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

Abstract

To provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that facilitate the improvement of work efficiency. [Solution] The control method for a work machine comprises a prime mover for driving a hydraulic pump that discharges hydraulic fluid, a work section, and a pair of lock levers 463L and 463R. The work section is driven by a hydraulic actuator that receives hydraulic fluid. The pair of lock levers 463L and 463R can be switched between a first position and a second position. The control method involves making the operation of the prime mover different in a first state where only one of the pair of lock levers 463L and 463R is in the first position, and in a second state where both of the pair of lock levers 463L and 463R are in the first position.

Description

Technical Field

[0001] The present invention relates to a control method for a working machine including a prime mover for driving a hydraulic pump that discharges hydraulic oil, a control program for a working machine, a control system for a working machine, and a working machine.

Background Art

[0002] As a related technique, a working machine (hydraulic excavator) including an electric motor as a prime mover for driving a hydraulic pump is known (see, for example, Patent Document 1). The working machine according to the related technique includes a lock lever (cut-off lever) in addition to an operation lever for driving a hydraulic actuator. The lock lever is disposed on the left side of the driver's seat (operator's seat).

[0003] If the lock lever is in the second position (lowered position), the operator can operate the operation lever to drive the hydraulic actuator. On the other hand, if the lock lever is in the first position (raised position), the operator cannot drive the hydraulic actuator even if the operation lever is operated. Further, when the operator rotates the key to start the prime mover, if the lock lever is in the lowered position, the prime mover does not start even if the key is operated, and if the lock lever is in the raised position, the prime mover starts when the key is operated. Furthermore, after the work by the working machine is performed, when the operator sets the lock lever to the first position, control (idle stop control) for stopping the rotation of the prime mover is performed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the aforementioned related technologies, the lock lever has only two operating positions: a first position and a second position. Therefore, even in a standby state where work is temporarily suspended, the engine will stop if the lock lever is in the first position. Consequently, when resuming work with the machine from the standby state, it is necessary to set the lock lever to the second position, restart the engine, and re-drive the hydraulic pump. This can take time to restore the hydraulic fluid pressure necessary for the work, potentially reducing work efficiency.

[0006] The object of the present invention is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that facilitate the improvement of work efficiency. [Means for solving the problem]

[0007] A control method for a work machine according to one aspect of the present invention is a control method for a work machine comprising: a prime mover for driving a hydraulic pump that discharges hydraulic fluid; a work section driven by a hydraulic actuator that receives the hydraulic fluid; and a pair of lock levers that can be switched between a first position and a second position. The control method is characterized by making the operation of the prime mover different in a first state where only one of the pair of lock levers is in the first position, and in a second state where both of the pair of lock levers are in the first position.

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

[0009] A control system for a work machine according to one aspect of the present invention is used in a work machine comprising: a prime mover for driving a hydraulic pump that discharges hydraulic fluid; a work section driven by a hydraulic actuator that receives the hydraulic fluid; and a pair of lock levers that can be switched between a first position and a second position. The control system for the work machine includes a control processing unit. The control processing unit causes the operation of the prime mover to differ between a first state in which only one of the pair of lock levers is in the first position, and a second state in which both of the pair of lock levers are in the first position.

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

[0011] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that facilitate the improvement of work efficiency. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a schematic perspective view showing the overall configuration of the work machine according to Embodiment 1. [Figure 2] Figure 2 is a schematic diagram showing the hydraulic circuit and other components of the work machine according to Embodiment 1. [Figure 3] Figure 3 is a schematic perspective view showing the operating section of the work machine according to Embodiment 1. [Figure 4] Figure 4 is a flowchart showing an example of the operation of the prime mover in the control system for a work machine according to Embodiment 1. [Figure 5] Figure 5 is a flowchart showing an example of the operation of the prime mover during startup in the control system for a work machine according to Embodiment 1. [Figure 6] Figure 6 is an explanatory diagram showing a specific example of operation of the control system for a work machine according to Embodiment 1. [Modes for carrying out the invention]

[0013] The embodiments of the present invention will be described below with reference to the attached drawings. The following embodiments are examples that embody the present invention and are not intended to limit the technical scope of the present invention.

[0014] (Embodiment 1) [1] Overall structure As shown in Figure 1, the work machine 3 according to this embodiment is equipped with a traveling section 31, a rotating section 32, and a working section 33 on a machine body 30. Furthermore, as shown in Figure 2, the work machine 3 is equipped with a control system 1 for work machines (hereinafter also simply referred to as "control system 1"). In addition, as shown in Figures 1 and 2, the machine body 30 is further equipped with a display device 2, an operating device 35, a main switch 36, an accelerator operating section 37, and the like.

[0015] In this disclosure, "working machinery" refers to various types of machinery used for work, and examples include work vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. Working machinery 3 includes a working unit 33 configured to perform one or more tasks. Working machinery 3 is not limited to "vehicles," but may also be, for example, a work vessel, a drone, or a multicopter. Furthermore, working machinery 3 is not limited to construction machinery, but may also be, for example, agricultural machinery such as a rice transplanter, tractor, or combine harvester. In this embodiment, unless otherwise specified, the description will be based on the example where working machinery 3 is a ride-on type backhoe capable of performing tasks such as excavation, leveling, trenching, or loading.

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

[0017] The working machine 3 includes a prime mover 40 (see FIG. 2) that serves as a power source. The prime mover 40 is, for example, a device that converts energy such as electricity, combustion, or the heat of steam into mechanical force (power) and generates power for driving each part of the machine body 30. In this embodiment, as an example, the prime mover 40 is an electric motor. The prime mover 40 is driven by receiving power supply from a battery 381 (see FIG. 2). In this embodiment, the prime mover 40 is an alternating current motor and is driven by alternating current power (alternating current voltage) supplied from a drive circuit 39 (see FIG. 2) composed of an inverter circuit. The drive circuit 39 is electrically connected to the battery 381 and drives the prime mover 40 by converting the direct current voltage output from the battery 381 into an alternating current voltage and supplying it to the prime mover 40. That is, the working machine 3 includes a battery unit 38 (see FIG. 2) including the battery 381 and the drive circuit 39.

[0018] The output shaft of the prime mover 40 is connected to a hydraulic pump 41 (see FIG. 2) via a power transmission unit or the like, and the hydraulic pump 41 is driven by the power from the prime mover 40. In the working machine 3, the prime mover 40 drives the hydraulic pump 41, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including a hydraulic motor 43, a hydraulic cylinder 44, etc.) of each part of the machine body 30, thereby driving the machine body 30. That is, the prime mover 40 drives the hydraulic pump 41 to discharge hydraulic oil from the hydraulic pump 41, supplies power (hydraulic oil) to each part of the machine body 30 of the working machine 3, and drives each part of the machine body 30.

[0019] Such a working machine 3 is controlled, for example, when a user (operator) boarding the operation unit 321 of the machine body 30 operates an operation lever or the like of the operation device 35. The operation unit 321 has an operator's seat 323 (see FIG. 1) for the operator to sit on. The operator sits on the operator's seat 323 when boarding the operation unit 321 and operates the operation device 35 arranged around the operator's seat 323. That is, the power generated by the prime mover 40 is distributed to each part of the machine body 30 according to the operation of the operator, so that the working machine 3 operates according to the operation of the operator.

[0020] In this embodiment, since it is assumed that the working machine 3 is a ride-on type backhoe as described above, the working unit 33 is driven in accordance with the operation of a user (operator) who boards the driving unit 321, and performs operations such as excavation work. The driving unit 321 (including the driver's seat 323) on which the user boards is provided on the revolving unit 32.

[0021] Here, in addition to the driver's seat 323, a display device 2, an operation device 35, etc. are mounted on the driving unit 321 of the machine body 30, and the user can operate the operation device 35 while viewing various information related to the working machine 3 displayed on the display device 2. As an example, information regarding the operating state of the working machine 3 such as the coolant water temperature and the hydraulic oil temperature is displayed on the display screen of the display device 2, so that the user can confirm the information regarding the operating state of the working machine 3 necessary for operating the operation device 35 on the display device 2.

[0022] The traveling unit 31 has a traveling function and is configured to be able to travel (including turning) on the ground. The traveling unit 31 has, for example, a pair of left and right crawlers 311 and a blade 312, etc. The traveling unit 31 further has a hydraulic motor 43 (hydraulic actuator) for traveling for driving the crawlers 311.

[0023] The revolving unit 32 is located above the traveling unit 31 and is configured to be able to revolve about a rotation axis along the vertical direction D1 with respect to the traveling unit 31. The revolving unit 32 has a hydraulic motor (hydraulic actuator) for revolving, etc. In addition to the driving unit 321, a prime mover 40, a hydraulic pump 41, etc. are mounted on the revolving unit 32. Further, a boom bracket 322 to which the working unit 33 is attached is provided at the front end of the revolving unit 32.

[0024] The work unit 33 is configured to perform one or more tasks. The work unit 33 is supported by the boom bracket 322 of the slewing unit 32 and performs tasks. The work unit 33 has a bucket 331. The bucket 331 is a type of attachment (working tool) that is attached to the body 30 of the work machine 3, and consists of any tool selected from a plurality of types of attachments according to the content of the work. For example, the bucket 331 is detachably attached to the body 30 and is replaced according to the content of the work. In addition to the bucket 331, there are various other tools for the work machine 3, such as breakers, augers, crushers, forks, fork claws, steel frame cutters, asphalt milling machines, brush cutters, rippers, mulchers, tilt rotators, and tampers.

[0025] The working section 33 further includes a boom 332, an arm 333, and a hydraulic actuator (including a hydraulic cylinder 44 and a hydraulic motor, etc.). The bucket 331 is attached to the tip of the arm 333.

[0026] The boom 332 is rotatably supported by the boom bracket 322 of the slewing section 32. Specifically, the boom 332 is rotatably supported by the boom bracket 322 around a rotation axis along the horizontal direction. The boom 332 has a shape that extends upward from its base end, which is supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is rotatably supported relative to the boom 332 around a rotation axis along the horizontal direction.

[0027] The work unit 33 operates by receiving power from the prime mover 40, which serves as the power source. Specifically, the prime mover 40 drives the hydraulic pump 41, and hydraulic fluid is supplied from the hydraulic pump 41 to the hydraulic actuators (hydraulic cylinders 44, etc.) of the work unit 33, thereby causing each part of the work unit 33 (bucket 331, boom 332, and arm 333) to operate.

[0028] In this embodiment, the work unit 33 has a multi-joint structure in which the boom 332 and the arm 333 are configured to rotate independently. That is, by each of the boom 332 and the arm 333 rotating around a rotation axis along the horizontal direction, the multi-joint work unit 33 including the boom 332 and the arm 333 can be extended or folded as a whole.

[0029] The traveling section 31 and the slewing section 32, like the working section 33, operate by receiving power from the prime mover 40, which serves as the power source. In other words, the slewing section 32 and the traveling section 31 operate when hydraulic fluid is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling section 31 and the hydraulic motor of the slewing section 32, etc.

[0030] The actuators provided in various parts of the machine body 30 (hydraulic actuators including a hydraulic motor 43 and a hydraulic cylinder 44 in this embodiment) operate in response to the operation of the control device 35. In other words, the work machine 3 according to this embodiment is equipped with actuators that operate in response to the operation of the control device 35. Therefore, the work machine 3 will perform various operations such as forward and backward movement by the travel unit 31, rotation by the slewing unit 32, and excavation work by the work unit 33 in response to the operation of the control device 35 by the user (operator).

[0031] Figure 2 schematically shows the hydraulic and electrical circuits (electrical connection relationships) of the work machine 3 according to this embodiment. In Figure 2, solid lines indicate high-pressure (hydraulic oil) oil passages, dotted lines indicate low-pressure (pilot oil) oil passages, and dashed arrows indicate the paths of electrical signals. Furthermore, the thick line (solid line) between the prime mover 40 and the hydraulic pump 41 indicates the physical connection between the prime mover 40 (output shaft) and the hydraulic pump 41.

[0032] As shown in Figure 2, the work machine 3 includes a hydraulic pump 41, a hydraulic motor 43 (not shown in Figure 2), a hydraulic cylinder 44, a prime mover 40, a battery unit 38, and a drive circuit 39, as well as a pilot pump 42, a remote control valve 45, a control valve 461, a pair of cutoff switches 462L, 462R, a pair of lock levers 463L, 463R, a temperature sensor 47, a directional control valve (control valve) 48, a hydraulic oil tank 49, a main switch 36, and an accelerator operating unit 37, etc.

[0033] The hydraulic fluid from the hydraulic pump 41, driven by the prime mover 40, is supplied to the hydraulic motor 43 of the travel section 31, the hydraulic motor of the slewing section 32, and the hydraulic cylinder 44 of the work section 33, etc. This drives the hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44.

[0034] The drive circuit 39 drives the prime mover 40 at any desired rotational speed. In other words, by controlling the rotational speed of the prime mover 40, the drive circuit 39 can control the rotational speed of the hydraulic pump 41 driven by the prime mover 40, and thereby change the discharge amount of hydraulic fluid from the hydraulic pump 41. Thus, in this embodiment, the flow rate of hydraulic fluid supplied from the hydraulic pump 41 is not fixed but can be changed (variable) by appropriate means. The drive circuit 39 may change the rotational speed of the prime mover 40 continuously and steplessly, or it may change it in steps (for example, in 2 steps, 5 steps, or 10 steps).

[0035] Hydraulic actuators such as the hydraulic motor 43 and hydraulic cylinder 44 are equipped with a pilot-operated directional control valve 48 that can switch the direction and flow rate of the hydraulic fluid from the hydraulic pump 41. The directional control valve 48 is driven by pilot oil supplied from the pilot pump 42, which serves as an input command.

[0036] Here, for example, a remote control valve 45 is provided in the supply path for pilot oil to the directional control valve 48 corresponding to the hydraulic cylinder 44 of the work unit 33. The remote control valve 45 outputs work operation commands for the work unit 33 in response to the operation of the operating device 35 (operating lever). The work operation commands instruct the work unit 33 to perform operations such as extending and retracting. In addition, the flow rate of pilot oil supplied from the pilot pump 42 to the remote control valve 45 can be adjusted by the control valve 461.

[0037] The control valve 461 is an electromagnetic control valve (solenoid valve) and is inserted between the remote control valve 45 and the pilot pump 42. The control valve 461 is connected to the power supply via a pair of cutoff switches 462L and 462R, and operates according to the current supplied from the power supply. Here, the control valve 461 is assumed to be an (electromagnetic) proportional control valve, but it is not limited to this, and may be an on-off valve that can switch between opening and closing the flow path, for example.

[0038] The control valve 461 blocks the pilot oil flow path when energized, i.e., when current as a control signal is supplied, and opens the pilot oil flow path when de-energized, i.e., when current as a control signal is blocked. As a result, when current (control signal) is supplied to the control valve 461, the hydraulic actuator (hydraulic cylinder 44, etc.) corresponding to the remote control valve 45 becomes inoperable, and the hydraulic actuator is forcibly stopped without operation of the operating device 35.

[0039] Similarly, a remote control valve is also provided in the supply passage for pilot oil to the directional control valve corresponding to the hydraulic motor 43 of the travel unit 31. This remote control valve outputs a travel operation command for the travel unit 31 in response to the operation of the operating device 35 (operating lever). The travel operation command instructs the travel unit 31 to travel (forward or backward, etc.). Furthermore, a remote control valve is also provided in the supply passage for pilot oil to the directional control valve corresponding to the hydraulic motor of the slewing unit 32. This remote control valve outputs a slewing operation command for the slewing unit 32 in response to the operation of the operating device 35 (operating lever). The slewing operation command instructs the slewing unit 32 to slewing (left turn or right turn, etc.). A control valve 461 is also inserted between these remote control valves and the pilot pump 42.

[0040] The pair of cutoff switches 462L and 462R are linked to the pair of lock levers 463L and 463R, respectively. Cutoff switch 462L switches on / off in conjunction with lock lever 463L, and cutoff switch 462R switches on / off in conjunction with lock lever 463R. Hereafter, when cutoff switches 462L and 462R are not distinguished, they will each be referred to as "cutoff switch 462," and when lock levers 463L and 463R are not distinguished, they will each be referred to as "lock lever 463."

[0041] A pair of lock levers 463 are located in the control unit 321 of the machine body 30 and accept operational input from the user (operator). In this embodiment, as an example, the lock levers 463 are operable along the vertical direction D1, and the pair of lock levers 463 are operable individually. When the lock lever 463 is in the "up position," which is the upper end of its range of motion, the corresponding cutoff switch 462 is "on," and when the lock lever 463 is in the "down position," which is the lower end of its range of motion, the corresponding cutoff switch 462 is "off." The cutoff switch 462 is connected to the control system 1, and the on / off state of the cutoff switch 462, i.e., the operating state of the lock levers 463, is monitored by the control system 1. Specifically, the operating state of each of the pair of lock levers 463L and 463R is monitored by the control system 1.

[0042] Therefore, when both of the pair of lock levers 463 are in the "down position," the control valve 461 is de-energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by the operation of the operating device 35. Conversely, when at least one of the pair of lock levers 463 (i.e., either one or both) is in the "up position," the control valve 461 becomes energized, and the hydraulic actuator is forcibly stopped without operation of the operating device 35. For this reason, in order to drive the hydraulic actuator (hydraulic cylinder 44, etc.), the user (operator) needs to operate both of the pair of lock levers 463 to the "down position."

[0043] Furthermore, since the slewing section 32 and the traveling section 31 are operated by hydraulic fluid supplied from the hydraulic pump 41 to the hydraulic actuator (hydraulic motor 43, etc.), if at least one of the pair of lock levers 463 is in the "up position", the slewing section 32 and the traveling section 31 will also become inoperable. In other words, if at least one of the pair of lock levers 463 is in the "up position", the working section 33, the slewing section 32, and the traveling section 31 are all forcibly rendered inoperable.

[0044] In this embodiment, a pair of cutoff switches 462 and a pair of lock levers 463 constitute the locking device. The state in which the locking device is in the "up position," that is, the state in which the work machine 3 cannot be operated, is defined as the "locked state." On the other hand, the state in which the locking device is in the "down position," that is, the state in which the work machine 3 can be operated, is defined as the "unlocked state."

[0045] In short, the locking device enters a "locked state" where the operation of the work machine 3 is restricted (including prohibited) when at least one of the pair of locking levers 463 is in the "up position," and enters an "unlocked state" where the operation of the work machine 3 is not restricted when both of the pair of locking levers 463 are in the "down position." When the locking device is in the locked state, even if the hydraulic pump 41 is driven, the hydraulic actuator (hydraulic cylinder 44, etc.) cannot be driven, and the operation of the work machine 3 is forcibly restricted without operation of the operating device 35. The locking levers 463 are levers that are operated when locking the operation of the work machine 3 in this way, and are synonymous with cutoff levers or gate lock levers.

[0046] Here, the pair of lock levers 463L and 463R are positioned on both sides in the left-right direction D3 of the driver's seat 323 in the work machine 3, as shown in Figure 3. The driver's seat 323 can be accessed from either side in the left-right direction D3. Specifically, the lock lever 463L is positioned on the left side of the driver's seat 323 in the control unit 321, and the lock lever 463R is positioned on the right side of the driver's seat 323 in the control unit 321. In Figure 3, the lock lever 463L in the "down position" and the lock lever 463R in the "up position" are shown with solid lines, while the lock lever 463L in the "up position" and the lock lever 463R in the "down position" are shown with dashed lines (two-dot lines).

[0047] If the operator gets in or out of the driver's seat 323 from the left side, for example, they will move the left lock lever 463L to the "up position" before getting in or out of the driver's unit 321. On the other hand, if the operator gets in or out of the driver's seat 323 from the right side, for example, they will move the right lock lever 463R to the "up position" before getting in or out of the driver's unit 321. As a result, even though lock levers 463L and 463R are positioned on both sides of the left-right direction D3 of the driver's seat 323, at least one of the lock levers 463 will be in the "up position" regardless of whether the operator gets in or out of the driver's seat 323 from the left or right direction D3, thus forcibly restricting the operation of the work machine 3.

[0048] The operating device 35 is located in the operating section 321 of the machine body 30 and is a user interface for receiving operation input from the user (operator). The operating device 35 includes, for example, an operating lever and controls the remote control valve 45 according to the amount of operation of the operating lever. This allows the operator to operate the operating device 35 to activate the remote control valve 45, instruct the direction and flow rate of hydraulic fluid from the hydraulic pump 41, and operate the work machine 3.

[0049] The temperature sensor 47 detects the temperature of the hydraulic fluid discharged from the hydraulic pump 41 (hydraulic fluid temperature). Specifically, in this embodiment, the temperature sensor 47 is located in the hydraulic fluid tank 49 that stores the hydraulic fluid, and detects the temperature of the hydraulic fluid stored in the hydraulic fluid tank 49. Since the hydraulic pump 41 draws up the hydraulic fluid stored in the hydraulic fluid tank 49 and discharges it, the temperature sensor 47 detects the temperature of the hydraulic fluid discharged from the hydraulic pump 41. The temperature sensor 47 is connected to the control system 1, and the temperature detection signal indicating the temperature (hydraulic fluid temperature) detected by the temperature sensor 47 is input to the control system 1.

[0050] Here, the temperature sensor 47 is an example of a detection unit for detecting the state quantity of the hydraulic fluid. In this disclosure, "state quantity" refers to a physical quantity that represents the state of an object (in this case, hydraulic fluid), and means a value that is determined according to the state. Examples include temperature, viscosity, pressure, volume, density, or type of oil. In this embodiment, the temperature sensor 47 detects the temperature of the hydraulic fluid discharged from the hydraulic pump 41 as the state quantity of the hydraulic fluid.

[0051] The battery unit 38 includes a battery 381 and a battery management unit 382. The battery management unit 382 manages various states related to the battery 381, such as the remaining charge (SOC: State of Charge), the voltage of the battery 381, and the temperature of the battery 381. The battery management unit 382 is connected to the control system 1, and information such as the remaining charge of the battery 381 (battery information) managed by the battery management unit 382 is input to the control system 1.

[0052] The main switch 36 is located in the control unit 321 of the machine body 30 and is operated by the user (operator) when starting the work machine 3. While the main switch 36 is off, the machine body 30 (including the travel unit 31, slewing unit 32, and work unit 33) is not in a state to operate in response to the operation of the control device 35. Only when the main switch 36 is turned on does the machine body 30 become capable of operating in response to the operation of the control device 35. Also, when the main switch 36 is turned on, power is supplied to the display device 2, etc. In this embodiment, as an example, the main switch 36 is linked to the key cylinder 361 (see Figure 6) and is turned on when the prime mover 40 is started using the key 362 (see Figure 6).

[0053] The accelerator control unit 37 is located in the driver's unit 321 of the machine body 30 and is operated by the user (operator) when starting the work machine 3. The accelerator control unit 37 is a device operated to set the steady rotational speed of the prime mover 40, and is, for example, an accelerator dial, an accelerator lever, or an accelerator pedal. The accelerator control unit 37 is connected to the control system 1, and the operation signal generated by the operation of the accelerator control unit 37 is input to the control system 1. In this embodiment, as an example, the accelerator control unit 37 is a rotary dial-type control unit that sets the steady rotational speed of the prime mover 40 according to its rotational position.

[0054] The control system 1 primarily consists of a computer system having, for example, one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire work machine 3, and consists of, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller, or it may primarily consist of one processor or multiple processors. The control system 1 will be explained in detail in the section "[2] Configuration of the Control System".

[0055] The display device 2 is located in the control unit 321 of the machine body 30 and is a user interface for receiving operation input from the user (operator) and outputting various information to the user. The display device 2 accepts various operations from the user by outputting electrical signals corresponding to the user's operations, for example. This allows the user (operator) to view the display screen shown on the display device 2 and to operate the display device 2 as needed.

[0056] As shown in Figure 2, the display device 2 comprises a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to communicate with the control system 1 and can exchange data with the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0057] The control unit 21 controls the display device 2 according to data from the control system 1. Specifically, the control unit 21 outputs electrical signals corresponding to user operations received by the operation unit 22, and displays the display screen generated by the control system 1 on the display unit 23.

[0058] The operation unit 22 is a user interface for receiving user (operator) input for the display screen shown on the display unit 23. The operation unit 22 accepts various operations from the user, for example, by outputting electrical signals corresponding to the user's operations.

[0059] The display unit 23 is a user interface for presenting information to the user (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 23 presents various types of information to the user through display.

[0060] Furthermore, in addition to the above-described configuration, the machine body 30 is further equipped with a drive system and a communication terminal, etc. The drive system is a device for supplying power to the attachment of the work unit 33, and consists of a device (mechanism) such as a PTO (Power take-off) for extracting power from the prime mover 40 as power for driving the attachment, which consists of hydraulic equipment. In addition, the machine body 30 is equipped with various sensors (including a camera) for detecting objects to be detected in the monitoring area around the work machine 3, such as a camera that takes images of the area around the machine body 30.

[0061] [2] Control system configuration Next, the configuration of the control system 1 according to this embodiment will be described with reference to Figure 2. The control system 1 controls each part of the machine body 30 (including the traveling section 31, the turning section 32, and the working section 33, etc.). In this embodiment, the control system 1 is a component of the work machine 3 and together with the machine body 30 etc., constitutes the work machine 3. In other words, the work machine 3 according to this embodiment comprises at least the control system 1 and the machine body 30.

[0062] As shown in Figure 2, the control system 1 comprises an acquisition processing unit 11, a control processing unit 12, and a setting processing unit 13. In this embodiment, as an example, the control system 1 mainly consists of a computer system having one or more processors, so these multiple functional units (acquisition processing unit 11, etc.) are realized by one or more processors executing a control program for the work machine. These multiple functional units included in the control system 1 may be distributed and provided in multiple housings, or they may be provided in a single housing.

[0063] The control system 1 is configured to communicate with devices located in various parts of the aircraft body 30. Specifically, the control system 1 is connected to at least the drive circuit 39, the prime mover 40, the main switch 36, the accelerator control unit 37, the battery unit 38 (specifically, the battery management unit 382), the temperature sensor 47, the display device 2, and a pair of cutoff switches 462. This allows the control system 1 to control the drive circuit 39 and the display device 2, and to acquire information such as the rotational speed of the prime mover 40, the on / off status of the pair of cutoff switches 462, the operating status of the accelerator control unit 37, the remaining charge of the battery 381, and the detection results (hydraulic oil temperature) of the temperature sensor 47. Here, the control system 1 may exchange various types of information (data) directly with each device, or indirectly via a relay or the like. The control system 1 and the devices located in various parts of the aircraft body 30 can communicate using a communication method such as CAN (Controller Area Network), for example.

[0064] The acquisition processing unit 11 performs an acquisition process to acquire the rotational speed of the prime mover 40, the operating status of the accelerator control unit 37, the remaining charge of the battery 381, and the detection result (hydraulic oil temperature) of the temperature sensor 47. In this embodiment, the acquisition processing unit 11 acquires the rotational speed of the prime mover 40, the operating status of the accelerator control unit 37, the remaining charge of the battery 381, and the detection result (hydraulic oil temperature) of the temperature sensor 47 periodically or irregularly.

[0065] Furthermore, the acquisition processing unit 11 can periodically or irregularly acquire the on / off states of the main switch 36 and the pair of cutoff switches 462 through the acquisition process. From the on / off states of the pair of cutoff switches 462, the operating state of the pair of lock levers 463 can be determined. For example, if cutoff switch 462L is "on", it is determined that lock lever 463L is in the "up position", and if cutoff switch 462R is "off", it is determined that lock lever 463R is in the "down position". The acquisition processing unit 11 may acquire various data directly from various sensors (including cameras) or indirectly via an electronic control unit. The data acquired by the acquisition processing unit 11 is stored, for example, in memory.

[0066] The control processing unit 12 controls the prime mover 40 by controlling the drive circuit 39. In this embodiment, the control processing unit 12 controls the prime mover 40, including adjusting its rotational speed and starting / stopping it.

[0067] Here, the control processing unit 12 sets a target rotational speed for the prime mover 40, and controls the rotational speed of the prime mover 40 using the drive circuit 39 so that the actual rotational speed of the prime mover 40, which is acquired by the acquisition processing unit 11 from the prime mover 40, approaches the target rotational speed. Specifically, if the actual rotational speed of the prime mover 40 is lower than the target rotational speed, the control processing unit 12 controls the drive circuit 39 to increase the rotational speed of the prime mover 40 (make it faster). Conversely, if the actual rotational speed of the prime mover 40 is higher than the target rotational speed, the control processing unit 12 controls the drive circuit 39 to decrease the rotational speed of the prime mover 40 (make it slower).

[0068] Furthermore, the control processing unit 12 starts the prime mover 40 by controlling the drive circuit 39 so that the prime mover 40 is running (rotating) from a stopped state (i.e., a state with a rotational speed of 0). Also, the control processing unit 12 stops the prime mover 40 by controlling the drive circuit 39 so that the prime mover 40 is stopped (i.e., a state with a rotational speed of 0) from a state with operation (rotation).

[0069] The setting processing unit 13 performs a setting process to set the steady-state rotation speed of the prime mover 40. The setting processing unit 13 changes the steady-state rotation speed in response to the operation of the accelerator control unit 37. In other words, the steady-state rotation speed of the prime mover 40 is not constant and can be arbitrarily set by the operator operating the accelerator control unit 37. This makes it possible to set the steady-state rotation speed according to the operation of the work machine 3, for example, by setting it higher when performing heavy load work and lower when performing light load work.

[0070] More specifically, the setting processing unit 13 changes the steady-state rotational speed of the prime mover 40 to a lower or higher rotational speed than the current set value, according to the operating state of the accelerator operating unit 37 acquired by the acquisition processing unit 11. In this embodiment, as an example, since the accelerator operating unit 37 is a rotary dial operating unit, the setting processing unit 13 sets the steady-state rotational speed of the prime mover 40 to a value (rotational speed) corresponding to the rotational position of the accelerator operating unit 37. Here, the setting processing unit 13 may change the steady-state rotational speed of the prime mover 40 continuously without stepless changes, or it may change it in steps (for example, in 2 steps, 5 steps, or 10 steps).

[0071] [3] Control method for working machinery The following describes an example of a control method (hereinafter simply referred to as "control method") for the work machine 3, which is mainly performed by the control system 1, with reference to Figures 4 to 6.

[0072] The control method according to this embodiment is executed by a control system 1, which mainly consists of a computer system; in other words, it is embodied in a control program for a work machine (hereinafter simply referred to as the "control program"). That is, the control program according to this embodiment is a computer program that causes one or more processors to execute each process related to the control method. Such a control program may be executed in cooperation with, for example, the control system 1 and the display device 2.

[0073] Here, the control system 1 executes the following various processes related to the control method when a specific preset start operation is performed to execute the control program. The start operation is, for example, the operation to start the prime mover 40 of the work machine 3, that is, the operation to turn on the main switch 36. On the other hand, the control system 1 terminates the following various processes related to the control method when a specific preset end operation is performed. The end operation is, for example, the operation to stop the prime mover 40 of the work machine 3, that is, the operation to turn off the main switch 36.

[0074] [3.1] Basic control of prime movers First, we will describe the control method according to this embodiment, that is, the operation of the control system 1 according to this embodiment, specifically the operation related to the basic control of the prime mover 40.

[0075] In this embodiment, the control processing unit 12 of the control system 1 causes the operation of the prime mover 40 to differ depending on the operating state of the lock lever 463. In particular, the work machine 3 is equipped with a pair of lock levers 463L and 463R, and the control processing unit 12 determines the operation of the prime mover 40 according to the combination of the operating state of lock lever 463L and the operating state of lock lever 463R.

[0076] Here, the pair of lock levers 463 can be switched between two positions, a first position and a second position. In this embodiment, the lock levers 463 can be switched between an "up position" and a "down position," so the "up position" is an example of the first position and the "down position" is an example of the second position. In other words, the pair of lock levers 463 can be individually switched between the first position, the "up position," and the second position, the "down position."

[0077] Furthermore, if we do not distinguish between lock levers 463L and 463R, there are three possible combinations of the operating states of the pair of lock levers 463: the first state, the second state, and the third state. The first state is when only one of the pair of lock levers 463 is in the first position (up position), meaning the other lock lever 463 is in the second position (down position). The second state is when both of the pair of lock levers 463 are in the first position (up position). The third state is when both of the pair of lock levers 463 are in the second position (down position).

[0078] The pair of lock levers 463 are levers that are operated to lock the operation of the work machine 3. When at least one of the pair of lock levers 463 is in the first position (up position), the locking device is in the "locked state," the hydraulic actuator cannot be driven, and the operation of the work machine 3 is forcibly restricted without operation of the operating device 35. On the other hand, when both of the pair of lock levers 463 are in the second position (down position), the locking device is in the "unlocked state," the hydraulic actuator can be driven, and the work machine 3 operates in response to operation of the operating device 35. Thus, the locking device is in the "unlocked state" only in the third state when both of the pair of lock levers 463 are in the second position, and in the first and second states the locking device is in the "locked state."

[0079] In other words, in the control method according to this embodiment, in the third state where both of the pair of lock levers 463 are in the second position, the work unit 33 can be operated by operating the operating device 35, while in the first and second states, the work unit 33 cannot be operated regardless of the operation of the operating device 35. As a result, by simply setting either one of the pair of lock levers 463 to the first position (raised position), the hydraulic actuator cannot be driven, and the operation of the work unit 33 of the work machine 3 can be restricted. Therefore, the operation of the work machine 3 can be reliably locked by the pair of lock levers 463.

[0080] Incidentally, in the control method according to this embodiment, as described above, the operation of the prime mover 40 is determined according to the combination of the operating states of the pair of lock levers 463L and 463R.

[0081] In other words, the control method according to this embodiment is a control method for a work machine 3 comprising a prime mover 40 for driving a hydraulic pump 41 that discharges hydraulic fluid, a work section 33 driven by a hydraulic actuator (including a hydraulic cylinder 44, etc.) that receives hydraulic fluid, and a pair of lock levers 463 that can be switched between a first position and a second position. This control method is characterized by making the operation of the prime mover 40 different in a first state where only one of the pair of lock levers 463 is in the first position, and in a second state where both of the pair of lock levers 463 are in the first position.

[0082] This configuration allows for more diverse control compared to the case where the operation of the prime mover 40 is determined by the operating state of a single lock lever 463. Specifically, by differentiating the operation of the prime mover 40 between a first state where only one of the pair of lock levers 463 is in the first position and a second state where both of the pair of lock levers 463 are in the first position, for example, in a standby state where work is temporarily suspended, the prime mover 40 can be kept running without stopping by setting one of the lock levers 463 to the first position. Therefore, when resuming work with the work machine 3 from the standby state, work can be immediately resumed by setting the lock lever 463 from the first position to the second position, thus shortening the time until work can be resumed and improving work efficiency. Thus, it is possible to provide a control method for the work machine 3, a control program for the work machine, a control system 1 for the work machine, and the work machine 3 that facilitate the improvement of work efficiency.

[0083] More specifically, the operation of the prime mover 40 in accordance with the operating state (first state / second state / third state) of the pair of lock levers 463 differs between when the prime mover 40 is running and when the prime mover 40 is starting. Therefore, the specific operation of the prime mover 40 while it is running is explained in section "[3.2] Operation of the prime mover while it is running," and the specific operation of the prime mover 40 when it is starting is explained in section "[3.3] Operation of the prime mover when it is starting."

[0084] Furthermore, in this embodiment, the prime mover 40 is an electric motor. Therefore, the operating state of the prime mover 40 can be easily changed by adjusting the operating state of the pair of lock levers 463.

[0085] [3.2] Operation of the prime mover while it is running Here, the operation of the prime mover 40 while it is being driven, as part of the control method according to this embodiment, that is, the operation of the control system 1 according to this embodiment, will be explained with reference to Figure 4.

[0086] While the prime mover 40 is being driven at a steady speed, that is, while the hydraulic pump 41 is being driven, the control processing unit 12 determines whether the operating state of the pair of lock levers 463 is in the second state (S1). If both of the pair of lock levers 463 are in the first position (raised position), the control processing unit 12 determines that it is in the second state (S1: Yes), controls the drive circuit 39 to stop the prime mover 40 (S2), and ends the series of processes.

[0087] On the other hand, if at least one of the pair of lock levers 463 is in the second position (down position), the control processing unit 12 determines that it is not in the second state (S1: No) and determines whether the operating state of the pair of lock levers 463 is in the first state (S3). If either one of the pair of lock levers 463 is in the first position (up position) and the other is in the second position (down position), the control processing unit 12 determines that it is in the first state (S3: Yes) and controls the drive circuit 39 to drive the prime mover 40 at a low idle speed (S4). The "low idle speed" referred to here is a rotational speed lower than the steady-state rotational speed. In other words, if the operating state of the pair of lock levers 463 is in the first state, the control processing unit 12 continues to drive the prime mover 40 but switches the rotational speed of the prime mover 40 from the steady-state rotational speed to a low idle speed (<steady-state rotational speed).

[0088] In the next step, S5, the control processing unit 12 determines whether or not specific conditions are met. The "specific conditions" are the conditions for forcibly stopping the prime mover 40 when the operating state of the pair of lock levers 463 is in the first state. For example, the specific conditions include at least one of the following: the rotational speed of the prime mover 40 is maintained at the idling speed for a predetermined time (first condition), the remaining charge of the battery 381, which is the power source of the prime mover 40, is below a threshold (second condition), an abnormality has occurred in the state of the work machine 3 (third condition), and the temperature of the hydraulic oil is above a predetermined temperature (fourth condition). In this embodiment, as an example, the specific conditions include all of these first, second, third, and fourth conditions. Therefore, if any one of these first, second, third, and fourth conditions is met, the control processing unit 12 determines that the specific conditions are met (S5: Yes), controls the drive circuit 39 to stop the prime mover 40 (S6), and ends the series of processes. On the other hand, if certain conditions are not met (S5: No), the control processing unit 12 terminates the series of processes while maintaining the rotational speed of the prime mover 40 at the idling speed.

[0089] Furthermore, in the third state, when both of the pair of lock levers 463 are in the second position (lowered position), the control processing unit 12 determines that it is not the first state (S3: No), and controls the drive circuit 39 to drive the prime mover 40 at a steady rotation speed (S7), thus ending the series of processes. In other words, if the operating state of the pair of lock levers 463 is in the third state, the control processing unit 12 continues to drive the prime mover 40 while setting the rotation speed of the prime mover 40 to a steady rotation speed.

[0090] The control system 1 repeatedly executes the processes in steps S1 to S7 described above. However, the flowchart shown in Figure 4 is merely an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0091] As described above, in the control method according to this embodiment, while the prime mover 40 is being driven, the prime mover 40 is driven at least in the first state (S3:Yes), and the prime mover 40 is stopped in the second state (S1:Yes). As a result, while the prime mover 40 is being driven, the operator can stop the prime mover 40 by operating both of the pair of lock levers 463 to the first position (raised position).

[0092] Therefore, if the situation does not require the output of the prime mover 40 for a specified period of time or longer, there is little need to immediately operate the work machine 3. In such cases, by operating both of the pair of lock levers 463 to the first position, it is possible to reduce the noise and vibration generated by the prime mover 40, as well as suppress the energy (electricity) consumption of the prime mover 40.

[0093] Furthermore, in the control method according to this embodiment, the prime mover 40 is stopped when certain conditions are met while the prime mover 40 is being driven in the first state. In other words, while the prime mover 40 is being driven, if the operator operates only one of the pair of lock levers 463 to the first position (raised position), the prime mover 40 will continue to be driven, but if certain conditions are met in that state, the prime mover 40 can be stopped.

[0094] Therefore, if the situation does not require the output of the prime mover 40 for a specified period of time or longer, there is little need to immediately operate the work machine 3. In such cases, by fulfilling specific conditions, it is possible to reduce the noise and vibration generated by the prime mover 40, as well as suppress the energy (electricity) consumption of the prime mover 40.

[0095] Here, the specific conditions include conditions relating to the rotational speed of the prime mover 40, the state of the power source of the prime mover 40, any abnormalities in the work machine 3, or the temperature of the hydraulic fluid. In this embodiment, as described above, the specific conditions include all of the following: the first condition relating to the rotational speed of the prime mover 40, the second condition relating to the state of the power source of the prime mover 40, the third condition relating to any abnormalities in the work machine 3, and the fourth condition relating to the temperature of the hydraulic fluid.

[0096] As a result, in the first state, the prime mover 40 can be stopped if, for example, the rotational speed of the prime mover 40 is maintained at the idling speed for a predetermined time (first condition), or if a situation where the output of the prime mover 40 is not required continues for a predetermined time or longer. Also, in the first state, the prime mover 40 can be stopped if, for example, the remaining charge of the battery 381, which is the power source of the prime mover 40, is below a threshold (second condition), or if it is desired to minimize the output of the prime mover 40.

[0097] Furthermore, in the control method according to this embodiment, the rotational speed of the prime mover 40 is reduced in the first state compared to the third state. In other words, in the first state, when only one of the pair of lock levers 463 is in the first position (up position), the rotational speed of the prime mover 40 is controlled to a lower rotational speed (idling speed) compared to the steady-state rotational speed in the third state, when both of the pair of lock levers 463 are in the second position (down position).

[0098] Therefore, if the situation does not require the output of the prime mover 40 for a specified period of time or longer, there is little need to immediately operate the work machine 3. In such cases, the rotational speed of the prime mover 40 can be reduced by operating only one of the pair of lock levers 463 to the first position. This reduces the noise and vibration generated by the prime mover 40, as well as suppresses energy (electricity) consumption by the prime mover 40.

[0099] [3.3] Startup operation of the prime mover Next, the operation of the prime mover 40 during startup will be described with reference to Figure 5, as part of the control method according to this embodiment, that is, the operation of the control system 1 according to this embodiment.

[0100] While the prime mover 40 is stopped, that is, while the hydraulic pump 41 is stopped, the control processing unit 12 determines whether or not to perform a start operation on the main switch 36 (S11). In this embodiment, the start operation includes operating the key cylinder 361 using the key 362. More specifically, as shown in Figure 6, the key 362 in the key cylinder 361 has an off position, an on position, and a start position, and the start operation includes operating the key 362 from the off position to the on position, and further operating the key 362 from the on position to the start position.

[0101] If no startup operation is performed (S11: No), the control processing unit 12 terminates the series of processes. On the other hand, if the operator operates the key 362 from the off position to the on position, and then from the on position to the start position, the control processing unit 12 determines that a startup operation has been performed (S11: Yes), and determines whether the operating state of the pair of lock levers 463 is the second state (S12).

[0102] In step S12, if both of the pair of lock levers 463 are in the first position (up position), the control processing unit 12 determines that it is in the second state (S12: Yes), controls the drive circuit 39 to start the prime mover 40 (S13), and ends the series of processes. On the other hand, if at least one of the pair of lock levers 463 is in the second position (down position), the control processing unit 12 determines that it is not in the second state (S12: No), and ends the series of processes without starting the prime mover 40.

[0103] In short, if the pair of lock levers 463 are in the second state (S12: Yes), the control processing unit 12 controls the drive circuit 39 to start the prime mover 40 when a start operation is performed (S11: Yes), in order to make the prime mover 40 ready to start. Conversely, if the pair of lock levers 463 are in the first or second state (S12: No), the control processing unit 12 does not start the prime mover 40 even when a start operation is performed (S11: Yes), in order to make the prime mover 40 unstartable.

[0104] The control system 1 repeatedly executes the processes described in steps S11 to S13 above. However, the flowchart shown in Figure 5 is merely an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0105] As described above, in the control method according to this embodiment, when the prime mover 40 is stopped, the prime mover 40 can be started in the second state (S12:Yes), and if at least one of the pair of lock levers 463 is in the second position (down position) (S12:No), the prime mover 40 cannot be started. This makes it possible to prevent the prime mover 40 from starting if the operator forgets to move at least one of the pair of lock levers 463 to the first position (up position) while the prime mover 40 is stopped.

[0106] Therefore, for example, it becomes easier to avoid the operator unintentionally starting the prime mover 40 when the work machine 3 is not ready to operate.

[0107] Furthermore, in the control method according to this embodiment, the operation to start the prime mover 40 includes at least two steps. Specifically, the operator can start the prime mover 40 only after performing two steps: first, operating the key 362 from the off position to the on position, and then operating the key 362 from the on position to the start position.

[0108] Therefore, for example, it becomes easier to avoid the operator unintentionally starting the prime mover 40 when the work machine 3 is not ready to operate.

[0109] [3.4] Specific operation example Next, with reference to Figure 6, a specific example of the operation of the control method according to this embodiment, that is, the operation of the control system 1 according to this embodiment, when the prime mover 40 is started from a state where it is not started and work is performed by the work machine 3 will be described.

[0110] First, with the main switch 36 in the OFF position, when the operator uses the key 362 to move the key cylinder 361 from the OFF position to the ON position, power is supplied to each part of the work machine 3 (excluding the prime mover 40), and the state of the work machine 3 changes from "OFF" to "BOOT". At this time, both of the pair of lock levers 463L and 463R are in the first position (raised position). In other words, the operating state of the pair of lock levers 463L and 463R is the second state, so the prime mover 40 is ready to start.

[0111] In this state, when the operator uses the key 362 to move the key cylinder 361 from the ON position to the START position, the control processing unit 12 controls the drive circuit 39 to start the prime mover 40. As a result, the state of the work machine 3 changes from "BOOT" to "START UP". However, at this time, the pair of lock levers 463L and 463R are in the second state, so the control processing unit 12 stops the prime mover 40, and consequently, the prime mover 40 is not driven, and the hydraulic pump 41 is also not driven.

[0112] Subsequently, when the operator moves one of the pair of lock levers 463L, 463R (for example, lock lever 463L) to the second position (lowered position), the operating state of the pair of lock levers 463L, 463R switches from the second state to the first state. As a result, the control processing unit 12 controls the drive circuit 39 to drive the prime mover 40, and the state of the work machine 3 changes from "START UP" to "IDLING". At this time, the rotational speed of the prime mover 40 is set to an idling speed lower than the steady-state rotational speed. In this state, since the operating state of the pair of lock levers 463L, 463R is in the first state, the locking device is in the locked state, and the operation of the work machine 3 is forcibly restricted regardless of the operation of the operating device 35.

[0113] Subsequently, when the operator moves the other of the pair of lock levers 463L, 463R (for example, lock lever 463R) to the second position (lowered position), the operating state of the pair of lock levers 463L, 463R switches from the first state to the third state. As a result, the control processing unit 12 controls the drive circuit 39 to increase the rotational speed of the prime mover 40 from idling speed to steady speed, and the state of the work machine 3 changes from "IDLING" to "WORK". At this time, since the operating state of the pair of lock levers 463L, 463R is in the third state, the locking device becomes unlocked, and the work machine 3 operates in response to the operation of the operating device 35.

[0114] Subsequently, when the operator moves both of the pair of lock levers 463L and 463R to the first position (raised position), the operating state of the pair of lock levers 463L and 463R switches from the third state to the second state. As a result, the control processing unit 12 controls the drive circuit 39 to stop the prime mover 40, and the state of the work machine 3 changes from "WORK" to "STOP". At this time, since the operating state of the pair of lock levers 463L and 463R is in the second state, the locking device is in the locked state, and the operation of the work machine 3 is forcibly restricted without operation of the operating device 35.

[0115] Furthermore, not limited to the examples described above, for example, when the operator uses the key 362 to move the key cylinder 361 from the ON position to the START position, the control processing unit 12 may control the drive circuit 39 to drive the prime mover 40, and the state of the work machine 3 may change to "IDLING".

[0116] [4] Modified form The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0117] The control system 1 in this disclosure includes a computer system. The computer system mainly consists of one or more processors and one or more memories as hardware. The functions of the control system 1 in this disclosure are realized by the execution of a program recorded in the memory of the computer system by the processor. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional parts included in the control system 1 may be composed of electronic circuits.

[0118] Furthermore, it is not essential for control system 1 to have at least some of its functions integrated into a single housing; the components of control system 1 may be distributed across multiple housings. Conversely, functions that are distributed across multiple devices (e.g., control system 1 and display device 2) in Embodiment 1 may be integrated into a single housing. Moreover, at least some of the functions of control system 1 may be implemented by the cloud (cloud computing) or the like.

[0119] Furthermore, the prime mover 40, which serves as the power source for the work machine 3, is not limited to an AC motor; for example, it may be a DC motor, or even something other than an electric motor. In other words, the prime mover 40 may be a diesel engine, an internal combustion engine other than a diesel engine, or a hybrid power source including an electric motor and an internal combustion engine.

[0120] Furthermore, the operating lever of the operating device 35 may be an electric operating device that accepts various operations by the user (operator) by outputting an electrical signal (operating signal) to the control system 1 in response to the user's (operator's) operation. In this case, the control system 1 can control the hydraulic actuator by, for example, controlling a control valve (solenoid valve) provided in place of the remote control valve 45 in response to the operation of the operating device 35 (operating lever).

[0121] Furthermore, the display device 2 is not limited to a dedicated device, but may be a general-purpose terminal such as a laptop computer, tablet terminal, or smartphone. Moreover, the display unit 23 is not limited to a configuration that directly displays the display screen, such as a liquid crystal display or an organic EL display, but may also be configured to display the display screen by projection, such as a projector.

[0122] Furthermore, the input method for information to the operation unit 22 may be other than push-button switches, touch panels, and operation dials. For example, the operation unit 22 may use methods such as a keyboard, a pointing device such as a mouse, voice input, gesture input, or input of operation signals from another terminal.

[0123] Furthermore, the actuators in each part of the machine body 30 are not limited to hydraulic actuators, but may also be, for example, pneumatic actuators driven by compressed air or other air pressure, or electric actuators driven by power supply, or a combination thereof.

[0124] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0125] <Note 1> A prime mover for driving a hydraulic pump that discharges hydraulic fluid, A working section driven by a hydraulic actuator receiving the aforementioned hydraulic fluid, A control method for a work machine comprising a pair of lock levers that can be switched between a first posture and a second posture, respectively, The operation of the prime mover is made different in a first state where only one of the pair of lock levers is in the first position, and in a second state where both of the pair of lock levers are in the first position. A method for controlling industrial machinery.

[0126] <Note 2> In the first state, the prime mover is driven, and in the second state, the prime mover is stopped. Control method for the work machine described in Appendix 1.

[0127] <Note 3> In the first state, while the prime mover is running, the prime mover is stopped when certain conditions are met. Control method for the work machine described in Appendix 2.

[0128] <Note 4> The aforementioned specific conditions include conditions relating to the rotational speed of the prime mover, the state of the power source of the prime mover, any abnormalities in the work machine, or the temperature of the hydraulic fluid. The control method for the work machine described in Appendix 3.

[0129] <Note 5> The third state, in which both of the pair of lock levers are in the second position, allows the work section to be operated by the operation device, and in the first and second states, the work section cannot be operated by the operation device. A control method for the work machine described in any of the appendices 1 to 4.

[0130] <Note 6> The first state further includes reducing the rotational speed of the prime mover compared to the third state. Control method for the work machine described in Appendix 5.

[0131] <Note 7> The device further includes the ability to start the prime mover in the second state, and to prevent the prime mover from starting if at least one of the pair of lock levers is in the second position. A control method for the work machine described in any of the appendices 1 to 6.

[0132] <Note 8> The operation to start the aforementioned prime mover includes at least two steps. A control method for the work machine described in any of the appendices 1 to 7.

[0133] <Note 9> The pair of locking levers are positioned on both the left and right sides of the driver's seat in the work machine, and the driver can enter the driver's seat from either the left or right side. A control method for the work machine described in any of the appendices 1 to 8.

[0134] <Note 10> The prime mover is an electric motor. A control method for the work machine described in any of the appendices 1 to 9.

[0135] <Note 11> The control method for the work machine described in any of the appendices 1 to 10, A control program for a work machine to be executed by one or more processors. [Explanation of Symbols]

[0136] 1. Control system for industrial machinery 3. Working Machines 12 Control Processing Unit 30 aircraft 33 Work Unit 35 Operating device 40 Engine 41 Hydraulic pump 43. Hydraulic motor (hydraulic actuator) 44. Hydraulic cylinder (hydraulic actuator) 323 Driver's seat 381 Battery (power source) 463, 463L, 463R Locking Lever D3 Left and Right Direction

Claims

1. A prime mover for driving a hydraulic pump that discharges hydraulic fluid, A working section driven by a hydraulic actuator receiving the aforementioned hydraulic fluid, A control method for a work machine comprising a pair of lock levers that can be switched between a first posture and a second posture, respectively, The operation of the prime mover is made different in a first state where only one of the pair of lock levers is in the first position, and in a second state where both of the pair of lock levers are in the first position. A method for controlling industrial machinery.

2. In the first state, the prime mover is driven, and in the second state, the prime mover is stopped. A method for controlling a work machine according to claim 1.

3. In the first state, while the prime mover is running, the prime mover is stopped when certain conditions are met. A method for controlling a work machine according to claim 2.

4. The aforementioned specific conditions include conditions relating to the rotational speed of the prime mover, the state of the power source of the prime mover, any abnormalities in the work machine, or the temperature of the hydraulic fluid. A method for controlling a work machine according to claim 3.

5. The third state, in which both of the pair of lock levers are in the second position, allows the work section to be operated by the operation device, and in the first and second states, the work section cannot be operated by the operation device. A method for controlling a work machine according to any one of claims 1 to 4.

6. The first state further includes reducing the rotational speed of the prime mover compared to the third state. A method for controlling a work machine according to claim 5.

7. The invention further includes the ability to start the prime mover in the second state, and to prevent the prime mover from starting if at least one of the pair of lock levers is in the second position. A method for controlling a work machine according to any one of claims 1 to 4.

8. The operation to start the aforementioned prime mover includes at least two steps. A method for controlling a work machine according to any one of claims 1 to 4.

9. The pair of locking levers are positioned on both the left and right sides of the driver's seat in the work machine, and the driver can enter the driver's seat from either the left or right side. A method for controlling a work machine according to any one of claims 1 to 4.

10. The prime mover is an electric motor. A method for controlling a work machine according to any one of claims 1 to 4.

11. A method for controlling a work machine according to any one of claims 1 to 4, A control program for a work machine to be executed by one or more processors.

12. A prime mover for driving a hydraulic pump that discharges hydraulic fluid, A working section driven by a hydraulic actuator receiving the aforementioned hydraulic fluid, It is used in a work machine equipped with a pair of locking levers that can be switched between a first position and a second position, respectively. The system includes a control processing unit that causes the operation of the prime mover to differ between a first state in which only one of the pair of lock levers is in the first position, and a second state in which both of the pair of lock levers are in the first position. Control system for industrial machinery.

13. A control system for a work machine according to claim 12, Equipped with an aircraft, A type of machinery used for industrial work.

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