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

Abstract

The present invention provides a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can improve the reliability of the operation of the work machine. [Solution] The control method for a work machine includes displaying notification information on a display device that corresponds to at least one of the following: whether or not there is an abnormality in the first limiting unit that limits the operation of the drive unit that drives the work machine, and the operating state of the second limiting unit that limits the operation of the drive unit separately from the first limiting unit.

Description

Technical Field

[0001] The present invention relates to a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine, which are used for a working machine provided with at least one drive unit.

Background Art

[0002] As related art, a working machine (construction machine) provided with an obstacle detection device for detecting a detection target (obstacle) within a monitoring area (monitoring region) set around the machine body is known (see, for example, Patent Document 1). In the working machine according to the related art, an electromagnetic proportional valve for regulating the pilot pressure in accordance with a control command from an integrated ECU is provided in an oil passage between a pilot pump and each remote control valve. This working machine can stop the driving of a plurality of drive units (hydraulic actuators) simultaneously or uniformly control their speeds by adjusting the pilot pressure from the pilot pump.

[0003] In the working machine according to the related art, when a detection target is detected, control is performed by the electromagnetic proportional valve to prohibit the driving of a predetermined drive unit (actuator) or reduce the speed of a predetermined drive unit. As a result, when a detection target (including a person) enters the monitoring area, the operation of the drive unit is restricted, making it easier to avoid contact between the working machine and the detection target.

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, if a malfunction occurs in the electromagnetic proportional valve, the control to stop or reduce the speed of the drive unit may not be performed properly. For example, in situations where the operation of the drive unit should be restricted, such as when detecting an object, the operation of the drive unit may not be restricted. As a result, the reliability of the operation of the work machine may decrease.

[0006] The object of the present invention is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can improve the reliability of the operation of the work machine. [Means for solving the problem]

[0007] A control method for a work machine according to one aspect of the present invention involves displaying notification information on a display device corresponding to at least one of the following: whether or not there is an abnormality in a first limiting unit that limits the operation of a drive unit that drives the work machine, and the operating state of a second limiting unit that limits the operation of the drive unit separately from the first limiting unit.

[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 includes a notification processing unit. The notification processing unit causes a display device to display notification information corresponding to at least one of the following: whether or not there is an abnormality in a first limiting unit that limits the operation of a drive unit that drives a work machine, and the operating state of a second limiting unit that limits the operation of the drive unit separately from the first limiting unit.

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

[0011] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can improve the reliability of the operation of the work machine. [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 plan view of the work machine according to Embodiment 1, as seen from above, illustrating the monitoring area and other elements set around the work machine. [Figure 4] Figure 4 is a schematic external view of a display device whose display screen is shown by the control system for work machines according to Embodiment 1. [Figure 5] Figure 5 shows an example of a display screen shown by the control system for work machines according to Embodiment 1. [Figure 6] Figure 6 is a diagram showing an example of how notification objects are displayed on a display screen shown by the control system for work machines according to Embodiment 1. [Figure 7] Figure 7 is a flowchart showing an example of the operation of the control system for a work machine according to Embodiment 1. [Figure 8] Figure 8 is a schematic diagram showing the hydraulic circuit and other components of the work machine according to Embodiment 2. [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 FIG. 1, the working machine 3 according to this embodiment includes a traveling unit 31, a swing unit 32, and a working unit 33 on the machine body 30. Further, as shown in FIG. 2, the working machine 3 further includes a control system 1 for working machines (hereinafter, also simply referred to as "control system 1"). In addition, the machine body 30 further includes a display device 2, an operation device 35, and the like.

[0015] "Working machine" as referred to in the present disclosure means various working machines. As an example, it is a working vehicle such as a backhoe (including a hydraulic excavator, a mini excavator, etc.), a wheel loader, and a carrier. The working machine 3 includes a working unit 33 configured to be capable of performing one or more operations including at least lifting work. The working machine 3 is not limited to a "vehicle", and may be, for example, a working flying object such as a working ship, a drone, or a multicopter. Further, the working machine 3 is not limited to a construction machine (construction equipment), and may be, for example, an agricultural machine (agricultural equipment) such as a rice transplanter, a tractor, or a combine. In this embodiment, unless otherwise specified, the working machine 3 is a backhoe with a lifting function (a crane function), and a case where, in addition to the lifting work, excavation work, leveling work, trench excavation work, loading work, or the like can be performed as work will be described as an example.

[0016] In addition, in this embodiment, for convenience of explanation, the vertical direction in the state where the working machine 3 can be used is defined as the up-down direction D1. Further, in the non-swing state of the swing unit 32, the front-rear direction D2 and the left-right direction D3 are defined based on the direction seen from the user (operator) boarding the working machine 3 (the operation unit 321). In other words, each direction used in this embodiment is a direction defined based on the machine body 30 of the working machine 3, and the direction in which the machine body 30 moves when the working machine 3 moves forward is "forward", and the direction in which the machine body 30 moves when the working machine 3 moves backward is "rear". Similarly, the direction in which the front end of the machine body 30 moves when the working machine 3 swings to the right is "right", and the direction in which the front end of the machine body 30 moves when the working machine 3 swings to the left is "left". However, these directions are not intended to limit the usage direction (direction during use) of the working machine 3.

[0017] The working machine 3 includes an engine 40 (see FIG. 2) as a power source. In the working machine 3, for example, a hydraulic pump 41 (see FIG. 2) is driven by the engine 40, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including a hydraulic motor 43 and a hydraulic cylinder 44, etc.) of each part of the machine body 30, thereby driving the machine body 30. Further, the working machine 3 is controlled, for example, by an operator (user) boarding the operation unit 321 of the machine body 30 operating an operation lever or the like of an operation device 35 provided on the operation unit 321.

[0018] In the present embodiment, it is assumed that the working machine 3 is a ride-on type backhoe as described above, so the working part 33 is driven according to the operation of an operator (user) boarding the operation unit 321 and performs operations such as excavation work. The operation unit 321 on which the user boards is provided on the swing unit 32.

[0019] The traveling part 31 has a traveling function and is configured to be able to travel (including turning) on the ground. The traveling part 31 has, for example, a pair of left and right crawlers 311 and a blade 312, etc. The traveling part 31 further has a traveling hydraulic motor 43 (hydraulic actuator) or the like for driving the crawler 311.

[0020] The swing unit 32 is located above the traveling part 31 and is configured to be able to swing around a rotation axis along the vertical direction with respect to the traveling part 31. The swing unit 32 has a swing hydraulic motor (hydraulic actuator) or the like. In addition to the operation unit 321, the swing unit 32 is equipped with the engine 40 and the hydraulic pump 41, etc. Further, a boom bracket 322 to which the working part 33 is attached is provided at the front end of the swing unit 32.

[0021] The working part 33 is configured to be able to perform operations including lifting work. The working part 33 is supported by the boom bracket 322 of the swing unit 32 and performs operations. The working part 33 has a bucket 331, a boom 332, an arm 333, etc. The working part 33 further has hydraulic actuators (including a hydraulic cylinder 44 and a hydraulic motor, etc.) for driving each part.

[0022] The bucket 331 is a type of attachment (working tool) that is mounted on the machine body 30 of the work machine 3, and consists of any tool selected from several types of attachments according to the nature of the work. For example, the bucket 331 is detachably mounted to the machine body 30 and can be replaced according to the nature of the work. In addition to the bucket 331, various other tools can be used as attachments 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. The work unit 33 performs its work by driving the bucket 331 with power from the drive unit.

[0023] 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 the base end 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. A bucket 331 is attached to the tip of the arm 333.

[0024] The work unit 33 operates by receiving power from the engine 40, which serves as the power source. Specifically, the engine 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 operating each part of the work unit 33 (bucket 331, boom 332, and arm 333).

[0025] 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.

[0026] The traveling section 31 and the slewing section 32, like the working section 33, operate by receiving power from the engine 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.

[0027] As described above, the engine 40 functions as a power source that supplies power to each part. Here, the engine 40 is mounted on the swing section 32 together with the hydraulic pump 41, etc. In this embodiment, as an example, the engine 40 is a diesel engine. The engine 40 is driven by fuel (in this case, diesel fuel) supplied from the fuel tank.

[0028] Here, the machine body 30 is equipped with various sensors (including cameras) for detecting the object Ob1 (see Figure 3) in the monitoring area A1 (see Figure 3) surrounding the work machine 3, including a camera that takes images of the area around the machine body 30. In this embodiment, as an example, as shown in Figure 3, multiple cameras (three in this case), including a left camera 341, a right camera 342, and a rear camera 343, are mounted on the rotating section 32 of the machine body 30. The left camera 341, the right camera 342, and the rear camera 343 are connected to the control system 1 and output the images they capture to the control system 1. Figure 3 is a plan view of the work machine 3 seen from above, schematically representing the monitoring area A1 set around the work machine 3, the object Ob1, and the machine body 30 of the work machine 3 (including the left camera 341, the right camera 342, and the rear camera 343).

[0029] The left camera 341, the right camera 342, and the rear camera 343 are positioned to the left, right, and rear of the driver's unit 321, respectively, so that they can capture images of the monitoring area A1 that is to the left, right, and rear of the operator seated in the driver's unit 321 of the rotating unit 32. In other words, as shown in Figure 3, the monitoring area A1 includes several (in this case, three) sub-areas A11, A12, and A13, and the left camera 341 captures the sub-area A11 (left area) which is to the left of the operator seated in the driver's unit 321. Similarly, the right camera 342 captures the sub-area A12 (right area) which is to the right of the operator seated in the driver's unit 321, and the rear camera 343 captures the sub-area A13 (rear area) which is behind the operator seated in the driver's unit 321. This makes it possible to cover the sides (left and right) and rear, which are often blind spots for the operator, using the left camera 341, the right camera 342, and the rear camera 343.

[0030] Figure 2 schematically shows the hydraulic and electrical circuits (electrical connection relationships) of the work machine 3 according to this embodiment. In Figure 2, solid lines 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 cutoff lever 350 and the cutoff switch 353 indicates the physical connection between the cutoff lever 350 and the cutoff switch 353.

[0031] As shown in Figure 2, the work machine 3 includes a hydraulic pump 41, a hydraulic motor 43, and a hydraulic cylinder 44, as well as a pilot pump 42, a remote control valve 45, a control valve 46, a directional control valve 47, a first limiting section 48, and a second limiting section 49. The work machine 3 also includes a power supply 351, a cutoff lever 350, and a cutoff switch 353. Although only the hydraulic motor 43 of the travel section 31 is shown in Figure 2, a similar hydraulic circuit is configured for the hydraulic motor of the slewing section 32. Furthermore, although only one hydraulic cylinder 44 for driving the boom 332 is shown in Figure 2, a similar hydraulic circuit is configured for the hydraulic cylinders 44 for driving the arm 333 or bucket 331, etc.

[0032] Hydraulic fluid from the hydraulic pump 41, driven by the engine 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.

[0033] Hydraulic actuators such as the hydraulic motor 43 and hydraulic cylinder 44 are equipped with a pilot-operated directional control valve 47 that can switch the direction and flow rate of the hydraulic fluid from the hydraulic pump 41. The directional control valve 47 is driven by pilot oil supplied from the pilot pump 42, which serves as an input command.

[0034] Here, for example, a remote control valve 45 is provided in the supply passage for pilot oil to the directional control valve 47 corresponding to the hydraulic motor 43 of the travel unit 31. The remote control valve 45 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 move (forward or backward, etc.).

[0035] Similarly, a remote control valve 45 is also provided in the supply passage for pilot oil to the directional control valve corresponding to the hydraulic cylinder 44 of the work unit 33. This 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. 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 commands instruct the slewing unit 32 to perform slewing operations (left turn or right turn, etc.).

[0036] Furthermore, a first limiting section 48 is provided in the supply path for pilot oil to each directional control valve 47. The first limiting section 48 has a first control valve 481. Each first control valve 481 is an electromagnetic control valve (solenoid valve) and is inserted in series between the remote control valve 45 and the pilot pump 42. Each first control valve 481 is connected to the control system 1 and operates in accordance with the control signal (supply current) from the control system 1 to adjust the flow rate of pilot oil supplied from the pilot pump 42 to the remote control valve 45. In this embodiment, the first limiting section 48 can block the flow path of pilot oil supplied to the remote control valve 45 by closing at least the first control valve 481, thereby stopping the supply of hydraulic fluid from the hydraulic pump 41 to the hydraulic actuator (hydraulic motor 43 and hydraulic cylinder 44, etc.) corresponding to the remote control valve 45. A hydraulic actuator that has stopped receiving hydraulic fluid from the hydraulic pump 41 becomes inoperable and is forcibly stopped without operation of the operating device 35.

[0037] Such directional control valves 47, remote control valves 45, and first limiting units 48 are provided not only in the hydraulic motor 43 of the travel unit 31 and the hydraulic cylinder 44 for driving the boom 332, but also in the hydraulic circuits of the hydraulic motor of the slewing unit 32 and the hydraulic cylinder 44 for driving the arm 333 or bucket 331, etc. Therefore, it is possible to operate the travel unit 31, the slewing unit 32, and the working unit 33 in response to, for example, the operation of the operating device 35.

[0038] Furthermore, a control valve 46, acting as a cutoff valve, is provided upstream of the pilot oil as viewed from the first limiting section 48 (first control valve 481). The control valve 46 is an (electromagnetic) proportional control valve and is inserted between the pilot pump 42 and the multiple first control valves 481. The control valve 46 is connected to the power supply 351 via a cutoff switch 353 and operates in accordance with the current supplied from the power supply 351. Here, the control valve 46 blocks the flow path of the pilot oil when energized, i.e., when current as a control signal is supplied, and opens the flow path of the pilot oil when de-energized, i.e., when current as a control signal is blocked. As a result, when current is supplied to the control valve 46, the hydraulic actuator (hydraulic cylinder 44, etc.) becomes unable to drive, and the hydraulic actuator is forcibly stopped without operation of the operating device 35.

[0039] The cutoff switch 353 is linked to the cutoff lever 350. The cutoff lever 350 is located in the control unit 321 of the machine body 30 and accepts operation input from the user (operator). In this embodiment, as an example, the cutoff lever 350 can be operated along the vertical direction D1. When the cutoff lever 350 is in the "up position", which is the upper end of its movable range, the cutoff switch 353 is "on", and when the cutoff lever 350 is in the "down position", which is the lower end of its movable range, the cutoff switch 353 is "off". The cutoff switch 353 is connected to the control system 1, and the on / off state of the cutoff switch 353 is monitored by the control system 1.

[0040] Therefore, when the cutoff lever 350 is in the "down position," the control valve 46 is de-energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by the operation of the operating device 35. Conversely, when the cutoff lever 350 is in the "up position," the control valve 46 is 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 motor 43, etc.), the user (operator) needs to operate the cutoff lever 350 to the "down position."

[0041] Furthermore, since the travel unit 31, the slewing unit 32, and the working unit 33 all operate when hydraulic fluid is supplied from the hydraulic pump 41 to the hydraulic actuators (hydraulic motor 43, hydraulic cylinder 44, etc.), if the cutoff lever 350 is in the "up position", the travel unit 31, the slewing unit 32, and the working unit 33 will all become inoperable. In other words, if the cutoff lever 350 is in the "up position", the travel unit 31, the slewing unit 32, and the working unit 33 are all forcibly rendered inoperable.

[0042] In short, the cutoff switch 353 is in a "locked state" when it is ON, where the operation of the work machine 3 is restricted (including prohibited), and in an "unlocked state" when it is OFF, where the operation of the work machine 3 is not restricted. When the cutoff lever 350 is in the "up position" and the cutoff switch 353 is in the locked state (ON), the operation of the work machine 3 is forcibly restricted without operation of the operating device 35. The cutoff lever 350 is the lever operated when locking the operation of the work machine 3 in this way, and is synonymous with the gate lock lever. In this embodiment, the first control valve 481 and the control valve 46 are both (electromagnetic) proportional control valves, but are not limited to this, and may be, for example, on-off valves that can switch between opening and closing the flow path.

[0043] Furthermore, the flow rate of the hydraulic fluid supplied from the hydraulic pump 41 is not fixed but can be changed (variable) by appropriate means. The work machine 3 according to this embodiment is equipped with a second limiting unit 49, and the flow rate of the hydraulic fluid can be adjusted by the second limiting unit 49. In this embodiment, as an example, the hydraulic pump 41 is a variable displacement pump that can change the amount of hydraulic fluid discharged per rotation of the drive shaft.

[0044] The second limiting unit 49 includes a control signal input port 491, an electromagnetic proportional valve 492, and an engine control unit 493. The control signal input port 491 is a port to which a control signal is input for adjusting the discharge amount (flow rate) of hydraulic fluid from a hydraulic pump 41, which is a variable displacement pump. Specifically, pilot oil, which is the control signal, is supplied to the control signal input port 491 from a pilot pump 42, and the discharge amount of hydraulic fluid from the hydraulic pump 41 changes according to the amount of pilot oil supplied (pilot pressure). The electromagnetic proportional valve 492 is an electromagnetic proportional control valve provided on the supply path of pilot oil to the control signal input port 491, and adjusts the pilot pressure input to the control signal input port 491. The electromagnetic proportional valve 492 is electrically connected to the control system 1, and adjusts the pilot pressure input to the control signal input port 491 according to the control signal (supply current) from the control system 1, thereby changing the discharge amount of hydraulic fluid from the hydraulic pump 41. The engine control unit 493 controls the rotational speed of the engine 40. In other words, the engine control unit 493 changes the discharge amount of hydraulic fluid from the hydraulic pump 41 by controlling the rotational speed of the hydraulic pump 41.

[0045] Thus, the second limiting unit 49 can adjust the flow rate of hydraulic fluid discharged from the hydraulic pump 41 by controlling at least one of the flow rate of the hydraulic pump 41 that supplies the hydraulic fluid, the rotational speed of the engine 40 that drives the hydraulic pump 41, and the pilot pressure. The second limiting unit 49 may change the flow rate of hydraulic fluid discharged from the hydraulic pump 41 continuously and in a stepless manner, or it may change it in steps (for example, in 2, 5, or 10 steps). In this embodiment, the second limiting unit 49 can stop the supply of hydraulic fluid from the hydraulic pump 41 by blocking the flow path of pilot oil supplied to the control signal input port 491 by closing at least the electromagnetic proportional valve 492. When the supply of hydraulic fluid from the hydraulic pump 41 is stopped, all hydraulic actuators such as the hydraulic motor 43 of the travel unit 31, the hydraulic motor of the slewing unit 32, and the hydraulic cylinder 44 of the work unit 33 stop.

[0046] The control system 1 primarily consists of a computer system having 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. The control system 1 will be explained in detail in the section "[2] Configuration of the Control System".

[0047] 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. As a result, the user (operator) can view the display screen Dp1 (see Figure 4) displayed on the display device 2 and operate the display device 2 as needed.

[0048] 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.

[0049] 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 Dp1 generated by the control system 1 on the display unit 23.

[0050] The operation unit 22 is a user interface for receiving operation input from a user (operator) to the display screen Dp1 displayed on the display unit 23. The operation unit 22 accepts various operations by user U1 (see Figure 4) by outputting electrical signals corresponding to the user U1's operations. In this embodiment, as an example, the operation unit 22 includes a plurality of (in this case, six) mechanical push-button switches 221 to 226, as shown in Figure 4. These plurality of push-button switches 221 to 226 are arranged close to the display area (below in the example of Figure 4) so ​​as to be along the periphery of the display area of ​​the display unit 23. These plurality of push-button switches 221 to 226 are associated with items displayed on the display screen Dp1, which will be described later, and when any of the plurality of push-button switches 221 to 226 are operated, any of the items on the display screen Dp1 are operated (selected).

[0051] Furthermore, the operation unit 22 may include a touch panel and an operation dial. In this case as well, an operation on the operation unit 22 will result in an operation (selection) of one of the items on the display screen Dp1.

[0052] The display unit 23 is a user interface for presenting information to the user U1 (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 23 presents various types of information to the user through display. In this embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and as shown in Figure 4, it has a horizontally elongated "landscape" display area.

[0053] The display device 2 presents various information to the user U1 (operator) operating the work machine 3 via the display screen Dp1. In other words, the user U1 operating the work machine 3 can visually obtain various information related to the work machine 3 by looking at the display screen Dp1 displayed on the display device 2. For example, by displaying information related to the operating status of the work machine 3, such as the cooling water temperature and hydraulic oil temperature, on the display device 2, the user U1 can check the information related to the operating status of the work machine 3 necessary for operating the work machine 3 on the display device 2. In addition, the display device 2 can also display images of the surrounding area of ​​the work machine 3 (images of the monitoring area A1) captured by the left camera 341, the right camera 342, and the rear camera 343 on the display screen Dp1. This allows the user U1 (operator) to check the situation of the side and rear of the work machine 3, which are often blind spots from the driver's unit 321, on the display screen Dp1 displayed on the display device 2 when operating the work machine 3.

[0054] In addition to the above-described configuration, the aircraft 30 is further equipped with a sound output unit (including a buzzer or speaker, etc.), a communication terminal, a fuel tank, and a battery. Furthermore, the aircraft 30 is equipped with sensors for monitoring its operating status, such as a coolant temperature sensor, a hydraulic oil temperature sensor, a tachometer for measuring engine speed, and an hour meter for measuring operating time.

[0055] [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 slewing section 32, and the working section 33, etc.). In this embodiment, as described above, the machine body 30 of the work machine 3 is equipped with hydraulic actuators such as a hydraulic motor 43 for the traveling section 31, a hydraulic motor for the slewing section 32, and a hydraulic cylinder 44 for the working section 33, as a "drive unit" for driving the work machine 3. 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 (including the traveling section 31, the slewing section 32, and the working section 33) on which the drive unit (hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44) is mounted.

[0056] As shown in Figure 2, the control system 1 includes a display processing unit 11, a data acquisition unit 12, a detection unit 13, a limiting processing unit 14, a determination processing unit 15, and a notification processing unit 16. In this embodiment, as an example, the control system 1 mainly consists of a computer system having one or more processors, so these multiple functional units (display processing unit 11, etc.) are realized by one or more processors executing a control program for a work machine. These multiple functional units included in the control system 1 may be distributed and provided in multiple housings, or they may be provided in a single housing.

[0057] The control system 1 is configured to communicate with devices provided in various parts of the aircraft body 30. Specifically, the control system 1 is connected to at least the first limiting unit 48 (first control valve 481), the second limiting unit 49 (solenoid proportional valve 492 and engine control unit 493), the left camera 341, the right camera 342, the rear camera 343, and the display device 2. This allows the control system 1 to control the first limiting unit 48, the second limiting unit 49, and the display device 2, and to acquire images captured by the left camera 341, the right camera 342, and the rear camera 343. Here, the control system 1 may exchange various types of information (data) directly with each device, or indirectly via a relay or the like.

[0058] The display processing unit 11 performs display processing to display a display screen Dp1 containing information related to the work machine 3 on the display device 2. Specifically, the display processing unit 11 generates the display screen Dp1 based on data acquired by the data acquisition unit 12, and controls the display device 2 to display the display screen Dp1 on the display unit 23 of the display device 2. Furthermore, the display processing unit 11 operates in response to operations received by the operation unit 22 of the display device 2.

[0059] Here, the information related to the work machine 3 included in the display screen Dp1 includes, for example, operational information regarding the operating status of the work machine 3, such as the remaining fuel level, coolant temperature, hydraulic oil temperature, and the weight to be lifted during lifting operations. In other words, the display processing unit 11 can display the display screen Dp1, which includes operational information regarding the operating status of the work machine 3, on the display device 2. Furthermore, the information related to the work machine 3 included in the display screen Dp1 also displays the captured images Im11, Im12, and Im13 (see Figure 5) captured by the left camera 341, the right camera 342, and the rear camera 343 on the display screen Dp1. In other words, the display processing unit 11 can display the display screen Dp1, which includes the captured images Im11, Im12, and Im13 of the monitoring area A1 (each sub-area A11, A12, A13) around the work machine 3, on the display device 2.

[0060] In this disclosure, "screen" as used in display screen Dp1, etc., means the image (video) displayed on the display device 2, and includes illustrations, figures, photographs, text, and videos. That is, the control system 1 can display on the display device 2 a display screen Dp1 that includes illustrations, etc., representing information about the operating status of the work machine 3, such as the cooling water temperature and the hydraulic oil temperature. Here, if the display screen Dp1 includes videos, etc., the display screen Dp1 does not include a constant video, but rather a video that changes moment by moment.

[0061] The data acquisition unit 12 performs data acquisition processing to acquire various data related to the work machine 3, such as captured images of the monitoring area A1 surrounding the work machine 3. In this embodiment, the data acquisition unit 12 periodically or irregularly acquires the outputs of the left camera 341, the right camera 342, and the rear camera 343 from the left camera 341, the right camera 342, and the rear camera 343. In other words, the data acquisition unit 12 acquires image data (captured images) of the monitoring area A1 (each sub-area A11, A12, A13) surrounding the work machine 3.

[0062] Furthermore, the data acquisition unit 12 can periodically or irregularly acquire information regarding the operating status of each part of the work machine 3, including at least the first limiting unit 48 (first control valve 481), through data acquisition processing. Here, the data acquisition unit 12 can also acquire the outputs (sensor signals) of the fuel level sensor, coolant temperature sensor, and hydraulic oil temperature sensor. The data acquisition unit 12 may acquire various data directly from various sensors (including cameras), or indirectly via an electronic control unit, etc. The data acquired by the data acquisition unit 12 is stored, for example, in memory.

[0063] The detection unit 13 detects the object to be detected Ob1 in the monitoring area A1 surrounding the work machine 3. In other words, the detection unit 13 determines the presence or absence of the object to be detected Ob1 in the monitoring area A1 and outputs a detection result indicating whether or not the object to be detected Ob1 exists in the monitoring area A1. In this embodiment, as an example, the object to be detected Ob1 is a "person". In other words, if the work machine 3 moves, or if a "person" moves around the work machine 3, and as a result a "person" enters the monitoring area A1 surrounding the work machine 3, the detection unit 13 detects the "person" as the object to be detected Ob1. If there are multiple objects to be detected Ob1 in the monitoring area A1, the detection unit 13 may also detect the number of objects to be detected Ob1 (number of people).

[0064] In this embodiment, the detection unit 13 detects the object to be detected Ob1 in the monitoring area A1 based on the output (image data) of the left camera 341, the right camera 342, and the rear camera 343. Specifically, the detection unit 13 extracts feature quantities from the image data acquired by the data acquisition unit 12 by performing image processing, and determines whether or not the object to be detected Ob1 (in this embodiment, "person") is captured in the image based on these feature quantities. If the object to be detected Ob1 is captured in the image, the detection unit 13 determines whether the object to be detected Ob1 is captured in the image captured by the left camera 341, the right camera 342, or the rear camera 343. In other words, the detection unit 13 distinguishes whether the object to be detected Ob1 is located in the small area A11 captured by the left camera 341, the small area A12 captured by the right camera 342, or the small area A13 captured by the rear camera 343, and then detects the object to be detected Ob1.

[0065] Furthermore, in this embodiment, the detection unit 13 can also detect the distance from the aircraft 30 to the object Ob1. That is, if the object Ob1 is captured in the image, the detection unit 13 calculates the distance from the aircraft 30 to the object Ob1 based on the position of the object Ob1 in the image. Therefore, the detection unit 13 can detect an object Ob1 that is within a certain distance (for example, 2m, 3m, 4m, or 5m) from the aircraft 30. In other words, the detection unit 13 can not only use the entire area captured by the left camera 341, the right camera 342, and the rear camera 343 as the monitoring area A1, but can also detect an object Ob1 in a monitoring area A1 of an arbitrarily set size and shape.

[0066] The restriction processing unit 14 performs restriction processing (restraint processing) to limit (restrain) the operation of the work machine 3. The restriction processing unit 14 basically restricts the operation of the work machine 3 based on the detection result of the detection unit 13. In particular, in this embodiment, the restriction processing unit 14 performs restriction processing when the detection result of the detection unit 13 indicates the presence of a detected object Ob1 (in this case, a person) in the monitoring area A1. In this disclosure, "restriction processing" means processing that acts in a direction that restricts (restrains) the operation of the work machine 3 in some way.

[0067] For example, the restriction process includes a process that directly restricts the operation of the work machine 3 by controlling the travel unit 31, the swivel unit 32, and the work unit 33 of the work machine 3. As an example, the restriction process includes a process that prohibits the travel operation of the travel unit 31 (making it impossible to travel), a process that prohibits the swivel operation of the swivel unit 32 (making it impossible to swivel), and a process that prohibits the operation of the work unit 33 (making it impossible to work). This makes it possible to forcibly restrict the operation of the work machine 3 without the operation of the user U1 (operator). In other words, it is possible to avoid contact between the machine body 30 and the detected object Ob1 due to the operation of the work machine 3. Furthermore, the restriction process includes a process that indirectly restricts the operation of the work machine 3 by issuing a warning to the user U1 (operator) operating the work machine 3 by sound or light (including display). Since the operation of the work machine 3 can be indirectly deterred by issuing a warning to the user U1 (operator) operating the work machine 3, the degree of freedom in operating the work machine 3 is high. In other words, by operating the work machine 3 while paying attention to the object to be detected Ob1, user U1 can continue operating the work machine 3 while avoiding contact with the object to be detected Ob1.

[0068] In this embodiment, the restriction processing unit 14 includes a first restriction processing unit 141 that controls the first restriction unit 48, and a second restriction processing unit 142 that controls the second restriction unit 49. Here, the second restriction unit 49 is a backup restriction unit for the first restriction unit 48, used when an abnormality is detected in the first restriction unit 48. Therefore, the second restriction processing unit 142, which activates the second restriction unit 49, is only active when an abnormality is detected in the first restriction unit 48. In other words, during normal operation when no abnormality is detected in the first restriction unit 48, only the first restriction processing unit 141 is active, and the second restriction processing unit 142 is disabled during normal operation. Therefore, during normal operation, if the detection result of the detection unit 13 indicates the presence of the object Ob1 in the monitoring area A1, the first restriction processing unit 141 functions and executes the restriction processing, while the second restriction processing unit 142 does not function.

[0069] The first restriction processing unit 141 restricts the operation of individual drive units (hydraulic actuators), such as the hydraulic motor 43 of the travel unit 31, the hydraulic motor of the slewing unit 32, and the hydraulic cylinder 44 of the work unit 33, by activating the first restriction unit 48. In other words, the machine body 30 of the work machine 3 is equipped with multiple drive units (hydraulic actuators), and multiple first restriction units 48 are provided so that they correspond one-to-one with these multiple drive units. The first restriction processing unit 141 can restrict the operation of only some of the drive units by individually activating one or more of these multiple first restriction units 48. For example, the first restriction processing unit 141 can activate only the first restriction unit 48 corresponding to the hydraulic motor 43 of the travel unit 31, thereby prohibiting the travel operation of the travel unit 31 (making it impossible to travel), in which case the slewing unit 32 and the work unit 33 can operate. Furthermore, the first limiting unit 141 can also activate all of the multiple first limiting units 48 to restrict the operation of all of the multiple drive units mounted on the machine body 30 of the work machine 3.

[0070] In this embodiment, as an example, the first limiting unit 141 activates the first limiting unit 48 by closing the first control valve 481. That is, when the first limiting unit 141 activates the first limiting unit 48, the first control valve 481 blocks the flow path of pilot oil and stops the supply of hydraulic oil from the hydraulic pump 41 to the hydraulic actuator, thereby forcibly stopping the operation of the hydraulic actuator. Here, the first limiting unit 141 activates the first limiting unit 48 when the detection result of the detection unit 13 indicates the presence of a detected object Ob1 (in this case, a person) in the monitoring area A1. In this way, the first limiting unit 141 controls the first limiting unit 48 which limits the operation of the drive unit that drives the work machine 3.

[0071] The second restriction processing unit 142 restricts the operation of multiple drive units (hydraulic actuators), such as the hydraulic motor 43 of the travel unit 31, the hydraulic motor of the slewing unit 32, and the hydraulic cylinder 44 of the work unit 33, by activating the second restriction unit 49. In other words, since the machine body 30 of the work machine 3 is equipped with multiple drive units (hydraulic actuators), the second restriction unit 49 restricts the operation of these multiple drive units collectively. The second restriction processing unit 142 restricts the operation of these multiple drive units collectively by activating the second restriction unit 49. In other words, when the second restriction processing unit 142 activates the second restriction unit 49, for example, the travel operation of the travel unit 31, the slewing operation of the slewing unit 32, and the operation of the work unit 33 are all prohibited.

[0072] In this embodiment, as an example, the second limiting unit 142 activates the second limiting unit 49 by closing the electromagnetic proportional valve 492. In other words, when the second limiting unit 142 activates the second limiting unit 49, the electromagnetic proportional valve 492 limits the amount of hydraulic fluid discharged from the hydraulic pump 41 and stops the supply of hydraulic fluid from the hydraulic pump 41 to the hydraulic actuator, thereby forcibly stopping the operation of the hydraulic actuator. As a result, the second limiting unit 142 restricts the operation of all of the multiple drive units mounted on the body 30 of the work machine 3. In this way, the second limiting unit 142 controls the second limiting unit 49, which restricts the operation of the drive units separately from the first limiting unit 48. Furthermore, as will be described in more detail later, the second limiting unit 142 controls the second limiting unit 49 based on the determination result of whether or not there is an abnormality in at least the first limiting unit 48.

[0073] Here, the restriction processing performed by the second restriction processing unit 142 includes at least processing to restrict the rotational movement of the rotational unit 32. Specifically, the second restriction processing unit 142 closes the electromagnetic proportional valve 492 to stop the supply of hydraulic fluid from the hydraulic pump 41, thereby rendering at least the hydraulic motor of the rotational unit 32 inoperable. If the rotational unit 32 is in the process of rotating, the rotational unit 32 will make an emergency stop, and if the rotational unit 32 is not in the process of rotating, the rotational movement of the rotational unit 32 will be prohibited. This makes it possible to avoid contact between the machine body 30 and the object Ob1 when the rotational unit 32 rotates, in the case where the object Ob1 is in the monitoring area A1, which is a blind spot for the user U1 (operator).

[0074] The determination processing unit 15 executes a determination process to determine whether or not there is an abnormality in the first limiting unit 48. In other words, the determination processing unit 15 performs an abnormality determination to determine whether the first limiting unit 48 is normal or not (abnormal). In this embodiment, as described above, the second limiting processing unit 142 is activated only when an abnormality is detected in the first limiting unit 48, so the determination result of the determination processing unit 15 is used as a condition for activating the second limiting processing unit 142. The "abnormality" of the first limiting unit 48 referred to here includes, for example, a broken or short-circuited wire for controlling the first limiting unit 48, or a malfunction (including sticking, etc.) of the first control valve 481.

[0075] For example, the first control valve 481 is driven by a current supplied from a driver circuit (not shown) that receives a control signal from the control system 1. The determination processing unit 15 can detect the occurrence of a break in the wire or a short circuit based on the magnitude (current value) of the current. In other words, by acquiring the magnitude (current value) of the current supplied from the driver circuit to the first control valve 481 using the data acquisition unit 12, the determination processing unit 15 can determine whether or not there is an abnormality in the first limiting unit 48 based on the current value. For example, if the current value is below a threshold even though the driver circuit is attempting to supply current to the first control valve 481, the determination processing unit 15 will determine that there is an "abnormality" such as a break in the wire or a short circuit in the first limiting unit 48. Alternatively, by acquiring the output of the pressure sensor that detects the hydraulic pressure of the first control valve 481 using the data acquisition unit 12, the determination processing unit 15 can determine whether or not there is an abnormality in the first limiting unit 48 based on the hydraulic pressure. For example, if a control signal to close the first control valve 481 is issued, but hydraulic pressure exceeding a threshold is detected, the determination processing unit 15 determines that there is an "abnormality" such as the first control valve 481 being stuck in the first limiting unit 48.

[0076] The notification processing unit 16 executes a notification process when it determines that there is an abnormality in the first restriction unit 48. In other words, when the determination processing unit 15 determines that there is an abnormality in the first restriction unit 48 and the second restriction processing unit 142 is activated, the notification processing unit 16 issues a notification (also called an "abnormality notification"). Furthermore, in this embodiment, the notification processing unit 16 also issues a notification while the second restriction unit 49 is operating. In other words, when the second restriction processing unit 142 is activated and the object Ob1 is detected in the monitoring area A1, the notification processing unit 16 issues a notification (also called a "backup notification").

[0077] The notification by the notification processing unit 16 can be any kind of notification to the user U1 (operator), and the form of the notification can vary. For example, the notification by the notification processing unit 16 may be displayed on the display device 2 (display unit 23), sound such as a beep or voice, or vibration.

[0078] By the way, the detection unit 13 is not an essential component of the control system 1. For example, the control system 1 may be configured to acquire detection results from an external detection unit, and the restriction processing unit 14 may execute restriction processing based on those detection results.

[0079] [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 5 to 7.

[0080] 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.

[0081] 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 engine 40 of the work machine 3. On the other hand, the control system 1 terminates the following various processes related to the control method when a specific preset end operation is performed. The end operation is, for example, the operation to stop the engine 40 of the work machine 3.

[0082] [3.1] Display screen First, the configuration of the display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to this embodiment will be described. In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2, such as Figure 5, the dashed lines, leader lines, and reference numerals representing areas are all there for illustrative purposes only and are not actually displayed on the display device 2.

[0083] As shown in Figure 5, the display screen Dp1 includes the first region R1, the second region R2, the third region R3, the fourth region R4, the fifth region R5, the sixth region R6, the seventh region R7, the eighth region R8, the ninth region R9, and the tenth region R10.

[0084] Specifically, the display screen Dp1 is divided into four vertical (up and down) sections. The top three sections are then further divided into three horizontal (left and right) sections. This results in a total of 10 sections on the display screen Dp1. The second section from the top consists of three sections from left to right: Section 1 R1, Section 2 R2, and Section 3 R3. The bottom section is Section 4 R4. The third section from the top consists of three sections from left to right: Section 5 R5, Section 6 R6, and Section 7 R7. The top section consists of three sections from left to right: Section 8 R8, Section 9 R9, and Section 10 R10. In terms of vertical size, the second section from the top (Section 1 R1, Section 2 R2, and Section 3 R3) is the largest of the four vertically divided sections. In terms of horizontal size, the middle region (region 2 R2, region 6 R6, and region 9 R9) is the largest among the three regions divided horizontally.

[0085] The first region R1 is a rectangular area that is elongated vertically. In the first region R1, for example, remaining fuel information G1 regarding the remaining amount of engine fuel (e.g., diesel fuel) is displayed. The display processing unit 11 generates the remaining fuel information G1 on the display screen Dp1 based on the output of the fuel level sensor (sensor signal), etc.

[0086] The second region R2 is a rectangular area that is elongated horizontally. The second region R2 displays the captured images Im11, Im12, and Im13 of the monitoring area A1, as well as detection result information I1, I2, etc., which represent the detection results of the detection unit 13. Captured image Im11 is an image of the small area A11 to the left of the driver unit 321, captured by the left camera 341, and captured image Im12 is an image of the small area A12 to the right of the driver unit 321, captured by the right camera 342. Captured image Im13 is an image of the small area A13 behind the driver unit 321, captured by the rear camera 343.

[0087] The control system 1 displays the captured images Im11, Im12, and Im13 acquired by the detection unit 13 in real time. In the center of the second region R2, an icon Im10, which is modeled after the aircraft 30 as seen from above, is displayed. Icon Im10 schematically represents the positional relationship of the imaging ranges (small areas A11, A12, A13) of the left camera 341, the right camera 342, and the rear camera 343 as seen from the aircraft 30.

[0088] Detection result information I1 is a band-shaped (frame-shaped) image that highlights the image containing the detected object Ob1 from among the captured images Im11, Im12, and Im13. Detection result information I2 is an image that shows the direction in which the detected object Ob1 is located as seen from the driver unit 321. In the example in Figure 5, it is assumed that the detected object Ob1 (here, "person") is located in a small area A11 to the left of the driver unit 321, which is captured by the left camera 341. Therefore, among the captured images Im11, Im12, and Im13, the captured image Im11 is highlighted in detection result information I1, and below the captured image Im11, detection result information I2 is displayed, indicating that the detected object Ob1 is located to the left of the driver unit 321.

[0089] Preferably, the display mode of the detection result information I1 and I2 is changed according to the position of the detected object Ob1 in the monitoring area A1. For example, the display mode of the detection result information I1 and I2, such as the display color, size, or display pattern (including flashing patterns, etc.), is changed according to the position of the detected object Ob1 in the monitoring area A1. For example, the closer the detected object Ob1 is to the machine 30, the more conspicuous the display mode of the detection result information I1 and I2 is changed to a display color. For example, as the detected object Ob1 approaches the machine 30, the display color of the detection result information I1 and I2 changes from yellow to red.

[0090] Thus, the display screen Dp1 not only displays the captured images Im11, Im12, and Im13 of the monitoring area A1, but also displays the detection results of the object Ob1 in the monitoring area A1 as detection result information I1 and I2. Therefore, the operator (user U1) can easily confirm the presence or absence of the object Ob1 in the monitoring area A1 by looking at the display screen Dp1. This allows the operator (user U1) to check the situation to the sides and rear of the work machine 3, which are often blind spots from the operating unit 321, on the display screen Dp1 displayed on the display device 2. Consequently, compared to a configuration where only the detection result information I1 and I2 is displayed, if the object Ob1 is present in the monitoring area A1, it becomes easier to grasp the situation of the object Ob1 in detail on the display screen Dp1.

[0091] In the third area R3, icons (im1) corresponding to the operating status of each part of the work machine 3 are displayed. Multiple icons (im1) can be displayed in the third area R3, and the design (pattern) of each icon (im1) indicates which state it represents, for example, the battery, seat belt, coolant temperature, hydraulic oil temperature, etc. Here, each icon (im1) indicates its operating status by its display characteristics, such as its display color or size. The display processing unit 11 determines the status of each part of the work machine 3 using the outputs of various sensors (including a coolant temperature sensor and a hydraulic oil temperature sensor) that detect the operating status of each part of the work machine 3. If an abnormal value is detected in any part, the display processing unit 11 displays a warning by changing the display characteristics, such as the display color, of the icon (im1) for that part.

[0092] The fourth area R4 is a band-shaped area that extends across the entire width of the display screen Dp1. The fourth area R4 displays various items for operating the display screen Dp1. As an example in Figure 5, the fourth area R4 has six items: "Menu," "Crane," "Mode," "Camera," "PTO," and "Switch," arranged from left to right in that order. These six items are associated with the six push-button switches 221 to 226 on the operation unit 22 located directly below them. For example, the push-button switch 221 is associated with the "Menu" item, and the push-button switch 222 is associated with the "Crane" item. Therefore, for example, when the push-button switch 224 corresponding to the "Camera" item is operated by user U1 (see Figure 4), the "Camera" item is operated (selected).

[0093] Area 5 R5 displays warning icons indicating that abnormal values ​​have been detected by various sensors (including coolant temperature sensor and hydraulic oil temperature sensor). Area 6 R6 displays information about the working unit 33 currently operating in the working machine 3, for example. Area 7 R7 displays information about the operating status of the working machine 3, for example, the engine speed. Area 8 R8 displays the current time, for example. Area 9 R9 displays information indicating the item to which the currently displayed screen Dp1 belongs, for example. Area 10 R10 displays information about the operating time (hour meter) of the working machine 3, for example.

[0094] [3.2] Details Next, the control method according to this embodiment will be described in detail.

[0095] The control method according to this embodiment includes activating the first limiting unit 48, determining whether or not there is an abnormality in the first limiting unit 48, and activating the second limiting unit 49 based on at least the determination result of whether or not there is an abnormality in the first limiting unit 48. The first limiting unit 48 restricts the operation of the drive unit (hydraulic actuator) that drives the work machine 3. The second limiting unit 49 restricts the operation of the drive unit (hydraulic actuator) separately from the first limiting unit 48.

[0096] According to this control method, if the operation of the drive unit (hydraulic actuator including the hydraulic motor 43 and hydraulic cylinder 44, etc.) should be restricted, for example, when an object Ob1 to be detected is present in the monitoring area A1, the operation of the drive unit can be restricted by activating the first restriction unit 48. Furthermore, if an abnormality is detected in the first restriction unit 48 when the operation of the drive unit should be restricted, the operation of the drive unit can be restricted by activating the second restriction unit 49, which is a backup for the first restriction unit 48. Therefore, according to the control method of this embodiment, even if there is an abnormality in the first restriction unit 48, the operation of the drive unit can be restricted by the second restriction unit 49 when it should be restricted, thereby improving the reliability of the operation of the work machine 3.

[0097] Specifically, the limiting processing unit 14 of the control system 1, based on the determination result of the determination processing unit 15, enables the first limiting processing unit 141 and disables the second limiting processing unit 142 during steady-state operation when no abnormality is detected in any of the multiple first limiting units 48. In other words, during steady-state operation when all of the multiple first limiting units 48 are functioning normally, only the first limiting processing unit 141 is enabled among the first limiting processing unit 141 and the second limiting processing unit 142.

[0098] At this time, if the detection result of the detection unit 13 indicates the presence of an object Ob1 (in this case, a person) in the monitoring area A1, the first limiting processing unit 141 activates the first limiting unit 48 to restrict the operation of the desired drive unit. For example, the first limiting processing unit 141 activates the first limiting unit 48 corresponding to the hydraulic motor 43 of the travel unit 31 and stops the hydraulic motor 43. Not limited to this example, the first limiting processing unit 141 may activate the first limiting unit 48 corresponding to one or more of the drive units, such as the hydraulic motor 43 of the travel unit 31, the hydraulic motor of the slewing unit 32, and the hydraulic cylinder 44 of the work unit 33, and stop one or more of those drive units.

[0099] On the other hand, the limiting processing unit 14 of the control system 1, based on the determination result of the determination processing unit 15, disables the first limiting processing unit 141 and enables the second limiting processing unit 142 if an abnormality is detected in any of the first limiting units 48. In other words, when there is an abnormality in any of the multiple first limiting units 48, the second limiting processing unit 142 is enabled.

[0100] At this time, if the detection result of the detection unit 13 indicates the presence of an object Ob1 (in this case, a person) in the monitoring area A1, the second limiting processing unit 142 activates the second limiting unit 49 to restrict the operation of all drive units. For example, the second limiting processing unit 142 stops the supply of hydraulic fluid from the hydraulic pump 41 by closing the electromagnetic proportional valve 492 of the second limiting unit 49, thereby stopping all multiple drive units, including the hydraulic motor 43 of the travel unit 31, the hydraulic motor of the slewing unit 32, and the hydraulic cylinder 44 of the work unit 33.

[0101] Thus, in the control method according to this embodiment, the operation of the drive unit can be restricted by activating the first limiting unit 48 if it is functioning normally, and by activating the backup second limiting unit 49 if there is an abnormality in the first limiting unit 48. Therefore, in both normal operation when there is no abnormality in the first limiting unit 48 and abnormal operation when there is an abnormality in the first limiting unit 48, the operation of the drive unit can be restricted by the first limiting unit 48 or the second limiting unit 49 when it is necessary to restrict the operation of the drive unit, thereby improving the reliability of the operation of the work machine 3.

[0102] In this case, the range of the drive unit restricted by the first restricting unit 48 and the second restricting unit 49 is not the same. In this embodiment in particular, the range of the drive unit restricted by the second restricting unit 49 is wider than the range of the drive unit restricted by each of the first restricting units 48. Therefore, in a normal state where there is no abnormality in the first restricting unit 48, the operation of the drive unit can be restricted by the first restricting unit 48, while keeping the restriction on the operation of the work machine 3 to a minimum.

[0103] In other words, in this embodiment, the work machine 3 is equipped with multiple drive units. The second limiting unit 49 restricts the operation of a first drive unit whose operation is restricted by the first limiting unit 48, and a second drive unit that is different from the first drive unit. For example, if the "first drive unit" whose operation is restricted by any of the first limiting units 48 is the hydraulic motor 43 of the travel unit 31, the second limiting unit 49 will also restrict the operation of a "second drive unit" such as the hydraulic motor of the slewing unit 32, which is different from the first drive unit (hydraulic motor 43). As a result, for example, one second limiting unit 49 can handle backups for both the first limiting unit 48 that restricts the first drive unit and the first limiting unit 48 that restricts the second drive unit, and the backup second limiting unit 49 can be simplified.

[0104] Furthermore, in this embodiment, the work machine 3 is equipped with multiple first limiting units 48 and multiple drive units. The second limiting unit 49 restricts the operation of multiple drive units that are subject to restriction by the multiple first limiting units 48 in a single unit. In other words, while the first limiting unit 48 restricts the operation of each drive unit (individually), the second limiting unit 49 restricts the operation of multiple drive units together. As a result, for example, one second limiting unit 49 can act as a backup for multiple first limiting units 48, and the backup second limiting unit 49 can be simplified. In particular, in this embodiment, since the second limiting unit 49 restricts the operation of all of the multiple drive units that are subject to restriction by the multiple first limiting units 48 in a single unit, one second limiting unit 49 is sufficient.

[0105] Furthermore, in this embodiment, the first limiting units 48 are provided on the supply path for pilot oil to the directional control valves 47 that control each of the multiple drive units. In other words, the first limiting units 48 individually limit the operation of each drive unit by controlling the pilot pressure input to the directional control valves 47 with the first control valve 481. In contrast, the second limiting unit 49 includes an electromagnetic proportional valve 492 that changes the discharge amount of hydraulic fluid from the hydraulic pump 41 and an engine control unit 493. In other words, the second limiting unit 49 collectively limits the operation of the multiple drive units by adjusting the discharge amount of hydraulic fluid from the hydraulic pump 41, which is the power source for the multiple drive units, at its main source.

[0106] In short, the first limiting unit 48 limits the operation of the drive unit by controlling the pilot pressure input to the directional control valve 47 that controls the drive unit. The second limiting unit 49 limits the operation of the drive unit by controlling the discharge flow rate of the hydraulic pump 41 that pumps hydraulic fluid to the drive unit. This allows the second limiting unit 49, which serves as a backup for the first limiting unit 48, to be implemented with a relatively simple configuration. In other words, even if multiple first limiting units 48 are provided, the second limiting unit 49 can be implemented with a single device that controls the discharge flow rate of the hydraulic pump 41.

[0107] Furthermore, in the control method according to this embodiment, the second limiting unit 49 is activated based on the detection result of the object to be detected Ob1, in addition to the determination result of whether or not there is an abnormality in the first limiting unit 48. That is, in this embodiment, the second limiting unit 49 is a backup limiting unit for the first limiting unit 48, so the second limiting unit 49 is also activated in the same way as the first limiting unit 48 when the detection result of the detection unit 13 indicates the presence of an object to be detected Ob1 (in this case, a person) in the monitoring area A1. Therefore, the second limiting processing unit 142 will activate the second limiting unit 49 when it is determined that there is an abnormality in the first limiting unit 48 and the object to be detected Ob1 is present in the monitoring area A1. For this reason, it is possible to operate the second limiting unit 49 as a substitute for the first limiting unit 48.

[0108] In this embodiment, the first limiting unit 48 and the second limiting unit 49 can individually set conditions for the detection result of the detection unit 13. That is, in the control method according to this embodiment, the first limiting unit 48 is activated when the detection result of the object to be detected Ob1 satisfies the first condition. In addition, in this control method, the second limiting unit 49 is activated when it is determined that there is an abnormality in the first limiting unit 48 and the detection result of the object to be detected Ob1 satisfies the second condition. For example, the first condition includes that the object to be detected Ob1 is within a first distance (e.g., "3m") from the machine body 30, and the second condition includes that the object to be detected Ob1 is within a second distance (e.g., "2m") from the machine body 30. In this case, if there is no abnormality in the first limiting unit 48, and the object to be detected Ob1 is within the first distance (3m) from the machine body 30, the first limiting processing unit 141 activates the first limiting unit 48. On the other hand, if there is a malfunction in the first limiting unit 48, the second limiting processing unit 142 will not activate the second limiting unit 49 even if the object Ob1 to be detected is within a first distance (3m) from the machine body 30, but not within a second distance (2m). If the distance from the machine body 30 to the object Ob1 to be detected is between the first distance and the second distance, the first limiting unit 48 will activate, but the second limiting unit 49 will not.

[0109] In this way, by setting individual conditions for the detection result of the detection unit 13 in the first limiting unit 48 and the second limiting unit 49, for example, the conditions for activating the second limiting unit 49 can be made relatively stricter as described above, thereby suppressing the easy activation of the second limiting unit 49, which has a significant impact on the operation of the work machine 3. Conversely, the conditions for activating the second limiting unit 49 can be made relatively lenient, so that if there is an abnormality in the first limiting unit 48, the second limiting unit 49 is activated more reliably to restrict the operation of the drive unit. However, the first and second conditions only need to be set individually, and the first and second conditions may be the same.

[0110] Furthermore, the control method according to this embodiment further includes disabling the first limiting unit 48 that has been determined to be abnormal. In short, if the determination processing unit 15 determines that there is an abnormality in any of the first limiting units 48, the limiting processing unit 14 disables the function of the first limiting unit 48 that has been determined to be abnormal. This prevents the first limiting unit 48 from operating incompletely, for example, when an abnormality is occasionally observed in the first limiting unit 48, such as when a power line is about to break.

[0111] Incidentally, the notification processing unit 16 of the control system 1 makes a predetermined notification when it determines that there is an abnormality in the first limiting unit 48, and while the second limiting unit 49 is operating. In this embodiment, as an example, the notification processing unit 16 makes an abnormality notification and a backup notification by displaying notification objects I3 and I4 on the display screen Dp1 shown on the display unit 23 of the display device 2, as shown in Figure 6. Figure 6 is a diagram showing only a portion of the 9th area R9 and the 2nd area R2 of the display screen Dp1.

[0112] Specifically, if there is no abnormality in the first restriction unit 48, the ninth area R9 will be blank, as indicated by "First Restriction Unit: Normal". On the other hand, if there is an abnormality in the first restriction unit 48 and the detection target object Ob1 does not exist in the monitoring area A1, a notification object I3 will be displayed in the ninth area R9, as indicated by "First Restriction Unit: Abnormal". At this time, the second restriction processing unit 142 is enabled, but the second restriction unit 49 is not operating. The notification object I3 contains text indicating that there is an abnormality in the first restriction unit 48, such as "Error Occurring". Also, if there is an abnormality in the first restriction unit 48 and the detection target object Ob1 exists in the monitoring area A1, a notification object I4 will be displayed in the ninth area R9, as indicated by "Second Restriction Unit: Operating". At this time, the second restriction processing unit 142 is operating the second restriction unit 49. The notification object I4 contains text indicating that the second restriction unit 49 is operating, such as "Backup System Operating".

[0113] In other words, notification object I3 is an example of a notification (abnormality notification) that is executed when an abnormality is determined to be present in the first limiting unit 48, and notification object I4 is an example of a notification (backup notification) that is executed while the second limiting unit 49 is operating. Therefore, the operator can easily grasp the status of the first limiting unit 48 and the second limiting unit 49 by looking at notification objects I3 and I4 displayed on the display screen Dp1. The display position and display manner of these notification objects I3 and I4 are merely examples; for example, notification objects I3 and I4 may be marks (including images) other than text.

[0114] [3.3] Overall Processing Next, the overall flow of the control method will be explained with reference to Figure 7. Figure 7 is a flowchart showing an example of the control method process.

[0115] As shown in Figure 7, the data acquisition unit 12 of the control system 1 acquires captured images Im11, Im12, and Im13 from the left camera 341, the right camera 342, and the rear camera 343 (S1). Next, the determination processing unit 15 of the control system 1 determines whether or not there is an abnormality in the first limiting unit 48 (S2). If it is determined that all of the multiple first limiting units 48 are normal (S2: No), the control system 1 moves the process to step S3. On the other hand, if it is determined that there is an abnormality in one or more of the multiple first limiting units 48, such as a broken wire or short circuit, or a malfunction (including sticking, etc.) of the first control valve 481 (S2: Yes), the control system 1 moves the process to step S5.

[0116] In step S3, the limiting processing unit 14 of the control system 1 determines whether the detection result of the detection unit 13 satisfies the first condition. For example, if the object to be detected Ob1 is within a first distance (e.g., "3m") from the machine body 30, the limiting processing unit 14 determines that the first condition is satisfied (S3:Yes), and the first limiting processing unit 141 of the limiting processing unit 14 activates the first limiting unit 48 (S4). In this case, for example, if the first limiting unit 48 corresponding to the hydraulic motor 43 of the travel unit 31 is activated, the travel operation of the travel unit 31 is prohibited, but the operation of the swivel unit 32 and the work unit 33 is permitted. On the other hand, if the object to be detected Ob1 is not within a first distance (e.g., "3m") from the machine body 30, the limiting processing unit 14 determines that the first condition is not satisfied (S3:No), and skips step S4, so the first limiting unit 48 does not activate.

[0117] In step S5, the notification processing unit 16 of the control system 1 issues an abnormality notification indicating an abnormality in the first limiting unit 48, for example, by displaying a notification object I3 on ​​the display screen Dp1 of the display device 2. Next, the limiting processing unit 14 of the control system 1 disables all first limiting units 48, including the first limiting unit 48 that has been determined to be abnormal, by disabling the function of the first limiting processing unit 141 (S6).

[0118] In the next step, S7, the limiting processing unit 14 of the control system 1 determines whether the detection result of the detection unit 13 satisfies the second condition. For example, if the object Ob1 is within a second distance (e.g., "2m") from the machine body 30, the limiting processing unit 14 determines that the second condition is satisfied (S7: Yes), and the second limiting processing unit 142 of the limiting processing unit 14 activates the second limiting unit 49 (S8). At this time, for example, the electromagnetic proportional valve 492 of the second limiting unit 49 closes, stopping the supply of hydraulic fluid from the hydraulic pump 41, and forcibly prohibiting the operation of all drive units of the work machine 3. Furthermore, the notification processing unit 16 of the control system 1 provides a backup notification that the second limiting unit 49 is in operation, for example, by displaying a notification object I4 on the display screen Dp1 of the display device 2. On the other hand, if the object Ob1 is not within a second distance (for example, "2m") from the aircraft 30, the limiting processing unit 14 determines that the second condition is not met (S7: No), and skips steps S8 and S9, so the second limiting unit 49 does not operate.

[0119] The control system 1 repeatedly executes the processes in steps S1 to S9 described above. However, the flowchart shown in Figure 7 is merely an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0120] [4] Modified form The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0121] 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.

[0122] 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.

[0123] Furthermore, the power source for the work machine 3 is not limited to a diesel engine; for example, it may be an engine other than a diesel engine, or a motor (electric motor), or a hybrid power source including both an engine and a motor (electric motor).

[0124] 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.

[0125] 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.

[0126] Furthermore, the restriction processing performed by the restriction processing unit 14 is not limited to processing that prohibits (disables) the operation of the work machine 3 (such as swiveling). The restriction processing may be, for example, processing that reduces the speed of the operation of the work machine 3 (such as swiveling), processing that narrows the operating range (such as swivel angle) of the work machine 3, or processing that limits the permissible area of ​​operation of the work machine 3. As an example, the second restriction unit 49 can reduce the operating speed of the drive unit by reducing the discharge amount of hydraulic fluid from the hydraulic pump 41 through the control of the electromagnetic proportional valve 492 or the engine control unit 493.

[0127] Furthermore, the sensors for detecting the object Ob1 in the monitoring area A1 surrounding the work machine 3 are not limited to the left camera 341, the right camera 342, and the rear camera 343, but may include one, two, or four or more cameras (image sensors). In addition, for example, the object Ob1 in the monitoring area A1 may be detected by a camera capable of capturing images in all directions as seen from the work machine 3, such as a 360-degree camera. Also, the sensors for detecting the object Ob1 in the monitoring area A1 may include, in addition to or instead of cameras, sensors such as a human presence sensor, sonar sensor, radar, or LiDAR (Light Detection and Ranging). Here, the sensor for detecting the object Ob1 in the monitoring area A1 may be a 3D sensor that measures the distance to the object Ob1 using the TOF (Time Of Flight) method, which measures the distance to the distance point based on the round-trip time it takes for light or sound to reach the distance point and return.

[0128] Furthermore, the object to be detected Ob1 may include, in addition to or instead of "people," moving objects such as vehicles (including other work machinery), structures such as walls and pillars, plants, animals, steps, ditches, or other obstacles.

[0129] Furthermore, it is not essential to activate the second limiting unit 49 based on the detection result of the object Ob1, in addition to the determination result of whether or not there is an abnormality in the first limiting unit 48. In other words, if the first limiting unit 48 determines that there is an abnormality, the second limiting processing unit 142 may activate the second limiting unit 49 regardless of the detection result of the object Ob1. Moreover, it is not essential that the conditions regarding the detection result of the object Ob1 are set individually in the first limiting unit 48 and the second limiting unit 49.

[0130] Furthermore, it is not essential that the second limiting unit 49 restricts the operation of the first drive unit, which is subject to operation restriction by the first limiting unit 48, and the second drive unit, which is separate from the first drive unit, among the multiple drive units. Moreover, it is not essential that the second limiting unit 49 restricts the operation of multiple drive units, which are subject to operation restriction by multiple first limiting units 48, all at once. For example, the second limiting unit 49 may be provided for each drive unit, similar to the first limiting unit 48. Also, it is not essential that the first limiting unit 48 restricts the operation of the drive unit by controlling the pilot pressure input to the directional control valve 47 that controls the drive unit. Furthermore, it is not essential that the second limiting unit 49 restricts the operation of the drive unit by controlling the discharge flow rate of the hydraulic pump 41 that pumps hydraulic fluid to the drive unit.

[0131] Furthermore, it is not mandatory to disable the first limiting unit 48 if it is determined to be abnormal. Also, it is not mandatory to send a notification when the first limiting unit 48 is determined to be abnormal. Moreover, it is not mandatory to send a notification while the second limiting unit 49 is operating.

[0132] Furthermore, in Embodiment 1, as an example, the work machine 3 is operated by human (operator) control (including remote control), but it is not limited to this, and the work machine 3 may be an unmanned machine that operates by automatic driving.

[0133] (Embodiment 2) The work machine 3 according to this embodiment differs from the work machine 3 according to Embodiment 1 in that the second limiting section 49 includes a cutoff relay 352, as shown in Figure 8. Hereinafter, components similar to those in Embodiment 1 will be denoted by common reference numerals and their descriptions will be omitted as appropriate. In Figure 8, solid lines indicate high-pressure (hydraulic oil) oil passages, dotted lines indicate low-pressure (pilot oil) oil passages, and dashed-dotted arrows indicate electrical signal paths. Furthermore, the thick line (solid line) between the cutoff lever 350 and the cutoff switch 353 indicates the physical connection between the cutoff lever 350 and the cutoff switch 353.

[0134] The cutoff relay 352 is electrically connected in series with the cutoff switch 353 between the control valve 46 and the power supply 351. In other words, the control valve 46 is connected to the power supply 351 via the cutoff relay 352 and the cutoff switch 353, and operates according to the current supplied from the power supply 351. The cutoff relay 352 is electrically connected to the control system 1 and switches on / off according to the control signal (electrical signal) from the control system 1. In this configuration, when both the cutoff relay 352 and the cutoff switch 353 are on, the control valve 46 becomes energized and blocks the flow path of the pilot oil, so the drive unit (hydraulic actuator) is forcibly stopped. Conversely, when at least one of the cutoff relay 352 and the cutoff switch 353 is off, the control valve 46 becomes de-energized and opens the flow path of the pilot oil, so the drive unit can operate.

[0135] According to the configuration of this embodiment, the circuit of the cutoff switch 353 can be used as the second limiting unit 49, so that the second limiting unit 49 for backup of the first limiting unit 48 can be realized with a relatively simple configuration. In Figure 8, the control signal input port 491 (see Figure 2), the electromagnetic proportional valve 492 (see Figure 2), and the engine control unit 493 (see Figure 2) are not shown, but the work machine 3 may be equipped with the control signal input port 491, the electromagnetic proportional valve 492, and the engine control unit 493.

[0136] The configuration according to Embodiment 2 can be adopted in appropriate combination with the various configurations (including modified versions) described in Embodiment 1.

[0137] [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.

[0138] <Note 1> Activating the first limiting unit that restricts the operation of the drive unit that drives the work machine, To determine whether or not there is an abnormality in the first limiting unit, The system includes activating a second limiting unit that restricts the operation of the drive unit separately from the first limiting unit, based on the determination result of whether or not there is an abnormality in the first limiting unit, A method for controlling industrial machinery.

[0139] <Note 2> The system further includes detecting objects to be detected in the monitoring area surrounding the aforementioned work machine, In addition to the determination result of whether or not there is an abnormality in the first limiting unit, the second limiting unit is activated based on the detection result of the object to be detected. Control method for the work machine described in Appendix 1.

[0140] <Note 3> When the detection result of the object to be detected satisfies the first condition, the first limiting unit is activated. If an abnormality is detected in the first limiting unit and the detection result of the object to be detected satisfies the second condition, the second limiting unit is activated. Control method for the work machine described in Appendix 2.

[0141] <Note 4> The aforementioned work machine is equipped with a plurality of the aforementioned drive units, The second limiting unit limits the operation of a first drive unit, which is subject to operation restriction by the first limiting unit, and a second drive unit, which is different from the first drive unit, among the plurality of drive units. A control method for the work machine described in any of the appendices 1 to 3.

[0142] <Note 5> The aforementioned work machine comprises a plurality of the first limiting unit and the drive unit, The second limiting unit restricts the operation of multiple drive units whose operation is restricted by multiple first limiting units in a single operation. A control method for the work machine described in any of the appendices 1 to 4.

[0143] <Note 6> The first limiting unit limits the operation of the drive unit by controlling the pilot pressure input to the directional control valve that controls the drive unit. The second limiting unit limits the operation of the drive unit by controlling the discharge flow rate of the hydraulic pump that supplies hydraulic fluid to the drive unit. A control method for the work machine described in any of the appendices 1 to 5.

[0144] <Note 7> The method further includes disabling the first limiting unit that has been determined to be abnormal, A control method for the work machine described in any of the appendices 1 to 6.

[0145] <Note 8> The system further includes providing a notification when it is determined that there is an abnormality in the first limiting unit. A control method for the work machine described in any of the appendices 1 to 7.

[0146] <Note 9> The second limiting unit further provides notification while it is in operation. A control method for the work machine described in any of the appendices 1 to 8.

[0147] <Note 10> The control method for the work machine described in any of the appendices 1 to 9, A control program for a work machine to be executed by one or more processors. [Explanation of Symbols]

[0148] 1. Control system for industrial machinery 3. Working Machines 15. Judgment Processing Unit 30 aircraft 41 Hydraulic pump 43. Hydraulic motor (drive unit, first drive unit) 44. Hydraulic cylinder (drive unit, second drive unit) 47 Directional control valve 48. First Restriction Section 49 Second Restriction Section 141 First Restriction Processing Unit 142 Second Limit Processing Unit A1 Surveillance Area Ob1 Detected object

Claims

1. The system includes displaying notification information on a display device that corresponds to at least one of the following: whether or not there is an abnormality in a first limiting unit that restricts the operation of a drive unit that drives a work machine, and the operating status of a second limiting unit that restricts the operation of the drive unit separately from the first limiting unit. A method for controlling industrial machinery.

2. If it is determined that there is an abnormality in the first limiting unit, the notification information including a first notification object indicating the abnormality in the first limiting unit is displayed. A method for controlling a work machine according to claim 1.

3. If the second limiting unit is in operation, the notification information including a second notification object indicating that the second limiting unit is in operation is displayed. A method for controlling a work machine according to claim 1 or 2.

4. The second notification object includes text information indicating that the backup system is operational. A method for controlling a work machine according to claim 3.

5. If the second limiting unit is operating, the notification information including a second notification object indicating that the second limiting unit is operating will be displayed. The first notification object and the second notification object are displayed in different display modes. A method for controlling a work machine according to claim 2.

6. A control method for a work machine according to claim 1 or 2, A control program for a work machine to be executed by one or more processors.

7. The system includes a notification processing unit that displays notification information on a display device corresponding to at least one of the following: whether or not there is a malfunction in a first limiting unit that restricts the operation of a drive unit that drives a work machine, and the operating state of a second limiting unit that restricts the operation of the drive unit separately from the first limiting unit. Control system for industrial machinery.

8. A control system for a work machine according to claim 7, The aircraft comprises a body on which the aforementioned drive unit is mounted, Agricultural machinery.

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