Control method for work machines, control program for work machines, control system for work machines, and work machines

Abstract

The objective is to provide a control method for work machines, a control program for work machines, a control system for work machines, and work machines that can easily suppress unintended movements of the work machines by the operator. [Solution] The control method for a work machine includes: displaying a setting screen Dp13 on a display device that accepts setting information for any setting item related to the work machine; displaying a first image Im11 on the display device that serves as guidance for a specific operation; applying the setting information for the setting item when the specific operation is performed; and displaying a second image Im12 on the display device in place of the first image Im11 when the setting information has been applied.

Description

Technical Field

[0001] The present invention relates to a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine, which are used in a working machine.

Background Art

[0002] As related art, a working machine such as a hydraulic excavator equipped with an electric lever type operation device is known (see, for example, Patent Document 1). In the related art, the operation device includes a cross-operated operation lever and a potentiometer that detects the operation direction and operation amount of this operation lever. Then, when the operation lever is operated, the potentiometer detects the operation amount and outputs an electric operation signal corresponding thereto to a controller.

[0003] The controller controls a hydraulic actuator by controlling a control valve (electromagnetic proportional valve) to drive each part of the working machine. Here, by changing data related to the control characteristics of each of a plurality of hydraulic actuators, the operation of the working machine with respect to the operation of the operation device can be changed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the above related art, for example, when there is a change in setting items such as the control characteristics of a hydraulic actuator, the working machine may move in a manner unintended by the operator due to the operation of the operator.

[0006] The object of the present invention is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can easily suppress unintended movements of the work machine by the operator. [Means for solving the problem]

[0007] A control method for a work machine according to one aspect of the present invention includes: displaying a setting screen on a display device that accepts setting information for any setting item relating to the work machine; displaying a first image on the display device that serves as guidance for a specific operation; applying the setting information for the setting item when the specific operation is performed; and displaying a second image on the display device in place of the first image when the setting information is applied.

[0008] A control program for a work machine according to one aspect of the present invention is a program that causes one or more processors to execute a control method for the work machine.

[0009] A control system for a work machine according to one aspect of the present invention comprises a display processing unit and a setting processing unit. The display processing unit displays a setting screen on a display device that accepts setting information for any setting item relating to the work machine. The setting processing unit applies the setting information for the setting item when a specific operation is performed. The display processing unit displays a first image on the display device that serves as guidance for the specific operation, and displays a second image on the display device in place of the first image when the setting information is applied.

[0010] A work machine according to one aspect of the present invention comprises a control system for the work machine and a machine body. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can easily suppress unintended movements of the work machine by the operator. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a schematic perspective view showing the overall configuration of the work machine according to Embodiment 1. [Figure 2] Figure 2 is a schematic block diagram of the work machine according to Embodiment 1. [Figure 3] Figure 3 is a schematic external view of the operating device of the work machine according to Embodiment 1. [Figure 4] Figure 4 shows an example of a home screen displayed by the control system for work machines according to Embodiment 1. [Figure 5] Figure 5 is a schematic diagram showing an example of the operation pattern of the work machine according to Embodiment 1. [Figure 6] Figure 6 shows an example of a setting screen displayed by the control system for work machines according to Embodiment 1. [Figure 7] Figure 7 shows an example of a setting screen displayed by the control system for work machines according to Embodiment 1. [Figure 8] Figure 8 shows an example of a setting screen displayed by the control system for work machines according to Embodiment 1. [Figure 9] Figure 9 shows an example of a setting screen displayed by the control system for work machines according to Embodiment 1. [Figure 10] Figure 10 shows an example of a setting screen displayed by the control system for work machines according to Embodiment 1. [Figure 11] Figure 11 shows an example of the screen transitions of the settings screen displayed by the control system for work machines according to Embodiment 1. [Figure 12] Figure 12 shows an example of the screen transitions of the settings screen displayed by the control system for work machines according to Embodiment 1. [Figure 13] Figure 13 shows an example of the screen transitions at startup of the display screen shown by the control system for work machines according to Embodiment 1. [Figure 14]FIG. 14 is a diagram showing an example of screen transition at the time of startup of a display screen displayed by the control system for a working machine according to Embodiment 1. [Figure 15] FIG. 15 is a diagram showing an example of a home screen displayed by the control system for a working machine according to Embodiment 1.

Mode for Carrying Out the Invention

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

[0014] (Embodiment 1) [1] Overall Configuration As shown in FIG. 1, the working machine 3 according to the present embodiment includes a traveling unit 31, a turning unit 32, and a working unit 33 on the machine body 30. Further, as shown in FIG. 2, the working machine 3 further includes a control system 1 for a working machine (hereinafter, also simply referred to as "control system 1"). In addition, as shown in FIGS. 1 and 2, the machine body 30 further includes a display device 2, a main switch 34, an operation device 35, a sound output unit 36, a sensor 38, an approval switch 391, a release switch 392, a cutoff switch 371, a cutoff lever 372, and the like.

[0015] In this disclosure, "working machinery" refers to various types of machinery used for work, and examples include work vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. Working machinery 3 includes a working unit 33 configured to perform one or more tasks. Working machinery 3 is not limited to "vehicles," but may also be, for example, a work vessel, a drone, or a multicopter. Furthermore, working machinery 3 is not limited to construction machinery, but may also be, for example, agricultural machinery such as a rice transplanter, tractor, or combine harvester. In this embodiment, unless otherwise specified, the description will be based on the example where working machinery 3 is a ride-on type backhoe capable of performing tasks such as excavation, leveling, trenching, or loading. More specifically, in this embodiment, the work machine 3 is assumed to be an "ultra-short turning type" in which the turning section 32, including the work section 33, can fully turn within 120% of the total width of the running section 31 (total width of the pair of left and right crawlers 311), or a "rear ultra-short turning type" in which the rear turning radius ratio is within 120%.

[0016] Furthermore, in this embodiment, for the sake of explanation, the vertical direction when the work machine 3 is in a usable state is defined as the up-down direction D1. In addition, the forward-backward direction D2 and left-right direction D3 are defined based on the direction viewed from the user (operator) riding in the work machine 3 (operator's unit 321) when the slewing unit 32 is in a non-slewing state. In other words, each direction used in this embodiment is defined based on the body 30 of the work machine 3, with the direction in which the body 30 moves when the work machine 3 moves forward being "forward," and the direction in which the body 30 moves when the work machine 3 moves backward being "rear." Similarly, the direction in which the front end of the body 30 moves when the work machine 3 turns right is "to the right," and the direction in which the front end of the body 30 moves when the work machine 3 turns left is "to the left." However, these directions are not intended to limit the direction of use (direction during use) of the work machine 3.

[0017] The work machine 3 is equipped with an engine that serves as a power source. In this embodiment, for example, the engine is a diesel engine. The engine is driven by fuel (in this case, light oil) supplied from a fuel tank. In the work machine 3, for example, the engine drives a hydraulic pump 41 (see Figure 2), and the hydraulic pump 41 supplies hydraulic fluid to hydraulic actuators (including hydraulic motors 43 and 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) who is seated in the driver's compartment 321 of the machine body 30 and operates the operating levers 351, 352 (see Figure 2), etc., of the operating device 35.

[0018] In this embodiment, as described above, it is assumed that the work machine 3 is a ride-on type backhoe, so the work unit 33 is driven according to the operation of the user (operator) riding in the driver's unit 321 and performs work such as excavation. The driver's unit 321 on which the user rides is located in the slewing unit 32.

[0019] In the example shown in Figure 1, a canopy-type driver's unit 321 is illustrated, but the driver's unit 321 may also be a cabin type. A cabin-type driver's unit 321 has a cabin, and the user sits in the cabin space inside the cabin. A canopy-type driver's unit 321 has a canopy (roof), and the user sits in the space below the canopy. Furthermore, the driver's unit 321 is not limited to cabin type or canopy type; for example, it may be a floor type without a cabin or canopy, where the user sits in an open space above.

[0020] Here, the control unit 321 of the machine 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. For example, the display screen of the display device 2 shows information related to the operating status of the work machine 3, such as the cooling water temperature and the hydraulic oil temperature, so that the user can check the information related to the operating status of the work machine 3 that is necessary for operating the operating device 35 on the display device 2.

[0021] The running unit 31 has a driving function and is configured to be able to travel on the ground (including turning). The running unit 31 has, for example, a pair of left and right crawlers 311 and blades 312. The running unit 31 further has a hydraulic motor 43 (hydraulic actuator) for driving the crawlers 311.

[0022] The slewing section 32 is located above the traveling section 31 and is configured to rotate around a rotation axis perpendicular to the traveling section 31. The slewing section 32 has a hydraulic motor 45 (see Figure 2) and other components as a hydraulic actuator for slewing. In addition to the operating section 321, the slewing section 32 is equipped with an engine and a hydraulic pump 41, etc. Furthermore, a boom bracket 322 to which the working section 33 is attached is provided at the front end of the slewing section 32.

[0023] The work unit 33 is configured to perform one or more tasks. The work unit 33 is supported by the boom bracket 322 of the slewing unit 32 and performs tasks. The work unit 33 has an attachment 331 consisting of a bucket, etc. The attachment 331 is an attachment (work tool) that is attached to the machine body 30 of the work machine 3, and consists of any tool selected from a plurality of types of attachments according to the content of the work. For example, the attachment 331 is detachably attached to the machine body 30 and is replaced according to the content of the work. Examples of (end) attachments 331 for the work machine 3 include, in addition to a bucket, various tools such as a breaker, auger, crusher, fork, fork claw, steel frame cutter, asphalt cutting machine, brush cutter, ripper, mulcher, tilt rotator, and tamper.

[0024] The working section 33 further includes a boom 332, an arm 333, and a hydraulic actuator (including a hydraulic cylinder 44 and a hydraulic motor, etc.). The attachment 331 is attached to the tip of the arm 333. The attachment 331 is supported on the arm 333 so as to be rotatable about a rotation axis along the horizontal direction.

[0025] The boom 332 is rotatably supported by the boom bracket 322 of the slewing section 32. Specifically, the boom 332 is rotatably supported by the boom bracket 322 around a rotation axis along the horizontal direction. The boom 332 has a shape that extends upward from its base end, which is supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is rotatably supported relative to the boom 332 around a rotation axis along the horizontal direction.

[0026] The work unit 33 operates by receiving power from the engine, which serves as the power source. Specifically, the engine drives the hydraulic pump 41, and hydraulic fluid is supplied from the hydraulic pump 41 to the hydraulic actuators (hydraulic cylinders 44, etc.) of the work unit 33, thereby operating each part of the work unit 33 (attachment 331, boom 332, and arm 333).

[0027] In this embodiment, the work unit 33 has a multi-joint structure in which the boom 332 and arm 333 are configured to rotate independently. That is, by each of the boom 332 and arm 333 rotating around a rotation axis along the horizontal direction, the multi-joint work unit 33 including the boom 332 and arm 333 can be extended and folded as a whole. Furthermore, the bucket as an attachment 331 is supported by the machine body 30 (swivel section 32) via the boom 332 and arm 333, and the bucket (attachment 331) can be opened and closed by rotating the bucket (attachment 331) itself relative to the arm 333.

[0028] The traveling unit 31 and the slewing unit 32, like the working unit 33, operate by receiving power from the engine as a power source. In other words, the slewing unit 32 and the traveling unit 31 operate when hydraulic fluid is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling unit 31 and the hydraulic motor 45 of the slewing unit 32, etc.

[0029] Furthermore, the work machine 3 is equipped with a drive device (mechanism) such as a PTO (Power take-off) for supplying power to the attachment 331. Specifically, the drive device sends hydraulic fluid from the hydraulic pump 41 driven by the engine to the attachment 331, and adjusts the amount of power supplied to the attachment 331 by adjusting the flow rate of the hydraulic fluid. Here, the drive device has a plurality of PTO ports, or output ports (hereinafter referred to as "PTO1", "PTO2", "PTO3", and "PTO4") (four in this embodiment as an example). Each of PTO1 to PTO4 can individually adjust the power, i.e., the flow rate of the hydraulic fluid.

[0030] Figure 2 schematically shows the hydraulic and electrical circuits (electrical connection relationships) of the work machine 3 according to this embodiment. In Figure 2, solid lines represent high-pressure (hydraulic oil) oil passages, dotted lines represent low-pressure (pilot oil) oil passages, and dashed arrows indicate the paths of electrical signals.

[0031] As shown in Figure 2, the work machine 3 is equipped with a hydraulic pump 41, hydraulic cylinders 44 and hydraulic motors 45, as well as a pilot pump 42, first control valves 491-494, second control valve 47, and a directional control valve 48. Although Figure 2 only shows one hydraulic cylinder 44 for driving the boom 332, a similar hydraulic circuit is configured for the hydraulic cylinders 44 for driving the arm 333 or attachments 331, etc. Also, although Figure 2 only shows the hydraulic motor 45 for the slewing section 32, a similar hydraulic circuit is configured for the hydraulic motor 43 for the traveling section 31.

[0032] Hydraulic fluid from the engine-driven hydraulic pump 41 is supplied to the hydraulic motor 43 of the travel section 31, the hydraulic motor 45 of the slewing section 32, and the hydraulic cylinder 44 of the work section 33, etc. This drives the hydraulic actuators such as the hydraulic motors 43, 45 and the hydraulic cylinder 44.

[0033] Hydraulic actuators such as hydraulic motors 43 and 45 and hydraulic cylinders 44 are equipped with pilot-operated directional control valves 48 that can switch the direction and flow rate of hydraulic fluid from the hydraulic pump 41. The directional control valves 48 are driven by pilot oil supplied from the pilot pump 42, which serves as an input command.

[0034] Here, first control valves 491 to 494 are provided in the supply passage for pilot oil to each directional control valve 48. Each of the first control valves 491 to 494 is an electromagnetic control valve (solenoid valve) and is inserted between the directional control valve 48 and the pilot pump 42. Each of the first control valves 491 to 494 is connected to the control system 1 and operates in accordance with the control signal (supply current) from the control system 1. Specifically, the control system 1 controls the first control valves 491 to 494 in accordance with the operation of the operating device 35, for example, to instruct the deployment and retraction of the work section 33. Here, each of the first control valves 491 to 494 is assumed to be an (electromagnetic) proportional control valve, but it is not limited to this, and for example, it may be an on-off valve that can switch between opening and closing the flow path.

[0035] Such directional control valves and first control valves are provided not only in the hydraulic cylinder 44 for driving the boom 332 and the hydraulic motor 45 for the slewing section 32, but also in the hydraulic circuits of the hydraulic cylinder 44 for driving the arm 333 or attachment 331, etc., and the hydraulic motor 43 for the traveling section 31. Therefore, it is possible to operate the traveling section 31, the slewing section 32, and the working section 33 in response to the operation of the operating device 35.

[0036] Furthermore, a second control valve 47 is provided upstream of the pilot oil from the perspective of the first control valves 491 to 494. The second control valve 47 is an electromagnetic control valve (solenoid valve) and is inserted between the pilot pump 42 and the multiple first control valves 491 to 494. The second control valve 47 is connected to the power supply via a cutoff switch 371 and operates according to the current supplied from the power supply. Here, the second control valve 47 opens the flow path of the pilot oil when energized, that is, when current as a control signal is supplied, and closes the flow path of the pilot oil when de-energized, that is, when current as a control signal is cut off. As a result, when the current supplied to the second control valve 47 is cut off, the hydraulic actuator (hydraulic cylinder 44, etc.) becomes unable to drive, and the hydraulic actuator is forcibly stopped without operation of the operating device 35.

[0037] The cutoff switch 371 is linked to the cutoff lever 372. The cutoff lever 372 is located in the control unit 321 of the machine body 30 and accepts operation input from the user (operator). In this embodiment, as an example, the cutoff lever 372 can be operated along the vertical direction D1. When the cutoff lever 372 is in the "up position", which is the upper end of its movable range, the cutoff switch 371 is "off", and when the cutoff lever 372 is in the "down position", which is the lower end of its movable range, the cutoff switch 371 is "on". The cutoff switch 371 is connected to the control system 1, and the on / off state of the cutoff switch 371 is monitored by the control system 1.

[0038] Therefore, when the cutoff lever 372 is in the "down position," the second control valve 47 becomes energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by the operation of the operating device 35. Conversely, when the cutoff lever 372 is in the "up position," the second control valve 47 becomes de-energized, and the hydraulic actuator is forcibly stopped without operation of the operating device 35. For this reason, in order to drive the hydraulic actuator (hydraulic cylinder 44, etc.), the user (operator) needs to operate the cutoff lever 372 to the "down position."

[0039] Furthermore, since the slewing section 32 and the traveling section 31 are operated by hydraulic fluid supplied from the hydraulic pump 41 to the hydraulic actuators (hydraulic motors 43, 45, etc.), if the cutoff lever 372 is in the "up position", the slewing section 32 and the traveling section 31 will also become inoperable. In other words, if the cutoff lever 372 is in the "up position", the working section 33, the slewing section 32, and the traveling section 31 are all forcibly rendered inoperable.

[0040] In short, the cutoff switch 371 is in a "locked state" when it is off, where the operation of the work machine 3 is restricted (including prohibited), and in an "unlocked state" when it is on, where the operation of the work machine 3 is not restricted. When the cutoff lever 372 is in the "up position" and the cutoff switch 371 is in the locked state (off), the operation of the work machine 3 is forcibly restricted without operation of the operating device 35. The cutoff lever 372 is the lever that is operated when locking the operation of the work machine 3 in this way, and is synonymous with the gate lock lever.

[0041] Thus, the cutoff switch 371 and cutoff lever 372 are an example of a locking device. The locking device is a device that can switch between a locked state that restricts the operation of the work machine 3 and an unlocked state that does not restrict it. In other words, when the cutoff lever 372 is in the "up position", the locking device is in the "locked state" and restricts the operation of the work machine 3, and when the cutoff lever 372 is in the "down position", the locking device is in the "unlocked state" and does not restrict the operation of the work machine 3.

[0042] The main switch 34 is located in the control unit 321 of the machine body 30 and is operated by the user (operator) when starting the work machine 3. While the main switch 34 is off, the machine body 30 (including the travel unit 31, slewing unit 32, and work unit 33) is not in a state to operate in response to the operation of the control device 35. Only when the main switch 34 is turned on does the machine body 30 become capable of operating in response to the operation of the control device 35. Also, when the main switch 34 is turned on, power is supplied to the display device 2, etc. In this embodiment, as an example, the main switch 34 is linked to the key cylinder and turns on when the engine is started (ignition on) using the key.

[0043] The operating device 35 is located in the control unit 321 of the machine body 30 and is a user interface for receiving operation input from the user (operator). The operating device 35 is an electric operating device 35 that receives various operations from the user by outputting an electrical signal (operation signal) corresponding to the user's operation to the control system 1. In this embodiment, as an example, the operating device 35 includes a pair of operating levers 351, 352 (see Figure 3), etc. The operating device 35 will be described in detail in the section "[2] Operating Device".

[0044] The sound output unit 36 ​​outputs sound (including voice) to the user (operator). The sound output unit 36 ​​includes a buzzer or speaker, etc., and outputs sound in response to an electrical signal. The sound output unit 36 ​​is connected to the control system 1 and outputs sounds such as beeps or voices in response to sound control signals from the control system 1. In this embodiment, the sound output unit 36 ​​is provided in the operating unit 321 of the machine body 30, similar to the display device 2. The sound output unit 36 ​​may be provided integrally with the display device 2.

[0045] Sensor 38 includes sensors for detecting the attitude of various parts of the machine 30, such as a boom angle sensor, arm angle sensor, bucket angle sensor, machine tilt sensor, and slewing angular velocity sensor. The boom angle sensor detects the rotation angle (boom angle) of the boom 332 relative to the slewing section 32. The boom angle is minimum when the boom 332 is lowered to the lowest position in the range of motion and increases as the boom 332 is raised. The arm angle sensor detects the rotation angle (arm angle) of the arm 333 relative to the boom 332. The arm angle is minimum when the arm 333 is folded to its lowest position and increases as the arm 333 is extended by arm-out. The bucket angle sensor detects the rotation angle (bucket angle) of the bucket (attachment 331) relative to the arm 333. The bucket angle is minimum when the bucket (attachment 331) is closed to its lowest position and increases as the bucket (attachment 331) is opened. These sensors are composed of an acceleration sensor, a gyro sensor, a potentiometer, a stroke sensor, or a rotary encoder, or a combination thereof. The attitude detection unit 39 outputs detection results such as boom angle to the control system 1 in real time.

[0046] Sensor 38 further includes an image sensor (camera) for capturing images of the area surrounding the aircraft 30. The camera is, for example, provided on the rotating section 32 and is configured to capture images of the area surrounding the aircraft 30 (at least one direction: front, rear, left, right, up, and down). The images captured by the camera may be black and white, infrared, or full-color, and may be still images or moving images. In this embodiment, as an example, the camera captures an image of the area behind the aircraft 30 (surrounding image) as a full-color moving image and outputs the surrounding image data to the control system 1 in real time.

[0047] The approval switch 391 and the release switch 392 are located in the control unit 321 of the machine 30, and are control units that accept user (operator) input. The approval switch 391 and the release switch 392 are located in a position that is easy for the operator to operate, such as in front of the driver's seat in the control unit 321.

[0048] The approval switch 391 and the release switch 392 are electrically connected to the control system 1, and accept user operations by outputting electrical signals (operation signals) to the control system 1 in response to user operations. In this embodiment, as an example, both the approval switch 391 and the release switch 392 are momentary push-button switches.

[0049] Here, the approval switch 391 accepts user (operator) operations to approve changes to various settings, etc. The release switch 392 accepts user (operator) operations to disable the "interference avoidance function" described later. The functions of the approval switch 391 and the release switch 392 are explained in detail in the section "[4] Control Method of the Work Machine".

[0050] The control system 1 primarily consists of a computer system having, for example, one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire work machine 3, and consists of, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller, or it may primarily consist of one processor or multiple processors. The control system 1 will be explained in detail in section "[3] Configuration of the Control System".

[0051] The display device 2 is located in the control unit 321 of the machine body 30 and is a user interface for receiving operation input from the user (operator) and outputting various information to the user. The display device 2 accepts various operations from the user by outputting electrical signals corresponding to the user's operations, for example. This allows the user (operator) to view the display screen shown on the display device 2 and to operate the display device 2 as needed.

[0052] As shown in Figure 2, the display device 2 comprises a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to communicate with the control system 1 and can exchange data with the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0053] The control unit 21 controls the display device 2 according to data from the control system 1. Specifically, the control unit 21 outputs electrical signals corresponding to user operations received by the operation unit 22, and displays the display screen generated by the control system 1 on the display unit 23.

[0054] The operation unit 22 is a user interface for receiving user (operator) input for the display screen shown on the display unit 23. The operation unit 22 accepts various operations by the user, for example, by outputting electrical signals corresponding to the user's operations. The operation unit 22 includes, for example, mechanical (push-button) switches, touch panels, and operation dials.

[0055] The display unit 23 is a user interface for presenting information to the user (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 23 presents various types of information to the user through display.

[0056] In addition to the above-mentioned configuration, the aircraft 30 is further equipped with a communication terminal, fuel tank, battery, and the like.

[0057] [2] Operating device Next, the configuration of the operating device 35 will be described in detail with reference to Figure 3. As described above, the operating device 35 includes a pair of operating levers 351 and 352.

[0058] As shown in the "front view" of Figure 3, the operating lever 351 is located on the right side as seen from the operator seated in the driver's unit 321, and the operating lever 352 is located on the left side as seen from the operator seated in the driver's unit 321. Therefore, the operator, for example, holds the operating lever 351 with their right hand and the operating lever 352 with their left hand, and operates this pair of operating levers 351 and 352 to make the work machine 3 perform various operations. In this embodiment, the pair of operating levers 351 and 352 are an example of the "first operating elements" in the operating device 35.

[0059] The operating levers 351 and 352 are stick-type controls, and when operated, for example, by tilting them forward, backward, left, or right from the neutral position, they output an electrical signal (operation signal) corresponding to the operation. The operating device 35 outputs different operation signals corresponding to, for example, tilting the operating lever 351 forward, tilting the operating lever 351 to the right, tilting the operating lever 352 forward, and tilting the operating lever 352 to the right.

[0060] Furthermore, when the first operating levers 351 and 352 are operated, the operating device 35 outputs an electrical signal (operation signal) corresponding to the amount of operation (tilt) of the operating levers 351 and 352. For example, if we assume that tilting the operating lever 352 backward (forward) corresponds to bending the arm 333, the drive speed of the arm 333 can be changed according to the amount of operation (tilt) of the operating lever 352. In other words, the larger the amount of operation (tilt) of the operating lever 352, the greater the flow rate of hydraulic fluid to the hydraulic cylinder 44 for driving the arm 333, and the faster the drive speed of the arm 333 becomes.

[0061] Furthermore, the operating device 35 has a plurality of mechanical switches Sw11, Sw12, Sw21, and Sw22. Switch Sw11 is located on the front side of the operating lever 351, and switch Sw12 is located on the rear side of the operating lever 351. Switch Sw21 is located on the front side of the operating lever 352, and switch Sw22 is located on the rear side of the operating lever 352. In other words, in this embodiment, the operating lever 351 on the right side is provided with switches Sw11 and Sw12 on its front and rear sides, respectively, and the operating lever 352 on the left side is provided with switches Sw21 and Sw22 on its front and rear sides, respectively. These plurality of switches Sw11, Sw12, Sw21, and Sw22 are an example of a "second operating element" in the operating device 35.

[0062] In other words, the operating device 35 has first operators (operating levers 351, 352) and second operators (switches Sw11, Sw12, Sw21, Sw22). Here, the second operators are operators that are operated in association with the operation of the first operators. That is, the second operators can be operated in a manner associated with the operation of the first operators. However, it is sufficient that the second operators can be operated in a manner associated with the operation of the first operators, and the machine 30 may be associated with some action in response to the operation of the second operators alone. In this case, the machine 30 can be made to perform some action even if the second operators are operated alone.

[0063] Specifically, in this embodiment, the operation of the second operator is associated with the operation of the first operator when the second operator is operated simultaneously with the first operator. In other words, the operator can operate the second operator in association with the operation of the first operator by operating the first operator (operating levers 351, 352) while operating the second operator (switches Sw11, Sw12, Sw21, Sw22). By operating the second operator in association with the operation of the first operator in this way, it is possible to make the machine 30 perform an action different from the one performed when the first operator is operated alone.

[0064] However, not only when the second operator is operated simultaneously with the first operator, but also a certain range may be set for the timing of the operation of the second operator, for example, immediately before or immediately after the operation of the first operator. In this way, even if there is a time difference between the operation of the first operator and the operation of the second operator, if the time difference between the two operation timings is within a certain period of time, the operation of the second operator may be considered to have been performed in relation to the operation of the first operator.

[0065] Incidentally, the correspondence between the operation of the first control elements (operating levers 351, 352) and the operation of the aircraft 30 is defined by an "operating pattern," which is stored, for example, in the memory of the control system 1. Therefore, for example, the operation of tilting the operating lever 352 backward (forward) determines which part of the aircraft 30 will perform what action, which is determined by the operating pattern.

[0066] Furthermore, in this embodiment, the operating device 35 has multiple controls Sw1 and Sw2 for individually operating multiple output ports (PTO1 to PTO4) of the drive unit. Control Sw1 is located on the front side of the operating lever 351, and control Sw2 is located on the front side of the operating lever 352. These multiple controls Sw1 and Sw2 constitute an "adjustment control" that adjusts the magnitude of the power output from the drive unit (flow rate of hydraulic fluid).

[0067] In this embodiment, as an example, each of the multiple operators Sw1 and Sw2 consists of a lever switch that can be operated to tilt to the right or to the left. In particular, each operator Sw1 and Sw2 is a momentary type switch with the center of its movable range D3 in the left-right direction as the neutral position, tilting to the right or to the left only while an operating force is applied, and returning to the neutral position when the operating force is removed. By operating these operators Sw1 and Sw2 to the right or to the left, the amount of power (flow rate of hydraulic fluid) output from the corresponding output port is determined according to the amount of operation (amount of tilt). Basically, the larger the amount of operation of operators Sw1 and Sw2, the greater the power output from the corresponding output port, that is, the greater the flow rate of hydraulic fluid.

[0068] Furthermore, the operating levers 351 and 352 may be reversed left and right, or they 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 operating lever 351 or 352. In addition, the multiple switches Sw11 and Sw21 may not be limited to the front side of the operating levers 351 and 352, but may be arranged, for example, on the side or back side of the operating levers 351 and 352. The multiple switches Sw12 and Sw22 may not be limited to the back side of the operating levers 351 and 352, but may be arranged, for example, on the side or front side of the operating levers 351 and 352. The multiple switches Sw11, Sw12, Sw21, and Sw22 are not limited to mechanical push-button switches, but may be, for example, touch sensors, lever switches, toggle switches, rocker switches, rotary switches, slide switches, or encoders.

[0069] Each of the operators Sw1 and Sw2 is not limited to lever switches; for example, they may be toggle switches, rocker switches, rotary switches, slide switches, or encoders. Furthermore, the operating device 35 may have operators other than the aforementioned switches Sw11, Sw12, Sw21, Sw22 and operators Sw1 and Sw2 on the operating levers 351 and 352, and operators Sw1 and Sw2 may be omitted as appropriate.

[0070] [3] Configuration of the control system 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, the rotating section 32, and the working section 33, 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.

[0071] As shown in Figure 2, the control system 1 includes an acquisition processing unit 11, a control processing unit 12, a display processing unit 13, a setting processing unit 14, an avoidance processing unit 15, and a storage unit 16. In this embodiment, as an example, the control system 1 mainly consists of a computer system having one or more processors, so these multiple functional units (acquisition processing unit 11, etc.) are realized by one or more processors executing a control program for a work machine. These multiple functional units included in the control system 1 may be distributed and provided in multiple housings, or they may be provided in a single housing.

[0072] The control system 1 is configured to communicate with devices provided in various parts of the machine body 30. Specifically, the control system 1 is connected to at least the display device 2, main switch 34, operating device 35, sound output unit 36, sensor 38, approval switch 391, release switch 392, first control valves 491-494 and cutoff switch 371, etc. As a result, the control system 1 can control the display device 2, sound output unit 36 ​​and first control valves 491-494, etc., and can also acquire electrical signals (operation signals, etc.) from the display device 2, main switch 34, operating device 35, sensor 38, approval switch 391, release switch 392 and cutoff switch 371. In this disclosure, "communication possible" means that information (data) can be sent and received directly or indirectly via a communication network or repeater, etc., by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). Therefore, the control system 1 may exchange various types of information (data) directly with each device, or indirectly via a relay or the like. The control system 1 and the devices provided in various parts of the aircraft 30 can communicate using a communication method such as CAN (Controller Area Network), for example.

[0073] The acquisition processing unit 11 performs acquisition processing to acquire electrical signals (operation signals, etc.) from, for example, the display device 2, the main switch 34, the operating device 35, the sensor 38, the approval switch 391, the release switch 392, and the cutoff switch 371. For example, when the operating device 35, which has a pair of operating levers 351 and 352, outputs an operation signal corresponding to the user's (operator's) operation, the acquisition processing unit 11 acquires the operation signal. This makes it possible for the acquisition processing unit 11 to acquire operation signals representing the operation content (operation direction and amount) of the operating levers 351 and 352, such as an operation to tilt the right operating lever 351 forward, or an operation to tilt the left operating lever 352 forward. Similarly, it is possible for the acquisition processing unit 11 to acquire operation signals representing the operation content (on / off) of each of the multiple switches Sw11, Sw12, Sw21, and Sw22. The acquisition processing unit 11 is further configured to acquire the on / off status of the main switch 34, the approval switch 391, the release switch 392, and the cutoff switch 371, respectively.

[0074] The control processing unit 12 executes control processing to control the machine body 30 in response to the operation of the operating device 35. In the control processing, the control processing unit 12 controls the running section 31, turning section 32, and working section 33 of the machine body 30. Specifically, the control processing unit 12 controls hydraulic actuators such as hydraulic motors 43, 45 and hydraulic cylinders 44 by outputting control signals to the first control valves 491 to 494 in response to the operation of the operating device 35 acquired by the acquisition processing unit 11.

[0075] Here, the control processing unit 12 executes control processing according to the operation pattern. In this disclosure, "operation pattern" means the correspondence between the operation of the operating device 35 and the operation of the aircraft 30, and includes data indicating the combination of the operation of the operating device 35 and the operation of the aircraft 30. In other words, the control processing unit 12 realizes the operation of the aircraft 30 in response to the operation of the operating device 35 according to the correspondence between the operation of the operating device 35 and the operation of the aircraft 30 which is defined as an operation pattern.

[0076] For example, in a certain operation pattern, tilting the right-hand operating lever 351 of the operating device 35 forward corresponds to lowering the boom 332 of the machine body 30, and tilting the left-hand operating lever 352 of the operating device 35 backward corresponds to bending the arm 333 of the machine body 30. In this case, when the acquisition processing unit 11 receives an operation to tilt the operating lever 351 forward, the control processing unit 12 controls the first control valves 491 to 494 to drive the hydraulic cylinder 44 of the work unit 33 to lower the boom 332. Similarly, when the acquisition processing unit 11 receives an operation to tilt the operating lever 352 backward, the control processing unit 12 controls the first control valves 491 to 494 to drive the hydraulic cylinder 44 of the work unit 33 to bend the arm 333.

[0077] The display processing unit 13 performs display processing to display various display screens Dp1 (see Figure 4) containing information related to the work machine 3 on the display device 2. Specifically, the display processing unit 13 generates a display screen Dp1 based on data acquired by the acquisition processing unit 11, and controls the display device 2 to display the display screen Dp1 on the display unit 23 of the display device 2. Furthermore, the display processing unit 13 operates in response to operations received by the operation unit 22 of the display device 2.

[0078] Here, the information related to the work machine 3 included in the display screen Dp1 includes, for example, operational information regarding the operating status of the work machine 3, such as the remaining fuel level, coolant temperature, hydraulic oil temperature, and the weight to be lifted during lifting operations. In other words, the display processing unit 13 can display the display screen Dp1, which includes operational information regarding the operating status of the work machine 3, on the display device 2.

[0079] In this disclosure, "screen" as used in display screen Dp1, etc., means the image (video) displayed on the display device 2, and includes illustrations, figures, photographs, text, and videos. That is, the control system 1 can display on the display device 2 a display screen Dp1 that includes illustrations, etc., representing information about the operating status of the work machine 3, such as the cooling water temperature and the hydraulic oil temperature. Here, if the display screen Dp1 includes videos, etc., the display screen Dp1 does not include a constant video, but rather a video that changes moment by moment.

[0080] The setting processing unit 14 performs a setting process to set setting information for various setting items related to the work machine 3. In other words, the various setting items related to the work machine 3 are not fixed and can be set (changed) as appropriate by the setting processing unit 14. The "setting items" here include, for example, operation patterns and the enabling / disabling of specific functions such as interference avoidance functions. That is, the operation pattern, which is the correspondence between the operation of the operating device 35 and the operation of the work machine 3, can be changed by the setting processing unit 14.

[0081] Specifically, the operation patterns used by the control processing unit 12 are not fixed and can be arbitrarily changed by the setting processing unit 14. In this embodiment, as an example, the memory unit 16 of the control system 1 has a plurality of operation patterns stored in advance, and the setting processing unit 14 selects one of these plurality of operation patterns as the "current operation pattern". In this way, the setting processing unit 14 sets the "current operation pattern" by selecting one operation pattern from a plurality of predetermined operation patterns. Therefore, the "current operation pattern" is switched when the operation pattern selected by the setting processing unit 14 is switched among the plurality of operation patterns. The control processing unit 12 executes control processing to control the machine 30 in response to the operation of the first operator (operation lever 351, 352) of the operating device 35, according to the operation pattern (current operation pattern) set by the setting processing unit 14.

[0082] For example, if the memory unit 16 has four operation patterns stored, such as "Pattern A," "Pattern B," "Pattern C," and "Pattern D," as illustrated in Figure 5, the setting processing unit 14 selects one of these "Pattern A" to "Pattern D" as the "current operation pattern." "Pattern A," "Pattern B," "Pattern C," and "Pattern D" are data that show the correspondence (combination) between the operation of the first operator (operation levers 351, 352) on different operating devices 35 and the operation of the machine 30. For example, if the setting processing unit 14 has selected "Pattern A" as the operation pattern, the control processing unit 12 will execute the control process according to "Pattern A." On the other hand, if the setting processing unit 14 has selected "Pattern C" as the operation pattern, the control processing unit 12 will execute the control process according to "Pattern C."

[0083] The avoidance processing unit 15 executes interference avoidance processing to control the operation of the work unit 33 in order to avoid interference of the work unit 33 with the driver unit 321. In other words, the work machine 3 according to this embodiment has an interference avoidance function that controls the operation of the work unit 33 in order to avoid interference of the work unit 33 with the driver unit 321.

[0084] Specifically, the avoidance processing unit 15 sets a virtual plane in space located a predetermined distance outward from the outermost part of the operating unit 321, and controls the working unit 33 based on the positional relationship between the position of the attachment 331 of the working unit 33, based on the output of the sensor 38, and the virtual plane. In other words, when the operator operates the operating device 35 to operate the working unit 33, if the attachment 331 attempts to move beyond the virtual plane towards the operating unit 321, the avoidance processing unit 15 automatically stops the hydraulic actuator (hydraulic cylinder 44, etc.) to forcibly stop the working unit 33. As a result, even if the operator accidentally moves the attachment 331 very close to the operating unit 321 while operating the working machine 3, the working unit 33 can be stopped before the attachment 331 comes into contact with the operating unit 321. Consequently, interference of the working unit 33 with the operating unit 321 can be avoided.

[0085] The storage unit 16 includes a non-volatile storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 16 stores (stores) programs such as control programs for work machines. The control programs for work machines are provided, for example, by being recorded on a computer-readable non-temporary recording medium, and are read from the non-temporary recording medium by a reader of the control system 1 and stored in the storage unit 16. The control programs for work machines may also be provided (downloaded) to the control system 1 from a server or the like via a telecommunications line and stored in the storage unit 16.

[0086] [4] Control method for working machinery The following describes an example of a control method (hereinafter simply referred to as "control method") for the work machine 3, which is mainly performed by the control system 1, with reference to Figures 4 to 15.

[0087] The control method according to this embodiment is executed by a control system 1, which mainly consists of a computer system; in other words, it is embodied in a control program for a work machine (hereinafter simply referred to as "control program"). That is, the control program according to this embodiment is a computer program that causes one or more processors to execute the control method. Such a control program may be executed in cooperation with, for example, the control system 1 and the display device 2.

[0088] Here, the control method according to this embodiment is a control method for a work machine 3 having an interference avoidance function that controls the operation of the work unit 33 so as to avoid interference of the work unit 33 with the driver unit 321. In other words, the control system 1 according to this embodiment is used in a work machine 3 having an interference avoidance function that controls the operation of the work unit 33 so as to avoid interference of the work unit 33 with the driver unit 321. That is, in this embodiment, the avoidance processing function is realized by the avoidance processing unit 15 of the control system 1 executing interference avoidance processing that controls the operation of the work unit 33 so as to avoid interference of the work unit 33 with the driver unit 321.

[0089] Furthermore, the control method according to this embodiment is a control method for a work machine 3 in which the attachment 331 of the work unit 33 is replaceable. In other words, the control system 1 according to this embodiment is used in a work machine 3 in which the attachment 331 of the work unit 33 is replaceable. That is, in this embodiment, the avoidance processing function is realized by the avoidance processing unit 15 of the control system 1 executing interference avoidance processing to control the operation of the work unit 33 in order to avoid interference of the work unit 33 with the driver unit 321.

[0090] Furthermore, the control system 1 executes the following various processes related to the control method when a specific preset start operation is performed to execute the control program. The start operation is, for example, the operation to start the engine of the work machine 3, that is, the operation to turn on the main switch 34. On the other hand, the control system 1 terminates the following various processes related to the control method when a specific preset end operation is performed. The end operation is, for example, the operation to stop the engine of the work machine 3, that is, the operation to turn off the main switch 34.

[0091] [4.1] Home screen First, the configuration of the display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to this embodiment will be described. In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2, such as Figure 4, the dashed lines, leader lines, and reference numerals representing areas are all there for illustrative purposes only and are not actually displayed on the display device 2.

[0092] The display screen Dp1 shown in Figure 4 is the home screen Dp11, which is displayed according to the control method. The home screen Dp11 is the basic display screen Dp1 that will be displayed on the display device 2 when the machine 30 is operating (when the machine 30 operates in response to operations on the control device 35, etc.). From the home screen Dp11, it is possible to transition to various display screens Dp1, including menu screens, according to operations on the control unit 22.

[0093] As shown in Figure 4, the home screen Dp11 includes the first region R1, the second region R2, the third region R3, the fourth region R4, the fifth region R5, the sixth region R6, the seventh region R7, the eighth region R8, the ninth region R9, and the tenth region R10.

[0094] Specifically, the display screen Dp1 is divided into four vertical (up and down) sections. The top three sections are then further divided into three horizontal (left and right) sections. This results in a total of 10 sections on the display screen Dp1. The second section from the top consists of three sections from left to right: Section 1 R1, Section 2 R2, and Section 3 R3. The bottom section is Section 4 R4. The third section from the top consists of three sections from left to right: Section 5 R5, Section 6 R6, and Section 7 R7. The top section consists of three sections from left to right: Section 8 R8, Section 9 R9, and Section 10 R10. In terms of vertical size, the second section from the top (Section 1 R1, Section 2 R2, and Section 3 R3) is the largest of the four vertically divided sections. In terms of horizontal size, the middle region (region 2 R2, region 6 R6, and region 9 R9) is the largest among the three regions divided horizontally.

[0095] However, the arrangement and size of these regions are merely examples and can be changed as needed. Furthermore, it is not mandatory for each region to be clearly separated by a boundary line. For example, in the example in Figure 4, the second region R2 and the third region R3 are clearly separated by a boundary line, while there is no boundary line between the first region R1 and the second region R2. Of course, the first region R1 and the second region R2 may also be clearly separated by a boundary line.

[0096] The first region R1 is a rectangular region that is long in the vertical direction. In the first region R1, for example, remaining fuel information G1 regarding the remaining amount of engine fuel (e.g., diesel fuel) is displayed. The display processing unit 13 generates the remaining fuel information G1 on the home screen Dp11 based on the output of the remaining fuel sensor (sensor signal) acquired by the acquisition processing unit 11. In this embodiment, the remaining fuel information G1 is a graph that mimics an analog indicator having length in the vertical direction.

[0097] The second area R2, which occupies most of the home screen Dp11, is a horizontally elongated rectangular area. In the control method according to this embodiment, information regarding the operating status of the work machine 3 is displayed in the second area R2. As an example, the second area R2 displays coolant temperature information G3 and hydraulic oil temperature information G2. The display processing unit 13 generates the coolant temperature information G3 on the home screen Dp11 based on the output (sensor signal) of the coolant temperature sensor acquired by the acquisition processing unit 11. Similarly, the display processing unit 13 generates the hydraulic oil temperature information G2 on the home screen Dp11 based on the output (sensor signal) of the hydraulic oil temperature sensor acquired by the acquisition processing unit 11.

[0098] In this embodiment, both the coolant temperature information G3 and the hydraulic oil temperature information G2 are graphs that mimic analog meters. In an analog meter, a needle rotates, and the value is indicated by the position of the needle. In other words, the coolant temperature information G3 is information that indexes the coolant temperature included in the operating state of the work machine 3 and represents it by the position of the needle on the graph. Similarly, the hydraulic oil temperature information G2 is information that indexes the hydraulic oil temperature included in the operating state of the work machine 3 and represents it by the position of the needle on the graph. The coolant temperature information G3 and the hydraulic oil temperature information G2 may not only be information that expresses the coolant temperature and hydraulic oil temperature numerically, but may also be information that expresses the coolant temperature and hydraulic oil temperature in stages, for example, by the pattern of an image (icon).

[0099] The third area R3 is a vertically elongated rectangular area. The third area R3 displays icons (im1) indicating the enabled / disabled and abnormal / normal status of each function of the work machine 3. Multiple icons Im1 can be displayed in the third area R3, and the design (pattern) of each icon Im1 indicates which function it represents, for example, a seat belt or hydraulic oil temperature. Here, each icon Im1 indicates the enabled / disabled and abnormal / normal status of each function by its display mode, such as whether it is displayed / hidden, its display color, or its size. The display processing unit 13 uses the outputs of various sensors 38 that detect the operating status of each part of the work machine 3 to determine the status of each part of the work machine 3. When any function is enabled, the display processing unit 13 indicates that the function is enabled (or operating) by changing the display mode of the icon Im1 corresponding to that function. Similarly, when an abnormal value is detected in any part, the display processing unit 13 displays a warning by changing the display mode, such as the display color, of the icon Im1 for that part.

[0100] The fourth area R4 is a band-shaped area that extends across the entire width of the home screen Dp11. The fourth area R4 displays various items for operating the display screen Dp1. As an example in Figure 4, the fourth area R4 has multiple items such as "Menu," "Dezel," and "Mode" arranged side by side. Multiple push-button switches on the operation unit 22 located directly below each of these items are associated with each of them. For example, when the push-button switch corresponding to the "Menu" item is operated by the user (operator), the "Menu" item is operated (selected).

[0101] Furthermore, in this embodiment, in order to respond to operations such as the operation dial (or cursor keys) of the operation unit 22, one of the items is highlighted in the fourth area R4. In the example in Figure 4, the "Menu" item is highlighted, and the highlighted item switches depending on the operation of the operation dial (or cursor keys). The user (operator) can select the desired item by operating the OK button while the desired item is highlighted. For example, if the OK button is operated while the highlight is moved to the "Mode" item, the "Mode" item will be operated (selected). Also, if the operation unit 22 includes a touch panel, the user (operator) can select the desired item by touching the desired item on the home screen Dp11.

[0102] Area 5 R5 displays, for example, information about the current operation pattern. Area 6 R6 displays, for example, information about the working unit 33 currently operating in the work machine 3. Area 7 R7 displays, for example, information about the operating status of the work machine 3, such as the engine speed. Area 8 R8 displays, for example, the current time. Area 9 R9 displays, for example, information indicating the item to which the currently displayed screen Dp1 belongs. Area 10 R10 displays, for example, information about the operating time (hour meter) of the work machine 3.

[0103] [4.2] Setting Operation Patterns Next, we will explain the operation of setting an operation pattern that shows the correspondence between the operation of the control device 35 and the operation of the aircraft 30.

[0104] In this embodiment, as an example, the memory unit 16 stores four operation patterns, "Pattern A," "Pattern B," "Pattern C," and "Pattern D," as illustrated in Figure 5. One of these four operation patterns is selected (set) by the setting processing unit 14. In the example in Figure 5, "Pattern A" is an operation pattern for "ISO, manufactured by XX company, and manufactured by YY company," "Pattern B" is an operation pattern for "manufactured by ZZ company, manufactured by XY company, and manufactured by YX company," "Pattern C" is an operation pattern for "manufactured by ZX company and manufactured by YZ company," and "Pattern D" is an operation pattern for "manufactured by XYZ company and manufactured by YXZ company."

[0105] Figure 5 schematically shows the combinations of the operating directions of the pair of operating levers 351 and 352, which serve as the first control elements, and the operation of the aircraft 30 for each of "Pattern A," "Pattern B," "Pattern C," and "Pattern D."

[0106] For example, in "Pattern A," tilting the right-side control lever 351 forward corresponds to lowering the boom 332 on the machine 30, tilting the control lever 351 backward corresponds to raising the boom 332 on the machine 30, tilting the control lever 351 to the right corresponds to opening the attachment 331 on the machine 30, and tilting the control lever 351 to the left corresponds to closing (excavating) the attachment 331 on the machine 30. Furthermore, in "Pattern A," tilting the left-side control lever 352 forward corresponds to extending the arm 333 on the aircraft body 30, tilting the control lever 352 backward corresponds to bending the arm 333 on the aircraft body 30, tilting the control lever 352 to the right corresponds to rotating the swivel section 32 on the aircraft body 30 to the right, and tilting the control lever 352 to the left corresponds to rotating the swivel section 32 on the aircraft body 30 to the left.

[0107] On the other hand, in "Pattern B," tilting the left control lever 352 forward corresponds to turning the swivel section 32 on the aircraft 30 to the right, tilting the control lever 352 backward corresponds to turning the swivel section 32 on the aircraft 30 to the left, tilting the control lever 352 to the right corresponds to bending the arm 333 on the aircraft 30, and tilting the control lever 352 to the left corresponds to extending the arm 333 on the aircraft 30.

[0108] Thus, depending on the selected operation pattern, the operation of the aircraft 30 corresponding to a certain operation of the control device 35 (operating levers 351, 352) differs. In other words, depending on the selected operation pattern, the operation of the control device 35 (operating levers 351, 352) to make the aircraft 30 perform the same operation differs.

[0109] Next, we will describe in detail an example of a specific process related to changing the operation pattern, which is part of the control method according to this embodiment.

[0110] In this embodiment, as described above, the setting processing unit 14 of the control system 1 can change the operation pattern, which is the correspondence between the operation of the operating device 35 and the operation of the machine 30, by executing a setting process to set the operation pattern. Here, the setting (change) of the operation pattern is performed in response to the operation of the operator (user). In other words, the current operation pattern is changed when the operator selects any pattern from "Pattern A", "Pattern B", "Pattern C", and "Pattern D".

[0111] Specifically, as shown in Figure 6, the display processing unit 13 has the function of displaying an operation pattern setting screen Dp12 on the display device 2 for changing the operation pattern. The operation pattern selected on the setting screen Dp12 is set as the "current operation pattern" by the setting processing unit 14. This allows the operator to determine the operation pattern, which is the correspondence between the operation of the control device 35 (operation levers 351, 352, etc.) and the operation of the machine 30, while visually confirming it on the display device 2.

[0112] As an example, the settings screen Dp12 has three areas, R11, R12, and R13, as shown in Figure 6. The third area R13 displays the "Up" and "Down" cursor items, the "Back" item for returning to the previous screen, and the "Confirm" item. The first area R11 displays "Pattern A," "Pattern B," "Pattern C," and "Pattern D," which are the options for operation patterns. In the first area R11, one of "Pattern A," "Pattern B," "Pattern C," or "Pattern D" is highlighted. The highlighted pattern switches depending on the cursor operation in the third area R13. Furthermore, each of "Pattern A," "Pattern B," "Pattern C," and "Pattern D" is associated with a radio button, and the radio button corresponding to the selected pattern is turned "on." In the example in Figure 6, "Pattern A" is highlighted and "Pattern A" is selected as the operation pattern.

[0113] In the second area R12, detailed information about the highlighted operation pattern is displayed as modified pattern information. In the example in Figure 6, the second area R12 displays detailed information for the highlighted "Pattern A". Here, the detailed information as modified pattern information includes an image (icon) that shows the correspondence between the operation of the control device 35 and the operation of the machine 30. Specifically, the detailed information includes the text "ISO, XX Company, YY Company" and an image representing the combination of the operation direction of the pair of control levers 351 and 352 and the operation of the machine 30.

[0114] According to this settings screen Dp12, the highlighted pattern changes depending on the cursor operation in the third area R13. Consequently, the detailed information displayed in the second area R12 also switches to the detailed information of the highlighted pattern. Therefore, the operator can select the desired pattern by operating the "Confirm" item while the desired pattern is highlighted.

[0115] By the way, in the control method according to this embodiment, the setting processing unit 14 requires a specific operation by an operator as a condition for confirming various settings such as operation patterns. In this embodiment, the operation (pressing) of the approval switch 391 is an example of a specific operation.

[0116] Specifically, when the "Confirm" item is operated on the setting screen Dp12, the display processing unit 13 displays the first image Im11 on the display unit 23 of the display device 2, as illustrated in Figure 7. The first image Im11 is an image that provides guidance for a specific operation. In this embodiment, the operation of the approval switch 391 by the operator is an example of a specific operation, so the first image Im11 includes a message (text) prompting the operation (press operation) of the approval switch 391, such as, "To reflect the changes you have made, raise the lock lever and press the approval SW." Furthermore, the first image Im11 includes an image (icon) that indicates that the setting has been confirmed, such as a checkbox.

[0117] Then, when the first image Im11 is displayed, the setting processing unit 14 confirms the setting (change) of the operation pattern upon receiving a specific operation to operate the approval switch 391. In other words, it is only at this point that the setting processing unit 14 applies the operation pattern selected (set) on the setting screen Dp12 (for example, "Pattern A") as setting information for the setting item called "operation pattern".

[0118] Furthermore, when the setting processing unit 14 applies the setting information, the display processing unit 13 displays a second image Im12 on the display unit 23 of the display device 2, as illustrated in Figure 8. The second image Im12 is an image that signifies the success of the setting. In this embodiment, the second image Im12 includes a message (text) indicating that the setting information (here, "Pattern A") for a setting item (here, an operation pattern) has been successfully set (completed), such as "Settings completed." In addition, the second image Im12 includes an image (icon) indicating that the setting has been confirmed, such as a check mark.

[0119] As described above, the control method according to this embodiment includes: displaying a setting screen Dp12 on the display device 2 that accepts setting information for any setting item relating to the work machine 3; displaying a first image Im11 on the display device 2 that serves as guidance for a specific operation; applying the setting information for the setting item when the specific operation is performed; and displaying a second image Im12 on the display device 2 in place of the first image Im11 when the setting information has been applied.

[0120] With this configuration, for example, setting information for setting items such as operation patterns is only applied after a specific operation guided by the first image Im11 is performed, thus preventing unintended settings from being made by the operator. Moreover, once the setting information is applied, the second image Im12 is displayed instead of the first image Im11, so even if the operator unconsciously performs a specific operation, they can be aware that the setting information has been applied. As a result, there is an advantage in that it is easier to suppress unintended movements of the work machine 3 by the operator.

[0121] Furthermore, in this embodiment, the specific operation is performed when the locking device (cutoff switch 371 and cutoff lever 372), which can switch between a locked state that restricts the operation of the work machine 3 and an unlocked state that does not restrict it, is in the locked state. In other words, the specific operation is only possible when the cutoff lever 372 is in the "up position" and the locking device is in the "locked state". Therefore, if the cutoff lever 372 is in the "down position" and the locking device is in the "unlocked state", even if the approval switch 391 is operated (pressed), the specific operation will not be considered performed and the setting will fail.

[0122] This means that changes to the settings related to the operation of the work machine 3 are only possible when the work machine 3 is locked and its operation is restricted. As a result, it is possible to prevent sudden changes in the behavior of the work machine 3 while it is in operation.

[0123] Furthermore, the first image Im11 is displayed when a predetermined operation is performed while the settings screen Dp12 is displayed. In this embodiment, when the operation unit 22 of the display device 2 is operated and the "OK" item on the settings screen Dp12 is selected, the first image Im11 is displayed on the display unit 23 of the display device 2. In other words, the operation of the operation unit 22 of the display device 2 to select the "OK" item on the settings screen Dp12 is an example of a predetermined operation.

[0124] This means that, in addition to specific operations, certain operations are required before the setting information for a setting item is actually set, making it easier to avoid unintended settings by the operator.

[0125] Furthermore, the specific operation is performed on an operation unit separate from the operation unit for the predetermined operation. In other words, the specific operation is the operation of an approval switch 391, which is provided separately from the display device 2. Only when the approval switch 391, which is separate from the operation unit 22 (of the display device 2) for the predetermined operation, is operated does the setting information for the setting item become applicable.

[0126] This means that the operator needs to operate separate control units (control unit 22 and approval switch 391) before the setting information for each setting item is set, making it easier to avoid unintended settings by the operator.

[0127] Furthermore, the first image Im11 is displayed superimposed on the settings screen Dp12. In this embodiment, as shown in Figure 7, the first image Im11 is superimposed on the settings screen Dp12 by a pop-up window, spanning the first region R11 and the second region R12 of the settings screen Dp12. In other words, the first image Im11 is displayed superimposed on the settings screen Dp12 by a pop-up display.

[0128] This makes it easier for the operator to understand that the first image Im11 is guidance for a specific operation related to the setting item (in this case, the operation pattern) being set on the setting screen Dp12, leading to improved usability.

[0129] In this embodiment, the second image Im12 is also displayed superimposed on the settings screen Dp12. In this embodiment, as shown in Figure 8, the second image Im12, like the first image Im11, is displayed superimposed on the settings screen Dp12 via a pop-up window, spanning the first area R11 and the second area R12 of the settings screen Dp12. In other words, the second image Im12 is displayed superimposed on the settings screen Dp12 via a pop-up display.

[0130] This makes it easier for the operator to understand that the second image, Im12, indicates the success (completion) of the setting item (in this case, the operation pattern) being set on the setting screen Dp12, leading to improved usability.

[0131] Furthermore, the control method according to this embodiment further includes displaying a third image Im13 on the display device 2 instead of the first image Im11 when the setting information is not applied, as shown in Figure 9. That is, for example, if the setting processing unit 14 fails to apply the setting information, the display processing unit 13 displays the third image Im13 on the display unit 23 of the display device 2, as illustrated in Figure 9. The third image Im13 is an image that signifies a setting failure. In this embodiment, the third image Im13 includes a message (text) indicating that the setting information (here, "Pattern A") for a setting item (here, an operation pattern) failed to be set, such as "Setting failed." In addition, the third image Im13 includes an image (icon) indicating a setting failure, such as an X mark.

[0132] This makes it easier for the operator to understand that the second image Im12 indicates the success (completion) of the setting item (in this case, the operation pattern) being set on the setting screen Dp12, leading to improved usability. The third image Im13 is displayed in situations such as when the approval switch 391 is not operated (timeout) within the display duration of the first image Im11 (for example, a few seconds), and when the approval switch 391 is operated while the locking device is unlocked.

[0133] Furthermore, it is preferable that the time (display duration) for which the second image Im12 and the third image Im13 are displayed on the display device 2 is predetermined. The display durations of the second image Im12 and the third image Im13 (for example, a few seconds) may be different from or the same as those of the first image Im11. Furthermore, the display durations of the second image Im12 and the third image Im13 may be different from or the same as the display duration of the first image Im11. When the display duration of the second image Im12 or the third image Im13 has elapsed, the pop-up display of the second image Im12 or the third image Im13 ends, and the display returns to the setting screen Dp12.

[0134] At this point, when the third image Im13 is displayed, the reason why the setting information was not applied may be notified. That is, for example, if the application of the setting information fails because the approval switch 391 is operated while the locking device is unlocked, the operator may be notified by appropriate means that the cutoff lever 372 is in the "down position," or that the cutoff lever 372 should be moved to the "up position" and the approval switch 391 should be operated again.

[0135] This allows the operator to know the reason if the application of the configuration information fails, making it easier to successfully apply the configuration information by performing the identification operation again. The means of notifying the reason why the configuration information could not be applied may be, for example, the third image Im13 or other display, or sound output from the sound output unit 36.

[0136] Incidentally, the operating unit on which specific operations are performed is common to multiple setting items. That is, in this embodiment, the setting items include not only the operation pattern, but also settings such as the attachment 331 being installed, sensor calibration, and enabling / disabling the interference avoidance function. And for all of these multiple setting items, a specific operation by the operator is required as a condition for the setting processing unit 14 to apply the setting information (i.e., to confirm the setting).

[0137] In this way, by standardizing the control unit (in this case, the approval switch 391) used for specific operations on multiple setting items, the operator's approval process for settings becomes simpler, leading to improved usability.

[0138] [4.3] Setting operation of attachments while installed, and sensor calibration Next, we will explain the setting operation of the attached attachment 331 and the sensor calibration.

[0139] As described above, the setting processing unit 14 applies the setting information (i.e., confirms the setting) to the attachment 331 while it is attached and to the sensor calibration, based on a specific operation on the operation unit (in this case, the approval switch 391) that is common to the operation pattern.

[0140] Specifically, as shown in Figure 10, the display processing unit 13 has the function of displaying an attachment setting screen Dp13 on the display device 2 for setting (changing) the attachment 331 that is currently attached to the work unit 33. The attachment 331 selected on the setting screen Dp13 is set as the "attached attachment" by the setting processing unit 14. This allows the operator to set the attachment 331 that is currently attached to the work unit 33 while visually confirming it on the display device 2.

[0141] As an example, the settings screen Dp13 has a first area R11, a second area R12, and a third area R13, as shown in Figure 10. The first area R11 displays the options for attachment 331: "Standard," "Slope," and "Breaker." In the first area R11, one of "Standard," "Slope," or "Breaker" is highlighted. The highlighted attachment 331 is switched by operating the cursor in the third area R13. Furthermore, each of "Standard," "Slope," and "Breaker" is associated with a radio button, and the radio button corresponding to the selected attachment 331 is turned "on." In the example in Figure 10, "Standard" (bucket) is highlighted, and "Standard" is selected as the currently installed attachment 331.

[0142] In the second area R12, detailed information about the highlighted attachment 331 is displayed as modified pattern information. In the example in Figure 10, the second area R12 displays a message (text) as detailed information (warning information) about attachment 331, such as, "Depending on the attachment used, safe interference avoidance may not be possible, and the work area may enter the operating area."

[0143] According to this settings screen Dp13, the highlighted attachment 331 is switched by operating the cursor in the third area R13. Accordingly, the detailed information displayed in the second area R12 also switches to the detailed information of the highlighted attachment 331. Therefore, the operator can select the desired attachment 331 by operating the "Confirm" item while the desired attachment 331 is highlighted.

[0144] By the way, in the control method according to this embodiment, a specific operation by an operator is required as a condition for the setting processing unit 14 to confirm the settings of the attached attachment 331 while it is installed. In this embodiment, operating (pressing) the approval switch 391 is an example of a specific operation.

[0145] Specifically, the display screen Dp1 shown on the display unit 23 of the display device 2 transitions as shown in Figure 11. That is, when the "Confirm" item is operated on the setting screen Dp13, the display processing unit 13 displays the first image Im11 on the display unit 23 of the display device 2, as exemplified in the upper right of Figure 11. In this state, if the operator operates the approval switch 391 as a specific operation and the setting is successful, the second image Im12 is displayed on the display unit 23 of the display device 2, as exemplified in the lower left of Figure 11. On the other hand, if the setting fails, the third image Im13 is displayed on the display unit 23 of the display device 2, as exemplified in the lower right of Figure 11.

[0146] In this embodiment, the same operation is performed in sensor calibration. Here, "sensor calibration" refers to the initial settings of various sensors 38, and may only be performed in mechanical mode using special commands.

[0147] Regarding the sensor setting screen Dp14 for sensor calibration, the setting processing unit 14 requires a specific operation by the operator as a condition for applying the setting information of the sensor 38. In this embodiment, operating (pressing) the approval switch 391 is one example of such a specific operation.

[0148] Specifically, the display screen Dp1 shown on the display unit 23 of the display device 2 transitions as shown in Figure 12. That is, when the "Confirm" item is operated on the setting screen Dp14, the display processing unit 13 displays the first image Im11 on the display unit 23 of the display device 2, as exemplified in the upper right of Figure 12. In this state, if the operator operates the approval switch 391 as a specific operation and the setting is successful, the second image Im12 is displayed on the display unit 23 of the display device 2, as exemplified in the lower left of Figure 12. On the other hand, if the setting fails, the third image Im13 is displayed on the display unit 23 of the display device 2, as exemplified in the lower right of Figure 12.

[0149] [4.4] Startup Operation Next, we will describe the display screen Dp1 that is displayed on the display unit 23 of the display device 2 according to the control method of this embodiment when the work machine 3 is started up (engine start operation) and the work machine 3 is started.

[0150] In this embodiment, turning on the main switch 34 (key on) is one example of a startup operation. That is, when the main switch 34 is turned on, the work machine 3 starts up. At this time, the display device 2 also starts up, and the display screen Dp1 displayed on the display unit 23 of the display device 2 transitions as shown in Figure 13, for example.

[0151] In other words, the display processing unit 13 first displays the start screen Dp10 on the display unit 23 of the display device 2, as shown in the upper left of Figure 13. The start screen Dp10 is the first display screen Dp1 that is displayed on the display device 2 after the work machine 3 is started, and includes, for example, the manufacturer's logo of the work machine 3.

[0152] In this state, once the display duration of the start screen Dp10 (for example, 2 seconds) has elapsed, the display processing unit 13 displays the home screen Dp11 on the display unit 23 of the display device 2, as shown in the upper right of Figure 13. At this time, the display processing unit 13 overlays the specific information Im21 on the home screen Dp11. The specific information Im21 is displayed superimposed on the home screen Dp11 by a pop-up window in the second area R2 of the home screen Dp11. In other words, the specific information Im21 is displayed superimposed on the home screen Dp11 by a pop-up display. The specific information Im21 is some information relating to the work machine 3, and in this embodiment, as an example, an image showing the current operation pattern is displayed as the specific information Im21.

[0153] In this state, once the display duration of the specific information Im21 (for example, 3 seconds) has elapsed, the display processing unit 13 displays the attachment information Im22 on the display unit 23 of the display device 2 in place of the specific information Im21, as shown in the lower left of Figure 13. At this time, the display processing unit 13 displays the attachment information Im22 overlaid on the home screen Dp11. The attachment information Im22 is displayed superimposed on the home screen Dp11 by a pop-up window in the second area R2 of the home screen Dp11. In other words, the attachment information Im22 is displayed overlaid on the home screen Dp11 by a pop-up display.

[0154] Attachment information Im22 is information about the attachment 331 currently attached to the work unit 33. In this embodiment, as an example, an image and text identifying the attached attachment 331 are displayed as attachment information Im22. In the example in Figure 13, since a bucket is attached as attachment 331, attachment information Im22 indicating "Standard" is displayed.

[0155] In this state, once the display duration of the attachment information Im22 (for example, 3 seconds) has elapsed, the display processing unit 13 displays invalidation confirmation information Im23 on the display unit 23 of the display device 2 in place of the attachment information Im22, as shown in the lower right of Figure 13. At this time, the display processing unit 13 overlays the invalidation confirmation information Im23 onto the home screen Dp11. The invalidation confirmation information Im23 is overlaid on the home screen Dp11 by a pop-up window in the second area R2 of the home screen Dp11. In other words, the invalidation confirmation information Im23 is overlaid on the home screen Dp11 by a pop-up display.

[0156] The invalidation confirmation information Im23 is information indicating that a specific function is disabled. In this embodiment, as an example, an image and text indicating that a specific function has been automatically disabled by an automatic disabling process are displayed as the invalidation confirmation information Im23.

[0157] The term "specific function" here includes, for example, a limiting function that restricts the range of motion of the work unit 33 to a limited position. Specifically, this type of limiting function includes, in addition to the interference avoidance function mentioned above, a boom height limiting function and an arm retraction limiting function. The boom height limiting function restricts the upper end of the range of motion of the work unit 33 in the vertical direction D1 to the height limiting position by defining the upper end of the range of motion of the boom 332. The arm retraction limiting function restricts the limiting position of the arm 333 in the retraction (bending direction) to the retraction limiting position.

[0158] In the example shown in Figure 13, it is assumed that the boom height limiting function, as a specific function, has been disabled by an automatic disabling process. Therefore, an image and text indicating that the boom height limiting function has been disabled are displayed as the disabling confirmation information Im23.

[0159] The "automatic deactivation process" as used in this disclosure is a process that automatically disables a specific function when predetermined deactivation conditions are met. In other words, the setting processing unit 14 automatically disables a specific function, such as the boom height limiting function, when the deactivation conditions are met.

[0160] In this embodiment, as an example, the release condition for disabling the boom height limit function includes at least the stopping operation of the work machine 3 while a specific function (boom height limit function) is enabled. In this embodiment, turning off the main switch 34 (key off) is an example of a stopping operation. That is, when the main switch 34 is turned off while the boom height limit function is enabled, the setting processing unit 14 disables the boom height limit function through an automatic disabling process. In this case, when the main switch 34 is turned on next and the work machine 3 is started, the display unit 23 of the display device 2 displays disabling confirmation information Im23, indicating that the boom height limit function has been disabled, as shown in Figure 13.

[0161] In this state, once the display duration of the invalidation confirmation information Im23 (for example, 3 seconds) has elapsed, the display processing unit 13 terminates the pop-up display of the invalidation confirmation information Im23 and displays the home screen Dp11 on the display unit 23 of the display device 2. Preferably, the time (display duration) for which the start screen Dp10, specific information Im21, attachment information Im22, and invalidation confirmation information Im23 are displayed on the display device 2 is predetermined, and they may be different from each other or the same.

[0162] In the example shown in Figure 13, the start screen Dp10, specific information Im21, and attachment information Im22 are always displayed at startup, while the invalidation confirmation information Im23 is displayed only after the automatic invalidation process has been executed.

[0163] As described above, the control method according to this embodiment is a control method for a work machine 3 in which the attachment 331 of the work unit 33 is replaceable, and includes displaying attachment information Im22 regarding the attached attachment 331 on the display device 2 when the work machine 3 is started by a start operation.

[0164] With this configuration, when the attachment 331 mounted on the tip of the work unit 33 (arm 333) is replaced with various attachments 331 such as a boom, auger, or fork, the operator riding the work machine 3 can recognize the attachment 331 that is currently mounted. In other words, when the work machine 3 is started by the start operation (turning on the main switch 34), the operator can recognize the attachment 331 that is currently mounted by the attachment information Im22 displayed on the display device 2. As a result, there is an advantage in that the operator can easily recognize the attachment 331 that is currently mounted.

[0165] Furthermore, the control method according to this embodiment further includes adjusting an interference avoidance function that controls the operation of the work unit 33 to avoid interference of the work unit 33 with the driver unit 321, based on attachment information Im22. In other words, the avoidance processing unit 15 executes interference avoidance processing based on attachment information Im22 because it is necessary to limit the range of motion of the work unit 33 based on the attachment 331 that is being mounted.

[0166] This makes it possible to activate the interference avoidance function while ensuring an appropriate range of motion according to the attachment 331 being fitted.

[0167] Furthermore, the work machine 3 can operate even while the attachment information Im22 is being displayed. Specifically, in the example shown in Figure 13, the work machine 3 can operate in response to the operation of the control device 35 from the moment the home screen Dp11 (and specific information Im21) is displayed.

[0168] This allows the work machine 3 to be operated without waiting for the attachment information Im22 to finish displaying, thus avoiding the delay in starting up the work machine 3 caused by displaying the attachment information Im22.

[0169] Furthermore, the home screen Dp11 is displayed on the display device 2 after the attachment information Im22 is displayed. In this embodiment, after the attachment information Im22 is displayed, the invalidity confirmation information Im23 is displayed, and then the home screen Dp11 is displayed on the display unit 23 of the display device 2.

[0170] As a result, after the display of attachment information Im22 has finished, the operator can check various information necessary for operating the work machine 3 on the home screen Dp11.

[0171] Furthermore, this embodiment also includes reading attachment information Im22 into the display device 2 when the work machine 3 is started. Specifically, the acquisition processing unit 11 acquires attachment information Im22 from the attachment 331, at least identifying the type of attachment, when the attachment 331 is mounted on the work unit 33. In addition, the acquisition processing unit 11 also acquires attachment information Im22 from the attachment 331, at least identifying the type of attachment, when the work machine 3 is started. The control system 1 outputs and displays the attachment information Im22 acquired in this way to the display device 2 when the work machine 3 is started.

[0172] This makes it possible to display attachment information Im22 regarding the attachment 331 that was installed at the time the work machine 3 was started, even if, for example, the attachment 331 was replaced when the work machine 3 was stopped.

[0173] Here, the control method preferably further includes providing notification when the reading of attachment information Im22 fails. In other words, if the reading of attachment information Im22 fails, notification is provided so that the operator can know that the reading of attachment information Im22 has failed. Therefore, the possibility of the operator mistakenly recognizing the attachment 331 being attached is reduced. The notification means may be, for example, a third image Im13 or other display, or sound output from the sound output unit 36.

[0174] Furthermore, in this embodiment, the attachment information Im22 is displayed after the start screen Dp10, which is the first thing displayed on the display device 2 after the work machine 3 is started. This makes it less likely for the operator to overlook the attachment information Im22 compared to when the attachment information Im22 is displayed immediately after the work machine 3 is started.

[0175] Furthermore, attachment information Im22 is displayed after the start screen Dp10 is displayed and then specific information Im21 is displayed. This makes it less likely for the operator to overlook attachment information Im22 compared to when it is displayed immediately after the start screen Dp10 is displayed.

[0176] Furthermore, the control method according to this embodiment further includes changing the operation pattern, which is the correspondence between the operation of the operating device 35 and the operation of the work machine 3. Here, the specific information Im21 is information relating to the current operation pattern. As a result, when the operator starts the work machine 3 by starting the machine (turning on the main switch 34), the operator can recognize the current operation pattern by the specific information Im21 displayed on the display device 2. Consequently, errors are less likely to occur.

[0177] Furthermore, the control method according to this embodiment further includes executing an automatic disabling process, and after the execution of the automatic disabling process, displaying disabling confirmation information Im23 on the display device 2, indicating that the specific function is disabled, after the work machine 3 is started by a start operation. Here, the automatic disabling process is a process that automatically disables the specific function when the release conditions are met, including the work machine 3 being stopped while the specific function related to the work machine 3 is enabled. In this embodiment, the boom height limiting function is an example of a specific function.

[0178] With this configuration, a specific function can be automatically disabled when the release conditions are met, including the stopping of the work machine 3. When a specific function is automatically disabled by this automatic disabling process, the disabling confirmation information Im23 is displayed on the display device 2 after the next start of the work machine 3, so that the operator can understand that the specific function has been automatically disabled by the automatic disabling process.

[0179] Furthermore, the deactivation conditions may include conditions other than the stopping operation of the work machine 3. In other words, the stopping operation of work machine 3 while a specific function related to work machine 3 is enabled does not necessarily satisfy the deactivation conditions; the specific function will only be automatically disabled if the deactivation conditions are satisfied, including conditions other than the stopping operation.

[0180] Specifically, the conditions for deactivation include the time between stopping the work machine 3 and starting it again being a certain amount of time or longer, and / or the stopping of the work machine 3 not involving the suspension of a specific function. This means that the specific function is not necessarily disabled simply because the work machine 3 has been stopped, and the specific function can be kept enabled depending on the situation.

[0181] Furthermore, the invalidation confirmation information Im23 is displayed only when the first work machine 3 is started after the automatic invalidation process is executed. In other words, the invalidation confirmation information Im23 is displayed the first time work machine 3 is started after the automatic invalidation process is executed, but it is not displayed when work machine 3 is started from the second time onward.

[0182] This avoids the inconvenience caused to the operator by preventing the invalidation confirmation information Im23 from being displayed every time the work machine 3 is started.

[0183] Furthermore, the invalidation confirmation information Im23 is displayed after the attachment information Im22. As a result, the attachment information Im22 and the invalidation confirmation information Im23 are displayed sequentially after the start of the work machine 3, making it less likely for the operator to overlook either the attachment information Im22 or the invalidation confirmation information Im23.

[0184] Furthermore, the attachment information Im22 is displayed on the display device 2 together with operational information (such as the image Im1) relating to the operating status of the work machine 3. In other words, in this embodiment, the attachment information Im22 is superimposed on the home screen Dp11 in the second area R2 of the home screen Dp11 via a pop-up window. Therefore, for example, the display unit 23 of the display device 2 displays the attachment information Im22 alongside multiple images such as Im1 in the third area R3 of the home screen Dp11.

[0185] Therefore, the operator can check the operating information regarding the operating status of the work machine 3, along with the attachment information Im22, on the display device 2.

[0186] [4.5] Disabled startup process Next, we will explain the disabled startup process, which starts the work machine 3 with the interference avoidance function disabled.

[0187] In other words, since the work machine 3 has an interference avoidance function, if the interference avoidance function is enabled, the avoidance processing unit 15 controls the operation of the work unit 33 to avoid interference with the driver unit 321. This interference avoidance function is not always enabled; it can be enabled or disabled in the setting processing unit 14. If the interference avoidance function is disabled, the operator can operate the work unit 33 to a very close distance to the driver unit 321 while ensuring sufficient safety.

[0188] In this case, by operating (pressing) the release switch 392 while performing the start operation (turning on the main switch 34), the setting processing unit 14 executes a "disable start process" to start the work machine 3 with the interference avoidance function disabled. That is, when the work machine 3 is started by the start operation, the setting processing unit 14 makes the work unit 33 operable with the interference avoidance function disabled if certain conditions are met, including the first operation being performed. In this embodiment, turning on the main switch 34 is an example of a start operation, and operating (pressing) the release switch 392 is an example of a first operation.

[0189] Furthermore, in this embodiment, just as when the setting processing unit 14 confirms various settings such as operation patterns, a specific operation by the operator is required as a condition for disabling the interference avoidance function. In this embodiment, operating (pressing) the approval switch 391 is an example of such a specific operation.

[0190] Specifically, during the deactivation startup process, the display screen Dp1 shown on the display unit 23 of the display device 2 transitions as shown in Figure 14. That is, when the release switch 392 is operated (pressed) while the startup operation (turning on the main switch 34) is performed, the display processing unit 13 first displays the start screen Dp10 on the display unit 23 of the display device 2, as shown in the upper left of Figure 14.

[0191] In this state, once the display duration of the start screen Dp10 (for example, 2 seconds) has elapsed, the display processing unit 13 displays the home screen Dp11 on the display unit 23 of the display device 2, as shown in the upper right of Figure 14. At this time, the display processing unit 13 displays the first image Im11 superimposed on the home screen Dp11. The first image Im11 is superimposed on the home screen Dp11 by a pop-up window in the second region R2 of the home screen Dp11. In other words, the first image Im11 is displayed superimposed on the home screen Dp11 by a pop-up display.

[0192] In this state, if the operator performs the approval switch 391 as a specific operation and the setting is successful, the specific information Im21, which is the same as during normal startup, will be displayed overlaid on the home screen Dp11, as illustrated in the lower left of Figure 14. From thereafter, the display screen Dp1 will transition in the same order as during normal startup: attachment information Im22, (disable confirmation information Im23 if necessary), and then the home screen Dp11.

[0193] On the other hand, if the setup fails, the display processing unit 13 displays the third image Im13 on the display unit 23 of the display device 2 instead of the first image Im11, as illustrated in the lower right of Figure 14. At this time, the display processing unit 13 overlays the third image Im13 onto the home screen Dp11. The third image Im13 is displayed superimposed on the home screen Dp11 by a pop-up window in the second area R2 of the home screen Dp11. In other words, the third image Im13 is displayed superimposed on the home screen Dp11 by a pop-up display. In this state, once the display duration of the third image Im13 (for example, 3 seconds) has elapsed, the display processing unit 13 displays specific information Im21, similar to that during normal startup, overlaid on the home screen Dp11, as shown in the lower left of Figure 14. After that, the display screen Dp1 transitions in the same order as during normal startup: attachment information Im22, (invalidation confirmation information Im23 if necessary), and then the home screen Dp11.

[0194] As described above, the control method according to this embodiment is a control method for a work machine 3 having an interference avoidance function that controls the operation of the work unit 33 so as to avoid interference of the work unit 33 with the driver unit 321. This control method includes executing an invalid start process that enables the operation of the work unit 33 with the interference avoidance function disabled when certain conditions are met, including the first operation being performed when the work machine 3 is started by a start operation.

[0195] In this configuration, the interference avoidance function is disabled when certain conditions are met, including the first operation being performed when the work machine 3 is started by the operator's startup operation. Therefore, it is possible to avoid situations in which the interference avoidance function is unintentionally disabled by the operator, and the operator's operation can prevent the work machine 3 from moving in a way that is not intended by the operator (e.g., the bucket approaching very close to the operating unit 321). As a result, there is an advantage in that it is easier to suppress unintended movements of the work machine 3 by the operator.

[0196] Furthermore, the control method according to this embodiment further includes checking whether a first operation is performed when the work machine 3 is started by a startup operation, in order to determine whether a specific condition is met. That is, since the specific condition includes whether the first operation is performed when the work machine 3 is started by a startup operation, it is checked whether the first operation (operation of the approval switch 391) is performed when the work machine 3 is started by a startup operation (turning on the main switch 34).

[0197] This ensures that the specific conditions are met only when the operator intentionally performs the first operation when the work machine 3 is started, thus avoiding situations where the interference avoidance function is unintentionally disabled by the operator.

[0198] Furthermore, the specific condition further includes the fact that the second operation is performed after the work machine 3 is started. In other words, the specific condition is not met if the first operation is performed only when the work machine 3 is started by the start operation. This ensures that the specific condition is met only when the operator intentionally performs the first operation when the work machine 3 is started, and then performs the second operation after it is started, thus preventing situations in which the interference avoidance function is unintentionally disabled by the operator.

[0199] Here, the first operation includes operating a first operation unit (release switch 392) which is separate from the activation operation unit (main switch 34) for the activation operation. Furthermore, the second operation includes operating a second operation unit (approval switch 391) which is separate from the first operation unit (release switch 392). In other words, the main switch 34 is an example of an activation operation unit, the release switch 392 is an example of a first operation unit, and the approval switch 391 is an example of a second operation unit.

[0200] As a result, the operator must perform a first operation using a first control unit separate from the activation control unit, and then, after activation, perform a second operation using a second control unit separate from the first control unit, to satisfy the specific conditions. This prevents situations in which the interference avoidance function is unintentionally disabled by the operator.

[0201] Here, regardless of the state of the locking device, which can switch between a locked state that restricts the operation of the work machine 4 and an unlocked state that does not restrict it, the work machine 3 can be started by the start operation. In other words, whether the cutoff lever 372 is in the "up position" and the locking device is in the "locked state", or whether the cutoff lever 372 is in the "down position" and the locking device is in the "unlocked state", the work machine 3 can be started.

[0202] On the other hand, the second operation includes the locking device, which can switch between a locked state that restricts the operation of the work machine 3 and an unlocked state that does not restrict it, being in the locked state. In other words, the invalidation start process by the second operation is only possible when the cutoff lever 372 is in the "up position" and the locking device is in the "locked state". Therefore, if the cutoff lever 372 is in the "down position" and the locking device is in the "unlocked state", even if the approval switch 391 is operated (pressed), the second operation will not be considered to have been performed, and the invalidation of the interference avoidance function will fail.

[0203] This means that the interference avoidance function can only be disabled when the operation of the work machine 3 is locked and restricted, and as a result, situations in which the interference avoidance function is unintentionally disabled by the operator can be more reliably avoided.

[0204] Furthermore, the control method according to this embodiment further includes displaying a first image Im11, which serves as guidance for a second operation, on the display device 2 after the work machine 3 has been started. As a result, the interference avoidance function is disabled only after the second operation (specific operation) guided by the first image Im11 has been performed, thus preventing situations in which the interference avoidance function is unintentionally disabled by the operator.

[0205] Herein, the control method according to this embodiment further includes displaying the result of the disabled startup process on the display device 2 after the display of the first image Im11. That is, the second image Im12, indicating that the interference avoidance function has been successfully disabled, and / or the third image Im13, indicating that the interference avoidance function has not been successfully disabled, are displayed on the display device 2 as the result of the disabled startup process. In this embodiment, as an example, the second image Im12, which is displayed when the setting is successful, is not displayed, and only the third image Im13, which is displayed when the setting fails, is displayed.

[0206] This allows the operator to know the result of the invalid startup process, thus preventing unintended consequences.

[0207] Furthermore, the control method according to this embodiment further includes providing notification when the interference avoidance function is disabled. Specifically, as shown in Figure 15, while the interference avoidance function is disabled, the display processing unit 13 provides notification by displaying the fourth image Im14 in the ninth area R9 of the home screen Dp11. The fourth image Im14 is an image indicating that the interference avoidance function is disabled and includes a message (text) such as "Interference avoidance function disabled". This makes it easier for the operator to understand that the interference avoidance function is disabled and makes it easier to suppress unintended movements of the work machine 3. The notification means may be, for example, the fourth image Im14 or other displays, or it may be sound output by the sound output unit 36.

[0208] Incidentally, the interference avoidance function, which is disabled by the invalidation startup process, is re-enabled when the work machine 3 is restarted. In other words, if the work machine 3 is stopped by turning off the main switch 34 from a state where the interference avoidance function is disabled by the invalidation startup process, and then started (restarted) by turning on the main switch 34 (start operation), the interference avoidance function will be enabled. However, if the first operation (operation of the release switch 392) is also performed during the restart, the interference avoidance function will be disabled again by the invalidation startup process during the restart.

[0209] Thus, the conditions for enabling the interference avoidance function after the disabled startup process include at least restarting the work machine 3. In other words, to enable the interference avoidance function that was disabled by the disabled startup process, the work machine 3 must be stopped at least by turning off the main switch 34 or similar operation. Therefore, it is possible to avoid the interference avoidance function being switched on or off in the middle of work performed by the work machine 3.

[0210] [5] Variant The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0211] The control system 1 in this disclosure includes a computer system. The computer system mainly consists of one or more processors and one or more memories as hardware. The functions of the control system 1 in this disclosure are realized by the execution of a program recorded in the memory of the computer system by the processor. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional parts included in the control system 1 may be composed of electronic circuits.

[0212] Furthermore, it is not essential for control system 1 to have at least some of its functions integrated into a single housing; the components of control system 1 may be distributed across multiple housings. Conversely, functions that are distributed across multiple devices (e.g., control system 1 and display device 2) in Embodiment 1 may be integrated into a single housing. Moreover, at least some of the functions of control system 1 may be implemented by the cloud (cloud computing) or the like.

[0213] Furthermore, the power source for the work machine 3 is not limited to a diesel engine; for example, it may be an engine other than a diesel engine, or a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0214] Furthermore, the display device 2 is not limited to a dedicated device, but may be a general-purpose terminal such as a laptop computer, tablet terminal, or smartphone. Moreover, the display unit 23 is not limited to a configuration that directly displays the display screen, such as a liquid crystal display or an organic EL display, but may also be configured to display the display screen by projection, such as a projector.

[0215] Furthermore, the input method for information to the operation unit 22 may be other than push-button switches, touch panels, and operation dials. For example, the operation unit 22 may use methods such as a keyboard, a pointing device such as a mouse, voice input, gesture input, or input of operation signals from another terminal.

[0216] Furthermore, the operating device 35 and the display device 2, etc., are not limited to being mounted on the aircraft body 30, but may, for example, be provided separately from the aircraft body 30. In this case, the operating device 35 and the display device 2, etc., are configured to communicate with the aircraft body 30, thereby enabling remote control of the aircraft body 30.

[0217] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0218] <Note 1> To display a settings screen on the display device that accepts setting information for any setting item related to the work machine, A first image that serves as guidance for a specific operation is displayed on the display device, When the aforementioned specific operation is performed, the setting information for the setting item is applied, The system includes, when the aforementioned setting information is applied, displaying a second image on the display device instead of the first image. A method for controlling industrial machinery.

[0219] <Note 2> The first image is displayed when a predetermined operation is performed while the settings screen is displayed. Control method for the work machine described in Appendix 1.

[0220] <Note 3> The aforementioned specific operation is performed on an operating unit separate from the operating unit for the predetermined operation. Control method for the work machine described in Appendix 2.

[0221] <Note 4> The first image is displayed overlaid on the settings screen. A control method for the work machine described in any of the appendices 1 to 3.

[0222] <Note 5> The second image is displayed overlaid on the settings screen. A control method for the work machine described in any of the appendices 1 to 4.

[0223] <Note 6> The further provision is to display a third image on the display device in place of the first image if the aforementioned setting information is not applied. A control method for the work machine described in any of the appendices 1 to 5.

[0224] <Note 7> When the third image is displayed, the reason why the setting information is not applied is notified. Control method for the work machine described in Appendix 6.

[0225] <Note 8> The operating unit on which the aforementioned specific operation is performed is common to multiple of the aforementioned setting items. A control method for the work machine described in any of the appendices 1 to 7.

[0226] <Note 9> The aforementioned specific operation is performed while a locking device, which can switch between a locked state that restricts the operation of the work machine and an unlocked state that does not restrict it, is in the locked state. A control method for the work machine described in any of the appendices 1 to 8.

[0227] <Note 10> The control method for the work machine described in any of the appendices 1 to 9, A control program for a work machine to be executed by one or more processors. [Explanation of Symbols]

[0228] 1. Control system for industrial machinery 2 Display device 3. Working Machines 13 Display Processing Unit 14. Configuration Processing Unit 22 Control section 30 aircraft 371 Cut-off switch (locking device) 372 Cut-off lever (locking device) 391 Approval switch (operating part) Dp12, Dp13, Dp14 settings screen Im11 Image 1 Im12, second image Im13 Third Image

Claims

1. To display a settings screen on the display device that accepts setting information for any setting item related to the work machine, A first image that serves as guidance for a specific operation is displayed on the display device, When the aforementioned specific operation is performed, the setting information for the setting item is applied, The system includes the following: when the aforementioned setting information is applied, the second image is displayed on the display device in place of the first image. A method for controlling industrial machinery.

2. The first image is displayed when a predetermined operation is performed while the settings screen is displayed. A method for controlling a work machine according to claim 1.

3. The aforementioned specific operation is performed on an operating unit separate from the operating unit for the predetermined operation. A method for controlling a work machine according to claim 2.

4. The first image is displayed overlaid on the settings screen. A method for controlling a work machine according to any one of claims 1 to 3.

5. The second image is displayed overlaid on the settings screen. A method for controlling a work machine according to any one of claims 1 to 3.

6. The further provision is to display a third image on the display device in place of the first image if the aforementioned setting information is not applied. A method for controlling a work machine according to any one of claims 1 to 3.

7. When the third image is displayed, the reason why the setting information is not applied is notified. A method for controlling a work machine according to claim 6.

8. The operating unit on which the aforementioned specific operation is performed is common to multiple of the aforementioned setting items. A method for controlling a work machine according to any one of claims 1 to 3.

9. The aforementioned specific operation is performed while a locking device, which can switch between a locked state that restricts the operation of the work machine and an unlocked state that does not restrict it, is in the locked state. A method for controlling a work machine according to any one of claims 1 to 3.

10. A method for controlling a work machine according to any one of claims 1 to 3, A control program for a work machine to be executed by one or more processors.

11. A display processing unit that displays a settings screen on a display device that accepts setting information for any setting item related to the work machine, The system includes a setting processing unit that applies the setting information for the setting item when a specific operation is performed, The display processing unit, A first image that serves as guidance for the aforementioned specific operation is displayed on the display device. When the above setting information is applied, the second image is displayed on the display device instead of the first image. Control system for industrial machinery.

12. A control system for a work machine according to claim 11, Equipped with an aircraft, Agricultural machinery.

Images