driving the prime mover”, and the specific actions of the prime mover 40 during starting are described in the column “[3.3] Actions during starting the prime mover”.

[0096] Furthermore, in this embodiment, the prime mover 40 is an electric motor. Therefore, the operating state of the prime mover 40 can be frequently changed based on the operating state of the pair of locking levers 463.

[0097] [3.2] The driving action of the prime mover

[0098] Here, refer to Figure 4 The operation of the prime mover 40 in the control method involved in this embodiment, that is, the operation of the control system 1 involved in this embodiment, will be described.

[0099] During the process of driving the prime mover 40 at a steady speed, i.e., during the driving of the hydraulic pump 41, the control processing unit 12 determines whether the operating state of the pair of locking levers 463 is the second state (S1). If both of the pair of locking levers 463 are in the first position (rising position), the control processing unit 12 determines that it is the second state (S1: Yes), controls the drive circuit 39 to stop the prime mover 40 (S2), and ends a series of processes.

[0100] On the other hand, if at least one of the pair of locking levers 463 is in the second posture (lowered position), the control processing unit 12 determines that it is not the second state (S1: No), and determines whether the operating state of the pair of locking levers 46 is the first state (S3). If one of the pair of locking levers 463 is in the first posture (raised position) and the other is in the second posture (lowered position), the control processing unit 12 determines that it is the first state (S3: Yes), and controls the drive circuit 39 to drive the prime mover 40 at a low idle speed (S4). The "low idle speed" referred to here is a speed lower than the steady-state speed. That is, if the operating state of the pair of locking levers 463 is in the first state, the control processing unit 12 continues to drive the prime mover 40, but switches the speed of the prime mover 40 from the steady-state speed to a low idle speed (< steady-state speed).

[0101] In the next step S5, the control processing unit 12 determines whether a specific condition is met. The "specific condition" is a condition used to forcibly stop the prime mover 40 when the operation state of the pair of locking levers 463 is in the first state. For example, the specific condition includes at least one of the following: the speed of the prime mover 40 is maintained at idle speed for a predetermined time (first condition); the remaining charge of the battery 381, which is the power source of the prime mover 40, is below a threshold (second condition); the state of the working machine 3 is abnormal (third condition); and the temperature of the working oil is above a predetermined temperature (fourth condition). In this embodiment, as an example, the specific condition includes all of the above-mentioned first, second, third, and fourth conditions. Therefore, if any one of the above-mentioned first, second, third, and fourth conditions is met, the control processing unit 12 determines that the specific condition is met (S5: Yes), controls the drive circuit 39 to stop the prime mover 40 (S6), and ends the series of processes. On the other hand, if the specific condition is not met (S5: No), the control processing unit 12 maintains the speed of the prime mover 40 at idle speed and ends the series of processes.

[0102] Furthermore, in the third state where both locking levers 463 are in the second posture (lowered position), the control processing unit 12 determines that it is not the first state (S3: No), controls the drive circuit 39 to drive the prime mover 40 at a steady-state speed (S7), and ends the series of processes. That is, if the operating state of the pair of locking levers 463 is in the third state, the control processing unit 12 continues to drive the prime mover 40 and keeps the speed of the prime mover 40 at a steady-state speed.

[0103] Control system 1 repeatedly executes the above steps S1 to S7. However, Figure 4 The flowchart shown is just an example; you can add or omit processes as appropriate, or change the order of processes as needed.

[0104] As explained above, in the control method of this embodiment, the prime mover 40 is driven at least in the first state (S3: Yes) and stopped in the second state (S1: Yes). Thus, the prime mover 40 can be stopped by the operator operating both of the pair of locking levers 463 to the first position (raised position) during the driving of the prime mover 40.

[0105] Therefore, if the output of the prime mover 40 is not required for a specified period of time, the necessity for the working machine 3 to operate immediately is low. In such cases, by operating both of the pair of locking levers 463 to the first position, it is possible to reduce the sound and vibration generated by the prime mover 40 and suppress the energy (electricity) consumption of the prime mover 40.

[0106] Furthermore, in the control method of this embodiment, when the prime mover 40 is driven in the first state, if a specific condition is met, the prime mover 40 is stopped. That is, when the prime mover 40 is driven, the operator can simply move either of the pair of locking levers 463 to the first position (raised position), and although the drive of the prime mover 40 continues, if a specific condition is further met in this state, the prime mover 40 can be stopped.

[0107] Therefore, if the output of the prime mover 40 is not required for a specified period of time, the necessity for the working machine 3 to operate immediately is low. Thus, under such circumstances, by satisfying specific conditions, it is possible to reduce the sound and vibration generated by the prime mover 40 and suppress the energy (electricity) consumption of the prime mover 40.

[0108] Here, the specific conditions include conditions related to the rotational speed of the prime mover 40, the state of the power source of the prime mover 40, the malfunction of the working machine 3, or the temperature of the working oil. In this embodiment, as described above, the specific conditions include all of the following: a first condition related to the rotational speed of the prime mover 40, a second condition related to the state of the power source of the prime mover 40, a third condition related to the malfunction of the working machine 3, and a fourth condition related to the temperature of the working oil.

[0109] Therefore, in the first state, for example, when the speed of the prime mover 40 is maintained at idle speed for a specified time (first condition) and the output of the prime mover 40 is not needed for a specified time or longer, the prime mover 40 can be stopped. In addition, in the first state, for example, when the remaining charge of the battery 381, which serves as the power source of the prime mover 40, is below a threshold (second condition), and it is desired to suppress the output of the prime mover 40 as much as possible, the prime mover 40 can be stopped.

[0110] Furthermore, in the control method of this embodiment, the rotational speed of the prime mover 40 is reduced in the first state compared to the third state. That is, compared to the steady-state rotational speed in the third state where both of the pair of locking levers 463 are in the second posture (lowered position), the rotational speed of the prime mover 40 is controlled to a low speed (idle speed) in the first state where only one of the pair of locking levers 463 is in the first posture (raised position).

[0111] Therefore, if the output of the prime mover 40 is not required for a specified period of time, the necessity for the working machine 3 to operate immediately is low. In such cases, by operating only one of the pair of locking levers 463 to the first position, the rotational speed of the prime mover 40 can be reduced. As a result, the noise and vibration generated by the prime mover 40 and the energy (electricity) consumption of the prime mover 40 can be reduced.

[0112] [3.3] Start-up action of the prime mover

[0113] Next, refer to Figure 5 The operation of the prime mover 40 during startup in the control method involved in this embodiment, that is, the operation of the control system 1 involved in this embodiment, will be described.

[0114] During the shutdown of the prime mover 40, i.e., the shutdown of the hydraulic pump 41, the control processing unit 12 determines whether a start operation has been performed on the main switch 36 (S11). In this embodiment, the start operation includes operating the lock cylinder 361 using the key 362. More specifically, as Figure 6As shown, the key 362 in the lock cylinder 361 has a closed position, a power-on position, and an open position. The opening operation includes moving the key 362 from the closed position to the power-on position, and then moving the key 362 from the power-on position to the open position.

[0115] If no start operation is performed (S11: No), the control processing unit 12 ends a series of processes. On the other hand, if the operator moves the key 362 from the off position to the power-on position, and then from the power-on position to the start position, the control processing unit 12 determines that a start operation has been performed (S11: Yes), and determines whether the operation state of the pair of locking levers 463 is the second state (S12).

[0116] In step S12, if both locking levers 463 are in the first position (raised position), the control processing unit 12 determines that it is the second state (S12: Yes), controls the drive circuit 39 to start the prime mover 40 (S13), and ends the series of processes. On the other hand, if at least one of the locking levers 463 is in the second position (lowered position), the control processing unit 12 determines that it is not the second state (S12: No), does not start the prime mover 40, and ends the series of processes.

[0117] In summary, when the operation state of the pair of locking levers 463 is in the second state (S12: Yes), the control processing unit 12 enables the prime mover 40 to start, and therefore, if a starting operation is performed (S11: Yes), the drive circuit 39 is controlled to start the prime mover 40. Conversely, when the operation state of the pair of locking levers 463 is in the first or third state (S12: No), the control processing unit 12 enables the prime mover 40 to be unable to start, and therefore, even if a starting operation is performed (S11: Yes), the prime mover 40 will not start.

[0118] Control system 1 repeatedly executes the above steps S11 to S13. However, Figure 5 The flowchart shown is just an example; you can add or omit processes as appropriate, or change the order of processes as needed.

[0119] As explained above, in the control method of this embodiment, when the prime mover 40 is stopped, the prime mover 40 can be started in the second state (S12: Yes). If at least one of the pair of locking levers 463 is in the second posture (lowered position) (S12: No), the prime mover 40 cannot be started. Therefore, when the prime mover 40 is stopped, if the operator forgets to move at least one of the pair of locking levers 463 to the first posture (raised position), the starting of the prime mover 40 can be prevented.

[0120] Therefore, it is easy to avoid the operator accidentally starting the prime mover 40 when the working machine 3 is not ready to move.

[0121] Furthermore, in the control method described in this embodiment, the starting operation of the prime mover 40 includes at least two stages. Specifically, the operator can start the prime mover 40 by performing two stages of operation: moving the key 362 from the off position to the power-on position, and then moving the key 362 from the power-on position to the start position.

[0122] Therefore, it is easy to avoid the operator accidentally starting the prime mover 40 when the working machine 3 is not ready to move.

[0123] [3.4] Specific action examples

[0124] Next, refer to Figure 6 The specific action example of starting the prime mover 40 from a state where the prime mover 40 has not been started to use the work machine 3 to perform work in the operation of the control method involved in this embodiment, that is, the control system 1 involved in this embodiment.

[0125] First, with the main switch 36 off, if the operator uses key 362 to move the lock cylinder 361 from the closed position to the power-on position, all parts of the working machine 3 (except for the prime mover 40) are energized, and the state of the working machine 3 changes from "off" to "self-test". At this time, both locking levers 463L and 463R are in the first position (raised position). That is, the operating state of the pair of locking levers 463L and 463R is the second state, and therefore the prime mover 40 is in a state where it can be started.

[0126] In this state, if the operator uses key 362 to move lock cylinder 361 from the power-on position to the start position, control processing unit 12 controls drive circuit 39 to start prime mover 40. Thus, the state of machine 3 changes from "self-test" to "start". However, at this time, the pair of locking levers 463L and 463R are in the second operating state, therefore control processing unit 12 stops prime mover 40, resulting in prime mover 40 not being driven, and hydraulic pump 41 not being driven either.

[0127] Then, if the operator moves one of the pair of locking levers 463L and 463R (for example, locking lever 463L) to the second position (lowered position), the operating state of the pair of locking levers 463L and 463R switches from the second state to the first state. As a result, the control processing unit 12 controls the drive circuit 39 to drive the prime mover 40, and the state of the working machine 3 changes from "start" to "idle". At this time, the speed of the prime mover 40 is set to an idle speed lower than the steady-state speed. In this state, the operating state of the pair of locking levers 463L and 463R is in the first state, and therefore the locking device is locked, and the movement of the working machine 3 is forcibly restricted regardless of the operation of the operating device 35.

[0128] Then, if the operator moves one of the locking levers 463L and 463R (e.g., locking lever 463R) to the second position (lowered position), the operating state of the pair of locking levers 463L and 463R switches from the first state to the third state. As a result, the control processing unit 12 controls the drive circuit 39 to increase the speed of the prime mover 40 from idle speed to steady-state speed, and the state of the working machine 3 changes from "idling" to "working". At this time, the operating state of the pair of locking levers 463L and 463R is in the third state, thus the locking device is in the unlocked state, and the working machine 3 operates according to the operation of the operating device 35.

[0129] Then, if the operator moves both locking levers 463L and 463R to the first position (raised position), the operating state of the pair of locking levers 463L and 463R switches from the third state to the second state. Consequently, the control processing unit 12 controls the drive circuit 39 to stop the prime mover 40, and the state of the working machine 3 changes from "operation" to "emergency stop". At this time, the operating state of the pair of locking levers 463L and 463R is in the second state, therefore the locking device is in a locked state, and the movement of the working machine 3 is forcibly restricted regardless of the operation of the operating device 35.

[0130] In addition, not limited to the above examples, for example, when the operator uses key 362 to move lock cylinder 361 from the power-on position to the start position, control processing unit 12 controls drive circuit 39 to drive prime mover 40, and the state of working machine 3 is transferred to "idle".

[0131] [4] Modified Examples

[0132] Hereinafter, variations of Embodiment 1 are listed. The variations described below can be appropriately combined and applied.

[0133] The control system 1 disclosed herein includes a computer system. The computer system is primarily structured with one or more processors and one or more memories as hardware. The functions of the control system 1 are implemented by the processor executing programs recorded in the computer system's memory. The programs can be pre-recorded in the computer system's memory, provided via electrical communication lines, or provided 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.

[0134] 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, and the components of control system 1 can 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 the like.

[0135] Furthermore, the prime mover 40, which serves as the power source for the working machinery 3, is not limited to an AC motor. For example, it can be a DC motor, or even something other than an electric motor. That is, the prime mover 40 can be a diesel engine, an internal combustion engine other than a diesel engine, or a hybrid power source that includes both an electric motor and an internal combustion engine.

[0136] Alternatively, the operating lever of the operating device 35 can also be an electrically operated device, configured to accept various operations performed by the user by outputting an electrical signal (operation signal) corresponding to the user's (operator's) operation to the control system 1. In this case, the control system 1 can, for example, control the hydraulic actuator by controlling the control valve (solenoid valve) provided instead of the remote control valve 45 according to the operation of the operating device 35 (operating lever).

[0137] Furthermore, the display device 2 is not limited to dedicated equipment; it can also be a general-purpose terminal such as a laptop computer, tablet computer, or smartphone. Moreover, the display unit 23 is not limited to directly displaying images like a liquid crystal display or an organic EL display; it can also be configured to display images by projection, like a projector.

[0138] In addition, the input method for information into the operation unit 22 can be other than push-button switches, touch panels, and operation dials. For example, the operation unit 22 can also use pointing devices such as keyboards and mice, voice input, gesture input, or input of operation signals from other terminals.

[0139] Furthermore, the actuators of the various parts of the fuselage 30 are not limited to hydraulic actuators. For example, they may be pneumatic actuators driven by compressed air or other air pressure, electric actuators driven by electrical power supply, or combinations thereof.

[0140] [Notes on the Invention]

[0141] The following is a summary of the invention extracted from the above-described embodiments. Furthermore, the structures and processing functions described in the following notes can be arbitrarily combined selectively.

[0142] <Postscript 1>

[0143] A method for controlling a work machine, wherein the work machine comprises:

[0144] Prime mover, used to drive the hydraulic pump that discharges working oil;

[0145] The operating unit is driven by a hydraulic actuator that receives the aforementioned working oil; and

[0146] A pair of locking levers can switch between the first and second postures respectively.

[0147] The control method for the aforementioned working machinery has the following characteristics: the action of the aforementioned prime mover is different in a first state where only one of the aforementioned pair of locking levers is in the aforementioned first posture, and in a second state where both of the aforementioned pair of locking levers are in the aforementioned first posture.

[0148] <Appendix 2>

[0149] According to the control method of the operating machinery described in Appendix 1, among which,

[0150] In the first state described above, the prime mover is driven, and in the second state described above, the prime mover is stopped.

[0151] <Appendix 3>

[0152] According to the control method of the operating machinery described in Appendix 2, among which,

[0153] When the prime mover is driven in the first state described above, if a specific condition is met, the prime mover will stop.

[0154] <Appendix 4>

[0155] According to the control method of the operating machinery described in Appendix 3, among which,

[0156] The specific conditions mentioned above include conditions related to the rotational speed of the prime mover, the state of the power source of the prime mover, the abnormality of the working machinery, or the temperature of the working oil.

[0157] <Appendix 5>

[0158] According to the control methods of the operating machinery described in any of the appendices 1 to 4, the following features are also included:

[0159] In the third state where both locking levers are in the second posture, the working unit can be activated by operating the operating device. In the first and second states, the working unit cannot be activated regardless of the operation of the operating device.

[0160] <Appendix 6>

[0161] According to the control method of the operating machinery described in Appendix 5, it also includes:

[0162] Compared to the third state, the rotational speed of the prime mover is reduced in the first state.

[0163] <Appendix 7>

[0164] According to the control method of the operating machinery described in any of the appendices 1 to 6, it also includes:

[0165] The prime mover can be started in the second state described above. However, if at least one of the pair of locking levers is in the second position described above, the prime mover cannot be started.

[0166] <Postscript 8>

[0167] According to the control methods of the operating machinery described in any one of Appendix 1 to 7, among which,

[0168] The starting operation of the aforementioned prime mover includes at least two stages.

[0169] <Postscript 9>

[0170] According to the control methods of the operating machinery described in any of the appendices 1 to 8, among which,

[0171] The aforementioned pair of locking levers are positioned on either side of the driver's seat in the aforementioned working machinery, allowing the operator to sit in the driver's seat from either side in the left or right direction.

[0172] <Postscript 10>

[0173] According to the control method of the operating machinery described in any one of the appendices 1 to 9, among which,

[0174] The aforementioned prime mover is an electric motor.

[0175] <Postscript 11>

[0176] A control program for a work machinery, wherein,

[0177] A control method for causing one or more processors to execute the working machinery described in any of the appendices 1 to 10.

Claims

1. A control method for a work-operated machine, the work-operated machine comprising: Prime mover, used to drive the hydraulic pump that discharges working oil; The operating unit is driven by a hydraulic actuator that receives the working oil; and A pair of locking levers can switch between the first and second postures respectively. The control method for the operating machinery is characterized by having: The action of the prime mover is different in a first state where only one of the pair of locking levers is in the first posture and in a second state where both of the pair of locking levers are in the first posture.

2. The control method for the operating machinery according to claim 1, characterized in that, The prime mover is driven in the first state and stopped in the second state.

3. The control method for the operating machinery according to claim 2, characterized in that, When the prime mover is driven in the first state, if a specific condition is met, the prime mover will stop.

4. The control method for the operating machinery according to claim 3, characterized in that, The specific conditions include those related to the rotational speed of the prime mover, the state of the power source of the prime mover, the malfunction of the working machinery, or the temperature of the working oil.

5. The control method for the operating machinery according to any one of claims 1 to 4, characterized in that, It also has: In the third state where both locking levers are in the second posture, the working part can be moved by operating the operating device. In the first and second states, the working part cannot be moved regardless of the operation of the operating device.

6. The control method for the operating machinery according to claim 5, characterized in that, It also has: In the first state, the rotational speed of the prime mover is reduced compared to the third state.

7. The control method for the operating machinery according to any one of claims 1 to 4, characterized in that, It also has: The prime mover can be started in the second state, but cannot be started if at least one of the pair of locking levers is in the second position.

8. The control method for the operating machinery according to any one of claims 1 to 4, characterized in that, The starting operation of the prime mover includes at least two stages.

9. The control method for the operating machinery according to any one of claims 1 to 4, characterized in that, The pair of locking levers are configured on both sides of the driver's seat in the working machinery in the left and right directions, allowing the operator to sit in the driver's seat from either side in the left and right directions.

10. The control method for the operating machinery according to any one of claims 1 to 4, characterized in that, The prime mover is an electric motor.

11. A control program for a work machinery, characterized in that, A control method for causing one or more processors to execute any one of the following claims 1 to 4:

12. A control system for a work machinery, characterized in that, Used in work machinery, said work machinery having: Prime mover, used to drive the hydraulic pump that discharges working oil; The operating unit is driven by a hydraulic actuator that receives the working oil; and A pair of locking levers can switch between the first and second postures respectively. The control system for the working machinery includes a control processing unit that makes the action of the prime mover different in a first state where only one of the pair of locking levers is in the first posture and in a second state where both of the pair of locking levers are in the first posture.

13. A type of operating machinery, characterized in that, have: The control system for the operating machinery as described in claim 12; and body.

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