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

Abstract

The object is to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that can easily reduce the burden on an operator associated with operation. [Solution] A control method for a work machine (3) includes accepting operations on an operating device (35) for controlling the work machine (3), monitoring specific events that involve changes in the operating state of the work machine (3) corresponding to the operation of the operating device (35), and, when a specific event occurs, determining whether or not a judgment condition is met, including that both an adjustment operator on the operating device (35) that adjusts the output of the work machine (3) and a maintenance operator that maintains the output are in a non-operated state, and switching between enabling and disabling control of the work machine (3) corresponding to the operation of the operating device (35) based on the determination result of whether or not the judgment condition is met.

Description

[Technical Field]

[0001] The present invention relates to a work machine control method, a work machine control program, a work machine control system, and a work machine that are used in a work machine that is controlled in response to operations on an operating device. [Background technology]

[0002] As related art, there is known a work machine that includes a machine body, a work implement mounted on the machine body, and a hydraulic breaker attached to the tip of the work implement (see, for example, Patent Document 1). The work machine according to the related art further includes a changeover switch that can switch between an auto-hammer prohibited state in which the hydraulic breaker is disabled, and an auto-hammer permitted state in which the hydraulic breaker is enabled. In this work machine, the auto-hammer is normally set to the prohibited state to prevent inadvertent impacts, and can be switched to the permitted state by operating the changeover switch. Specifically, when the changeover switch is operated in the prohibited state, the work machine transitions to the auto-hammer standby state, and when the changeover switch is operated again within a certain period of time in the auto-hammer standby state, the work machine transitions to the permitted state. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-209641 Summary of the Invention [Problem to be solved by the invention]

[0004] In the related art described above, the auto-hammer inhibited state is switched to the auto-hammer permitted state by operating the selector switch, so the operator must operate the switch carefully to avoid, for example, the hydraulic breaker suddenly becoming operable and starting to strike.

[0005] An object of the present invention is to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that can easily reduce the burden on an operator associated with operation. [Means for solving the problem]

[0006] A method for controlling a work machine according to one aspect of the present invention includes receiving an operation of an operating device for controlling a work machine, monitoring a specific event that involves a change in the operating state of the work machine corresponding to the operation of the operating device, determining, when the specific event occurs, whether or not a determination condition is met, including that both an adjustment operator on the operating device that adjusts the output of the work machine and a maintenance operator that maintains the output are in a non-operated state, and switching between enabling and disabling control of the work machine corresponding to the operation of the operating device based on the determination result of whether or not the determination condition is met.

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

[0008] A work machine control system according to one aspect of the present invention includes an acquisition processing unit, a monitoring processing unit, a determination processing unit, and a switching processing unit. The acquisition processing unit accepts operations on an operating device for controlling a work machine. The monitoring processing unit monitors specific events that involve changes in the operating state of the work machine corresponding to operations of the operating device. When the specific event occurs, the determination processing unit determines whether a determination condition is met, including the condition that both an adjustment operator on the operating device that adjusts the output of the work machine and a maintenance operator that maintains the output are in an unoperated state. The switching processing unit switches between enabling and disabling control of the work machine corresponding to operations of the operating device, based on the determination result of whether the determination condition is met.

[0009] A work machine according to one aspect of the present invention includes the work machine control system and a machine body that is controlled in response to an operation of the operating device. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that can easily reduce the burden on an operator associated with operation. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic perspective view showing the overall configuration of a work machine according to a first embodiment. [Figure 2] FIG. 2 is a schematic block diagram of the work machine according to the first embodiment. [Figure 3] FIG. 3 is a schematic external view of the operating device for the work machine according to the first embodiment. [Figure 4] FIG. 4 is a schematic external view of the display device of the work machine according to the first embodiment. [Figure 5] FIG. 5 is a flowchart showing an example of the operation of the work machine control system according to the first embodiment. [Figure 6] FIG. 6 is a timing chart showing an example of the operation of the work machine control system according to the first embodiment. [Figure 7] FIG. 7 is a diagram showing an example of a display screen displayed on the display device of the work machine according to the first embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of the operation of the work machine control system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following description will discuss preferred embodiments of the present invention with reference to the accompanying drawings. The preferred embodiments are merely examples of the present invention and are not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall structure As shown in Figure 1, the work machine 3 according to this embodiment is equipped with a traveling section 31, a swivel section 32, and a working section 33 on a machine body 30. The work machine 3 is further equipped with a work machine control system 1 (hereinafter simply referred to as the "control system 1") as shown in Figure 2. In addition, the machine body 30 is further equipped with a display device 2, a drive device 34, an operation device 35, a control valve 36, a cut-off switch 371, a cut-off lever 372, etc. as shown in Figures 1 and 2.

[0014] In this disclosure, the term "work machine" refers to various types of work machinery, and examples include work vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. The work machine 3 is equipped with a working unit 33 configured to be able to perform one or more tasks. The work machine 3 is not limited to a "vehicle," and may be, for example, a work vessel, a work air vehicle such as a drone or multicopter, or the like. Furthermore, the work machine 3 is not limited to a construction machine (construction equipment), and may be, for example, an agricultural machine (farm equipment) such as a rice transplanter, tractor, or combine harvester. In this embodiment, unless otherwise specified, the work machine 3 is a riding-type backhoe that is capable of performing tasks such as excavation, leveling, trench digging, and loading.

[0015] Furthermore, in this embodiment, for ease of explanation, the vertical direction when the work machine 3 is in a usable state is defined as the up-down direction D1. Furthermore, when the swivel unit 32 is in a non-swivel state, the front-to-rear direction D2 and the left-to-right direction D3 are defined based on the direction as seen by the user (operator) aboard the work machine 3 (the driving unit 321 thereof). In other words, all directions used in this embodiment are directions defined based on the machine body 30 of the work machine 3, with the direction in which the machine body 30 moves when the work machine 3 moves forward being "forward" and the direction in which the machine body 30 moves when the work machine 3 moves backward being "rear". Similarly, the direction in which the front end of the machine body 30 moves when the work machine 3 turns right being "rightward", and the direction in which the front end of the machine body 30 moves when the work machine 3 turns left being "leftward". However, these directions are not intended to limit the direction in which the work machine 3 is used (the direction in use).

[0016] The work machine 3 is equipped with an engine that serves as a power source. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (light oil in this case) supplied from a fuel tank. In the work machine 3, for example, the engine drives a hydraulic pump, and the hydraulic pump supplies hydraulic oil to hydraulic actuators (including hydraulic motors 43, hydraulic cylinders 44, etc.) in various parts of the machine body 30, thereby driving the machine body 30. Such a work machine 3 is controlled, for example, by a user (operator) aboard the driver's section 321 of the machine body 30 operating operating devices 35 such as operating levers 351, 352 (see FIG. 3).

[0017] In this embodiment, as described above, it is assumed that the work machine 3 is a riding-type backhoe, and therefore the working unit 33 is driven in accordance with the operation of a user (operator) riding in the driving unit 321 to perform work such as excavation work. The driving unit 321 on which the user rides is provided on the swivel unit 32.

[0018] Here, the driving section 321 of the machine body 30 is equipped with a display device 2 and an operating device 35, and the user can operate the operating device 35 while viewing various information related to the work machine 3 displayed on the display device 2. As an example, information related to the operating state of the work machine 3, such as the cooling water temperature and hydraulic oil temperature, is displayed on the display screen of the display device 2, allowing the user to check on the display device 2 information related to the operating state of the work machine 3 that is necessary for operating the operating device 35.

[0019] The traveling unit 31 has a traveling function and is configured to be able to travel (including turn) 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 traveling hydraulic motor 43 (hydraulic actuator) for driving the crawlers 311.

[0020] The swivel unit 32 is located above the travel unit 31 and is configured to be swivelable relative to the travel unit 31 around a rotation axis that is aligned in the vertical direction. The swivel unit 32 has a hydraulic motor (hydraulic actuator) for rotation and the like. In addition to the driving unit 321, the swivel unit 32 is equipped with an engine, a hydraulic pump and the like. Furthermore, a boom bracket 322 to which the working unit 33 is attached is provided at the front end of the swivel unit 32.

[0021] The working unit 33 is configured to be able to perform one or more tasks. The working unit 33 is supported by the boom bracket 322 of the swivel unit 32 and performs the tasks. The working unit 33 has an attachment 331. The attachment 331 is any tool (work implement) selected from a plurality of types of tools depending on the type of task. As an example, the attachment 331 is removably attached to the machine body 30 and is replaced depending on the type of task. Examples of attachments 331 for the work machine 3 include various tools such as a breaker, auger, crusher, fork, bucket, fork claw, steel frame cutter, asphalt cutter, brush cutter, ripper, mulcher, tiltrotator, and tamper.

[0022] The working unit 33 further has a boom 332, an arm 333, and a hydraulic actuator (including a hydraulic cylinder 44, a hydraulic motor, etc.). The attachment 331 is attached to the tip of the arm 333. The working unit 33 operates by receiving power from an engine as a power source. Specifically, the engine drives a hydraulic pump, and the hydraulic pump supplies hydraulic oil to the hydraulic actuator of the working unit 33, causing the working unit 33 to operate.

[0023] The boom 332 is rotatably supported by the boom bracket 322 of the swivel unit 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable around a rotation axis that extends in the horizontal direction. The boom 332 has a shape that extends upward from a base end supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is supported relative to the boom 332 so as to be rotatable around a rotation axis that extends in the horizontal direction.

[0024] The work machine 3 is also equipped with a drive unit 34, and performs various tasks by using power from the drive unit 34 to drive an attachment 331 of the working section 33. That is, in the work machine 3, an attachment 331 such as a breaker or an auger is attached to the machine body 30 depending on the type of task, and the work is performed by supplying power from the drive unit 34 to the attachment 331 to drive it. Therefore, when the work machine 3 performs a task, the output (power) of the drive unit 34 supplied to the attachment 331, etc. is controlled by, for example, a user (operator) operating the operation device 35 so that the attachment 331 moves as desired.

[0025] The drive device 34 is a device for supplying power to the attachment 331. In the present embodiment, as an example, the drive device 34 is formed of a device (mechanism) such as a PTO (Power take-off) for extracting power from the engine as power for driving the attachment 331 made up of hydraulic equipment. Specifically, the drive device 34 supplies hydraulic oil to the attachment 331 by sending it from a hydraulic pump driven by the engine to the attachment 331. The drive device 34 adjusts the amount of power supplied to the attachment 331 by adjusting the flow rate of the hydraulic oil supplied to the attachment 331.

[0026] Here, the drive unit 34 has a plurality of (four in this embodiment, as an example) output ports 341 to 344 (see FIG. 2). Each of these plurality of output ports 341 to 344 is configured to be able to output power. Each of the plurality of output ports 341 to 344 is capable of individually adjusting the power, i.e., the flow rate of hydraulic oil, and the drive unit 34 outputs power from each of these plurality of output ports 341 to 344. In this embodiment, each of the plurality of output ports 341 to 344 is a PTO port, and therefore, output port 341 may be referred to as "PTO1," output port 342 as "PTO2," output port 343 as "PTO3," and output port 344 as "PTO4."

[0027] Like the working unit 33, the swivel unit 32 and the traveling unit 31 each receive power from an engine as a power source and operate. That is, the swivel unit 32 and the traveling unit 31 operate when hydraulic oil is supplied from a hydraulic pump to hydraulic actuators (hydraulic motors) of the swivel unit 32 and the traveling unit 31.

[0028] The operation device 35 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation inputs from a user (operator). The operation device 35 receives various operations from the user, for example, by outputting an electric signal (operation signal) in response to the user's operation. In this embodiment, as an example, the operation device 35 includes a pair of operation levers 351, 352 (see FIG. 3). The operation device 35 will be described in detail in the section "[2] Operation Device."

[0029] 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 work machine 3, and is composed of, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller, or may be mainly composed of one processor or multiple processors. The control system 1 will be explained in more detail in the section "[3] Configuration of the Control System."

[0030] The display device 2 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation inputs from a user (operator) and outputting various information to the user. The display device 2 receives various operations from the user, for example, by outputting electrical signals in response to the user's operations. This allows the user (operator) to view the display screen Dp1 (see FIG. 4) displayed on the display device 2, and also allows the user (operator) to operate the display device 2 as necessary.

[0031] 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 able to communicate with the control system 1, and is able to send and receive data to and from the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0032] The control unit 21 controls the display device 2 in accordance with data from the control system 1. Specifically, the control unit 21 outputs an electrical signal in response to a user operation received by the operation unit 22, and displays a display screen Dp1 generated by the control system 1 on the display unit 23.

[0033] The operation unit 22 is a user interface for accepting operation inputs by a user (operator) to a display screen Dp1 displayed on the display unit 23. The operation unit 22 accepts various operations by the user U1 (see FIG. 4), for example, by outputting an electrical signal in response to an operation by the user U1. In the present embodiment, as an example, the operation unit 22 includes a plurality of (six in this case) mechanical push button switches 221-226, as shown in FIG. 4. These plurality of push button switches 221-226 are arranged close to the display area (below in the example of FIG. 4) so ​​as to follow the periphery of the display area of ​​the display unit 23. These plurality of push button switches 221-226 are associated with items displayed on the display screen Dp1, which will be described later, and by operating any of the plurality of push button switches 221-226, any item on the display screen Dp1 is operated (selected).

[0034] Furthermore, the operation unit 22 may include a touch panel, an operation dial, etc. In this case as well, an operation on the operation unit 22 causes an operation (selection) of any item on the display screen Dp1.

[0035] 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 displaying them. In this embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and has a "horizontally elongated" display area that is long in the horizontal direction, as shown in FIG. 4.

[0036] Fig. 2 shows a schematic diagram of the hydraulic circuit and electrical circuit (electrical connection relationships) of the work machine 3 according to this embodiment. In Fig. 2, dotted lines indicate low-pressure oil passages (for pilot oil), and dashed-dotted arrows indicate electrical signal paths.

[0037] As shown in FIG. 2, the machine body 30 of the work machine 3 is equipped with the display device 2, the drive device 34, the operation device 35, as well as a control valve 36, a cutoff switch 371, a cutoff lever 372, and the like.

[0038] Here, the drive unit 34 is provided with a pilot-type directional control valve (control valve) that can switch the direction and flow rate of hydraulic oil from the hydraulic pump. The drive unit 34 is driven by the supply of pilot oil, which serves as an input command, from the pilot pump to the directional control valve. An electromagnetic control valve 36 (solenoid valve) is inserted in the supply path of the pilot oil to the directional control valve. The control valve 36 operates in response to a control signal (current) from the control system 1. Here, the control valve 36 is assumed to be an (electromagnetic) proportional control valve, but is not limited to this and may be, for example, an on-off valve that can switch between opening and closing a flow path.

[0039] The control valve 36 opens the flow path of the pilot oil when it is energized, that is, when current is being supplied as a control signal, and blocks the flow path of the pilot oil when it is de-energized, that is, when the current as a control signal is cut off. Therefore, when the supply current (control signal) to the control valve 36 is cut off, the drive device 34 becomes inoperable, and the output of the drive device 34 is forcibly stopped regardless of the operation of the operating device 35.

[0040] The cutoff switch 371 is linked to the cutoff lever 372. The cutoff lever 372 is disposed on the driving section 321 of the machine body 30 and receives an operation input from a user (operator). In the present embodiment, as an example, the cutoff lever 372 is operable in the up-down direction D1. When the cutoff lever 372 is in the "up position," which is the upper end position of its movable range, the cutoff switch 371 is "off." When the cutoff lever 372 is in the "down position," which is the lower end position of its movable range, the cutoff switch 371 is "on." The cutoff switch 371 is connected to the control system 1. When the cutoff switch 371 is in the "off" state, the control system 1 cuts off the current as a control signal, thereby forcibly cutting off the hydraulic circuit using the control valve 36. In addition, if a cutoff valve that is directly switched between energized and de-energized by turning the cutoff switch 371 on / off is provided, the hydraulic circuit may be cut off in conjunction with the cutoff switch 371 without the intervention of the control system 1. In other words, when the cutoff switch 371 is off, the hydraulic circuit is shut off by the cutoff valve, and the hydraulic circuit is forcibly shut off without the intervention of the control system 1. Therefore, when the cutoff lever 372 is in the "down position," the drive unit 34 is driven by operating the operation device 35, whereas when the cutoff lever 372 is in the "up position," the output of the drive unit 34 is forcibly stopped without operating the operation device 35. Therefore, to drive the drive unit 34, the user (operator) needs to operate the cutoff lever 372 to the "down position."

[0041] Furthermore, since the swivel unit 32 and the travel unit 31 each operate when hydraulic oil is supplied from a hydraulic pump to a hydraulic actuator (hydraulic motor), when the cutoff lever 372 is in the "up position", the swivel unit 32 and the travel unit 31 are also disabled. In other words, when the cutoff lever 372 is in the "up position", the working unit 33, swivel unit 32, and travel unit 31 are all forcibly disabled from driving.

[0042] In short, when the cutoff switch 371 is off, it is in a "locked state" in which the operation of the work machine 3 is restricted (including prohibited), and when it is on, it is in an "unlocked state" in which the operation of the work machine 3 is not restricted. When the cutoff lever 372 is in the "raised position" and the cutoff switch 371 is in a locked state (off), the operation of the work machine 3, including the drive unit 34, is forcibly restricted without the operation of the operating device 35. The cutoff lever 372 is a lever that is operated when locking the operation of the work machine 3 in this way, and is synonymous with a gate (type) lock lever.

[0043] In addition to the above-mentioned configuration, the machine body 30 is further equipped with a communication terminal, a fuel tank, a battery, etc. Furthermore, the machine body 30 is equipped with various sensors (including cameras) for detecting detection targets in the monitoring area around the work machine 3, such as a camera that captures images of the area around the machine body 30.

[0044] [2] Operating device Next, the configuration of the operation device 35 will be described in detail with reference to Fig. 3. As described above, the operation device 35 includes a pair of operation levers 351, 352. As shown in the "front view" of Fig. 3, the operation lever 351 is located on the right hand side as seen from the user (operator) sitting in the driving unit 321, and the operation lever 352 is located on the left hand side as seen from the user sitting in the driving unit 321. Therefore, the user, for example, holds the operation lever 351 in the right hand and the operation lever 352 in the left hand, and operates the pair of operation levers 351, 352 to cause the work machine 3 to perform various operations such as moving forward and backward.

[0045] Here, the operating device 35 has a plurality of (four in this example) operators Sw1 to Sw4 corresponding one-to-one to the plurality of output ports 341 to 344 of the drive device 34 so that the plurality of output ports 341 to 344 can be individually operated. The operator Sw1 is disposed on the front side (front face) of the operating lever 351, and the operator Sw2 is disposed on the front side (front face) of the operating lever 352. The operator Sw4 is disposed on the rear side (rear face) of the operating lever 351, and the operator Sw3 is disposed on the rear side (rear face) of the operating lever 352. That is, in this embodiment, the right-hand operating lever 351 is provided with the operator Sw1 and the operator Sw4 on its front and rear faces, respectively, and the left-hand operating lever 352 is provided with the operator Sw2 and the operator Sw3 on its front and rear faces, respectively. These multiple operators Sw1 to Sw4 constitute "adjustment operators" that adjust the magnitude of the power (flow rate of hydraulic oil) output from the drive device 34.

[0046] In this embodiment, as an example, each of the multiple operating elements Sw1 to Sw4 is a lever switch that can be operated by tilting it to the right A1 or left A2. In particular, each of the operating elements Sw1 to Sw4 is a momentary switch that has a neutral position Pn1 (see FIG. 3) at the center of its movable range in the left-right direction D3, tilts it to the right A1 or left A2 only while an operating force is applied, and returns to the neutral position Pn1 when the operating force is released. When each of these operating elements Sw1 to Sw4 is operated to the right A1 or left A2, the magnitude of the power (flow rate of hydraulic oil) output from the corresponding output port 341 to 344 is determined according to the amount of operation (amount of tilt). Basically, the greater the amount of operation of each of the operating elements Sw1 to Sw4, the greater the power output from the corresponding output port 341 to 344, i.e., the greater the flow rate of hydraulic oil.

[0047] As an example, it is assumed here that the operator Sw1 corresponds to output port 341, the operator Sw2 corresponds to output port 342, the operator Sw3 corresponds to output port 343, and the operator Sw4 corresponds to output port 344. In this case, when the user operates the operator Sw1, the power output from the output port 341 of the drive device 34 is adjusted according to the amount of operation of the operator Sw1. On the other hand, when the user operates the operator Sw4, the power output from the output port 344 of the drive device 34 is adjusted according to the amount of operation of the operator Sw4. The correspondence between the multiple output ports 341 to 344 and the multiple operators Sw1 to Sw4 is defined by "allocation information," and the allocation information is stored in, for example, a memory of the control system 1.

[0048] Although detailed description will be omitted, settings relating to the operation of the operation device 35, such as allocation information (correspondence between the plurality of output ports 341-344 and the plurality of operators Sw1-Sw4), are performed, for example, on the display device 2. That is, on a setting screen or the like displayed on the display unit 23 of the display device 2, the user can set correspondence between the plurality of output ports 341-344 and the plurality of operators Sw1-Sw4 through operation.

[0049] In this embodiment, an operator Sw5 is disposed on the rear side (back side) of the operation lever 351, and an operator Sw6 is disposed on the rear side (back side) of the operation lever 352. The operators Sw5 and Sw6 are operators for enabling (turning on) a maintenance function (hold function) that maintains the output of the drive device 34. In other words, the operators Sw5 and Sw6 constitute "maintenance operators" for maintaining the output of the drive device 34. In this embodiment, as an example, the operators Sw5 and Sw6 are both momentary push button switches. Therefore, when the user presses the operators Sw5 and Sw6, the maintenance function is enabled and the output of the drive device 34 is maintained (held).

[0050] In particular, in this embodiment, the operator Sw5 provided on the operating lever 351 enables the maintain function for the output port 341 corresponding to the operator Sw1 provided on the same operating lever 351. On the other hand, the operator Sw6 provided on the operating lever 352 enables the maintain function for the output port 342 corresponding to the operator Sw2 provided on the same operating lever 352. Therefore, for example, when the user presses the operator Sw5, the output is maintained (retained) for the output port 341 out of the multiple output ports 341 to 344.

[0051] However, without being limited to the above configuration, each of the operators Sw5 and Sw6 may correspond to at least one of the output ports 341 to 344 corresponding to the operators Sw1 to Sw4 provided on the same operation levers 351 and 352. Therefore, for example, for the operator Sw5, the maintenance function may be enabled for both the output ports 341 and 344, or the maintenance function may be enabled for the output port 344. On the other hand, for the operator Sw6, the maintenance function may be enabled for both the output ports 342 and 343, or the maintenance function may be enabled for the output port 343.

[0052] In short, in the work machine 3 according to this embodiment, the drive device 34 operates in response to operations on the operating device 35, which has a plurality of operating elements Sw1 to Sw6. Here, the plurality of operating elements Sw1 to Sw6 include adjustment operating elements (operators Sw1 to Sw4) for adjustment operations that adjust the output of the drive device 34, and maintenance operating elements (operators Sw5, Sw6) for maintenance operations that maintain the output of the drive device 34. Furthermore, a plurality of adjustment operating elements (operators Sw1 to Sw4) are provided for one operating lever 351 (or operating lever 352).

[0053] Here, when the adjustment operators (operators Sw1 to Sw4) and the maintenance operators (operators Sw5, Sw6) are operated simultaneously, the work machine 3 maintains the output of the drive device 34 at a value corresponding to the operation amount of the adjustment operators (operators Sw1 to Sw4). For example, if the user presses the operator Sw5 while operating the operator Sw1, the adjustment operator (operator Sw1) and the maintenance operator (operator Sw5) will be operated simultaneously. In this case, the magnitude of the power output from the output port 341 is maintained at a value corresponding to the operation amount of the operator Sw1 at the time the operator Sw5 is operated.

[0054] On the other hand, when only the maintenance operators (operators Sw5, Sw6) of the adjustment operators (operators Sw1 to Sw4) and the maintenance operators (operators Sw5, Sw6) are operated, the work machine 3 maintains the output of the drive device 34 at a specified value. For example, when the user presses only the operator Sw5, the magnitude of the power output from the output port 341 corresponding to the operator Sw1 is maintained at a specified value that is preset for the output port 341.

[0055] Therefore, depending on how the user operates the device, it is possible to easily switch between maintaining the output of the drive device 34 at an arbitrary value and maintaining the output of the drive device 34 at a specified value. Hereinafter, the operating state of the maintaining function when maintaining the output of the drive device 34 at an arbitrary value will be referred to as "arbitrary hold," and the operating state of the maintaining function when maintaining the output of the drive device 34 at a specified value will be referred to as "specified value hold."

[0056] 3, in this embodiment, an indicator light 350 that indicates the operating state of the maintenance function is provided on the grip portion of each of the operating levers 351, 352. The indicator light 350 includes a light-emitting element such as an LED, and indicates the operating state of the maintenance function by its light-emitting state (illumination state).

[0057] Furthermore, the operators Sw1 to Sw4 are not limited to lever switches and may be, for example, toggle switches, rocker switches, rotary switches, slide switches, or encoders. The operators Sw5 and Sw6 are not limited to pushbutton switches and may be, for example, lever switches or touch sensors. The operation levers 351 and 352 may be reversed left and right, or may be arranged side by side in the front-to-back direction D2 or the up-to-down direction D1. There may be only one operation lever 351 or 352. The operators Sw5 and Sw6 are not limited to being arranged on the rear side of the operation levers 351 and 352, but may be arranged on the side or front side of the operation levers 351 and 352, for example. The operation device 35 may have operators other than the above-mentioned multiple operators Sw1 to Sw6 on the operation levers 351 and 352. The indicator light 350 may also be omitted as appropriate.

[0058] [3] Control system configuration Next, the configuration of the control system 1 according to this embodiment will be described with reference to Figure 2. The control system 1 controls each part of the machine body 30 (including the traveling section 31, swivel section 32, working section 33, drive unit 34, etc.) in response to operations on the operating device 35. In this embodiment, the operating device 35 is mounted on the machine body 30 of the work machine 3, as described above. The control system 1 is a component of the work machine 3, and together with the machine body 30, etc., constitutes the work machine 3. In other words, the work machine 3 according to this embodiment comprises at least the control system 1 and the machine body 30, which is controlled in response to operations on the operating device 35.

[0059] As shown in Fig. 2, the control system 1 includes an acquisition processing unit 11, a monitoring processing unit 12, a determination processing unit 13, a switching processing unit 14, a control processing unit 15, and a notification processing unit 16. In this embodiment, as an example, the control system 1 is mainly configured as a computer system having one or more processors, and these multiple functional units (acquisition processing unit 11, etc.) are realized by the one or more processors executing a work machine control program. These multiple functional units included in the control system 1 may be provided separately in multiple housings, or may be provided in a single housing.

[0060] The control system 1 is configured to be able to communicate with devices provided in various parts of the machine body 30. That is, at least the display device 2, the operating device 35, the control valve 36, the cut-off switch 371, and the like are connected to the control system 1. As a result, the control system 1 can control the display device 2 and the control valve 36, and can receive electrical signals (operation signals, etc.) from the display device 2, the operating device 35, and the cut-off switch 371. In the present disclosure, "capable of communication" means being able to exchange information (data) directly or indirectly via a communication network or a repeater, etc., using an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light). Therefore, the control system 1 may exchange various information (data) with each device directly or indirectly via a repeater, etc. The control system 1 and the devices provided in various parts of the machine body 30 can communicate with each other using a communication method such as CAN (Controller Area Network), for example.

[0061] The acquisition processing unit 11 executes an acquisition process for receiving operations on the operating device 35 for controlling the work machine 3. In other words, the operating device 35, which has multiple operators Sw1 to Sw6, outputs an operation signal in response to an operation by a user, and the acquisition processing unit 11 acquires the operation signal. This makes it possible for the acquisition processing unit 11 to acquire, for example, an operation signal that indicates the amount of operation of the operator Sw1, one of the multiple operators Sw1 to Sw6, with respect to the neutral position Pn1.

[0062] The monitoring processing unit 12 executes a monitoring process for monitoring a specific event that is a monitoring target. In the present disclosure, a "specific event" refers to a specific event that is determined in advance, and the monitoring processing unit 12 monitors whether or not the specific event has occurred. In other words, when a specific event has occurred, the occurrence of the specific event is detected by the monitoring processing unit 12.

[0063] In this embodiment, specific events include events that involve a change in the operational state of the work machine 3 corresponding to the operation of the operating device 35. In other words, specific events include events in which some kind of change occurs in the operational state of the work machine 3 despite the operation of the operating device 35 being constant (fixed). With this configuration, the monitoring processing unit 12 can detect, as the occurrence of a specific event, the occurrence of an event in which the operational state of the work machine 3 suddenly changes while the user (operator) is maintaining the operating state of the operating device 35. This makes it possible to detect, for example, an event that leads to the sudden driving of the work machine 3 or a sudden stop of the work machine 3 as the occurrence of a specific event.

[0064] Specifically, in this embodiment, the specific event includes the cutoff switch 371 of the work machine 3 switching from a locked state (off) to an unlocked state (on). In other words, the specific event includes the cutoff lever 372 being operated to the "downward position" and the cutoff switch 371 switching from a state in which the cutoff lever 372 is in the "up position" and the cutoff switch 371 is in the locked state (off) to the unlocked state (on). This makes it possible for the monitoring processing unit 12 to detect, as the occurrence of a specific event, the occurrence of an event in which the work machine 3 is suddenly driven as the cutoff switch 371 switches from a locked state to an unlocked state while the user is operating the operation device 35.

[0065] The specific event also includes a change in settings related to the operation of the operation device 35. That is, the specific event includes a change in settings related to the operation of the operation device 35, such as a change in "assignment information" that defines the correspondence between the multiple output ports 341 to 344 and the multiple operators Sw1 to Sw4. As a result, for example, when the user is operating the operator Sw1, the assignment information for the operator Sw1 is changed from output port 341 to output port 342, and as a result the output port 342 is suddenly driven. This makes it possible for the monitoring processing unit 12 to detect, as the occurrence of a specific event, the occurrence of an event such as this.

[0066] When a specific event occurs, the determination processing unit 13 executes a determination process to determine whether or not a determination condition related to an operation on the operation device 35 is satisfied. In the present disclosure, the "determination condition" refers to a predetermined condition related to an operation on the operation device 35, such as each of the operators Sw1 to Sw4 being in the neutral position Pn1, the operators Sw5 and Sw6 not being operated, or a specific operator being pressed and held (operated continuously for a predetermined period of time or longer).

[0067] The switching processing unit 14 executes switching processing to switch between enabling and disabling control of the work machine 3 corresponding to the operation of the operating device 35, based on the determination result of whether or not the determination conditions are met. If the control of the work machine 3 corresponding to the operation of the operating device 35 is "disabled," for example, the drive unit 34 becomes inoperable, and the output of the drive unit 34 is forcibly stopped regardless of the operation of the operating device 35. As an example in this embodiment, the switching processing unit 14 enables control of the work machine 3 corresponding to the operation of the operating device 35 when the determination conditions are met, and disables control of the work machine 3 corresponding to the operation of the operating device 35 when the determination conditions are not met.

[0068] The control processing unit 15 executes a control process to control the machine body 30 in response to the operation of the operating device 35. In the control process, the control processing unit 15 executes control of the traveling unit 31, the turning unit 32, the working unit 33, etc. of the machine body 30. Specifically, the control processing unit 15 controls the drive unit 34 by outputting a control signal to a control valve 36 in response to at least the operation of the operating device 35.

[0069] The notification processing unit 16 executes notification processing to issue a notification based on the determination result of whether or not the determination conditions are met. In the present disclosure, "notification" refers to notifying the user (operator) by various means, and includes, for example, means such as display (including lighting of an indicator light), sound (including voice), transmission to another terminal, or writing to a non-transitory recording medium. In the present embodiment, as an example, if the determination conditions are not met, that is, if the control of the work machine 3 corresponding to the operation of the operating device 35 is "disabled," the notification processing unit 16 issues a notification based on the determination result by displaying that fact on the display unit 23 of the display device 2 (see FIG. 7).

[0070] [4] Control method for work machine 5 to 7, an example of a control method for the work machine 3 executed mainly by the control system 1 (hereinafter simply referred to as the "control method") will be described. FIG. 5 is a flowchart showing an example of processing related to the control method. FIG. 6 is a timing chart, with the horizontal axis being the time axis, showing an example of state changes of the cutoff signal, PTO operation, and PTO control. The "cutoff signal" here is an electrical signal input from the cutoff switch 371 to the control system 1, and indicates whether the cutoff switch 371 is off (locked state) or on (unlocked state). The "PTO operation" here is an electrical signal (operation signal) input from the operation device 35 to the control system 1, and particularly indicates the operation state of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the drive unit 34. Furthermore, "PTO control" is the control state by the electrical signal (control signal) output from the control system 1 to the control valve 36, and particularly indicates whether the control of the output ports 341 to 344 of the drive unit 34 is enabled or disabled.

[0071] The control method according to this embodiment is executed by a control system 1 whose main component is a computer system, and in other words, is embodied in a work machine control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed, for example, by the control system 1 and the display device 2 working together.

[0072] Here, the control system 1 executes the various processes described below related to the control method when a specific, preset start operation is performed to execute the control program. The start operation is, for example, an operation to start the engine of the work machine 3. On the other hand, the control system 1 ends the various processes described below related to the control method when a specific, preset end operation is performed. The end operation is, for example, an operation to stop the engine of the work machine 3.

[0073] In the following, as an example, a control method will be described in which the initial state is a state in which cutoff lever 372 is in the "up position" and cutoff switch 371 is in a locked state (off). Furthermore, in the following, an example of a "specific event" will be described in which cutoff switch 371 switches from a locked state (off) to an unlocked state (on), and an example of a "determination condition" will be described in which each of controls Sw1 to Sw4 is in the neutral position Pn1.

[0074] As shown in FIG. 5, the control system 1 first acquires a cutoff signal from the cutoff switch 371 (S1). Here, in the initial state, the cutoff lever 372 is in the "up position" as described above, and therefore the cutoff signal is in the locked state. Thereafter, the monitoring processor 12 of the control system 1 determines from the cutoff signal whether the cutoff switch 371 is in the unlocked state (S2). Since the cutoff signal is in the locked state while the cutoff lever 372 remains in the "up position," the monitoring processor 12 determines that the cutoff switch 371 is not in the unlocked state (S2: No), and returns the process to step S1. On the other hand, when the user operates the cutoff lever 372 to lower the cutoff lever 372 and the cutoff lever 372 reaches the "down position," the cutoff signal is in the unlocked state. Therefore, the monitoring processor 12 determines that the cutoff switch 371 is in the unlocked state (S2: Yes), and proceeds to step S3. At this time, the monitoring processor 12 determines that a "specific event" has occurred when the cutoff switch 371 switches from the locked state (off) to the unlocked state (on).

[0075] In step S3, the acquisition processing unit 11 of the control system 1 acquires an operation signal from the operation device 35. At this time, the acquisition processing unit 11 acquires the operation state of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the drive device 34 as PTO operation. In step S4, the determination processing unit 13 of the control system 1 determines whether the operation state (PTO operation) of the operators Sw1 to Sw4 identified from the operation signal is in the neutral position Pn1 (not limited to pinpoint, but may be a predetermined range including play). The operators Sw1 to Sw4 are momentary switches that return to the neutral position Pn1 when the operating force is released. Therefore, when the user is operating at least one of the operators Sw1 to Sw4, the determination processing unit 13 determines that the operator is not in the neutral position Pn1 (S4: No) and proceeds to step S5. On the other hand, in a non-operation state where the user is not operating any of the operators Sw1 to Sw4, the determination processor 13 determines that the operators are in the neutral position Pn1 (S4: Yes), and proceeds to step S6. At this time, the determination processor 13 determines that the "determination condition" is satisfied when all of the operators Sw1 to Sw4 are in the neutral position Pn1.

[0076] In step S5, the switching processing unit 14 of the control system 1 disables the control of the work machine 3 corresponding to the operation of the operating device 35. As an example in this embodiment, the switching processing unit 14 disables the control of the work machine 3 by disabling the control (PTO control) of the output ports 341-344 of the drive unit 34 corresponding to the operation (PTO operation) of the operators Sw1-Sw4. As a result, the output of all of the output ports 341-344 of the drive unit 34 is forcibly stopped, regardless of the actual operation amount of the operators Sw1-Sw4.

[0077] Furthermore, in step S6, the switching processing unit 14 of the control system 1 enables control of the work machine 3 corresponding to the operation of the operating device 35. As an example in this embodiment, the switching processing unit 14 enables control of the work machine 3 by enabling control (PTO control) of the output ports 341-344 of the drive device 34 in accordance with the operation (PTO operation) of the operating devices Sw1-Sw4. This makes it possible to control the output of each of the output ports 341-344 of the drive device 34 in accordance with the actual operation amount of the operating devices Sw1-Sw4.

[0078] Thereafter, in step S7, the acquisition processing unit 11 of the control system 1 acquires an operation signal from the operation device 35. At this time, the acquisition processing unit 11 acquires the operation states of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the drive device 34 as PTO operation. In step S8, the control processing unit 15 of the control system 1 determines whether the operation states (PTO operation) of the operators Sw1 to Sw4 identified from the operation signal are in the neutral position Pn1. When the user is operating at least one of the operators Sw1 to Sw4, the control processing unit 15 determines that the operator is not in the neutral position Pn1 (S8: No) and proceeds to step S9. On the other hand, when the user is not operating any of the operators Sw1 to Sw4, that is, when the user is not operating any of the operators Sw1 to Sw4, the control processing unit 15 determines that the operator is in the neutral position Pn1 (S8: Yes) and returns the process to step S7.

[0079] In step S9, the control processing unit 15 of the control system 1 executes PTO control to control the output ports 341-344 of the drive unit 34 by outputting a control signal to the control valve 36 in accordance with the operation states (PTO operation) of the operators Sw1-Sw4 identified from the operation signal. Step S9 marks the end of a series of processes related to the control method.

[0080] The control system 1 executes the processes of steps S1 to S9 described above each time the cutoff lever 372 is operated to the "up position" and the cutoff switch 371 is locked (off). The flowchart shown in Fig. 5 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate.

[0081] According to the series of processes described above, the control signal is switched between enabled and disabled as shown in FIG. 6. That is, until time t1, the cutoff lever 372 is in the "up position" and the cutoff signal is locked (off). Therefore, until time t1, PTO control is "disabled." Therefore, even if the operating elements Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is "operated," the drive unit 34 is not controlled. In other words, regardless of the actual operation amount of the operating elements Sw1 to Sw4, the output of all of the output ports 341 to 344 of the drive unit 34 is forcibly stopped. In this embodiment, as an example, if the cutoff signal is locked (off), the control signal is turned off to prevent unnecessary power consumption due to the control signal, but this configuration is not limited thereto. In other words, if the cutoff signal is locked (off), the hydraulic circuit is shut off and the drive unit 34 is not driven in the first place. Therefore, the drive unit 34 is forcibly stopped even without turning off the control signal.

[0082] On the other hand, at time t1, when the user operates the cutoff lever 372 to the "down position," the cutoff signal becomes unlocked (ON). In other words, at time t1, a "specific event" occurs in which the cutoff switch 371 switches from the locked (OFF) state to the unlocked (ON) state. However, at time t1, the PTO operation is in the "operated" state and not in the neutral position Pn1, so the "determination condition" is not met. Therefore, from time t1 to time t2, PTO control is "disabled," and therefore, even if the operating elements Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is in the "operated" state, the drive unit 34 is not controlled. In other words, regardless of the actual operation amount of the operating elements Sw1 to Sw4, the output of all of the output ports 341 to 344 of the drive unit 34 is forcibly stopped.

[0083] At time t2, the user stops operating all of the controls Sw1 to Sw4, causing all of the controls Sw1 to Sw4 to move to the neutral position Pn1 and the PTO operation to enter the "non-operated" state. In other words, the "determination condition" is met when all of the controls Sw1 to Sw4 are in the neutral position Pn1 at time t2. Therefore, at time t2, PTO control switches to "enabled." Therefore, at time t3 after time t2, when the controls Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation enters the "operated" state, control of the drive unit 34 is performed. In other words, during the period from time t2 onwards, the outputs of the output ports 341 to 344 of the drive unit 34 are controlled in accordance with the actual amounts of operation of the controls Sw1 to Sw4.

[0084] In this embodiment, when PTO control is "disabled," not only is the drive device 34 not driven in response to the operation of the adjustment operators (operators Sw1 to Sw4), but the drive device 34 is also not driven in response to the operation of the maintenance operators (operators Sw5, Sw6). In other words, even if an operation to drive the drive device 34 is performed using the "preset value hold" function, when PTO control is "disabled," the output of the drive device 34 is forcibly stopped.

[0085] As described above, the control method according to this embodiment comprises accepting operations on the operating device 35 for controlling the work machine 3, monitoring specific events that are the subject of monitoring, and, when a specific event occurs, determining whether a judgment condition related to the operation on the operating device 35 is met. In short, in the example of FIG. 6, if the cutoff switch 371 switches from the locked state to the unlocked state at time t1 (step S2 in FIG. 5: Yes), it is determined that a "specific event" has occurred. In this case, for example, if the operating elements Sw1 to Sw4 are all in the neutral position Pn1 after time t1, it is determined that the "judgment condition" is met (step S4 in FIG. 5: Yes).

[0086] According to this configuration, for example, when the cutoff switch 371 switches from a locked state to an unlocked state, it is determined whether or not a determination condition related to operation of the operating device 35 is satisfied. Therefore, for example, by notifying the user (operator) of the determination result, the operator can prepare for sudden operations of the work machine 3, which makes it easier to reduce the burden on the operator related to operation.

[0087] Furthermore, the control method according to this embodiment further comprises switching between enabling and disabling control of the work machine 3 corresponding to operation of the operating device 35 based on the result of the determination of whether or not the determination conditions are met. As a result, for example, when the cutoff switch 371 is switched from a locked state to an unlocked state, control of the work machine 3 is automatically switched between enabling and disabling depending on whether or not the determination conditions related to the operation of the operating device 35 are met. Therefore, it is possible to avoid sudden movements of the work machine 3 without the user (operator) having to carefully operate the device.

[0088] Here, in this embodiment, if it is determined that the judgment conditions are satisfied after a specific event has occurred, control of the work machine 3 corresponding to the operation of the operating device 35 is enabled. In other words, if the judgment conditions are satisfied after a specific event has occurred, control of the work machine 3 is automatically enabled. Therefore, it is possible to avoid sudden movements of the work machine 3 without the user (operator) having to carefully operate the work machine 3.

[0089] Furthermore, in this embodiment, the operation of the operating device 35 includes an operation for controlling the output of the PTO ports (output ports 341 to 344) of the work machine 3. This makes it possible to prevent the PTO ports (output ports 341 to 344) of the work machine 3 from suddenly generating output when, for example, the cutoff switch 371 switches from a locked state to an unlocked state.

[0090] According to the control method of this embodiment, as illustrated in FIG. 7, a notification based on the determination result of whether or not the determination condition is satisfied is made on the display screen Dp1 displayed on the display unit 23 of the display device 2. In the present disclosure, the "screen" of the display screen Dp1 or the like refers to an image (picture) displayed on the display device 2, and includes icons, figures, photographs, text, and videos. Here, when the display screen Dp1 includes a video or the like, the display screen Dp1 does not include a fixed image, but an image that changes from moment to moment. In the drawing showing the display screen Dp1 displayed on the display unit 23 of the display device 2 as in FIG. 7, the dashed lines, lead lines, and reference symbols representing areas are added merely for explanatory purposes and are not actually displayed on the display device 2.

[0091] As an example in this embodiment, if the determination conditions are not met, that is, if the control of the work machine 3 corresponding to the operation of the operating device 35 is to be "disabled," the notification processing unit 16 of the control system 1 displays a message M1 on the display screen Dp1 as shown in FIG. 7. In this embodiment, if the switching processing unit 14 has disabled the control of the work machine 3 corresponding to the operation of the operating device 35 (step S5 in FIG. 5), the notification processing unit 16 issues a notification by displaying the message M1. The message M1 is displayed as a pop-up so as to be superimposed on other displays on the display screen Dp1, for example, and includes text indicating that the control of the work machine 3 (PTO control in this case) is "disabled," such as "PTO control: disabled." Furthermore, the message M1 includes text indicating the procedure for enabling the control of the work machine 3 (PTO control in this case), such as "To enable, return the switch to neutral once."

[0092] In this embodiment, this message M1 is displayed only while control of the work machine 3 is "disabled." Therefore, when the switching processing unit 14 of the control system 1 enables control of the work machine 3 corresponding to the operation of the operating device 35 (step S6 in FIG. 5), the message M1 disappears. Furthermore, the display mode of the notification based on the determination result of whether or not the determination conditions are met is not limited to the message M1. For example, a notification based on the determination result of whether or not the determination conditions are met may be made by an icon displayed on the display screen Dp1, similar to the icon Im1 that indicates the on / off state of the cutoff switch 371.

[0093] As described above, the control method according to this embodiment further comprises providing a notification based on the determination result of whether or not the determination conditions are satisfied. This allows the user (operator) to know whether the control of the work machine 3 is currently "enabled" or "disabled," and can then operate the operation device 35. The notification of the determination result is not limited to a configuration in which it is provided only when the determination conditions are not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operation device 35 is set to "disabled," as described above. In other words, the notification of the determination result may be provided in any manner that makes it possible to distinguish whether or not the determination conditions are satisfied. For example, the notification of the determination result may be provided when the determination conditions are satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operation device 35 is set to "enabled." Furthermore, the fact that the control of the work machine 3 is "disabled" may be provided only when the determination conditions are not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operation device 35 is set to "disabled," and when the operation device 35 is operated.

[0094] [5] Other features The "specific event" is not limited to the cutoff switch 371 switching from a locked state (off) to an unlocked state (on). Similarly, the "determination condition" is not limited to the position of each of the operators Sw1 to Sw4 being in the neutral position Pn1. Furthermore, the control that can be switched between enabled and disabled by the switching processing unit 14 is not limited to the output control (PTO control) of the PTO ports (output ports 341 to 344) of the work machine 3.

[0095] That is, the "specific event" may be, for example, a change in the settings related to the operation of the operating device 35, such as a change in "allocation information" that defines the correspondence between the multiple output ports 341-344 and the multiple operators Sw1-Sw4. In this case, a specific event occurs when the settings related to the operation of the operating device 35, such as the allocation information, are changed by a user's operation on the display device 2. Here, the settings related to the operation of the operating device 35 are not limited to the settings of the correspondence between the multiple output ports 341-344 and the multiple operators Sw1-Sw4, but also include the settings of the correspondence between the operation of the operating device 35 and the flow rate of hydraulic oil, etc.

[0096] Furthermore, when the control that can be switched between enabled and disabled by the switching processing unit 14 is, for example, control of the travel unit 31, the swivel unit 32, or the working unit 33, other than PTO control, the specific event may include, for example, a change in the correspondence between the operation of the control levers 351, 352 and the operation of the travel unit 31, the swivel unit 32, or the working unit 33. Furthermore, a change in the operation pattern of the travel unit 31, the swivel unit 32, or the working unit 33 in response to the operation of the control levers 351, 352 may also be included in the specific event. In this case, the "determination condition" is not the operation of each of the controls Sw1 to Sw4, but rather the operation levers 351, 352 being in the neutral position, or the like.

[0097] Furthermore, the control that is switched between enabled and disabled by the switching processing unit 14 may include control of a quick hitch for attaching or detaching the attachment 331 to or from the machine body 30. In this case, for example, instead of the cutoff switch 371 switching from a locked state to an unlocked state, the specific event may include the power switch for enabling the quick hitch being switched from off to on. This allows the monitoring processing unit 12 to detect, as the occurrence of a specific event, the occurrence of an event in which the quick hitch is suddenly activated as the power switch is switched from off to on while the user (operator) is performing an operation to release the quick hitch.

[0098] [6] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0099] The control system 1 in the present disclosure includes a computer system. The computer system is primarily composed of one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium such as a memory card, optical disk, or hard disk drive that is readable by the computer system. In addition, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

[0100] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in the first embodiment, functions distributed across multiple devices (for example, the control system 1 and the display device 2) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0101] Furthermore, the power source of the work machine 3 is not limited to a diesel engine, and may be, for example, an engine other than a diesel engine, or may be a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0102] Furthermore, the drive device 34 is not limited to a device such as a PTO (power take-off) for extracting power from the engine (as power for driving the attachment 331), but may also be a device that outputs power for driving the attachment 331, separate from the engine. Furthermore, the drive device 34 is not limited to a device that supplies power to the attachment 331 by supplying hydraulic oil, but may also be a device that generates power using, for example, an electric motor such as a motor. In this case, the power output from the drive device 34 is controlled, for example, by the current flowing through the drive device 34.

[0103] Furthermore, it is sufficient that the attachment 331 is attached to the machine body 30, and it is not essential that the attachment 331 be detachably attached to the machine body 30. Furthermore, multiple attachments 331 may be attached to the machine body 30 at the same time.

[0104] The display device 2 is not limited to a dedicated device, but may be a general-purpose terminal such as a laptop computer, a tablet terminal, or a smartphone. Furthermore, the display unit 23 is not limited to a mode that directly displays the display screen Dp1, such as a liquid crystal display or an organic EL display, but may be configured to display 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, but may also be vertically long.

[0105] Furthermore, modes other than the push button switches 221 to 226, the touch panel, and the operation dial may be adopted as the mode of inputting information to the operation unit 22. 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.

[0106] Furthermore, the operation device 35, the display device 2, etc. are not limited to being mounted on the machine body 30, but may be provided separately from the machine body 30. In this case, the operation device 35, the display device 2, etc. are configured to be able to communicate with the machine body 30, thereby enabling remote operation of the machine body 30.

[0107] (Embodiment 2) As shown in Fig. 8, the control method according to this embodiment differs from the control system 1 according to the first embodiment in the timing at which PTO control is enabled. Hereinafter, the same components as those in the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted as appropriate.

[0108] The flowchart shown in Figure 8 differs from the flowchart shown in Figure 5 in that step S6, which enables control of the work machine 3 corresponding to the operation of the operating device 35, is omitted, and step S16, which enables control of the work machine 3 corresponding to the operation of the operating device 35, is added between steps S8 and S9. As the other points are as explained in the first embodiment, explanation will be omitted here.

[0109] That is, in this embodiment, just because it is determined in step S4 that the "determination condition" is met by the fact that the operators Sw1 to Sw4 are all in the neutral position Pn1 (S4: Yes), control of the work machine 3 (PTO control) is not immediately enabled. In other words, after it is determined that the determination condition is met (S4: Yes), an operation signal is acquired again (S7), and when it is determined that the operator is not in the neutral position Pn1 by operating at least one of the operators Sw1 to Sw4 (S8: No), control of the work machine 3 (PTO control) is enabled (S16).

[0110] In this example, after it is determined that the judgment conditions are met, control of the work machine 3 (PTO control) is disabled until the user operates at least one of the controls Sw1 to Sw4, so the message M1 shown in Figure 7 will continue to be displayed.

[0111] In this way, in this embodiment, after a specific event occurs, if it is determined that the judgment conditions are met and the operating device 35 is operated, control of the work machine 3 corresponding to the operation of the operating device 35 is enabled. As a result, control of the work machine 3 corresponding to the operation of the operating device 35 is enabled not only when the judgment conditions are met but also when the user (operator) actually operates the operating device 35, making it easier to prevent the work machine 3 from operating due to operations unintended by the operator.

[0112] The configuration according to the second embodiment can be adopted in appropriate combination with the various configurations (including modified examples) described in the first embodiment.

[0113] <Notes on the invention> A method for controlling a work machine according to one aspect of the present invention includes accepting an operation on an operating device for controlling a work machine, monitoring a specific event that is a monitoring target, and, when the specific event occurs, determining whether a determination condition related to the operation on the operating device is satisfied.

[0114] A work machine control program according to one aspect of the present invention is a program for causing one or more processors to execute the work machine control method.

[0115] A work machine control system according to one aspect of the present invention includes an acquisition processing unit, a monitoring processing unit, and a determination processing unit. The acquisition processing unit receives operations on an operating device for controlling the work machine. The monitoring processing unit monitors specific events that are the subject of monitoring. When the specific event occurs, the determination processing unit determines whether a determination condition related to the operation on the operating device is satisfied.

[0116] A work machine according to one aspect of the present invention includes the work machine control system and a machine body that is controlled in response to an operation of the operating device. [Explanation of symbols]

[0117] 1. Work machine control system 3. Work machinery 11 Acquisition processing unit 12 Monitoring processing unit 13. Judgment processing unit 30 aircraft 35 Operating device 371 Cut-off switch 341~344 Output ports (PTO ports)

Claims

1. accepting an operation on an operating device for controlling the work machine; monitoring a specific event accompanied by a change in the operating state of the work machine corresponding to the operation of the operating device; When the specific event occurs, determining whether or not a determination condition is satisfied, the determination condition including that both an adjustment operator for adjusting the output of the work machine and a maintenance operator for maintaining the output are in a non-operated state, in the operation device; and switching between enabling and disabling control of the work machine corresponding to the operation of the operating device based on a determination result of whether the determination condition is satisfied. A method for controlling a work machine.

2. The specific event includes an event in which the operating state of the work machine switches from an operation restricted state that restricts operation of the work machine to an operation release state that does not restrict operation of the work machine, or an event in which the operating state of the work machine switches from a first operating mode to a second operating mode. A method for controlling a work machine according to claim 1.

3. The control method further includes maintaining the output of the work machine set by the adjustment operator when the maintenance operator is operated. A control method for a work machine according to claim 1 or 2.

4. When control of the work machine is disabled, an output command of the work machine is fixed to a predetermined value regardless of the amount of operation of the operation device. A control method for a work machine according to any one of claims 1 to 3.

5. and providing a notification when control of the work machine is disabled. A control method for a work machine according to any one of claims 1 to 4.

6. A control method for a work machine according to any one of claims 1 to 5, A control program for a work machine for execution by one or more processors.

7. an acquisition processing unit that receives operations on an operation device for controlling the work machine; a monitoring processing unit that monitors specific events that involve changes in the operating state of the work machine corresponding to the operation of the operating device; a determination processing unit that, when the specific event occurs, determines whether or not a determination condition is satisfied, including that both an adjustment operator that adjusts the output of the work machine and a maintenance operator that maintains the output, in the operation device, are in a non-operated state; a switching processing unit that switches between enabling and disabling control of the work machine corresponding to operation of the operating device based on a determination result of whether the determination condition is satisfied, Control systems for work machines.

8. A work machine control system according to claim 7; and a machine body controlled in response to an operation on the operation device. Work machinery.

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