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

Abstract

To provide a work machine control method, a work machine control program, a work machine control system, and a work machine, which can reduce operation labor of an operator.SOLUTION: A control method of a work machine 3 is applied to the work machine 3 that comprises a work part 33 configured to be ready for works. The control method of the work machine 3 comprises: changing a posture of the work part 33 among various postures including a neutral posture and an offset posture; allowing a specific operation of the work part 33 while the posture of the work part 33 being at the neutral posture; and prohibiting the specific operation of the work part 33 while the work part 33 being at the offset posture.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine, which are used for a working machine including a working unit configured to be able to execute work.

Background Art

[0002] As related art, a working machine (backhoe) having a crane mode (crane working mode) for suspending and supporting a load at the tip of a front device is known (see, for example, Patent Document 1). This working machine is configured to horizontally fold the boom in parallel via a pair of articulation points by an offset cylinder, and can fold the front device small to the right side of the operation unit and turn with a small radius, that is, a so-called ultra-small turning type working machine. In this working machine, based on the detection of the suspension radius and the suspension load, crane operation control is executed to avoid the body from tipping over due to the suspension load.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above related art, when in the offset posture, the detection accuracy of the suspended load decreases, and also, since the entire working machine is inherently in an unstable state, suspension work in the offset posture is not recommended. However, in order to avoid suspension work in the offset posture, every time the crane mode for performing suspension work is activated, the operator needs to confirm that the offset posture is not present, which causes a problem that the operation of the operator is troublesome.

[0005] An object of the present invention is to provide a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine that can reduce the labor of an operator's operation.

Means for Solving the Problems

[0006] A control method for a working machine according to an aspect of the present invention is used for a working machine including a working unit configured to be able to execute work. The control method for the working machine includes changing the posture of the working unit among a plurality of postures including a neutral posture and an offset posture, allowing a specific operation of the working unit in a state where the posture of the working unit is in the neutral posture, and prohibiting the specific operation of the working unit in a state where the posture of the working unit is in the offset posture.

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

[0008] A control system for a working machine according to an aspect of the present invention is used for a working machine including a working unit configured to be able to execute work, and includes a posture change processing unit, an allow processing unit, and a prohibit processing unit. The posture change processing unit changes the posture of the working unit among a plurality of postures including a neutral posture and an offset posture. The allow processing unit allows a specific operation of the working unit in a state where the posture of the working unit is in the neutral posture. The prohibit processing unit prohibits the specific operation of the working unit in a state where the posture of the working unit is in the offset posture.

[0009] A working machine according to an aspect of the present invention includes the control system for the working machine and the working unit.

Effects of the Invention

[0010] According to the present invention, it is possible to provide a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine that can reduce the labor of an operator's operation.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 8

Figure 9

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Figure 11

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Figure 15

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are examples of embodying the present invention and are not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall Configuration As shown in FIG. 1, the working machine 3 according to the present embodiment includes a traveling unit 31, a slewing unit 32, and a working unit 33 on the machine body 30. Further, as shown in FIG. 2, the working machine 3 further includes a control system 1 for a working machine (hereinafter, also simply referred to as “control system 1”). In addition, the machine body 30 further includes a display device 2, an angle sensor 341, a pressure sensor 342, an operation device 35, a mode changeover switch 36, a camera 38, a cutoff switch 371, a cutoff lever 372, and the like.

[0014] As used in this disclosure, the "working machine" means various working machines. As an example, it is a working vehicle such as a backhoe (including hydraulic excavators, mini excavators, etc.), a wheel loader, and a carrier. The working machine 3 is provided with a working unit 33 configured to be capable of performing one or more operations including at least a lifting operation. The working machine 3 is not limited to a "vehicle", and may be, for example, a working ship, a working flying body such as a drone or a multicopter. Further, the working machine 3 is not limited to a construction machine (construction equipment), and may be, for example, an agricultural machine (agricultural equipment) such as a rice transplanter, a tractor, or a combine. In the present embodiment, unless otherwise specified, the working machine 3 is a ride-on type backhoe with a lifting function (crane function), and a case where, in addition to the lifting operation, excavation work, leveling work, trench excavation work, loading work, etc. can be performed as operations will be described as an example. More specifically, it is assumed that the working machine 3 according to the present embodiment is an "ultra-small swing type" in which the swing unit 32 including the working unit 33 can swing fully within 120% of the full width of the traveling unit 31 (the full width of the pair of left and right crawlers 311).

[0015] Also, in the present embodiment, for convenience of explanation, the vertical direction in a state where the working machine 3 can be used is defined as the up-down direction D1. Further, in a non-swing state of the swing unit 32, the front-back direction D2 and the left-right direction D3 are defined based on the direction seen from a user (operator) boarding the working machine 3 (the driving unit 321). In other words, each direction used in the present embodiment is a direction defined with respect to the machine body 30 of the working machine 3. The direction in which the machine body 30 moves when the working machine 3 moves forward is "front", and the direction in which the machine body 30 moves when the working machine 3 moves backward is "rear". Similarly, the direction in which the front end of the machine body 30 moves when the working machine 3 swings to the right is "right", and the direction in which the front end of the machine body 30 moves when the working machine 3 swings to the left is "left". However, these directions are not intended to limit the usage direction (direction during use) of the working machine 3.

[0016] The working machine 3 is equipped with an engine as a power source. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (here, light oil) being supplied from a fuel tank. In the working machine 3, for example, a hydraulic pump 41 (see FIG. 2) is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including a hydraulic motor 43 and a hydraulic cylinder 44, etc.) of each part of the machine body 30, whereby the machine body 30 is driven. Such a working machine 3 is controlled, for example, by a user (operator) boarding the operation part 321 of the machine body 30 operating an operation device 35 such as operation levers 351, 352 (see FIG. 2).

[0017] In this embodiment, since it is assumed that the working machine 3 is a ride-on type backhoe as described above, the working part 33 is driven according to the operation of a user (operator) boarding the operation part 321, and performs operations such as excavation work. The operation part 321 where the user boards is provided on the slewing part 32.

[0018] Here, a display device 2 and an operation device 35 are mounted on the operation part 321 of the machine body 30, and the user can operate the operation device 35 while viewing various information related to the working machine 3 displayed on the display device 2. As an example, information related to the operating state of the working machine 3 such as the coolant water temperature and the hydraulic oil temperature is displayed on the display screen of the display device 2, whereby the user can confirm, on the display device 2, information related to the operating state of the working machine 3 necessary for operating the operation device 35. In FIG. 1, the illustration of the display device 2 and the operation device 35 mounted on the operation part 321, as well as the illustration of the hydraulic motor 43 (see FIG. 2) of the traveling part 31, etc., and further the illustration of the specific structure of the details are appropriately omitted.

[0019] The traveling part 31 has a traveling function and is configured to be able to travel (including slewing) on the ground. The traveling part 31 has, for example, a pair of left and right crawlers 311 and a blade 312, etc. The traveling part 31 further has a traveling hydraulic motor 43 (hydraulic actuator) for driving the crawlers 311.

[0020] The slewing unit 32 is located above the traveling unit 31 and is configured to be slewed about a rotation axis along the vertical direction with respect to the traveling unit 31. The slewing unit 32 has a hydraulic motor (hydraulic actuator) for slewing or the like. In addition to the operation unit 321, an engine, a hydraulic pump 41, etc. are mounted on the slewing unit 32. Further, at the front end of the slewing unit 32, a boom bracket 322 (see FIG. 4) to which the working unit 33 is attached is provided.

[0021] The working unit 33 is configured to be able to perform operations including lifting operations. The working unit 33 is supported by the boom bracket 322 of the slewing unit 32 and performs operations. The working unit 33 has a boom 330, an arm 334, a bucket 335, etc. The working unit 33 further has hydraulic actuators (including a hydraulic cylinder 44, a hydraulic motor, etc.) for driving each part.

[0022] The bucket 335 is a type of attachment (working tool) attached to the body 30 of the working machine 3 and is composed of an arbitrary tool selected according to the content of the work from among a plurality of types of attachments. As an example, the bucket 335 is detachably attached to the body 30 and is exchanged according to the content of the work. Examples of attachments for the working machine 3 include various tools such as a breaker, an auger, a crusher, a fork, a fork clamp, a steel frame cutter, an asphalt cutter, a lawn mower, a ripper, a multi-purpose tool, a tilt rotator, and a tamper, in addition to the bucket 335. The working unit 33 performs operations by driving the bucket 335 with power from the drive device.

[0023] The boom 330 is rotatably supported by a boom bracket 322 of the slewing unit 32. Specifically, the boom 330 is rotatably supported by the boom bracket 322 about a rotation axis along the horizontal direction. The boom 330 has a shape extending upward from a base end portion supported by the boom bracket 322. The arm 334 is connected to the tip of the boom 330. The arm 334 is rotatably supported by the boom 330 about a rotation axis along the horizontal direction. A bucket 335 is attached to the tip of the arm 334.

[0024] The working unit 33 operates by receiving power from an engine as a power source. Specifically, the hydraulic pump 41 is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (such as the hydraulic cylinder 44) of the working unit 33, whereby each part (the bucket 335, the boom 330, and the arm 334) of the working unit 33 operates.

[0025] Here, the working machine 3 according to the present embodiment is configured such that the working unit 33 can execute a plurality of operations including a hanging operation. In the present embodiment, the working machine 3 is a backhoe with a hanging function, and the working unit 33 is configured to be able to execute a hanging operation in addition to an excavation operation using the bucket 335. Therefore, the working unit 33 includes a hook 337 (see FIG. 3) for executing a hanging operation.

[0026] As shown in FIG. 3, the hook 337 is disposed at the tip of the working unit 33. Specifically, the hook 337 is provided so as to protrude downward from the bucket 335. When the hanging operation is not performed, the hook 337 is accommodated in, for example, a bucket link 336 that connects the arm 334 and the bucket 335, so that the hook 337 is less likely to interfere during an excavation operation or the like using the bucket 335.

[0027] When performing a lifting operation, with the load (object) suspended from the hook 337, the working unit 33 can perform operations such as loading and unloading the load and transporting the load by operating each of the boom 330 and the arm 334. Further, with the load suspended from the hook 337 provided at the tip of the working unit 33, the slewing unit 32 can slew, enabling the load to be slewed around the rotation axis of the slewing unit 32.

[0028] In particular, in this embodiment, the working unit 33 has a multi-joint structure in which the boom 330 and the arm 334 are configured to be individually rotatable. That is, by each of the boom 330 and the arm 334 rotating about a rotation axis along the horizontal direction, for example, the multi-joint working unit 33 including the boom 330 and the arm 334 can perform operations such as extending and folding as a whole.

[0029] Similarly to the working unit 33, each of the traveling unit 31 and the slewing unit 32 operates by receiving power from the engine as a power source. That is, the slewing unit 32 and the traveling unit 31 operate when hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling unit 31 and the hydraulic motor of the slewing unit 32.

[0030] Here, the machine body 30 is provided with an angle sensor 341 (see FIG. 2) that detects at least the angles (boom angle and arm angle) of each of the boom 330 and the arm 334. The angle sensor 341 is connected to the control system 1 and outputs the detected angle to the control system 1. In the control system 1, it is possible to obtain the working radius of the working unit 33 based on the angle detected by the angle sensor 341 and the known lengths of the boom 330 and the arm 334. Further, the machine body 30 is further provided with a pressure sensor 342 (see FIG. 2) arranged on the bottom side and the rod side of the boom 330. The pressure sensor 342 is connected to the control system 1 and outputs the detected pressure (hydraulic pressure) of the hydraulic cylinder 44 to the control system 1. In the control system 1, it is possible to obtain the load of the suspended load based on the output of the angle sensor 341 and the output of the pressure sensor 342.

[0031] In FIG. 2, the hydraulic circuit and the electric circuit (electrical connection relationship) of the working machine 3 according to the present embodiment are schematically shown. In FIG. 2, solid lines represent high-pressure oil passages (for hydraulic oil), dotted lines represent low-pressure oil passages (for pilot oil), and the arrows of the one-dot chain lines represent the paths of electric signals.

[0032] As shown in FIG. 2, in addition to the hydraulic pump 41, the hydraulic motor 43, and the hydraulic cylinder 44, the working machine 3 includes a pilot pump 42, first control valves 491 to 494, a second control valve 47, and a direction switching valve (control valve) 48, etc. In FIG. 2, only one hydraulic cylinder 44 for driving the boom 330 is illustrated, but the same hydraulic circuit is configured for the hydraulic cylinders 44 for driving the first boom 331, the second boom 332, the arm 334, or the bucket 335, etc., which will be described later. Also, in FIG. 2, only the hydraulic motor 43 of the traveling unit 31 is illustrated, but the same hydraulic circuit is configured for the hydraulic motor of the slewing unit 32.

[0033] The hydraulic oil from the hydraulic pump 41 driven by the engine is supplied to the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the slewing unit 32, the hydraulic cylinder 44 of the working unit 33, etc. Thereby, the hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are driven.

[0034] Pilot-type direction switching valves 48 capable of switching the direction and flow rate of the hydraulic oil from the hydraulic pump 41 are provided for the hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44. The direction switching valve 48 is driven by being supplied with pilot oil serving as an input command from the pilot pump 42.

[0035] Here, first control valves 491 to 494 are provided in the supply path of pilot oil to each direction switching valve 48. The first control valves 491 to 494 are all electromagnetic control valves (solenoid valves), and are respectively inserted between the direction switching valve 48 and the pilot pump 42. Each of the first control valves 491 to 494 is connected to the control system 1 and operates according to a control signal (supply current) from the control system 1. Specifically, the control system 1 controls the first control valves 491 to 494 according to the operation of the operating device 35 (operating lever), and instructs, for example, the deployment operation and the contraction operation of the working unit 33. Here, each of the first control valves 491 to 494 is assumed to be an (electromagnetic) proportional control valve, but is not limited thereto, and may be, for example, an on-off valve capable of switching the opening / closing of the flow path.

[0036] Such a direction switching valve and the first control valve are provided not only in the hydraulic cylinder 44 for driving the boom 330 and the hydraulic motor 43 of the traveling unit 31, but also in the hydraulic circuits of the hydraulic cylinders 44 for driving the first boom 331, the second boom 332, the arm 334, or the bucket 335, etc. and the hydraulic motor of the slewing unit 32. Therefore, it is possible to operate the traveling unit 31, the slewing unit 32, and the working unit 33 according to the operation of the operating device 35.

[0037] Furthermore, a second control valve 47 is provided on the upstream side of the pilot oil when viewed from the first control valves 491 to 494. The second control valve 47 is an electromagnetic control valve (solenoid valve) and is inserted between the pilot pump 42 and the plurality of first control valves 491 to 494. The second control valve 47 is connected to the power supply via the cut-off switch 371 and operates according to the supply current from the power supply. Here, the second control valve 47 opens the flow path of the pilot oil in the energized state, that is, the state in which the current as the control signal is supplied, and shuts off the flow path of the pilot oil in the non-energized state, that is, the state in which the current as the control signal is cut off. Therefore, when the supply current to the second control valve 47 is cut off, the hydraulic actuator (such as the hydraulic cylinder 44) becomes inoperable, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35.

[0038] The cutoff switch 371 is interlocked with the cutoff lever 372. The cutoff lever 372 is disposed in the operation unit 321 of the machine body 30 and receives an operation input by a user (operator). In this embodiment, as an example, the cutoff lever 372 is operable along the vertical direction D1. When the cutoff lever 372 is at the "raised position" which is the upper end position of the movable range, the cutoff switch 371 is "off", and when the cutoff lever 372 is at the "lowered position" which is the lower end position of the movable range, the cutoff switch 371 is "on". And the cutoff switch 371 is connected to the control system 1, and the on / off state of the cutoff switch 371 is monitored by the control system 1.

[0039] Therefore, when the cutoff lever 372 is at the "lowered position", the second control valve 47 is energized, and the hydraulic actuator (such as the hydraulic cylinder 44) is driven by the operation of the operation device 35. On the contrary, when the cutoff lever 372 is at the "raised position", the second control valve 47 is de-energized, and the hydraulic actuator is forcibly stopped without the operation of the operation device 35. Therefore, in order to drive the hydraulic actuator (such as the hydraulic cylinder 44), the user (operator) needs to operate the cutoff lever 372 to the "lowered position".

[0040] Furthermore, for each of the slewing unit 32 and the traveling unit 31, since it operates by the hydraulic oil being supplied from the hydraulic pump 41 to the hydraulic actuator (such as the hydraulic motor 43), when the cutoff lever 372 is at the "raised position", the slewing unit 32 and the traveling unit 31 also become inoperable. That is, when the cutoff lever 372 is at the "raised position", all of the working unit 33, the slewing unit 32, and the traveling unit 31 are forcibly set to an inoperable state.

[0041] The operating device 35 is arranged in the operation unit 321 of the aircraft body 30 and is a user interface for receiving operation inputs by a user (operator). In the present embodiment, the operating device 35 is an electric operating device 35, and by outputting an electric signal (operation signal) corresponding to the user's operation to the control system 1, it receives various operations by the user. In the present embodiment, as an example, the operating device 35 includes a pair of operation levers 351, 352 (see FIG. 2). The operation lever 351 is located on the right side as viewed from the user (operator) boarding the operation unit 321, and the operation lever 352 is located on the left side as viewed from the user boarding the operation unit 321. Therefore, for example, the user holds the operation lever 351 with the right hand and the operation lever 352 with the left hand, and by operating these pair of operation levers 351, 352 individually, various operations are executed on the working machine 3.

[0042] The operation levers 351, 352 are each stick-type operators, and for example, by being operated to tilt in any one of "forward", "backward", "left", and "right", they output an electric signal (operation signal) corresponding to the operation. The operating device 35 outputs different operation signals corresponding to, as an example, the operation of tilting the operation lever 351 forward, the operation of tilting the operation lever 351 to the right, the operation of tilting the operation lever 352 forward, and the operation of tilting the operation lever 352 to the right, respectively.

[0043] The mode change switch 36 is arranged in the operation unit 321 of the aircraft body 30 and is operated by a user (operator) when switching the operation mode of the working machine 3. That is, the operation mode of the working machine 3 can be selectively selected from a plurality of operation modes, and the mode change switch 36 is operated when switching the currently selected operation mode. The plurality of operation modes mentioned here includes at least a crane mode and another mode. The crane mode is an operation mode for causing the working unit 33 to perform a lifting operation. The other mode is an operation mode for causing the working unit 33 to perform an operation different from the lifting operation. In the present embodiment, as an example, the other mode includes an excavation mode for causing the working unit 33 to perform an excavation operation.

[0044] The camera 38 has a function of imaging the surrounding image of the machine body 30. The camera 38 is provided, for example, on the swivel unit 32 and is configured to be able to image the image of the periphery (at least one direction of front, rear, left, right, up, and down) of the machine body 30. The image captured by the camera 38 may be any of a black-and-white image, an infrared image, and a full-color image, and may be either a still image or a moving image. In this embodiment, as an example, the camera 38 images the periphery of the machine body 30 over the entire circumference and outputs the image data of the surrounding image to the control system 1 in real time.

[0045] The control system 1 mainly includes, for example, a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire working machine 3 and is composed of, for example, an electronic control unit (ECU: Electronic Control Unit). However, the control system 1 may be provided separately from the integrated controller, or may mainly include one processor or a plurality of processors. The control system 1 will be described in detail in the section "[3] Configuration of the control system".

[0046] The display device 2 is arranged in the operation unit 321 of the machine body 30 and is a user interface for receiving operation inputs by the user (operator) and outputting various information to the user. The display device 2 receives various operations by the user, for example, by outputting an electric signal according to the operation of the user. Thereby, the user (operator) can visually recognize the display screen displayed on the display device 2 and can operate the display device 2 as necessary.

[0047] As shown in FIG. 2, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be communicable with the control system 1 and can exchange data with the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used for the working machine 3.

[0048] The control unit 21 controls the display device 2 according to the data from the control system 1. Specifically, the control unit 21 outputs an electrical signal corresponding to the user operation received by the operation unit 22, or displays the display screen generated by the control system 1 on the display unit 23.

[0049] The operation unit 22 is a user interface for receiving operation inputs from a user (operator) for the display screen displayed on the display unit 23. The operation unit 22 receives various operations by the user, for example, by outputting an electrical signal corresponding to the user operation. Further, the operation unit 22 may include a touch panel, an operation dial, and the like.

[0050] The display unit 23 is a user interface for presenting information to a user (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 23 presents various types of information to the user by display.

[0051] In addition to the above-described configuration, the machine body 30 further includes a communication terminal, a fuel tank, a battery, and the like. Furthermore, the machine body 30 is provided with various sensors (including a camera) for detecting detection objects in the monitoring area around the working machine 3, such as a camera for imaging the periphery of the machine body 30.

[0052] [2] Details of the working unit Next, details of the working unit 33 in the working machine 3 according to this embodiment will be described with reference to FIGS. 4 and 5.

[0053] In the present embodiment, as shown in FIG. 4, in the non-rotating state of the rotating unit 32, the operating unit 321 is disposed on one side (here, the left side) in the left-right direction D3 of the rotating unit 32, and the working unit 33 is attached to the other side (here, the right side) in the left-right direction D3 of the rotating unit 32. That is, the boom bracket 322 that supports the boom 330 of the working unit 33 is disposed at a position offset to the right with respect to the center in the left-right direction D3 of the rotating unit 32 in the non-rotating state of the rotating unit 32.

[0054] In the present embodiment, as shown in FIGS. 4 and 5, the working unit 33 is configured such that the arm 334 and the bucket 335 can be translated (offset) in the left-right direction D3. Specifically, the boom 330 of the working unit 33 includes a first boom 331, a second boom 332, and a third boom 333. One end (base end) of the first boom 331 is supported by the boom bracket 322, one end of the second boom 332 is connected to the other end of the first boom 331, and one end of the third boom 333 is connected to the other end of the second boom 332. An arm 334 is connected to the other end (tip end) of the third boom 333. That is, the third boom 333 is connected to the first boom 331 via the second boom 332.

[0055] Here, the second boom 332 is supported so as to be rotatable about a rotation axis along the vertical direction D1 with respect to the first boom 331, and the third boom 333 is supported so as to be rotatable about a rotation axis along the vertical direction D1 with respect to the second boom 332. That is, the working unit 33 includes the first boom 331 and the second boom 332 that are connected to each other, and has a boom 330 capable of changing the angle of the second boom 332 with respect to the first boom 331 in a plan view. The first boom 331, the second boom 332, and the third boom 333 constitute a parallel link mechanism.

[0056] As a result, in plan view, when the second boom 332 rotates with respect to the first boom 331, the third boom 333 translates in the left - right direction D3 parallel to the first boom 331. That is, if the second boom 332 rotates counterclockwise in plan view, the third boom 333 translates to the left with respect to the first boom 331, and if the second boom 332 rotates clockwise in plan view, the third boom 333 translates to the right with respect to the first boom 331. Therefore, the boom 330 can be switched between a "neutral state" in which the first boom 331, the second boom 332, and the third boom 333 extend in a straight line in plan view and an "offset state" in which the first boom 331, the second boom 332, and the third boom 333 meander in plan view. In FIGS. 4 and 5, the working part 33 when the boom 330 is in the neutral state is shown by a solid line, and the working part 33 when the boom 330 is in the offset state is shown by an imaginary line (two - dot chain line).

[0057] And if the boom 330 is in the neutral state, the bucket 335 connected to the tip of the boom 330 via the arm 334 is arranged at a position offset to the right with respect to the center in the left - right direction D3 of the slewing unit 32. From this state, when the second boom 332 rotates with respect to the first boom 331 in plan view, the boom 330 becomes the offset state, and the arm 334 and the bucket 335 translate (offset) in the left - right direction D3.

[0058] In this way, by offsetting the arm 334 and the bucket 335 in the left-right direction D3, when the slewing unit 32 slews, the amount of protrusion of the upper part of the machine body 30 (slewing unit 32 and working unit 33) from the lower part of the machine body 30 (traveling unit 31) can be suppressed to a small value. That is, the slewing range of the upper part of the machine body 30 (slewing unit 32 and working unit 33) centered on the rotation axis of the slewing unit 32 is determined by the distance from the rotation axis of the slewing unit 32 in plan view to the outermost end of the working unit 33. By offsetting the arm 334 and the bucket 335 to the left, this distance can be reduced. Therefore, as shown by the imaginary lines in FIGS. 4 and 5, by rotating the second boom 332 to the left to make the boom 330 in an offset state and reducing the working unit 33, the slewing range of the upper part of the machine body 30 (slewing unit 32 and working unit 33) becomes the minimum. In this embodiment, since the working machine 3 is of the "ultra-small slewing type", at this time, the upper part of the machine body 30 (slewing unit 32 and working unit 33) can be slewed completely within 120% of the full width of the traveling unit 31 (the full width of the pair of left and right crawlers 311).

[0059] Further, by offsetting the arm 334 and the bucket 335 in the left-right direction D3, for example, even when performing work such as digging a side ditch, the slewing unit 32 including the operation unit 321 can dig straight in a state facing the front, improving the ease of work.

[0060] Here, the second boom 332 is rotationally driven with respect to the first boom 331 by a hydraulic cylinder 44. That is, when the second boom 332 is rotationally driven by the hydraulic cylinder 44, the angle of the second boom with respect to the first boom 331 in plan view changes, and the third boom 333 moves in parallel in the left-right direction D3.

[0061] In this embodiment, the angle sensor 341 provided on the aircraft body 30 detects not only the angles of each of the boom 330 and the arm 334 (boom angle and arm angle), but also the angle of the second boom 332 with respect to the first boom 331 (also referred to as the "offset angle"). If the boom 330 is in the neutral state, the angle of the second boom 332 with respect to the first boom 331 is "0 degrees", and if the boom 330 is in the offset state, the angle of the second boom 332 with respect to the first boom 331 is a value other than "0 degrees".

[0062] As described above, the working unit 33 has a boom 330 including a first boom 331 and a second boom 332 connected to each other. The boom 330 can change the angle of the second boom 332 with respect to the first boom 331 in a plan view. The posture of the working unit 33 changes according to the angle (offset angle) of the second boom 332 with respect to the first boom 331. The "neutral posture" is the posture of the working unit 33 when the offset angle is within the neutral range. The "offset posture" is the posture of the working unit 33 when the offset angle is within the offset range.

[0063] That is, the second boom 332 rotates with respect to the first boom 331, and by changing the angle (offset angle) of the second boom 332 with respect to the first boom 331 within its variable range, the posture of the working unit 33 can be changed among a plurality of postures including the neutral posture and the offset posture. Here, the variable range of the offset angle is divided into a neutral range and an offset range. If the offset angle is within the neutral range of its variable range, the posture of the working unit 33 is determined to be in the neutral posture, and if the offset angle is within the offset range of its variable range, the posture of the working unit 33 is determined to be in the offset posture.

[0064] In short, according to the angle (offset angle) of the second boom 332 with respect to the first boom 331 detected by the angle sensor 341, it is possible to determine whether the posture of the working unit 33 is in the neutral posture or the offset posture. In this embodiment, as an example, the neutral range is set to "0 degrees". Therefore, it can be said that the posture of the working unit 33 is in the neutral posture only when the offset angle is exactly 0 degrees, and if the offset angle deviates even slightly from 0 degrees, it can be said that the posture of the working unit 33 is in the offset posture.

[0065] Thereby, based on the angle (offset angle) of the second boom 332 with respect to the first boom 331 detected by the angle sensor 341, for example, it becomes possible to objectively determine whether the posture of the working unit 33 is in the neutral posture or the offset posture. Therefore, the posture of the working unit 33 can be reliably determined.

[0066] Here, it is preferable that the boundary between the neutral range and the offset range can be set. As an example, when the angle (offset angle) of the second boom 332 with respect to the first boom 331 is set in the range of "0 ± 10 degrees", the boundaries between the neutral range and the offset range are set to "-10 degrees" and "+10 degrees". In this case, if the offset angle is in the range of -10 degrees or more and 10 degrees or less, it is determined as the neutral posture, and if the offset angle is in the range less than -10 degrees or exceeding 10 degrees, it is determined as the offset posture.

[0067] The setting of the boundary between the neutral range and the offset range may be manually performed by the user (operator), or may be automatically performed according to the type of the working machine 3 or the content of the specific operation described later. According to this configuration, for example, the determination of the posture of the working unit 33 can be flexibly performed, such as giving a width to the range determined as the neutral posture (neutral range).

[0068] [3] Configuration of the control system Next, the configuration of the control system 1 according to the present embodiment will be described with reference to FIG. 2. The control system 1 is a component of the working machine 3 and constitutes the working machine 3 together with the machine body 30 and the like. In other words, the working machine 3 according to the present embodiment includes at least the control system 1 and the working unit 33.

[0069] As shown in FIG. 2, the control system 1 includes a selection processing unit 11, an attitude change processing unit 12, an allowable processing unit 13, and a prohibition processing unit 14. The control system 1 is configured to be communicable with devices provided in each part of the machine body 30. That is, at least the display device 2, the angle sensor 341, the pressure sensor 342, the operation device 35, the mode change switch 36, the camera 38, the first control valves 491 to 494, and the cut-off switch 371 are connected to the control system 1. As a result, the control system 1 can control the display device 2 and the first control valves 491 to 494, etc., and can acquire electrical signals (operation signals, etc.) from the display device 2, the angle sensor 341, the pressure sensor 342, the operation device 35, the mode change switch 36, the camera 38, and the cut-off switch 371. "Communicable" as used in the present disclosure means that information (data) can be exchanged directly or indirectly via a communication network (network) or a repeater or the like by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). Therefore, the control system 1 may exchange various information (data) directly with each device or indirectly via a repeater or the like. The control system 1 and the devices provided in each part of the machine body 30 can communicate with each other, for example, by a communication method such as CAN (Controller Area Network).

[0070] The selection processing unit 11 is configured to be able to select one operation mode from a plurality of operation modes including at least a crane mode and another mode. As described above, in this embodiment, as an example, the other mode includes an excavation mode. That is, in this embodiment, the selection processing unit 11 selectively selects the operation mode of the working unit 33 from a plurality of operation modes including a crane mode for lifting work and an excavation mode (another mode) for excavation work. Specifically, when the user operates the mode switch 36 to select the crane mode, the selection processing unit 11 receives this operation and switches the operation mode of the working unit 33 to the crane mode. On the other hand, when the user operates the mode switch 36 to select the excavation mode, the selection processing unit 11 receives this operation and switches the operation mode of the working unit 33 to the excavation mode. In this way, the selection processing unit 11 selectively selects the operation mode according to the operation of the mode switch 36. However, not limited to this example, the selection processing unit 11 may execute the selection (switching) of the operation mode according to the operation of the operation unit 22 of the display device 2, for example.

[0071] In the control system 1 according to this embodiment, by utilizing the fact that any one of the plurality of operation modes including the crane mode and the other mode (excavation mode, etc.) is selectively selected in this way, it is determined whether the working unit 33 is executing lifting work. That is, the control system 1 determines that the working unit 33 is executing lifting work when the crane mode is selected.

[0072] The posture change processing unit 12 executes a posture change process for changing the posture of the working unit 33 among a plurality of postures including a neutral posture and an offset posture. In this embodiment, as described above, the posture of the working unit 33 changes depending on the angle (offset angle) of the second boom 332 with respect to the first boom 331. When the offset angle is "0 degrees", that is, when the first boom 331 and the second boom 332 are in a straight line in a plan view, the posture of the working unit 33 is set as the neutral posture, and when the offset angle is other than "0 degrees", the posture of the working unit 33 is set as the offset posture.

[0073] Specifically, the posture change processing unit 12 can determine whether the posture of the working unit 33 is in the neutral posture or the offset posture based on the offset angle detected by the angle sensor 341. Then, the posture change processing unit 12 changes the posture of the working unit 33 to the offset posture by rotationally driving the second boom 332 from the state where the posture of the working unit 33 is in the neutral posture. Further, the posture change processing unit 12 changes the posture of the working unit 33 to the neutral posture by rotationally driving the second boom 332 from the state where the posture of the working unit 33 is in the offset posture.

[0074] The permission processing unit 13 executes permission processing to permit a specific operation of the working unit 33 when the posture of the working unit 33 is in the neutral posture. That is, the permission processing unit 13 permits the coexistence of the neutral posture and the specific operation. Thereby, in the working machine 3, the situation where the posture of the working unit 33 is in the neutral posture and the working unit 33 executes the specific operation is permitted.

[0075] The "specific operation of the working unit 33" referred to in the present disclosure is a specific operation among the operations executable by the working unit 33. In the present embodiment, as an example, the specific operation includes the operation of the working machine 3 in the crane mode in which the working unit 33 performs a lifting operation. That is, the entire operation of the working machine 3 in the crane mode including the lifting operation by the working unit 33 is an example of the "specific operation". Therefore, when the posture of the working unit 33 is in the neutral posture, the permission processing unit 13 enables the selection processing unit 11 to select the crane mode as the operation mode of the working unit 33.

[0076] The prohibition processing unit 14 executes prohibition processing to prohibit a specific operation of the working unit 33 when the posture of the working unit 33 is in the offset posture. That is, the prohibition processing unit 14 prohibits the coexistence of the offset posture and the specific operation. Thereby, in the working machine 3, the situation where the posture of the working unit 33 is in the offset posture and the working unit 33 executes the specific operation is prohibited.

[0077] Specifically, if the posture of the working unit 33 is in the offset posture, the prohibition processing unit 14 prohibits the selection processing unit 11 from selecting the crane mode as the operation mode of the working unit 33. As a result, when the posture of the working unit 33 is in the offset posture, the transition to the crane mode is prohibited in the first place, and the operation (specific operation) of the working machine 3 in the crane mode such as lifting work is prohibited.

[0078] [4] Control method of working machine Hereinafter, an example of a control method (hereinafter simply referred to as the "control method") of the working machine 3 mainly executed by the control system 1 will be described with reference to FIGS. 6 to 10.

[0079] The control method according to the present embodiment is executed by the control system 1 mainly configured by a computer system. In other words, it is embodied in a control program for a working machine (hereinafter simply referred to as the "control program"). That is, the control program according to the present embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed in cooperation by, for example, the control system 1 and the display device 2.

[0080] Here, when a preset specific start operation for executing the control program is performed, the control system 1 executes the following various processes related to the control method. The start operation is, for example, a start operation of the engine of the working machine 3 or the like. On the other hand, when a preset specific end operation is performed, the control system 1 ends the following various processes related to the control method. The end operation is, for example, a stop operation of the engine of the working machine 3 or the like.

[0081] [4.1] Home screen Here, first, with reference to FIG. 6, the configuration of the display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to the present embodiment will be described. In the drawing showing the display screen Dp1 displayed on the display unit 23 of the display device 2 such as FIG. 6, the one-dot chain line, the lead line, and the reference numerals representing the regions are only attached for the purpose of explanation and are not actually displayed on the display device 2.

[0082] The display screen Dp1 shown in FIG. 6 is the home screen Dp11 displayed by the control method. The home screen Dp11 is the basic display screen Dp1 that will be displayed on the display device 2 in the operating state (the state in which the aircraft 30 operates according to the operation of the operating device 35). The display screen Dp1 can transition from the home screen Dp11 to various display screens Dp1 including a menu screen, a crane screen, a mode screen, a PTO screen, etc. according to the operation on the operation unit 22.

[0083] As shown in FIG. 6, the home screen Dp11 includes a first region R1, a second region R2, a third region R3, a fourth region R4, a fifth region R5, a sixth region R6, a seventh region R7, an eighth region R8, a ninth region R9, and a tenth region R10.

[0084] Specifically, the display screen Dp1 is divided into four regions in the vertical direction (up and down direction). And the upper three regions are each further divided into three regions in the horizontal direction (left and right direction). As a result, the display screen Dp1 is divided into a total of ten regions. And the regions in the second row from the top are, in order from the left, the first region R1, the second region R2, and the third region R3. The lowermost region is the fourth region R4. Further, the regions in the third row from the top are, in order from the left, the fifth region R5, the sixth region R6, and the seventh region R7, and the uppermost region is, in order from the left, the eighth region R8, the ninth region R9, and the tenth region R10. In terms of the vertical size, among the four regions divided in the vertical direction, the regions in the second row from the top (the first region R1, the second region R2, and the third region R3) are the widest. In terms of the horizontal size, among the three regions divided in the horizontal direction, the middle regions (the second region R2, the sixth region R6, and the ninth region R9) are the widest.

[0085] However, the arrangement and size of each of these regions are merely examples and can be changed as appropriate. Also, it is not essential that each region be clearly divided by a boundary line. For example, in the example of FIG. 6, the second region R2 and the third region R3 are clearly divided by a boundary line, while there is no boundary line between the first region R1 and the second region R2. Of course, the first region R1 and the second region R2 may be clearly divided by a boundary line.

[0086] The first region R1 is a vertically long rectangular region. In the first region R1, for example, remaining amount information G1 regarding the remaining amount of fuel (e.g., light oil) of the engine is displayed. The control system 1 generates the remaining amount information G1 in the display screen Dp1 based on the output (sensor signal) of the remaining amount sensor and the like.

[0087] The second region R2, which occupies most of the home screen Dp11, is a horizontally long rectangular region. In the control method according to the present embodiment, information regarding the operating state of the work machine 3 is displayed in the second region R2. As an example, coolant water temperature information G3 and hydraulic oil temperature information G2 are displayed in the second region R2. The control system 1 generates the coolant water temperature information G3 in the display screen Dp1 (home screen Dp11) based on the output of the coolant water temperature sensor. Similarly, the control system 1 generates the hydraulic oil temperature information G2 in the display screen Dp1 (home screen Dp11) based on the output of the hydraulic oil temperature sensor.

[0088] The third region R3 is a vertically long rectangular region. An image (icon) Im1 indicating the enable / disable and abnormality / normality of each function of the working machine 3 is displayed in the third region R3. A plurality of images Im1 can be displayed in the third region R3, and the design (pattern) of each individual image Im1 indicates which function, such as seat belt, sound output, coolant water temperature, hydraulic oil temperature, etc. Here, each image Im1 indicates the enable / disable and abnormality / normality of each function by a display mode such as display / non-display, display color, or size. The control system 1 determines the state of each part of the working machine 3 using the outputs of various sensors (including a coolant water temperature sensor and a hydraulic oil temperature sensor) that detect the operating state of each part of the working machine 3. When an abnormal value is detected at any part, the control system 1 gives a warning display, for example, by changing the display mode such as the display color of the image Im1 of that part.

[0089] The fourth region R4 is a strip-shaped region extending across the entire width of the home screen Dp11. Each item for operating the display screen Dp1 is displayed in the fourth region R4. In FIG. 5, as an example, six items of "Menu", "Diesel", "Mode", "Crane", "Work Limit", and "Switch" are arranged side by side in this order from the left in the fourth region R4. As an example, six push button switches of the operation unit 22 located directly below these six items are respectively associated with them. Therefore, for example, when the push button switch corresponding to the "Menu" item is operated by the user, the "Menu" item is operated (selected). Also, when the operation unit 22 includes a touch panel, the user can select a desired item by touching the desired item on the home screen Dp11.

[0090] In the fifth region R5, the sixth region R6, and the seventh region R7, for example, information regarding the working unit 33 or information regarding the operating state of the working machine 3 such as the engine speed is displayed. In the eighth region R8, for example, the current time is displayed. In the ninth region R9, for example, information indicating the item to which the currently displayed display screen Dp1 belongs is displayed. In the tenth region R10, for example, information regarding the operating time (hour meter) of the working machine 3 is displayed.

[0091] [4.2] Overall Processing Next, the overall flow of the processing according to the control method will be described with reference to FIGS. 7 to 9.

[0092] As shown in FIG. 7, first, the control system 1 determines whether or not a switching operation of the operation mode of the working unit 33 has been performed (S1). Here, when an operation for switching the operation mode is performed on the mode change switch 36, the control system 1 determines that the switching operation of the operation mode has been performed (S1: Yes) and shifts the process to step S2. On the other hand, if no operation for switching the operation mode is performed on the mode change switch 36, the control system 1 determines that the switching operation of the operation mode has not been performed (S1: No) and repeatedly executes step S1.

[0093] In step S2, the control system 1 determines whether or not the crane mode is selected. That is, when a switching operation of the operation mode is performed (S1: Yes) and the excavation mode is originally selected, the control system 1 determines in step S2 that the crane mode is not selected (S2: No) and shifts the process to step S3. On the other hand, when the crane mode is selected, the control system 1 determines that the crane mode is selected (S2: Yes) and shifts the process to step S7.

[0094] In step S3, the control system 1 determines whether the posture of the working unit 33 is the neutral posture. In this embodiment, as an example, the control system 1 obtains the angle of the second boom 332 with respect to the first boom 331 based on the detection result of the angle sensor 341, and determines whether the posture of the working unit 33 is the neutral posture from the obtained angle. That is, when the angle of the second boom with respect to the first boom 331 is "0 degrees", the control system 1 determines that the posture of the working unit 33 is in the neutral posture (S3: Yes), and shifts the process to step S4. On the other hand, when the angle of the second boom with respect to the first boom 331 is not "0 degrees", the control system 1 determines that the boom 330 is in the offset state and the posture of the working unit 33 is not the neutral posture (S3: No), and shifts the process to step S6.

[0095] In step S4, the selection processing unit 11 of the control system 1 selects the crane mode as the operation mode of the working unit 33. That is, if the posture of the working unit 33 is the neutral posture (S3: Yes), the allowable processing unit 13 enables the selection processing unit 11 to select the crane mode as the operation mode of the working unit 33. Therefore, in step S4, the operation mode of the working unit 33 is switched from the excavation mode to the crane mode.

[0096] In step S5, the control system 1 causes the display screen Dp1 displayed on the display unit 23 of the display device 2 to transition from the home screen Dp11 to the crane mode screen Dp12 as shown in FIG. 8. The crane mode screen Dp12 is a screen displayed while the crane mode is selected as the operation mode, and specific information Im2 regarding the operation (specific operation) of the working machine 3 in the crane mode is displayed. In this embodiment, as an example, the specific information Im2 includes the suspended load, rating (load), boom angle, working radius, and boom height, and is displayed in the second region R2.

[0097] In step S6, the control system 1 causes the display device 2 to display notification information Im10 as shown in FIG. 9 on the home screen Dp11 displayed on the display unit 23 of the display device 2. In the present embodiment, as an example, the notification information Im10 includes first information Im11 and second information Im12. The first information Im11 is information indicating a method for switching to the crane mode, that is, information indicating that it is necessary to assume an offset posture, such as "Please set to the offset center position". The second information Im12 is information indicating that it is not possible to shift to the crane mode, such as "Cannot be used. Please check for errors."

[0098] Here, on the display screen Dp1 (home screen Dp11), the second information Im12 is displayed in a more visible manner than the first information Im11. Specifically, the first information Im11 is displayed in the sixth region R6, and the second information Im12 is superimposed and displayed in the second region R2. Therefore, while the second information Im12 is located at the center of the display screen Dp1, the first information Im11 is located around (below or above) the second information Im12, making the second information Im12 more visible. Furthermore, since the second information Im12 is displayed larger than the first information Im11, the visibility of the second information Im12 is ensured.

[0099] As a result, the notification information Im10 can first cause the operator to recognize, by the second information Im12, that it is not possible to shift to the crane mode, and can prevent the operator from mistakenly thinking that the crane mode is in effect even though the crane mode has not been shifted. On top of that, the operator can recognize, by the first information Im11, the method for switching to the crane mode, and thus can grasp that the posture of the working unit 33 should be set to the neutral posture in order to shift to the crane mode.

[0100] In step S7, the selection processing unit 11 of the control system 1 selects the excavation mode as the operation mode of the working unit 33. That is, if the posture of the working unit 33 is in the offset posture (S3: No), the prohibition processing unit 14 presents (displays) the notification information Im10 (S6), and then the selection processing unit 11 makes the crane mode unavailable as the operation mode of the working unit 33. Therefore, in step S7, the excavation mode is maintained.

[0101] The control system 1 repeatedly executes the processes of steps S1 to S7. However, the flowchart shown in FIG. 7 is merely an example, and processes may be added or omitted as appropriate, or the order of the processes may be changed as appropriate.

[0102] As described above, the control method according to the present embodiment is used for the working machine 3 including the working unit 33 configured to be able to execute work. This control method includes changing the posture of the working unit 33 among a plurality of postures including the neutral posture and the offset posture, allowing a specific operation of the working unit 33 in a state where the posture of the working unit 33 is in the neutral posture (S4), and prohibiting a specific operation of the working unit 33 in a state where the posture of the working unit 33 is in the offset posture.

[0103] According to this configuration, if the posture of the working unit 33 is in the neutral posture, a specific operation of the working unit 33 is allowed, while if the posture of the working unit 33 is in the offset posture, a specific operation of the working unit 33 is prohibited. That is, when switching to the crane mode, if the boom 330 is in the offset state and the posture of the working unit 33 is not in the neutral posture, the transition to the crane mode itself is prohibited (S7), so that a specific operation of the working unit 33 is forcibly prohibited. Therefore, in the working machine 3 according to the present embodiment, each time the crane mode for performing the lifting work is activated, it is possible to avoid a specific operation being performed in a state where the working unit 33 is in the offset posture without the operator (user) having to confirm that the offset posture is not present. As a result, there is an advantage that the labor of the operator's operation can be reduced.

[0104] In the present embodiment, as described above, the specific operation of the working unit 33 includes the operation of the working machine 3 in the crane mode for executing the hanging operation on the working unit 33. Here, when the posture of the working unit 33 is in the offset posture, the detection accuracy of the suspended load decreases, and moreover, the entire working machine 3 is in a state where it is difficult to be stable. Therefore, the hanging operation in the offset posture is not recommended. Thus, according to the control method according to the present embodiment, it is possible to prohibit such a non-recommended situation (hanging operation in the offset posture).

[0105] Also, as described above, the control method according to the present embodiment further has the step of presenting notification information Im10 when prohibiting the specific operation of the working unit 33 in a state where the posture of the working unit 33 is in the offset posture. That is, when the prohibition processing unit 14 prohibits the specific operation of the working unit 33, the notification information Im10 is presented, so that the operator can recognize that the specific operation of the working unit 33 has been prohibited by the prohibition processing unit 14. The mode of presenting the notification information Im10 is not limited to the display on the display screen Dp1, but includes other displays (including lighting / extinguishing of indicator lights), sound (including voice) output, vibration, or transmission to other terminals, etc.

[0106] Furthermore, the notification information Im10 includes at least information related to the specific operation. In the present embodiment, as an example, the notification information Im10 includes first information Im11 indicating a method for executing the specific operation (that is, the need to be in the offset posture) and second information Im12 indicating that the specific operation cannot be executed. Thereby, it is possible to prompt the operator to start the specific operation with the posture of the working unit 33 in the neutral posture.

[0107] In addition, during the specific operation of the working unit 33, the control method according to the present embodiment prohibits the posture of the working unit 33 from shifting from the neutral posture to the offset posture. That is, the prohibition processing unit 14 of the control system 1 prohibits the posture of the working unit 33 from shifting from the neutral posture to the offset posture while the working unit 33 in the neutral posture is operating (specific operation) in the crane mode. Specifically, when the working unit 33 is in the neutral posture and performing a specific operation, the prohibition processing unit 14 prohibits the posture of the working unit 33 from shifting to the offset posture. Thereby, while continuing the specific operation, it is possible to prohibit the situation where the posture of the working unit 33 is in the offset posture and the working unit 33 is performing the specific operation.

[0108] As another example, during the specific operation of the working unit 33, when the posture of the working unit 33 shifts from the neutral posture to the offset posture, the specific operation of the working unit 33 may be terminated. That is, when the posture of the working unit 33 in the neutral posture shifts from the neutral posture to the offset posture while the working unit 33 is operating (specific operation) in the crane mode, the prohibition processing unit 14 of the control system 1 forcibly terminates the specific operation. Specifically, when the working unit 33 is in the neutral posture and performing a specific operation, when the posture of the working unit 33 shifts to the offset posture, the prohibition processing unit 14 switches the operation mode of the working unit 33 to the excavation mode. Thereby, while allowing the working unit 33 to shift to the offset posture, it is possible to prohibit the situation where the posture of the working unit 33 is in the offset posture and the working unit 33 is performing the specific operation.

[0109] [4.3] Presentation function of offset information Next, the presentation function of the offset information Im3 realized by the control method according to the present embodiment will be described with reference to FIG. 10. The presentation function of the offset information Im3 can be applied independently, separated from other functions.

[0110] The control method according to this embodiment further has the following: presenting offset information Im3 when the posture of the working unit 33 is in the offset posture, and not presenting the offset information Im3 when the posture of the working unit 33 is in the neutral posture. Specifically, if the posture of the working unit 33 is in the offset posture, as shown in FIG. 10, the control system 1 presents the offset information Im3 by displaying the offset information Im3 in the display screen Dp1 (home screen Dp11). If the posture of the working unit 33 is in the neutral posture, the offset information Im3 in the display screen Dp1 (home screen Dp11) becomes non-displayed.

[0111] Here, as an example, the offset information Im3 is an image (icon) indicating that the posture of the working unit 33 is in the offset posture, and is displayed in the third region R3 in the same manner as the other image Im1. By presenting such offset information Im3, it becomes easier for the operator to grasp that the posture of the working unit 33 is in the offset posture.

[0112] The mode of presenting the offset information Im3 is not limited to the display on the display screen Dp1, and includes other displays (including the lighting / extinguishing of display lights), sound (including voice) output, vibration, or transmission to other terminals, etc.

[0113] Furthermore, the offset information Im3 is not presented simultaneously with the specific information Im2 presented during a specific operation of the working unit 33. That is, in this embodiment, as described above, on the crane mode screen Dp12 displayed while the crane mode is selected as the operation mode, specific information Im2 regarding the operation (specific operation) of the working machine 3 in the crane mode is displayed. Since this specific information Im2 is displayed only when the posture of the working unit 33 is in the neutral posture, the offset information Im3 is not presented (displayed) simultaneously with the specific information Im2. Thereby, the operator can be made to recognize that a specific operation such as a lifting operation cannot be performed.

[0114] Also, when a specific operation is performed, offset information Im3 is presented simultaneously with notification information Im10. The "specific operation" mentioned here is, for example, an operation for shifting the operation mode of the working unit 33 from a mode other than the crane mode (excavation mode) to the crane mode when the posture of the working unit 33 is in the offset posture. That is, when a specific operation of the working unit 33 is prohibited while the posture of the working unit 33 is in the offset posture, both the offset information Im3 and the notification information Im10 are displayed on the display screen Dp1.

[0115] [5] Modification Example Hereinafter, modification examples of Embodiment 1 will be listed. The modification examples described below can be applied in appropriate combinations.

[0116] The control system 1 in the present disclosure includes a computer system. The computer system mainly includes one or more processors and one or more memories as hardware. By the processor executing the program recorded in the memory of the computer system, the functions as the control system 1 in the present disclosure are realized. The program may be recorded in advance in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. Also, some or all of the functional units included in the control system 1 may be configured by electronic circuits.

[0117] Also, it is not an essential configuration of the control system 1 that at least some of the functions of the control system 1 are integrated in one housing, and the components of the control system 1 may be provided dispersedly in a plurality of housings. Conversely, in Embodiment 1, the functions dispersed in a plurality of devices (for example, the control system 1 and the display device 2) may be integrated in one housing. Further, at least some of the functions of the control system 1 may be realized by a cloud (cloud computing) or the like.

[0118] Further, the power source of the working machine 3 is not limited to a diesel engine, and may be, for example, an engine other than a diesel engine, a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0119] Also, as shown in FIG. 11, the working machine 3 includes a storage sensor 338 that detects the stored state of the hook 337, and it may be determined that the crane mode is selected when the hook 337 changes from the stored state to the non-stored state. That is, when performing excavation work or the like using the bucket 335, the hook 337 is housed in the bucket link 336 so as not to interfere. The storage sensor 338 is a sensor that detects whether the hook 337 is housed (stored) in the bucket link 336, and is composed of, for example, a non-contact optical sensor. The storage sensor 338 is connected to the control system 1 and outputs the detection result to the control system 1. In this working machine 3, the switching of the operation mode is performed by the user (operator) pulling out the hook 337 from the bucket link 336. That is, when the user operates the hook 337 to pull it out from the bucket link 336, the selection processing unit 11 receives the output of the storage sensor 338 at this time and switches the operation mode of the working unit 33 to the crane mode. On the other hand, when the user operates the hook 337 to house (store) it in the bucket link 336, the selection processing unit 11 receives the output of the storage sensor 338 at this time and switches the operation mode of the working unit 33 to the excavation mode.

[0120] Thereby, when the user (operator) performs a lifting operation, the operation mode of the working unit 33 can be switched to the crane mode simply by pulling out the hook 337. And when switching to the crane mode, if the boom 330 is in the offset state and the posture of the working unit 33 is not in the neutral posture, the switching to the crane mode is prohibited. Therefore, there is an advantage that the labor of the operator's operation can be reduced.

[0121] In addition, the display device 2 may be not limited to a dedicated device, but may be a general-purpose terminal such as a laptop computer, a tablet terminal, or a smartphone. Further, the display unit 23 is not limited to a mode of directly displaying the display screen Dp1, such as a liquid crystal display or an organic EL display, and may be configured to display the display screen Dp1 by projection, such as a projector.

[0122] In addition, as an operation mode of the mode change switch 36, it is not limited to a mechanical switch, and for example, modes such as voice input, gesture input, or input of an operation signal from another terminal may be adopted.

[0123] In addition, the determination as to whether or not the posture of the working unit 33 is the neutral posture may be made regardless of the detection result of the angle sensor 341. As an example, when a lock pin for locking (fixing) the boom 330 in the neutral state is provided, it may be determined that the posture is the neutral posture based on the fact that the lock pin is attached.

[0124] (Embodiment 2) The construction machine 3 according to the present embodiment is different from the construction machine 3 according to the first embodiment in that a specific operation that is incompatible with the offset posture is prohibited. Hereinafter, for the same configurations as those in the first embodiment, the same reference numerals are given and the description is appropriately omitted.

[0125] In the present embodiment, the control system 1 has a limit mode as an operation mode for limiting the movable range of the working unit 33 to a limit position in addition to or instead of the crane mode. Specifically, as this type of limit mode, as shown in FIG. 12, there are a boom height limit mode and an arm entrainment limit mode. The boom height limit mode is a mode for limiting the upper end of the movable range of the working unit 33 in the vertical direction D1 to the height limit position by defining the upper end of the movable range of the boom 330. The arm entrainment limit mode is a mode for limiting the limit position in the entrainment (bending direction) of the arm 334 to the entrainment limit position.

[0126] The restriction mode selection screen Dp13 shown in FIG. 12 is, for example, a display screen Dp1 displayed on the display unit 23 of the display device 2 by selecting the item "operation restriction" in the fourth area R4 on the home screen Dp11 (see FIG. 6). When either the boom height restriction mode or the arm entrapment restriction mode is selected on the restriction mode selection screen Dp13, the operation mode of the working unit 33 shifts to the selected restriction mode.

[0127] Here, when the boom height restriction mode is selected, the display screen Dp1 transitions from the restriction mode selection screen Dp13 to a boom height registration screen Dp14 as shown in FIG. 13. While the boom height registration screen Dp14 is being displayed, the operator can raise the boom 330 and then operate the OK button on the boom height registration screen Dp14 to register the position of the boom 330 at that time as the upper limit of the movable range, that is, the height restriction position of the working unit 33. When the height restriction position of the working unit 33 is registered, the display screen Dp1 transitions to a registration completion screen Dp15 as shown in FIG. 14. Thereafter, the working machine 3 operates in the boom height restriction mode in which the movable range of the boom 330 is restricted with the registered height restriction position as the upper limit (upper end).

[0128] Incidentally, when the posture (offset angle) of the working unit 33 changes, the height position of the working unit 33 may change accordingly. Therefore, in the restriction mode as described above (for example, the boom height restriction mode), when the restriction position (for example, the height restriction position) is registered with the working unit 33 in the offset posture, if the offset angle changes, the movable range of the working unit 33 may be restricted at a position unintended by the operator.

[0129] Therefore, in the present embodiment, the specific operation includes an operation of registering a limit position used in a limit mode that restricts the movable range of the working unit 33 to the limit position. Specifically, if the posture of the working unit 33 is in the offset posture, the specific operation of the working unit 33 is prohibited by the prohibition processing unit 14, so the registration of the height limit position of the working unit 33 on the boom height registration screen Dp14 is prohibited. At this time, as shown in FIG. 15, the prohibition processing unit 14 presents (displays) the notification information Im10 on the boom height registration screen Dp14. In the present embodiment, as an example, the notification information Im10 includes information indicating a method for enabling the registration of the limit position, that is, information indicating that it is necessary to be in the offset posture, such as "Please set the boom offset to the center position."

[0130] According to this configuration, it is possible to prevent the limit position (for example, the height limit position) from being registered in a state where the working unit 33 is in the offset posture, and it becomes easier to avoid the movable range of the working unit 33 being restricted at a position not intended by the operator. Here, the notification information Im10 as shown in FIG. 15 becomes non-displayed when a certain time has elapsed since the start of display or when the working unit 33 switches to the neutral posture.

[0131] Furthermore, in the present embodiment, the operation of the working unit 33 in the limit mode when the limit position has been registered is not included in the specific operation. That is, the specific operation prohibited by the prohibition processing unit 14 is not all the operations of the working unit 33 in the limit mode (for example, the boom height limit mode), but only the operation related to the registration of the limit position (for example, the height limit position). Therefore, once the limit position is registered, until the limit position is canceled by means such as turning off the power of the control system 1 or resetting, even if the working unit 33 is in the offset posture, the working machine 3 can operate in the limit mode.

[0132] Also, the specific operation is not limited to the limit position (height limit position) in the boom height limit mode, but may be an operation related to the registration of the limit position (entanglement limit position) in the arm entanglement limit mode, or the limit position (depth limit position) in the depth limit mode, etc.

[0133] The configuration according to Embodiment 2 (including variations) can be adopted in appropriate combination with various configurations (including variations) described in Embodiment 1.

[0134] 〔Supplementary Note of the Invention〕 The following is a supplementary note on the outline of the invention extracted from the above-described embodiments. Note that each configuration and each processing function described in the following supplementary note can be selectively combined arbitrarily.

[0135] <Supplementary Note 1> It is used in a working machine equipped with a working unit configured to be able to execute work, changing the posture of the working unit among a plurality of postures including a neutral posture and an offset posture, allowing a specific operation of the working unit in a state where the posture of the working unit is in the neutral posture, and prohibiting the specific operation of the working unit in a state where the posture of the working unit is in the offset posture, A control method for a working machine.

[0136] <Supplementary Note 2> During the specific operation of the working unit, a transition of the posture of the working unit from the neutral posture to the offset posture is prohibited. The control method for a working machine according to Supplementary Note 1.

[0137] <Supplementary Note 3> During the specific operation of the working unit, when the posture of the working unit transitions from the neutral posture to the offset posture, the specific operation of the working unit is aborted. The control method for a working machine according to Supplementary Note 1.

[0138] <Supplementary Note 4> When prohibiting the specific operation of the working unit in a state where the posture of the working unit is in the offset posture, further presenting notification information. The control method for a working machine according to any one of Supplementary Notes 1 to 3.

[0139] <Appendix 5> The notification information includes at least information related to the specific operation. The control method of the working machine according to Appendix 4.

[0140] <Appendix 6> The specific operation includes the operation of the working machine in the crane mode for causing the working part to perform a hanging operation. The control method of the working machine according to any one of Appendices 1 to 5.

[0141] <Appendix 7> The specific operation includes the operation of registering the limit position used in the limit mode for limiting the movable range of the working part to a limit position. The control method of the working machine according to any one of Appendices 1 to 6.

[0142] <Appendix 8> When the limit position has been registered, the operation of the working part in the limit mode is not included in the specific operation. The control method of the working machine according to Appendix 7.

[0143] <Appendix 9> The working part includes a first boom and a second boom connected to each other, and has a boom capable of changing the angle of the second boom with respect to the first boom in a plan view. The posture of the working part changes depending on the angle of the second boom with respect to the first boom. The neutral posture is the posture of the working part when the angle is within the neutral range. The offset posture is the posture of the working part when the angle is within the offset range. The control method of the working machine according to any one of Appendices 1 to 8.

[0144] <Appendix 10> The boundary between the neutral range and the offset range can be set. The control method of the working machine according to Appendix 9.

[0145] <Appendix 11> further presenting offset information when the posture of the working unit is in the offset posture and not presenting the offset information when the posture of the working unit is in the neutral posture The control method of the working machine according to any one of Appendices 1 to 10.

[0146] <Appendix 12> The offset information is not presented simultaneously with the specific information presented during the specific operation of the working unit. The control method of the working machine according to Appendix 11.

[0147] <Appendix 13> The control method of the working machine according to any one of Appendices 1 to 12 A control program for a working machine for causing one or more processors to execute.

Explanation of Signs

[0148] 1 Control system for working machine 3 Working machine 12 Posture change processing unit 13 Allowance processing unit 14 Prohibition processing unit 33 Working unit 330 Boom 331 First boom 332 Second boom Im2 Specific information Im3 Offset information Im10 Notification information

Claims

1. It is used for a working machine equipped with a working unit configured to be able to execute operations, changing the posture of the working unit among a plurality of postures including a neutral posture and an offset posture, allowing a specific operation of the working unit in a state where the posture of the working unit is in the neutral posture, and prohibiting the specific operation of the working unit in a state where the posture of the working unit is in the offset posture, A control method for a working machine.

2. During the specific operation of the working unit, shifting of the posture of the working unit from the neutral posture to the offset posture is prohibited, The control method for a working machine according to Claim 1.

3. During the specific operation of the working unit, when the posture of the working unit shifts from the neutral posture to the offset posture, the specific operation of the working unit is aborted, The control method for a working machine according to Claim 1.

4. When prohibiting the specific operation of the working unit in a state where the posture of the working unit is in the offset posture, further presenting notification information, The control method for a working machine according to any one of Claims 1 to 3.

5. The notification information includes at least information regarding the specific operation, The control method for a working machine according to Claim 4.

6. The specific operation includes the operation of the working machine in a crane mode in which a lifting operation is executed on the working unit, The control method for a working machine according to any one of Claims 1 to 3.

7. The specific operation includes an operation of registering a limit position used in a limit mode in which the movable range of the working unit is restricted to a limit position, The control method for a working machine according to any one of Claims 1 to 3.

8. The operation of the working unit in the limit mode when the limit position has been registered is not included in the specific operation, The control method for a working machine according to Claim 7.

9. The working unit includes a first boom and a second boom connected to each other, and has a boom capable of changing an angle of the second boom with respect to the first boom in a plan view, The posture of the working unit changes depending on the angle of the second boom with respect to the first boom, The neutral posture is the posture of the working unit when the angle is within a neutral range, The offset posture is the posture of the working unit when the angle is within an offset range, The control method for a working machine according to any one of Claims 1 to 3.

10. It is possible to set the boundary between the neutral range and the offset range. The control method for a working machine according to claim 9.

11. Further comprising presenting offset information when the posture of the working unit is in the offset posture and not presenting the offset information when the posture of the working unit is in the neutral posture. The control method for a working machine according to any one of claims 1 to 3.

12. The offset information is not presented simultaneously with the specific information presented during the specific operation of the working unit. The control method for a working machine according to claim 11.

13. The control method for a working machine according to any one of claims 1 to 3. A control program for a working machine for causing one or more processors to execute.

14. It is used for a working machine provided with a working unit configured to be able to execute work. A posture change processing unit that changes the posture of the working unit among a plurality of postures including a neutral posture and an offset posture. An allow processing unit that allows a specific operation of the working unit in a state where the posture of the working unit is in the neutral posture. A prohibiting processing unit that prohibits the specific operation of the working unit in a state where the posture of the working unit is in the offset posture. A control system for a working machine.

15. The control system for a working machine according to claim 14. And the working unit. A working machine.

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