CONTROL METHOD FOR CONTROLLING A WORK MACHINE, CONTROL PROGRAM FOR CONTROLLING A WORK MACHINE, CONTROL SYSTEM FOR CONTROLLING A WORK MACHINE

Abstract

To provide a control method for a work machine, a control program for a work machine, a control system for a work machines, and a work machine, which enable the load of operators in charge of the operation to be easily reduced.SOLUTION: A control method of a work machine 3 is the control method of the work machine 3 which comprises a machine body 30 performing actions according to the operation of a control device 35, and can change operation patterns which are the correspondence between the operation of the control device 35 and the actions of the machine body 30. The control method includes presenting operation pattern information to show current operation patterns when a status that the machine body 30 performs no action according to the operation of the control device 35 changes to a status that the machine body 30 performs actions according to the operation of the control device 35.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a work machine control method, a work machine control program, a work machine control system, and a work machine, which are used in a work machine having a body that performs an action in accordance with the operation of an operating device. [Background technology]

[0002] As a related art, a hydraulic excavator is known as a work machine (construction machine) including a self-propelled lower traveling body, an upper rotating body rotatably mounted on the lower traveling body via a rotating device, and a working device provided at the front of the upper rotating body (see, for example, Patent Document 1). The work machine according to the related art has, as the working device, a boom, an arm, a bucket, and a hydraulic cylinder for driving these, which are provided so as to be capable of lifting and lowering operations. This work machine is provided with a control valve that supplies and discharges pressure oil to the rotating device and the working device in response to the operation of an operating lever, and is configured so that an operation pattern (combination pattern), which is a correspondence between the operation of the operating lever and the control valve, can be switched by operating a switching lever. In other words, the correspondence between the operation direction of the operating device (operating lever) and the operation of each actuator such as the boom cylinder, arm cylinder, or bucket cylinder can be switched by operating the switching lever.

[0003] In the above-mentioned related art, when checking the operation pattern, the operator opens the maintenance door of the cab to expose the pattern switching valve. In this state, the operator can visually check the position of the switching lever of the pattern switching valve to see whether the operation pattern matches his / her preference. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-147968 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned related technologies, the operator checks the operation pattern by visually checking the position of the switching lever. If the operator neglects to do this, the machine (work equipment, etc.) may behave unexpectedly in response to the operation of the control device, so the operator must operate with care.

[0006] An object of the present invention is to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that can easily reduce the burden on an operator associated with operation. [Means for solving the problem]

[0007] A control method for a work machine according to one aspect of the present invention is a control method for a work machine that is provided with a machine body that operates in accordance with the operation of an operating device, and that is capable of changing an operation pattern, which is a correspondence relationship between the operation of the operating device and the operation of the machine body. The control method includes presenting operation pattern information that indicates the current operation pattern when switching from a state in which the machine body does not operate in response to the operation of the operating device to a state in which the machine body operates in response to the operation of the operating device.

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

[0009] A work machine control system according to one aspect of the present invention is used for a work machine that includes a machine body that operates in accordance with the operation of an operating device and that is capable of changing an operation pattern, which is a correspondence between the operation of the operating device and the operation of the machine body. The work machine control system includes a presentation processing unit. The presentation processing unit presents operation pattern information that indicates the current operation pattern when switching from a state in which the machine body does not operate in response to the operation of the operating device to a state in which the machine body operates in response to the operation of the operating device.

[0010] A work machine according to one aspect of the present invention includes the work machine control system and the vehicle body. Effect of the Invention

[0011] According to the present invention, it is possible to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that can easily reduce the burden on an operator associated with operations. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic perspective view showing the overall configuration of a work machine according to a first embodiment. [Diagram 2] FIG. 2 is a schematic block diagram of the work machine according to the first embodiment. [Diagram 3] FIG. 3 is a schematic external view of the display device of the work machine according to the first embodiment. [Figure 4] FIG. 4 is a schematic external view of the nameplate of the work machine according to the first embodiment. [Diagram 5] FIG. 5 is a diagram showing an example of a home screen displayed by the work machine control system according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a notification screen displayed by the work machine control system according to the first embodiment. [Figure 7] FIG. 7 is a conceptual diagram showing a transition state of a display screen displayed by the work machine control system according to the first embodiment. [Figure 8] FIG. 8 is a diagram showing an example of a home screen displayed by the work machine control system according to the first embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a home screen (camera screen) displayed by the work machine control system according to the first embodiment. [Figure 10] FIG. 10 is a diagram showing an example of a change screen displayed by the work machine control system according to the first embodiment. [Figure 11] FIG. 11 is a conceptual diagram showing a transition state of a display screen displayed by the work machine control system according to the first embodiment. [Figure 12]FIG. 12 is a conceptual diagram showing a transition state of a display screen displayed by the work machine control system according to the first embodiment. [Figure 13] FIG. 13 is a flowchart showing an example of the operation of the work machine control system according to the first embodiment. [Figure 14] FIG. 14 is a diagram showing an example of a notification screen displayed by the work machine control system according to the second embodiment. [Figure 15] FIG. 15 is a diagram showing an example of a home screen displayed by the work machine control system according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0014] (Embodiment 1) [1] Overall structure As shown in Fig. 1, the work machine 3 according to this embodiment is equipped with a traveling section 31, a rotating section 32, and a working section 33 on a body 30. The work machine 3 is further equipped with a work machine control system 1 (hereinafter also simply referred to as the "control system 1") as shown in Fig. 2. In addition, the body 30 is further equipped with a display device 2, a main switch 34, an operating device 35, a sound output section 36, a camera 38, a cut-off switch 371, a cut-off lever 372, etc. as shown in Figs. 1 and 2.

[0015] The term "working machine" in this disclosure means a machine for various works, and examples thereof include working vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. The working machine 3 is equipped with a working unit 33 configured to be able to perform one or more works. The working machine 3 is not limited to a "vehicle" and may be, for example, a work vessel, a work flying object such as a drone or a multicopter, etc. Furthermore, the working machine 3 is not limited to a construction machine (construction machinery), and may be, for example, an agricultural machine (farm machinery) such as a rice transplanter, a tractor, or a combine harvester. In this embodiment, unless otherwise specified, a case will be described in which the working machine 3 is a riding type backhoe and is capable of performing excavation work, ground leveling work, trench digging work, loading work, etc. as works. More specifically, the work machine 3 according to this embodiment is assumed to be an "ultra-tight turning type" in which the turning section 32 including the working section 33 can turn completely within 120% of the overall width of the running section 31 (total width of the pair of left and right crawlers 311), or a "rear ultra-tight turning type" in which the rear end turning radius ratio is within 120%.

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

[0017] The work machine 3 is equipped with an engine that serves as a power source. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (here, diesel) supplied from a fuel tank. In the work machine 3, for example, a hydraulic pump 41 (see FIG. 2) is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including a hydraulic motor 43, a hydraulic cylinder 44, etc.) of each part of the machine body 30, thereby driving the machine body 30. Such a work machine 3 is controlled, for example, by a user (operator) aboard the driving section 321 of the machine body 30 operating operating devices 35 such as operating levers 351, 352 (see FIG. 2).

[0018] In this embodiment, since it is assumed that the work machine 3 is a riding type backhoe as described above, the working unit 33 is driven according to the operation of a user (operator) riding in the driving unit 321 to perform work such as excavation work. The driving unit 321 on which the user rides is provided on the rotating unit 32.

[0019] Here, the driving section 321 of the machine body 30 is equipped with a display device 2 and an operating device 35, and the user can operate the operating device 35 while viewing various information related to the work machine 3 displayed on the display device 2. As an example, information related to the operating state of the work machine 3, such as the cooling water temperature and hydraulic oil temperature, is displayed on the display screen of the display device 2, allowing the user to check information related to the operating state of the work machine 3, which is necessary for operating the operating device 35, on the display device 2.

[0020] The traveling unit 31 has a traveling function and is configured to be able to travel (including turn) on the ground. The traveling unit 31 has, for example, a pair of left and right crawlers 311 and a blade 312. The traveling unit 31 further has a hydraulic motor 43 (hydraulic actuator) for driving the crawlers 311 and the like.

[0021] The swivel unit 32 is located above the travel unit 31, and is configured to be swivelable around a rotation axis along the vertical direction relative to the travel unit 31. The swivel unit 32 has a hydraulic motor 45 (see FIG. 2) and the like as a hydraulic actuator for swivel. In addition to a driving unit 321, an engine and a hydraulic pump 41 and the like are mounted on the swivel unit 32. Furthermore, a boom bracket 322 to which the working unit 33 is attached is provided at the front end of the swivel unit 32.

[0022] The working unit 33 is configured to be able to perform one or more tasks. The working unit 33 is supported by the boom bracket 322 of the swivel unit 32, and performs tasks. The working unit 33 has a bucket 331. The bucket 331 is a type of attachment (working tool) attached to the machine body 30 of the work machine 3, and is made up of any tool selected from multiple types of attachments depending on the content of the work. As an example, the bucket 331 is removably attached to the machine body 30, and is replaced depending on the content of the work. In addition to the bucket 331, attachments for the work machine 3 include various tools such as a breaker, an auger, a crusher, a fork, a fork claw, a steel frame cutter, an asphalt cutter, a grass cutter, a ripper, a mulcher, a tiltrotator, and a tamper.

[0023] The working unit 33 further includes a boom 332, an arm 333, and a hydraulic actuator (including the hydraulic cylinder 44 and the hydraulic motor), etc. The bucket 331 is attached to the tip of the arm 333.

[0024] The boom 332 is rotatably supported by the boom bracket 322 of the swivel section 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable about a rotation axis along the horizontal direction. The boom 332 has a shape that extends upward from a base end supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is supported by the boom 332 so as to be rotatable about a rotation axis along the horizontal direction.

[0025] The working unit 33 operates by receiving power from an engine as a power source. Specifically, a hydraulic pump 41 is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (hydraulic cylinder 44, etc.) of the working unit 33, thereby operating each part of the working unit 33 (bucket 331, boom 332, and arm 333).

[0026] Particularly in this embodiment, the working unit 33 has a multi-joint structure in which the boom 332 and the arm 333 are configured to be rotatable individually. In other words, by each of the boom 332 and the arm 333 rotating about a rotation axis along the horizontal direction, the multi-joint working unit 33 including the boom 332 and the arm 333 can, for example, be extended or folded as a whole.

[0027] Similarly to the working unit 33, each of the traveling unit 31 and the swivel unit 32 receives power from an engine as a power source and operates. That is, the swivel unit 32 and the traveling unit 31 operate when hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling unit 31 and the hydraulic motor 45 of the swivel unit 32, etc.

[0028] The work machine 3 is further equipped with a drive device (mechanism) such as a PTO (power take-off) for supplying power to a bucket 331 (attachment). Specifically, the drive device delivers hydraulic oil from a hydraulic pump 41 driven by an engine to the bucket 331, and adjusts the magnitude of power supplied to the bucket 331 by adjusting the flow rate of the hydraulic oil. Here, the drive device has a plurality of PTO ports (four in this embodiment, as an example) i.e., output ports (hereinafter referred to as "PTO1", "PTO2", "PTO3", and "PTO4"). PTO1 to PTO4 are each capable of individually adjusting the power, i.e., the flow rate of the hydraulic oil.

[0029] Fig. 2 shows a schematic diagram of the hydraulic circuit and the electric circuit (electrical connection relationship) of the work machine 3 according to this embodiment. In Fig. 2, solid lines indicate high-pressure oil passages (for hydraulic oil), dotted lines indicate low-pressure oil passages (for pilot oil), and dashed arrows indicate paths of electric signals.

[0030] As shown in Fig. 2, the work machine 3 is equipped with a pilot pump 42, first control valves 491-494, a second control valve 47, a directional control valve (control valve) 48, etc., in addition to a hydraulic pump 41, a hydraulic cylinder 44, and a hydraulic motor 45. Although only one hydraulic cylinder 44 for driving the boom 332 is shown in Fig. 2, a similar hydraulic circuit is also configured for the hydraulic cylinders 44 for driving the arm 333, the bucket 331, etc. Furthermore, although only the hydraulic motor 45 of the rotating part 32 is shown in Fig. 2, a similar hydraulic circuit is also configured for the hydraulic motor 43 of the traveling part 31.

[0031] Hydraulic oil from a hydraulic pump 41 driven by the engine is supplied to a hydraulic motor 43 of the traveling unit 31, a hydraulic motor 45 of the rotating unit 32, a hydraulic cylinder 44 of the working unit 33, etc. This drives hydraulic actuators such as the hydraulic motors 43, 45 and the hydraulic cylinder 44.

[0032] Hydraulic actuators such as the hydraulic motors 43, 45 and the hydraulic cylinder 44 are provided with a pilot-type directional control valve 48 capable of switching the direction and flow rate of the hydraulic oil from the hydraulic pump 41. The directional control valve 48 is driven by the supply of pilot oil, which serves as an input command, from the pilot pump 42.

[0033] Here, first control valves 491-494 are provided in the supply path of the pilot oil to each directional control valve 48. Each of the first control valves 491-494 is composed of an electromagnetic control valve (solenoid valve), and is inserted between each directional control valve 48 and the pilot pump 42. Each of the first control valves 491-494 is connected to the control system 1 and operates in response to a control signal (supply current) from the control system 1. Specifically, the control system 1 controls the first control valves 491-494 in response to the operation of the operating device 35 (operation lever), and issues an instruction to, for example, deploy and retract the working unit 33. Here, each of the first control valves 491-494 is an (electromagnetic) proportional control valve, but is not limited thereto, and may be, for example, an opening / closing valve capable of switching between opening and closing of a flow path.

[0034] Such a directional control valve and first control valve are provided not only in the hydraulic cylinder 44 for driving the boom 332 and the hydraulic motor 45 of the swivel part 32, but also in the hydraulic circuits of the hydraulic cylinder 44 for driving the arm 333, the bucket 331, etc. and the hydraulic motor 43 of the traveling part 31. Therefore, it is possible to operate the traveling part 31, the swivel part 32 and the working part 33 in response to the operation of the operating device 35.

[0035] Further, a second control valve 47 is provided on the upstream side of the pilot oil as viewed from the first control valves 491-494. The second control valve 47 is an electromagnetic control valve (solenoid valve) and is inserted between the pilot pump 42 and the plurality of first control valves 491-494. The second control valve 47 is connected to a power source via a cut-off switch 371 and operates according to a current supplied from the power source. Here, the second control valve 47 opens the flow path of the pilot oil in an energized state, that is, in a state in which a current is supplied as a control signal, and blocks the flow path of the pilot oil in a non-energized state, that is, in a state in which the current as a control signal is blocked. Therefore, by blocking the supply current to the second control valve 47, the hydraulic actuator (hydraulic cylinder 44, etc.) becomes inoperable, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35.

[0036] The cutoff switch 371 is linked to the cutoff lever 372. The cutoff lever 372 is disposed in the driving section 321 of the machine body 30, and receives an operation input by a user (operator). In the present embodiment, as an example, the cutoff lever 372 can be operated along the up-down direction D1. When the cutoff lever 372 is in the "up position" which is the upper end position of the movable range, the cutoff switch 371 is "off", and when the cutoff lever 372 is in the "down position" which is the lower end position of the movable range, the cutoff switch 371 is "on". The cutoff switch 371 is connected to the control system 1, and the on / off of the cutoff switch 371 is monitored by the control system 1.

[0037] Therefore, when the cutoff lever 372 is in the "down position", the second control valve 47 is energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by operation of the operation device 35. In contrast, when the cutoff lever 372 is in the "up position", the second control valve 47 is deenergized, and the hydraulic actuator is forcibly stopped without operation of the operation device 35. Therefore, to drive the hydraulic actuator (hydraulic cylinder 44, etc.), the user (operator) needs to operate the cutoff lever 372 to the "down position".

[0038] Furthermore, since each of the swivel unit 32 and the traveling unit 31 is operated by hydraulic actuators (hydraulic motors 43, 45, etc.) being supplied with hydraulic oil from the hydraulic pump 41, when the cutoff lever 372 is in the "raised position", the swivel unit 32 and the traveling unit 31 are also disabled. In other words, when the cutoff lever 372 is in the "raised position", the working unit 33, the swivel unit 32 and the traveling unit 31 are all forcibly disabled from being driven.

[0039] In short, when the cutoff switch 371 is off, it is in a "locked state" in which the operation of the work machine 3 is restricted (including prohibited), and when it is on, it is in an "unlocked state" in which the operation of the work machine 3 is not restricted. And when the cutoff lever 372 is in the "raised position" and the cutoff switch 371 is in a locked state (off), the operation of the work machine 3 is forcibly restricted without the operation of the operating device 35. The cutoff lever 372 is a lever that is operated when locking the operation of the work machine 3 in this way, and is synonymous with a gate lock lever.

[0040] The main switch 34 is disposed in the driving section 321 of the machine body 30, and is operated by the user (operator) when starting up the work machine 3. While the main switch 34 is off, the machine body 30 (including the traveling section 31, the swivel section 32, and the working section 33) is not in a state in which it can operate in response to the operation of the operation device 35, and only when the main switch 34 is turned on does the machine body 30 enter a state in which it can operate in response to the operation of the operation device 35. When the main switch 34 is turned on, electricity also begins to flow to the display device 2, etc. In this embodiment, as an example, the main switch 34 is linked to a key cylinder, and is turned on when the engine start operation (ignition on) is performed using a key.

[0041] The operation device 35 is disposed in the driving section 321 of the machine body 30, and is a user interface for accepting operation input by a user (operator). In this embodiment, the operation device 35 is an electric operation device 35, and accepts various operations by the user by outputting an electric signal (operation signal) corresponding to the user's operation to the control system 1. In this embodiment, as an example, the operation device 35 includes a pair of operation levers 351, 352 (see FIG. 2). The operation lever 351 is located on the right hand side as viewed from a user (operator) riding on the driving section 321, and the operation lever 352 is located on the left hand side as viewed from a user riding on the driving section 321. Therefore, the user, for example, holds the operation lever 351 with the right hand and the operation lever 352 with the left hand, and operates the pair of operation levers 351, 352 individually to cause the work machine 3 to perform various operations.

[0042] The operation levers 351, 352 are each a stick-type operator, and when operated to tilt, for example, "forward," "backward," "left," or "right," they output an electric signal (operation signal) according to the operation. As one example, the operation device 35 outputs different operation signals in response to each of an operation of tilting the operation lever 351 forward, an operation of tilting the operation lever 351 to the right, an operation of tilting the operation lever 352 forward, and an operation of tilting the operation lever 352 to the right.

[0043] The sound output unit 36 ​​outputs sound (including voice) to the user (operator). The sound output unit 36 ​​includes a buzzer, a speaker, or the like, and outputs sound upon receiving an electric signal. The sound output unit 36 ​​is connected to the control system 1, and outputs sound such as a beep or voice in response to a sound control signal from the control system 1. In this embodiment, the sound output unit 36 ​​is provided in the driving unit 321 of the machine body 30, similar to the display device 2. The sound output unit 36 ​​may be provided integrally with the display device 2.

[0044] The camera 38 has a function of capturing an image of the surroundings of the machine body 30. The camera 38 is provided, for example, on the rotating section 32, and is configured to be able to capture an image of the surroundings of the machine body 30 (at least one direction of the front, rear, left, right, up, and down). The image captured by the camera 38 may be any of a black and white image, an infrared image, and a full-color image, and may be any of a still image and a video. As an example in the present embodiment, the camera 38 captures an image of the rear of the machine body 30 (a surrounding image) as a full-color video, and outputs image data of the surrounding image to the control system 1 in real time.

[0045] The control system 1 mainly comprises a computer system having one or more processors, such as a CPU (Central Processing Unit), and one or more memories, such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire work machine 3, and is composed of, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller, or may be mainly composed of one processor or multiple processors. The control system 1 will be described in detail in the section "[2] Configuration of the control system".

[0046] The display device 2 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation inputs by a user (operator) and outputting various information to the user. The display device 2 receives various operations by the user, for example, by outputting an electrical signal in response to the user's operation. This allows the user (operator) to visually check the display screen Dp1 (see FIG. 3) displayed on the display device 2, and also allows the user (operator) to operate the display device 2 as necessary.

[0047] 2, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be able to communicate with the control system 1, and is able to send and receive data between the display device 2 and the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0048] The control unit 21 controls the display device 2 in accordance with data from the control system 1. Specifically, the control unit 21 outputs an electrical signal in response to a user's operation received by the operation unit 22, and displays a display screen Dp1 generated by the control system 1 on the display unit 23.

[0049] The operation unit 22 is a user interface for accepting operation input by a user (operator) to the display screen Dp1 displayed on the display unit 23. The operation unit 22 accepts various operations by the user U1 (see FIG. 3), for example, by outputting an electric signal according to the operation of the user U1. As an example in the present embodiment, the operation unit 22 includes a plurality of (six here) mechanical push button switches 221-226 as shown in FIG. 3. These plurality of push button switches 221-226 are arranged close to the display area (lower in the example of FIG. 3) so as to follow the periphery of the display area of ​​the display unit 23. These plurality of push button switches 221-226 are associated with items displayed on the display screen Dp1 described later, and by operating any of the plurality of push button switches 221-226, any item on the display screen Dp1 is operated (selected).

[0050] Furthermore, the operation unit 22 may include a touch panel, an operation dial, etc. In this case as well, an operation on the operation unit 22 causes an operation (selection) of any item on the display screen Dp1.

[0051] 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 information. The display unit 23 presents various information to the user by display. In the present embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and has a "landscape-long" display area that is long in the horizontal direction, as shown in FIG. 3.

[0052] In addition to the above-mentioned configuration, the machine body 30 is further equipped with a communication terminal, a fuel tank, a battery, etc. Furthermore, the machine body 30 is equipped with various sensors (including cameras) for detecting detection targets in the monitoring area around the work machine 3, such as a camera that captures images of the periphery of the machine body 30.

[0053] [2] Control system configuration Next, the configuration of the control system 1 according to this embodiment will be described with reference to Fig. 2. The control system 1 controls each part of the machine body 30 (including the traveling section 31, the rotating section 32, the working section 33, etc.) in response to operations on the operating device 35. In this embodiment, the operating device 35 is mounted on the machine body 30 of the work machine 3 as described above. The control system 1 is a component of the work machine 3, and constitutes the work machine 3 together with the machine body 30, etc. In other words, the work machine 3 according to this embodiment includes at least the control system 1 and the machine body 30.

[0054] As shown in Fig. 2, the control system 1 includes an acquisition processing unit 11, a control processing unit 12, a change processing unit 13, a presentation processing unit 14, and a storage unit 15. In this embodiment, as an example, the control system 1 is mainly configured as a computer system having one or more processors, and these multiple functional units (the acquisition processing unit 11, etc.) are realized by the one or more processors executing a work machine control program. These multiple functional units included in the control system 1 may be provided in a distributed manner across multiple housings, or may be provided in a single housing.

[0055] The control system 1 is configured to be able to communicate with devices provided in each part of the machine body 30. That is, at least the display device 2, the main switch 34, the operation device 35, the sound output unit 36, the first control valves 491-494, and the cut-off switch 371 are connected to the control system 1. As a result, the control system 1 can control the display device 2, the sound output unit 36, and the first control valves 491-494, and can obtain electric signals (operation signals, etc.) from the display device 2, the main switch 34, the operation device 35, and the cut-off switch 371. In the present disclosure, "communicable" means that information (data) can be exchanged directly or indirectly via a communication network (network) or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). Therefore, the control system 1 may exchange various information (data) directly with each device, or indirectly via a repeater, etc. The control system 1 and devices provided in each part of the machine body 30 can communicate with each other using a communication method such as CAN (Controller Area Network), for example.

[0056] The acquisition processing unit 11 executes an acquisition process for receiving an operation of the operating device 35 for controlling the work machine 3. In other words, the operating device 35 having a pair of operating levers 351, 352 outputs an operation signal corresponding to the user's operation, and the acquisition processing unit 11 acquires the operation signal. This makes it possible for the acquisition processing unit 11 to acquire an operation signal indicating the operation content (operation direction and operation amount) of the operating levers 351, 352, such as an operation of tilting the right operating lever 351 forward or an operation of tilting the left operating lever 352 forward. The acquisition processing unit 11 is further configured to be able to acquire the on / off state of each of the main switch 34 and the cutoff switch 371.

[0057] The control processing unit 12 executes control processing to control the machine body 30 in response to the operation of the operating device 35. In the control processing, the control processing unit 12 executes control of the traveling unit 31, the turning unit 32, the working unit 33, etc. of the machine body 30. Specifically, the control processing unit 12 controls hydraulic actuators such as the hydraulic motors 43, 45 and the hydraulic cylinder 44 by outputting control signals to the first control valves 491-494 in response to the operation of the operating device 35 acquired by the acquisition processing unit 11.

[0058] Here, the control processing unit 12 executes control processing according to the operation pattern. In the present disclosure, the "operation pattern" means a correspondence between the operation of the operation device 35 and the operation of the machine 30, and includes data indicating a combination of the operation of the operation device 35 and the operation of the machine 30. In other words, the control processing unit 12 realizes the operation of the machine 30 according to the operation of the operation device 35 according to the correspondence between the operation of the operation device 35 and the operation of the machine 30, which is defined as the operation pattern.

[0059] For example, in a certain operation pattern, an operation of tilting the right operation lever 351 of the operation device 35 forward is associated with an operation of lowering the boom 332 of the machine body 30, and an operation of tilting the left operation lever 352 of the operation device 35 backward is associated with an operation of bending the arm 333 of the machine body 30. In this case, when the acquisition processing unit 11 receives an operation of tilting the operation lever 351 forward, the control processing unit 12 controls the first control valves 491-494 to drive the hydraulic cylinder 44 of the working unit 33 so as to lower the boom 332. Similarly, when the acquisition processing unit 11 receives an operation of tilting the operation lever 352 backward, the control processing unit 12 controls the first control valves 491-494 to drive the hydraulic cylinder 44 of the working unit 33 so as to bend the arm 333.

[0060] The change processing unit 13 executes a change process to change the operation pattern. That is, the operation pattern used by the control processing unit 12 is not fixed, but can be arbitrarily changed by the change processing unit 13. In the present embodiment, as an example, a plurality of operation patterns are stored in the storage unit 15 of the control system 1 in advance, and the change processing unit 13 selects one operation pattern from among the plurality of operation patterns as the "current operation pattern". In this manner, the change processing unit 13 sets the "current operation pattern" by selecting one operation pattern from among the plurality of predetermined operation patterns. Therefore, the "current operation pattern" is switched by switching the operation pattern selected by the change processing unit 13 among the plurality of operation patterns. The control processing unit 12 executes a control process to control the machine 30 in response to the operation of the operation device 35 according to the operation pattern (current operation pattern) set by the change processing unit 13.

[0061] As an example, in a state where four operation patterns, a first pattern, a second pattern, a third pattern, and a fourth pattern, are stored in the storage unit 15, the change processing unit 13 selects one of these first to fourth patterns as a "current operation pattern". The first pattern, the second pattern, the third pattern, and the fourth pattern are data indicating a correspondence (combination) between operations of the mutually different operation device 35 and the operation of the machine body 30. For example, when the change processing unit 13 selects the first pattern as the operation pattern, the control processing unit 12 executes the control process according to the first pattern. On the other hand, when the change processing unit 13 selects the third pattern as the operation pattern, the control processing unit 12 executes the control process according to the third pattern.

[0062] The presentation processing unit 14 executes a presentation process to present operation pattern information indicating a current operation pattern. The "current operation pattern" here is an operation pattern set by the change processing unit 13 and used in the control process by the control processing unit 12. That is, for example, when the first pattern is selected as the operation pattern by the change processing unit 13, the presentation processing unit 14 presents operation pattern information indicating the first pattern. On the other hand, when the third pattern is selected as the operation pattern by the change processing unit 13, the presentation processing unit 14 presents operation pattern information indicating the third pattern.

[0063] In the present disclosure, "presentation" means presenting information to a user (operator) by various means, including, for example, display (including lighting of an indicator light), sound (including voice), printing, transmission to another terminal, writing to a non-transitory recording medium, or a combination of these. In the present embodiment, as an example, the presentation processing unit 14 presents the operation pattern information by displaying the operation pattern information on the display unit 23 of the display device 2.

[0064] The memory unit 15 includes a non-volatile storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. Programs such as a work machine control program are stored (memorized) in the memory unit 15. The work machine control program is provided, for example, recorded on a computer-readable non-transitory recording medium, read from the non-transitory recording medium by a reading device of the control system 1, and stored in the memory unit 15. The work machine control program may be provided (downloaded) to the control system 1 from a server or the like via an electric communication line, and stored in the memory unit 15.

[0065] The storage unit 15 also stores a plurality of operation patterns (for example, a first pattern, a second pattern, a third pattern, and a fourth pattern) that are candidates for the "current operation pattern" set by the change processing unit 13. Furthermore, the storage unit 15 also stores the "current operation pattern" set (selected) by the change processing unit 13.

[0066] [3] Control method for work machine An example of a control method for the work machine 3 executed mainly by the control system 1 (hereinafter simply referred to as a "control method") will be described below with reference to Figs. 4 to 13.

[0067] The control method according to this embodiment is executed by a control system 1 having a computer system as its main component, and in other words is embodied in a work machine control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute the control method. Such a control program may be executed, for example, by the control system 1 and the display device 2 in cooperation with each other.

[0068] Here, the control method according to the present embodiment is a control method for a work machine 3 that includes a machine body 30 that operates according to the operation of an operating device 35, and is capable of changing an operation pattern, which is a correspondence relationship between the operation of the operating device 35 and the operation of the machine body 30. In other words, the control system 1 according to the present embodiment is used for a work machine 3 that includes a machine body 30 that operates according to the operation of an operating device 35, and is capable of changing an operation pattern, which is a correspondence relationship between the operation of the operating device 35 and the operation of the machine body 30. That is, in this embodiment, the control processing unit 12 of the control system 1 executes a control process to control the machine body 30 in accordance with the operation of the operating device 35, so that the machine body 30 operates according to the operation of the operating device 35. Furthermore, the change processing unit 13 of the control system 1 executes a change process to change the operation pattern, so that the operation pattern, which is a correspondence relationship between the operation of the operating device 35 and the operation of the machine body 30, can be changed. In this way, the work machine 3 that is the object of control by the control method and control system 1 according to the present embodiment is a work machine 3 that is capable of changing an operation pattern, which is a correspondence relationship between the operation of the operating device 35 and the operation of the machine body 30.

[0069] In the present embodiment, as an example, four operation patterns, that is, pattern A, pattern B, pattern C, and pattern D, are stored in the storage unit 15, and one of these four patterns is selected (set) by the change processing unit 13. These four patterns are written on a nameplate 39 attached to the machine body 30 as shown in FIG. 4. The nameplate 39 is arranged on the driving unit 321, for example, so that it is easily noticeable to an operator who boards the driving unit 321. In the example of FIG. 4, the nameplate 39 writes an operation pattern for "ISO, XX Company, YY Company" as pattern "A", an operation pattern for "ZZ Company, XY Company, YX Company" as pattern "B", an operation pattern for "ZX Company, YZ Company" as pattern "C", and an operation pattern for "XYZ Company, YXZ Company" as pattern "D".

[0070] Furthermore, on the nameplate 39, for each of the A pattern, B pattern, C pattern, and D pattern, an icon is written which indicates a combination of the operation direction of each of the pair of operating levers 351, 352 and the operation of the machine body 30.

[0071] For example, in the case of pattern "A," the operation of tilting the right-side operating lever 351 forward is associated with the operation of lowering the boom 332 on the body 30, the operation of tilting the operating lever 351 backward is associated with the operation of raising the boom 332 on the body 30, the operation of tilting the operating lever 351 to the right is associated with the operation of opening the bucket 331 on the body 30, and the operation of tilting the operating lever 351 to the left is associated with the operation of closing (digging) the bucket 331 on the body 30. Furthermore, in the case of pattern "A," the operation of tilting the left-side operating lever 352 forward is associated with the operation of extending the arm 333 on the aircraft 30, the operation of tilting the operating lever 352 backward is associated with the operation of bending the arm 333 on the aircraft 30, the operation of tilting the operating lever 352 to the right is associated with the operation of rotating the rotating unit 32 on the aircraft 30 to the right, and the operation of tilting the operating lever 352 to the left is associated with the operation of rotating the rotating unit 32 on the aircraft 30 to the left.

[0072] On the other hand, in the case of pattern "B," the operation of tilting the left operating lever 352 forward is associated with the action of rotating the rotating unit 32 of the aircraft 30 to the right, the operation of tilting the operating lever 352 backward is associated with the action of rotating the rotating unit 32 of the aircraft 30 to the left, the operation of tilting the operating lever 352 to the right is associated with the action of bending the arm 333 of the aircraft 30, and the operation of tilting the operating lever 352 to the left is associated with the action of extending the arm 333 of the aircraft 30.

[0073] In this way, since the operation of the operating device 35 differs depending on the selected operation pattern, the operator can operate the operating device 35 while checking the operation pattern indicated on the nameplate 39.

[0074] Further, the work machine 3 to be controlled by the control method and control system 1 according to the present embodiment is configured to be able to switch from a state in which the machine body 30 does not operate in response to the operation of the operating device 35 to a state in which the machine body 30 operates in response to the operation of the operating device 35. That is, the work machine 3 does not always operate the machine body 30 in response to the operation of the operating device 35, and there may be a state in which the machine body 30 does not operate in response to the operation of the operating device 35. Hereinafter, the state in which the machine body 30 does not operate in response to the operation of the operating device 35 is also referred to as a "non-operating state", and the state in which the machine body 30 operates in response to the operation of the operating device 35 is also referred to as an "operating state". Examples of the non-operating state include when the main switch 34 is off, the start-up period immediately after the main switch 34 is switched from off to on, and when the cut-off lever 372 is in the "up position". On the other hand, examples of the operating state include after the start-up period has elapsed after the main switch 34 is switched from off to on, and when the cut-off lever 372 is in the "down position". In short, when the main switch 34 is switched from off to on, the work machine 3 switches from a “non-operating state” in which the machine body 30 does not operate in response to operation of the operating device 35 to an “operating state” in which the machine body 30 operates in response to operation of the operating device 35, for example.

[0075] Here, the control system 1 executes the various processes described below related to the control method when a specific, preset start operation is performed to execute the control program. The start operation is, for example, an operation to start the engine of the work machine 3, that is, an operation to turn on the main switch 34, etc. On the other hand, the control system 1 ends the various processes described below related to the control method when a specific, preset end operation is performed. The end operation is, for example, an operation to stop the engine of the work machine 3, that is, an operation to turn off the main switch 34, etc.

[0076] [3.1] Home screen Here, first, a description will be given of 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. In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2, such as Fig. 5, the dashed dotted lines, leader lines and reference symbols representing areas are all added merely for the purpose of explanation and are not actually displayed on the display device 2.

[0077] 5 is a home screen Dp11 displayed by the control method. The home screen Dp11 is a basic display screen Dp1 to be displayed on the display device 2 in an operating state (a state in which the machine body 30 operates in response to the operation of the operation device 35). The display screen Dp1 can transition from the home screen Dp11 to various display screens Dp1 including a menu screen, a crane screen, a mode screen, a PTO screen, and the like in accordance with an operation on the operation unit 22.

[0078] As shown in FIG. 5, the home screen Dp11 includes a first region R1, a second region R2, a third region R3, a fourth region R4, a fifth region R5, a sixth region R6, a seventh region R7, an eighth region R8, a ninth region R9 and a tenth region R10.

[0079] Specifically, the display screen Dp1 is divided into four regions in the vertical direction (up and down direction). The top three regions are further divided into three regions in the horizontal direction (left and right direction). As a result, the display screen Dp1 is divided into a total of ten regions. The regions in the second row from the top are, from the left, the first region R1, the second region R2, and the third region R3. The region in the bottom row is the fourth region R4. The regions in the third row from the top are, from the left, the fifth region R5, the sixth region R6, and the seventh region R7, and the regions in the top row are, from the left, the eighth region R8, the ninth region R9, and the tenth region R10. In terms of vertical size, the regions in the second row from the top (the first region R1, the second region R2, and the third region R3) are the largest among the four regions divided vertically. In terms of horizontal size, the middle region (second region R2, sixth region R6, ninth region R9) is the largest among the three regions divided horizontally.

[0080] However, the arrangement and size of each of these regions are merely examples and can be changed as appropriate. Also, it is not essential that each region is clearly divided by a boundary line. For example, in the example of FIG. 5, the second region R2 and the third region R3 are clearly divided by a boundary line, whereas there is no boundary line between the first region R1 and the second region R2. Of course, the first region R1 and the second region R2 may be clearly divided by a boundary line.

[0081] The first area R1 is a vertically long rectangular area. In the first area R1, for example, remaining amount information G1 regarding the remaining amount of engine fuel (e.g., diesel) is displayed. The presentation processing unit 14 generates the remaining amount information G1 in the display screen Dp1 based on the output (sensor signal) of the remaining amount sensor, etc.

[0082] The second area R2, which occupies most of the home screen Dp11, is a rectangular area that is long in the horizontal direction. In the control method according to this embodiment, information related to the operating state of the work machine 3 is displayed in the second area R2. As an example, coolant temperature information G3 and hydraulic oil temperature information G2 are displayed in the second area R2. The presentation processing unit 14 generates the coolant temperature information G3 in the display screen Dp1 (home screen Dp11) based on the output of the coolant temperature sensor. Similarly, the presentation processing unit 14 generates the hydraulic oil temperature information G2 in the display screen Dp1 (home screen Dp11) based on the output of the hydraulic oil temperature sensor.

[0083] In this embodiment, both the cooling water temperature information G3 and the hydraulic oil temperature information G2 are graphs imitating an analog meter. In an analog meter, a needle rotates and a value is displayed according to the position of the needle. In other words, the cooling water temperature information G3 is information in which the cooling water temperature included in the operating state of the work machine 3 is indexed and represented by the position of the needle on the graph. Similarly, the hydraulic oil temperature information G2 is information in which the hydraulic oil temperature included in the operating state of the work machine 3 is indexed and represented by the position of the needle on the graph. By displaying the cooling water temperature information G3 and the hydraulic oil temperature information G2 as a graph, there is an advantage that the user can easily recognize the information and intuitively understand the operating state of the work machine 3. The cooling water temperature information G3 and the hydraulic oil temperature information G2 may not only be information in which the cooling water temperature and the hydraulic oil temperature are represented by numerical values ​​or the like, but may also be information in which the cooling water temperature and the hydraulic oil temperature are represented in stages by pictures (icons) or the like, for example.

[0084] The third area R3 is a vertically long rectangular area. In the third area R3, an icon Im1 is displayed, which indicates whether each function of the work machine 3 is enabled / disabled and whether it is abnormal / normal. A plurality of icons Im1 can be displayed in the third area R3, and the design (picture) of each icon Im1 indicates which function it represents, for example, battery, seat belt, cooling water temperature, hydraulic oil temperature, etc. Here, each icon Im1 indicates whether each function is enabled / disabled and whether it is abnormal / normal, for example, by display mode such as display / non-display, display color, or size. The presentation processing unit 14 judges the state of each part of the work machine 3 using the output of various sensors (including a cooling water temperature sensor and a hydraulic oil temperature sensor) that detect the operating state of each part of the work machine 3. Then, when an abnormal value is detected in any part, the presentation processing unit 14 displays a warning by changing the display mode, such as the display color, of the icon Im1 of that part.

[0085] The fourth area R4 is a strip-shaped area extending across the entire width of the home screen Dp11. In the fourth area R4, each item for operating the display screen Dp1 is displayed. In FIG. 5, as an example, the fourth area R4 has six items, "menu", "crane", "mode", "camera", "PTO", and "switch", arranged in this order from the left. These six items are associated with the six pushbutton switches 221 to 226 of the operation unit 22 located directly below them. For example, the "menu" item is associated with the pushbutton switch 221, and the "crane" item is associated with the pushbutton switch 222. Therefore, for example, when the pushbutton switch 224 corresponding to the "camera" item is operated by the user U1 (see FIG. 3), the "camera" item is operated (selected).

[0086] Furthermore, in this embodiment, in order to correspond to the operation of the operation dial (or cursor key) of the operation unit 22, any of the items is highlighted in the fourth region R4. In the example of FIG. 5, the item "Menu" is highlighted, and the highlighted item is switched by the operation of the operation dial (or cursor key). The user U1 can select the desired item by operating the decision button with the desired item highlighted. Therefore, for example, when the decision button is operated with the highlight moved to the "Camera" item, the "Camera" item is operated (selected). In addition, when the operation unit 22 includes a touch panel, the user U1 can select the desired item by touching the desired item on the home screen Dp11.

[0087] The fifth area R5 displays warning images (icons) indicating that abnormal values ​​have been detected by various sensors (including the cooling water temperature sensor and the hydraulic oil temperature sensor). The sixth area R6 displays, for example, information related to the working unit 33 currently operating in the work machine 3. The seventh area R7 displays, for example, information related to the operating state of the work machine 3, such as the engine RPM. The eighth area R8 displays, for example, the current time. The ninth area R9 displays, for example, information indicating the item to which the currently displayed display screen Dp1 belongs. The tenth area R10 displays, for example, information related to the operating time (hour meter) of the work machine 3.

[0088] [3.2] Start-up screen Next, of the control method according to this embodiment, particularly the processing relating to the display of the display screen Dp1 when the work machine 3 is started up will be described in detail.

[0089] In this embodiment, as described above, the work machine 3 is configured to be able to switch from a non-operating state (a state in which the machine body 30 does not operate in response to operation of the operating device 35) to an operating state (a state in which the machine body 30 operates in response to operation of the operating device 35). Then, for example, when the main switch 34 is off, the work machine 3 is in a non-operating state, and after the start-up period has elapsed after the main switch 34 is switched from off to on, the work machine 3 switches from the non-operating state to the operating state.

[0090] The control method according to the present embodiment includes presenting operation pattern information indicating a current operation pattern when switching from a state (non-operating state) in which the machine 30 does not operate in response to the operation of the operating device 35 to a state (operating state) in which the machine 30 operates in response to the operation of the operating device 35. That is, the presentation processing unit 14 of the control system 1 presents operation pattern information indicating a current operation pattern when switching from a state (non-operating state) in which the machine 30 does not operate in response to the operation of the operating device 35 to a state (operating state) in which the machine 30 operates in response to the operation of the operating device 35.

[0091] Specifically, the presentation processing unit 14 reads out the operation pattern set by the change processing unit 13 from the storage unit 15 as a "current operation pattern" and presents operation pattern information indicating this "current operation pattern" in an identifiable manner to the operator. As an example, when the "A" pattern is set (selected) by the change processing unit 13 out of four patterns, namely, the "A" pattern, the "B" pattern, the "C" pattern, and the "D" pattern, the presentation processing unit 14 presents information indicating that the current operation pattern is the "A" pattern to the operator as operation pattern information.

[0092] In short, in this embodiment, when the work machine 3 switches from a non-operating state to an operating state, such as at startup when the main switch 34 switches from off to on, the current operation pattern is presented as operation pattern information. In a control method (or control system 1) for controlling a work machine 3 whose operation pattern can be changed, as in this embodiment, it is preferable for the operator to operate the operation device 35 after recognizing the current operation pattern. Here, if the operator is forced to check the operation pattern by visually checking the position of the switching lever, for example, if the operator neglects to do this checking, the machine body 30 may perform an unexpected operation in response to the operation of the operation device 35, and the operator needs to operate with caution. In contrast, according to the control method and control system 1 of this embodiment, when the work machine 3 switches from a non-operating state to an operating state, the current operation pattern is actively presented as operation pattern information, so the operator can easily check the current operation pattern. As a result, it is possible to provide a control method for a work machine 3, a control program for a work machine, a control system 1 for a work machine, and a work machine 3 that can easily reduce the burden on the operator related to operation.

[0093] Here, the presentation processing unit 14 presents the operation pattern information by displaying the operation pattern information on the display unit 23 of the display device 2. More specifically, the presentation processing unit 14 presents the operation pattern information by displaying a notification screen Dp12 (see FIG. 6) including the operation pattern information on the display device 2 on which the home screen Dp11 is displayed in a state in which the machine 30 operates in response to the operation of the operating device 35. That is, in this embodiment, the presentation of the operation pattern information is performed by displaying the notification screen Dp12 as shown in FIG. 6 on the display unit 23 of the display device 2 on which the home screen Dp11 is displayed in an operating state. This allows the operator to visually recognize the current operation pattern from the notification screen Dp12 displayed on the display device 2.

[0094] As an example, as shown in FIG. 6, the notification screen Dp12 is a screen in which a pop-up window W1 including operation pattern information is displayed superimposed on the home screen Dp11. Specifically, the pop-up window W1 is displayed superimposed on the second region R2. The pop-up window W1 includes a mark Ob1 and text Ob2 as operation pattern information. That is, the operation pattern information includes the mark Ob1 and text Ob2. In the example of FIG. 6, the mark Ob1 is an image (icon) of a cross arrow and the letter "A" indicating that it is an "A" pattern, and the text Ob2 is a sentence such as "current operation pattern" that means that the mark Ob1 represents the current operation pattern. That is, in the example of FIG. 6, the operation pattern information in the notification screen Dp12 indicates that the current operation pattern is the "A" pattern (an operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). Therefore, by displaying such a notification screen Dp12 on the display device 2, operation pattern information indicating the current operation pattern is presented to the operator.

[0095] Furthermore, in the notification screen Dp12, the items displayed in the fourth area R4 are different from those in the home screen Dp11. In the fourth area R4 in the notification screen Dp12, a decision button Ob3 that serves as the "decision" item is displayed at the right end. That is, the "decision" item is displayed instead of the "switch" item in the home screen Dp11. When the user U1 operates the push button switch 226 corresponding to the "decision" item while the notification screen Dp12 is displayed, the "decision" item (decision button Ob3) is operated (selected).

[0096] In this embodiment, when the work machine 3 is started up, the display screen Dp1 displayed on the display device 2 transitions as shown in Fig. 7. That is, when the main switch 34 is switched from off to on, the power of the display device 2 is turned on, and the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the startup screen Dp10 as the display screen Dp1, and then causes the display screen Dp1 to transition in the following order: a notification screen Dp12 and a home screen Dp11.

[0097] The start-up screen Dp10 includes text indicating that the work machine 3 is starting up, such as "Welcome" or the name of the manufacturer of the work machine 3. The start-up screen Dp10 is displayed for a start-up period of, for example, about several seconds after the display device 2 is turned on, and when the start-up period has elapsed, the display screen Dp1 displayed on the display device 2 transitions from the start-up screen Dp10 to a notification screen Dp12. Then, when the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the display screen Dp1 displayed on the display device 2 transitions from the notification screen Dp12 to a home screen Dp11. As an example in this embodiment, during the start-up period when the start-up screen Dp10 is displayed, the work machine 3 is in a state in which the machine body 30 does not operate in response to the operation of the operation device 35 (non-operating state). On the other hand, during the period when the notification screen Dp12 or the home screen Dp11 is displayed, the work machine 3 is in a state in which the machine body 30 operates in response to the operation of the operation device 35 (operating state).

[0098] In this way, the notification screen Dp12 is displayed on the display device 2 after the display device 2 is powered on and before the home screen Dp11 is displayed. As a result, when the power of the display device 2 is turned on by the operator turning on the main switch 34, etc., the notification screen Dp12 is displayed on the display device 2 when the work machine switches from a non-operating state to an operating state. As a result, the operator can easily grasp the current operation pattern from the notification screen Dp12 displayed on the display device 2 without being particularly aware of it.

[0099] Furthermore, the presentation of the operation pattern information ends when a specific operation is performed. That is, in this embodiment, when the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the presentation of the operation pattern information by the notification screen Dp12 ends, and the display screen Dp1 transitions to the home screen Dp11. In this way, the presentation of the operation pattern information ends with a specific operation (here, the operation of the decision button Ob3) from the operator (user U1) as a trigger, making it easier for the operator to confirm the current operation pattern.

[0100] However, it is not essential that the work machine 3 is in a non-operating state during the startup period when the start-up screen Dp10 is displayed, and the work machine 3 may be in a state (operating state) in which the machine body 30 operates in response to the operation of the operating device 35 during the startup period. Even in this case, the display screen Dp1 displayed on the display device 2 transitions in this order from the start-up screen Dp10, the notification screen Dp12, and the home screen Dp11 after power-on, as shown in FIG. 7. As a result, when the work machine 3 switches from a non-operating state to an operating state, the current operation pattern is presented as operation pattern information on the notification screen Dp12 after the start-up screen Dp10, which indicates the operating state, is displayed. In short, it is sufficient that operation pattern information indicating the current operation pattern is presented when the work machine 3 switches from a non-operating state to an operating state after power-on of the work machine 3.

[0101] Similarly, during the period in which the notification screen Dp12 or the home screen Dp11 is displayed, the work machine 3 does not necessarily have to be in an operating state, and the machine 30 may be in a state (non-operating state) in which it does not operate in response to the operation of the operating device 35. For example, it is assumed that the operating position of the main switch 34 includes an accessory (ACC) ON position for turning on the power to the display device 2, etc., between the OFF position and the engine start operation (ignition ON) position. In this case, when the main switch 34 is operated from OFF to accessory ON, the engine is not started, so the machine 30 remains in a non-operating state. At this time, the power is turned on to the display device 2, etc., so that the display screen Dp1 displayed on the display device 2 transitions in this order to the start screen Dp10, the notification screen Dp12, and the home screen Dp11, as shown in FIG. 7. In this case, after the power is turned on to the machine 30, the current operation pattern is presented as operation pattern information on the notification screen Dp12 before the basic information of the machine 30 is presented (displayed) as the home screen Dp11.

[0102] In short, in this embodiment, it is sufficient that operation pattern information indicating the current operation pattern is presented at least when the work machine 3 switches from a non-operating state to an operating state. Therefore, in addition to when the work machine 3 switches from a non-operating state to an operating state, the operation pattern information may be presented at a specific timing, for example, even when the work machine 3 maintains a non-operating state. An example of the "specific timing" here is a timing after power is turned on to the machine body 30 and before basic information about the machine body 30 is presented, such as when the accessory is turned on as described above.

[0103] Incidentally, presentation of the operation pattern information by the notification screen Dp12 may be performed not only when the work machine 3 is started, but also, for example, when the cutoff lever 372 is operated. That is, the presentation processing unit 14 presents the operation pattern information when switching from a non-operating state to an operating state, and preferably also presents the operation pattern information when the cutoff lever 372 is operated from the "up position" to the "down position".

[0104] Specifically, when the cutoff lever 372 is operated to the "up position" and the cutoff switch 371 is locked (off) after the start-up period has elapsed, the work machine 3 enters a non-operating state in which the operation of the work machine 3 is forcibly restricted without operation of the operating device 35. In this state, when the operator operates the cutoff lever 372 to the "down position" and the cutoff switch 371 is unlocked (on), the work machine 3 switches from a non-operating state to an operating state. Therefore, when the cutoff lever 372 is operated from the "up position" to the "down position" in this way, it is preferable that the presentation processing unit 14 displays the notification screen Dp12 on the display device 2.

[0105] In short, it is preferable that the notification screen Dp12 is displayed on the display device 2 after the occurrence of a specific event related to the operation and before the display of the home screen Dp11. The "specific event" here includes, for example, a change (switch) of the operator, in addition to the operation of the cutoff lever 372 described above. In other words, when the operator in the driving unit 321 is switched, it is preferable that the notification screen Dp12 is detected based on fastening or unfastening of the seat belt, and the presentation processing unit 14 displays the notification screen Dp12 on the display device 2. This allows the current operation pattern to be notified to the operator by the notification screen Dp12 at an appropriate timing, reducing the burden on the operator.

[0106] [3.3] Display screen during operation Next, of the control method according to this embodiment, particularly the processing relating to the display of the display screen Dp1 when the work machine 3 is in an operating state will be described in detail.

[0107] In this embodiment, as described above, when the work machine 3 is started up, the display screen Dp1 displayed on the display device 2 transitions in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11. In other words, when switching from a non-operating state (a state in which the machine body 30 does not operate in response to the operation of the operation device 35) to an operating state (a state in which the machine body 30 operates in response to the operation of the operation device 35), the display screen Dp1 transitions in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11. Then, when the work machine 3 is in an operating state, the home screen Dp11 is basically displayed.

[0108] The basic configuration (layout, etc.) of the home screen Dp11 is as explained in "[3.1] Home Screen". That is, the home screen Dp11 includes information related to the operating status of the work machine 3. Specific examples of information related to the operating status of the work machine 3 include remaining amount information G1 displayed in the first area R1, and cooling water temperature information G3 and hydraulic oil temperature information G2 displayed in the second area R2. In other words, the home screen Dp11 displays various information related to the operating status of the work machine 3, so that the operator can confirm various information necessary for operating the work machine 3 from the home screen Dp11 displayed on the display device 2.

[0109] Furthermore, in this embodiment, the home screen Dp11 includes operation pattern information. The operation pattern information included in the home screen Dp11 is information indicating a current operation pattern, similar to the operation pattern information included in the notification screen Dp12. That is, the presentation processing unit 14 reads out the operation pattern set in the change processing unit 13 from the storage unit 15 as the "current operation pattern", and displays the operation pattern information indicating the "current operation pattern" in an identifiable manner on the home screen Dp11. This allows the operator to check the current operation pattern even from the operation pattern information on the home screen Dp11.

[0110] As described above, the control method according to this embodiment includes displaying the home screen Dp11 including information related to the operating state of the work machine 3 and operation pattern information indicating the current operation pattern on the display device 2. That is, the presentation processing unit 14 of the control system 1 causes the display device 2 to display the home screen Dp11 including information related to the operating state of the work machine 3 and operation pattern information indicating the current operation pattern.

[0111] In short, in this embodiment, the current operation pattern is presented (displayed) as operation pattern information on the home screen Dp11 together with information on the operating state of the work machine 3. For example, if the operator is forced to check the operation pattern by visually checking the position of the switching lever, if the operator neglects this checking task, the machine body 30 may perform an unexpected operation in response to the operation of the operation device 35, and the operator needs to operate with caution. In contrast, according to the control method and control system 1 of this embodiment, the current operation pattern is actively presented (displayed) as operation pattern information on the home screen Dp11 displayed on the display device 2 together with information on the operating state of the work machine 3, so that the operator can easily check the current operation pattern. As a result, it is possible to provide a control method for the work machine 3, a control program for the work machine, a control system 1 for the work machine, and a work machine 3 that can easily reduce the burden on the operator related to operation.

[0112] Furthermore, in this embodiment, the home screen Dp11 includes an image Im1 that indicates information related to the functions of the work machine. The image Im1 is displayed in the third area R3, and indicates whether each function of the work machine 3 is enabled / disabled and whether it is abnormal / normal, etc., depending on the display mode. In other words, the home screen Dp11 further includes an image Im1 that indicates information related to the functions of the work machine 3. This allows the operator to check, in addition to the current operation pattern, from the home screen Dp11 whether each function of the work machine 3 is enabled / disabled and whether it is abnormal / normal, etc.

[0113] As an example, the home screen Dp11 includes a mark Ob4 as operation pattern information in the sixth region R6 as shown in FIG. 8. That is, the operation pattern information of the home screen Dp11 includes the mark Ob4. In the example of FIG. 8, the mark Ob4 is an image (icon) of a cross arrow and the letter "A" indicating that it is an "A" pattern. That is, in the example of FIG. 8, the operation pattern information in the home screen Dp11 indicates that the current operation pattern is an "A" pattern (an operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). Therefore, by displaying such a home screen Dp11 on the display device 2, operation pattern information indicating the current operation pattern is presented to the operator.

[0114] FIG. 8 is an enlarged view of a part of the sixth region R6 of the home screen Dp11 (around the mark Ob4). 、 and <c> The display examples for the three situations are shown in the balloon.< / c> 8 shows the mark Ob4 displayed on the home screen Dp11 when the current operation pattern is the “A” pattern. 8 shows the mark Ob4 displayed on the home screen Dp11 when the current operation pattern is the "B" pattern (the operation pattern for "ZZ, XY, and YX"). <c>indicates a mark Ob4 that is displayed on the home screen Dp11 when the current operation pattern is the "C" pattern (the operation pattern for "ZX company, YZ company").

[0115] In this way, the operation pattern information included in the home screen Dp11 is displayed in the same manner as the operation pattern information included in the notification screen Dp12. Therefore, the operator can easily grasp the current operation pattern consistently through the notification screen Dp12 and the home screen Dp11. Here, it is preferable that the display size of the mark Ob4 on the home screen Dp11 is smaller than the display size of the mark Ob1 on the notification screen Dp12. In other words, the mark Ob1 on the notification screen Dp12 is displayed larger than the mark Ob4 on the home screen Dp11 on the display unit 23 of the display device 2. This makes it possible to present the operation pattern information with relatively higher visibility between the home screen Dp11 and the notification screen Dp12. Therefore, it is easier for the operator to recognize the current operation pattern when the notification screen Dp12 is displayed.

[0116] Furthermore, in this embodiment, the presentation processing unit 14 displays information on the operating state of the work machine 3 on the home screen Dp11, and then displays the operation pattern information by utilizing free space. Therefore, a relatively simple screen configuration can be realized for the home screen Dp11, and the display of the operation pattern information on the home screen Dp11 is unlikely to be a hindrance, leading to improved visibility for the operator.

[0117] Here, on the home screen Dp11, the information on the operating state of the work machine 3 and the operation pattern information are arranged adjacent to each other. That is, the mark Ob4 as the operation pattern information is displayed in the sixth region R6, whereas the cooling water temperature information G3 and the hydraulic oil temperature information G2 as the information on the operating state of the work machine 3 are displayed in the second region R2. And, since the sixth region R6 and the second region R2 are adjacent to each other so as to be aligned vertically (see FIG. 5), the information on the operating state of the work machine 3 and the operation pattern information are arranged adjacent to each other. As a result, the operation pattern information is displayed at a position on the home screen Dp11 that is relatively easy to see for the operator who operates the work machine 3. Also, the operation pattern information is not limited to being displayed in the sixth region R6, and may be displayed, for example, in the fifth region R5. In this case, since the fifth region R5 is aligned vertically with the first region R1 in which the remaining amount information G1 is displayed, the information on the operating state of the work machine 3 and the operation pattern information are arranged adjacent to each other.

[0118] On the other hand, on the home screen Dp11, the icon Im1 and the operation pattern are arranged at a distance. That is, the mark Ob4 as the operation pattern information is displayed in the sixth region R6, whereas the icon Im1 is displayed in the third region R3. And since the sixth region R6 and the third region R3 are not adjacent to each other and are spaced apart (see FIG. 5), the icon Im1 and the operation pattern information are arranged at a distance. As a result, the operation pattern information is less likely to be mixed with the icon Im1, and is displayed at a position on the home screen Dp11 that is relatively easy to see for the operator who operates the work machine 3.

[0119] Meanwhile, the presentation processing unit 14 transitions the display screen Dp1 displayed on the display device 2 from a home screen Dp11 as shown in FIG. 5 to another screen (such as a camera screen Dp13) in response to an operation by an operator (user U1).

[0120] As an example, when the "camera" item is operated (selected) by operating the push button switch 224 corresponding to the "camera" item while the home screen Dp11 is displayed, the home screen Dp11 transitions to the camera screen Dp13 as shown in Fig. 9. When the "camera" item is operated (selected) while the camera screen Dp13 is displayed, the camera screen Dp13 transitions to the home screen Dp11 or the full display screen. However, the operations for transitioning the display screen Dp1 and the order of transitions are not limited to the above example and can be changed as appropriate.

[0121] The camera screen Dp13 shown in Fig. 9 is a type of the home screen Dp11, and is a screen in which only the display content of the second area R2 is changed from the home screen Dp11 shown in Fig. 5. In other words, the display other than the second area R2 is the same between the camera screen Dp13 and the home screen Dp11 shown in Fig. 5.

[0122] In the second area R2 of the camera screen Dp13, information including a surrounding image G4 of the work machine 3 is displayed as the display target information in place of the cooling water temperature information G3 and the hydraulic oil temperature information G2. The presentation processing unit 14 generates the surrounding image G4 in the display screen Dp1 (camera screen Dp13) based on the output (image data) of the camera 38. Here, as one example, the display of the surrounding image G4 is triggered by the cutoff switch 371, which prohibits the operation of the work machine 3, switching from the "locked state" to the "unlocked state" while the engine is running.

[0123] Furthermore, the camera screen Dp13, i.e., the home screen including the peripheral image G4 of the work machine 3, also includes operation pattern information indicating the current operation pattern. Specifically, the camera screen Dp13 includes a mark Ob4 as operation pattern information in the sixth region R6. Therefore, even when the camera screen Dp13 is displayed on the display device 2, the operation pattern information indicating the current operation pattern is presented to the operator.

[0124] In this way, the surrounding image G4 of the machine body 30 can be displayed in the area (second area R2) of the home screen Dp11 in which at least a portion of the information relating to the operating state of the work machine 3 is displayed. Therefore, the surrounding image G4 displayed on the home screen Dp11 enables the operator to easily check the surroundings (here, rear) of the work machine 3, which is likely to be a blind spot for the operator.

[0125] Here, the operation pattern information is arranged around the area (second area R2) in which the peripheral image G4 can be displayed on the home screen. That is, the mark Ob4 as the operation pattern information is displayed in the sixth area R6, whereas the peripheral image G4 is displayed in the second area R2. Since the sixth area R6 and the second area R2 are adjacent to each other so as to be aligned vertically (see FIG. 9), the operation pattern information is arranged around the peripheral image G4. As a result, even when the peripheral image G4 is displayed on the home screen Dp11, the operation pattern information is displayed on the home screen Dp11.

[0126] Incidentally, it is preferable to determine whether or not to display operation pattern information on the home screen Dp11 depending on at least one of the specifications and type of the work machine 3. In other words, the presentation processing unit 14 of the control system 1 is not required to always display operation pattern information on the home screen Dp11, and there may be cases where operation pattern information is not displayed on the home screen Dp11 depending on the work machine 3. This makes it possible to display the home screen Dp11 including appropriate information depending on the specifications or type of the work machine 3, while using the same control method and control system 1 (or control program).

[0127] Specifically, in this embodiment, if the work machine 3 does not have a function for changing the operation pattern, the operation pattern information is not displayed on the home screen Dp11. In other words, the presentation processing unit 14 acquires data related to at least one of the specifications and type of the work machine 3, and if it is determined from the data that the work machine 3 does not have a function for changing the operation pattern, it causes the display device 2 to display the home screen Dp11 that does not include operation pattern information. On the other hand, if it is determined that the work machine 3 has a function for changing the operation pattern, the presentation processing unit 14 causes the display device 2 to display the home screen Dp11 that includes the operation pattern information. As a result, for a work machine 3 that does not have a function for changing the operation pattern, the operation pattern information is removed from the home screen Dp11 displayed on the display device 2, making it possible to efficiently display only the necessary information.

[0128] Moreover, it is preferable that the operation pattern information on the home screen Dp11 corresponds to the notation on the nameplate 39 (see FIG. 4) attached to the machine body 30. That is, it is preferable that the operation pattern information displayed in the sixth area R6 of the home screen Dp11 includes, for example, an image similar to the image inscribed on the nameplate 39. This allows the operator to grasp the details of each operation pattern based on the familiar notation similar to the nameplate 39.

[0129] [3.4] Changes in operation patterns Next, of the control method according to this embodiment, a detailed description will be given of the process relating to the display of the display screen Dp1 for changing the operation pattern.

[0130] In this embodiment, as described above, the change processing unit 13 of the control system 1 executes a change process for changing the operation pattern, thereby making it possible to change the operation pattern, which is the correspondence between the operation of the operation device 35 and the action of the machine 30. Here, the setting (change) of the operation pattern is performed according to the operation of the operator (user U1). In other words, the current operation pattern is changed by the operator selecting any pattern from among pattern A, pattern B, pattern C, and pattern D.

[0131] 10, the presentation processing unit 14 has a function of displaying a change screen Dp14 for changing an operation pattern as a display screen Dp1 on the display device 2. The operation pattern selected on the change screen Dp14 is set as a "current operation pattern" by the change processing unit 13. This allows the operator to decide an operation pattern, which is a correspondence between the operation of the operation device 35 and the action of the machine 30, while visually checking the display device 2.

[0132] As an example, the change screen Dp14 has an eleventh region R11 and a twelfth region R12 instead of the first region R1 to the third region R3 and the fifth region R5 to the seventh region R7 of the home screen Dp11, as shown in Fig. 10. Also, in the fourth region R4 of the change screen Dp14, "up" and "down" cursor items, a "back" item for returning to the previous screen, and a "confirm" item are displayed.

[0133] In the eleventh area R11, patterns A, B, C, and D are displayed as operation pattern options. In the eleventh area R11, one of patterns A, B, C, and D is highlighted. The highlighted pattern is switched by operating the cursor in the fourth area R4. Furthermore, each of patterns A, B, C, and D is associated with a radio button, and the radio button corresponding to the selected pattern is turned "on". In the example of FIG. 10, "Pattern A" is highlighted and is selected as the operation pattern.

[0134] In the twelfth region R12, detailed information on the highlighted operation pattern is displayed as changed pattern information. In the example of FIG. 10, detailed information on the highlighted "Pattern A" is displayed in the twelfth region R12. Here, the detailed information as changed pattern information includes an icon indicating the correspondence between the operation of the operation device 35 and the operation of the machine body 30. Specifically, the detailed information includes the text "ISO, manufactured by XX company, manufactured by YY company" and an icon indicating the combination of the operation direction of each of the pair of operation levers 351, 352 and the operation of the machine body 30. The detailed information displayed in the twelfth region R12 is information corresponding to the notation on the nameplate 39 (see FIG. 4), and includes, for example, an icon similar to the icon inscribed on the nameplate 39.

[0135] According to such a change screen Dp14, the highlighted pattern is changed by operating the cursor in the fourth region R4 as shown in Fig. 11. Accordingly, the detailed information displayed in the twelfth region is also changed to the detailed information of the highlighted pattern. Therefore, the operator can select the desired pattern by operating the "Enter" item while the desired pattern is highlighted.

[0136] As described above, the change screen Dp14 includes changed pattern information (detailed information) indicating the changed operation pattern. Therefore, the change screen Dp14 makes it easier for the operator to understand the operation pattern to be changed, and makes it easier to change the operation pattern. Furthermore, the changed pattern information (detailed information) on the change screen Dp14 corresponds to the notation on the nameplate 39 attached to the machine 30. This allows the operator to understand the details of each operation pattern based on the familiar notation similar to that of the nameplate 39.

[0137] Incidentally, in order to display the above-mentioned change screen Dp14 while the home screen Dp11 is being displayed, the display screen Dp1 displayed on the display device 2 transitions as shown in Fig. 12. That is, when the "menu" item is operated (selected) on the home screen Dp11, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the menu screen Dp15 as the display screen Dp1, and then causes the display screen Dp1 to transition in the order of the vehicle body change screen Dp16 and the change screen Dp14.

[0138] The menu screen Dp15 includes various items such as "Vehicle Settings", "Monitor Settings", "PTO Flow Rate Settings", and "Operation Settings", in addition to "Vehicle Settings". When the "Enter" item is operated (selected) with "Vehicle Settings" selected by cursor operation (within the fourth region R4) on the menu screen Dp15, the display screen Dp1 displayed on the display device 2 transitions from the menu screen Dp15 to a vehicle change screen Dp16.

[0139] The vehicle body change screen Dp16 includes various items such as "interference prevention setting" and "interference prevention release" in addition to "operation pattern". The vehicle body change screen Dp16 is a type of call screen for calling the change screen Dp14, and the "operation pattern" item in the vehicle body change screen Dp16 functions as a call object Ob5 that accepts an operation for calling the change screen Dp14. In other words, when the call object Ob5 labeled "operation pattern" is selected by cursor operation (within the fourth area R4) on the vehicle body change screen Dp16 and the "confirm" item is operated (selected), the display screen Dp1 displayed on the display device 2 transitions from the vehicle body change screen Dp16 to the change screen Dp14.

[0140] In addition, the vehicle body change screen Dp16 includes a mark Ob6 as operation pattern information on the right side of the call object Ob5 so as to correspond to the call object Ob5. That is, the operation pattern information of the vehicle body change screen Dp16 as a call screen includes the mark Ob6. In the example of FIG. 12, the mark Ob6 is an image (icon) of a cross arrow and the letter "A" indicating that it is an "A" pattern. That is, in the example of FIG. 12, the operation pattern information in the vehicle body change screen Dp16 indicates that the current operation pattern is the "A" pattern (an operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). Therefore, by displaying such a vehicle body change screen Dp16 on the display device 2, at least when calling the change screen Dp14, operation pattern information indicating the current operation pattern is presented to the operator.

[0141] As described above, the control method according to the present embodiment includes displaying the change screen Dp14 for changing the operation pattern on the display device 2, and displaying the call screen (body change screen Dp16) for calling the change screen Dp14 on the display device 2. That is, the presentation processing unit 14 of the control system 1 displays the change screen Dp14 for changing the operation pattern and the call screen (body change screen Dp16) for calling the change screen Dp14 on the display device 2. Here, the call screen (body change screen Dp16) includes operation pattern information indicating the current operation pattern. In the present disclosure, "call" means displaying the display screen Dp1 such as the change screen Dp14 on the display device 2.

[0142] In short, in this embodiment, when the operation pattern is changed, the current operation pattern is presented (displayed) as operation pattern information on the call screen (vehicle body change screen Dp16). For example, if the operator is forced to check the operation pattern by visually checking the position of the switching lever, if the operator neglects this checking task, the machine body 30 may perform an unexpected operation in response to the operation of the operation device 35, and the operator needs to operate with caution. In contrast, according to the control method and control system 1 of this embodiment, when the operation pattern is changed, the current operation pattern is proactively presented (displayed) as operation pattern information, so the operator can easily check the current operation pattern. As a result, it is possible to provide a control method for a work machine 3, a control program for a work machine, a control system 1 for a work machine, and a work machine 3 that can easily reduce the burden on the operator related to operation.

[0143] Furthermore, in this embodiment, the change screen Dp14 for changing the operation pattern is called from the home screen Dp11 via one or more screens (here, the menu screen Dp15 and the vehicle body change screen Dp16). That is, in the control method according to this embodiment, when the machine 30 is operating in response to the operation of the operation device 35, the home screen Dp11 is displayed on the display device 2. Then, the display screen Dp1 displayed on the display device 2 transitions from the home screen Dp11 to the change screen Dp14 via a call screen (vehicle body change screen Dp16) different from the home screen Dp11. In this way, by using a hierarchical screen configuration, the change screen Dp14 is called indirectly, not directly, from the home screen Dp11, and the change screen Dp14 is prevented from being opened unintentionally due to an operation error by the operator, etc.

[0144] Moreover, the call screen (vehicle body change screen Dp16) includes a call object Ob5 that accepts an operation for calling the change screen Dp14. The operation pattern information is displayed in association with the call object Ob5. With this configuration, when the operator operates the call object Ob5 to call the change screen Dp14, the operation pattern information indicating the current operation pattern is easily noticeable.

[0145] Incidentally, the presentation of the operation pattern information by the notification screen Dp12 may be performed not only when the work machine 3 is started and when the cutoff lever 372 is operated, but also, for example, after the operation pattern is changed (set). In other words, it is preferable that the presentation processing unit 14 presents the operation pattern information even when the operation pattern is changed on the change screen Dp14.

[0146] Specifically, when the operator operates the "Enter" item while selecting any of the operation patterns on the change screen Dp14 to set (select) the desired pattern, it is preferable that the presentation processing unit 14 displays the notification screen Dp12 on the display device 2. Then, when the enter button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the display screen Dp1 displayed on the display device 2 transitions from the notification screen Dp12 to the home screen Dp11.

[0147] In short, it is preferable that the notification screen Dp12 is displayed on the display device 2 at the time of transition from the specific screen to the home screen Dp11. The "specific screen" here is a screen other than the home screen Dp11 displayed on the display device 2 as the display screen Dp1, and includes the above-mentioned change screen Dp14, etc. This allows the current operation pattern to be notified to the operator by the notification screen Dp12 at an appropriate timing, reducing the burden on the operator.

[0148] Incidentally, in the control method according to the present embodiment, out of a state in which the machine body 30 does not operate in response to the operation of the operating device 35 and a state in which the machine body 30 operates in response to the operation of the operating device 35, the operation pattern can be changed only in the state in which the machine body 30 does not operate in response to the operation of the operating device 35. In other words, while there are a non-operating state and an operating state as the state of the work machine 3, the change processing unit 13 can accept an operation for changing the operation pattern only in the non-operating state, and does not accept an operation for changing the operation pattern in the operating state. In the operating state, for example, the display of the change screen Dp14 itself is prohibited, so that an operation for changing the operation pattern is not accepted. However, without being limited to this, in the operating state, for example, an operation of the "Confirm" item on the change screen Dp14 may be prohibited, so that an operation for changing the operation pattern is not accepted. This makes it possible to avoid a sudden change in the operation of the machine body 30 corresponding to the operation of the operating device 35 caused by changing the operation pattern when the work machine 3 is in the operating state.

[0149] Here, switching between a state in which the machine body 30 does not operate in response to the operation of the operating device 35 (non-operating state) and a state in which the machine body 30 operates in response to the operation of the operating device 35 (operating state) is performed at least in response to the operation of the cutoff lever 372. That is, when the cutoff lever 372 is operated to the "down position" and the cutoff switch 371 is in the unlocked state (on), the work machine 3 is in the operating state. In this state, the change processing unit 13 does not accept an operation to change the operation pattern. On the other hand, when the cutoff lever 372 is operated to the "up position" and the cutoff switch 371 is in the locked state (off), the work machine 3 is in the non-operating state, and the change processing unit 13 accepts an operation to change the operation pattern. This makes it possible to easily switch between a state in which the operation pattern can be changed and a state in which the operation pattern cannot be changed by operating the cutoff lever 372.

[0150] The configuration that allows the operation pattern to be changed only in a non-operating state in which the machine body 30 does not operate in response to the operation of the operating device 35 can be adopted independently of the function of displaying the change screen Dp14 and the call screen (vehicle body change screen Dp16). In short, the control method according to this embodiment is a control method for a work machine 3 that is equipped with a machine body 30 that operates in response to the operation of the operating device 35 and is capable of changing an operation pattern, which is a correspondence between the operation of the operating device 35 and the operation of the machine body 30, and only when the machine body 30 does not operate in response to the operation of the operating device 35, out of a state in which the machine body 30 does not operate in response to the operation of the operating device 35 and a state in which the machine body 30 operates in response to the operation of the operating device 35, it is sufficient to make the operation pattern changeable. In this case, it is not essential to adopt the function of displaying the change screen Dp14 and the call screen (vehicle body change screen Dp16).

[0151] [3.5] Overall processing Next, the overall flow of processing related to the control method will be described with reference to Fig. 13. Fig. 13 is a flowchart showing an example of processing related to the control method.

[0152] 13, the control system 1 first determines whether the main switch 34 is turned on (S1). When the main switch 34 is turned on (S1: Yes), the display device 2 is powered on, and the presentation processing unit 14 of the control system 1 causes the display unit 23 of the display device 2 to display a startup screen Dp10 as a display screen Dp1 (S2). After a startup period of about several seconds has elapsed, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display a notification screen Dp12 including operation pattern information as the display screen Dp1 (S3).

[0153] Then, when the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the home screen Dp11 including the operation pattern information as the display screen Dp1 (S4). Here, it is not essential that the display of the notification screen Dp12 is ended by the operation of the decision button Ob3, and for example, the display of the notification screen Dp12 may be ended by the passage of a certain time from the start of the display of the notification screen Dp12. In this case, when the certain time has passed from the start of the display of the notification screen Dp12, the presentation processing unit 14 transitions the display screen Dp1 from the notification screen Dp12 to the home screen Dp11 without the operation of the decision button Ob3.

[0154] During the display of the home screen Dp11, the control system 1 judges whether or not an operation for calling the change screen Dp14 has been performed (S5). Specifically, when "Menu" is selected on the home screen Dp11, the presentation processing unit 14 displays the menu screen Dp15 as the display screen Dp1 on the display unit 23 of the display device 2, and when "Body Setting" is selected on the menu screen Dp15, the presentation processing unit 14 displays the body change screen Dp16 as the display screen Dp1 on the display unit 23 of the display device 2. When the call object Ob5 of the body change screen Dp16 is selected, the presentation processing unit 14 displays the change screen Dp14 as the display screen Dp1 on the display unit 23 of the display device 2. That is, based on this series of operations, it is judged that an operation for calling the change screen Dp14 has been performed (S5: Yes). Until this series of operations is performed, the control system 1 continues to judge whether or not an operation for calling the change screen Dp14 has been performed (S5).

[0155] When an operation to call up the change screen Dp14 has been performed (S5: Yes), the control system 1 determines whether or not the work machine 3 is in a "locked state" in which operation is restricted (S6). At this time, if the cutoff lever 372 is in the "down position" and the cutoff switch 371 is in an unlocked state (ON), the control system 1 determines that the work machine 3 is not in a "locked state" (S6: No), and returns the process to step S4. On the other hand, if the cutoff lever 372 is in the "up position" and the cutoff switch 371 is in a locked state (OFF), the control system 1 determines that the work machine 3 is in a "locked state" (S6: Yes), and transitions the process to step S7.

[0156] In step S7, the presentation processing unit 14 displays a change screen Dp14 for changing the operation pattern as the display screen Dp1 on the display unit 23 of the display device 2. While the change screen Dp14 is being displayed, the change processing unit 13 of the control system 1 sets a desired pattern as a "current operation pattern" according to the operation of the operator (user U1) (S8). Thereafter, the presentation processing unit 14 displays a notification screen Dp12 including operation pattern information as the display screen Dp1 on the display unit 23 of the display device 2 (S9). Then, when the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the presentation processing unit 14 displays a home screen Dp11 including operation pattern information as the display screen Dp1 on the display unit 23 of the display device 2 (S4).

[0157] The control system 1 repeatedly executes the processes of steps S1 to S9 described above. However, the flowchart shown in Fig. 13 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate.

[0158] [4] Variations Below, we will list some modified examples of the embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0159] The control system 1 in the present disclosure includes a computer system. The computer system is mainly composed of one or more processors and one or more memories as hardware. The processor executes a program recorded in the memory of the computer system, thereby realizing the functions of the control system 1 in the present disclosure. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. In addition, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

[0160] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in the first embodiment, functions distributed across multiple devices (e.g., the control system 1 and the display device 2) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0161] Furthermore, the power source of the work machine 3 is not limited to a diesel engine, and may be, for example, an engine other than a diesel engine, or may be a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0162] The display device 2 is not limited to a dedicated device, and may be, for example, a general-purpose terminal such as a laptop computer, a tablet terminal, or a smartphone. The display unit 23 is not limited to a mode in which the display screen Dp1 is directly displayed, such as a liquid crystal display or an organic EL display, and may be configured to display the display screen Dp1 by projection, such as a projector. The display area of ​​the display unit 23 is not limited to a horizontally long area, and may be vertically long.

[0163] Furthermore, the information input form of the operation unit 22 may be other than the push button switches 221 to 226, the touch panel, and the operation dial. For example, the operation unit 22 may be a keyboard, a pointing device such as a mouse, a voice input, a gesture input, or an input of an operation signal from another terminal.

[0164] Further, the operation device 35 and the display device 2, etc. are not limited to being mounted on the machine body 30, and may be provided, for example, separately from the machine body 30. In this case, the operation device 35 and the display device 2, etc. are configured to be able to communicate with the machine body 30, and realize remote operation of the machine body 30.

[0165] In addition, the display manner of the operation pattern information on each of the notification screen Dp12, the home screen Dp11 and the vehicle body change screen Dp16 (call screen) is not limited to the marks described above, but may be, for example, text, photos, display / non-display, animation, etc., or a combination of these.

[0166] In addition, the operation pattern set by the change processing unit 13 is not necessarily selected from a plurality of patterns to be selected, and may be freely customized by the operator (user U1). Specifically, for example, the operator can freely customize the operation pattern by individually specifying the actions of the machine 30 to be associated with each operation of the operating levers 351, 352 on the change screen Dp14.

[0167] Furthermore, the manner in which the operation pattern information is presented by the presentation processing unit 14 is not limited to display, but may be, for example, sound (including voice), printing, transmission to another terminal, writing to a non-temporary recording medium, or a combination of these.

[0168] (Embodiment 2) 14, the control method according to this embodiment differs from the control method according to the first embodiment in the display mode of the notification screen Dp12. Hereinafter, the same components as those in the first embodiment will be denoted by the same reference numerals and the description thereof will be omitted as appropriate.

[0169] In this embodiment, as shown in Fig. 14, the notification screen Dp12 displays the operation pattern information in a larger display size in place of the pop-up window W1 displayed on the home screen Dp11. This notification screen Dp12 includes an icon Ob7 indicating the correspondence between the operation of the operating device 35 and the operation of the machine 30 as the operation pattern information. That is, in this embodiment, most of the display screen Dp1 is allocated to displaying the icon Ob7, so that the icon Ob7 indicating the combination of the operation directions of each of the pair of operating levers 351, 352 and the operation of the machine 30 is included as the operation pattern information, similar to the detailed information of the change screen Dp14.

[0170] Furthermore, the operation pattern information on the notification screen Dp12 corresponds to the notation on the nameplate 39 (see FIG. 4) attached to the machine body 30. That is, the image Ob7 on the notification screen Dp12 has, for example, the same design as the image on the nameplate 39. This allows the operator to grasp the details of each operation pattern based on the familiar notation similar to that on the nameplate 39.

[0171] Furthermore, the notification screen Dp12 includes text Ob8 indicating that "A pattern" is selected as the operation pattern, such as "Current operation pattern is A." Therefore, by displaying such a notification screen Dp12 on the display device 2, the operator can easily confirm the operation pattern information indicating the current operation pattern.

[0172] As in the first embodiment, the notification screen Dp12 according to this embodiment is also displayed when switching from a state in which the machine body 30 does not operate in response to the operation of the operating device 35 (non-operating state) to a state in which the machine body 30 operates in response to the operation of the operating device 35 (operating state). In other words, when the work machine 3 is started up, when the cutoff lever 372 is operated, etc., the notification screen Dp12 as shown in Fig. 14 is displayed on the display device 2.

[0173] The configuration according to the second embodiment can be adopted in appropriate combination with the various configurations (including modified examples) described in the first embodiment.

[0174] (Embodiment 3) The control method according to this embodiment differs from the control method according to embodiment 1 in the procedure for calling (displaying) the change screen Dp14. Hereinafter, the same components as those in embodiment 1 will be denoted by the same reference numerals and the description thereof will be omitted as appropriate.

[0175] In this embodiment, as shown in Fig. 15, the home screen Dp11 includes a call object Ob9 for calling the changed screen Dp14. That is, when the call object Ob9 is operated (selected) on the home screen Dp11, the presentation processing unit 14 displays the changed screen Dp14 as the display screen Dp1 on the display unit 23 of the display device 2. Thus, in this embodiment, the home screen Dp11 is a kind of call screen for calling the changed screen Dp14, and the display screen Dp1 transitions directly from the home screen Dp11 to the changed screen Dp14.

[0176] 15, the call object Ob9 is arranged in the fourth region R4 in place of the "mode" item of the home screen Dp11 in the embodiment 1. Therefore, when the push button switch 223 corresponding to the call object Ob9 is operated by the user U1 (see FIG. 3) while the home screen Dp11 is displayed, the call object Ob9 is operated (selected) and the change screen Dp14 is displayed.

[0177] Also, the call object Ob9 includes a mark as operation pattern information. In the example of FIG. 15, the mark of the call object Ob9 is an image (icon) of a cross arrow and the letter "A" indicating that it is an "A" pattern. That is, in the example of FIG. 15, the operation pattern information included in the call object Ob9 on the home screen Dp11 indicates that the current operation pattern is an "A" pattern (an operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). Therefore, by displaying such a call object Ob9 on the display device 2, the operation pattern information indicating the current operation pattern is presented to the operator at least when calling the change screen Dp14.

[0178] As described above, in this embodiment, the change screen Dp14 for changing the operation pattern is called up directly from the home screen Dp11. Therefore, when setting (changing) the operation pattern, the operator can open the change screen Dp14 from the home screen Dp11 with fewer steps.

[0179] The configuration according to the third embodiment can be adopted in appropriate combination with the various configurations (including modified examples) described in the first or second embodiment. [Explanation of symbols]

[0180] 1. Control system for work machines 2 Display device 3. Work Machinery 14 Presentation processing unit 30 Aircraft 35 Operating device 39 Nameplate Dp11 home screen Dp12 notification screen Dp14 Change screen (specific screen) Ob7 Iconography< / c>

Claims

1. A control method for a work machine that is provided with a machine body that performs an operation in accordance with an operation of an operating device, and that is capable of changing an operation pattern that is a correspondence between the operation of the operating device and the operation of the machine body, comprising: presenting operation pattern information indicating the current operation pattern when switching from a state in which the machine does not operate in response to the operation of the operation device to a state in which the machine operates in response to the operation of the operation device; presenting the operation pattern information by displaying a notification screen including the operation pattern information on a display device on which a home screen is displayed in a state in which the machine is operating in response to an operation of the operation device; The notification screen includes, as the operation pattern information, an image showing a correspondence between the operation of the operation device and the operation of the machine, and further includes the image displayed in the same position as the home screen separately from the operation pattern information. A method for controlling a work machine.

2. the notification screen is displayed on the display device after the display device is powered on and before the home screen is displayed. A method for controlling a work machine according to claim 1.

3. the notification screen is displayed on the display device when transitioning from the specific screen to the home screen. A control method for a work machine according to claim 1 or 2.

4. the notification screen is displayed on the display device after a specific event related to an operation occurs and before the home screen is displayed. A control method for a work machine according to any one of claims 1 to 3.

5. the home screen includes information regarding an operating status of the work machine; A control method for a work machine according to any one of claims 1 to 4.

6. The home screen includes the operation pattern information. A method for controlling a work machine according to any one of claims 1 to 5.

7. The operation pattern information on the notification screen corresponds to an inscription on a nameplate attached to the aircraft. A control method for a work machine according to any one of claims 1 to 6.

8. The presentation of the operation pattern information is terminated when a specific operation is performed. A control method for a work machine according to any one of claims 1 to 7.

9. A control method for a work machine according to any one of claims 1 to 8, A control program for a work machine for execution by one or more processors.

10. The present invention is used in a work machine that includes a machine body that performs an operation in accordance with an operation of an operating device, and that is capable of changing an operation pattern that is a correspondence between the operation of the operating device and the operation of the machine body, a presentation processing unit that presents operation pattern information indicating a current operation pattern when switching from a state in which the machine does not operate in response to an operation of the operation device to a state in which the machine operates in response to an operation of the operation device; the presentation processing unit presents the operation pattern information by displaying a notification screen including the operation pattern information on a display device on which a home screen is displayed in a state in which the machine is operating in response to an operation of the operation device; The notification screen includes, as the operation pattern information, an image showing a correspondence between the operation of the operation device and the operation of the machine, and further includes the image displayed in the same position as the home screen separately from the operation pattern information. Control systems for work machines.

11. A control system for a work machine as claimed in claim 10; The airframe, Working machinery.

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