Control methods for operating machinery, control programs for operating machinery, control systems for operating machinery, and operating systems.

Abstract

This invention provides a control method, a control program, a control system, and a working system for a work machine that easily execute a lifting limit function to restrict the upward movement of the work machine based on its current condition. The control method includes the following steps (S3, S4): controlling a lifting device that raises and lowers the work machine mounted on its body. The control method also includes the following step (S2): when a specified condition is met (S1: Yes), the lifting limit function that restricts the upward movement of the work machine is activated when the height of the work machine reaches the lifting limit value.

Description

Technical Field

[0001] This invention relates to a control method for lifting and lowering a work machine, a control program for the work machine, a control system for the work machine, and a work system. Background Technology

[0002] As a related technology, tractors that flexibly mount a lifting boom to the rear of a tractor via a linkage mechanism are known (see, for example, Patent Document 1). The tractor of this related technology includes: a lifting cylinder for driving the lifting boom to raise the lifting machine; and a height limiting dial for setting the upper limit of the lifting boom's vertical swing range to an arbitrary position. Furthermore, with the tractor of the aforementioned related technology, if the lifting boom rises to the position set by the height limiting dial, the lifting action of the lifting machine based on the lifting cylinder automatically stops.

[0003] Furthermore, the tractor involved in the aforementioned related technology is equipped with an upper limit detection sensor to detect whether the work machine has risen and reached a position close to the tractor. Moreover, regarding the tractor involved in the aforementioned related technology, the rising action of the work machine based on the lifting cylinder is automatically stopped according to the detection signal of the upper limit detection sensor.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2012-080845 Summary of the Invention

[0007] In the aforementioned related technologies, the lifting restriction function, which limits the lifting movement of the machine, is always effective regardless of whether the lifting action is stopped using a height limit dial or an upper limit detection sensor. Therefore, even when the machine is moving outside the field or not in operation, the lifting movement of the machine is restricted, which could potentially prevent the operator from raising or lowering the machine as desired.

[0008] The purpose of this invention is to provide a control method, a control program, a control system, and a working system for a working machine that can easily perform a lifting restriction function to limit the lifting movement of the working machine according to the condition of the working machine.

[0009] One aspect of the present invention relates to a control method for a work machine, comprising the steps of: controlling a lifting device that raises and lowers the work machine, which is mounted on the body of the work machine. The control method further comprises the step of: when the height of the work machine reaches a rising limit value under specified conditions, activating a rising limit function that restricts the raising of the work machine.

[0010] One aspect of the present invention relates to a control program for a work machine that enables one or more processors to execute a control method for the work machine.

[0011] One aspect of the present invention relates to a control system for a work machine, comprising a work control unit and a suppression processing unit. The work control unit controls a lifting device that raises and lowers the work machine, which is mounted on the body of the work machine. Under predetermined conditions, when the height of the work machine reaches a rising limit value, the suppression processing unit activates a rising limit function that restricts the rise of the work machine.

[0012] One aspect of the present invention relates to an operating system comprising a control system for the operating machinery and the body of the operating machinery.

[0013] Invention Effects

[0014] According to the present invention, a control method, a control program, a control system, and a working system for a working machine are provided, which can easily perform a lifting restriction function to limit the lifting movement of the working machine according to the condition of the working machine. Attached Figure Description

[0015] Figure 1 This is a schematic side view showing the appearance of the working machinery involved in Embodiment 1.

[0016] Figure 2 This is a summary block diagram of the operating system involved in Implementation Method 1.

[0017] Figure 3 This is a schematic diagram illustrating the lifting of the mounting section based on the lifting device in the operating system according to Embodiment 1.

[0018] Figure 4 This is a schematic diagram showing an example of the display screen of the operating system according to Embodiment 1.

[0019] Figure 5 This is a schematic diagram showing another example of the display screen of the operating system according to Embodiment 1.

[0020] Figure 6 This is a flowchart illustrating an example of the control method for the operating machinery involved in Embodiment 1.

[0021] Explanation of reference numerals in the attached figures

[0022] 1: Control system for operating machinery; 10: Operating machinery; 11: Machine body; 12: Operating machine; 18: Power source; 23: Operating control unit; 311: Suppression processing unit; 32: Display unit (display device); 6: Lifting device; 7: Power output shaft; 81: First universal joint (universal joint). Detailed Implementation

[0023] 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.

[0024] (Implementation Method 1)

[0025] [1] Overall structure

[0026] First, refer to Figure 1 and Figure 2 The overall structure of the work system 100 according to this embodiment will be described. The work machine control system 1 (hereinafter also referred to as "control system 1") according to this embodiment, together with the body 11 of the work machine 10, constitutes the work system 100. The work machine 12 is mounted on the body 11. That is, the work system 100 includes the work machine control system 1 and the body 11 of the work machine 10.

[0027] In this embodiment, the control system 1 includes a control device 2 (see reference 1) mounted on the body 11 of the working machine 10. Figure 2 The machine 10 and the terminal device 3 are capable of communicating with each other. "Capable of communicating" as used in this disclosure means being able to send and receive information directly or indirectly via a communication network or repeater, either through appropriate communication methods such as wired or wireless communication (communication using radio waves or light as a medium). Communication networks include, for example, the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone lines, mobile phone networks, packet networks, or wireless LANs. The structure enabling communication between the machine 10 and the terminal device 3 is not essential in the control system 1.

[0028] The working machine 10 has a body 11. The body 11 is configured to assemble the working machine 12. The body 11 has the function of automatic travel.

[0029] Work vehicle 10 is in target area F1 (refer to) Figure 1The work vehicle 10 moves and performs a certain operation within the target area F1 using the work machine 12. In this disclosure, "operation" refers to the work performed by the work machine 12 on the target area F1, including various agricultural operations such as tilling, leveling, sowing, fertilizing, pesticide application, planting (transplanting) or harvesting, as well as various construction operations. In this embodiment, as an example, the operation performed by the work vehicle 10 is set as tilling.

[0030] When the body 11 of the work vehicle 10 moves within the target area F1, the work machine 12 performs work within the target area F1. In this embodiment, as an example, the work machine 12 is a tiller such as a rotary tiller or a plow that performs tillage operations.

[0031] This type of tillage machine 12 includes both a direct-mount type directly mounted to a three-point linkage and a towed type pulled by a body 11. In this embodiment, as an example, the tillage machine 12 is a direct-mount rotary tiller detachably mounted to the body 11 of the work vehicle 10. Here, the tillage machine 12 is mounted at the rear of the body 11 (opposite to the forward direction of the body 11). That is, the (direct-mount) tillage machine 12 is connected to the rear of the body 11 and moves forward with the body 11 while performing work. In this embodiment, the work vehicle 10 is assumed to include the tillage machine 12 in its structural elements; however, since the tillage machine 12 can be detached from the body 11, the work vehicle 10 may also exclude the tillage machine 12 from its structural elements.

[0032] The term "operating vehicle" as used in this disclosure refers, for example, to vehicles that perform various operations in an object area F1 such as a field, including, for example, agricultural machinery (farm machinery) such as tractors, seeders, rice transplanters, spreaders, sprayers, transplanters, and harvesters. The operating vehicle 10 may also be, for example, construction machinery (construction machinery). Furthermore, in addition to vehicles, the operating machinery 10 may also be, for example, machinery without wheels such as aircraft or ships.

[0033] In this embodiment, unless otherwise specified, the case of a tractor equipped with a rotary tiller serving as the tiller 12 will be used as an example for explanation. That is, the tiller 10 is formed by connecting the (direct-mounted) rotary tiller 12, which serves as the tiller 12, and the tractor 11, which serves as the machine body. With this tiller 10, the machine body 11 can travel in the target area F1, such as a field, and thus perform tillage operations in the target area F1.

[0034] Thus, in this embodiment, the body 11 is a type of vehicle that moves within the target area F1. Here, as... Figure 1As shown, the body 11 has a steering wheel 111 consisting of a pair of front wheels on the left and right, and a drive wheel 112 consisting of a pair of rear wheels on the left and right, and uses the above four wheels (a pair of steering wheels 111 and a pair of drive wheels 112) to travel in the target area F1.

[0035] In this embodiment, as an example, although the work vehicle 10 can be ridden by a driver (operator), it is configured as an automaton capable of performing actions through automatic driving (autonomous driving, etc.). However, it is not limited to this; the work vehicle 10 can be an automatically driving drone, or it can perform actions through the operation of a driver (operator) (including remote operation).

[0036] The "target area" as used in this disclosure refers to the area where the work vehicle 10 moves while performing various operations such as tilling, leveling, sowing, fertilizing, applying pesticides, planting (transplanting rice), or harvesting, including paddy fields, dry fields, orchards, and pastures. For example, if the target area F1 is a paddy field or dry field used for cultivating crops (agricultural products) such as rice, wheat, soybeans, or buckwheat, then the crops cultivated in the target area F1 are agricultural products. Furthermore, when flowers and trees are cultivated in a nursery, the nursery becomes the target area F1, and when trees are cultivated in a forest to become timber, as in forestry, the forest becomes the target area F1. In this case, the crops cultivated in the target area F1 are flowers or trees, etc. In this embodiment, unless otherwise specified, the case where the work vehicle 10 is used for tilling operations in a field (target area F1), and the target area F1 is a paddy field used for rice cultivation, will be described as an example.

[0037] Furthermore, the target area F1 is not limited to farmland. For example, if the operating machinery 10 is construction machinery, then the site where the construction machinery is operating becomes the target area F1. In addition, regarding the target area F1, for example, if the operating machinery 10 is an aircraft or a ship, then the site where the aircraft or ship is operating while sailing becomes the target area F1.

[0038] Furthermore, the work vehicle 10 can move not only within the target area F1 (here, a field), but also via automatic travel on roads outside the target area F1, such as paths outside the field. The work machinery 10 is configured to automatically travel (move) within the target area F1 and along pre-defined target paths (including paths outside the field) along the outer edge of the target area F1, based on position information of the current position of the work machinery 10 as located by the positioning device 15. Paths outside the field are, for example, connecting roads between multiple target areas F1 (fields). These connecting roads can be agricultural roads, forest roads, highways, private roads, or driveways, and can be roads dedicated solely to the work vehicle 10 or roads accessible to ordinary vehicles (cars, etc.).

[0039] In addition, the term "automatic driving" as used in this disclosure includes "autonomous driving" in which the work vehicle 10 drives autonomously without relying on the operator's operation, and "semi-automatic driving" in which only steering is automated, such as straight-line assist.

[0040] "Autonomous driving" is, for example, a driving mode in which, in addition to automatic steering of the steering wheel 111, the vehicle speed and other parameters are automatically controlled to make the work vehicle 10 travel along the target path. "Straight-line assist" is, for example, a driving mode in which only the steering wheel 111 is automatically steered, and the vehicle speed and other parameters are controlled by the operator, thereby making the work vehicle 10 travel along a straight path parallel to a reference line (baseline). That is, regarding "semi-automatic driving," although the work vehicle 10 cannot move without operator intervention, the steering burden is reduced for the operator, and it can travel along a straight path or target path, thus improving work efficiency. Furthermore, regardless of whether it is autonomous driving or semi-automatic driving, the steering wheel 111 is automatically steered; therefore, it can be considered a type of "automatic steering mode."

[0041] In automatic steering mode, the steering wheels 111 are automatically steered using an automatic steering mechanism including a steering motor. That is, the operator no longer needs to manually operate the steering control unit 41 (see reference 41). Figure 1 The machine tool 10 of this embodiment operates by changing the orientation of the steering wheel 111 using the output of the steering motor to achieve automatic steering. In summary, the machine body 11 of the machine tool 10 according to this embodiment has an automatic steering function that enables the steering wheel 111 to turn automatically.

[0042] In this embodiment, as an example, the terminal device 3 is composed of a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer. The terminal device 3, which is composed of a general-purpose terminal, has dedicated application software (program) installed on it. By launching this application software, the terminal device 3 functions as the terminal device 3 of the control system 1.

[0043] [2] Structure of operating machinery

[0044] Next, refer to Figure 1 and Figure 2 The structure of the working machine 10 involved in this embodiment will be described in detail.

[0045] In this embodiment, for ease of explanation, the vertical direction in which the work vehicle 10 can be used is defined as the up-down direction D1 (refer to...). Figure 1The forward / backward direction D2 and the left / right direction are defined based on the direction observed from the driver (operator) of the machine body 11 (driver's unit 5) of the work vehicle 10. The left side of the left / right direction refers to the left side when the machine body 11 is moving forward (advancing), and the right side of the left / right direction refers to the right side when the machine body 11 is moving forward (advancing). However, the above-mentioned directions do not limit the direction of use of the work vehicle 10 (the direction of use).

[0046] like Figure 2 As shown, the working machine 10, in addition to the body 11 and the working machine 12, also includes a control device 2, a traveling device 13, a steering device 14, a positioning device 15, a detection device 16, a communication device 17, a power source 18, and a lifting device 6. The control device 2, traveling device 13, steering device 14, positioning device 15, detection device 16, communication device 17, power source 18, and lifting device 6 are all mounted on the body 11.

[0047] The machine body 11 has a pilot unit 5 (see reference) that can accommodate a pilot (operator). Figure 1 The driver's unit 5 is equipped with a steering mechanism 14, including a steering operation unit 41, a control lever 42, and a pedal 43. The steering operation unit 41, control lever 42, and pedal 43 are operated by the operator. Therefore, the work machine 10 is configured to be capable of both automatic driving and manual driving based on operator manual operation.

[0048] A work machine connection part 46, consisting of a three-point linkage mechanism, is provided at the rear of the machine body 11. A work machine 12 can be mounted on the work machine connection part 46. Power generated in the power source 18 can be transmitted via a transmission device 44 and a power output shaft (PTO shaft) 7 located at the rear of the machine body 11 (see reference). Figure 3 The transfer is then transmitted to the traction machine 12. Here, the traction machine 12 is detachably connected to the traction machine connection part 46, so that a device different from the traction machine 12 can also be connected to the machine body 11.

[0049] In this embodiment, the tiller 12 is a direct-mount rotary tiller, therefore, it can perform tillage operations on the field, which is the target area F1, when the machine body 11 moves forward. The relative position (relative height) of the tiller 12 in the vertical direction D1 relative to the machine body 11 is determined by the lifting device 6 (see reference). Figure 3 Therefore, the height of the work machine 12 can be varied when the field surface, which is the ground surface of the target area F1, is used as a reference. For example, by raising the work machine 12 to a height that is separated from the ground surface of the target area F1, the work vehicle 10 can also travel in a non-working state without using the work machine 12 for work.

[0050] like Figure 1As shown, the travel device 13 is a device that drives the work machine 10 by driving the drive wheels 112 (a pair of left and right) of the rear wheels. The travel device 13 includes a transmission device 44, which transmits the power generated in the power source 18 to the drive wheels 112 to make the machine body 11 move forward or backward. Furthermore, the travel device 13 includes a braking device, which can also decelerate or stop the machine body 11. In this embodiment, the drive wheels 112 are ordinary wheels, but are not limited to this. For example, the machine body 11 may be a half-track type with tracks for the drive wheels 112. Alternatively, for example, the machine body 11 may be a full-track type with the steering wheel 111 and the drive wheel 112 described later as a single track.

[0051] like Figure 1 As shown, the steering device 14 is a device for turning the steering wheels 111, which consist of a pair of front wheels (left and right). The steering device 14 includes a steering operation unit 41, which turns the steering wheels 111 in response to the operator's operation of the steering operation unit 41. In a top view, with a posture facing the front-rear direction D2, i.e., a posture where the rotation axis is along the left-right direction, the steering device 14 turns the pair of steering wheels 111 by tilting to the left or right relative to the reference posture. That is, the steering device 14 turns the steering wheels 111 by changing the orientation of the pair of steering wheels 111.

[0052] If the steering operation unit 41 is operated clockwise from the state where the pair of steering wheels 111 are in the reference position, the steering device 14 causes the front ends of the pair of steering wheels 111 to tilt to the right, turning the machine body 11 to the right as it moves forward. On the other hand, if the steering operation unit 41 is operated counterclockwise from the state where the pair of steering wheels 111 are in the reference position, the steering device 14 causes the front ends of the pair of steering wheels 111 to tilt to the left, turning the machine body 11 to the left as it moves forward. In this embodiment, the operator operates the steering operation unit 41 when manually steering, but it is not limited to this. For example, the operator can also manually steering by operating a control lever or the like.

[0053] According to this driving device 13 and steering device 14, the machine body 11 can move in the forward and backward direction D2 and the left and right direction within the target area F1. For example, when the machine body 11 is moving forward by driving the drive wheel 112 using the driving device 13, if the angle of the steering wheel 111 is changed using the steering device 14, the machine body 11 turns in the left and right directions and changes the direction of travel of the machine body 11.

[0054] The positioning device 15 determines the current position (latitude, longitude, and altitude, etc.) of the aircraft 11. Specifically, the positioning device 15 is, for example, mounted on the roll cage 113, and calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as GNSS (Global Navigation Satellite System). That is, the positioning device 15 has a positioning antenna that receives positioning signals from multiple satellites and calculates the current position based on the positioning signals. Furthermore, the positioning device 15 includes an inertial sensor, which can also detect the current orientation and other attitude of the aircraft 11.

[0055] Furthermore, the positioning device 15 employs a high-precision positioning method, such as RTK (Real-Time Kinematic) positioning, which calculates the current position of the working machine 10 using correction information corresponding to a base station (reference station) near the working machine 10. The current position of the machine body 11 can be the same as the positioning position (the position of the positioning antenna), or it can be a position offset from the positioning position, such as the center position of the machine body 11 when viewed from above. As the positioning device 15, for example, a mobile phone terminal, smartphone, tablet terminal, or quantum compass can be used instead.

[0056] The detection device 16 detects obstacles in the detection area. The detection device 16 includes an obstacle sensor and a detection processing unit. The obstacle sensor may include various sensors such as a camera (image sensor), sonar sensor, human sensor, radar, or LiDAR (Light Detection and Ranging). The obstacle sensor may be a 3D sensor that measures the distance to an object (obstacle) using a TOF (Time of Flight) method, which measures the distance to a ranging point based on the round-trip time until light or sound reaches the ranging point and returns. The detection processing unit detects obstacles based on the measurement information obtained from the obstacle sensor. Here, the detection processing unit may only detect the presence of an obstacle, or it may detect the obstacle's position, shape, number, or attributes (including category, etc.).

[0057] The detection results from the detection device 16 are output to the control device 2. The control device 2, at least when the detection device 16 detects an obstacle during the automatic movement of the work machinery 10, outputs an alarm (including an alarm based on sound and / or light) and performs obstacle avoidance maneuvers (including detours, deceleration, or stopping) by controlling the travel device 13 and steering device 14. Furthermore, the control device 2 can output obstacle location information and the execution history of obstacle avoidance maneuvers to the terminal device 3 and display them on the terminal device 3.

[0058] The communication device 17 is a communication interface used to connect the work machinery 10 (control device 2 and positioning device 15, etc.) to external devices via wired or wireless means, and to perform data communication with the external devices according to a prescribed communication protocol. In this embodiment, the communication device 17 is at least capable of communicating with the terminal device 3, which is an external device. For example, a mobile phone terminal, smartphone, or tablet terminal can be used instead of the communication device 17.

[0059] Power source 18 is a drive source that supplies power to at least the traveling device 13. Power source 18 is located at the front of the body 11 and is covered by an engine cover 45. Power source 18 is the drive source for the working machine 10, and for example, it is a diesel engine. However, the power source 18 of the working machine 10 is not limited to a diesel engine, and may also be an engine such as a gasoline engine, an electric motor, or a hybrid system of an engine and an electric motor.

[0060] Furthermore, the power source 18 drives the hydraulic pump, which supplies working oil to the hydraulic cylinders and other components of the power steering mechanism of the steering device 14. In other words, the power source 18 is configured to also supply power to the power steering mechanism.

[0061] The transmission 44 is located behind the power source 18 and below the driver's seat 5. The transmission 44 includes a power transmission device. The rotational power of the power source 18 is transmitted via the power transmission device in the transmission 44 to at least one of the steering wheel 111 and the drive wheel 112 (drive wheel 112 in this embodiment).

[0062] The driver's compartment 5 is located behind the power source 18 of the fuselage 11. The driver's compartment 5 includes a driver's seat and an instrument panel 52. The driver's seat is where the driver sits. The instrument panel 52 also serves as a steering column and is located in front of the driver's seat.

[0063] As an example, the steering control unit 41 is a steering wheel operated by the driver sitting in the driver's seat. The steering control unit 41 is supported by a steering shaft located within the instrument panel 52 and is rotatable. The steering control unit 41 is located in front of the driver's seat and above the instrument panel 52. The body 11 can change the orientation (steering angle) of the steering wheel 111 by rotating the steering control unit 41.

[0064] In addition, the driver's compartment 5 is equipped with, for example, a control lever 42 and pedals 43 operated by the driver, as well as an instrument displaying the speed of the machine 10. The control lever 42 may include various levers, such as a main gear lever, a secondary gear lever, a working lever for driving the machine 12, or a lifting lever for raising and lowering the machine 12. Furthermore, the pedals 43 may include various pedals, such as an accelerator pedal and a brake pedal.

[0065] In this embodiment, the work machine 10 is equipped with a rollover protection frame 113 at the rear of the driver's seat. The rollover protection frame 113 protects the driver in the event of the work machine 10 tipping over. The work machine 10 is not limited to the rollover protection specification of having a rollover protection frame 113, and may also be a cab specification where the driver's seat is covered by the cab.

[0066] The control device 2 is based on a computer system with one or more processors such as a CPU (Central Processing Unit) and one or more memory units such as ROM (Read-Only Memory) and RAM (Random Access Memory) to perform various processes (information processing). In this embodiment, the control device 2 is based on a computer system with one or more processors; therefore, the control device 2 is implemented by executing the control program for the working machine through one or more processors. In this embodiment, the control device 2 is a comprehensive controller that controls the working machine 10 as a whole, and is, for example, composed of an electronic control unit (ECU). However, the control device 2 may also be configured to be different from the comprehensive controller.

[0067] The control device 2 is configured to communicate with devices installed in various parts of the machine body 11. Specifically, the work machine 12, the traveling device 13, the steering device 14, the positioning device 15, the detection device 16, the communication device 17, the power source 18, and the lifting device 6 are electrically connected to the control device 2. Thus, the control device 2 can control the work machine 12, the traveling device 13, the steering device 14, and the lifting device 6, or acquire the outputs of the positioning device 15 and the detection device 16. Here, the control device 2 can directly transmit and receive various information (data) with each device, or indirectly transmit and receive various information (data) using repeaters or the like.

[0068] In this embodiment, such as Figure 2 As shown, the control device 2 includes a driving control unit 21, a steering control unit 22, a work control unit 23, and a storage unit 24.

[0069] The driving control unit 21 controls the driving device 13 and the power source 18. At least during autonomous driving, the driving control unit 21 replaces the operator to control the driving device 13 and the power source 18 in a manner that brings the vehicle speed and engine speed close to target values. In addition, the driving control unit 21 can also control the braking device of the driving device 13 to decelerate or stop the machine body 11.

[0070] The steering control unit 22 controls the steering device 14. The steering control unit 22 has an automatic steering mode and a manual steering mode as operating modes, and is configured to switch between these modes. The manual steering mode is the mode in which the operator operates the steering control unit 41 to steer. The steering control unit 22 performs its actions in automatic steering mode, at least during autonomous or semi-autonomous driving, controlling the steering device 14 in a manner that replaces the operator in bringing the steering wheel 111's steering angle closer to the target steering angle.

[0071] Especially during autonomous driving, the steering control unit 22, together with the driving control unit 21, performs control of the work machine 10 based on the current position of the machine body 11, so that the machine body 11 travels along the target path. The target path for enabling the work machine 10 to drive autonomously is generated, for example, in the terminal device 3. That is, the work machine 10 obtains path data corresponding to the target path from the terminal device 3 and drives autonomously according to the target path.

[0072] The operation control unit 23 controls the lifting device 6 and the operation machine 12, which raise and lower the machine body 11 mounted on the operation machinery 10. The operation control unit 23 controls the operation machine 12 based on the current position of the machine body 11 on the target path, at least during autonomous driving. Specifically, if the operation machinery 10 is traveling on a work path within the target path where work based on the operation machine 12 is performed, the operation control unit 23 controls the lifting device 6 to lower the operation machine 12 and place it in a work position, thereby performing work based on the operation machine 12. On the other hand, if the operation machinery 10 is traveling on a non-work path within the target path where work based on the operation machine 12 is not performed, the operation control unit 23 controls the lifting device 6 to raise the operation machine 12 and place it in a non-work position, thereby stopping work based on the operation machine 12.

[0073] Furthermore, during manual operation, the work control unit 23 also controls the work machine 12 in accordance with the operator's commands. Specifically, if the work machine 10 arrives at the work path, the operator lowers the work machine 12. The work control unit 23 then controls the lifting device 6 accordingly to lower the work machine 12 and position it in the work position. Conversely, if the work machine 10 arrives at a non-work path, the operator raises the work machine 12. The work control unit 23 then controls the lifting device 6 accordingly to raise the work machine 12 and position it in the non-work position.

[0074] The storage unit 24 is a non-volatile memory that stores various data, such as the control program for the working machine and target path information related to the target path. That is, the driving control unit 21 and the steering control unit 22 can, for example, perform autonomous driving along the target path based on the target path information stored in the storage unit 24. Furthermore, the storage unit 24 stores the rise limit value referenced in the rise limit function described later.

[0075] In addition to the aforementioned structure, the work machine 10 also includes a battery, a fuel tank, and various sensors. The battery supplies power to various parts of the work machine 10, such as the control device 2, for operation. In particular, electronic devices such as the control device 2, steering device 14, positioning device 15, detection device 16, and communication device 17 operate by means of power supplied from the battery, thus enabling them to operate even when the power source 18 is stopped.

[0076] [3] Structure of the terminal device

[0077] Next, refer to Figure 1 and Figure 2 The structure of the terminal device 3 involved in this embodiment will be described in detail.

[0078] In this embodiment, the terminal device 3 can communicate with the working machine 10 as described above, and together with the control device 2 of the working machine 10, constitutes the control system 1. That is, the structural elements of the control system 1 are at least distributed between the working machine 10 and the terminal device 3. However, it is not limited to this structure. For example, the function of the control device 2 can be provided in the terminal device 3. In this case, the structural elements of the control system 1 are implemented only by the terminal device 3.

[0079] In this embodiment, as an example, the terminal device 3 is composed of a general-purpose terminal such as a tablet, smartphone, or laptop. The terminal device 3 is, for example, positioned in a location easily visible to the operator, such as the driver's cab 5 of the work machinery 10. Figure 2 As shown, the terminal device 3 includes an information processing unit 31, a display unit 32, an operation unit 33, and a communication unit 34. Furthermore, the terminal device 3 also includes a sound output unit for outputting sound (including voice) to the user (operator) and a battery.

[0080] The information processing unit 31 performs various processes (information processing) based on a computer system having one or more processors such as a CPU and one or more memories such as ROM and RAM. In this embodiment, the information processing unit 31 is based on a computer system having one or more processors, and therefore, the information processing unit 31 is implemented by executing the control program for the work machine through one or more processors. That is, one or more processors of the control device 2 included in the control system 1 and one or more processors of the information processing unit 31 respectively execute the control program for the work machine, thereby enabling the control device 2 and the terminal device 3 to cooperate and realize the control system 1.

[0081] The information processing unit 31 is configured to communicate with each part of the terminal device 3 (display unit 32, operation unit 33, and communication unit 34). That is, the display unit 32, operation unit 33, and communication unit 34 are electrically connected to the information processing unit 31. Therefore, the information processing unit 31 can control the display on the display unit 32 or obtain operation input for the operation unit 33. Here, the information processing unit 31 can directly transmit and receive various types of information (data) with each part, or indirectly transmit and receive various types of information (data) using a repeater or the like.

[0082] This terminal device 3 serves as a user interface for receiving user (operator) input and outputting various information to the user. For example, the terminal device 3 outputs various information to the user by displaying various screens on the display unit 32. Furthermore, the terminal device 3 receives various user operations by outputting electrical signals corresponding to the user's operations on the operation unit 33. In this disclosure, "screen" refers to images (pictures) displayed on the display unit 32, etc., of the terminal device 3, including images, graphics, photographs, text, and animations. The screens displayed on the terminal device 3 include not only still images but also constantly changing images (animations).

[0083] Display unit 32 is a user interface equipped with a display such as a liquid crystal display or an organic EL display that displays various information. By displaying the progress of the work in the target area F1 and the operation status of the work machine 10, including the target path, (actual) movement trajectory, current position and movement speed, display unit 32 enables remote monitoring of the operator of the work machine 10 in automatic driving.

[0084] The operation unit 33 is a user interface equipped with an input unit such as a touch panel, mouse, keyboard, mechanical switch, or encoder for accepting operations. The operation unit 33 can receive start or stop instructions for automatic movement from the operator of the work machinery 10. The terminal device 3 can remotely control the work machinery 10 by sending the aforementioned start or stop instructions. Therefore, remote operation of the work machinery 10 by the operator is possible.

[0085] In this embodiment, as an example, the display unit 32 and the operation unit 33 are integrated to form a touch panel display. The operator can operate the operation unit 33 on the operation screen displayed on the display unit 32 to set (register) various information. Thus, for example, the operator can use the terminal device 3 to set automatic driving information (including target path information) related to the automatic driving of the work machine 10.

[0086] The communication unit 34 is a communication interface for connecting the terminal device 3 to the work machinery 10 via wired or wireless means, and for performing data communication with the work machinery 10 according to a prescribed communication protocol. In this embodiment, the communication unit 34 is at least able to communicate with the work machinery 10 (its communication device 17) via a communication network. Furthermore, the communication unit 34 is at least able to connect to the communication network wirelessly, so it can communicate with the work machinery 10 at any time, even in locations sufficiently far from the work machinery 10.

[0087] However, in this embodiment, such as Figure 2 As shown, the information processing unit 31 includes a suppression processing unit 311 and a storage unit 312. In addition to the suppression processing unit 311, the information processing unit 31 may include, for example, a generation processing unit, an execution processing unit, and a display processing unit. The generation processing unit generates a target path for the machine 10 to automatically travel within the target area F1. The execution processing unit performs specific actions, such as actions related to the automatic travel of the machine 10, on the machine 10. The display processing unit displays various information on the display unit 32.

[0088] In this embodiment, as an example, the information processing unit 31 is mainly structured as a computer system with one or more processors. Therefore, the above-mentioned multiple functional units (such as the suppression processing unit 311) are realized by executing the control program for the working machine through one or more processors. The above-mentioned multiple functional units included in the information processing unit 31 can be distributed in multiple housings or can be provided in one housing.

[0089] Storage unit 312 is a non-volatile memory that stores various data such as control programs for the work machinery and target path information related to the target path. Furthermore, storage unit 312 can store various data such as work machine information, work machinery information, PTO shaft information, field information, and work information. Work machine information is information related to the work machine 12 mounted on the machine body 11, including information such as the type, identification information, model name, model number, and size of the work machine 12. Work machinery information is information related to the machine body 11 (vehicle body) of the work machinery 10, including information such as the type of machine body 11 (e.g., fully tracked / half tracked / wheeled), identification information, model name, model number, and size. Additionally, PTO shaft information is information related to the PTO shaft 7 installed on the machine body 11, including information such as the type, identification information, shaft name, rated speed, load capacity, model number, and size of the PTO shaft 7. The field information refers to information related to the field designated as object area F1, including field identification information, field name, location, shape, size, start position of operation (start of travel), end position of operation (end of travel), and direction of operation. The operation information refers to information related to the operation performed by the operating machinery 10, such as the type of operation and how it is performed. Furthermore, the operation information may also include whether the operating machinery 10 is cooperating with other machinery, the width of the field edge, and the width of uncultivated land.

[0090] The aforementioned information (target path information, machine information, machinery information, field information, and operation information, etc.) stored in the storage unit 312 is set (registered) through user (operator) input to the operation unit 33 or obtained from the machinery 10. For example, the type of machine 12 in the machine information can be specified by the user operating the operation unit 33, or it can be automatically identified as the machine 12 mounted on the machine body 11 and sent to the terminal device 3. The terminal device 3 can obtain the aforementioned information from external devices other than the machinery 10 (such as servers, external storage media, or other terminal devices).

[0091] The suppression processing unit 311 performs processing to enable the rise restriction function described in "[5.1] Rise Restriction Function" below, when the specified conditions are met. The suppression processing unit 311 will be described in detail in "[5.2] Suppression Function" below.

[0092] Terminal device 3 can be configured as a website (agricultural assistance site) that can access agricultural assistance services provided by the server via a communication network. In this case, terminal device 3 can function as a terminal for operating the server by executing a browser program through information processing unit 31. Moreover, the server has the aforementioned processing units to perform each processing step.

[0093] [4] Structure of the lifting device

[0094] Next, using Figure 1 and Figure 3 The structure of the lifting device 6 that raises and lowers the work machine 12, along with the structure of the work machine connecting part 46, will be described in detail. For example... Figure 1 and Figure 3 As shown, the machine connection part 46 includes: one upper connecting rod 461; and a pair of left and right ( Figure 1 and Figure 3 The lower connecting rod 462 (only one side is shown) is located below the upper connecting rod 461; and the mounting part 463 is capable of assembling the work machine 12.

[0095] Viewed from the rear of the machine body 11, the upper connecting rod 461 is located at the center of the width direction of the machine body 11. Viewed from the rear of the machine body 11, a pair of lower connecting rods 462 are located on either side of the upper connecting rod 461 and are positioned lower than the upper connecting rod 461. That is, viewed from the rear of the machine body 11, the upper connecting rod 461 and the pair of lower connecting rods 462 are configured to form a triangle, providing three-point support for the work machine 12 mounted on the mounting section 463.

[0096] Furthermore, the pair of lower connecting rods 462 are configured such that their first ends (here, the front ends) are fixed to the machine body 11, and they can rotate clockwise or counterclockwise when viewed from the left-right direction, with the fixed first ends as the axis. Therefore, the rotation of the pair of lower connecting rods 462 allows the relative position (relative height) of the work machine 12 mounted on the mounting part 463 relative to the machine body 11 in the vertical direction D1 to be variable. Specifically, if the pair of lower connecting rods 462 rotate in the first direction (… Figure 1 If the machine rotates counterclockwise (in the middle direction), the machine 12 will rise. Additionally, if the pair of lower connecting rods 462 rotate in the second direction (…), the machine will rise. Figure 1 If the machine rotates clockwise, the machine 12 will descend.

[0097] The mounting part 463 is, for example, a fastener (hook) for mounting the work machine 12, and is mounted on one end of the upper connecting rod 461 and one end of each of the pair of lower connecting rods 462. Alternatively, the mounting part 463 is not limited to a fastener and may also be composed of one end of the upper connecting rod 461 and one end of each of the pair of lower connecting rods 462. In this case, the work machine 12 is directly mounted on one end of the upper connecting rod 461 and one end of each of the pair of lower connecting rods 462.

[0098] like Figure 3 As shown, the lifting device 6 has a pair of left and right ( Figure 3 The image only shows one side of the lifting arm 61, and a pair of left and right ( Figure 3 The lifting rod 62 (only one side is shown) and the left and right pairs (only one side is shown) Figure 3 Only one side of the hydraulic cylinder 63 is shown in the image. Additionally, the lifting device 6 has a pair of left and right (…). Figure 3 The angle sensor 64 (only one side is shown in the image) is shown.

[0099] The pair of lifting arms 61 are configured such that: the first end (here, the front end) is fixed to the body 11, and can rotate clockwise or counterclockwise when viewed from the left and right directions around the fixed first end. The first end (here, the upper end) of a pair of lifting rods 62 is fixed to the second end (here, the rear end) of each pair of lifting arms 61. The second end (here, the lower end) of each pair of lifting rods 62 is fixed to the middle part of a pair of lower connecting rods 462.

[0100] A pair of hydraulic cylinders 63 fix the first end (the lower end here) to the machine body 11 and the second end (the upper end here) to the middle part of a pair of lifting arms 61. The lifting device 6, in accordance with the operation of the lifting rod arranged in the driver's unit 5 or in accordance with the lifting operation of the working machine 12 of the terminal device 3, causes the pair of hydraulic cylinders 63 to extend and retract, thereby raising and lowering the working machine 12.

[0101] Specifically, when an operation to raise the work machine 12 is received, a pair of hydraulic cylinders 63 extend upwards, causing a pair of lifting arms 61 to move in the first direction ( Figure 3 The lifting arms 61 rotate counterclockwise. If the pair of lifting arms 61 rotate in the first direction, the pair of lifting rods 62 move upwards along with the rotation of the pair of lifting arms 61. Furthermore, the pair of lower connecting rods 462 rotate in the first direction along with the upward movement of the pair of lifting rods 62. As a result, the mounting part 463 rises along with the rotation of the pair of lower connecting rods 462 in the first direction, thereby raising the work machine 12 mounted on the mounting part 463.

[0102] Furthermore, upon receiving the action to lower the work machine 12, a pair of hydraulic cylinders 63 retract downwards, causing a pair of lifting arms 61 to move in the second direction ( Figure 3 The lifting arms 61 rotate clockwise. If the pair of lifting arms 61 rotate in the second direction, the pair of lifting rods 62 move downwards along with the rotation of the pair of lifting arms 61. Furthermore, the pair of lower connecting rods 462 rotate in the second direction along with the downward movement of the pair of lifting rods 62. As a result, the mounting part 463 descends along with the rotation of the pair of lower connecting rods 462 in the second direction, thereby lowering the work machine 12 mounted on the mounting part 463.

[0103] A pair of angle sensors 64, each a potentiometer or encoder, are mounted on the shafts of a pair of lifting arms 61. Each angle sensor 64 detects the rotation angle α of its corresponding lifting arm 61. The lifting control of the work machine 12 based on the lifting device 6 is referenced to the detection results of each angle sensor 64. Specifically, the lifting device 6 controls the extension and retraction of a pair of hydraulic cylinders 63 in a manner that makes the detection results of each angle sensor 64 approximately the same. Thus, the lifting device 6 can raise and lower the work machine 12 while maintaining balance in the width direction (here, the left-right direction).

[0104] [5] Control methods for operating machinery

[0105] The following is for reference Figures 3-6 An example of a control method (hereinafter referred to as the "control method") for a machine 10 mainly executed by a control system 1 (control device 2 and terminal device 3) will be described.

[0106] The control method described in this embodiment is executed by a control system 1, which is primarily based on a computer system. In other words, it is implemented by a control program for a work vehicle (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 various processes involved in the control method.

[0107] Here, the control system 1 performs the various processes involved in the control method when a specific pre-set start operation for executing the control program is performed. The start operation is, for example, the startup operation of the application program (control program for the work vehicle) in the terminal device 3. On the other hand, the control system 1 terminates the various processes involved in the control method when a specific pre-set end operation is performed. The end operation is, for example, the termination operation of the application program (control program for the work vehicle) in the terminal device 3.

[0108] [5.1] Rise Limit Function

[0109] First, refer to Figure 1 and Figure 3 The rise-limiting function executed by the control system 1 according to this embodiment will be described. The rise-limiting function processes the following: if the height of the work machine 12 reaches a preset rise-limiting value, the rise of the work machine 12 is stopped. In this embodiment, the height of the work machine 12 is defined by the rotation angle α of each of the pair of lifting arms 61. Specifically, the rotation angle α at the initial position (maximum descent position) of the pair of lifting arms 61 is set to zero. The larger the rotation angle α, the higher the height of the work machine 12; the smaller the rotation angle α, the lower the height of the work machine 12.

[0110] In this embodiment, regarding terminal device 3, such as Figure 4 and Figure 5 As shown, the height of the work machine 12 is determined by the height of each of the pair of lifting arms 61 ( Figure 4 and Figure 5 The term "lifting height" is used to represent the height of the lifting arms 61. "Lifting height" is expressed as a percentage where the initial position (maximum descent position) of each pair of lifting arms 61 is set to 0%, and the position when rotated to the upper limit of the allowable rotation angle α is set to 100%. Alternatively, "lifting height" can also be expressed as the value of the rotation angle α of each pair of lifting arms 61.

[0111] Furthermore, in this embodiment, the lifting limit value is defined by the rotation angle α of each of the pair of lifting arms 61. Therefore, if the rotation angle α of each of the pair of lifting arms 61 reaches the preset rotation angle (lifting limit value), the lifting device 6 restricts (prohibits) the further extension of the pair of hydraulic cylinders 63, thereby restricting the further lifting of the work machine 12. The rotation angle α of the pair of lifting arms 61 is detected by a pair of angle sensors 64.

[0112] In this embodiment, regarding terminal device 3, such as Figure 4 and Figure 5 As shown, the lifting limit value is determined by the height of each of the pair of lifting arms 61 ( Figure 4 and Figure 5 The term "lifting height (upward limit)" is used to indicate this. "Lifting height (upward limit)" is represented as a percentage where the initial position (maximum descent position) of each pair of lifting arms 61 is set to 0%, and the position when rotating to the upper limit of the allowable rotation angle α is set to 100%. Alternatively, "lifting height (upward limit)" can also be represented by the value of the rotation angle α of each pair of lifting arms 61.

[0113] Here, the reason for implementing the rise limit function is explained. In order to drive the workstation 12, such as... Figure 3 As shown, a transmission device 8 connects the drive shaft 7 (PTO shaft 7) located at the rear of the machine body 11 to the driven shaft 9 located on the work machine 12. The transmission device 8 transmits the rotation of the PTO shaft 7, driven by power generated in the power source 18, to the driven shaft 9, thereby driving the driven shaft 9. Thus, the work machine 12 can be driven by driving the PTO shaft 7.

[0114] The transmission device 8 has a first universal joint 81, a second universal joint 82, and an intermediate shaft 83. Both the first universal joint 81 and the second universal joint 82 are universal couplings. The first universal joint 81 is connected to one end (here, the rear end) of the PTO shaft 7 and to the first end (here, the front end) of the intermediate shaft 83. The second universal joint 82 is connected to the second end (here, the rear end) of the intermediate shaft 83 and to one end (here, the front end) of the driven shaft 9. The intermediate shaft 83 transmits the rotation of the first universal joint 81, which rotates with the PTO shaft 7, to the second universal joint 82. Thus, the driven shaft 9 rotates with the rotation of the second universal joint 82, transmitting the power generated in the power source 18 to the working machine 12.

[0115] The position of the transmission device 8 changes as the working machine 12 rises and falls. Specifically, the intermediate shaft 83 of the transmission device 8 rotates clockwise or counterclockwise as the working machine 12 rises and falls, with the connection between the PTO shaft 7 and the first universal joint 81 as the axis. Hereinafter, the angle formed by the axial direction of the PTO shaft 7 (front-back direction D2) and the axial direction of the intermediate shaft 83, viewed from the left-right direction, is called the swing angle of the universal joint (hereinafter referred to as "swing angle β"). Figure 3 In the example shown, as in <Initial Position (Maximum Descent Position)>, when the rotation angle α of each of the pair of lifting arms 61 is zero, the swing angle β also becomes zero. On the other hand, as in <Ascending>, if the rotation angle α of each of the pair of lifting arms 61 increases, the swing angle β also increases. Thus, there is a positive correlation between the rotation angle α of each of the pair of lifting arms 61, i.e., the height of the work machine 12, and the swing angle β.

[0116] Here, if the work machine 12 is raised, and the swing angle β exceeds the allowable upper limit (i.e., the allowable angle), excessive load will be applied to the PTO shaft 7 via the transmission device 8, potentially causing the PTO shaft 7 to bend or malfunction. Therefore, the work machine 10 is designed to perform a lifting limit function in a way that prevents the swing angle β from exceeding the allowable angle. That is, if the work machine 12 is raised further after reaching the lifting limit value, there is a possibility that the swing angle β will exceed the allowable angle; therefore, further raising of the work machine 12 is limited. This prevents excessive load from being applied to the PTO shaft 7 as the work machine 12 rises.

[0117] However, according to the aforementioned related technology, regarding the work machine 10, by using a height limit dial that sets the rotation angle α of each of the pair of lifting arms 6 to an arbitrary value, the upper limit limit processing is effective when the operator sets the upward limit value. Furthermore, according to the aforementioned related technology, regarding the work machine 10, the upper limit limit processing is effective by using the detection result of an upper limit detection sensor that detects when the work machine 12 rises and reaches a position close to the machine body 11.

[0118] However, the lifting limit function remains active regardless of whether it is activated using the height limit dial or the upper limit detection sensor. Therefore, even when the machine 10 is moving outside the field or not in operation, the lifting motion of the machine 12 is restricted, which may prevent the operator from raising or lowering the machine 12 as desired.

[0119] In this embodiment, a control method, a control program for a work machine, a control system 1 for a work machine, and a work system 100 are implemented, which can easily perform a rising restriction function that restricts the rising movement of the work machine 12 according to the state of the work machine 12 by means of the "suppression function" described below.

[0120] [5.2] Inhibition function

[0121] Next, refer to Figures 4-6 The suppression function in the control method according to this embodiment will be explained. The suppression function is a function that enables the rise restriction function when a predetermined condition is met. Specifically, the suppression processing unit 311 disables the rise restriction function until the predetermined condition is met, and enables the rise restriction function after the predetermined condition is met. In addition, when the suppression processing unit 311 transitions from a state where the predetermined condition is met to a state where the predetermined condition is not met, it also disables the rise restriction function thereafter until the predetermined condition is met.

[0122] Therefore, in the control method of this embodiment, the lifting restriction function is effective only when predetermined conditions are met, and ineffective when the predetermined conditions are not met. This provides the advantage of easily executing the lifting restriction function according to the status of the working machine 10. Specifically, for example, the lifting restriction function can be effective during periods when the working machine 10 is operating with the working machine 12, and ineffective during periods when the working machine 10 is not operating with the working machine 12. In this case, no restriction is imposed on the lifting movement of the working machine 12 during non-operational periods; therefore, the operator can raise and lower the working machine 12 as desired.

[0123] Here, the specified conditions may include, for example, drive conditions related to the drive state of the PTO axis 7 that transmits power generated by the power source 18 to the work machine 12. Drive conditions include, for example, driving the PTO axis 7. Specifically, when the specified drive condition is that the PTO axis 7 is driven, if driving the PTO axis 7 begins, the suppression processing unit 311 activates the rise restriction function; if driving the PTO axis 7 stops, the rise restriction function is deactivated. That is, in this case, the suppression processing unit 311 activates the rise restriction function only during the period when the PTO axis 7 is driven.

[0124] Furthermore, the driving conditions include, for example, starting the driving of the PTO axis 7. Specifically, when the driving condition is defined as starting the driving of the PTO axis 7, if the driving of the PTO axis 7 begins, the suppression processing unit 311 activates the upward limiting function, for example, maintaining the upward limiting function in an active state until the power supply to the machine 10 is disconnected. That is, in this case, if the PTO axis 7 performs a single drive, the suppression processing unit 311 activates the upward limiting function, maintaining the upward limiting function even if the PTO axis 7 stops, until the power supply to the machine 10 is disconnected.

[0125] Additionally, the specified conditions may include positional conditions related to the position of the working machine 10. Positional conditions, for example, include the working machine 10, positioned by the positioning device 15, being currently within the target area F1 (here, a field). Specifically, when the specified condition is that the working machine 10's current position is within the target area F1, if the working machine 10 enters the target area F1, the suppression processing unit 311 activates the upward restriction function; if the working machine 10 leaves the target area F1, the upward restriction function is deactivated. That is, in this case, the suppression processing unit 311 activates the upward restriction function only when the working machine 10 is within the target area F1, in other words, only when the working machine 10 is in operation.

[0126] Additionally, the specified conditions may include switching the steering mode from manual steering mode to automatic steering mode. Specifically, during the period when the steering mode is manual steering mode, the suppression processing unit 311 disables the rise restriction function. Moreover, if the steering control unit 22 switches the steering mode from manual steering mode to automatic steering mode, the suppression processing unit 11 enables the rise restriction function. That is, in this case, the suppression processing unit 311 enables the rise restriction function only when the steering mode is automatic steering mode.

[0127] In this embodiment, the suppression processing unit 311 also has the function of automatically setting the rise limit value used in the rise limit function without relying on the operator's operation. Specifically, the rise limit value is preset during the manufacturing of the machine tool 10 and stored in the storage unit 312. Moreover, when the rise limit function is enabled, the suppression processing unit 311 reads the rise limit value stored in the storage unit 312 and refers to the rise limit value in the rise limit function. As a result, the operator does not need to manually set the rise limit value, thus having the advantage of easily preventing forgetting to set the rise limit value.

[0128] However, as mentioned above, while there is a positive correlation between the rotation angle α of each pair of lifting arms 61, i.e., the height of the work machine 12, and the swing angle β, sometimes the rotation angle α and the swing angle β are not the same. For example, in Figure 3 In the example shown, as indicated in <Initial Position (Maximum Descent Position)>, both the rotation angle α and the swing angle β are zero degrees. However, sometimes the swing angle β may be greater than the rotation angle α. Furthermore, for example, when the rotation angle α is 30 degrees, sometimes the swing angle β may be less than 30 degrees, and sometimes it may be greater than 30 degrees. Moreover, for example, when the rotation angle α increases or decreases by a specified angle, sometimes the increase or decrease in the swing angle β may be greater than the specified angle, and sometimes it may be less than the specified angle. Furthermore, the relationship between the rotation angle α and the swing angle β may vary depending on the specifications of the PTO shaft 7, the operating machine 10, or the operating machine 12.

[0129] Therefore, assuming the operator sets the rise limit value, since the relationship between the rotation angle α and the swing angle β is unclear, the rise limit value must be set based on the operator's experience to a level that will not apply excessive load to the PTO axis 7. Therefore, to solve the above problem, the rise limit value can be automatically set in the following manner. The process of setting the rise limit value is performed, for example, when the machine 10 is started for the first time. Furthermore, the rise limit function is executed with reference to the set rise limit value. That is, the process of setting the rise limit value basically only needs to be executed once. Moreover, if the information referenced when setting the rise limit value changes, the rise limit value can be updated by executing the process of setting the rise limit value again.

[0130] For example, a setting range is specified for the height of the work machine 12, which can be set as the lifting limit value. The initial value of the lifting limit value can also be set to the lower limit of this setting range. Specifically, a setting range is specified for the lifting limit value, and it can be set to any value within this setting range. Here, the initial value of the lifting limit value is automatically set to the lower limit of this setting range. For example, if the setting range of the lifting limit value is 20% to 80% as expressed by the "lifting height" mentioned above, the initial value of the lifting limit value is automatically set to 20% as the lower limit. When the initial value of the lifting limit value is set to the lower limit of the setting range in this way, it has the advantage of easily performing the lifting limit function before applying excessive load to the PTO axis 7, regardless of the specifications of the PTO axis 7.

[0131] For example, if the initial value of the rise limit is set to a large value such as 50%, according to the specifications of the PTO axis 7, it is possible to apply excessive load to the PTO axis 7 at the time of driving it, thus failing to fully realize the effect of the rise limit function. In contrast, if the initial value of the rise limit is set to the lower limit of the set range, the possibility of applying excessive load to the PTO axis 7 at the time of driving it is reduced.

[0132] Additionally, for example, the rise limit value can be automatically set based on information related to at least one of the PTO axis 7, the working machine 10, and the working machine 12. In particular, the rise limit value can be automatically set based on information affecting the permissible angle of the swing angle β of the universal joint (here, the first universal joint 81).

[0133] Here, information related to the PTO shaft 7 includes, for example, PTO shaft information stored in storage unit 312, such as the type of PTO shaft 7, identification information, shaft name, rated speed, load capacity, model, and size. Similarly, information related to the working machine 10 includes, for example, working machine information stored in storage unit 312, such as the type of machine body 11 (e.g., fully tracked / half tracked / wheeled), identification information, model name, model, and size. Furthermore, information related to the working machine 12 includes, for example, working machine information stored in storage unit 312, such as the type of working machine 12, identification information, model name, model, and size.

[0134] In addition, information related to the PTO axis 7 may include, for example, the position of the first universal joint 81 installed on the PTO axis 7 and the position of the second universal joint 82 installed on the driven axis 9. Information related to the working machine 12 may include, for example, the position of the working machine 12 installed on the upper link 461 and a pair of lower links 462, or the depth of the working machine 12 relative to the target area F1 (here, the field).

[0135] As an example, information related to the PTO axis 7 can be designated as variable x1, information related to the working machine 10 as variable x2, and information related to the working machine 12 as variable x3. The rise limit value is calculated by using a function of at least one of the variables x1, x2, and x3. Specifically, the control system 1 calculates the rise limit value by reading the aforementioned information stored in the storage unit 312 and substituting the read information as variables x1, x2, and x3 into the function. This function can, for example, be determined by conducting experiments to determine whether excessive load is applied to the PTO axis 7 for various combinations of the aforementioned information and the rise limit value. Furthermore, the variables x1, x2, and x3 are not limited to one variable and can be multiple variables.

[0136] Furthermore, as an example, the rise limit value can be determined by referring to relevant data pre-stored in the storage unit 312. The relevant data is data relating a combination of at least one piece of information related to the PTO axis 7, at least one piece of information related to the working machine 10, and at least one piece of information related to the working machine 12, and the rise limit value. Specifically, the control system 1 reads the aforementioned information and relevant data stored in the storage unit 312 and determines the rise limit value by comparing the aforementioned information and relevant data. This relevant data can, for example, be determined by conducting experiments to determine whether excessive load is applied to the PTO axis 7 for various combinations of the aforementioned information and rise limit values.

[0137] As described above, the lifting limit value is automatically set based on information related to at least one of the PTO axis 7, the working machine 10, and the working machine 12. Therefore, it has the advantage of easily setting a lifting limit value that will not apply excessive load to the PTO axis 7, regardless of the presence or absence of the operator's experience.

[0138] Furthermore, as mentioned above, a universal joint (here, the first universal joint 81) is installed on the PTO shaft 7. Moreover, if the swing angle β of the universal joint exceeds the permissible angle, it is possible to apply excessive load to the PTO shaft 7. Therefore, for example, an upward limit value can be automatically set based on the permissible angle of the universal joint's swing angle β input by the operator. Here, the permissible angle refers to the permissible range of the swing angle β of the universal joint connected to the PTO shaft 7. In this embodiment, the configuration is such that if the control system 1 receives the operator's input of the permissible angle of the universal joint's swing angle β, it automatically sets the upward limit value based on the input permissible angle of the swing angle β. Specifically, the control system 1 sets the input permissible angle of the swing angle β as a variable and calculates the upward limit value using a function of this variable. This function can be determined by conducting experiments to determine whether excessive load is applied to the PTO shaft 7 for various combinations of the permissible angle of the swing angle β and the upward limit value.

[0139] As described above, since the rise limit value is automatically set based on the allowable angle of the swing angle β, it has the advantage of easily setting a rise limit value that will not apply excessive load to the PTO shaft 7 simply by having the operator input the allowable angle of the swing angle β. In this case, the operator can, for example, confirm the allowable angle of the swing angle β that should be input by referring to a catalog of PTO shafts or shaft connectors.

[0140] Figure 4 An example of a setting screen Dp1 for setting an upward limit value is shown. For example, when an operator performs a first specific operation on the terminal device 3, the setting screen Dp1 is displayed on the display unit 32 (display device). Figure 4 As shown, the setting screen Dp1 displays the string "Machine Lifting Limit" and a toggle switch A1 to the right of this string. This toggle switch A1 is used to enable or disable the suppression function that enables the lifting limit function under specified conditions. Additionally, the setting screen Dp1 displays the string "Current Lifting Height" and a value A2 to the right of this string. This value A2 represents the current height of each of the pair of lifting arms 61 (i.e., the height of the machine 12).

[0141] If the operator sets the toggle switch A1 to "ON", the suppression function is effective. Figure 4 As shown in the upper section, the settings screen Dp1 also displays the string "Lift / Lower Height (Upward Limit)" and the upward limit value A3 to the right of this string. Additionally, if the suppression function is active, then as shown... Figure 4As shown in the upper section, the setting screen Dp1 displays the string "Allowable angle of swing angle" and an input box A4 located to the right of the string for inputting the allowable angle of swing angle β. Furthermore, if the operator inputs the allowable angle of swing angle β in the input box A4, the rise limit value A3 calculated based on the allowable angle is displayed to the right of "Lift and Drop Height (Rise Limit)".

[0142] Thus, when the suppression function is effective, the operator can set the rise limit value by inputting the allowable angle of the swing angle β. Moreover, in this case, if the specified conditions are met, the rise limit function using the set rise limit value becomes effective.

[0143] On the other hand, if the operator sets the aforementioned toggle switch A1 to "OFF", the suppression function will be ineffective. Figure 4 As shown in the lower section, the "Lifting / Lowering Height (Upward Limit)" and "Allowable Swing Angle" are not displayed on the settings screen Dp1. In this case, even if the specified conditions are met, the upward limit function is not enabled. That is, the upward limit function is not executed during the period when the suppression function is ineffective.

[0144] As described above, in the control method of this embodiment, the activation / deactivation of the suppression function, which enables the lifting restriction function when predetermined conditions are met, can be set in accordance with the first setting operation. Here, the first setting operation is, for example, the on or off operation of the aforementioned toggle switch A1. Therefore, the operator can freely set the suppression function to be activated or deactivated, thus providing the advantage of easily improving the ease of operation of the lifting action of the work machine 12.

[0145] Of course, the operator can also manually set the rise limit value. Specifically, if the control system 1 receives an input based on the operator's rise limit value, it can execute the rise limit function using the input rise limit value. As an example, it can be... Figure 5 The operation screen Dp2 shown is used to input the rise limit value for operating the work machine 12.

[0146] For example, when an operator performs a second specific operation on terminal device 3, the operation screen Dp2 is displayed on display unit 32 (display device). Figure 5 As shown, the operation screen Dp2 displays the first screen B1 for accepting and changing the height of the work machine 12, and the second screen B2 for accepting and changing the depth of the work machine 12 relative to the object area F1.

[0147] The first screen B1 is displayed to the left of the operation screen Dp2. The first screen B1 displays the string "Working Machine Up / Down Dial," a cylindrical measuring rod B3 below this string representing the height of the working machine 12, and an icon B4 to the right of the measuring rod B3 indicating whether to change the height of the working machine 12. Regarding the measuring rod B3, the arrow indicates the current height of the working machine 12, and the bar indicates the currently set upward limit value.

[0148] The second screen B2 is displayed to the right of the first screen B1 of the operation screen Dp2. The second screen B2 displays the string "Depth Dial" and below it a bar-shaped measuring scale B5 indicating the depth of the work machine 12 relative to the target area F1. Additionally, to the right of the measuring scale B5 is an icon B6 indicating whether the depth of the work machine 12 can be changed.

[0149] exist Figure 5 In the example shown, regarding the ruler B3 on the first screen B1, the strip is set at a position corresponding to the "lifting height (upward limit)" (i.e., the upward limit value). Here, for example, the operator can move their finger up and down while in contact with the strip of the ruler B3, thereby changing the position of the strip in the vertical direction, that is, changing the "lifting height (upward limit)" to any value.

[0150] As described above, in the control method of this embodiment, a rise limit value can be set in accordance with the second setting operation. Here, the second setting operation is, for example, an operation that changes the position of the strip in the scale B3 of the first screen B1 in the vertical direction. As a result, the operator can freely set the rise limit value, thus having the advantage of easily improving the ease of operation of the lifting and lowering action of the work machine 12.

[0151] In addition, Figure 5 The operation screen shown is Dp2, and the area B7 in its lower left corner displays the same information. Figure 4 The setup screen shown is equivalent to Dp1. Therefore, the operator can also perform operations in this area B7 to achieve the same results as... Figure 4 The settings shown in the settings screen Dp1 are the same. Alternatively, this area B7 can be omitted from the operation screen Dp2.

[0152] In addition, Figure 4 The settings screen shown is Dp1 and Figure 5 The operation screen Dp2 shown in the diagram displays the lifting limit value. In the setting screen Dp1, the lifting limit value is displayed to the right of "Lifting Height (Lift Limit)". In the operation screen Dp2, the lifting limit value is displayed by the bar in the measuring scale of the first screen B1. In addition, both the setting screen Dp1 and the operation screen Dp2 display information related to the operating machinery 10.

[0153] Thus, in the control method according to this embodiment, information related to the working machine 10 can be displayed on the display device (here, display unit 32), and the rise limit value can also be displayed on the display device. As a result, the operator can check the rise limit value while viewing the information related to the working machine 10, thus having the advantage of easily confirming whether the rise limit value is set accurately.

[0154] Next, refer to Figure 6 The entire process of the suppression function will be explained. Hereinafter, the explanation will assume the suppression function is active. First, during the period until the specified conditions are met (S1: No), the suppression processing unit 311 maintains a state where the rise restriction function is disabled. Furthermore, when the specified conditions are met (S1: Yes), the suppression processing unit 311 enables the rise restriction function (S2).

[0155] After the lifting limit function becomes active, the height of the work machine 12 reaches the lifting limit value (S3). At this time, since the lifting limit function is active, the lifting device 6 restricts the work machine 12 from further rising by limiting (prohibiting) the further extension of the pair of hydraulic cylinders 63 (S4). Furthermore, when the lifting limit function is inactive, the lifting device 6 does not restrict the further extension of the pair of hydraulic cylinders 63, thus allowing the work machine 12 to rise beyond the lifting limit value. Thereafter, whenever the height of the work machine 12 reaches the lifting limit value, the process of step S4 is executed.

[0156] but, Figure 6 The flowchart shown is just one example; you can add or omit processes as appropriate, or change the order of processes as needed.

[0157] However, in the control method of this embodiment, the following processing can be performed differently from the above-described lifting limit function. That is, the control system 1 can set the PTO axis 7 to an inoperable state if the height of the work machine 12 exceeds the lifting limit value when the drive of the PTO axis 7 starts. Specifically, the operator starts the drive of the work machine 12 using the terminal device 3, and when the drive of the PTO axis starts, the control system 1 determines whether the height of the work machine 12 exceeds the lifting limit value. Moreover, if the control system 1 determines that the height of the work machine 12 exceeds the lifting limit value, the control system 1 sets the PTO axis 7 to an inoperable state.

[0158] Therefore, when starting to drive the work machine 12, if the height of the work machine 12 has exceeded the lifting limit, it can be set not to drive the work machine 12, which has the advantage of preventing excessive load on the PTO axis 7. Here, when the PTO axis 7 is set to an inoperable state, the control system 1 can display a message on the display unit 32 of the terminal device 3 indicating that the work machine 12 cannot be driven because its height has exceeded the lifting limit. In this case, it has the advantage that the operator can easily take measures to lower the work machine 12.

[0159] Furthermore, when starting the drive of the PTO axis 7, if the height of the work machine 12 does not exceed the lifting limit value, the control system 1 starts the drive of the PTO axis 7. In this case, the work machine 12 can be driven without applying excessive load to the PTO axis 7.

[0160] Furthermore, in the control method of this embodiment, information related to the height limit of the work machine 12 can be notified based on the correlation between the height of the work machine 12 and the rise limit value. Specifically, for example, when the height of the work machine 12 has reached the rise limit value, the control system 1 can display a message indicating that the height of the work machine 12 has reached the rise limit value on the display unit 32 of the terminal device 3 as information related to the rise limit of the work machine 12. Additionally, for example, when the height of the work machine 12 is near the rise limit value, the control system 1 can display a message on the display unit 32 of the terminal device 3 to draw attention to the fact that the height of the work machine 12 is about to reach the rise limit value. Here, "near the rise limit value" is, for example, a value of about 80-90% of the rise limit value. Therefore, it has the advantage that the operator can easily grasp the situation where the height of the work machine 12 triggers the rise limit.

[0161] In addition to displaying messages on the display unit 32 as described above, notifications can also be made by emitting light in a specific pattern using light-emitting elements such as LEDs (Light Emitting Diodes), or by sounding a specific sound from a buzzer or the like.

[0162] [6] Variations

[0163] The following are variations of Implementation 1. The variations described below can be appropriately combined and applied.

[0164] In the above-described embodiment 1, the height of the working machine 12 is defined by the rotation angle α of each of the pair of lifting arms 61, but it is not limited to this. For example, the height of the working machine 12 can be defined by the extension length of each of the pair of hydraulic cylinders 63. Alternatively, for example, the height of the working machine 12 can be defined by the rotation angle of each of the pair of lower connecting rods 462.

[0165] 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 processor executes programs (control programs for operating machinery) recorded in the computer system's memory to realize the functions of the control system 1 disclosed herein. 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, and hard disk drives that can be read by the computer system. Furthermore, some or all of the functional units included in the control system 1 can be constructed using electronic circuits.

[0166] Furthermore, integrating at least some of the functions of the control system 1 into a single housing is not an essential structure within the control system 1; the structural elements of the control system 1 can also be distributed among multiple devices (e.g., control device 2 and terminal device 3). Conversely, in embodiment 1, the functions distributed among multiple devices can also be integrated into a single housing. Moreover, at least some of the functions of the control system 1 can be implemented via the cloud (cloud computing) or the like.

[0167] Furthermore, the terminal device 3 is not limited to general-purpose terminals such as tablets, smartphones, or laptops; it can also be a dedicated terminal. Moreover, multiple terminal devices 3 can be associated with one piece of machinery 10, in which case the multiple terminal devices 3 can control the one piece of machinery 10. Conversely, one terminal device 3 can also be associated with multiple pieces of machinery 10, in which case the one terminal device 3 can control the multiple pieces of machinery 10.

[0168] For example, the terminal device 3 can be a portable terminal device 3 that is not present in the work machinery 10. In this case, the operator can use the portable terminal device 3 to remotely operate the work machinery 10 or view various information related to the work machinery 10. Alternatively, for example, if there are two terminal devices 3, one of them can be the terminal device 3 present in the work machinery 10, and the other can be a portable terminal device 3. In this case, the operator can use the terminal device 3 present in the work machinery 10 to directly operate the work machinery 10 or view various information related to the work machinery 10. Alternatively, the operator can also use the portable terminal device 3 to remotely operate the work machinery 10 or view various information related to the work machinery 10.

[0169] [Postscript to the Invention]

[0170] The following is a summary of the invention derived from the above embodiments. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0171] <Postscript 1>

[0172] A control method for a work machine, wherein,

[0173] The control method for the operating machinery includes the following steps:

[0174] Controlling the lifting device that raises and lowers the machine body assembled on the machine; and

[0175] Under specified conditions, when the height of the work machine reaches the upward limit value, the upward limit function that restricts the upward movement of the work machine becomes effective.

[0176] <Appendix 2>

[0177] Based on the control methods of the operating machinery described in Appendix 1, among which,

[0178] The specified conditions include drive conditions related to the drive state that transmits power generated by the power source to the power output shaft of the machine.

[0179] <Appendix 3>

[0180] Based on the control methods for the operating machinery described in Appendix 2, among which,

[0181] The driving conditions include driving via the power output shaft.

[0182] <Appendix 4>

[0183] Based on the control methods of the operating machinery described in any of the appendices 1 to 3, among which,

[0184] The specified conditions include positional conditions related to the position of the operating machinery.

[0185] <Appendix 5>

[0186] Based on the control methods of the operating machinery described in any of the appendices 1 to 4, among which,

[0187] The control method for the operating machinery also includes the following steps: automatically setting the upward limit value without relying on the operator's operation.

[0188] <Appendix 6>

[0189] Based on the control methods for the operating machinery described in Appendix 5, among which,

[0190] The set range that can be set as the upward limit value is specified regarding the height of the work machine.

[0191] The initial value of the upward limit is set to the lower limit of the set range.

[0192] <Appendix 7>

[0193] Based on the control methods for the operating machinery described in Appendix 5, among which,

[0194] The rise limit value is automatically set based on information related to at least one of the following: the power output shaft of the power source that transmits power to the work machine, the work machinery, and the work machine.

[0195] <Appendix 8>

[0196] Based on the control methods for the operating machinery described in Appendix 5, among which,

[0197] The control method for the operating machinery also includes the following steps: accepting the input of the allowable angle.

[0198] The permissible angle is the allowable range of the swing angle of the universal joint that connects to the power output shaft of the power source to transmit the power generated by the power source to the working machine.

[0199] The ascent limit value is automatically set according to the permissible angle.

[0200] <Appendix 9>

[0201] Based on the control methods of the operating machinery described in any of the appendices 1 to 8, among which,

[0202] The control method for the operating machinery further includes the following steps: corresponding to the first setting operation, setting the effective / ineffective suppression function of the rise restriction function under the condition that the specified conditions are met.

[0203] <Postscript 10>

[0204] Based on the control methods of the operating machinery described in any of the appendices 1 to 9, among which,

[0205] The control method for the operating machinery also includes the following steps: setting the upward limit value in accordance with the second setting operation.

[0206] <Postscript 11>

[0207] Based on the control methods of the operating machinery described in any of the appendices 1 to 10, among which,

[0208] The control method for the operating machinery also includes the following steps: displaying information related to the operating machinery on a display device.

[0209] The upward limit value is displayed on the display device.

[0210] <Appendix 12>

[0211] Based on the control methods of the operating machinery described in any of the appendices 1 to 11, among which,

[0212] The control method for the operating machinery also includes the following steps: when the power generated by the power source is started to be transmitted to the power output shaft of the operating machine, if the height of the operating machine exceeds the rising limit value, the power output shaft is set to an inoperable state.

[0213] <Postscript 13>

[0214] Based on the control methods of the operating machinery described in any of the appendices 1 to 12, among which,

[0215] The control method for the operating machinery further includes the following steps: notifying information related to the lifting limit of the operating machinery based on the correlation between the height of the operating machinery and the lifting limit value.

[0216] <Appendix 14>

[0217] A control program for a work machinery, wherein,

[0218] The control program for the operating machinery is used to enable one or more processors to execute the control method for the operating machinery described in any of the appendices 1 to 13.

[0219] <Postscript 15>

[0220] A control system for a work machinery, wherein,

[0221] The control system for the operating machinery includes:

[0222] The operation control unit controls the lifting device that raises and lowers the machine body, which is mounted on the machine body; and

[0223] The suppression processing unit, under specified conditions, enables the rise restriction function that limits the rise of the work machine when the height of the work machine reaches the rise limit value.

[0224] <Postscript 16>

[0225] An operating system, wherein,

[0226] The operating system has the following features:

[0227] The control system for the operating machinery described in Appendix 15; and

[0228] The body of the operating machinery.

Claims

1. A control method for a work-related machine, wherein, The control method for the operating machinery includes the following steps: Controlling the lifting device that raises and lowers the machine body assembled on the machine; and Under specified conditions, when the height of the work machine reaches the upward limit value, the upward limit function that restricts the upward movement of the work machine becomes effective.

2. The control method for the operating machinery according to claim 1, wherein, The specified conditions include drive conditions related to the drive state that transmits power generated by the power source to the power output shaft of the machine.

3. The control method for the operating machinery according to claim 2, wherein, The driving conditions include driving via the power output shaft.

4. The control method for the operating machinery according to any one of claims 1 to 3, wherein, The specified conditions include positional conditions related to the position of the operating machinery.

5. The control method for the operating machinery according to any one of claims 1 to 3, wherein, The control method for the operating machinery also includes the following steps: automatically setting the upward limit value without relying on the operator's operation.

6. The control method for the operating machinery according to claim 5, wherein, The set range that can be set as the upward limit value is specified regarding the height of the work machine. The initial value of the upward limit is set to the lower limit of the set range.

7. The control method for the operating machinery according to claim 5, wherein, The rise limit value is automatically set based on information related to at least one of the following: the power output shaft of the power source that transmits power to the work machine, the work machinery, and the work machine.

8. The control method for the operating machinery according to claim 5, wherein, The control method for the operating machinery also includes the following steps: accepting the input of the allowable angle. The permissible angle is the allowable range of the swing angle of the universal joint that connects to the power output shaft of the power source to transmit the power generated by the power source to the working machine. The ascent limit value is automatically set according to the permissible angle.

9. The control method for the operating machinery according to any one of claims 1 to 3, wherein, The control method for the operating machinery further includes the following steps: corresponding to the first setting operation, setting the effective / ineffective suppression function of the rise restriction function under the condition that the specified conditions are met.

10. The control method for the operating machinery according to any one of claims 1 to 3, wherein, The control method for the operating machinery also includes the following steps: setting the upward limit value in accordance with the second setting operation.

11. The control method for the operating machinery according to any one of claims 1 to 3, wherein, The control method for the operating machinery also includes the following steps: displaying information related to the operating machinery on a display device. The upward limit value is displayed on the display device.

12. The control method for the operating machinery according to any one of claims 1 to 3, wherein, The control method for the operating machinery also includes the following steps: when the power generated by the power source is transmitted to the power output shaft of the operating machine, if the height of the operating machine exceeds the rising limit value, the power output shaft is set to an inoperable state.

13. The control method for the operating machinery according to any one of claims 1 to 3, wherein, The control method for the operating machinery further includes the following steps: notifying information related to the lifting limit of the operating machinery based on the correlation between the height of the operating machinery and the lifting limit value.

14. A control program for a work machinery, wherein, The control program for the operating machinery is used to enable one or more processors to execute the control method for the operating machinery as described in any one of claims 1 to 3.

15. A control system for a work machinery, wherein, The control system for the operating machinery includes: The operation control unit controls the lifting device that raises and lowers the machine body, which is mounted on the machine body; and The suppression processing unit, under specified conditions, enables the rise restriction function that limits the rise of the work machine when the height of the work machine reaches the rise limit value.

16. An operating system, wherein, The operating system has the following features: The control system for the operating machinery as described in claim 15; and The body of the operating machinery.

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