Control devices, control systems, and work machines

Abstract

The present invention provides a control device, a control system, and a work machine that can ensure the continuity of work performed by the work machine. [Solution] A control device 4 controls a work machine 1 having a work unit 33 that performs predetermined work, an engine 30 (power source), and a machine operation unit 17 that can be operated by an operator. The control device 4 is capable of communicating with a remote control device 8 (external control device) provided outside the work machine 1, and a mobile terminal 90 separate from the remote control device 8. The control device 4 can obtain operation signals to operate the work unit 33 from the machine operation unit 17 and the remote control device 8, and can obtain a stop instruction signal to stop the engine 30 from the mobile terminal 90. In an external operation state where the work unit 33 is controlled based on the operation signals obtained from the remote control device 8, the control device 4 invalidates the stopping of the engine 30 based on the stop instruction signal obtained from the mobile terminal 90.

Description

Technical Field

[0001] The present invention relates to a control device, a control system, and a working machine.

Background Art

[0002] Conventionally, as a working machine, one that can be remotely operated by an operator outside the working machine is known (for example, see Patent Document 1). Also, as a working machine, one that can stop the engine by operating an electronic key is known (for example, see Patent Document 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, when a remotely operable working machine as in Patent Document 1 is made capable of stopping the engine by operating an electronic key as in Patent Document 2, the following problems may occur. When the working machine is being remotely operated by an external operator, if an unexpected signal for stopping the engine is transmitted from the electronic key to the working machine by a third party different from the external operator operating the electronic key, the engine may stop and the work by the working machine may be interrupted unintentionally. Therefore, in such a working machine, there may arise a problem that it is difficult to ensure the continuity of work

[0005] The present invention has been made in view of the above, and an object thereof is to provide a control device, a control system, and a working machine capable of ensuring the continuity of work by the working machine.

Means for Solving the Problems

[0006] To achieve the above objective, the control device according to the present invention is a control device for controlling a work machine having a work unit that performs predetermined work, a power source, and a machine operation unit that can be operated by an operator, and is capable of communicating with an external operation device provided outside the work machine and a portable terminal separate from the external operation device, and is capable of obtaining operation signals for operating the work unit from the machine operation unit and the external operation device, and is capable of obtaining a stop instruction signal for stopping the power source from the portable terminal, and in an external operation state in which the work unit is controlled based on the operation signals obtained from the external operation device, the control device invalidates the stopping of the power source based on the stop instruction signal obtained from the portable terminal.

[0007] With the above configuration, the control device can obtain operation signals for operating the working parts of the work machine not only from the actual machine operation unit of the work machine but also from an external operation device installed outside the work machine. Therefore, even when the work machine is unmanned (when no operator is on board the work machine), it is possible to operate the working parts from outside the work machine using the external operation device.

[0008] Furthermore, with the above configuration, the control device can obtain a stop command signal to stop the power source of the work machine from a portable terminal separate from the external operating device, making it possible to stop the power source of the work machine by operating the portable terminal as needed.

[0009] Furthermore, with the above configuration, when the control device is in an external operation state, controlling the work unit based on operation signals acquired from an external operating device, it disables the stopping of the power source based on a stop instruction signal acquired from a mobile terminal. Therefore, even if an unexpected stop instruction signal that stops the power source is transmitted from the mobile terminal to the control device while the control device is in an external operation state, unintended interruptions to the work performed by the work unit can be avoided. This ensures the continuity of work performed by the work machine.

[0010] In the control device described above, a start command signal to start the power source can be obtained from the mobile terminal, and the start of the power source based on the start command signal obtained from the mobile terminal may be disabled when the device is in the external operation state. With this configuration, it is possible to start the power source of the work machine by operating the mobile terminal as needed (for example, for warming up the power source). Furthermore, with this configuration, even if an unexpected start command signal to start the power source is transmitted from the mobile terminal to the control device when the control device is in the external operation state, the unintended start of the power source can be avoided.

[0011] In the control device described above, it may be possible to switch between a real machine operation mode in which the operation signal is acquired only from the real machine operation unit among the real machine operation unit and the external operation device, and an external operation mode in which the operation signal is acquired only from the external operation device among the real machine operation unit and the external operation device. With this configuration, it is possible to appropriately switch between a real machine operation mode operated by a real machine operation unit operated by an operator on board the work machine, and an external operation mode operated by an external operation device operated by an operator outside the work machine, depending on the conditions of the work site of the work machine.

[0012] In the control device described above, when the control signal is received from the external operating device, the device may enter the external operating state and execute control of the work machine according to a predetermined program. With this configuration, when the control device executes automatic control of the work machine triggered by the control signal received from the external operating device, it enters the external operating state, thereby invalidating the stopping of the power source by the portable terminal. This prevents unintended interruptions to work by the work unit, as described above, and thus ensures the continuity of work by the work unit.

[0013] In the control device described above, it is also possible to obtain the stop instruction signal from the external operating device, and in the external operation state, the stopping of the power source based on the stop instruction signal obtained from the external operating device may be enabled. With this configuration, the power source can be stopped not only by a mobile terminal but also by operation of the external operating device, and even when the control device is in the external operation state, the power source can be stopped by operation of the external operating device as needed.

[0014] Furthermore, the control system according to the present invention is a control system for controlling a work machine having a power source, a work unit that performs predetermined work, and a machine operation unit that can be operated by an operator, and comprises a control device, an external operation device provided outside the work machine, and a portable terminal separate from the external operation device, wherein the control device is capable of communicating with the external operation device and the portable terminal, and is capable of obtaining operation signals to operate the work unit from the machine operation unit and the external operation device, and is capable of obtaining a stop instruction signal to stop the power source from the portable terminal, and in an external operation state in which the work unit is controlled based on the operation signals obtained from the external operation device, the system invalidates the stopping of the power source based on the stop instruction signal obtained from the portable terminal. With this configuration, unintended interruptions to work by the work unit can be avoided in the same way as above, and therefore the continuity of work by the work unit can be ensured.

[0015] Furthermore, the work machine according to the present invention comprises a power source, a work unit that performs a predetermined task, a machine operation unit that can be operated by an operator, and a control device, wherein the control device is capable of communicating with an external operation device provided outside the work machine and a portable terminal separate from the external operation device, and is capable of obtaining operation signals to operate the work unit from the machine operation unit and the external operation device, and is capable of obtaining a stop instruction signal to stop the power source from the portable terminal, and in an external operation state in which the work unit is controlled based on the operation signals obtained from the external operation device, the stopping of the power source based on the stop instruction signal obtained from the portable terminal is invalidated. With this configuration, unintended interruptions to work by the work unit can be avoided in the same way as above, and therefore, the continuity of work by the work unit can be ensured. [Effects of the Invention]

[0016] As described above, the present invention makes it possible to ensure the continuity of work performed by the work machine. [Brief explanation of the drawing]

[0017] [Figure 1] Figure 1 is a schematic left side view showing an example of a work machine. [Figure 2] Figure 2 is a block diagram showing a control system including a control device in Embodiment 1. [Figure 3] Figure 3 is a flowchart showing an example of the processing procedure by the control device. [Figure 4] Figure 4 is a block diagram showing a control system including a control device in Embodiment 2. [Modes for carrying out the invention]

[0018] Hereinafter, embodiments for implementing the present invention will be described with reference to the drawings. Hereinafter, unless otherwise specified, the direction in which the operator (hereinafter referred to as the "actual machine operator") who operates the working machine 1 is seated in the driver's seat 16 and facing forward is defined as "front", the direction opposite to the front is defined as "rear", the left side when seated in the driver's seat 16 and facing forward is defined as "left", and the direction opposite to the left is defined as "right".

[0019] (Embodiment 1) (Configuration of the working machine) FIG. 1 is a schematic left side view showing an example of the working machine 1. First, the configuration of the working machine 1 will be described. The working machine 1 is, for example, a hydraulic excavator, and as shown in FIG. 1, includes a lower traveling body 10, an upper revolving body 11, and an attachment 2.

[0020] The lower traveling body 10 is a part for traveling (forward and backward), turning, etc. of the working machine 1, and is, for example, a crawler type. The upper revolving body 11 has a box-shaped driver's cab 12 that is rotatably mounted on the lower traveling body 10, and a machine room 13 that is arranged behind the driver's cab 12 and houses an engine 30 (power source).

[0021] As shown in FIG. 1, on the left side surface of the driver's cab 12, there are provided an entrance / exit 14 for the actual machine operator to get on and off, and a door 15 for opening and closing the entrance / exit 14. Inside the driver's cab 12, there are provided a driver's seat 16 and an actual machine operation unit 17 that can be operated by the actual machine operator seated on the driver's seat 16. The actual machine operation unit 17 includes a travel lever 17a arranged in front of the driver's seat 16 for moving the lower traveling body 10, and operation levers 17b arranged on both the left and right sides of the driver's seat 16 for moving the attachment 2. In addition, although not shown, inside the driver's cab 12, there is provided an ignition switch for starting and stopping the engine 30.

[0022] The machine room 13, although not shown in the figure, houses the engine 30, a battery (power source), and a pump that supplies hydraulic fluid to the hydraulic circuit 31 (not shown in Figure 1) when driven by the engine 30. The hydraulic circuit 31, although not shown in the figure, is equipped with a hydraulic motor that drives the lower traveling body 10, a hydraulic cylinder that drives the attachment 2, and a control valve that adjusts the flow rate of hydraulic fluid supplied from the pump to the hydraulic motor and hydraulic cylinder.

[0023] Attachment 2 is the part that performs excavation and other operations, and as shown in Figure 1, it has a boom 20, an arm 21, a bucket 22, etc. The boom 20 is mounted on the upper slewing body 11 so as to be able to be raised and lowered (rotatable around an axis extending in the left-right direction, the same applies hereinafter), the arm 21 is mounted on the boom 20 so as to be able to be raised and lowered, and the bucket 22 is mounted on the arm 21 so as to be able to be raised and lowered.

[0024] The work machine 1, configured as described above, performs predetermined tasks including travel and rotation by the lower traveling body 10, and excavation by the attachment 2. In other words, the work machine 1 has a work unit 33 that performs predetermined tasks, including the lower traveling body 10 and the attachment 2. The machine operator operates the work unit 33 using the machine operation unit 17.

[0025] Figure 2 is a block diagram showing an example of a control system A including a control device 4 in Embodiment 1. As shown in Figure 2, in addition to the above, the work machine 1 includes a control device 4 for controlling the work machine 1, and a camera 70 and a mode switch 71 electrically connected to the control device 4.

[0026] The control device 4 is composed of, for example, one or more electronic control units (ECUs) and can communicate with a remote control device 8 (external control device) located outside the work machine 1, and with a portable terminal 90 separate from the remote control device 8. The control device 4 has a communication unit 40, a storage unit 41, and a processing unit 42.

[0027] The communication unit 40 communicates wirelessly with the remote control device 8 and the mobile terminal 90, respectively, and includes communication hardware such as an antenna and a communication circuit. The wireless communication performed by the communication unit 40 may be short-range wireless communication compliant with communication standards such as BLE (Bluetooth® Low Energy) or Wi-Fi®, or long-range wireless communication compliant with communication standards such as LTE (Long Term Evolution) or 5G (5th generation mobile communication system). The communication unit 40 may also communicate wirelessly with the remote control device 8 and the mobile terminal 90 via a server or the like (not shown).

[0028] The memory unit 41 stores various programs and data to be executed by the processing unit 42, and includes a storage medium such as an SSD (Solid Disk Drive). The processing unit 42 executes the various programs stored in the memory unit 41 and includes a processor such as a CPU (Central Processing Unit). The processing by the control device 4 will be explained later with reference to the flowchart.

[0029] The control device 4 can obtain operation signals for operating the work unit 33 of the work machine 1 from the actual machine operation unit 17 of the work machine 1. Based on the operation signals, the control device 4 controls the work unit 33 by adjusting the pilot pressure input to the control valve in the hydraulic circuit 31. The operation signals may be on / off commands for operating the work unit 33, or information regarding the operation content. Furthermore, the control device 4 can obtain operation signals not only from the actual machine operation unit 17 but also from the remote control device 8. This makes it possible to operate the work unit 33 from outside the work machine 1 using the remote control device 8, even when the work machine 1 is unmanned (when the actual machine operator is not on the work machine 1).

[0030] In this embodiment, the control device 4 can switch between a machine operation mode, in which operation signals are acquired only from the machine operation unit 17 of the machine operation unit 17 and the remote control device 8, and an external operation mode, in which operation signals are acquired only from the remote control device 8 of the machine operation unit 17 and the remote control device 8. This allows for appropriate switching between the machine operation mode, operated by the machine operation unit 17 operated by a machine operator on board the work machine 1, and the external operation mode, operated by the remote control device 8 operated by an operator outside the work machine 1 (hereinafter simply referred to as "external operator"), depending on the conditions at the work site of the work machine 1 (hereinafter simply referred to as "work site").

[0031] Furthermore, the control device 4 can acquire instruction signals related to the engine 30 from the ignition switch and controls the engine 30 based on these instruction signals. These instruction signals include a stop instruction signal to stop the engine 30 and a start instruction signal to start the engine 30. In addition, the control device 4 can acquire instruction signals from the portable terminal 90 as well as the ignition switch. This makes it possible to start or stop the engine 30 of the work machine 1 by operating the portable terminal 90 as needed (for example, for warming up the engine 30). The control device 4 may also acquire only the stop instruction signal from the portable terminal 90.

[0032] With respect to the above-mentioned operation signals and instruction signals, the control device 4 may first perform wireless authentication with the remote control device 8 and the mobile terminal 90, respectively, and only permit the reception of each signal if authentication is successful.

[0033] Camera 70 is used to capture images of the work site and is installed on the front, rear, and sides of the upper rotating body 11. Mode switch 71 is used to select between the actual machine operation mode and the external operation mode controlled by the control device 4 and is installed on the outer surface of the upper rotating body 11 so that it can be reached from outside the work machine 1. Mode switch 71 is composed of a physical switch such as a dial switch.

[0034] The control device 4 described above, along with the remote control device 8 and the portable terminal 90 described below, constitute a control system A for controlling the work machine 1. The configurations of the remote control device 8 and the portable terminal 90 will be described below.

[0035] (Configuration of remote control device and mobile terminal) The remote control device 8 is located in a remote control center or similar location away from the work site and is operated by an external operator. The remote control device 8 comprises a remote control unit 80, a display unit 81, and a remote control device 82. The remote control unit 80, although not shown in the figure, includes a travel lever for moving the lower travel body 10 and an operating lever for moving the attachment 2, similar to the actual machine operation unit 17. The display unit 81 displays information such as images (videos) captured by the camera 70 of the work machine 1, and is composed of, for example, a liquid crystal display.

[0036] The remote control device 82 is, for example, a personal computer, which acquires images captured by the camera 70 from the control device 4 and displays those images on the display unit 81 in real time. The external operator operates the remote control unit 80 based on the images displayed on the display unit 81. The remote control device 82 outputs an operation signal to the control device 4 based on the operation of the remote control unit 80 by the external operator. With such a remote control device 8, the external operator can operate the work unit 33 using the remote control unit 80 in the same way that a real machine operator operates the work unit 33 using the real machine operation unit 17.

[0037] The portable terminal 90 has functions such as locking and unlocking the door 15 of the work machine 1 and stopping the engine 30, and is operated and carried by the machine operator or the like. The portable terminal 90 has operation buttons (not shown) and outputs instruction signals to the control device 4 based on the operation of the operation buttons.

[0038] However, when the work unit 33 is being operated by the remote control device 8, if a third party other than the external operator operating the remote control device 8 (for example, the actual machine operator) operates the mobile terminal 90 and sends an unexpected stop command signal to the control device 4 to stop the engine 30 of the work machine 1, there is a risk that the engine 30 will stop and the work performed by the work unit 33 will be unintentionally interrupted. In this regard, as will be explained below, the control device 4 invalidates the engine 30 stop based on the stop command signal received from the mobile terminal 90 when the work unit 33 is being controlled by an external operation based on the operation signal received from the remote control device 8.

[0039] (Procedure for processing by the control device) Figure 3 is a flowchart showing an example of the processing procedure by the control device 4. Next, the processing procedure by the control device 4 in Embodiment 1 will be described with reference to the flowchart in Figure 3. The processing shown in Figure 3 starts, for example, after the engine 30 has started (for example, after the engine 30 has started and the machine operation unit 17 is in a standby state and has not been operated), when the control device 4 receives a stop command signal from the mobile terminal 90.

[0040] As shown in step S1 of Figure 3, the control device 4 determines whether or not the control device 4 is in an external operation state. For example, if the control device 4 is in external operation mode, for example, if the mode switch 71 of the work machine 1 is set to external operation mode, then the control device 4 determines that it is in an "external operation state". If the control device 4 determines that it is in an "external operation state", the process proceeds to step S2; otherwise, the process proceeds to step S3.

[0041] In step S2, the control device 4 disables the engine 30 stop based on the stop instruction signal received from the mobile terminal 90, and then terminates the process. Once the control device 4 has disabled the engine 30 stop based on the mobile terminal 90 in this manner, it will not perform engine 30 stop control even if it receives a stop instruction signal from the mobile terminal 90, until the engine 30 stop based on the mobile terminal 90 is re-enabled.

[0042] On the other hand, in step S3, the control device 4 enables the stopping of the engine 30 by the mobile terminal 90, then proceeds to step S4, executes the engine 30 stop control, and then terminates the process.

[0043] The processing procedure by the control device 4 described above is just one example and is not limited to this. For example, the control device 4 may disable the engine 30 stop based on the stop instruction signal acquired from the mobile terminal 90 when it enters an external operation state (for example, when switching from actual machine operation mode to external operation mode), and enable the engine 30 stop based on the stop instruction signal acquired from the mobile terminal 90 when it is no longer in an external operation state (for example, when switching from external operation mode to actual machine operation mode). In addition, the control device 4 may refuse to accept the stop instruction signal from the mobile terminal 90 when it is in an external operation state (for example, in external operation mode).

[0044] As explained above, when the control device 4 is in an external operation state, controlling the work unit 33 based on operation signals acquired from the remote control device 8, it disables the stopping of the engine 30 based on a stop instruction signal acquired from the mobile terminal 90. Therefore, even if an unexpected stop instruction signal to stop the engine 30 is transmitted from the mobile terminal 90 to the control device 4 while the control device 4 is in an external operation state, unintended interruptions to the work performed by the work unit 33 can be avoided. This ensures the continuity of work performed by the work machine 1.

[0045] (modified version) Although one embodiment of the present invention has been described above, the power source may be an electric motor, and is not limited to the above. Furthermore, the control device 4 may be located in a different position from the work machine 1, and is not limited to the above. The control device 4 does not have to be equipped with a mode switch 71. In this case, the control device 4 may determine in step S1 that it is in an "external operation state" if the control of the work unit 33 currently being performed or most recently performed is based on an operation signal obtained from the remote control device 8. In this case, the control device 4 may use, for example, a determination flag that turns ON when the work unit 33 is controlled based on an operation signal obtained from the remote control device 8, and may determine in step S1 whether or not it is in an external operation state based on this determination flag. Furthermore, if the control device 4 does not have a mode switch 71, it may switch from the actual machine operation mode to the external operation mode when authentication by communication with the remote control device 8 is successful.

[0046] Furthermore, in addition to disabling the stopping of the engine 30 based on the stop instruction signal acquired from the mobile terminal 90 as described above, the control device 4 may also disabling the starting of the engine 30 based on the start instruction signal acquired from the mobile terminal 90 when the control device 4 is in an external operation state. This makes it possible to avoid unintended starting of the engine 30 even if an unexpected start instruction signal to start the engine 30 is transmitted from the mobile terminal 90 to the control device 4 when the control device 4 is in an external operation state.

[0047] For example, the control device 4 may be able to obtain a start command signal from the mobile terminal 90 before starting the engine 30, and may start the following process when it obtains a start command signal from the mobile terminal 90.

[0048] The control device 4 determines whether or not it is in an external operation state. If it determines that it is in an external operation state, it disables the starting of the engine 30 based on the start command signal received from the mobile terminal 90, and then terminates processing. Once the control device 4 disables the starting of the engine 30 by the mobile terminal 90 in this way, it will not perform engine starting control of the engine 30 even if it receives a start command signal from the mobile terminal 90, until the starting of the engine 30 by the mobile terminal 90 is re-enabled. On the other hand, if the control device 4 does not determine that it is in an external operation state, it enables the starting of the engine 30 by the mobile terminal 90, performs engine starting control of the engine 30, and then terminates processing. This series of processes is equivalent to the process in the flowchart of Figure 3, where "engine stop" is replaced with "engine start". In this way, the control device 4 can disable the starting of the engine 30 based on the start command signal received from the mobile terminal 90 when it is in an external operation state.

[0049] The processing procedure by the control device 4 described above is just one example and is not limited to this. For example, the control device 4 may disable the starting of the engine 30 based on the start command signal acquired from the mobile terminal 90 when it enters an external operation state, and enable the starting of the engine 30 based on the start command signal acquired from the mobile terminal 90 when it is no longer in an external operation state. Alternatively, the control device 4 may refuse to accept the start command signal from the mobile terminal 90 when it is in an external operation state.

[0050] In addition to the above, the control device 4 may, when in an external operation state, disable one or more of the following: stopping the engine 30 based on a stop instruction signal acquired from the mobile terminal 90, starting the engine 30 based on a start instruction signal acquired from the mobile terminal 90, and other controls of the engine 30 based on instruction signals acquired from the mobile terminal 90 (i.e., controls other than stopping and starting). For example, the control device 4 may simply disable starting the engine 30 based on a start instruction signal acquired from the mobile terminal 90 when in an external operation state. This prevents unintended starting of the engine 30 even if an unexpected start instruction signal is sent from the mobile terminal 90 to the control device 4 when the control device 4 is in an external operation state.

[0051] Furthermore, the control device 4 may also be capable of receiving a stop command signal from the remote control device 8 in addition to the mobile terminal 90, and may enable the stopping of the engine 30 based on the stop command signal received from the remote control device 8 when the control device 4 is in an external operation state. This makes it possible to stop the engine 30 not only by operating the mobile terminal 90 but also by operating the remote control device 8, and even when the control device 4 is in an external operation state, the engine 30 can be stopped by operating the remote control device 8 as needed.

[0052] (Embodiment 2) Figure 4 is a block diagram showing a control system B including a control device 5 in Embodiment 2. This embodiment differs from Embodiment 1 in that the work machine 1 is configured to be controlled (automatically controlled) according to a predetermined automatic control program. The processing unit 52 of the control device 5 can execute the automatic control program stored in the storage unit 51. Automatic control of the work machine 1 may be performed not only in an unmanned state, but also in a manned state (when an actual machine operator is on board the work machine 1).

[0053] Furthermore, this embodiment differs from Embodiment 1 in that it employs a tablet terminal 91 instead of the remote control device 8 as an external operating device. The tablet terminal 91 has functions such as starting and stopping the automatic control of the work machine 1, and is operated and carried by an external operator. The tablet terminal 91 has a touch panel (not shown) and outputs an operation signal to the control device 5 based on the operation of the touch panel.

[0054] When the control device 5 receives an operation signal from the tablet terminal 91, it enters an external operation state and executes control (automatic control) of the work machine 1 according to the automatic control program. As a result, when the control device 5 executes automatic control of the work machine 1 triggered by the operation signal received from the tablet terminal 91, it enters an external operation state, thereby invalidating the stopping of the engine 30 by the mobile terminal 90. This avoids unintended interruptions to the work performed by the work machine 33, similar to the case described above (when the control device 4 in Embodiment 1 controls the work unit 33 based on an operation signal received from the remote control device 8), and thus ensures the continuity of the work performed by the work unit 33.

[0055] Furthermore, when a machine operator is on board the work machine 1 (for example, when the mobile terminal 90 is brought into the driver's cab 12 by the machine operator), the control device 5 does not need to be in an external operation state when performing automatic control of the work machine 1. This allows the machine operator on board the work machine 1 to stop the engine 30 by operating the mobile terminal 90 as needed, even during automatic control of the work machine 1.

[0056] The embodiments described above are illustrative in all respects and are not intended to be limited in their interpretation. Therefore, the technical scope of the present invention is not construed solely by the embodiments and examples described above, but is defined based on the claims. Furthermore, any modifications or changes falling within the equivalent scope of the claims are all within the scope of the present invention. [Explanation of Symbols]

[0057] 1. Working Machinery 4,5 Control device 12 Driver's cab 17. Actual Machine Operation Section 30 Engine (power source) 33 Work Unit 8. Remote control device (external control device) 90 Mobile devices 91. Tablet device (external control device) A,B control system

Claims

1. A control device for controlling a work machine having a work unit that performs a predetermined task, a power source, and a machine operation unit that can be operated by an operator, The external operating device is located outside the aforementioned work machine, and it is capable of communicating with a portable terminal separate from the external operating device. The machine's control unit and the external control device can acquire operation signals to operate the work unit, and the mobile terminal can acquire a stop command signal to stop the power source. A control device that, in an external operation state in which the work unit is controlled based on the operation signal obtained from the external operating device, disables the stopping of the power source based on the stop instruction signal obtained from the mobile terminal.

2. In the control device according to claim 1, The aforementioned mobile terminal can acquire a start command signal to start the power source. A control device that, in the aforementioned external operation state, disables the starting of the power source based on the starting instruction signal acquired from the mobile terminal.

3. In the control device according to claim 1, A control device capable of switching between a real machine operation mode, in which the operation signal is acquired only from the real machine operation unit among the real machine operation unit and the external operation device, and an external operation mode, in which the operation signal is acquired only from the external operation device among the real machine operation unit and the external operation device.

4. In the control device according to claim 1, A control device that, upon receiving the operation signal from the external operating device, enters the external operation state and executes control of the work machine according to a predetermined program.

5. In the control device according to claim 1, Furthermore, the stop instruction signal can be obtained from the external operating device. A control device that enables the stopping of the power source based on the stop instruction signal obtained from the external operating device in the aforementioned external operating state.

6. A control system for controlling a work machine having a power source, a work unit that performs a predetermined task, and a machine operation unit that can be operated by an operator, The system comprises a control device, an external operating device provided outside the work machine, and a portable terminal separate from the external operating device. The control device is The external operating device and the mobile terminal are capable of communicating with each other. The machine's control unit and the external control device can acquire operation signals to operate the work unit, and the mobile terminal can acquire a stop command signal to stop the power source. A control system that, in an external operation state in which the work unit is controlled based on the operation signal obtained from the external operating device, disables the stopping of the power source based on the stop instruction signal obtained from the mobile terminal.

7. A work machine comprising a power source, a work unit that performs a predetermined task, a machine operation unit that can be operated by an operator, and a control device, The control device is The machine is capable of communicating with an external control device located outside the machine, and with a separate portable terminal. The machine's control unit and the external control device can acquire operation signals to operate the work unit, and the mobile terminal can acquire a stop command signal to stop the power source. A work machine that, in an external operation state in which the work unit is controlled based on the operation signal obtained from the external operating device, disables the stopping of the power source based on the stop instruction signal obtained from the mobile terminal.

Images