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

Abstract

To provide a control method of a work machine that enhances safety during a hoisting work by displaying, on a display device, a monitoring image of the area around the work machine and information related to the hoisting work without interfering with visibility of each other during the hoisting work of the work machine.SOLUTION: A control method of a work machine having a crane mode includes: executing a first control in a first state to display a first image DP1 having a first display B1 including a rated load and an actual load on a display portion of a display device together with a captured image P1; and executing a second control in a second state to display a second image DP2 having a second display B0 including the rated load and the actual load on the display portion of the display device instead of the captured image P1.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] As a related technique, there is known a control method for a hydraulic excavator that displays on a monitor display the actual load of a load suspended from the tip of the working machine of the hydraulic excavator, the rated load that allows suspended travel, and whether or not suspended travel is possible before travel (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-104874 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of work machines such as hydraulic excavators, the demand for safety during work has increased in recent years, and there is a demand for displaying captured images of the surroundings of the work machine on the display unit of a monitor in order to prevent contact accidents between the work machine and workers around the work machine, and the same is true for work machines such as those of related technologies.

[0005] In the hoisting work of a work machine, in order to perform the hoisting work safely, it is necessary to display numerical information and warnings as information necessary for the hoisting work without interfering with the visibility of the captured image. Also, in the case of hoisting travel in which the traveling operation is performed while performing the hoisting work as in the related art, the degree of danger increases due to the influence of the load swaying, etc., so it is necessary to display more information, and therefore it becomes an even more difficult problem to display the information necessary for the hoisting work without interfering with the visibility of the captured image.

[0006] The present invention has been made in consideration of the problems with the conventional technology described above, and provides a work machine control method, a work machine control program, a work machine control system, and a work machine that increase safety during hoisting work by displaying, on a display device, a surveillance image of the area around the work machine and information related to the hoisting work without interfering with the visibility of each other during hoisting work of the work machine. [Means for solving the problem]

[0007] A control method for a work machine according to one embodiment of the present invention is a control method for a work machine capable of displaying an image captured by a camera installed on a work machine having a crane mode that measures the actual load of a load suspended from the tip of the work machine and calculates a rated load, which is the load that can be suspended, on a display unit of a display device, the control method including the steps of: executing a first control in a first state when in the crane mode, to display on the display unit a first image having a first display including the rated load and the actual load together with the captured image; and executing a second control in a second state when in the crane mode, to display on the display unit a second image having a second display including the rated load and the actual load, instead of the captured image.

[0008] A work machine control program according to one aspect of the present invention executes the work machine control method by at least one arithmetic device.

[0009] A work machine control system according to one embodiment of the present invention is a work machine control system capable of displaying an image captured by a camera installed on a work machine having a crane mode that measures the actual load of a load suspended from the tip of the work machine and calculates a rated load, which is the load that can be suspended, on a display unit of a display device, and has a first control unit that executes a first control to display a first image having a first display including the rated load and the actual load together with the captured image on the display unit in a first state when in the crane mode, and a second control unit that executes a second control to display a second image having a second display including the rated load and the actual load on the display unit in place of the captured image in a second state when in the crane mode. Effect of the Invention

[0010] According to the present invention, during the hoisting operation of a work machine, a monitoring image of the area around the work machine and information regarding the hoisting operation are displayed on a display device without interfering with the visibility of each other, thereby increasing safety during the hoisting operation. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a left side view of a hydraulic excavator according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a plan view of a driver's seat of a hydraulic excavator according to a first embodiment of the present invention. [Diagram 3] 1 is a control system for a hydraulic excavator according to a first embodiment of the present invention. [Figure 4] 1 is a front view of a display device for a hydraulic excavator according to a first embodiment of the present invention. [Diagram 5] 1 is a first image as one mode displayed on a display screen of a display device of a hydraulic excavator according to a first embodiment of the present invention. [Figure 6] 5 is a second image as one mode displayed on the display screen of the display device of the hydraulic excavator according to the first embodiment of the present invention. [Figure 7] 3A to 3C are schematic diagrams showing screen transitions from respective display modes of a first image and a second image displayed on a display screen of a display device of a hydraulic excavator according to a first embodiment of the present invention. [Figure 8] 6 is a third image as one mode displayed on the display screen of the display device of the hydraulic excavator according to the first embodiment of the present invention. [Figure 9] 13 is a fourth image as one mode displayed on the display screen of the display device of the hydraulic excavator according to the first embodiment of the present invention. [Figure 10] 13 is a fourth image as another aspect displayed on the display screen of the display device of the hydraulic excavator according to the first embodiment of the present invention. [Figure 11] 13 is a fifth image as one mode displayed on the display screen of the display device of the hydraulic excavator according to the first embodiment of the present invention. [Figure 12] 3 shows one mode of display switched by a switching means as one mode displayed on a display screen of a display device of a hydraulic excavator according to a first embodiment of the present invention. [Figure 13] 4 is a flowchart relating to a control method for a hydraulic excavator according to the first embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A first embodiment of the present invention will be described in detail below with reference to the accompanying drawings, taking a hydraulic excavator 100 as a representative example of a work machine according to the present invention. Note that the direction in which the work machine 400 is attached to the upper rotating body 300 is the front, and the opposite direction is the rear.

[0013] As shown in FIG. 1, the hydraulic excavator 100 comprises a self-propelled lower traveling body 200, an upper rotating body 300 rotatably supported on the lower traveling body 200, a work machine 400 supported in front of the upper rotating body 300 so as to be freely rotatable up and down, and a control system 500.

[0014] The lower traveling body 200 has a center frame (not shown) and side frames 210 that are symmetrically paired with the center frame and extend in the front-rear direction, and drive wheels 212 driven by a traveling motor 211 are installed at the rear ends of the left and right side frames 210, and a plurality of idler wheels 213 are arranged facing forward, and tracks 214 are wound around the drive wheels 212 and the idler wheels 213. Furthermore, a soil removal device 215 is supported at the front of the center frame, and is movable up and down by the extension and contraction of a blade cylinder 216 that connects the soil removal device 215 and the center frame.

[0015] The upper rotating body 300 is arranged from the front to the rear of the machine on one side of the machine body and is composed of a cabin 320 covering the driver's seat 310, an engine room 330 formed from the right side of the machine body to the rear of the machine body, and a swing post 340 supported on a protruding part at the front end of the machine body so as to be freely rotatable left and right, and supporting a work machine 400 so as to be freely rotatable up and down.

[0016] The work machine 400 comprises a boom 410 supported on a swing post 340 so as to be freely rotatable up and down, an arm 420 attached to the tip of the boom 410 so as to be rotatable up and down, a bucket 430 attached to the tip of the arm 420 via a quick hitch 421 so as to be rotatable and detachable, and a swing cylinder (not shown) for moving the swing post 340 is disposed on the right side of the frame of the upper rotating body 300.

[0017] The boom cylinder 440 is disposed in front of and below the boom 410, and is operable to be raised and lowered by extension and contraction of the boom cylinder 440.

[0018] The boom cylinder 440 is provided with a pressure sensor 441 that measures the pressure in a rod-side oil chamber of the boom cylinder 440 , and a pressure sensor 442 that measures the pressure in a bottom-side oil chamber of the boom cylinder 440 .

[0019] The arm cylinder 450 is installed above the boom 410, and by extension and contraction of the arm cylinder 450, the arm 420 performs a dumping operation in which it rotates forward and a crowding operation in which it rotates backward.

[0020] A potentiometer 411 for measuring the rotation angle of the boom 410 is attached to the left side of the base end of the boom 410, and a potentiometer 421 for measuring the rotation angle of the arm 420 is attached to the left side of the tip end of the boom 410.

[0021] The bucket cylinder 470 is disposed in front of (above) the arm 420 and is connected to the arm 420 and the bucket 430 via a bucket link 460. When the bucket cylinder 470 expands and contracts, the bucket 430 rotates forward for a dumping operation and rearward for a crowding operation.

[0022] A hook 461 is attached retractably inside the bucket link 460. The hook 461 is stored during excavation, and during lifting work, the hook 461 is pulled out from inside the bucket link 460 and a load is suspended from the hook 461.

[0023] The engine room 330 houses an engine (not shown), a variable displacement pump 511 that is driven by the engine and pumps hydraulic oil to multiple actuators that move the hydraulic excavator 100, such as the boom cylinder 440 and the arm cylinder 450, and a number of other pieces of equipment, including a control valve 513 that is an assembly of directional control valves that control the corresponding actuators.

[0024] The exterior of the engine room 330 is composed of a bonnet 331 that surrounds the inside of the engine room, and a camera 332 that captures images of the area behind the hydraulic excavator 100 is attached to the rear of the bonnet 331.

[0025] 2 is a plan view of driver's seat 310. On one side (right side) of floor material 311, right side wall 311R having a window of cabin 320 above, on the other side (left side) of floor material 311, boarding gate 311L configured with a door that can be opened and closed freely, windshield 311F at the front end of floor material 311, and seat 312 at the rear of floor material 311 are arranged.

[0026] A pair of left and right travel levers 313a1, 313a2 having pedals at their base ends are provided at the front of the floor material 311, facing the windshield 311F, and the left and right travel levers 313a1, 313a2 can be tilted forward and backward to travel the hydraulic excavator 100 forward and backward.

[0027] At the front of the floor material 311, there is provided a dashboard 314 formed so as to slope from the front to the rear downward along the right side wall 311R, and at the upper part of the dashboard 314, there is provided a display device 320, and a display unit 321 of the display device 320 and an operation button 322 for operating the display device 320 installed below it are both arranged to face in the direction of the seat 312.

[0028] On one side of seat 312, the right side, there is arranged a lever console 316a with an operating lever 313b1 standing at its front upper end, and on the other side of seat 312, the left side (boarding gate 311L side), there is arranged a lever console 316b with an operating lever 313b2 standing at its front upper end.

[0029] The lever console 316b is extended from a position slightly forward of the seat 312 while inclining backward, and is provided at its tip with a cutoff lever 316b2 that rises forward and an armrest 316b1 behind the operating lever 313b2. When the cutoff lever 316b2 is pulled backward (cutoff lever locked state), the lever console 316b rotates backward, the cutoff switch 516 turns off, the solenoid valve 515 closes, and the pilot pressure that controls the control valve 513 is cut off, and the operating levers 313b1 and 313b2 and the travel levers 313a1 and 313a2, which are the operating device 313, become inoperable.

[0030] The lever console 316a is extended from a position slightly forward of the seat 312 at an angle toward the rear, and then extends straight from its middle to the vicinity of the rear end of the seat 312. A console 317 is disposed on one side (right side) of the lever console 316a, and an operating lever 318 for operating the soil removal device 215 is disposed between the console 317 and the right side wall 311R. A jog dial 317a for operating the display device 320 instead of the operating button 322 is disposed on the tip of the console 317.

[0031] Next, using Figure 3 Next, the control system 500 of the hydraulic excavator 100 will be described.

[0032] The control system 500 includes at least a hydraulic circuit 510 , a sensing device, a control device 520 , and a display device 320 .

[0033] In hydraulic circuit 510, high-pressure hydraulic oil piping extending from variable displacement pump 511 is represented by a solid line, and low-pressure hydraulic oil (pilot pressure) piping extending from pilot pump 512 is represented by a dotted line.

[0034] Hydraulic circuit 510 includes actuators connected from variable displacement pump 511 via control valve 513 consisting of multiple directional control valves, and a pilot oil passage extending from pilot pump 512 is connected to remote control valve 514 which outputs pilot pressure to a corresponding directional control valve by operation of operating device 313, and pressure-feeds oil discharged from variable displacement pump 511 in response to operation of corresponding operating device 313 to the corresponding actuator. Note that control valve 513 has a detection oil passage which can detect which actuator has been operated by the pilot pressure based on the presence or absence of sliding of the spool of the directional control valve, and control device 520 can determine whether or not the hydraulic excavator 100 is traveling based on a pressure signal from the detection oil passage.

[0035] The remote control valve 514 and the pilot pump 512 are connected via a solenoid valve 515, and when a cut-off switch 516 is turned on, the solenoid valve 515 is energized and opens, making the operation device 313 operable, and when the cut-off switch 516 is turned off, the solenoid valve 515 is closed as described above and makes the operation device 313 inoperable. The control device 520 can determine whether the cut-off lever is in the locked state or not depending on whether the solenoid valve 515 is energized or not.

[0036] The detection device includes, as sensors for detecting posture information of the work machine 400, a potentiometer 411 that measures the rotation angle of the boom 410 and a potentiometer 421 that measures the rotation angle of the arm 420, as sensors for detecting load information on the boom cylinder 440, a pressure sensor 441 that measures the pressure in the rod side oil chamber of the boom cylinder 440 and a pressure sensor 442 that measures the pressure in the bottom side oil chamber of the boom cylinder 440, and a camera 332 that captures an image of the rear of the hydraulic excavator 100 to be displayed on the display unit 321.

[0037] The control device 520 is an ECU (electronic control unit) and includes an information acquisition unit 521, which includes an input buffer that converts the signal level of a digital input signal and an AD converter that performs digital conversion of an analog input signal, a calculation unit 522 consisting of a microcomputer that calculates control amounts from various input signals, an output driver that converts the output signal of the microcomputer into a drive signal form that drives an actuator, and a communication driver / receiver.

[0038] Signals input to control device 520 are represented by dashed dotted lines with arrows pointing to control device 520, and signals output from control device 520 are represented by dashed dotted lines with arrows pointing to the equipment to which the signal is input.

[0039] When the crane mode for safely performing the lifting operation is selected on the display device 320, the hook 461 is pulled out, and the lifting operation is performed, the calculation unit 522 calculates the actual load of the load based on the attitude information of the potentiometers 411 and 421 acquired by the information acquisition unit 521 and the load information on the boom cylinder 440 from the pressure sensors 441 and 442, and outputs it to the display device 320, making it possible to measure the load of the load.

[0040] Based on the attitude information of potentiometer 411 and potentiometer 421 acquired by information acquisition unit 521, the rated load when traveling and the rated load when not traveling, which are loads that can be tolerated when hanging while traveling and not traveling, are calculated and output to display device 320. Here, the rated load when traveling is set to 50% of the rated load when not traveling, making the hanging work while traveling safer.

[0041] Display device 320 includes a display unit 321 that displays an image on a screen, operation buttons 322 that operate the display device, and a display control unit 323 that accepts operation of operation buttons 322 and controls display of an image on display unit 321.

[0042] The display control unit 323 is an ECU (electronic control unit), and as the explanation will overlap with that of the control device 520, it will not be repeated here; however, the display unit 321 is a liquid crystal display or may be an organic EL display, and is not limited to these as long as it is capable of displaying images under the control of the display control unit 323.

[0043] A method of controlling the display of an image displayed on display unit 321 will be described with reference to FIG. 4 which is a front view of display device 320 and FIGS. 4 to 2 relating to an image DP displayed on display unit 321.

[0044] The operation buttons 322 are composed of buttons 322a, 322b, 322c, 322d, 322e, and 322f which are arranged in a row from left to right on the lower part of the display device 320 below the display unit 321.

[0045] The image DP is composed of a number of partitioned regions, and the regions are virtually represented by partitions surrounded by dotted lines.

[0046] An area A1 displaying the current time is located at the left edge of the image DP, an area A2 displaying the current operating time of the hydraulic excavator 100 is located at the edge of the image DP, and an area A3 displaying warnings, etc. is located between areas A1 and A2.

[0047] Below area A1 is area A4, which displays a meter M1 indicating the remaining amount of fuel in the fuel tank, which is one of the state quantities of the hydraulic excavator 100, and below area A1 is area A5, which displays an icon indicating the state of the hydraulic excavator 100, and below area A3, between area A4 and area A5, are areas A6 and A7, which display different displays depending on specific conditions of the hydraulic excavator 100.

[0048] Below area A4 is area A8, which displays warning icons, below area A5 is area A9, which displays the engine RPMs, and below area A6 and area A7, between area A8 and area A9, is area A10, which displays notification information and icons indicating the status of the hydraulic excavator 100.

[0049] At the bottom of the image DP, an area A11 is disposed from the left end to the right end, displaying an explanation of the functions of the operation buttons 322. In the area A11, the following text is displayed: "Menu" at a position facing the operation button 322a, "Decel" at a position facing the operation button 322b, "Mode" at a position facing the operation button 322c, "Crane" at a position facing the operation button 322d, "Camera" at a position facing the operation button 322e, and "Switch" at a position facing the operation button 322f.

[0050] When the operation button 322 corresponding to the text displayed in area A11 is pressed, the display control unit 323 issues a command to the control device 520 to enable the function of the hydraulic excavator 100 assigned according to the text, or to display on the display unit 321 according to the text by the display control unit 323.

[0051] When the operation button 322a is pressed, a menu screen is displayed on the display unit 321 for accessing function settings of the hydraulic excavator 100, detailed status information of the hydraulic excavator 100, and the like.

[0052] When the operation button 322b is pressed, if the operation levers 313b1 and 313b2 are not operated for a certain period of time, an auto-idle function is enabled, which automatically sets the engine speed to the idle speed.

[0053] Pressing the operation button 322c changes the setting from the normal engine speed to an eco mode where the engine speed is lower than the normal speed and prioritizes fuel efficiency, pressing the operation button 322c again changes the setting from the normal engine speed to a power mode where the engine speed is higher than the normal speed and prioritizes power, and pressing the operation button 322c again returns the setting to the normal mode where the engine speed is normal. In other words, the engine speed mode can be switched by the operation button 322c.

[0054] When the operation button 322d is pressed, the crane mode suitable for lifting work is set, and the engine speed is set to a crane mode speed that is lower than the normal engine speed in order to perform the lifting work safely.

[0055] When the hydraulic excavator 100 is in a state (first state) in which it is set in the crane mode and is ready to perform work, the display control unit 323 can execute a first control to cause the display unit 321 to display a first image DP1.

[0056] As shown in Fig. 5, the first image DP1 includes the captured image P1 of the camera 332 in the area A6 and the area A7, and the first display B1 consisting of the actual load of the suspended load "1.1t" and the rated load when traveling "1.2t" in the area A10, allowing the operator to visually confirm the rated load and the actual load, which are the minimum information required during the suspension work, without interfering with the visibility of the surrounding captured image P1. Depending on whether traveling or not, the rated load can be displayed as the rated load when traveling or when not traveling. Also, by leaving M1, which needs to be confirmed during work, displayed in the side area A4 of the captured image P1, important information can be confirmed at any time without interfering with the surrounding captured image P1.

[0057] When the hydraulic excavator 100 is placed in the cutoff lever lock state (second state) while set in the crane mode, the display control unit 323 can execute a second control for causing the display unit 321 to display the second image DP2.

[0058] 6, the second image DP2 includes a meter M2 in an area A6 that displays the temperature of the hydraulic oil, which is a state quantity of the hydraulic excavator, and a display B0 in an area A7 that displays the actual load "1.1 t", the rated load when not traveling "2.4 t", the working radius "4.5 m" that changes depending on the deployment amount of the work implement 400, and the boom angle "-2.5°". In other words, the second display B1 is made up of a part of the information in the display B0 and is the minimum information required during the lifting operation. The meter M2 is displayed adjacent to the information required during the lifting operation.

[0059] 7, in a state (first state) in which the cutoff lever 316b2 is lowered and the hydraulic excavator 100 can be moved, a first display B1 showing the rated load and actual load, which are the minimum information required during the lifting operation, is displayed below the areas A6 and A7 along with the captured image P1 of the periphery of the hydraulic excavator 100 in the areas A6 and A7 at the center of the display unit 321, and in a state (second state) in which the cutoff lever 316b2 is raised and the hydraulic excavator 100 cannot be moved, a meter M2 showing the temperature of the hydraulic oil is displayed in the area A6, and a second display B0 showing detailed information required during the lifting operation is displayed in the area A7 in place of the captured image P1 of the periphery of the hydraulic excavator 100 in the areas A6 and A7, and the first display B1 in the area A10 is erased. In other words, in the first state in which the lifting operation is performed, the lifting operation can be performed while paying attention to the surrounding environment, and in the safe second state in which the hydraulic excavator 100 is on standby, detailed information can be confirmed in order to prepare for a state in which the lifting operation can be performed safely.

[0060] When the operation button 322d is pressed in the cut-off lever locked state and in the crane mode, the crane mode ends, and the display control unit 323 executes a third control for causing the display unit 321 to display the third image DP3.

[0061] As shown in Fig. 8, the third image DP3 includes M3 that displays the cooling water temperature in the area A7. In other words, when the crane mode ends with the cutoff lever locked, it is possible to check the remaining fuel level, hydraulic oil temperature, and cooling water temperature, which are particularly important when performing excavation work that involves a heavy load.

[0062] When the hydraulic excavator 100 set to the crane mode is in the first state and the actual load of the suspended load during suspension traveling exceeds the rated load during traveling, the display control unit 323 can execute a fourth control to cause the display unit 321 to display a fourth image DP4.

[0063] As shown in Figs. 9 and 10, the fourth image DP4 includes an image P1 captured by the camera 332 in areas A6 and A7, and an alternate display of a first display B1 consisting of the actual load of the suspended load "1.5t" and the rated load during travel "1.2t" in area A10, and a fourth display B2 indicating a method for reducing the actual load below the rated load, "move the suspended load closer or lighter," and further includes a display in area A3 that displays a fifth display B3 including an icon warning to immediately stop the suspension work and "overload," a warning indicating that the actual load exceeds the rated load, with a flashing warning color background. When the vehicle stops traveling, the rated load displayed on the first display B1 is the rated load when not traveling, and if the actual load exceeds the rated load when not traveling, the display control unit 323 executes the fourth control on the display unit 321. In other words, the fourth control is executed based on the relationship between the rated load and the actual load, which changes depending on whether the vehicle is traveling or not.

[0064] When the hydraulic excavator 100 is set to the crane mode and in the first state and not traveling, and the actual load of the suspended load exceeds the rated load for traveling, the display control unit 323 can execute a fifth control to cause the display unit 321 to display a first image DP5.

[0065] As shown in FIG. 11, the fifth image DP5 includes an image P1 captured by camera 332 in areas A6 and A7, a display B1 consisting of the actual load of the suspended load of "1.5t" and the rated load when not traveling of "2.4t" in area A10, and a sixth warning display B4 regarding traveling, "suspended traveling not possible (load)," in area A3, indicating that suspended traveling is not possible. This prevents suspended traveling in dangerous conditions, while allowing work to be performed safely by comparing the rated load when not traveling with the actual load.

[0066] When the third image DP3 is displayed on the display unit 321, by pressing the operation button 332e, the display control unit 323 can display the captured image P1 in the area A6 and the area A7. This allows the operator to monitor the surroundings of the hydraulic excavator 100.

[0067] When the first image DP1, the fourth image DP4, or the fifth image DP5 is displayed on the display unit 321, pressing the operation button 332f causes the display control unit 323 to execute control to switch the first display B1 in the area A10 to the seventh display B4 shown in Fig. 11, which is composed of "Work radius: 4.5m" and "Boom: -2.5°". Note that the display B3 is information included in the display B0, and the operator can check detailed information necessary for the lifting work.

[0068] The control flow will be described with reference to Fig. 12. Fig. 12 is a flowchart relating to the control method.

[0069] The operation button 322d is pressed to set the crane mode (S1).

[0070] When the control device 520 determines that the cutoff lever is not in the lock state (S2: NO), the display control unit 323 executes the first control (S3).

[0071] When the control device 520 determines that the cutoff lever is in the lock state (S2: YES), the display control section 323 executes the second control (S4), and returns to S2.

[0072] When the control device 520 determines that the actual load of the suspended load is smaller than the rated load during traveling (S5: NO), the process returns to S2.

[0073] When the control device 520 determines that the actual load of the suspended load is greater than the rated load during traveling (S5: YES), the process proceeds to S6.

[0074] When the control device 520 determines that the vehicle is not moving (S6: NO), the fifth control is executed (S7), and the process returns to S6.

[0075] When the control device 520 determines that the vehicle is moving (S6: YES), the fourth control is executed (S7), and the flow ends.

[0076] The flowchart shown in FIG. 13 is merely an example, and processes may be added or omitted as appropriate, processes may be repeatedly executed, and the order of processes may be changed as appropriate.

[0077] Next, a modification of the first embodiment of the present invention will be described.

[0078] The display B0 of the second image DP2 may display both the rated load when traveling and the rated load when not traveling.

[0079] The display unit 321 may display the rated load of the display B1 of the first image DP1, the fourth image DP4, or the fifth image DP5 in both the rated load when traveling and the rated load when not traveling.

[0080] The invention according to the embodiment of the present invention can be specified as follows.

[0081] <Appendix 1> A control method for a work machine capable of displaying, on a display unit, an image captured by a camera installed on a work machine having a crane mode for measuring an actual load of a load suspended from a tip of the work machine and calculating a rated load, which is a load that can be suspended, the control method for a work machine comprising the steps of: executing a first control for displaying, on the display unit, a first image having a first display including the rated load and the actual load together with the captured image, in a first state when in the crane mode; and executing a second control for displaying, on the display unit, a second image having a second display including the rated load and the actual load, in place of the captured image, in a second state when in the crane mode.

[0082] <Supplementary Note 2> A control method for a work machine as described in Supplementary Note 1, comprising executing a third control for displaying a third image in which the second display of the second image is replaced with a meter display showing a state quantity of the work machine when the work machine is in a mode other than the crane mode in the second state.

[0083] <Supplementary Note 3> A control method for a work machine as described in Supplementary Note 1 or Supplementary Note 2, comprising executing a fourth control to display a fourth image on the display unit, in which a first display is alternately displayed with a fourth display different from the first display, together with an image captured when the actual load is equal to or greater than the rated load in a first state during the crane mode.

[0084] <Appendix 4> A control method for a work machine as described in Appendix 3, wherein the fourth indication is an indication showing a method for making the actual load smaller than the rated load.

[0085] <Appendix 5> A method for controlling a work machine as described in Appendix 3 or Appendix 4, wherein the fourth image includes a fifth display indicating a warning.

[0086] <Appendix 6> A control method for a work machine as described in any one of Appendices 1 to 5, comprising: executing a fifth control to display a fifth image including the captured image, the first display, and a sixth display showing a warning regarding traveling, when another rated load that can be suspended during traveling is set, and in a first state during the crane mode, the actual load before traveling is greater than the other rated load.

[0087] <Appendix 7> A control method for a work machine as described in any one of Appendices 1 to 6, wherein the work machine has a locking device that transitions from an operable state to an inoperable state, the operable state being the first state and the inoperable state being the second state.

[0088] <Appendix 8> A control method for a work machine as described in any one of Appendices 1 to 7, wherein the first display displays partial information that is a part of the information of the second display.

[0089] <Appendix 9> A control method for a work machine according to appendix 8, wherein the partial information can be changed to different information by a switching means.

[0090] <Appendix 10> A work machine control program for executing the work machine control method described in Appendices 1 to 9 using at least one arithmetic device.

[0091] <Appendix 11> A work machine control system capable of displaying, on a display unit of a display device, an image captured by a camera installed on a work machine having a crane mode for measuring an actual load of a load suspended from a tip of the work machine and calculating a rated load, which is a load that can be suspended, the work machine control system comprising: a first control unit that executes a first control for displaying, on the display unit, a first image having a first display including the rated load and the actual load together with the captured image in a first state in the crane mode; and a second control unit that executes a second control for displaying, on the display unit, a second image having a second display including the rated load and the actual load together with a meter display showing a state quantity of the work machine, instead of the captured image, in a second state in the crane mode.

[0092] <Appendix 12> A work machine equipped with the work machine control system described in Appendix 11.

[0093] The various configurations described in the first embodiment and the modifications thereof described above can be adopted in appropriate combination.

[0094] In the above, a hydraulic excavator has been used as an example of a work machine, but the work machine is not limited to a hydraulic excavator and may be not only a compact track loader, a crane truck, or other construction machine, but also a tractor or other work machine. Furthermore, although an engine has been used as the prime mover in the above description, an electric motor may also be used.

[0095] Although the embodiment of the present invention has been described above, the scope of the present invention is not limited to this, and the invention can be expanded or modified without departing from the spirit of the invention. [Industrial Applicability]

[0096] The present invention relates to a work machine control method, a work machine control program, a work machine control system, and a work machine, and has industrial applicability. [Explanation of symbols]

[0097] P1 Captured image B1 First display DP1 First image Second display B0 Second image DP2

Claims

1. A control method for a work machine capable of displaying, on a display unit, an image captured by a camera installed on a work machine having a crane mode that measures the actual load of a load suspended from a tip of the work machine and calculates a rated load, which is the allowable load for suspension, the control method for a work machine comprising the steps of: executing a first control in a first state in the crane mode to display on the display unit a first image having a first display including the rated load and the actual load together with the captured image; and executing a second control in a second state in the crane mode to display on the display unit a second image having a second display including the rated load and the actual load, instead of the captured image.

2. 2. A method for controlling a work machine according to claim 1, further comprising: executing a third control for displaying a third image in which the second display of the second image is replaced with a meter display indicating a state quantity of the work machine when the work machine is in a mode other than the crane mode in the second state.

3. 2. A control method for a work machine according to claim 1, further comprising: executing a fourth control to display a fourth image on the display unit, in which a first display is alternately displayed with a fourth display different from the first display together with an image captured when the actual load is equal to or greater than the rated load in a first state during the crane mode.

4. 4. A method for controlling a work machine according to claim 3, wherein said fourth indication is an indication showing a method for making said actual load smaller than said rated load.

5. The method for controlling a work machine according to claim 4 , wherein the fourth image includes a fifth display indicating a warning.

6. 6. A control method for a work machine according to any one of claims 1 to 5, further comprising: executing a fifth control to display a fifth image including the captured image, the first display, and a sixth display showing a warning regarding traveling when another rated load that can be suspended during traveling is set, and when in the crane mode and in a first state, the actual load before traveling is greater than the other rated load.

7. 6. A method for controlling a work machine according to any one of claims 1 to 5, wherein the work machine has a locking device that transitions from an operable state to an inoperable state, the operable state being the first state, and the inoperable state being the second state.

8. 6. The method for controlling a work machine according to claim 1, wherein the first display displays partial information that is a part of the information of the second display.

9. 9. A method for controlling a work machine according to claim 8, wherein the partial information can be changed to different information by a switching means.

10. A work machine control program for executing the work machine control method according to any one of claims 1 to 5 by at least one arithmetic unit.

11. A work machine control system capable of displaying an image captured by a camera installed on a work machine having a crane mode that measures the actual load of a load suspended from the tip of the work machine and calculates a rated load, which is the allowable load for suspension, on a display unit of a display device, the work machine control system having: a first control unit that executes a first control to display a first image having a first display including the rated load and the actual load together with the captured image on the display unit in a first state when in the crane mode; and a second control unit that executes a second control to display a second image having a second display including the rated load and the actual load on the display unit in place of the captured image in a second state when in the crane mode.

12. A work machine comprising the work machine control system according to claim 11.

Images