A working machine, a working machine system, and a method for controlling a working machine.

Abstract

It is possible to provide a work machine that can prevent operation with different settings. [Solution] The work machine 1 comprises a work machine body 2, a vehicle state detection device 54, and a controller 43. The work machine body 2 is capable of mounting a work machine 3 having a work machine body 11 and an attachment 12 attached to the work machine body 11. The vehicle state detection device 54 detects the type of work machine body or the type of attachment 12 attached to the work machine body 11. If the controller 43 recognizes a change in the type of work machine body 11 or the type of attachment 12 based on the detection by the vehicle state detection device 54, it restricts the operation of the work machine 3.

Description

Technical Field

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

Background Art

[0002] The working tools of working machines used for demolishing buildings and the like are configured to be replaceable with multiple types of working tools depending on the working height or the type of work (such as garbage collection or loading) (see, for example, Patent Document 1).

[0003] For example, the working machine shown in Patent Document 1 is provided with working tools such as a demolition long specification that can be attached to a base machine or a two-piece boom (separate boom) specification.

[0004] Each working tool has a boom on the base end side, and this boom is detachably attached to another boom provided on the base machine. As a result, multiple types of working tools can be detachably attached to the base machine.

[0005] The working tool includes a working tool body that can be attached to the base machine and an attachment that can be attached to the working tool body. The working tool body is configured such that a plurality of types of attachments such as a bucket, a breaker, a processor, a crusher, and a grapple can be attached to its tip (see, for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, when changing the type of implement body 11 or attachment, it may be necessary to change the settings for the hydraulic fluid supply amount and hydraulic fluid pressure, and operating with different settings may prevent the implement from performing optimally.

[0008] This disclosure aims to provide a work machine, a work machine system, and a method for controlling a work machine that can prevent it from operating with different settings. [Means for solving the problem]

[0009] To achieve the above objective, the work machine of the first disclosure comprises a work machine body, a detection device, and a controller. The work machine body is capable of mounting work machines having a work machine body and attachments attached to the work machine body. The detection device detects the type of work machine body or the type of attachment attached to the work machine body. If the controller recognizes a change in the type of work machine body or attachment based on the detection of the detection device, it restricts the operation of the work machine.

[0010] The control method for a work machine of the second disclosure comprises a detection step and a limiting step. In the detection step, when a work machine having a work machine body and attachments attached to the work machine body is attached to the work machine body, the type of work machine body or the type of attachment attached to the work machine body is detected. In the limiting step, if a change in the type of work machine body or the type of attachment is recognized based on the detection, the operation of the work machine is limited. [Effects of the Invention]

[0011] This disclosure provides a work machine, a work machine system, and a method for controlling a work machine that can prevent it from operating with different settings. [Brief explanation of the drawing]

[0012] [Figure 1]A side view showing a working machine of an embodiment according to this disclosure. [Figure 2] A side view showing a working machine of an embodiment according to this disclosure. [Figure 3] A side view showing a working machine of an embodiment according to this disclosure. [Figure 4] A block diagram showing the configuration of a work machine and its control system according to the embodiments of this disclosure. [Figure 5] A block diagram illustrating the functions of the controller according to the embodiment of this disclosure. [Figure 6] A figure showing an example of the display screen of the display device according to the embodiment of this disclosure. [Figure 7] A flowchart illustrating the control operation of a work machine according to the embodiment of this disclosure. [Figure 8] A block diagram showing the configuration of a modified work machine and its control system according to an embodiment of the present disclosure. [Modes for carrying out the invention]

[0013] The following describes the working machinery according to the embodiments of the present invention with reference to the drawings.

[0014] Figure 1 is a side view showing the work machine 1 of this embodiment. The work machine 1 comprises a work machine body 2 and a work implement 3a. The work implement 3a is detachably mounted on the work machine body 2. The work machine body 2 comprises a traveling body 4, a slewing body 5, a base boom 6, and a base boom cylinder 7. The traveling body 4 has a pair of tracks 4a. The work machine 1 moves when the tracks 4a are driven by a driving force from the engine.

[0015] The slewing body 5 is rotatably mounted on the running body 4. The slewing body 5 has a cab 8, a storage compartment 9, and a counterweight 10. The cab 8, which serves as the driver's cab, is located on the front left side of the slewing body 5. The storage compartment 9 is located behind the cab 8. The storage compartment 9 houses the engine, radiator, radiator fan, etc. The counterweight 10 is located behind the slewing body 5.

[0016] The base boom 6 is attached to the central position at the front of the revolving body 5. The base end of the base boom 6 is rotatably connected to the revolving body 5. The base boom cylinder 7 has the tip of the rod connected to the base boom 6 and the base end of the cylinder tube connected to the revolving body 5. By the extension and contraction of the base boom cylinder 7, the base boom 6 undulates with respect to the revolving body 5. As the base boom cylinder 7, for example, a hydraulic cylinder is used, but an electric cylinder may also be used.

[0017] The working implement 3a is a working implement with a two-piece boom specification. The working implement 3a has a working implement main body 11a and an attachment 12a. The base end of the working implement main body 11a is attached to the base boom 6. The attachment 12a is a bucket. The attachment 12a is attached to the tip of the working implement main body 11a. In the figure, the working implement 3a is regarded as one type of the working implement 3 and is shown as the working implement 3(3a). The working implement main body 11a is regarded as one type of the working implement main body 11 and is shown as the working implement main body 11(11a). The attachment 12a is regarded as one type of the attachment 12 and is shown as the attachment 12(12a). The same applies to FIGS. 2 and 3 below.

[0018] The work implement main body 11a includes a bracket 13, a work implement side boom 14, an arm 15, a first cylinder 16, a second cylinder 17, and a third cylinder 18. The bracket 13 is detachably attached to the tip of the base boom 6. The base end of the work implement side boom 14 is rotatably attached to the bracket 13. The tip of the work implement side boom 14 is rotatably attached to the base end of the arm 15. The attachment 12a is rotatably attached to the tip of the arm 15. The attachment 12a is a bucket. The end of the rod of the first cylinder 16 is connected to the work implement side boom 14, and the end of the cylinder tube of the first cylinder 16 is connected to the base boom 6. The end of the rod of the second cylinder 17 is connected to the arm 15, and the end of the cylinder tube of the second cylinder 17 is connected to the work implement side boom 14. The end of the rod of the third cylinder 18 is connected to the attachment 12a via a link 19. The end of the cylinder tube of the third cylinder 18 is connected to the arm 15. The first cylinder 16, the second cylinder 17, and the third cylinder 18 are, for example, hydraulic cylinders, but may also be electric cylinders. The work implement 3 operates by the extension and contraction of the base boom cylinder 7, the first cylinder 16, the second cylinder 17, and the third cylinder 18.

[0019] In the work machine 1 of the present embodiment, a plurality of types of work implement main bodies can be attached to the work machine main body 2. Also, a plurality of types of attachments can be attached to each work implement main body. In FIG. 1, a two-piece boom type is used as the work implement main body 11a, and a bucket is used as one type of the attachment 12a.

[0020] FIG. 2 is a side view showing the work machine 1 in which the work implement 3b is attached to the work machine main body 2 instead of the work implement 3a. The work implement 3b includes a work implement main body 11b and an attachment 12b. The work implement main body 11b has a long specification for disassembly. The attachment 12b is a crusher.

[0021] The work machine body 11b includes a work machine side boom 22, an intermediate link 23, an arm 24, a first cylinder 25, a second cylinder 26, and a third cylinder 27.

[0022] The work machine boom 22 is detachably attached to the tip of the base boom 6. The intermediate link 23 is rotatably attached to the tip of the work machine boom 22 at one end. The arm 24 is rotatably attached to the other end of the intermediate link 23 at its base end. The attachment 12b is detachably attached to the tip of the arm 24 via an auto coupler 28. The auto coupler 28 is a mounting device for attaching attachments such as crushers, breakers, processors, and grapples to the tip of the arm 24, but the attachment may also be attached directly to the arm 24 without going through the auto coupler 28. The tip of the rod of the first cylinder 25 is connected to the intermediate link 23, and the base end of the cylinder tube is connected to the work machine boom 22. The tip of the rod of the second cylinder 26 is connected to the arm 24, and the base end of the cylinder tube is connected to the intermediate link 23. The first cylinder 25, the second cylinder 26, and the third cylinder 27 are, for example, hydraulic cylinders, but may also be electric cylinders. The tip of the rod of the third cylinder 27 is connected to an auto coupler 28, and the base end of the cylinder tube is connected to the arm 24. The work machine 3b is driven by the extension and retraction of the base boom 6, the first cylinder 25, the second cylinder 26, and the third cylinder 27.

[0023] As shown in Figures 1 and 2, multiple types of work implement bodies 11a and 11b can be attached to the tip of the base boom 6, and multiple types of attachments 12a and 12b can be attached to the tips of the work implement bodies 11a and 11b. Figures 3(a) to 3(d) are side views showing examples of different types of work implement bodies attached to the work machine body 2.

[0024] In Figure 3(a), the work implement 3c is mounted on the base boom 6 of the work machine body 2. The work implement 3c has a work implement body 11c and an attachment 12b. The work implement body 11c is a long demolition specification with an insert 32 added to the base end of the work implement side boom 22 of the work implement body 11b. The work implement body 11c is equipped with a crusher as an attachment 12b. In Figure 3(b), the work implement 3d is mounted on the base boom 6 of the work machine body 2. The work implement 3d has a work implement body 11d and an attachment 12a. The work implement body 11d is a short specification. An attachment 12a, which is a bucket, is mounted on the tip of the work implement body 11d. In Figure 3(c), the work implement 3e is mounted on the base boom 6 of the work machine body 2. The work implement 3e has a work implement body 11e and an attachment 12a. The work machine body 11e is a straight type for excavation. An attachment 12a, which is a bucket, is mounted on the tip of the work machine body 11e. In Figure 3(d), the work machine 3f is mounted on the base boom 6 of the work machine body 2. The work machine 3f has a work machine body 11f and an attachment 12a. The work machine body 11f is a bent type for excavation. An attachment 12a, which is a bucket, is mounted on the tip of the work machine body 11f.

[0025] As described above, the main body of the work machine 2 can be fitted with multiple types of work machine bodies 11, and the main body of the work machine 11 can be fitted with multiple types of attachments 12. In the following description, if there is no need to distinguish between work machines, such as work machine 3a and 3b, it will be referred to as work machine 3. If there is no need to distinguish between work machine bodies 11a and 11b, it will be referred to as work machine body 11. If there is no need to distinguish between attachments 12a and 12b, it will be referred to as attachment 12. Note that the types of work machine bodies and attachments include those with modified dimensions or shapes. For example, work machines with two-piece boom specifications that have different boom dimensions or shapes will be considered different types. Also, for example, crushers with different shapes or dimensions will be considered different types.

[0026] Figure 4 is a block diagram showing the configuration of the work machine 1 and its control system. Figure 4 describes an example in which the work machine 3b (see Figure 2) is attached to the work machine body 2. As shown in Figure 4, the work machine 1 includes a drive source 41, a hydraulic pump 42, and a controller 43 (control unit). The drive source 41 is controlled by command signals from the controller 43. The drive source 41 is, for example, an internal combustion engine. Alternatively, the drive source 41 may include an electric motor or a hydrogen engine. The hydraulic pump 42 is driven by the drive source 41 and discharges hydraulic fluid. The hydraulic fluid discharged from the hydraulic pump 42 is supplied to the base boom cylinder 7, and the first cylinder 25, second cylinder 26, third cylinder 27, and attachment 12b.

[0027] The working machine 1 includes a slewing motor 44. The slewing motor 44 is, for example, a hydraulic motor. The slewing motor 44 is driven by hydraulic fluid from a hydraulic pump 42. The slewing motor 44 rotates the slewing body 5. Although one hydraulic pump is shown in Figure 2, multiple hydraulic pumps may be provided. Alternatively, the slewing motor 44 may be an electric motor.

[0028] The hydraulic pump 42 is a variable displacement pump. A pump control device 45 is connected to the hydraulic pump 42. The pump control device 45 controls the tilt angle of the hydraulic pump 42. The pump control device 45 includes, for example, a solenoid valve and is controlled by command signals from the controller 43. The controller 43 controls the capacity of the hydraulic pump 42 by controlling the pump control device 45.

[0029] The working machine 1 includes a main valve 46. The hydraulic pump 42, cylinders 7, 25-27, attachment 12b, and swing motor 44 are connected by a hydraulic circuit via the main valve 46. Hydraulic fluid is supplied from the hydraulic pump 42 to the main valve 46 via a main passage 48. The main valve 46 may include a plurality of valves that adjust the flow rate of hydraulic fluid supplied to each of the cylinders 7, 25-27, attachment 12b, and swing motor 44.

[0030] The main valve 46 is operated by pilot pressure supplied via a proportional solenoid valve 50, which is controlled in accordance with the operation of the operating lever 47. A pilot passage 49 is provided, branching off from the main passage 48 and connecting to the pilot chamber of the main valve 46. The pilot pressure is supplied from the hydraulic pump 42 through the pilot passage 49. The main valve 46 controls the flow rate of hydraulic fluid supplied from the hydraulic pump 42 to the cylinders 7, 25-27, attachment 12b, and slewing motor 44. The operation of the work machine body 11 is controlled by controlling the flow rate of hydraulic fluid supplied to the cylinders 7, 25-27. The rotation of the slewing body 5 is controlled by controlling the flow rate of hydraulic fluid supplied to the slewing motor 44. The operation of attachment 12b is controlled by controlling the flow rate of hydraulic fluid supplied to attachment 12b.

[0031] The work machine 1 includes a proportional solenoid valve 50. The proportional solenoid valve 50 is located in the pilot passage 49. The proportional solenoid valve 50 may be provided for each of the cylinders 7, 25-27, attachment 12b, and slewing motor 44. The proportional solenoid valve 50 adjusts its opening degree based on a drive command signal from the controller 43 to adjust the pilot pressure supplied to the main valve 46. When the proportional solenoid valve 50 closes the pilot passage 49, pilot pressure is not supplied to the main valve 46 even when the operating lever 47 is operated, and therefore the work machine body 11, attachment 12, base boom 6, and slewing body 5 cannot be operated.

[0032] Although not shown in the diagram, the work machine 1 includes, for example, a travel motor, which is a hydraulic motor. The travel motor is operated by hydraulic fluid discharged from the hydraulic pump 42. The operation of the travel motor drives the tracks 4a, causing the work machine 1 to move.

[0033] The operating levers 47 are operating members for operating the work machine body 11, the attachment 12b, and the slewing movement of the slewing body 5. Multiple operating levers 47 may be provided. The operating levers 47 are located inside the cab 8, for example, on the left and right sides of the driver's seat. The operation of the work machine body 11, the operation of the attachment 12b, and the slewing movement of the slewing body 5 are assigned to the forward, backward, left, and right movements of the left operating lever 47 and the forward, backward, left, and right movements of the right operating lever. When the operator operates the operating levers 47, an operation signal is transmitted from the operating levers 47 to the controller 43. The controller 43 transmits a drive command signal to the proportional solenoid valve 50 in response to the received operation signal. The proportional solenoid valve 50 adjusts its opening degree based on the drive command signal as described above. The operation of the operating levers 47 controls the pilot pressure supplied to the pilot chamber of the main valve 46. The main valve 46 is driven by pilot pressure control, which controls the flow rate of hydraulic fluid supplied from the hydraulic pump 42 to the cylinders 7, 25-27, attachment 12b, and swing motor 44.

[0034] The work machine 1 includes a lock lever 51. By operating the lock lever 51, the operation of the work machine body 11, the attachment 12, and the slewing body 5 is locked. When the lock lever 51 is operated, it transmits a lock operation signal to the controller 43, which receives the lock operation signal and transmits a drive command signal to close the proportional solenoid valve 50. As a result, the proportional solenoid valve 50 closes the pilot flow path 49, and even if the operating lever 47 is operated, the main valve 46 is not driven, so the work machine body 11, the attachment 12, and the slewing body 5 cannot be operated.

[0035] The work machine 1 includes an input device 52 and a display device 53. The input device 52 and the display device 53 are located inside the cab 8. The input device 52 is operable by the operator. The input device 52 is a touchscreen; however, the input device 52 may also include hardware keys. The operator inputs various settings related to the work machine 1 by operating the input device 52. The input device 52 outputs input signals corresponding to the operator's operations. The display device 53 is, for example, an LCD, OLED, or other type of display. The display device 53 displays a screen corresponding to the display signals from the controller 43.

[0036] The work machine 1 includes a vehicle status detection device 54 (an example of a detection device). The vehicle status detection device 54 detects the type of attachment 12 and the type of work machine body 11. For example, an RFID (Radio Frequency Identification) system can be used for the vehicle status detection device 54. The vehicle status detection device 54 includes a reader and RFID tags. RFID tags are placed on each of the multiple types of work machine bodies 11 that can be attached to the work machine body 2, and on each of the multiple types of attachments 12 that can be attached to the work machine body 11. The reader is connected to a controller 43. The reader reads the data from the RFID tags. The data on the RFID tags differs for each type of work machine body 11 and each type of attachment 12. The reader transmits the read data to the controller 43. For example, in the case of work machine 3a shown in Figure 1, the RFID tag placed on the work machine body 11 stores data indicating that the type of work machine body 11a is a two-piece boom specification. Furthermore, in the case of the work machine 3a shown in Figure 1, the RFID tag placed on the attachment stores data indicating that the type of attachment 12a is a bucket.

[0037] Furthermore, the vehicle status detection device 54 is not limited to an RFID system; for example, the vehicle status detection device 54 may include a QR code (registered trademark) and a camera. The QR code is affixed to each of the various types of work machine bodies 11 and each of the various types of attachments. The QR code is different for each type of work machine body 11 and each type of attachment 12. The camera reads the QR code and outputs the read data to the controller 43.

[0038] The vehicle condition detection device 54 may include a camera and detect the type of work machine body 11 and the type of attachment 12 by performing image analysis on images captured by the camera. The vehicle condition detection device 54 outputs the detected type of work machine body 11 as work machine body information to the controller 43. The vehicle condition detection device 54 also outputs the detected type of attachment 12 as attachment information to the controller 43.

[0039] The vehicle status detection device 54 may be configured to detect the type of work machine body 11 and the type of attachment 12 by the connection of connectors. In this case, the vehicle status detection device 54 may include, for example, a first base-side connector, a second base-side connector, a work machine body-side connector, and an attachment-side connector. The first base-side connector and the second base-side connector are located on the work machine body 2. The work machine body-side connector is located on the work machine body 11. The attachment-side connector is located on the attachment 12. When the work machine body 11 is attached to the work machine body 2, the work machine body-side connector is connected to the first base-side connector. The work machine body-side connector is configured to short-circuit the first base-side connector at different positions for each type of work machine body 11. The controller 43 can detect the type of work machine body 2 by the signal from the first base-side connector. When the attachment 12 is attached to the work machine body 2, the attachment-side connector is connected to the second base-side connector. The attachment-side connector is configured to short-circuit the second base-side connector at different positions for each type of attachment 12. The controller 43 can detect the type of attachment 12 by the signal from the second base-side connector.

[0040] The attitude sensor 55 detects the attitude of the work machine 3. The attitude sensor 55 includes, for example, an IMU (Inertial Measurement Unit). The attitude of the work machine 3 includes, for example, the angles of the base boom 6, the work machine side boom 14, the arm 15, and the attachment 12a in the case of Figure 1. The attitude sensor 55 outputs an attitude signal indicating the attitude of the work machine 3. The controller 43 receives the attitude signal from the attitude sensor 55.

[0041] The controller 43 includes a processor 43a, such as a CPU, and a storage device 43b. The processor 43a performs processing for controlling the work machine 1. The storage device 43b includes memory such as RAM or ROM, and auxiliary storage such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 43b stores data and programs for controlling the work machine 1. The processor 43a reads the programs stored in the storage device 43b into memory (RAM) and executes them.

[0042] Figure 5 is a functional block diagram showing the controller 43. The controller 43 includes a vehicle state detection unit 61, a vehicle state determination unit 62, a vehicle operation control unit 63, a guidance display unit 64, a confirmation operation determination unit 65, a vehicle setting reading unit 66, a vehicle state storage unit 67, and a vehicle setting information storage unit 68. The vehicle state detection unit 61, the vehicle state determination unit 62, the vehicle operation control unit 63, the guidance display unit 64, and the confirmation operation determination unit 65 are realized by the processor 43a executing a program stored in the storage device 43b. The vehicle state storage unit 67 and the vehicle setting information storage unit 68 are included in the storage device 43b.

[0043] The vehicle status detection unit 61 detects the type of work machine body 11 and the type of attachment 12 currently mounted on the work machine body 2 from the data detected by the vehicle status detection device 54. If the vehicle status detection device 54 is an RFID system, the vehicle status detection unit 61 detects the type of work machine body 11 and the type of attachment 12 based on the data received from the reader, the correspondence between the data stored in the storage device 43b and the type of work machine body, and the correspondence between the data and the type of attachment 12.

[0044] The vehicle state determination unit 62 determines whether the type of work implement body 11 and the type of attachment 12 detected by the vehicle state detection unit 61 have changed from the types of work implement body 11 and attachment 12 stored in the vehicle state storage unit 67. The vehicle state storage unit 67 stores, for example, the types of work implement body 11 and attachment 12 detected by the vehicle state determination unit 62 before the power of the work machine 1 is turned on. Turning on the power of the work machine 1 means, for example, turning on the key switch.

[0045] If the vehicle operation control unit 63 determines that the type of work implement body 11 and attachment 12 detected by the vehicle state detection unit 61 have changed from the types of work implement body 11 and attachment 12 stored in the vehicle state storage unit 67, it sends a closing command signal to the proportional solenoid valve 50. This closes the pilot flow path 49, restricting the operation of the base boom 6, work implement body, and attachment so that they do not operate. If the operator confirms that the type of work implement body 11 and attachment 12 detected by the vehicle state detection unit 61 matches the types of work implement body 11 and attachment 12 actually installed, the vehicle operation control unit 63 sends an opening command signal to the proportional solenoid valve 50, allowing the base boom 6, work implement body, and attachment to operate by operating the operating lever 47.

[0046] If the guidance display unit 64 determines that the type of work machine body 11 and the type of attachment 12 detected by the vehicle state detection unit 61 are different from the types of work machine body 11 and attachment 12 stored in the vehicle state storage unit 67, it displays the detected types of work machine body 11 and attachment 12 on the display device 53.

[0047] Figure 6 shows an example of the display screen 53a of the display device 53. When the work machine body 11a and attachment 12a shown in Figure 1 are attached to the work machine body 2, for example, the display section 56 will display, "A two-piece boom and bucket have been detected. Is this correct?" The guidance display section 64 also displays the type of the detected work machine body 11 and attachment 12, along with a confirmation button 57 (an example of a confirmation operation unit) on the display device 53 to allow the operator to confirm whether the detected type of work machine body 11 and attachment 12 matches the type of work machine body 11 and attachment 12 that are actually attached. The confirmation button 57 includes, for example, an OK button 57a ​​and an NG button 57b. If the operator determines that the detected type of work machine body and attachment 12 are the same as the type of work machine body and attachment 12 that are actually attached, the operator presses the OK button 57a ​​and a confirmation OK signal is sent to the controller 43. If the operator determines that the detected type of work machine body 11 and attachment 12 are different from the actual type of work machine body and attachment 12 installed, the operator presses the NG button 57b, and a confirmation NG signal is sent to the controller 43.

[0048] Furthermore, the operator can check the type of work implement body 11 and attachment 12 that are actually installed to confirm whether the installed work implement body 11 and attachment 12 are compatible with the work machine body 2. In this case, if the controller 43 determines that the detected work implement body 11 and attachment 12 are different from the types of work implement body 11 and attachment 12 stored in the vehicle state memory unit 67, it does not have to display the detected work implement body 11 and attachment 12 on the display device 53, and may instead display a notification prompting confirmation of compatibility, such as "Please check compatibility?", on the display unit 56. If the operator determines that they are compatible, the operator presses the OK button 57a, and a confirmation OK signal is sent to the controller 43. If the operator determines that they are not compatible, the operator presses the NG button 57b, and a confirmation NG signal is sent to the controller 43.

[0049] The confirmation operation determination unit 65 determines whether it has received a confirmation OK signal or a confirmation NG signal. If the confirmation operation determination unit 65 determines that it has received a confirmation NG signal, it displays fault repair guidance on the display device 53.

[0050] When the vehicle setting reading unit 66 determines that the confirmation operation determination unit 65 has received a confirmation OK signal, it reads the vehicle settings corresponding to the detected type of work machine body 11 and attachment 12 from the vehicle setting information storage unit 68 into memory. The controller 43 controls the work machine 1 based on the vehicle settings read into memory when the operator operates the work machine 1. Furthermore, when the vehicle setting reading unit 66 determines that the type of work machine body 11 and attachment 12 detected by the vehicle state detection unit 61 are the same as the types of work machine body 11 and attachment 12 stored in the vehicle state storage unit 67, it reads the vehicle settings corresponding to the detected type of work machine body 11 and attachment 12 from the vehicle setting information storage unit 68 into memory.

[0051] The vehicle setting information storage unit 68 stores vehicle settings corresponding to the type of work machine body and the type of attachment 12 in advance. The vehicle settings corresponding to the type of work machine body and the type of attachment 12 include settings for the working range, settings for preventing interference with the cab, and speed settings.

[0052] Setting the working range includes setting the working range, the dimensions of the work machine body 11, and the dimensions of the attachment 12. The working range is the area in which work is performed with the base boom 6 and the work machine 3, centered on the work machine body 2. The working range may be, for example, the range that prevents the work machine 1 from tipping over. When the operator operates the work machine 1, the range in which tipping can be prevented differs depending on the dimensions and weight of the work machine body 11 and the dimensions and weight of the attachment 12. Therefore, a working range is set for each combination of the type of work machine body 11 and the type of attachment 12. The controller 43 can calculate the distance from the work machine body 2 to the attachment 12 based on the set dimensions of the work machine body 11 and the attachment 12, and the attitude signal from the attitude sensor 55. The controller 43 can determine that the working range has been exceeded if the calculated distance exceeds the set working range. If the working range is exceeded, for example, the controller 43 can close the proportional solenoid valve 50 to stop the operation of the work implement, base boom 6, and slewing body 5.

[0053] The cab interference prevention setting is a setting that prevents the work implement 3 from entering a predetermined space including the cab 8. The cab interference prevention setting includes the dimensions of the work implement body 11 and the dimensions of the attachment 12. In cab interference prevention, the controller 43 detects, for example, the position of the boom top pin and detects intrusion into the predetermined space based on its position and the dimensions of the attachment 12. The boom top pin is shown as reference numeral 15a in Figure 1 and as reference numeral 24a in Figure 2. The boom top pin 15a is the part that connects to the attachment 12a. The boom top pin 24a is the part that connects to the auto coupler 28. The controller 43 can calculate the position of the boom top pin relative to the predetermined space based on the set dimensions of the work implement body 11 and the attitude signal from the attitude sensor 55. Furthermore, the controller 43 can calculate the position of the tip of the attachment 12 from the dimensions of the attachment 12 connected to the boom top pin, and can determine whether or not the attachment 12 enters a predetermined space. If it enters the predetermined range, for example, the controller 43 can close the proportional solenoid valve 50 to stop the operation of the work implement 3, base boom 6, and slewing body 5.

[0054] The speed setting includes setting the upper limit speed when operating the work implement 3, the deceleration speed when stopping the work implement 3 if it exceeds the working range, and the deceleration speed when stopping the work implement 3 if it enters a predetermined space. The upper limit speed at which the work implement 3 can operate differs depending on the dimensions and weight of the work implement body 11 and the dimensions and weight of the attachment 12. The controller 43 controls, for example, the pump control device 45 or the proportional solenoid valve 50 based on the speed setting.

[0055] Vehicle settings for the types of attachments 12 include settings for the hydraulic fluid volume and hydraulic pressure. Depending on the type of attachment 12, such as a breaker, processor, crusher, and grapple, the appropriate hydraulic fluid volume and hydraulic pressure may vary, and the settings for the hydraulic fluid volume and hydraulic pressure are stored for each type of attachment 12. The controller 43 controls, for example, the pump control device 45 or the proportional solenoid valve 50 based on the settings for the hydraulic fluid volume and hydraulic pressure.

[0056] Next, the control method for the work machine of this embodiment will be described. Figure 7 is a flowchart showing the control method for the work machine of this embodiment.

[0057] When the power to the work machine 1 is turned on, in step S1 (an example of a detection step), the vehicle state detection unit 61 detects the type of work machine body 11 and the type of attachment 12 mounted on the work machine body 2 from the data detected by the vehicle state detection device 54.

[0058] Next, in step S2, the vehicle state determination unit 62 determines whether the type of work implement body 11 and the type of attachment 12 detected by the vehicle state detection unit 61 have changed from the types of work implement body 11 and attachment 12 stored in the vehicle state storage unit 67.

[0059] If it is determined in step S2 that a change has occurred, in step S3 (an example of a limiting step), the vehicle operation control unit 63 sends a closing command signal to the proportional solenoid valve 50 to close the pilot flow path 49 and lock the main valve 46 so that it does not operate. As a result, even if the operating lever 47 is operated, the base boom 6, the work machine body, and the attachments will not operate.

[0060] Next, in step S4, the guidance display unit 64 displays the detected type of work machine body 11 and the type of attachment 12 on the display device 53 (see Figure 6). Alternatively, in step S4, instead of displaying the detected type of work machine body 11 and the type of attachment 12 on the display device 53, a notification prompting the operator to confirm compatibility may be provided as described above.

[0061] Next, in step S5, the confirmation operation determination unit 65 determines whether or not it has received a confirmation NG signal due to the operator's operation of the NG button 57b. If the confirmation operation determination unit 65 determines in step S5 that it has not received a confirmation NG signal, then in step S6, the confirmation operation determination unit 65 determines whether or not it has received a confirmation OK signal due to the operator's operation of the OK button 57a.

[0062] If it is determined in step S6 that an OK confirmation signal has not been received, control returns to step S4. On the other hand, if it is determined in step S6 that an OK confirmation signal has been received, control proceeds to step S7.

[0063] In step S7, the detected types of work implement body 11 and attachment 12 are stored in the vehicle state storage unit 67. The contents stored in the vehicle state storage unit 67 are updated from the types of work implement body 11 and attachment 12 detected before the power was turned on to the types of work implement body 11 and attachment 12 detected in step S1.

[0064] Next, in step S8, the vehicle setting reading unit 66 reads the vehicle settings corresponding to the detected type of work machine body 11 and type of attachment 12 from the vehicle setting information storage unit 68 into memory.

[0065] Next, in step S9, an open command signal is sent to the proportional solenoid valve 50 to unlock the base boom 6, the work machine body, and the attachment, allowing the base boom 6, the work machine body, and the attachment to be operated by the operating lever 47, and the control ends.

[0066] On the other hand, in step S5, if the confirmation operation determination unit 65 determines that it has received a confirmation NG signal, the detected type of work machine body 11 and attachment 12 will be different from the actual type of work machine body 11 and attachment 12 that are installed. Therefore, in step S10, the guidance display unit 64 displays fault repair guidance on the display device 53.

[0067] Furthermore, in step S2, if the vehicle state determination unit 62 determines that the type of work implement body 11 and the type of attachment 12 detected by the vehicle state detection unit 61 have not changed from the types of work implement body 11 and attachment 12 stored in the vehicle state storage unit 67, the control proceeds to step S11.

[0068] In step S11, the guidance display unit 64 causes the display device 53 to display an indication that the type of work implement body 11 and the type of attachment 12 have not been changed from the previous time. For example, the display device 53 displays "The same type of work implement body and attachment type as last time have been selected." The specific name of the work implement body (e.g., 2-piece boom) and the name of the attachment (e.g., breaker) may also be displayed.

[0069] Next, in step S12, the vehicle setting reading unit 66 reads the vehicle settings corresponding to the detected type of work implement body 11 and type of attachment 12 from the vehicle setting information storage unit 68 into memory, and the control ends.

[0070] In the work machine 1 of this embodiment, the controller 43 restricts the operation of the work machine 3 when it recognizes a change in the type of work machine body 11 or attachment 12 based on the detection by the vehicle state detection device 54. In this way, when a change in the type of work machine body 11 or attachment 12 is recognized, the operation of the work machine 3 is temporarily restricted. This allows the operator to confirm whether the type of work machine body 11 and attachment 12 actually installed are compatible with the work machine body 2. Therefore, it is possible to prevent the work machine 1 from being operated with a different type of work machine body 11 or attachment 12 setting.

[0071] In the work machine 1 of this embodiment, when the controller 43 recognizes a change in the type of work machine body 11 or attachment 12, it causes the display device 53 to display the type of the attached work machine body 11 or attachment 12. This allows the operator to confirm whether the type of work machine body 11 and attachment 12 actually attached are compatible with the work machine body 2.

[0072] In the work machine 1 of this embodiment, if the type of work machine body 11 and the type of attachment 12 that are actually installed are confirmed to be compatible with the work machine body 2 by the confirmation button 57, the restriction on the operation of the work machine 3 is released. This allows the work machine 3 to be operated after confirmation by the operator.

[0073] In the work machine 1 of this embodiment, if the type of work machine body 11 or attachment 12 detected matches the type of work machine body 11 and attachment 12 actually installed, the restriction on the operation of the work machine 3 is released when confirmed by the confirmation button 57. This allows the work machine 3 to be operated after confirmation by the operator.

[0074] In the work machine 1 of this embodiment, if the type of work machine body 11 or attachment 12 detected is different from the type of work machine body 11 and attachment 12 actually installed, as confirmed by the confirmation button 57, an indication of the difference (for example, fault repair guidance) is displayed on the display device 53. This allows the detection by the vehicle condition detection device 54 to be incorrect, and fault repair guidance can be provided to the operator.

[0075] In the work machine 1 of this embodiment, the controller 43 stores at least one of the following: a working range setting corresponding to one of several types of work machine bodies 11 or multiple types of attachments 12; a setting to prevent interference between the work machine body 11 and the cab 8; and a speed setting. The controller 43 switches at least one of the working range setting, interference prevention setting, and speed setting depending on the type of work machine body 11 or attachment 12 that is installed. As a result, when the type of work machine body 11 or attachment 12 is changed, the work machine 1 can be operated with the working range setting, interference prevention setting, or speed setting corresponding to the changed type.

[0076] In the work machine 1 of this embodiment, the controller 43 stores at least one of the hydraulic fluid volume and hydraulic pressure corresponding to the types of attachments 12. The controller 43 switches at least one of the hydraulic fluid volume and hydraulic pressure according to the type of attachment 12 that is installed. As a result, when the type of attachment 12 is changed, the work machine 1 can be operated with the hydraulic fluid volume or hydraulic pressure setting corresponding to the changed type of attachment 12.

[0077] In the work machine 1 of this embodiment, if the controller 43 recognizes that the type of work machine body 11 or the type of attachment 12 has not been changed, it causes the display device 53 to display a notification that no change has been made. For example, the notification that no change has been made may be displayed on the display device 53 as, "The same type of work machine body and attachment as last time have been selected."

[0078] Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment, and various modifications are possible without departing from the gist of the present disclosure.

[0079] In the above embodiment, an operation signal from the operating lever 47 is transmitted to the controller 43, and the controller 43 adjusts the pilot pressure by transmitting a drive command signal to the proportional solenoid valve 50 in response to the operation signal. However, this is not the only configuration. For example, instead of the proportional solenoid valve 50, a solenoid valve 150 may be placed in the pilot passage 49, and the operating lever 47 may be placed in the pilot passage 49. The solenoid valve 150 opens and closes the pilot passage 49. The operation of the operating lever 147 adjusts the pilot pressure supplied to the main valve 46 mechanically. When the solenoid valve 150 is in the open state and the operating lever 147 is operated, the pilot pressure is adjusted in response to the operation and the main valve 46 is driven. Furthermore, when the vehicle operation control unit 63 restricts the operation of the base boom 6, the work machine body 11, and the attachment 12, it outputs a closing command signal to the solenoid valve 150. As a result, the pilot passage 49 is closed and pilot pressure is not supplied to the main valve 46, preventing the base boom 6, the work machine body 11, and the attachment 12 from operating.

[0080] In the above embodiment, the operation of the base boom 6, the work machine body 11, and the attachment 12 is restricted by stopping the supply of pilot pressure to the main valve 46, but the main passage 48 from the hydraulic pump 42 to the main valve 46 may also be blocked.

[0081] In the above embodiment, the operation of the base boom 6, the work machine body 11, and the attachment 12 is restricted by closing the proportional solenoid valve 50. However, the controller 43 may be set so that it does not send a signal to the proportional solenoid valve 50 even when the operating lever 47 is operated.

[0082] In the above embodiment, the operation of the base boom 6, the work machine body 11, and the attachment 12 is restricted, but the operation of the travel motor may also be restricted.

[0083] In the above embodiment, multiple types of work machine bodies 11 and multiple types of attachments 12 can be attached, but multiple types of attachments 12 may be attached only to the attachments 12, or only the work machine 3 may be replaceable.

[0084] In the above embodiment, the controller 43 of the work machine 1 recognizes a change in the type of work machine body 11 or the type of attachment 12 based on the detection by the vehicle condition detection device 54, but it is not limited to this. For example, the detection data from the vehicle condition detection device 54 may be transmitted to a computer outside the work machine 1, and the external computer may recognize the change. In this case, the computer that recognizes the change may instruct the controller 43 of the work machine 1 to restrict the operation of the work machine 3. [Industrial applicability]

[0085] According to the present invention, it is possible to provide a work machine, a work machine system, and a method for controlling a work machine that can prevent operation with different settings. [Explanation of symbols]

[0086] 1: Working Machinery 2: Main body of the work machine 3: Work equipment 11: Main unit of the work machine 12: Attachments 43: Controller 54: Vehicle condition detection device

Claims

1. A work machine body capable of mounting a work machine having a work machine body and an attachment to be mounted on the work machine body, A detection device for detecting the type of work machine body or the type of attachment attached to the work machine body, A controller that restricts the operation of the work machine when it recognizes a change in the type of the work machine body or the type of the attachment based on the detection of the detection device, is provided. A type of machinery used for industrial work.

2. The device further comprises a display device controlled by the aforementioned controller, When the controller recognizes a change in the type of the work machine body or the type of the attachment, it causes the display device to display the type of the work machine body or the type of attachment detected by the detection device. The work machine according to claim 1.

3. The system further includes a confirmation operation unit that is operated to confirm whether the type of work implement or attachment mounted on the system is compatible with the work implement body, If the controller is confirmed to be compliant by the verification operation unit, it will release the restriction on the operation of the work machine. The work machine according to claim 1.

4. The system further includes a confirmation operation unit operated to confirm whether the type of the work machine body or the type of the attachment displayed on the display device is the same as the type of the work machine or attachment that is attached, If the controller is confirmed to be the same by the confirmation operation unit, it will release the restriction on the operation of the work machine. The working machine according to claim 2.

5. If the controller is determined by the confirmation operation unit to be different, it will cause the display device to indicate that the type of work machine body or attachment displayed on the display device is not the same as the type of work machine or attachment that is mounted. The work machine according to claim 4.

6. The controller stores at least one of the following: a setting for the working range corresponding to a plurality of types of work machine bodies or a plurality of types of attachments; a setting to prevent interference between the work machine body and the cab; and a speed setting. The controller switches at least one of the following settings depending on the type of work machine body or attachment to which the controller is mounted: the working range setting, the interference prevention setting, and the speed setting. The work machine according to claim 1.

7. The controller stores at least one of the hydraulic fluid volume and hydraulic pressure corresponding to the type of attachment, The controller switches at least one of the hydraulic fluid volume and the hydraulic pressure depending on the type of attachment that is mounted. The work machine according to claim 1.

8. The device further comprises a display device controlled by the aforementioned controller, If the controller recognizes that the type of the work machine body or the type of the attachment has not been changed, it will cause the display device to display a notification that it has not been changed. The work machine according to claim 1.

9. A work machine body capable of mounting a work machine having a work machine body and an attachment to be mounted on the work machine body, A detection device for detecting the type of work machine body or the type of attachment attached to the work machine body, A controller that restricts the operation of the work machine when it recognizes a change in the type of the work machine body or the type of the attachment based on the detection of the detection device, is provided. A work machine system.

10. A detection step to detect the type of the work machine body or the type of the attachment attached to the work machine body when a work machine having a work machine body and an attachment attached to the work machine body is attached to the work machine body, If a change in the type of the work implement body or the type of the attachment is recognized based on the above detection, the system includes a limiting step that restricts the operation of the work implement. A method for controlling industrial machinery.

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