Work machine and work machine control method

Abstract

Prevents unauthorized use of work machinery while achieving delayed stop control. When the control state switches from a prime mover operating state to an accessory operating state, the stop control unit delays stopping of the prime mover until a predetermined condition is met, and then starts delayed stop control to stop the prime mover. If the stop control unit receives an instruction to cancel the delayed stop control during the delayed stop control, it cancels the delayed stop control and maintains the operating state of the prime mover, and if the control state has previously been stopped during the delayed stop control, it does not cancel the delayed stop control even if it receives an instruction to cancel the delayed stop control.

Description

[Technical Field]

[0001] The present disclosure relates to a work machine and a method for controlling a work machine. [Background technology]

[0002] Patent Document 1 discloses a technology (delayed stop control) that delays engine stoppage when the exhaust system temperature exceeds a temperature threshold in response to an engine stop command from an operator. Patent Document 1 also discloses a technology that cancels the delayed stop control and restores normal engine operation through an operator operation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-050796 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a work machine is executing delayed stop control, there is a possibility that the operator does not intend to drive the work machine. On the other hand, if a person without operating authority gets on the work machine while delayed stop control is being executed and is able to cancel the delayed stop control, there is a possibility that the work machine may be used fraudulently. An object of the present disclosure is to provide a work machine and a control method for a work machine that can prevent unauthorized use of the work machine while realizing delayed stop control. [Means for solving the problem]

[0005] According to one aspect of the present disclosure, a work machine includes: a state management unit that, by operation of an operator, switches the control state of the work machine to one of a stopped state in which a prime mover and an accessory are stopped, an accessory operating state in which the prime mover is stopped and the accessory is operating, and a prime mover operating state in which the prime mover and the accessory are operating; an authentication unit that authenticates the operator when the control state switches from the stopped state to the accessory operating state; a control unit that outputs a control signal to drive the work machine if the operator is authenticated; a delayed stop control unit that, when the control state switches from the prime mover operating state to the accessory operating state, delays the stopping of the prime mover until a predetermined condition is met and then initiates delayed stop control to stop the prime mover; and a stop control unit that, when an instruction to cancel the delayed stop control is received during the delayed stop control, cancels the delayed stop control and maintains the operating state of the prime mover, and does not cancel the delayed stop control even when an instruction to cancel the delayed stop control is received. [Effects of the Invention]

[0006] According to the above aspect, the work machine can prevent unauthorized use of the work machine while realizing delayed stop control. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing the configuration of a work machine according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating a configuration of a start switch according to the first embodiment. [Figure 3] FIG. 1 is a schematic block diagram showing a hardware configuration of a control system according to a first embodiment. [Figure 4] FIG. 2 is a schematic block diagram showing the software configuration of a start control device, an authentication device, and a monitor controller according to the first embodiment. [Figure 5] 4 is a flowchart (part 1) showing an example of the operation of the control system according to the first embodiment. [Figure 6] 4 is a flowchart (part 2) showing an example of the operation of the control system according to the first embodiment. [Figure 7] 10 shows an example of a display screen for displaying a delayed stop. [Figure 8] 10 is a flowchart (part 1) showing an example of the operation of the control system according to the second embodiment. [Figure 9] 10 is a flowchart (part 2) showing an example of the operation of the control system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding components are designated by the same reference numerals, and the description thereof will be omitted as appropriate.

[0009] First Embodiment (Configuration of work machine 100) FIG. 1 is a schematic diagram showing the configuration of a work machine 100 according to a first embodiment. The work machine 100 operates at a construction site and works on construction targets such as earth and sand. The work machine 100 according to the first embodiment is, for example, a hydraulic excavator. However, the work machine according to the present disclosure may also be other work machines such as a dump truck, a wheel loader, or a motor grader. The work machine 100 includes a traveling body 110, a revolving body 120, a work implement 130, and a cab 140. The work machine 100 according to the first embodiment authenticates the operator by wirelessly communicating with an operator terminal 300, such as a smartphone carried by the operator, using a short-range wireless communication method.

[0010] The running body 110 supports the work machine 100 so that it can travel. The running body 110 is equipped with two tracks 111 provided on the left and right, and two travel motors 112 for driving each track 111. The rotating body 120 is supported on the running body 110 so that it can rotate around a rotation center.

[0011] The work implement 130 is hydraulically driven. The work implement 130 is supported on the front part of the revolving unit 120 so that it can be driven in the vertical direction. The cab 140 is a space where an operator sits and operates the work machine 100. The cab 140 is provided on the left front part of the revolving unit 120. In the first embodiment, as shown in FIG. 1 , the up / down, left / right, and front / rear directions are defined with respect to the revolving unit 120 as the reference. Also, the part of the revolving unit 120 to which the work implement 130 is attached is referred to as the front part. Furthermore, with respect to the revolving unit 120, the part opposite the front part is referred to as the rear, the left part as the left part, and the right part as the right part.

[0012] (Configuration of rotating body 120) The swing body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, a swing motor 124, and a fuel injection device 125. The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source. A starter motor 1211 is provided in the engine 121. The engine 121 is started by the rotation of the starter motor 1211.

[0013] The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil to each actuator via a control valve 123. Each actuator includes a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a travel motor 112, and a swing motor 124. The control valve 123 controls the flow rate of hydraulic oil supplied from the hydraulic pump 122.

[0014] The swing motor 124 is driven by hydraulic oil supplied from a hydraulic pump 122 via a control valve 123 to swing the swing body 120. The fuel injection device 125 injects fuel into the engine 121.

[0015] (Configuration of work machine 130) The work implement 130 includes a boom 131, an arm 132, a bucket 133, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C.

[0016] The base end of the boom 131 is attached to the rotating body 120 via a boom pin. The arm 132 connects the boom 131 and the bucket 133. The base end of the arm 132 is attached to the tip of the boom 131 via an arm pin. The bucket 133 has a blade for excavating earth and sand and a storage section for storing the excavated earth and sand. The base end of the bucket 133 is attached to the tip of the arm 132 via a bucket pin.

[0017] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. A base end of the boom cylinder 131C is attached to the revolving unit 120. A tip end of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end of the arm cylinder 132C is attached to the boom 131. A tip end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end of the bucket cylinder 133C is attached to the arm 132. A tip end of the bucket cylinder 133C is attached to a link member connected to the bucket 133.

[0018] (Configuration of the driver's cab 140) A driver's seat 142, an operating device 143, a start switch 144, and a touch panel 145D are provided in the driver's cab 140. The operating device 143 is a device for driving the traveling body 110, the revolving body 120, and the work machine 130 by manual operation by an operator.

[0019] FIG. 2 is a diagram showing the configuration of a start switch 144 according to the first embodiment. As shown in FIG. 2, the start switch 144 is a switch that takes four positions: an OFF position 1442, an ACC (accessory) position 1443, an IG (ignition) position 1444, and an ST (start) position 1445, as a result of a rotating portion 1441 being rotated as indicated by the dashed arrows. Note that when the start switch 144 is released from the ST position 1445, a spring mechanism (not shown) automatically returns the start switch 144 to the IG position 1444. In the OFF position 1442, an instruction is issued to stop the engine 121 and the accessories. The accessories include the control system 145 and an air conditioner (not shown). In the ACC position 1443, an instruction is issued to stop the engine 121 and to activate the accessories. In the IG position 1444, an instruction is issued to activate the engine 121. In the ST position 1445, an instruction is issued to start the engine 121.

[0020] In this disclosure, start switch 144 is an example of an engine ignition switch. Instead of a start switch, the ignition switch may be configured as a key switch or a push switch. Start switch 144 outputs an electrical signal corresponding to OFF position 1442, ACC position 1443, IG position 1444, or ST position 1445. The start switch 144 is equipped with a light-emitting unit 1446. The light-emitting unit 1446 is provided, for example, on the surface of the knob of the start switch 144. The light-emitting unit 1446 emits light, for example, by an LED or the like. The light-emitting unit 1446 according to the first embodiment has a two-color LED. The light-emitting unit 1446 of the start switch 144 indicates the control state of the engine. Specifically, the start switch 144 emits light in orange when authentication is required to drive the work machine 100, and emits light in green when authentication has been completed. The start switch 144 emits light in orange when the engine will not operate normally simply by setting the start switch 144 to the IG position 1444, and emits light in green when the engine is operating or when the engine will operate normally simply by setting the start switch 144 to the IG position 1444. The start switch 144 emits light in orange when the engine cannot be restarted while delayed stop control is being executed, and emits light in green when the engine can be restarted. The light emitting unit 1446 is an example of a notification unit.

[0021] (Configuration of control system 145) Fig. 3 is a schematic block diagram showing the hardware configuration of a control system 145 according to the first embodiment. In Fig. 3, solid lines represent power lines, dashed lines represent signal lines, and dashed lines represent wireless communication.

[0022] The control system 145 includes a power supply unit 201, a start control device 202, an authentication device 203, a monitor controller 204, a control controller 205, and an engine controller 206. The start control device 202, the authentication device 203, the monitor controller 204, the control controller 205, and the engine controller 206 are connected to one another via an in-vehicle network (not shown) such as a Controller Area Network (CAN) or Ethernet (registered trademark). The power supply unit 201 supplies electric energy to each device constituting the control system 145.

[0023] The start control device 202 receives signal inputs from the door switch 1412, the start switch 144, and the operator terminal 300. Based on the input signals, the start control device 202 outputs control signals such as a start signal to the authentication device 203, the monitor controller 204, the control controller 205, the engine controller 206, the lock actuator 1411, or the starter motor 1211. A controller to which a start signal has been input is started and operates by electrical energy supplied by the power supply unit 201. The start control device 202 is an example of a start-up unit that starts up the control controller 205. Note that the start control device 202 always operates by receiving electrical energy supplied from the power supply unit 201, even when the other controllers are in a stopped state. On the other hand, when the work machine 100 is not started, the start control device 202 may be configured so that only the unit that communicates with the operator terminal 300 is in an activated state, and the other components are in a stopped state, or may be activated intermittently.

[0024] Furthermore, the start control device 202 identifies the control state of the work machine from the position of the start switch 144, and outputs control signals indicative of the control state to the monitor controller 204, the control controller 205, and the engine controller 206. The control signals include an ACCON (accessory on) signal, an IGON (ignition on) signal, an STON (start on) signal, and the like. When the start switch 144 is in the OFF position 1442, the start control device 202 turns off the ACCON signal, the IGON signal, and the STON signal. When the position of the start switch 144 is ACC position 1443, the start control device 202 turns on the ACCON signal and turns off the IGON signal and the STON signal. When the position of the start switch 144 is IG position 1444, the start control device 202 turns on the ACCON signal and IGON signal and turns off the STON signal. When the position of the start switch 144 is ST position 1445, the start control device 202 turns on the ACCON signal, IGON signal, and STON signal. The ACCON signal is a control signal that indicates whether or not to operate the auxiliaries. When the ACCON signal is on, it indicates a control state in which the auxiliaries are operated, and when the ACCON signal is off, it indicates a control state in which the auxiliaries are not operated. The IGON signal is a control signal that indicates whether or not to operate the engine controller 206. When the IGON signal is on, it indicates a control state in which the engine controller 206 is operated, and when the IGON signal is off, it indicates a control state in which the engine controller 206 is not operated. The STON signal is a control signal that indicates whether or not to drive the starter 1211. When the STON signal is on, it indicates a control state in which the starter 1211 is operated, and when the STON signal is off, it indicates a control state in which the starter 1211 is not operated.

[0025] The control controller 205 also outputs a delayed stop signal to the start control device 202. The delayed stop control signal is a signal that indicates whether or not delayed stop control is required. In the first embodiment, delayed stop control is control that, when a stop command is issued to stop the engine 121 of the work machine 100, delays the stopping of the engine 121 until a predetermined stop condition is met, and then stops the engine 121. The control controller 205 also makes decisions, for example, whether or not to start delayed stop control, whether or not to cancel delayed stop control, and whether or not to terminate delayed stop control. When the delayed stop control signal is on, it indicates that delayed stop control is required, and when it is off, it indicates that delayed stop control is not required.

[0026] While it is determined that delayed stop control is necessary, the control controller 205 transmits a delayed stop control signal to the start control device 202 via the authentication device 203. The start control device 202 determines the control state from the presence or absence of a delayed stop control signal and the state of the start switch, and transmits control signals to the monitor controller 204, the control controller 205, the engine controller 206, etc.

[0027] Here, the start control device 202 receives the delayed stop control signal, and if it determines that delayed stop control is necessary, it turns on a delayed stop control execution signal indicating that delayed stop control is being executed and sends it to the monitor controller 204 and the engine controller 206. Furthermore, even if the position of the start switch 144 is changed from the IG position 1444 to the ACC position 1443, the start control device 202 maintains the IGON signal ON if it has received the delayed stop control signal. When the position of the start switch 144 is changed from the IG position 1444 to the ACC position 1443 and the delayed stop control signal is no longer received, the start control device 202 turns the IGON signal OFF. Here, the stop condition is a condition for determining whether or not to stop the engine 121. If the stop condition is met, the engine 121 is stopped. If the stop condition is not met, the engine 121 continues to operate under delayed stop control. The stop condition is, for example, that the temperature of the exhaust system, such as the temperature of a urea water injector in a urea SCR (Selective Catalytic Reduction) system, or temperatures related to the engine, is equal to or lower than a predetermined temperature threshold, or that the engine 121 has been operating, for example, in a low-speed idling state for a duration equal to or greater than a predetermined time threshold.

[0028] Furthermore, the control controller 205 receives input of signals indicating conditions, temperatures, etc. used when determining stop conditions in delayed stop control from the monitor controller 204, engine controller 206, etc. via the authentication device 203 or directly. Note that in other embodiments, the stop conditions may be determined by a controller 204 other than the control controller 205, and the determination result may be received.

[0029] The authentication device 203 relays communications between controllers such as the start control device 202, the monitor controller 204, the control controller 205, and the engine controller 206.

[0030] Monitor controller 204 controls the display on touch panel 145D included in control system 145 and notifies the occurrence of a touch operation on touch panel 145D. Note that control system 145 according to another embodiment may include a monitor without a touch input function, such as an LCD (Liquid Crystal Display), and physical buttons, instead of touch panel 145D. In this case, monitor controller 204 controls the display on the monitor and notifies the occurrence of a press of a physical button.

[0031] The control controller 205 acquires various types of data related to the hydraulic equipment that controls the operation of the work machine 130 using sensors (not shown), and outputs control signals for controlling the hydraulic equipment in accordance with the operation of the operation device 143. In other words, the control controller 205 controls the drive of the boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, travel motor 112, swing motor 124, etc. The control controller 205 is an example of a control unit that outputs control signals for driving the body of the work machine 100 with power supplied by the power source. The control controller 205 determines whether the engine 121 is in a stop condition, and if the stop condition is not met, outputs a delayed stop control signal to the start control device 202 and the monitor controller 204.

[0032] The engine controller 206 acquires various data related to the engine 121 using sensors (not shown) and controls the engine 121 by instructing the fuel injection device 125 on the amount of fuel injection.

[0033] The monitor controller 204, the control controller 205, the engine controller 206, etc. receive control signals, such as the ACCON signal and the IGON signal, from the starting control device 202 and execute preset processes based on the control signals, such as the ACCON signal and the IGON signal. For example, the monitor controller 204 displays the screen of the touch panel 145D when the IGON signal is ON or when the ACCON signal is ON. For example, the monitor controller 204 turns off the screen display of the touch panel 145D when the IGON signal is OFF and the ACCON signal is OFF. For example, the control controller 205 stops driving the control controller 205 when the IGON signal is OFF and the ACCON signal is OFF. For example, when the delayed stop control execution signal transmitted from the starting control device 202 is ON, the engine controller 206 operates the engine 121 in a low-speed idling state. Furthermore, the engine controller 206 stops the engine 121 when the IGON signal is OFF.

[0034] FIG. 4 is a schematic block diagram showing the software configuration of the start control device 202, the authentication device 203, and the monitor controller 204 according to the first embodiment. The start control device 202 includes a state management unit 221 , a network communication unit 222 , a start / stop unit 223 , and a light emission control unit 224 .

[0035] The state management unit 221 manages the control state of the work machine 100 based on a signal from the start switch 144. The value of the control state of the work machine 100 is one of a stopped state (OFF state) in which the engine 121 and accessories are stopped, an accessory operating state (ACC state) in which the engine 121 is stopped and the accessories are operating, and an engine operating state (IG state) in which the engine 121 and accessories are operating. The network communication unit 222 communicates with other controllers via the in-vehicle network.

[0036] The start / stop unit 223 outputs control signals to the authentication device 203, the monitor controller 204, the control controller 205, the engine controller 206, or the starter motor 1211. The start / stop unit 223 determines whether to turn on or off the control signals, that is, the ACCON signal, the IGON signal, and the STON signal, based on the control state identified by the state management unit 221 and the delayed stop control signal received from the control controller 205, and outputs these control signals.

[0037] If the stop conditions for the engine 121 are satisfied when the control state switches from the engine operating state to the accessory operating state, i.e., if the delayed stop control signal is off, the start / stop unit 223 turns off the IGON signal and outputs it to the engine controller 206 to stop the engine 121. On the other hand, if the stop conditions for the engine 121 are not satisfied when the control state switches from the engine operating state to the accessory operating state, i.e., if the delayed stop control signal is on, the start / stop unit 223 sends a delayed stop control execution signal to the engine controller 206 to keep the IGON signal on so that the engine 121 operates in a low idle state until the stop conditions are satisfied. Furthermore, the start / stop unit 223 regards the switching of the control state of the work machine 100 from the accessory operating state to the engine operating state during delayed stop control as an instruction to cancel the delayed stop control. When the start / stop unit 223 receives an instruction to cancel the delayed stop control, it cancels the transmission of the delayed stop control in progress signal, and turns on the IGON signal to output it to the engine controller 206 in order to operate the engine 121 in a normal operating state. When the control state of the work machine 100 becomes a stopped state during delayed stop control, the start / stop unit 223 shuts down the control system 145 after the delayed stop control is completed. At this time, the start / stop unit 223 refuses to cancel the delayed stop control thereafter. The start / stop unit 223 manages whether or not to shut down after delayed stop control using an automatic termination flag. When the start / stop unit 223 receives an instruction to forcibly stop the engine 121 during the delayed stop control, the start / stop unit 223 stops the delayed stop control and performs the forced stop control to forcibly stop the engine 121.

[0038] The light emission control unit 224 controls the light emission state (on / off, emitted color) of the light emitting unit 1446 of the start switch 144 according to the control state of the work machine 100.

[0039] The authentication device 203 includes a master receiving unit 231 , a master storage unit 232 , and a master output unit 233 .

[0040] The master receiving unit 231 receives the latest master data via the wide area communication controller 207 and updates the master data stored in the master storage unit 232 . The master storage unit 232 stores master data. The master data is data that associates, for each operator, an operator ID, a display name, information indicating operation authority indicating whether or not the operator has operation authority for the work machine 100, operation setting data, an automatic authentication flag, and authentication means. Examples of authentication means include a password, a fob key, or a device ID of a smartphone.

[0041] The master output unit 233 transmits to the monitor controller 204, among the master data stored in the master storage unit 232, authentication master data consisting of an operator ID, password, display name, information indicating operation authority indicating whether or not the operator has operation authority for the work machine 100, and an automatic authentication flag. Furthermore, the master output unit 233 may separate the master data required by the monitor controller 204 according to the timing at which it is required, and transmit this to the monitor controller 204. Furthermore, the master output unit 233 transmits to the control controller 205 the operation setting data associated with the operator ID of the operator who is logged in in the master storage unit 232. This allows the control controller 205 to reflect the operation setting data of the operator on board.

[0042] The monitor controller 204 includes a communication unit 241 , a display control unit 242 , an acquisition unit 243 , an authentication unit 244 , and a history storage unit 245 . The communication unit 241 performs communication via an internal network. The display control unit 242 causes the touch panel 145D to display a screen for authenticating the operator. For example, the display control unit 242 causes the touch panel 145D to display a selection screen for a list of operators. Acquisition unit 243 acquires input information for authentication from the operator via touch panel 145D.

[0043] The authentication unit 244 authenticates the operator based on the input information acquired by the acquisition unit 243. The authentication unit 244 authenticates the operator by comparing the input information to the authentication device 203. However, if the start-up of the authentication device 203 has not been completed, the authentication unit 244 authenticates the operator by comparing the past input information stored in the history storage unit 245 with the input information acquired by the acquisition unit 243. The engine controller 206 becomes available through authentication by the authentication unit 244.

[0044] (Operator terminal 300) The operator terminal 300 functions by executing a pre-installed program for connecting to the work machine 100. When the operator terminal 300 executes the connection program, it displays a list of the work machines 100 and accepts the operator's selection of the work machine 100 to be started. When the connection program is executed, the operator terminal 300 begins scanning for advertising packets and waits to receive an advertising packet from the selected work machine 100.

[0045] (Operation of control system 145) Fig. 5 is a flowchart (part 1) showing an example of the operation of the control system 145 according to the first embodiment. Fig. 6 is a flowchart (part 2) showing an example of the operation of the control system 145 according to the first embodiment. When the operator switches the start switch 144 from the OFF position 1442 to the ACC position 1443 (step S1: YES), the network communication unit 222 of the start control device 202 communicates with various auxiliaries and checks the communication status with the auxiliaries. In addition, the light emission control unit 224 of the start control device 202 supplies an electrical signal to the light emitting unit 1446 of the start switch 144 and checks the power supply status of each light emitting color (step S2). At this time, the orange and green light emitting units 1446 of the start switch 144 light up, making the light emitting unit 1446 appear to be emitting yellow light. The operator can recognize from the light emitting unit emitting yellow light that the work machine 100 is in a state before normal operation or that the work machine 100 is in a state where diagnosis and abnormality detection are being performed.

[0046] Next, when confirmation of the communication status by the network communication unit 222 is completed, the light emission control unit 224 causes the light emitting unit 1446 of the start switch 144 to emit orange light (step S3). The light emitting unit 1446 emits orange light when the engine 121 is stopped. This enables the operator to recognize that he or she needs to log in to drive the work machine 100. Next, the activation / halt unit 223 of the start control device 202 turns on the ACCON signal output to the authentication device 203, the monitor controller 204, and the control controller 205 (step S4). The activation / halt unit 223 may be configured to send an activation signal to the authentication device 203 when the operator terminal 300 and the start control device are connected. The activation / halt unit 223 may be configured to send an activation signal to the authentication device 203 when it detects that the door of the cab 140 has been opened or closed, or that a key has been operated on the cab 140. When the authentication device 203 and monitor controller 204 are activated, the authentication section 244 of the monitor controller 204 performs authentication processing for the operator in the cab 140 (step S5). If the authentication processing is successful, the light emission control section 224 of the start control device 202 causes the light emitting section 1446 of the start switch 144 to emit green light (step S6). The light emitting section 1446 emits green light when the engine 121 is in an operable state or is operating normally. This enables the operator to recognize that he or she has already logged in to the work machine 100.

[0047] After logging in, when the operator switches the start switch 144 from the ACC position 1443 to the IG position 1444 (step S7: YES), the start / stop unit 223 of the start control device 202 turns on the IGON signal that it outputs to the engine controller 206 (step S8). When the start switch 144 is switched from the IG position 1444 to the ST position 1445, the start / stop unit 223 turns on the STON signal that it outputs to the starter 1211. This causes the starter 1211 to rotate and start the engine 121. The position of the start switch 144 is automatically switched from the ST position 1445 to the IG position 1444 by a spring mechanism, and the STON signal is turned off.

[0048] Thereafter, when the start switch 144 is switched from the IG position 1444 to the ACC position 1443 (step 9: YES), the start / stop unit 223 of the start control device 202 determines whether or not a delayed stop control signal has been received from the control controller 205, that is, whether or not the state of the work machine 100 satisfies the stop condition (step S10). If the stop condition is satisfied (step S10: YES), that is, if a delayed stop control signal has not been received from the control controller 205, the start / stop unit 223 outputs an instruction to stop the engine 121 to the engine controller 206 (step S11). That is, the start / stop unit 223 turns off the delayed stop control in progress signal and the IGON signal.

[0049] Thereafter, when the start switch 144 is switched from the ACC position 1443 to the OFF position 1442 (step 12: YES), the start / stop unit 223 of the start control device 202 turns off the ACCON signal that is output to the authentication device 203 and the monitor controller 204 (step S13). The light-emission control unit 224 causes the light-emitting unit 1446 of the start switch 144 to emit orange light (step S14). This enables the operator to recognize that he or she must log in again to drive the work machine 100. When the authentication device 203 and the monitor controller 204 are stopped, the light-emission control unit 224 turns off the light-emitting unit 1446 of the start switch 144. Note that in step S14, the light-emission control unit 224 may also turn off the light-emitting unit 1446 of the start switch 144.

[0050] When the start switch 144 is switched from the IG position 1444 to the ACC position 1443 (step S9: YES), if the stop condition is not satisfied (step S10: NO), that is, if a delayed stop control signal is received from the controller 205, the activation / stop unit 223 determines whether the delayed stop control is already in progress (step S15). If the delayed stop control has not been started (step S15: NO), the activation / stop unit 223 starts the delayed stop control (step S16). That is, the activation / stop unit 223 turns on the delayed stop control execution signal. At this time, the display control unit 242 of the monitor controller 204 displays a delayed stop display on the touch panel 145D (step S17). FIG. 7 shows an example of a display screen 145D2 for the delayed stop display. The display screen 145D2 includes a display indicating that the delayed stop control is in progress. A forced stop button B for forcibly stopping the engine 121 is displayed on the display screen 145D2.

[0051] Next, the control controller 205 determines whether the forced stop button B has been pressed (step S18). If the forced stop button B has been pressed (step S18: YES), the control controller 205 stops outputting the start / stop control signal to stop the delayed stop control, moves the process to step S11, and stops the engine 121. In other words, in response to the fact that reception of the delayed stop control signal has stopped, the start / stop unit 223 of the start control device 202 determines that the delayed stop control has been stopped, and turns off the delayed stop control execution signal and the IGON signal.

[0052] If the start switch 144 is switched from the ACC position 1443 to the IG position 1444 during the delayed stop control (step S19: YES), the start / stop unit 223 determines that an instruction to cancel the delayed stop control has been issued. The start / stop unit 223 determines whether an internally stored automatic termination flag indicates automatic termination (step S20). The value of the automatic termination flag is set to an initial value indicating no automatic termination when the control system 145 is started. If the automatic termination flag indicates no automatic termination (step S20: NO), the start / stop unit 223 cancels the delayed stop control and outputs a control instruction to the engine controller 206 to operate the engine 121 in a normal operating state (step S21). That is, the start / stop unit 223 turns off the delayed stop control execution signal. Then, the control system 145 proceeds to step S9. If the automatic termination flag indicates automatic termination (step S20: YES), the activation / stop unit 223 does not cancel the delayed stop control and continues the delayed stop control (step S21). That is, the activation / stop unit 223 keeps the delayed stop control execution signal and the IGON signal on.

[0053] When the start switch 144 is switched from the ACC position 1443 to the OFF position 1442 during delayed stop control (step S22: YES), the start / stop unit 223 rewrites the internally stored automatic end flag to a value indicating automatic end (step S23). As a result, the start / stop unit 223 refuses to cancel the delayed stop control from then on. At this time, the light emission control unit 224 causes the light emitting unit 1446 of the start switch 144 to emit orange light (step S24). The light emitting unit 1446 emits orange light when the delayed stop control is not to be canceled. This enables the operator to recognize that the delayed stop control cannot be canceled and that he or she will need to log in to drive the work machine 100 next. If the automatic termination flag indicates automatic termination (step S25: YES), after the engine 121 is stopped in step S11, the start control device 202 shifts the process to step S13 and shuts down the control system 145.

[0054] (Actions and Effects) As described above, according to the first embodiment, if the start switch 144 has been switched to the OFF position during delayed stop control, the control system 145 continues the delayed stop control even if an instruction to cancel the delayed stop control is given, and then shuts down. Furthermore, according to the first embodiment, if the start switch 144 has ever been set to the OFF position during delayed stop control, the control system 145 will subsequently shut down. As a result, the next time the excavator is to be operated, operator authentication is required, and the control system 145 can prevent unauthorized use of the work machine 100 while implementing delayed stop control.

[0055] Furthermore, according to the first embodiment, the control system 145 has the start switch 144 equipped with a light emitting unit 1446 that displays the control status of the work machine 100. This allows the operator to visually recognize the illuminated color of the start switch 144 and recognize the control status of the work machine 100. Specifically, the operator can recognize from the illuminated color whether he or she needs to log in to drive the work machine 100, or whether he or she is already logged in. The operator can also recognize from the illuminated color whether the engine 121 is running, or whether the engine 121 will operate normally simply by turning the start switch 144 to the IG position 1444, or whether the engine 121 will not operate normally simply by turning the start switch 144 to the IG position 1444. In particular, in the control system 145 according to the first embodiment, when the system is in a state where the engine will automatically terminate after the delayed stop control, the light emitting unit 1446 emits orange light. This allows the operator to visually recognize the light color of the start switch 144 during the delayed stop control and to recognize whether the engine will automatically terminate after the delayed stop control. In other words, the operator can recognize whether the engine 121 is in a state where it cannot be restarted or is in a state where it can be restarted while the delayed stop control is being executed.

[0056] Second Embodiment The control system 145 of the work machine 100 according to the first embodiment automatically terminates the control system 145 after delayed stop control if the position of the start switch 144 changes to the OFF position 1442 during delayed stop control. In contrast, the control system 145 according to the second embodiment cancels authentication after delayed stop control and logs out the operator if the position of the start switch 144 changes to the OFF position 1442 during delayed stop control. The start-up stop unit 223 of the start-up control device 202 according to the second embodiment stores an automatic logout flag instead of the automatic stop flag.

[0057] (Operation of control system 145) Fig. 8 is a flowchart (part 1) showing an example of the operation of the control system 145 according to the second embodiment. Fig. 9 is a flowchart (part 2) showing an example of the operation of the control system 145 according to the second embodiment. When the operator switches the start switch 144 from the OFF position 1442 to the ACC position 1443 (step S101: YES), the network communication unit 222 of the start control device 202 communicates with various accessories to check the communication status with the accessories. In addition, the light emission control unit 224 of the start control device 202 supplies an electrical signal to the light emitting unit 1446 of the start switch 144 to check the power supply status of each light emitting color (step S102). At this time, the orange and green light emitting units 1446 of the start switch 144 light up, so that the light emitting unit 1446 appears to be emitting yellow light.

[0058] Next, when confirmation of the communication status by the network communication unit 222 is completed, the light emission control unit 224 causes the light emitting unit 1446 of the start switch 144 to emit orange light (step S103). This enables the operator to recognize that he or she needs to log in to operate the work machine 100. Next, the activation / halt unit 223 of the start control device 202 turns on the ACCON signal to be output to the authentication device 203 and the monitor controller 204 (step S104). The activation / halt unit 223 may be configured to send an activation signal to the authentication device 203 when the operator terminal 300 and the start control device are connected. The activation / halt unit 223 may be configured to send an activation signal to the authentication device 203 when it detects that the door of the cab 140 has been opened or closed, or that a key has been operated on the cab 140. When the authentication device 203 and monitor controller 204 are activated, the authentication section 244 of the monitor controller 204 performs authentication processing for the operator in the cab 140 (step S105). If the authentication processing is successful, the light emission control section 224 of the start control device 202 causes the light emitting section 1446 of the start switch 144 to emit green light (step S106). This enables the operator to recognize that he or she has already logged in to the work machine 100.

[0059] When the operator switches the start switch 144 from the ACC position 1443 to the IG position 1444 (step S107: YES), the start / stop unit 223 of the start control device 202 turns on the IGON signal that is output to the control controller 205 and the engine controller 206 (step S108). When the start switch 144 is switched from the IG position 1444 to the ST position 1445, the start / stop unit 223 turns on the STON signal that is output to the starter 1211. This causes the starter 1211 to rotate and start the engine 121. The position of the start switch 144 is automatically switched from the ST position 1445 to the IG position 1444 by a spring mechanism, and the STON signal is turned off.

[0060] Thereafter, when the start switch 144 is switched from the IG position 1444 to the ACC position 1443 (step 109: YES), the start / stop unit 223 of the start control device 202 determines whether or not a delayed stop control signal has been received from the control controller 205, that is, whether or not the state of the work machine 100 satisfies the stop condition (step S110). If the stop condition is satisfied (step S110: YES), that is, if a delayed stop control signal has not been received from the control controller 205, the start / stop unit 223 outputs an instruction to stop the engine 121 to the engine controller 206 (step S111). That is, the start / stop unit 223 turns off the delayed stop control in progress signal and the IGON signal.

[0061] Thereafter, when the start switch 144 is switched from the ACC position 1443 to the OFF position 1442 (step S112: YES), the start / stop unit 223 of the start control device 202 turns off the ACCON signal that is output to the authentication device 203 and the monitor controller 204 (step S113). The light-emission control unit 224 causes the light-emitting unit 1446 of the start switch 144 to emit orange light (step S114). This enables the operator to recognize that he or she needs to log in again to drive the work machine 100. When the authentication device 203 and the monitor controller 204 are stopped, the light-emission control unit 224 turns off the light-emitting unit 1446 of the start switch 144.

[0062] When the start switch 144 is switched from the IG position 1444 to the ACC position 1443 (step S109: YES), if the stop condition is not satisfied (step S110: NO), that is, if a delayed stop control signal is received from the controller 205, the activation / stop unit 223 determines whether the delayed stop control is already in progress (step S115). If the delayed stop control has not been started (step S115: NO), the activation / stop unit 223 starts the delayed stop control (step S116). That is, the activation / stop unit 223 turns on the delayed stop control execution signal. At this time, the display control unit 242 of the monitor controller 204 displays a delayed stop on the touch panel 145D (step S117).

[0063] Next, the control controller 205 determines whether the forced stop button B has been pressed (step S118). If the forced stop button B has been pressed (step S118: YES), the control controller 205 stops outputting the start / stop control signal to discontinue the delayed stop control, moves the process to step S111, and stops the engine 121. That is, the start / stop unit 223 of the start control device 202 turns off the delayed stop control execution signal and the IGON signal.

[0064] If the start switch 144 is switched from the ACC position 1443 to the IG position 1444 during the delayed stop control (step S119: YES), the activation / stop unit 223 determines that an instruction to cancel the delayed stop control has been issued. The activation / stop unit 223 cancels the delayed stop control and outputs a control instruction to the engine controller 206 to operate the engine 121 in a normal operating state (step S120). Next, the activation / stop unit 223 determines whether an internally stored automatic logout flag indicates automatic termination (step S121). The value of the automatic logout flag is set to an initial value indicating no automatic logout when the control system 145 is started. If the automatic logout flag indicates automatic logout (step S121: YES), the authentication unit 244 of the monitor controller 204 cancels the authentication of the operator and logs the operator out (step S127).

[0065] After the automatic logout, the authentication unit 244 receives an instruction to execute authentication processing from the operator (step S128). When the authentication processing is completed, the light emission control unit 224 of the start control device 202 causes the light emitting unit 1446 of the start switch 144 to emit green light (step S129). Then, the control system 145 proceeds to step S109. If the automatic logout flag indicates that automatic logout is not to be performed (step S121: NO), the control system 145 does not cancel the authentication of the operator and moves the process to step S109.

[0066] When the start switch 144 is switched from the ACC position 1443 to the OFF position 1442 during delayed stop control (step S122: YES), the start / stop unit 223 rewrites the internally stored automatic logout flag to a value indicating automatic logout (step S123). At this time, the light emission control unit 224 causes the light emitting unit 1446 of the start switch 144 to emit orange light (step S124). The light emitting unit 1446 emits orange light when it has been determined that logging out will occur after delayed stop control. This enables the operator to recognize that he or she will need to log in to drive the work machine 100 next. If the automatic logout flag indicates automatic logout (step S125: YES), after the engine 121 is stopped in step S111, the authentication unit 244 of the monitor controller 204 cancels the authentication of the operator and logs the operator out (step S126).

[0067] (Actions and Effects) As described above, according to the second embodiment, if the start switch 144 has ever been set to the OFF position during delayed stop control, the control system 145 cancels the authentication of the operator after the delayed stop control is completed or after the delayed stop control is canceled. In this way, the control system 145 can prevent unauthorized use of the work machine 100 while implementing delayed stop control.

[0068] (Other embodiments) Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design modifications are possible. That is, in other embodiments, the order of the above-described processes may be changed as appropriate. Furthermore, some processes may be executed in parallel.

[0069] Although the work machine 100 according to the embodiment described above accepts cancellation of delayed stop control, this is not limiting. For example, a work machine 100 according to another embodiment may not accept cancellation of delayed stop control. In this case as well, the control system 145 can prevent unauthorized use of the work machine 100 while implementing delayed stop control.

[0070] In other embodiments, information may be output by voice or a notification signal instead of or in addition to displaying information on touch panel 145D. In the above embodiment, an instruction to stop delayed stop control is given by operating start switch 144 to IG position 1444, but this is not limiting. For example, in addition to operating start switch 144 to IG position 1444, an instruction to stop delayed stop control may also be given by a predetermined input operation, such as touching a predetermined button on touch panel 145D or pressing a predetermined switch on a predetermined input device such as touch panel 145D or a predetermined switch.

[0071] Furthermore, in the work machine 100 according to the embodiment described above, if the start switch 144 has been switched to the OFF position during delayed stop control, the control system 145 continues the delayed stop control even if an instruction to cancel the delayed stop control is given, but this is not limited to this. For example, in the work machine 100 according to another embodiment, if the vehicle is unsafe, the control system 145 may continue the delayed stop control even if an instruction to cancel the delayed stop control is given. An example of a state in which the vehicle is unsafe is when the lock lever is released and the operating device 143 is in an operating state in which the traveling unit 110, the revolving unit 120, or the work implement 130 is driven.

[0072] In the control system 145 according to the embodiment described above, some of the components constituting the control system 145 may be mounted inside the work machine 100, and other components may be provided outside the work machine 100. Some or all of the functions of the start control device 202 may be provided in the authentication device 203 or the monitor controller 204. Some or all of the functions of the authentication device 203 may be provided in the start control device 202 or the monitor controller 204. Some or all of the functions of the monitor controller 204 may be provided in the start control device 202 or the authentication device 203.

[0073] Although the light-emitting unit 1446 serving as the notification unit in the above-described embodiment emits light in orange and green, it may emit light in other colors in other embodiments. Notification may also be made using lighting patterns such as a first lighting pattern (e.g., a fast lighting-on / off cycle), a second lighting pattern (e.g., a slow lighting-on / off cycle), or a third lighting pattern (e.g., a lighting-on / off cycle intermediate between the first and second lighting patterns). The light emitting unit 1446, which is the notification unit according to the above embodiment, may be provided outside the start switch 144. For example, it may be provided in the driver's cab 140 as a separate unit from the start switch 144. Furthermore, the notification unit according to the above-described embodiments is not limited to a light-emitting unit, and may be a display device such as a monitor or a sound.

[0074] (Computer Configuration) The devices included in the control system 145, such as the start control device 202, the authentication device 203, the monitor controller 204, the control controller 205, and the engine controller 206, can be configured using a computer such as a microcomputer or a central processing unit (CPU), and hardware such as computer peripheral circuits and peripheral devices. The computer may also be configured using a custom large-scale integrated circuit (LSI) such as a programmable logic device (PLD). Examples of PLDs include programmable array logic (PAL), generic array logic (GAL), complex programmable logic device (CPLD), and field programmable gate array (FPGA). In this case, some or all of the functions implemented by the processor may be implemented by the integrated circuit. [Explanation of symbols]

[0075] 100...Work machine 110...Traveling body 111...Crawler 112...Travel motor 120...Swing body 121...Engine 1211...Starter motor 122...Hydraulic pump 123...Control valve 124...Swing motor 125...Fuel injection device 130...Work machine 131...Boom 131C...Boom cylinder 132...Arm 132C...Arm cylinder 133...Bucket 133C...Bucket cylinder 140...Driver's cab 142...Driver's seat 143...Operation device 144...Start switch 145...Control system 145D...Touch panel 201...Power supply unit 202...Start control device 203...Authentication device 204...Monitor controller 205...Control controller 206...Engine controller 207...Wide area communication controller 300...Operator terminal

Claims

1. a state management unit that switches the control state of the work machine, in response to an operation by an operator, to one of a stopped state in which the prime mover and the accessories are stopped, an accessory operating state in which the prime mover is stopped and the accessories are operated, and a prime mover operating state in which the prime mover and the accessories are operated; an authentication unit that authenticates the operator when the control state is switched from a stop state to an auxiliary device operation state; a drive control unit that enables the work machine to be driven when the operator is authenticated; a stop control unit that executes stop control of the prime mover; Equipped with The stop control unit When the control state is switched from a prime mover operating state to an accessory operating state, a delayed stop control is started to delay the stop of the prime mover until a predetermined condition is satisfied, and then the prime mover is stopped; When a cancellation instruction for the delayed stop control is received during the delayed stop control, the delayed stop control is canceled and the operating state of the prime mover is maintained; If the control state has been changed to a stop state during the delayed stop control, the delayed stop control is not canceled even when an instruction to cancel the delayed stop control is received. Work machinery.

2. The authentication unit cancels the authentication of the operator after the prime mover is stopped.

2. The work machine according to claim 1.

3. a state management unit that switches the control state of the work machine, in response to an operation by an operator, to one of a stopped state in which the prime mover and the accessories are stopped, an accessory operating state in which the prime mover is stopped and the accessories are operated, and a prime mover operating state in which the prime mover and the accessories are operated; an authentication unit that authenticates the operator when the control state is switched from a stop state to an auxiliary device operation state; a drive control unit that enables the work machine to be driven when the operator is authenticated; a stop control unit that executes stop control of the prime mover; Equipped with The stop control unit When the control state is switched from a prime mover operating state to an accessory operating state, a delayed stop control is started to delay the stop of the prime mover until a predetermined condition is satisfied, and then the prime mover is stopped; When a cancellation instruction for the delayed stop control is received during the delayed stop control, the delayed stop control is canceled and the operating state of the prime mover is maintained; If the control state has been changed to a stop state during the delayed stop control, the authentication unit cancels the authentication of the operator when the delayed stop control is cancelled. Work machinery.

4. When the stop control unit receives a forced stop instruction for the prime mover during the delayed stop control, the stop control unit stops the delayed stop control and forcibly stops the prime mover regardless of whether the condition is met, and when the control state has been in a stopped state during the delayed stop control, the authentication unit cancels the authentication of the operator after the forced stop.

4. The work machine according to claim 3.

5. a step of switching the control state of the work machine, by an operation by an operator, to one of a stop state in which the prime mover and the accessories are stopped, an accessory operation state in which the prime mover is stopped and the accessories are operated, and a prime mover operation state in which the prime mover and the accessories are operated; When the control state is switched from a stop state to an auxiliary device operation state, authenticating the operator; outputting a control signal to drive the work machine if the operator is authenticated; When the control state is switched from the prime mover operating state to the accessory operating state, starting a delayed stop control to delay stopping the prime mover until a predetermined condition is met and then stop the prime mover; canceling the delayed stop control when a cancellation instruction for the delayed stop control is received during the delayed stop control; When the control state has been changed to a stop state during the delayed stop control, not canceling the delayed stop control even when a cancellation instruction for the delayed stop control is received. A control method for a work machine having the above construction.

6. a step of switching the control state of the work machine, by an operation by an operator, to one of a stop state in which the prime mover and the accessories are stopped, an accessory operation state in which the prime mover is stopped and the accessories are operated, and a prime mover operation state in which the prime mover and the accessories are operated; When the control state is switched from a stop state to an auxiliary device operation state, authenticating the operator; a step of enabling the work machine to be driven when the operator is authenticated; and a step of initiating delayed stop control when the control state is switched from a prime mover operating state to an accessory operating state, delaying the stopping of the prime mover until a predetermined condition is met, and then stopping the prime mover. When a cancellation instruction for the delayed stop control is received during the delayed stop control, canceling the delayed stop control and maintaining an operating state of the prime mover; If the control state has been changed to a stop state during the delayed stop control, canceling authentication of the operator when the delayed stop control is canceled. A control method for a work machine having the above construction.

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