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, a control program for a work machine, a control system for a work machine and a work machine which facilitate a burden related to operation on an operator.SOLUTION: A control method of a work machine 3 including a machine body 30 for performing operation in accordance with the operation of an operation device 35 can change an operation pattern which is correspondence between the operation of the operation device 35 and the operation of the machine body 30. The control method includes: displaying a change screen for changing the operation pattern on a display device 2; and displaying a calling screen for calling the change screen on the display device 2. In a lock state in which the operation of the work machine 3 is restricted, a display screen displayed on the display device 2 is transited from the calling screen to the change screen in response to predetermined operation.SELECTED DRAWING: Figure 2

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 provided with a machine body that operates according to an operation of an operating device.

Background Art

[0002] As related art, a hydraulic excavator as a working machine (construction machine) including a self-propelled lower traveling body, an upper revolving body rotatably mounted on the lower traveling body via a slewing device, and a working device provided at the front of the upper revolving body is known (for example, see Patent Document 1). The working machine according to the related art has, as a working device, a boom, an arm, a bucket provided so as to be capable of pitching, and a hydraulic cylinder for driving these. This working machine includes a control valve that supplies and discharges pressure oil to the slewing device and the working device according to an operation of an operation lever, and an operation pattern (combination pattern) that is a correspondence relationship between the operation of the operation lever and the control valve is configured to be switchable by an operation of a changeover lever. That is, the correspondence relationship between the operation direction of the operating device (operation lever) and the operation of each actuator such as a boom cylinder, an arm cylinder, or a bucket cylinder is switched by the operation of the changeover lever.

[0003] In the above related art, in the operation pattern confirmation work, the operator exposes the pattern changeover valve by opening the maintenance door of the cab. In this state, by visually checking the position of the changeover lever of the pattern changeover valve, it is possible to confirm whether the operation pattern matches the operator's preference.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the related art described above, since the operator checks the operation pattern by visually observing the position of the switching lever, if this checking operation is neglected, the machine body (working device, etc.) may perform an unexpected operation corresponding to the operation of the operating device, and the operator needs to operate with caution.

[0006] 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 easily reduce the burden on the operator related to operation.

Means for Solving the Problems

[0007] A control method for a working machine according to an aspect of the present invention is a control method for a working machine including a machine body that operates according to an operation of an operating device, and capable of changing an operation pattern that is a correspondence relationship between the operation of the operating device and the operation of the machine body. The control method includes causing a display device to display a change screen for changing the operation pattern, and causing the display device to display a call screen for calling the change screen. When the working machine is in a locked state in which the operation is restricted, in response to a predetermined operation, the display screen displayed on the display device is transitioned from the call screen to the change screen.

[0008] 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. '

[0009] The control system for a working machine according to one aspect of the present invention includes a machine body that operates according to an operation of an operation device, and is used for a working machine in which an operation pattern, which is a correspondence relationship between the operation of the operation device and the operation of the machine body, can be changed. The control system for the working machine includes a presentation processing unit. The presentation processing unit causes a display device to display a change screen for changing the operation pattern and a call screen for calling the change screen. The call screen includes operation pattern information indicating the current operation pattern. When the working machine is in a locked state in which the operation of the working machine is restricted, the presentation processing unit causes the display screen displayed on the display device to transition from the call screen to the change screen in response to a predetermined operation.

[0010] A working machine according to one aspect of the present invention includes the control system for the working machine and the machine body.

Effect of the Invention

[0011] 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 easily reduce the burden on an operator related to operations.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

[0013] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are an example of embodying the present invention and are not intended to limit the technical scope of the present invention.

[0014] (Embodiment 1) [1] Overall Configuration As shown in Fig. 1, the working machine 3 according to this 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 working machines (hereinafter, also simply referred to as "control system 1"). In addition, as shown in Figs. 1 and 2, the machine body 30 further includes a display device 2, a main switch 34, an operating device 35, a sound output unit 36, a camera 38, a cutoff switch 371, a cutoff lever 372, and the like.

[0015] The "working machine" referred to in this disclosure means various working machines. As an example, it is a working vehicle such as a backhoe (including a hydraulic excavator, a mini excavator, etc.), a wheel loader, and a carrier. The working machine 3 includes a working unit 33 configured to be able to execute one or more operations. The working machine 3 is not limited to a "vehicle", and may be, for example, a working flying body such as a working ship, 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 this embodiment, unless otherwise specified, the case where the working machine 3 is a ride-on type backhoe and can execute operations such as excavation work, land leveling work, trench excavation work, or loading work will be taken as an example for explanation. More specifically, it is assumed that the working machine 3 according to this embodiment is an "ultra-small swing type" in which the slewing unit 32 including the working unit 33 can fully swing within 120% of the full width of the traveling unit 31 (the full width of the pair of left and right crawlers 311), or a "rear ultra-small swing type" in which the rear swing radius ratio is within 120%.

[0016] In addition, in the present embodiment, for convenience of explanation, the vertical direction in the state where the working machine 3 can be used is defined as the vertical direction D1. Further, in the non-slewing state of the slewing unit 32, the front-rear direction D2 and the left-right direction D3 are defined based on the direction seen from the user (operator) boarding the working machine 3 (the driving unit 321 thereof). In other words, each direction used in the present embodiment is a direction defined with reference 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 the "front", and the direction in which the machine body 30 moves when the working machine 3 moves backward is the "rear". Similarly, the direction in which the front end of the machine body 30 moves when the working machine 3 slews to the right is the "right", and the direction in which the front end of the machine body 30 moves when the working machine 3 slews to the left is the "left". However, these directions are not intended to limit the usage direction (direction during use) of the working machine 3.

[0017] The working machine 3 is provided with an engine as a power source. In the present 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, 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 driving unit 321 of the machine body 30 operating an operating device 35 such as operation levers 351, 352 (see FIG. 2).

[0018] In the present embodiment, since it is assumed that the working machine 3 is a ride-on type backhoe as described above, the working unit 33 is driven in accordance with the operation of the user (operator) boarding the driving unit 321 and performs operations such as excavation work. The driving unit 321 on which the user boards is provided on the slewing unit 32.

[0019] Here, a display device 2 and an operation device 35 are mounted on the operation unit 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 operating oil temperature is displayed on the display screen of the display device 2, so that the user can confirm, on the display device 2, the information related to the operating state of the working machine 3 necessary for operating the operation device 35.

[0020] The traveling unit 31 has a traveling function and is configured to be able to travel (including turning) on the ground. The traveling unit 31 has, for example, a pair of left and right crawlers 311 and a blade 312. The traveling unit 31 further has a hydraulic motor 43 (hydraulic actuator) for traveling for driving the crawler 311.

[0021] The slewing unit 32 is located above the traveling unit 31 and is configured to be able to slew about a rotation axis along the vertical direction with respect to the traveling unit 31. The slewing unit 32 has a hydraulic motor 45 (see FIG. 2) etc. as a hydraulic actuator for slewing. In addition to the operation unit 321, an engine and a hydraulic pump 41 etc. are mounted on the slewing unit 32. Further, a boom bracket 322 to which the working unit 33 is attached is provided at the front end of the slewing unit 32.

[0022] The working unit 33 is configured to be able to execute one or more operations. The working unit 33 is supported by the boom bracket 322 of the slewing unit 32 and executes operations. The working unit 33 has a bucket 331. The bucket 331 is a kind of attachment (working tool) attached to the machine body 30 of the working machine 3 and consists of an arbitrary tool selected according to the content of the work from among a plurality of types of attachments. The bucket 331 is, as an example, detachably attached to the machine body 30 and is exchanged according to the content of the work. As attachments for the working machine 3, for example, in addition to the bucket 331, there are 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 mulcher, a tilt rotator, and a tamper.

[0023] The working unit 33 further includes a boom 332, an arm 333, a hydraulic actuator (including a hydraulic cylinder 44, a hydraulic motor, etc.). The bucket 331 is attached to the tip of the arm 333.

[0024] The boom 332 is rotatably supported by a boom bracket 322 of the slewing unit 32. Specifically, the boom 332 is rotatably supported by the boom bracket 322 about a rotation axis along the horizontal direction. The boom 332 has a shape extending upward from the base end portion supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is rotatably supported by the boom 332 about a rotation axis along the horizontal direction.

[0025] 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 the hydraulic actuator (such as the hydraulic cylinder 44) of the working unit 33, so that each part (the bucket 331, the boom 332, and the arm 333) of the working unit 33 operates.

[0026] In particular, in this embodiment, the working unit 33 has a multi-joint structure in which the boom 332 and the arm 333 are individually rotatable. That is, by each of the boom 332 and the arm 333 rotating about a rotation axis along the horizontal direction, for example, the multi-joint working unit 33 including the boom 332 and the arm 333 can perform operations such as extending and folding as a whole.

[0027] Each of the traveling unit 31 and the slewing unit 32 also operates by receiving power from an engine as a power source. That is, the hydraulic motor 43 of the traveling unit 31, the hydraulic motor 45 of the slewing unit 32, etc. are supplied with hydraulic oil from the hydraulic pump 41, so that the slewing unit 32 and the traveling unit 31 operate.

[0028] In addition, the working machine 3 further includes a driving device (mechanism) such as a PTO (Power Take-Off) for supplying power to the bucket 331 (attachment). Specifically, the driving device sends the hydraulic oil from the hydraulic pump 41 driven by the engine to the bucket 331, and adjusts the magnitude of the power supplied to the bucket 331 by adjusting the flow rate of the hydraulic oil. Here, the driving device has a plurality (four in this embodiment as an example) of PTO ports, that is, output ports (hereinafter referred to as "PTO1", "PTO2", "PTO3", and "PTO4"). PTO1 to PTO4 can each individually adjust the power, that is, the flow rate of the hydraulic oil.

[0029] In FIG. 2, the hydraulic circuit and the electric circuit (electrical connection relationship) of the working machine 3 according to this embodiment are schematically shown. In FIG. 2, solid lines represent high-pressure (for hydraulic oil) oil paths, dotted lines represent low-pressure (for pilot oil) oil paths, and one-dot chain line arrows represent the paths of electrical signals.

[0030] As shown in FIG. 2, in addition to the hydraulic pump 41, the hydraulic cylinder 44, and the hydraulic motor 45, the working machine 3 includes a pilot pump 42, first control valves 491 to 494, a second control valve 47, and a direction change valve (control valve) 48, etc. In FIG. 2, only one hydraulic cylinder 44 for driving the boom 332 is shown, but the same hydraulic circuit is configured for the hydraulic cylinders 44 for driving the arm 333 or the bucket 331, etc. Also, in FIG. 2, only the hydraulic motor 45 of the slewing unit 32 is shown, but the same hydraulic circuit is configured for the hydraulic motor 43 of the traveling unit 31.

[0031] 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 45 of the slewing unit 32, and the hydraulic cylinders 44 of the working unit 33, etc. Thereby, hydraulic actuators such as the hydraulic motors 43, 45 and the hydraulic cylinders 44 are driven.

[0032] For hydraulic actuators such as hydraulic motors 43 and 45 and hydraulic cylinder 44, a pilot-operated direction control valve 48 capable of switching the direction and flow rate of the hydraulic oil from the hydraulic pump 41 is provided. The direction control valve 48 is driven by the supply of pilot oil serving as an input command from the pilot pump 42.

[0033] Here, first control valves 491 to 494 are provided in the supply paths of the pilot oil to the respective direction control valves 48. The first control valves 491 to 494 are all electromagnetic control valves (solenoid valves), and are inserted between the direction control valve 48 and the pilot pump 42, respectively. 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 operation device 35 (operation lever), and for example, instructs the deployment operation and the contraction operation of the working unit 33. Here, the first control valves 491 to 494 are assumed to be (electromagnetic) proportional control valves, but are not limited thereto, and may be, for example, on-off valves capable of switching the opening / closing of the flow path.

[0034] Such a direction control valve and the first control valve are provided not only in the hydraulic circuit of the hydraulic cylinder 44 for driving the boom 332 and the hydraulic motor 45 of the slewing section 32, but also in the hydraulic circuits of the hydraulic cylinder 44 for driving the arm 333 or the bucket 331 and the hydraulic motor 43 of the traveling section 31. Therefore, it is possible to operate the traveling section 31, the slewing section 32, and the working unit 33 according to the operation of the operation device 35.

[0035] 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 a power source via a cutoff switch 371 and operates according to the supply current from the power source. Here, the second control valve 47 opens the flow path of the pilot oil in the energized state, that is, the state in which a current as a 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 a 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.

[0036] The cutoff switch 371 is interlocked with a cutoff lever 372. The cutoff lever 372 is disposed in the operation unit 321 of the aircraft body 30 and receives an operation input by a user (operator). In the present embodiment, as an example, the cutoff lever 372 is operable along the vertical direction D1. When the cutoff lever 372 is in 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 in the "lowered position" which is the lower end position of the movable range, the cutoff switch 371 is "on". 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.

[0037] Therefore, when the cutoff lever 372 is in the "lowered position", the second control valve 47 is in the energized state, and the hydraulic actuator (such as the hydraulic cylinder 44) is driven by the operation of the operating device 35. On the other hand, when the cutoff lever 372 is in the "raised position", the second control valve 47 is in the non-energized state, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating 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".

[0038] Furthermore, for each of the slewing unit 32 and the traveling unit 31, since they operate by hydraulic oil being supplied from the hydraulic pump 41 to hydraulic actuators (such as hydraulic motors 43 and 45), if the cut-off lever 372 is in the "raised position", the slewing unit 32 and the traveling unit 31 also cannot be driven. That is, if the cut-off lever 372 is in the "raised position", all of the working unit 33, the slewing unit 32, and the traveling unit 31 are forced into a non-drivable state.

[0039] In short, the cut-off switch 371 is in a "locked state" where the operation of the working machine 3 is restricted (including prohibited) when it is off, and in an "unlocked state" where the operation of the working machine 3 is not restricted when it is on. And if the cut-off lever 372 is in the "raised position" and the cut-off switch 371 is in the locked state (off), the operation of the working machine 3 is forcibly restricted regardless of the operation of the operating device 35. The cut-off lever 372 is a lever that is operated when locking the operation of the working machine 3 in this way, and is synonymous with the gate lock lever.

[0040] The main switch 34 is arranged in the driving unit 321 of the machine body 30 and is operated by the user (operator) when starting the working machine 3. While the main switch 34 is off, the machine body 30 (including the traveling unit 31, the slewing unit 32, and the working unit 33) is not in a state where it operates in response to the operation of the operating device 35, and it is only when the main switch 34 is turned on that the machine body 30 operates in response to the operation of the operating device 35. Also, when the main switch 34 is turned on, power supply to the display device 2 and the like also starts. In this embodiment, as an example, the main switch 34 is interlocked with a key cylinder and is turned on when the engine is started (ignition on) using a key.

[0041] The operating device 35 is arranged in the operation unit 321 of the airframe 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 seen from the user (operator) boarding the operation unit 321, and the operation lever 352 is located on the left side as seen 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 work machine 3.

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

[0043] The sound output unit 36 outputs sound (including voice) to the user (operator). The sound output unit 36 includes a buzzer or a speaker, etc., and outputs sound upon receiving an electric signal. The sound output unit 36 is connected to the control system 1 and outputs sound such as a beep sound or voice according to the sound control signal from the control system 1. In the present embodiment, the sound output unit 36 is provided in the operation unit 321 of the airframe 30 in the same manner as the display device 2. The sound output unit 36 may be provided integrally with the display device 2.

[0044] The camera 38 has a function of imaging the peripheral image of the aircraft 30. The camera 38 is provided, for example, on the turning 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 aircraft 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 captures the image (peripheral image) behind the aircraft 30 as a full-color moving image and outputs the image data of the peripheral image to the control system 1 in real time.

[0045] The control system 1 mainly comprises 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 comprise one processor or a plurality of processors. The control system 1 will be described in detail in the section "[2] Configuration of the control system".

[0046] The display device 2 is arranged at the operation unit 321 of the aircraft 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 user's operation. Thereby, the user (operator) can visually recognize the display screen Dp1 (see FIG. 3) 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 Dp1 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 Dp1 displayed on the display unit 23. The operation unit 22 receives various operations by the user U1, for example, by outputting an electrical signal corresponding to the operation of the user U1 (see FIG. 3). In this embodiment, as an example, the operation unit 22 includes a plurality (here, six) of mechanical push-button switches 221 to 226 as shown in FIG. 3. These plurality of push-button switches 221 to 226 are arranged close to the display area (below in the example of FIG. 3) along the periphery of the display area of the display unit 23. These plurality of push-button switches 221 to 226 are associated with the items displayed on the display screen Dp1 described later, and when any one of the plurality of push-button switches 221 to 226 is operated, any one of the items on the display screen Dp1 is operated (selected).

[0050] Also, the operation unit 22 may include a touch panel, an operation dial, and the like. Even in this case, any one of the items on the display screen Dp1 will be operated (selected) by an operation on the operation unit 22.

[0051] The display unit 23 is a user interface for presenting information to the user U1 (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. In this embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and as shown in FIG. 3, it has a "landscape" display area that is long in the horizontal direction.

[0052] 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 that images the periphery of the machine body 30.

[0053] [2] Configuration of the control system Next, the configuration of the control system 1 according to this embodiment will be described with reference to FIG. 2. The control system 1 controls each part of the machine body 30 (including the traveling part 31, the turning part 32, the working part �, etc.) in response to an operation on the operation device 35. In this embodiment, the operation device 35 is mounted on the machine body 30 of the working machine 3 as described above. 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 this embodiment includes at least the control system 1 and the machine body 30.

[0054] As shown in FIG. 2, the control system 1 includes an acquisition processing unit 11, a control processing unit 12, a change processing unit 13, a presentation processing unit 14, and a storage unit 15. In this embodiment, as an example, the control system 1 is mainly configured by a computer system having one or more processors. By one or more processors executing a control program for a working machine, these multiple functional units (acquisition processing unit 11, etc.) are realized. These multiple functional units included in the control system 1 may be distributed and provided in multiple enclosures, or may be provided in one enclosure.

[0055] The control system 1 is configured to be communicable with devices provided in each part of the aircraft 30. That is, at least a display device 2, a main switch 34, an operation device 35, a sound output unit 36, first control valves 491 to 494, a cutoff switch 371, etc. are connected to the control system 1. Thereby, the control system 1 can control the display device 2, the sound output unit 36, the first control valves 491 to 494, etc., and can also acquire an electrical signal (operation signal, etc.) from the display device 2, the main switch 34, the operation device 35, and the cutoff 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, etc. 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 directly exchange various information (data) with each device, or may indirectly exchange it via a repeater or the like. The control system 1 and the devices provided in each part of the aircraft 30 can communicate with each other, for example, by a communication method such as CAN (Controller Area Network).

[0056] The acquisition processing unit 11 executes an acquisition process for receiving an operation on the operation device 35 for controlling the working machine 3. That is, when the operation device 35 having a pair of operation levers 351, 352 outputs an operation signal according to a user's operation, the acquisition processing unit 11 acquires the operation signal. Thereby, for example, an operation signal representing the operation content (operation direction and operation amount) of the operation levers 351, 352, such as an operation of tilting the right operation lever 351 forward or an operation of tilting the left operation lever 352 forward, can be acquired by the acquisition processing unit 11. The acquisition processing unit 11 is further configured to be able to acquire the on / off states of each of the main switch 34 and the cutoff switch 371.

[0057] The control processing unit 12 executes control processing for controlling the aircraft body 30 according to the operations of the operation device 35. In the control processing, the control processing unit 12 executes control of the traveling unit 31, turning unit 32, working unit 33, etc. of the aircraft body 30. Specifically, the control processing unit 12 outputs control signals to the first control valves 491 to 494 according to the operations of the operation device 35 acquired by the acquisition processing unit 11, thereby controlling hydraulic actuators such as the hydraulic motors 43, 45 and the hydraulic cylinder 44.

[0058] Here, the control processing unit 12 executes control processing according to the operation pattern. The "operation pattern" as used in the present disclosure means the correspondence between the operations of the operation device 35 and the operations of the aircraft body 30, and includes data indicating the combination of the operations of the operation device 35 and the operations of the aircraft body 30. That is, the control processing unit 12 realizes the operation of the aircraft body 30 corresponding to the operation of the operation device 35 according to the correspondence between the operation of the operation device 35 and the operation of the aircraft body 30 defined as the operation pattern.

[0059] For example, in a certain operation pattern, the operation of tilting the right operation lever 351 of the operation device 35 forward is associated with the operation of lowering the boom 332 of the aircraft body 30, and the operation of tilting the left operation lever 352 of the operation device 35 backward is associated with the operation of bending the arm 333 of the aircraft body 30. In this case, when the acquisition processing unit 11 receives the operation of tilting the operation lever 351 forward, the control processing unit 12 controls the first control valves 491 to 494 to drive the hydraulic cylinder 44 of the working unit 33 to lower the boom 332. Similarly, when the acquisition processing unit 11 receives the operation of tilting the operation lever 352 backward, the control processing unit 12 controls the first control valves 491 to 494 to drive the hydraulic cylinder 44 of the working unit 33 to bend the arm 333.

[0060] The change processing unit 13 executes change processing for changing the operation pattern. That is, the operation pattern used by the control processing unit 12 is not fixed and can be arbitrarily changed by the change processing unit 13. In the present embodiment, as an example, a plurality of operation patterns are stored in advance in the storage unit 15 of the control system 1, and the change processing unit 13 selects one of these plurality of operation patterns as the "current operation pattern". In this way, the change processing unit 13 sets the "current operation pattern" by selecting one operation pattern from a plurality of predetermined operation patterns. Therefore, when the operation pattern selected by the change processing unit 13 is switched within the plurality of operation patterns, the "current operation pattern" will be switched. The control processing unit 12 executes control processing for controlling the aircraft 30 according to the operation of the operation device 35 in accordance with the operation pattern (current operation pattern) set by the change processing unit 13.

[0061] As an example, in a state where four operation patterns, namely, a first pattern, a second pattern, a third pattern, and a fourth pattern, are stored in the storage unit 15 as operation patterns, the change processing unit 13 selects any one of these first to fourth patterns as the "current operation pattern". The first pattern, the second pattern, the third pattern, and the fourth pattern are data indicating the correspondence (combination) between the operations of the operation device 35 and the operations of the aircraft 30 that are different from each other. For example, when the change processing unit 13 selects the first pattern as the operation pattern, the control processing unit 12 executes control processing according to the first pattern. On the other hand, when the change processing unit 13 selects the third pattern as the operation pattern, the control processing unit 12 executes control processing according to the third pattern.

[0062] The prompting processing unit 14 executes a prompting process for presenting operation pattern information indicating the current operation pattern. The "current operation pattern" referred to here is the operation pattern set by the change processing unit 13 and is the operation pattern used in the control processing by the control processing unit 12. That is, for example, when the first pattern is selected as the operation pattern by the change processing unit 13, the prompting processing unit 14 presents the operation pattern information indicating the first pattern. On the other hand, when the third pattern is selected as the operation pattern by the change processing unit 13, the prompting processing unit 14 presents the operation pattern information indicating the third pattern.

[0063] "Prompting" as referred to in the present disclosure means presenting information to the user (operator) by various means. For example, it includes display (including lighting of an indicator lamp), sound (including voice), printing, transmission to another terminal, writing to a non-transitory recording medium, etc., or a combination thereof. In this embodiment, as an example, the prompting processing unit 14 presents the operation pattern information by displaying it on the display unit 23 of the display device 2.

[0064] The storage unit 15 includes a non-volatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. Programs such as a control program for a working machine are stored (remembered) in the storage unit 15. The control program for a working machine is recorded and provided, for example, on a computer-readable non-transitory recording medium, read from the non-transitory recording medium by the reading device of the control system 1, and stored in the storage unit 15. The control program for a working machine may be provided (downloaded) to the control system 1 from a server or the like via a telecommunication line and stored in the storage unit 15.

[0065] Also, the storage unit 15 stores a plurality of operation patterns (for example, the first pattern, the second pattern, the third pattern, and the fourth pattern) that are candidates for the "current operation pattern" set by the change processing unit 13. Further, the storage unit 15 also stores the "current operation pattern" set (selected) by the change processing unit 13.

[0066] [3] Control method of working machine Hereinafter, with reference to FIGS. 4 to 13, an example of a control method of a working machine 3 mainly executed by a control system 1 (hereinafter simply referred to as "control method") will be described.

[0067] Since the control method according to the present embodiment is executed by a control system 1 mainly configured by a computer system, in other words, it is embodied by a control program for a working machine (hereinafter simply referred to as "control program"). That is, the control program according to the present embodiment is a computer program for causing one or more processors to execute the control method. Such a control program may be executed in cooperation by, for example, the control system 1 and the display device 2.

[0068] Here, the control method according to the present embodiment is a control method of a working machine 3 that includes a machine body 30 that operates according to an operation of an operation device 35 and can change an operation pattern that is a correspondence relationship between the operation of the operation device 35 and the operation of the machine body 30. In other words, the control system 1 according to the present embodiment includes a machine body 30 that operates according to an operation of an operation device 35 and is used for a working machine 3 that can change an operation pattern that is a correspondence relationship between the operation of the operation device 35 and the operation of the machine body 30. That is, in the present embodiment, the control processing unit 12 of the control system 1 executes control processing for controlling the machine body 30 according to the operation of the operation device 35, so that the machine body 30 operates according to the operation of the operation device 35. Further, the change processing unit 13 of the control system 1 executes change processing for changing the operation pattern, so that the operation pattern that is the correspondence relationship between the operation of the operation device 35 and the operation of the machine body 30 can be changed. Thus, the working machine 3 that is the control target in the control method and the control system 1 according to the present embodiment is a working machine 3 that can change an operation pattern that is the correspondence relationship between the operation of the operation device 35 and the operation of the machine body 30.

[0069] In this embodiment, as an example, four operation patterns, namely, Pattern A, Pattern B, Pattern C, and Pattern D, are stored in the storage unit 15. Among these four patterns, one of the operation patterns is selected (set) by the change processing unit 13. And as shown in FIG. 4, these four patterns are indicated on the nameplate 39 attached to the aircraft body 30. The nameplate 39 is arranged on the operation unit 321, for example, so as to be easily visible to the operator who has boarded the operation unit 321. In the example of FIG. 4, on the nameplate 39, the operation pattern for "ISO, manufactured by XX company, manufactured by YY company" is indicated as Pattern A, the operation pattern for "manufactured by ZZ company, manufactured by XY company, manufactured by YX company" is indicated as Pattern B, the operation pattern for "manufactured by ZX company, manufactured by YZ company" is indicated as Pattern C, and the operation pattern for "manufactured by XYZ company, manufactured by YXZ company" is indicated as Pattern D.

[0070] Furthermore, on the nameplate 39, for each of Pattern A, Pattern B, Pattern C, and Pattern D, an image (icon) representing the combination of the operation direction of each of the pair of operation levers 351 and 352 and the operation of the aircraft body 30 is indicated.

[0071] For example, in the case of the "A" pattern, the operation of tilting the right operation lever 351 forward is associated with the operation of lowering the boom 332 on the machine body 30, the operation of tilting the operation lever 351 backward is associated with the operation of raising the boom 332 on the machine body 30, the operation of tilting the operation lever 351 to the right is associated with the operation of opening the bucket 331 on the machine body 30, and the operation of tilting the operation lever 351 to the left is associated with the operation of closing (excavating) the bucket 331 on the machine body 30. Further, in the case of the "A" pattern, the operation of tilting the left operation lever 352 forward is associated with the operation of extending the arm 333 on the machine body 30, the operation of tilting the operation lever 352 backward is associated with the operation of bending the arm 333 on the machine body 30, the operation of tilting the operation lever 352 to the right is associated with the operation of rotating the slewing unit 32 on the machine body 30 clockwise, and the operation of tilting the operation lever 352 to the left is associated with the operation of rotating the slewing unit 32 on the machine body 30 counterclockwise.

[0072] On the other hand, in the case of the "B" pattern, the operation of tilting the left operation lever 352 forward is associated with the operation of rotating the slewing unit 32 on the machine body 30 clockwise, the operation of tilting the operation lever 352 backward is associated with the operation of rotating the slewing unit 32 on the machine body 30 counterclockwise, the operation of tilting the operation lever 352 to the right is associated with the operation of bending the arm 333 on the machine body 30, and the operation of tilting the operation lever 352 to the left is associated with the operation of extending the arm 333 on the machine body 30.

[0073] Thus, since the operation of the operation device 35 varies depending on the selected operation pattern, the operator can operate the operation device 35 while checking the operation pattern according to the operation pattern indicated on the nameplate 39.

[0074] In addition, the work machine 3 that is the control target in the control method and control system 1 according to this embodiment is configured to be able to switch from a state where the machine body 30 does not operate in response to an operation of the operation device 35 to a state where the machine body 30 operates in response to an operation of the operation device 35. That is, the work machine 3 does not always operate the machine body 30 in response to an operation of the operation device 35, and there may be a state where the machine body 30 does not operate in response to an operation of the operation device 35. Hereinafter, a state where the machine body 30 does not operate in response to an operation of the operation device 35 is also referred to as a "non-operating state", and a state where the machine body 30 operates in response to an operation of the operation device 35 is also referred to as an "operating state". Examples of the non-operating state include when the main switch 34 is off, during the startup period immediately after the main switch 34 is switched from off to on, and when the cutoff lever 372 is in the "raised position". On the other hand, examples of the operating state include after the startup period has elapsed after the main switch 34 is switched from off to on, and when the cutoff lever 372 is in the "lowered position". In short, the work machine 3 switches from a "non-operating state" where the machine body 30 does not operate in response to an operation of the operation device 35 to an "operating state" where the machine body 30 operates in response to an operation of the operation device 35, for example, by switching the main switch 34 from off to on.

[0075] Here, when a preset specific start operation for executing a control program is performed, the control system 1 executes the following various processes related to the control method. The start operation is, for example, an operation for starting the engine of the work machine 3, that is, an operation for turning on the main switch 34. 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, an operation for stopping the engine of the work machine 3, that is, an operation for turning off the main switch 34.

[0076] [3.1] Home screen Here, first, 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 drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2 such as FIG. 5, the dashed-dotted 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.

[0077] The display screen Dp1 shown in FIG. 5 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 machine body 30 operates according to the operation of the operation 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.

[0078] As shown in FIG. 5, 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.

[0079] 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 second region from the top is, 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 third region from the top is, 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 second region from the top (the first region R1, the second region R2, and the third region R3) is the widest. In terms of the horizontal size, among the three regions divided in the horizontal direction, the middle region (the second region R2, the sixth region R6, and the ninth region R9) is the widest.

[0080] 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, even in the example of FIG. 5, 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.

[0081] 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 presentation processing unit 14 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.

[0082] 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 presentation processing unit 14 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 presentation processing unit 14 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.

[0083] In this embodiment, both the cooling water temperature information G3 and the hydraulic oil temperature information G2 are graphs imitating analog meters. In an analog meter, a needle rotates and a value is presented according to the position of the needle. That is, the cooling water temperature information G3 indexes the cooling water temperature included in the operating state of the working machine 3 and is information represented by the position of the needle on the graph. Similarly, the hydraulic oil temperature information G2 indexes the hydraulic oil temperature included in the operating state of the working machine 3 and is information represented by the position of the needle on the graph. By displaying the cooling water temperature information G3 and the hydraulic oil temperature information G2 in a graph, there is an advantage that the visibility is good for the user and the operating state of the working machine 3 can be intuitively understood. The cooling water temperature information G3 and the hydraulic oil temperature information G2 may be not only information representing the cooling water temperature and the hydraulic oil temperature by numerical values or the like, but also information representing the cooling water temperature and the hydraulic oil temperature stepwise by, for example, the pattern of an image (icon).

[0084] The third region R3 is a vertically long rectangular region. In the third region R3, images (icons) Im1 indicating the validity / invalidity and abnormality / normality of each function of the working machine 3 are displayed. 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 a battery, seat belt, cooling water temperature, hydraulic oil temperature, etc., is represented. Here, each image Im1 indicates the validity / invalidity and abnormality / normality of each function by a display mode such as display / non-display, display color, or size. The presentation processing unit 14 determines the state of each part of the working machine 3 using the outputs of various sensors (including a cooling water temperature sensor and a hydraulic oil temperature sensor) that detect the operating state of each part of the working machine 3. Then, when an abnormal value is detected at any part, the presentation processing unit 14 performs a warning display by changing the display mode such as the display color of the image Im1 of that part.

[0085] The fourth area R4 is a strip-shaped area extending across the entire width of the home screen Dp11. Each item for operating the display screen Dp1 is displayed in the fourth area R4. In FIG. 5, as an example, six items of "Menu", "Crane", "Mode", "Camera", "PTO", and "Switch" are arranged side by side in this order from the left in the fourth area R4. Six push-button switches 221 to 226 of the operation unit 22 located directly below these six items are respectively associated with them. For example, the push-button switch 221 is associated with the "Menu" item, and the push-button switch 222 is associated with the "Crane" item. Therefore, for example, when the push-button switch 224 corresponding to the "Camera" item is operated by the user U1 (see FIG. 3), the "Camera" item is operated (selected).

[0086] Furthermore, in the present embodiment, in order to also correspond to operations such as the operation dial (or cursor key) of the operation unit 22, in the fourth area R4, one of the items is highlighted. In the example of FIG. 5, the "Menu" item is highlighted, and the highlighted item is switched by operating the operation dial (or cursor key) or the like. For the user U1, it is possible to select a desired item by operating the determination button with the desired item highlighted. Therefore, for example, when the determination button is operated with the highlight moved to the "Camera" item, the "Camera" item is operated (selected). Also, when the operation unit 22 includes a touch panel, the user U1 can select a desired item by touching the desired item on the home screen Dp11.

[0087] In the fifth area R5, an image (icon) for warning display indicating that abnormal values have been detected by various sensors (including a coolant water temperature sensor and an operating oil temperature sensor) is displayed. In the sixth area R6, for example, information regarding the working unit 33 that is operating in the working machine 3 is displayed. In the seventh area R7, for example, information regarding the operating state of the working machine 3, such as the engine speed, is displayed. In the eighth area R8, for example, the current time is displayed. In the ninth area R9, for example, information indicating the item to which the currently displayed display screen Dp1 belongs is displayed. In the tenth area R10, for example, information regarding the operating time (hour meter) of the working machine 3 is displayed.

[0088] [3.2] Display Screen at Startup Next, among the control methods according to the present embodiment, the process related to the display of the display screen Dp1 particularly at the startup of the working machine 3 will be described in detail.

[0089] In the present embodiment, as described above, the working machine 3 is configured to be able to switch from a non-operating state (a state in which the machine body 30 does not operate in response to an operation of the operating device 35) to an operating state (a state in which the machine body 30 operates in response to an operation of the operating device 35). And, for example, when the main switch 34 is off, the working machine 3 is in a non-operating state, and after the elapse of the startup period after the main switch 34 is switched from off to on, the working machine 3 switches from a non-operating state to an operating state.

[0090] The control method according to the present embodiment has presenting operation pattern information indicating the current operation pattern when switching from a state in which the machine body 30 does not operate (non-operating state) in response to an operation of the operating device 35 to a state in which the machine body 30 operates (operating state) in response to an operation of the operating device 35. That is, the presentation processing unit 14 of the control system 1 presents operation pattern information indicating the current operation pattern when switching from a state in which the machine body 30 does not operate (non-operating state) in response to an operation of the operating device 35 to a state in which the machine body 30 operates (operating state) in response to an operation of the operating device 35.

[0091] Specifically, the presentation processing unit 14 reads out from the storage unit 15 the operation pattern set by the change processing unit 13 as the "current operation pattern", and presents operation pattern information indicating this "current operation pattern" in a recognizable manner to the operator. As an example, among the four patterns of "A" pattern, "B" pattern, "C" pattern, and "D" pattern, when the "A" pattern is set (selected) by the change processing unit 13, the presentation processing unit 14 presents to the operator, as operation pattern information, information indicating that the current operation pattern is the "A" pattern.

[0092] In short, in the present embodiment, when the work machine 3 switches from the non-operating state to the operating state, like when the main switch 34 switches from off to on at startup, the current operation pattern is presented as operation pattern information. In a control method (or control system 1) for controlling a work machine 3 whose operation pattern can be changed as in the present embodiment, it is preferable for the operator to operate the operation device 35 after recognizing the current operation pattern. Here, for example, if the operator is forced to confirm the operation pattern by visually checking the position of the change lever, if the operator neglects this confirmation work, the machine body 30 may perform an unexpected operation corresponding to the operation of the operation device 35, and the operator needs to operate carefully. On the other hand, according to the control method and control system 1 according to the present embodiment, when switching from the non-operating state to the operating state, the current operation pattern is actively presented as operation pattern information, so the operator can easily confirm the current operation pattern. As a result, it is possible to provide a control method for a work machine 3, a control program for a work machine, a control system 1 for a work machine, and a work machine 3 that can easily reduce the burden on the operator related to the operation.

[0093] Here, the presentation processing unit 14 presents the operation pattern information by causing the display unit 23 of the display device 2 to display the operation pattern information. More specifically, the presentation processing unit 14 causes the display device 2 on which the home screen Dp11 is displayed in a state where the aircraft 30 operates according to the operation of the operation device 35 to display a notification screen Dp12 (see FIG. 6) including the operation pattern information, thereby presenting the operation pattern information. That is, in the present embodiment, the operation pattern information is presented by displaying the notification screen Dp12 as shown in FIG. 6 on the display unit 23 of the display device 2 on which the home screen Dp11 is displayed in the operating state. As a result, the operator can visually recognize the current operation pattern from the notification screen Dp12 displayed on the display device 2.

[0094] As an example, as shown in FIG. 6, the notification screen Dp12 is a screen in which a pop-up window W1 including the operation pattern information is displayed overlaid on the home screen Dp11. Specifically, the pop-up window W1 is displayed overlaid on the second region R2. The pop-up window W1 includes a mark Ob1 and a text Ob2 as the operation pattern information. That is, the operation pattern information includes the mark Ob1 and the text Ob2. In the example of FIG. 6, the mark Ob1 is a cross arrow and an image (icon) in the shape of the letter "A" indicating the "A" pattern, and the text Ob2 is a sentence meaning that the mark Ob1 represents the current operation pattern, such as "Current operation pattern". That is, in the example of FIG. 6, the operation pattern information in the notification screen Dp12 indicates that the current operation pattern is the "A" pattern (operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). Therefore, when such a notification screen Dp12 is displayed on the display device 2, the operation pattern information indicating the current operation pattern is presented to the operator.

[0095] Furthermore, on the notification screen Dp12, the items displayed in the fourth region R4 are different from those on the home screen Dp11. On the fourth region R4 of the notification screen Dp12, a decision button Ob3 serving as an item of "Decision" is displayed at the right end. That is, instead of the item of "Switch" on the home screen Dp11, the item of "Decision" is displayed. When the push button switch 226 corresponding to the item of "Decision" is operated by the user U1 while the notification screen Dp12 is being displayed, the item of "Decision" (decision button Ob3) will be operated (selected).

[0096] In this embodiment, when the working machine 3 is started, the display screen Dp1 displayed on the display device 2 transitions as shown in FIG. 7. That is, when the main switch 34 is switched from off to on, the power of the display device 2 is turned on, and the presentation processing unit 14 causes the start screen Dp10 to be displayed as the display screen Dp1 on the display unit 23 of the display device 2. Then, the display screen Dp1 is transitioned in the order of the notification screen Dp12 and the home screen Dp11.

[0097] The start screen Dp10 includes, for example, text indicating that the working machine 3 is starting up, such as "Welcome" or the name of the manufacturer of the working machine 3. The start screen Dp10 is displayed, for example, for a startup period of about several seconds from the power-on of the display device 2. When the startup period has elapsed, the display screen Dp1 displayed on the display device 2 transitions from the start screen Dp10 to the notification screen Dp12. Then, when the decision button Ob3 is operated (the push button switch 226 is operated) during the display of the notification screen Dp12, the display screen Dp1 displayed on the display device 2 transitions from the notification screen Dp12 to the home screen Dp11. In this embodiment, as an example, during the startup period when the start screen Dp10 is being displayed, the working machine 3 is in a state where the body 30 does not operate (non-operating state) in response to the operation of the operating device 35. On the other hand, during the period when the notification screen Dp12 or the home screen Dp11 is being displayed, the working machine 3 is in a state where the body 30 operates (operating state) in response to the operation of the operating device 35.

[0098] In this way, the notification screen Dp12 is displayed on the display device 2 after the power of the display device 2 is turned on and before the home screen Dp11 is displayed. As a result, when the operator turns on the main switch 34 or the like to turn on the power of the display device 2, when the working machine switches from the non-operating state to the operating state, the notification screen Dp12 will be displayed on the display device 2. As a result, the operator can easily grasp the current operation pattern on the notification screen Dp12 displayed on the display device 2 without particularly noticing it.

[0099] Also, the presentation of the operation pattern information ends when there is a specific operation. That is, in this embodiment, when the decision button Ob3 is operated (the push button switch 226 is operated) during the display of the notification screen Dp12, the presentation of the operation pattern information by the notification screen Dp12 ends, and the display screen Dp1 transitions to the home screen Dp11. In this way, by triggering a specific operation from the operator (user U1) (here, the operation of the decision button Ob3), the presentation of the operation pattern information ends, making it easier for the operator to confirm the current operation pattern.

[0100] However, during the startup period when the startup screen Dp10 is displayed, it is not essential for the working machine 3 to be in the non-operating state. During the startup period, the working machine 3 may be in a state where the machine body 30 operates (operating state) in response to the operation of the operating device 35. Even in this case, as shown in FIG. 7, the display screen Dp1 displayed on the display device 2 transitions in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11 after the power is turned on. As a result, when the working machine 3 switches from the non-operating state to the operating state, the current operation pattern will be presented as operation pattern information on the notification screen Dp12 after the display of the startup screen Dp10 in the operating state. In short, when the power of the working machine 3 is turned on and the working machine 3 switches from the non-operating state to the operating state, it is sufficient to present the operation pattern information indicating the current operation pattern.

[0101] Similarly, during the period when the notification screen Dp12 or the home screen Dp11 is being displayed, the working machine 3 does not necessarily have to be in an operating state, and it may be in a state where the airframe 30 does not operate (non-operating state) in response to an operation of the operating device 35. For example, assume that the operation position of the main switch 34 includes a position where the power is turned on for accessories (ACC on) to the display device 2 or the like between the off position and the engine start operation (ignition on) position. In this case, when the main switch 34 is operated from off to accessory on, the engine is not started, so the airframe 30 remains in a non-operating state. At this time, since the power is turned on to the display device 2 or the like, the display screen Dp1 displayed on the display device 2 transitions in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11 as shown in FIG. 7. In this case, in the notification screen Dp12 before the basic information of the airframe 30 is presented (displayed) as the home screen Dp11 after the power is turned on to the airframe 30, the current operation pattern is presented as operation pattern information.

[0102] In short, in the present embodiment, at least when the working machine 3 switches from a non-operating state to an operating state, it is sufficient that operation pattern information indicating the current operation pattern is presented. Therefore, in addition to when the working machine 3 switches from a non-operating state to an operating state, for example, even when the working machine 3 maintains a non-operating state, the operation pattern information may be presented at a specific timing. Here, as an example of the "specific timing", a timing such as after the power is turned on to the airframe 30 and before the basic information of the airframe 30 is presented, like the above-mentioned accessory on, can be cited.

[0103] By the way, the presentation of the operation pattern information by the notification screen Dp12 may be performed not only at the startup of the working machine 3 but also, for example, at the time of operation of the cut-off lever 372. That is, the presentation processing unit 14 presents the operation pattern information when switching from a non-operating state to an operating state, and it is preferable that the operation pattern information is also presented when the cut-off lever 372 is operated from the "raised position" to the "lowered position".

[0104] Specifically, after the elapse of the startup period, when the cutoff lever 372 is operated to the "raised position" and the cutoff switch 371 is in the locked state (off), the working machine 3 enters a non-operating state in which the operation of the working machine 3 is forcibly restricted regardless of the operation of the operating device 35. In this state, when the operator operates the cutoff lever 372 to the "lowered position" and the cutoff switch 371 is in the unlocked state (on), the working machine 3 switches from the non-operating state to the operating state. Therefore, when the cutoff lever 372 is operated from the "raised position" to the "lowered position" in this way, it is preferable that the presentation processing unit 14 causes the display device 2 to display the notification screen Dp12.

[0105] In short, it is preferable that the notification screen Dp12 is displayed on the display device 2 after the occurrence of a specific event related to the operation and before the display of the home screen Dp11. The "specific event" mentioned here includes, in addition to the operation of the cutoff lever 372 described above, for example, a change (replacement) of the operator. That is, when the operator riding on the operation unit 321 is replaced, this is detected based on the attachment and detachment of the seat belt or the like, and it is preferable that the presentation processing unit 14 causes the display device 2 to display the notification screen Dp12. As a result, at an appropriate timing, the current operation pattern is notified to the operator by the notification screen Dp12, and the burden on the operator is reduced.

[0106] [3.3] Display Screen in the Operating State Next, among the control methods according to the present embodiment, the process related to the display of the display screen Dp1 in the operating state of the working machine 3 will be described in detail.

[0107] In this embodiment, as described above, when the working machine 3 is started, the display screen Dp1 displayed on the display device 2 transitions in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11. That is, when switching from the non-operating state (a state where the machine body 30 does not operate in response to an operation of the operating device 35) to the operating state (a state where the machine body 30 operates in response to an operation of the operating device 35), the display screen Dp1 transitions in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11. And in the operating state of the working machine 3, basically, the home screen Dp11 is displayed.

[0108] The basic configuration (layout, etc.) of the home screen Dp11 is as described in "[3.1 Home Screen]". That is, the home screen Dp11 includes information regarding the operating state of the working machine 3. Specific examples of information regarding the operating state of the working machine 3 include the remaining amount information G1 displayed in the first area R1, and the coolant water temperature information G3 and the hydraulic oil temperature information G2 displayed in the second area R2, etc. That is, since various information regarding the operating state of the working machine 3 is displayed on the home screen Dp11, the operator can confirm various information necessary for operating the working machine 3 from the home screen Dp11 displayed on the display device 2.

[0109] Furthermore, in this embodiment, the home screen Dp11 includes operation pattern information. The operation pattern information included in the home screen Dp11 is information indicating the current operation pattern, similar to the operation pattern information included in the notification screen Dp12. That is, the presentation processing unit 14 reads out the operation pattern set by the change processing unit 13 from the storage unit 15 as the "current operation pattern", and displays operation pattern information indicating this "current operation pattern" in a recognizable manner within the home screen Dp11. Thereby, the operator can also confirm the current operation pattern from the operation pattern information on the home screen Dp11.

[0110] As described above, the control method according to the present embodiment includes causing the display device 2 to display a home screen Dp11 including information on the operating state of the work machine 3 and operation pattern information indicating the current operation pattern. That is, the presentation processing unit 14 of the control system 1 causes the display device 2 to display a home screen Dp11 including information on the operating state of the work machine 3 and operation pattern information indicating the current operation pattern.

[0111] In short, in the present embodiment, on the home screen Dp11, the current operation pattern is presented (displayed) as operation pattern information together with information on the operating state of the work machine 3. For example, when the operator is forced to confirm the operation pattern by visually checking the position of the switching lever, if the operator neglects this confirmation work, the machine body 30 may perform an unexpected operation corresponding to the operation of the operating device 35, and the operator needs to operate carefully. On the other hand, according to the control method and the control system 1 according to the present embodiment, the current operation pattern is actively presented (displayed) as operation pattern information together with information on the operating state of the work machine 3 on the home screen Dp11 displayed on the display device 2, so that the operator can easily confirm the current operation pattern. As a result, it is possible to provide a control method for a work machine 3 that can easily reduce the burden on the operator related to operation, a control program for a work machine, a control system 1 for a work machine, and a work machine 3.

[0112] Further, in the present embodiment, the home screen Dp11 includes an image Im1 indicating information on the functions of the work machine. The image Im1 is displayed in the third region R3, and shows the validity / invalidity, abnormality / normalcy, etc. of each function of the work machine 3 according to its display mode. That is, the home screen Dp11 further includes an image Im1 indicating information on the functions of the work machine 3. Thereby, the operator can confirm the validity / invalidity, abnormality / normalcy, etc. of each function of the work machine 3 from the home screen Dp11 in addition to the current operation pattern.

[0113] As an example, the home screen Dp11 includes a mark Ob4 as operation pattern information in the sixth region R6 as shown in FIG. 8. That is, the operation pattern information of the home screen Dp11 includes the mark Ob4. In the example of FIG. 8, the mark Ob4 is a cross arrow and an image (icon) resembling the character "A" indicating the "A" pattern. That is, in the example of FIG. 8, the operation pattern information on the home screen Dp11 represents that the current operation pattern is the "A" pattern (operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). Therefore, when such a home screen Dp11 is displayed on the display device 2, operation pattern information indicating the current operation pattern is presented to the operator.

[0114] FIG. 8 is an enlarged view of a part (the periphery of the mark Ob4) of the sixth region R6 of the home screen Dp11, 、 and <c>The display examples in the three patterns of are shown in the blowout. That is, in Figure 8< / c> shows the mark Ob4 displayed on the home screen Dp11 when the current operation pattern is the "A" pattern. In FIG. 8 shows the mark Ob4 displayed on the home screen Dp11 when the current operation pattern is the "B" pattern (operation pattern for products made by "ZZ", "XY", and "YX"). In Fig. 8 <c>This indicates the mark Ob4 displayed on the home screen Dp11 when the current operation pattern is the "C" pattern (operation pattern for products "manufactured by ZX Co., Ltd. and YZ Co., Ltd.").

[0115] In this way, the operation pattern information included in the home screen Dp11 is displayed in the same manner as the operation pattern information included in the notification screen Dp12. Therefore, for the operator, it becomes easier to consistently grasp the current operation pattern through the notification screen Dp12 and the home screen Dp11. Here, it is preferable that the display size of the mark Ob4 on the home screen Dp11 is smaller than the display size of the mark Ob1 on the notification screen Dp12. In other words, the mark Ob1 on the notification screen Dp12 is displayed larger than the mark Ob4 on the home screen Dp11 on the display unit 23 of the display device 2. Thereby, on the home screen Dp11 and the notification screen Dp12, it becomes possible to present the operation pattern information with relatively higher visibility on the notification screen Dp12. Therefore, for the operator, it becomes easier to recognize the current operation pattern when the notification screen Dp12 is displayed.

[0116] Also, in this embodiment, the presentation processing unit 14, on the home screen Dp11, displays information regarding the operating state of the working machine 3 and then uses the empty space to display the operation pattern information. Therefore, as the home screen Dp11, a relatively simple screen configuration can be realized, the display of the operation pattern information on the home screen Dp11 is less likely to be obstructive, leading to an improvement in visibility for the operator.

[0117] Here, on the home screen Dp11, information regarding the operating state of the working machine 3 and the operation pattern information are arranged adjacent to each other. That is, while the mark Ob4 as the operation pattern information is displayed within the sixth region R6, the coolant water temperature information G3 and the hydraulic oil temperature information G2 as information regarding the operating state of the working machine 3 are displayed in the second region R2. And since the sixth region R6 and the second region R2 are adjacent to each other so as to be arranged in the vertical direction (see FIG. 5), the information regarding the operating state of the working machine 3 and the operation pattern information are arranged adjacent to each other. As a result, the operation pattern information is displayed at a position that is relatively easy to catch the eye for the operator who operates the working machine 3 among the home screen Dp11. Further, the operation pattern information is not limited to the sixth region R6 and may be displayed, for example, within the fifth region R5. In this case, since the fifth region R5 is arranged in the vertical direction with the first region R1 where the remaining amount information G1 is displayed, the information regarding the operating state of the working machine 3 and the operation pattern information are arranged adjacent to each other.

[0118] On the other hand, on the home screen Dp11, the image Im1 and the operation pattern are arranged separately. That is, while the mark Ob4 as the operation pattern information is displayed within the sixth region R6, the image Im1 is displayed in the third region R3. And since the sixth region R6 and the third region R3 are not adjacent to each other and are separated from each other (see FIG. 5), the image Im1 and the operation pattern information are arranged separately. As a result, the operation pattern information is less likely to be mixed with the image Im1 and is displayed at a position that is relatively easy to catch the eye for the operator who operates the working machine 3 among the home screen Dp11.

[0119] Incidentally, the presentation processing unit 14 causes the display screen Dp1 displayed on the display device 2 to transition from the home screen Dp11 as shown in FIG. 5 to another screen (such as the camera screen Dp13) in response to an operation by the operator (user U1).

[0120] As an example, when the "Camera" item is operated (selected) by operating the push button switch 224 corresponding to the "Camera" item while the home screen Dp11 is being displayed, the screen transitions from the home screen Dp11 to the camera screen Dp13 as shown in FIG. 9. When the "Camera" item is operated (selected) while the camera screen Dp13 is being displayed, the screen transitions from the camera screen Dp13 to the home screen Dp11 or the full display screen. However, the operations for the transition of the display screen Dp1 and the order of the transition are not limited to the above example and can be changed as appropriate.

[0121] The camera screen Dp13 shown in FIG. 9 is a type of home screen Dp11, and is a screen in which only the display content of the second region R2 is changed from the home screen Dp11 shown in FIG. 5. That is, with respect to the display other than the second region R2, the camera screen Dp13 is the same as the home screen Dp11 shown in FIG. 5.

[0122] In the second region R2 of the camera screen Dp13, information including the peripheral image G4 of the work machine 3 is displayed as the display target information instead of the coolant water temperature information G3 and the hydraulic oil temperature information G2. The presentation processing unit 14 generates the peripheral image G4 in the display screen Dp1 (camera screen Dp13) based on the output (image data) of the camera 38. Here, as an example, the peripheral image G4 is displayed triggered by the cutoff switch 371, which prohibits the operation of the work machine 3, switching from the "locked state" to the "unlocked state" while the engine is running.

[0123] Also, the camera screen Dp13, that is, the home screen including the peripheral image G4 of the work machine 3, also includes operation pattern information indicating the current operation pattern. Specifically, the camera screen Dp13 includes a mark Ob4 as operation pattern information in the sixth region R6. Therefore, even when the camera screen Dp13 is being displayed on the display device 2, the operation pattern information indicating the current operation pattern is presented to the operator.

[0124] In this way, in the home screen Dp11, in the area (second area R2) where at least a part of the information regarding the operating state of the machine tool 3 is displayed, the peripheral image G4 of the machine body 30 can be displayed. Therefore, with the peripheral image G4 displayed on the home screen Dp11, the operator can easily check the periphery (here, the rear) of the machine tool 3 that is likely to be a blind spot for the operator.

[0125] Here, the operation pattern information is arranged around the area (second area R2) on the home screen where the peripheral image G4 can be displayed. That is, while the mark Ob4 as the operation pattern information is displayed within the sixth area R6, the peripheral image G4 is displayed in the second area R2. And since the sixth area R6 and the second area R2 are adjacent to each other side by side in the vertical direction (see FIG. 9), the operation pattern information is arranged around the peripheral image G4. As a result, even when the peripheral image G4 is displayed on the home screen Dp11, the operation pattern information is displayed on the home screen Dp11.

[0126] Incidentally, whether to display the operation pattern information on the home screen Dp11 is preferably determined according to at least one of the specifications and types of the machine tool 3. That is, it is not essential for the presentation processing unit 14 of the control system 1 to always display the operation pattern information on the home screen Dp11, and there may be cases where the operation pattern information is not displayed on the home screen Dp11 depending on the machine tool 3. Thereby, while using the same control method and control system 1 (or control program), it is possible to display the home screen Dp11 including appropriate information according to the specifications or types of the machine tool 3.

[0127] Specifically, in the present embodiment, when the work machine 3 does not have a function to change the operation pattern, the operation pattern information is not displayed on the home screen Dp11. That is, the presentation processing unit 14 acquires data related to at least one of the specifications and types of the work machine 3, and when it is determined from the data that the work machine 3 does not have a function to change the operation pattern, the presentation processing unit 14 causes the display device 2 to display the home screen Dp11 that does not include the operation pattern information. On the other hand, when it is determined that the work machine 3 has a function to change the operation pattern, the presentation processing unit 14 causes the display device 2 to display the home screen Dp11 that includes the operation pattern information. As a result, with respect to the work machine 3 that does not have a function to change the operation pattern, the operation pattern information is removed from the home screen Dp11 displayed on the display device 2, and only necessary information can be efficiently displayed.

[0128] Also, the operation pattern information on the home screen Dp11 preferably corresponds to the notation on the nameplate 39 (see FIG. 4) attached to the machine body 30. That is, the operation pattern information displayed in the sixth area R6 of the home screen Dp11 preferably includes, for example, an image similar to the image displayed on the nameplate 39. Thereby, the operator can grasp the details of each operation pattern based on the familiar notation similar to the nameplate 39.

[0129] [3.4] Change of operation pattern Next, among the control methods according to the present embodiment, the process related to the display of the display screen Dp1 particularly related to the change of the operation pattern will be described in detail.

[0130] In the present embodiment, as described above, the change processing unit 13 of the control system 1 executes a change process for changing the operation pattern, so that the operation pattern, which is the correspondence between the operation of the operation device 35 and the operation of the machine body 30, can be changed. Here, the setting (change) of the operation pattern is performed according to the operation of the operator (user U1). That is, when the operator selects an arbitrary pattern from the A pattern, B pattern, C pattern, and D pattern, the current operation pattern is changed.

[0131] Specifically, as shown in FIG. 10, the presentation processing unit 14 has a function of causing the display device 2 to display a change screen Dp14 for changing the operation pattern as the display screen Dp1. The operation pattern selected on the change screen Dp14 is set as the "current operation pattern" by the change processing unit 13. Thereby, the operator can determine the operation pattern, which is the correspondence between the operation of the operation device 35 and the operation of the aircraft 30, while visually confirming on the display device 2.

[0132] As an example, as shown in FIG. 10, the change screen Dp14 has an 11th area R11 and a 12th area R12 in place of the 1st area R1 to the 3rd area R3 and the 5th area R5 to the 7th area R7 of the home screen Dp11. In addition, in the 4th area R4 of the change screen Dp14, items of "up" and "down" cursors, an item of "return" for returning to the previous screen, and an item of "decision" are displayed.

[0133] In the 11th area R11, an A pattern, a B pattern, a C pattern, and a D pattern, which are options for the operation pattern, are displayed. In the 11th area R11, any one of the A pattern, the B pattern, the C pattern, and the D pattern is highlighted. By operating the cursor in the 4th area R4, the highlighted pattern is switched. Further, radio buttons are associated with each of the A pattern, the B pattern, the C pattern, and the D pattern, and the radio button corresponding to the selected pattern is in the "on" state. In the example of FIG. 10, the "A pattern" is highlighted and the "A pattern" is selected as the operation pattern.

[0134] In the 12th area R12, detailed information regarding the highlighted operation pattern is displayed as changed pattern information. In the example of FIG. 10, in the 12th area R12, detailed information of the highlighted "A pattern" is displayed. Here, the detailed information as the changed pattern information includes an image (icon) showing the correspondence between the operations of the operating device 35 and the operations of the aircraft 30. Specifically, the detailed information includes text such as "ISO, manufactured by XX company, manufactured by YY company", and images representing the combination of the operation directions of each of the pair of operation levers 351, 352 and the operations of the aircraft 30. The detailed information displayed in the 12th area R12 is information corresponding to the notations on the nameplate 39 (see FIG. 4), and includes, for example, images similar to the images noted on the nameplate 39.

[0135] According to such a changed screen Dp14, as shown in FIG. 11, by operating the cursor in the 4th area R4, the highlighted pattern is switched. Along with this, the detailed information displayed in the 12th area also switches to the detailed information of the highlighted pattern. Therefore, for the operator, it is possible to select a desired pattern by operating the "Determine" item while the desired pattern is highlighted.

[0136] As described above, the changed screen Dp14 includes changed pattern information (detailed information) indicating the changed operation pattern. Therefore, for the operator, the changed screen Dp14 makes it easier to grasp the operation pattern to be changed, and the change of the operation pattern becomes easier. Furthermore, the changed pattern information (detailed information) in the changed screen Dp14 corresponds to the notations on the nameplate 39 attached to the aircraft 30. Thereby, for the operator, based on the familiar notations similar to the nameplate 39, the details of each operation pattern can be grasped.

[0137] Incidentally, in the state where the home screen Dp11 is being displayed, in order to display the change screen Dp14 as described above, the display screen Dp1 displayed on the display device 2 transitions as shown in FIG. 12. That is, when the item "Menu" is operated (selected) on the home screen Dp11, the presentation processing unit 14 causes the menu screen Dp15 to be displayed as the display screen Dp1 on the display unit 23 of the display device 2, and then transitions the display screen Dp1 in the order of the vehicle body change screen Dp16 and the change screen Dp14.

[0138] The menu screen Dp15 includes various items such as "Monitor Settings", "PTO Flow Rate Settings", and "Operation Settings" in addition to "Vehicle Body Settings". When the item "Determine" is operated (selected) in a state where "Vehicle Body Settings" is selected by a cursor operation (within the fourth region R4) on the menu screen Dp15, the display screen Dp1 displayed on the display device 2 transitions from the menu screen Dp15 to the vehicle body change screen Dp16.

[0139] The vehicle body change screen Dp16 includes various items such as "Interference Prevention Settings" and "Interference Prevention Release" in addition to "Operation Pattern". The vehicle body change screen Dp16 is a type of call screen for calling the change screen Dp14, and the item "Operation Pattern" in the vehicle body change screen Dp16 functions as a call object Ob5 that accepts an operation for calling the change screen Dp14. That is, when the item "Determine" is operated (selected) in a state where the call object Ob5 labeled "Operation Pattern" (within the fourth region R4) is selected by a cursor operation on the vehicle body change screen Dp16, the display screen Dp1 displayed on the display device 2 transitions from the vehicle body change screen Dp16 to the change screen Dp14.

[0140] In addition, the vehicle body change screen Dp16 includes a mark Ob6 as operation pattern information on the right side of the call object Ob5 so as to correspond to the call object Ob5. That is, the operation pattern information of the vehicle body change screen Dp16 as the call screen includes the mark Ob6. In the example of FIG. 12, the mark Ob6 is a cross arrow and an image (icon) resembling the character "A" indicating the "A" pattern. That is, in the example of FIG. 12, the operation pattern information in the vehicle body change screen Dp16 represents that the current operation pattern is the "A" pattern (operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). Therefore, when such a vehicle body change screen Dp16 is displayed on the display device 2, at least when calling the change screen Dp14, operation pattern information indicating the current operation pattern is presented to the operator.

[0141] As described above, the control method according to the present embodiment includes causing the display device 2 to display a change screen Dp14 for changing the operation pattern, and causing the display device 2 to display a call screen (vehicle body change screen Dp16) for calling the change screen Dp14. That is, the presentation processing unit 14 of the control system 1 causes the display device 2 to display a change screen Dp14 for changing the operation pattern and a call screen (vehicle body change screen Dp16) for calling the change screen Dp14. Here, the call screen (vehicle body change screen Dp16) includes operation pattern information indicating the current operation pattern. In the present disclosure, "call" means causing a display screen Dp1 such as the change screen Dp14 to be displayed on the display device 2.

[0142] In short, in the present embodiment, when changing the operation pattern, the current operation pattern is presented (displayed) as operation pattern information on the call screen (the vehicle body change screen Dp16). For example, when it is emphasized to the operator that the operation pattern is confirmed by visually checking the position of the switching lever, if the operator neglects this confirmation work, the aircraft 30 may perform an unexpected operation corresponding to the operation of the operating device 35, and the operator needs to operate with caution. On the other hand, according to the control method and the control system 1 according to the present embodiment, when the operation pattern is changed, the current operation pattern is actively presented (displayed) as operation pattern information, so that the operator can easily confirm the current operation pattern. As a result, it is possible to provide a control method for the working machine 3, a control program for the working machine, a control system 1 for the working machine, and the working machine 3 that can easily reduce the burden on the operator related to the operation.

[0143] Furthermore, in the present embodiment, the change screen Dp14 for changing the operation pattern is called from the home screen Dp11 through one or more screens (here, the menu screen Dp15 and the vehicle body change screen Dp16). That is, the control method according to the present embodiment causes the display device 2 to display the home screen Dp11 in a state where the aircraft 30 operates according to the operation of the operating device 35. Then, the display screen Dp1 displayed on the display device 2 transitions from the home screen Dp11 to the change screen Dp14 through a call screen (the vehicle body change screen Dp16) different from the home screen Dp11. By adopting such a hierarchical screen configuration, the change screen Dp14 is called indirectly rather than directly from the home screen Dp11, and it is suppressed that the change screen Dp14 is unintentionally opened due to an operator's operation error or the like.

[0144] In addition, the call screen (the vehicle body change screen Dp16) includes a call object Ob5 that receives an operation for calling the change screen Dp14. The operation pattern information is displayed in association with the call object Ob5. According to this configuration, when the operator operates the call object Ob5 to call the change screen Dp14, the operation pattern information indicating the current operation pattern is easily noticeable.

[0145] Incidentally, the presentation of the operation pattern information by the notification screen Dp12 may be performed not only at the time of starting the working machine 3 and at the time of operating the cut-off lever 372, but also, for example, after changing (setting) the operation pattern. That is, it is preferable that the presentation processing unit 14 presents the operation pattern information also when the operation pattern is changed on the change screen Dp14.

[0146] Specifically, when, on the change screen Dp14, the operator operates the "decision" item in a state where any one of the operation patterns is selected to set (select) a desired pattern, it is preferable that the presentation processing unit 14 causes the display device 2 to display the notification screen Dp12. Then, when the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the display screen Dp1 displayed on the display device 2 transitions from the notification screen Dp12 to the home screen Dp11.

[0147] In short, it is preferable that the notification screen Dp12 is displayed on the display device 2 when transitioning from a specific screen to the home screen Dp11. The "specific screen" referred to here is a screen other than the home screen Dp11 displayed on the display device 2 as the display screen Dp1, and includes the above-described change screen Dp14 and the like. As a result, the current operation pattern is notified to the operator by the notification screen Dp12 at an appropriate timing, and the burden on the operator is reduced.

[0148] Incidentally, in the control method according to this embodiment, among the state where the airframe 30 does not operate in response to the operation of the operating device 35 and the state where the airframe 30 operates in response to the operation of the operating device 35, the operation pattern can be changed only in the state where the airframe 30 does not operate in response to the operation of the operating device 35. That is, the change processing unit 13 can accept an operation for changing the operation pattern only in the non-operating state, and does not accept an operation for changing the operation pattern in the operating state. In the operating state, for example, by prohibiting the display of the change screen Dp14 itself, an operation for changing the operation pattern is not accepted. However, it is not limited to this. In the operating state, for example, by prohibiting the operation of the "determine" item on the change screen Dp14, an operation for changing the operation pattern may not be accepted. Thereby, it is possible to avoid a sudden change in the operation of the airframe 30 corresponding to the operation of the operating device 35 due to the change of the operation pattern while the working machine 3 is in the operating state.

[0149] Here, the switching between the state where the airframe 30 does not operate (non-operating state) in response to the operation of the operating device 35 and the state where the airframe 30 operates (operating state) in response to the operation of the operating device 35 is performed at least in response to the operation of the cutoff lever 372. That is, when the cutoff lever 372 is operated to the "lower position" and the cutoff switch 371 is in the unlocked state (on), the working machine 3 is in the operating state. In this state, the change processing unit 13 does not accept an operation for changing the operation pattern. On the other hand, when the cutoff lever 372 is operated to the "raised position" and the cutoff switch 371 is in the locked state (off), the working machine 3 is in the non-operating state, so the change processing unit 13 accepts an operation for changing the operation pattern. Thereby, by the operation of the cutoff lever 372, it is possible to easily switch between a state where the operation pattern can be changed and a state where the operation pattern cannot be changed.

[0150] A configuration that allows the operation pattern to be changed only in the non-operating state where the aircraft 30 does not operate in response to the operation of the operating device 35 can be adopted independently, separated from the function of displaying the change screen Dp14 and the call screen (aircraft change screen Dp16). In short, the control method according to the present embodiment includes an aircraft 30 that operates according to the operation of the operating device 35, and is a control method for a work machine 3 that can change the operation pattern, which is the correspondence between the operation of the operating device 35 and the operation of the aircraft 30. Among the state where the aircraft 30 does not operate in response to the operation of the operating device 35 and the state where the aircraft 30 operates in response to the operation of the operating device 35, the operation pattern may be changed only in the state where the aircraft 30 does not operate in response to the operation of the operating device 35. In this case, it is not essential to adopt the function of displaying the change screen Dp14 and the call screen (aircraft change screen Dp16).

[0151] [3.5] Overall Processing Next, the overall flow of the processing according to the control method will be described with reference to FIG. 13. FIG. 13 is a flowchart showing an example of the processing according to the control method.

[0152] As shown in FIG. 13, the control system 1 first determines whether the main switch 34 is turned on (S1). When the main switch 34 is turned on (S1: Yes), the power of the display device 2 is turned on, and the presentation processing unit 14 of the control system 1 causes the start screen Dp10 to be displayed as the display screen Dp1 on the display unit 23 of the display device 2 (S2). After that, when a startup period of about several seconds has elapsed, the presentation processing unit 14 causes the notification screen Dp12 including the operation pattern information to be displayed as the display screen Dp1 on the display unit 23 of the display device 2 (S3).

[0153] While the notification screen Dp12 is being displayed, when the decision button Ob3 is operated (the push button switch 226 is operated), the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the home screen Dp11 including the operation pattern information as the display screen Dp1 (S4). Here, it is not essential for the display of the notification screen Dp12 to end with the operation of the decision button Ob3. For example, the display of the notification screen Dp12 may end when a certain period of time has elapsed since the start of the display of the notification screen Dp12. In this case, when a certain period of time has elapsed since the start of the display of the notification screen Dp12, the presentation processing unit 14 causes the display screen Dp1 to transition from the notification screen Dp12 to the home screen Dp11 without the operation of the decision button Ob3.

[0154] While the home screen Dp11 is being displayed, the control system 1 determines whether an operation for calling the change screen Dp14 has been performed (S5). Specifically, when "Menu" is selected on the home screen Dp11, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the menu screen Dp15 as the display screen Dp1. When "Vehicle Body Settings" is selected on the menu screen Dp15, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the vehicle body change screen Dp16 as the display screen Dp1. When the call object Ob5 of the vehicle body change screen Dp16 is selected, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the change screen Dp14 as the display screen Dp1. That is, it is determined that an operation for calling the change screen Dp14 has been performed (S5: Yes) with this series of operations. Until this series of operations is performed, the control system 1 continues to determine whether an operation for calling the change screen Dp14 has been performed (S5).

[0155] When an operation is performed to call the change screen Dp14 (S5: Yes), the control system 1 determines whether the operating machine 3 is in a "locked state" in which its operation is restricted (S6). At this time, if the cutoff lever 372 is in the "lowered position" and the cutoff switch 371 is in the unlocked state (on), the control system 1 determines that it is not in the "locked state" (S6: No) and returns the process to step S4. On the other hand, if the cutoff lever 372 is in the "raised position" and the cutoff switch 371 is in the locked state (off), the control system 1 determines that it is in the "locked state" (S6: Yes) and shifts the process to step S7.

[0156] In step S7, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the change screen Dp14 for changing the operation pattern as the display screen Dp1. While the change screen Dp14 is being displayed, the change processing unit 13 of the control system 1 sets a desired pattern as the "current operation pattern" according to the operation of the operator (user U1) (S8). After that, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the notification screen Dp12 including the operation pattern information as the display screen Dp1 (S9). Then, when the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the home screen Dp11 including the operation pattern information as the display screen Dp1 (S4).

[0157] The control system 1 repeatedly executes the processes of steps S1 to S9 above. However, the flowchart shown in FIG. 13 is merely an example, and processes may be added or omitted as appropriate, or the order of the processes may be changed as appropriate.

[0158] [4] Modification Example Hereinafter, modification examples of the first embodiment will be listed. The modification examples described below can be applied in appropriate combinations.

[0159] The control system 1 in the present disclosure includes a computer system. The computer system mainly consists of one or more processors as hardware and one or more memories. By the processor executing a 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 pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be recorded and provided on 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 composed of electronic circuits.

[0160] 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 distributed in a plurality of housings. On the contrary, in Embodiment 1, the functions distributed 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.

[0161] Also, the power source of the machine tool 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).

[0162] Also, the display device 2 is not limited to a dedicated device, and may be, for example, 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 a configuration that displays the display screen Dp1 by projection, such as a projector. The display area of the display unit 23 is not limited to being horizontally long, and may be vertically long.

[0163] In addition, as a mode of inputting information of the operation unit 22, modes other than the push buttons 221 to 226, the touch panel, and the operation dial may be adopted. For example, the operation unit 22 may adopt modes such as a keyboard, a pointing device such as a mouse, voice input, gesture input, or input of an operation signal from another terminal.

[0164] In addition, the operation device 35, the display device 2, etc. are not limited to the configuration mounted on the aircraft body 30, and may be provided separately from the aircraft body 30, for example. In this case, the operation device 35, the display device 2, etc. are configured to be communicable with the aircraft body 30, and remote operation of the aircraft body 30 is realized.

[0165] In addition, the display mode of the operation pattern information on each of the notification screen Dp12, the home screen Dp11, and the vehicle body change screen Dp16 (call-up screen) is not limited to the marks as described above, and may be, for example, text, a photograph, display / non-display, animation, etc., or a combination thereof.

[0166] In addition, it is not essential that the operation pattern set by the change processing unit 13 is selected from a plurality of patterns as options, and it may be freely customized by an operator (user U1). Specifically, for example, on the change screen Dp14, the operator individually specifies the operation of the aircraft body 30 associated with each operation of the operation levers 351 and 352, thereby freely customizing the operation pattern.

[0167] In addition, the mode of presenting the operation pattern information by the presentation processing unit 14 is not limited to display, and may be, for example, sound (including voice), printing, transmission to another terminal, writing to a non-temporary recording medium, etc., or a combination thereof.

[0168] (Embodiment 2) As shown in FIG. 14, the control method according to the present embodiment is different from the control method according to Embodiment 1 in the display mode of the notification screen Dp12. Hereinafter, for the same configurations as those in Embodiment 1, the same reference numerals are given and the description is appropriately omitted.

[0169] In this embodiment, as shown in FIG. 14, instead of the pop-up window W1 displayed on the home screen Dp11, the notification screen Dp12 displays operation pattern information with a larger display size. This notification screen Dp12 includes, as operation pattern information, an image (icon) Ob7 showing the correspondence between the operations of the operation device 35 and the operations of the aircraft body 30. That is, in this embodiment, by allocating most of the display screen Dp1 to the display of the image Ob7, similar to the detailed information of the change screen Dp14, an image Ob7 representing the combination of the operation directions of each of the pair of operation levers 351 and 352 and the operations of the aircraft body 30 is included as operation pattern information.

[0170] Furthermore, the operation pattern information on the notification screen Dp12 corresponds to the markings on the nameplate 39 (see FIG. 4) attached to the aircraft body 30. That is, the image Ob7 in the notification screen Dp12 has, for example, the same design as the image marked on the nameplate 39. Thereby, the operator can grasp the details of each operation pattern based on the familiar markings similar to those on the nameplate 39.

[0171] In addition, the notification screen Dp12 includes text Ob8 indicating that the "A pattern" is selected as the operation pattern, such as "The current operation pattern is A". Therefore, when such a notification screen Dp12 is displayed on the display device 2, the operator can easily confirm the operation pattern information indicating the current operation pattern.

[0172] Even for the notification screen Dp12 according to this embodiment, similar to Embodiment 1, it is displayed when switching from a state where the aircraft body 30 does not operate (non-operating state) in response to the operation of the operation device 35 to a state where the aircraft body 30 operates (operating state) in response to the operation of the operation device 35. That is, when the working machine 3 is started and when the cut-off lever 372 is operated, etc., a notification screen Dp12 as shown in FIG. 14 is displayed on the display device 2.

[0173] The configuration according to Embodiment 2 can be adopted in appropriate combination with various configurations (including modification examples) described in Embodiment 1.

[0174] (Embodiment 3) In the control method according to this embodiment, the procedure for calling (displaying) the change screen Dp14 is different from the control method according to Embodiment 1. Hereinafter, for the same configurations as those in Embodiment 1, common reference numerals are assigned and the description is omitted as appropriate.

[0175] In this embodiment, as shown in FIG. 15, the home screen Dp11 includes a call object Ob9 for calling the change screen Dp14. That is, when the call object Ob9 is operated (selected) on the home screen Dp11, the presentation processing unit 14 causes the change screen Dp14 to be displayed as the display screen Dp1 on the display unit 23 of the display device 2. In this way, in this embodiment, the home screen Dp11 is a type of call screen for calling the change screen Dp14, and the display screen Dp1 directly transitions from the home screen Dp11 to the change screen Dp14.

[0176] In the example of FIG. 15, the call object Ob9 is arranged in the fourth area R4 instead of the "Mode" item on the home screen Dp11 in Embodiment 1. Therefore, when the push button switch 223 corresponding to the call object Ob9 is operated by the user U1 (see FIG. 3) while the home screen Dp11 is being displayed, the call object Ob9 is operated (selected), and the change screen Dp14 is displayed.

[0177] Further, the call object Ob9 includes a mark as operation pattern information. In the example of FIG. 15, the mark of the call object Ob9 is a cross arrow and an image (icon) in the shape of the letter "A" indicating the "A" pattern. That is, in the example of FIG. 15, the operation pattern information included in the call object Ob9 on the home screen Dp11 represents that the current operation pattern is the "A" pattern (operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). Therefore, when such a call object Ob9 is displayed on the display device 2, at least when calling the change screen Dp14, the operation pattern information indicating the current operation pattern is presented to the operator.

[0178] As described above, in this embodiment, the change screen Dp14 for changing the operation pattern is directly called from the home screen Dp11. Therefore, when setting (changing) the operation pattern, the operator can open the change screen Dp14 from the home screen Dp11 with fewer steps.

[0179] The configuration according to Embodiment 3 can be adopted in appropriate combination with various configurations (including modification examples) described in Embodiment 1 or Embodiment 2.

[0180] <Supplementary Note of the Invention> A control method for a working machine according to an aspect of the present invention is a control method for a working machine including a machine body that operates according to an operation of an operating device, and capable of changing an operation pattern that is a correspondence relationship between the operation of the operating device and the operation of the machine body. The control method includes causing a display device to display a change screen for changing the operation pattern, and causing the display device to display a call screen for calling the change screen. The call screen includes operation pattern information indicating the current operation pattern.

[0181] A control system for a working machine according to an aspect of the present invention is used for a working machine including a machine body that operates according to an operation of an operating device, and capable of changing an operation pattern that is a correspondence relationship between the operation of the operating device and the operation of the machine body. The control system for the working machine includes a presentation processing unit. The presentation processing unit causes a display device to display a change screen for changing the operation pattern and a call screen for calling the change screen. The call screen includes operation pattern information indicating the current operation pattern.

Explanation of Reference Numerals

[0182] 1 Control system for working machine 2 Display device 3 Working machine 14 Presentation processing unit 30 Machine body 35 Operating device 39 Nameplate 372 Cut-off Lever Dp11 Home Screen (Call-up Screen) Dp12 Notification Screen Dp14 Change Screen Dp16 Vehicle Body Change Screen (Call-up Screen) Ob5, Ob9 Call-up Object Ob6 Mark (Operation Pattern Information)< / c>

Claims

1. A control method for a working machine, comprising a body that operates according to an operation of an operating device, and capable of changing an operation pattern that is a correspondence relationship between the operation of the operating device and the operation of the body, causing a display device to display a change screen for changing the operation pattern, causing the display device to display a call screen for calling the change screen, and when the working machine is in a locked state where its operation is restricted, transitioning the display screen displayed on the display device from the call screen to the change screen in response to a predetermined operation. A control method for a working machine.

2. When the working machine is not in a locked state where its operation is restricted, transitioning the display screen displayed on the display device from the call screen to a screen different from the change screen in response to the predetermined operation. The control method for a working machine according to Claim 1.

3. The different screen includes operation pattern information indicating the current operation pattern. The control method for a working machine according to Claim 2.

4. The different screen is a home screen. The control method for a working machine according to Claim 3.

5. Further comprising transitioning the display screen displayed on the display device from the home screen to the change screen. The control method for a working machine according to Claim 4.

6. A control program for a working machine for causing one or more processors to execute the control method for a working machine according to any one of Claims 1 to 5.

7. Used in a working machine comprising a body that operates according to an operation of an operating device and capable of changing an operation pattern that is a correspondence relationship between the operation of the operating device and the operation of the body, comprising a presentation processing unit that causes a display device to display a change screen for changing the operation pattern and a call screen for calling the change screen, wherein when the working machine is in a locked state where its operation is restricted, the presentation processing unit transitions the display screen displayed on the display device from the call screen to the change screen in response to a predetermined operation. A control system for a working machine.

8. A working machine comprising the control system for a working machine according to Claim 7 and the body. ​

Images