Method for controlling construction machinery

Abstract

To provide a construction machine capable of notifying, before traveling while suspending a load, an operator of whether or not the traveling while suspending the load is determined, based on a detection result, to be allowed.SOLUTION: A control method of a construction machine includes: detecting an actual weight of a suspended load suspended from a work machine of the construction machine; calculating a rated load for travel which is a maximum load allowed to be suspended by the construction machine during traveling; and executing determination, based on the rated load for travel and the actual weight, whether or not the traveling while suspending the load is allowed; and, when the traveling while suspending the load is determined not to be allowed, displaying, before the construction machine starts traveling, a first display indicating that the traveling while suspending the load is determined not to be allowed, on a display part on which the actual weight is displayed.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a method for controlling a construction machine. [Background technology]

[0002] The following Patent Document 1 discloses technology related to a construction machine that includes a lower running body that enables traveling, an upper rotating body that is rotatably mounted on the upper part of the lower running body, a working machine that is attached to the upper rotating body so that it can swing up and down, a hoisting device that is attached to the tip of the working machine so that it can swing back and forth, an actual load detection unit that detects the actual load of a load suspended from the hoisting device, a working radius detection unit that detects the working radius, and a traveling control unit that controls the traveling of the lower running body based on the actual load and working radius detected by the actual load detection unit and the working radius detection unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-123362 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the invention of Patent Document 1 has a problem in that the operator cannot know, before the suspended traveling, whether the suspended traveling is possible or not based on the detected actual load and working radius.

[0005] In view of the above-mentioned problems, the present invention aims to provide a construction machine that can notify the operator before suspended traveling whether or not suspended traveling is possible based on the detection results. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a method of controlling a construction machine according to one embodiment of the present invention includes detecting the actual load of a load suspended from a working implement of a construction machine, calculating a traveling rated load, which is the load of the suspended load that the construction machine can tolerate being suspended while traveling, and determining whether or not suspended traveling is possible based on the traveling rated load and the actual load, and if the determination of whether or not suspended traveling is possible is no, displaying a first indication indicating that the determination of whether or not suspended traveling is no on a display section showing the actual load before the construction machine travels. Effect of the Invention

[0007] According to the present invention, it is possible to notify the operator before suspended traveling whether suspended traveling is possible or not based on the detection results. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a left side view showing a hydraulic excavator according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing a hydraulic circuit according to the embodiment. [Diagram 3] FIG. 13 is a diagram showing a crane mode screen according to the embodiment. [Figure 4] FIG. 13 is a diagram showing a crane mode screen according to the embodiment. [Diagram 5] FIG. 2 is a diagram showing a basic display screen according to the embodiment. [Figure 6] FIG. 13 is a diagram showing a guidance display screen according to the embodiment. [Figure 7] 13 is a diagram showing an enlarged icon display section according to the embodiment; FIG. [Figure 8] 13 is a diagram showing an enlarged icon display section according to the embodiment; FIG. [Figure 9] FIG. 11 is a flowchart showing screen transitions when a function of the hydraulic excavator according to the embodiment is activated. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] First, the schematic structure of a hydraulic excavator 1 as an example of a construction machine will be described with reference to Fig. 1. The hydraulic excavator 1 includes a lower traveling body 2 that enables traveling, an upper rotating body 3 that is rotatably mounted on the upper part of the lower traveling body 2, a working machine 4 that is attached to the upper rotating body 3 so as to be swingable in the vertical direction, a hoisting tool 5 that is attached to the tip of the working machine 4 so as to be swingable in the front-rear direction, and an alarm unit 8 that alarms the operator.

[0011] The lower traveling body 2 is driven by power from an engine 32 (described later) to travel the hydraulic excavator 1. The lower traveling body 2 is equipped with a pair of left and right crawlers 21, 21 and a pair of left and right traveling motors 22, 22 (the right crawler 21 and the right traveling motor 22 are not shown in FIG. 1). The left and right traveling motors 22, 22, which are hydraulic motors, drive the left and right crawlers 21, 21, respectively, thereby enabling the hydraulic excavator 1 to move forward and backward.

[0012] The upper rotating body 3 is configured to be rotatable relative to the lower traveling body 2 via a swivel bearing (not shown). An operation unit 31, an engine 32, a swivel base 33, a swivel motor 34, etc. are arranged on the upper rotating body 3. The upper rotating body 3 rotates via the swivel bearing by the driving force of the swivel motor 34, which is a hydraulic motor. In addition, the upper rotating body 3 is provided with a plurality of hydraulic pumps (see 61, 62, 63 in FIG. 2) driven by the engine 32. These hydraulic pumps 61, 62, 63 supply pressure oil to the traveling motors 22, 22, the swivel motor 34, a boom cylinder 41a, an arm cylinder 42a, a bucket cylinder 43a, etc., which will be described later. The traveling motor 22 is switchable between two speeds, high speed and low speed, depending on the supply of pressure oil.

[0013] The operation unit 31 is provided with a cockpit 311. A pair of work operation levers 312, 312 are arranged on the left and right sides of the cockpit 311, a pair of travel levers 313, 313 are arranged in front of the cockpit 311, and an operation button 314 for operating the display unit 81 is arranged below the display unit 81 described later. The operator sits in the cockpit 311 and operates the work operation levers 312, 312, the travel levers 313, 313, etc. to control the engine 32, each hydraulic motor, each hydraulic actuator, etc., and can perform travel, turning, work, etc. Note that the display unit 81 can be operated not only by pressing the operation buttons 314 arranged in a row below the display unit 81 so as to correspond to icons (menu display unit G3 described later) indicating operations displayed in a row below the display unit 81, but also by providing the display unit 81 with a touch panel and having the operator touch the screen.

[0014] The work machine 4 is driven by power from the engine 32 and performs work to excavate earth and sand. The work machine 4 is equipped with a boom 41, an arm 42, and a bucket 43, which can be driven independently to perform excavation work. The hydraulic excavator 1 is equipped with the work machine 4 that is composed of the boom 41, the arm 42, and the bucket 43.

[0015] The boom 41 has a base end supported on the front part of the upper rotating body 3 and is swung up and down by a boom cylinder 41a that is movable telescopically. A boom angle sensor 41b (see FIG. 2) that detects the angle of the boom 41 is attached to the base end of the boom 41.

[0016] The arm 42 has a base end supported on the tip of the boom 41 and is swung up and down by an arm cylinder 42a that is movable telescopically. An arm angle sensor 42b (see FIG. 2) that detects the angle of the arm 42 is attached to the base end of the arm 42.

[0017] The bucket 43 has a base end supported by the tip end of the arm 42 and is swung in the front-rear direction by a bucket cylinder 43a that is movable telescopically.

[0018] Here, the boom cylinder 41a, the arm cylinder 42a, and the bucket cylinder 43a correspond to hydraulic actuators that drive the working section.

[0019] The bucket 43 is a container-shaped member that is attached to the tip of the work machine 4 and has claws for performing excavation work. The bucket 43 is attached so as to be able to swing via a pin 44 that is attached to the tip of the arm 42. Furthermore, the bucket 43 is connected to a bucket cylinder 43a via a link mechanism 45.

[0020] With the bucket 43 retracted toward the front (toward the upper rotating body 3), a hoisting tool 5 for crane work is swingably attached to the lower end of the bucket 43 and to the end of the link mechanism 45. The hoisting tool 5 is a hook-shaped member used for crane work, and is supported swingably with the axis of the link mechanism 45 as a swing fulcrum, and can change its position between an expanded state in which it protrudes from the link mechanism 45 and a stored state (not shown) in which it is stored on the link mechanism 45 side.

[0021] The notification unit 8 includes a display unit 81 and a notification unit 82 (see FIG. 2). The display unit 81 is disposed in front of the operator's seat 311, and displays images for notifying the operator of the state of the hydraulic excavator 1, etc.

[0022] The hydraulic circuit 6 of the hydraulic excavator 1 will be described with reference to Fig. 2. In this embodiment, the hydraulic circuit 6 includes a first work machine actuator 40a (arm cylinder 42a), a second work machine actuator 40b (boom cylinder 41a), a third work machine actuator 40c (bucket cylinder 43a), a first traveling motor 22a, a second traveling motor 22b (either the left traveling motor 22 or the right traveling motor 22), a swing motor 34, a variable displacement pump 61, a fixed displacement pump 62, a pilot pump 63, and a controller 70. However, the present invention is not limited to this, and the first work machine actuator 40a may be the boom cylinder 41a, and the second work machine actuator 40b may be the arm cylinder 42a.

[0023] The variable displacement pump 61 and the fixed displacement pump 62 are driven by the engine 32 and discharge pressurized oil which is supplied to the hydraulic actuators (the first work machine actuator 40a, the second work machine actuator 40b, the third work machine actuator 40c, the first traveling motor 22a, the second traveling motor 22b, and the swing motor 34).

[0024] The variable displacement pump 61 supplies pressure oil to the first work machine actuator 40a, the second work machine actuator 40b, the third work machine actuator 40c, the first traveling motor 22a, and the second traveling motor 22b to drive them. The fixed displacement pump 62 supplies pressure oil to the swing motor 34 to drive it.

[0025] The variable displacement pump 61 can control the discharge flow rate of pressure oil by changing the inclination angle of the movable swash plate 61b by driving the pump regulator 61a.

[0026] The variable displacement pump 61 is a so-called split flow type hydraulic pump having a first discharge port P1 and a second discharge port P2. The pressure oil discharged from the first discharge port P1 is supplied to a first working machine direction switching valve 65a and a first traveling direction switching valve 65e (described later) via a first center bypass oil passage 61d, and the pressure oil discharged from the second discharge port P2 is supplied to a second traveling direction switching valve 65f, a second working machine direction switching valve 65b, and a third working machine direction switching valve 65c (described later) via a second center bypass oil passage 61e.

[0027] The pressure oil discharged from the fixed displacement pump 62 is supplied to a swing direction control valve 65g (described later) via a third center bypass oil passage 62a.

[0028] The hydraulic actuators (first work machine actuator 40a, second work machine actuator 40b, third work machine actuator 40c, first traveling motor 22a, second traveling motor 22b, swing motor 34) are each provided with a corresponding directional control valve 65, and the directional control valves 65 are pilot-type directional control valves that can switch the direction and volume of pressurized oil pumped from the variable displacement pump 61 and the fixed displacement pump 62 to the hydraulic actuators.

[0029] The directional control valve 65 can be switched to a plurality of positions by sliding the spool. When pilot signal pressure is not applied to either of the two pilot ports of the directional control valve 65, the directional control valve 65 is held in the neutral position by the biasing force of the spring. When the directional control valve 65 is in the neutral position, the pressure oil is not supplied to the corresponding hydraulic actuator, but flows to the oil tank through the first center bypass oil passage 61d, the second center bypass oil passage 61e, and the third center bypass oil passage 62a. On the other hand, when pilot signal pressure is applied to either of the pilot ports of the directional control valve 65, the directional control valve 65 is switched from the neutral position to the other position, and the pressure oil is supplied to the corresponding hydraulic actuator.

[0030] In this embodiment, there are provided a first work machine direction switching valve 65a corresponding to the first work machine actuator 40a, a second work machine direction switching valve 65b corresponding to the second work machine actuator 40b, a third work machine direction switching valve 65c corresponding to the third work machine actuator 40c, a first traveling direction switching valve 65e corresponding to the first traveling motor 22a, a second traveling direction switching valve 65f corresponding to the second traveling motor 22b, and a swing direction switching valve 65g corresponding to the swing motor 34. These direction switching valves 65 are collectively called control valves.

[0031] A bottom pressure sensor 61f that detects the bottom pressure on the bottom side of the boom cylinder 41a and a rod pressure sensor 61g that detects the rod pressure on the rod side of the boom cylinder 41a are provided in the oil passage that supplies pressurized oil from the second work machine directional control valve 65b to the second work machine actuator 40b.

[0032] The pilot pump 63 is driven by the engine 32 and discharges pressure oil to generate pilot primary pressure in an oil passage 63a, and a pilot secondary pressure (hereinafter, pilot signal pressure) generated by reducing the pilot primary pressure with a remote control valve (not shown) is input to the directional control valve 65 to control the hydraulic actuator. The pilot signal pressure input to the directional control valve 65 can also be generated by reducing the pilot primary pressure with an electromagnetic proportional valve 63b, and in that case, the pressure is adjusted according to a control command from the controller 70.

[0033] The first working machine directional control valve 65a and the second working machine directional control valve 65b are connected to an output part of a shuttle valve 63d, one input part of the shuttle valve 63d is connected to a remote control valve, and the other input part is connected to an electromagnetic proportional valve 63b, both of which are provided in an oil passage 63a between the shuttle valve 63 and the pilot pump 63. By setting the remote control valve to have a higher pressure than the electromagnetic proportional valve 63b, when a pilot signal pressure is output from the remote control valve in a state in which a pilot signal pressure is output from the electromagnetic proportional valve 63b by automatic control described later, the shuttle valve 63d outputs the pilot signal pressure from the remote control valve. Also, when a pilot signal pressure is transmitted from any of the remote control valves during automatic control, the control command from the controller 70 input to the electromagnetic proportional valve 63b is stopped, and the automatic control is stopped. In other words, the manual control is prioritized over the automatic control.

[0034] An on-off valve 63c is provided in an oil passage 63a between the dump side of the bucket 43 (see FIG. 1) of the third work implement directional control valve 65c and the pilot pump 63. Note that the oil passages 63a and the like leading from the pilot pump 63 to the other directional control valves 65 are not shown in FIG.

[0035] The on-off valve 63c is capable of switching between supplying and cutting off pressure oil to a third work implement directional control valve 65c that controls the dump operation of the bucket 43, in response to a control command from the controller 70.

[0036] The controller 70 transmits control commands to the electromagnetic proportional valve 63b and the on-off valve 63c. The electromagnetic proportional valve 63b is operation-controlled by the controller 70, and can adjust the pilot signal pressure input to each pilot port of the first work machine direction control valve 65a and the second work machine direction control valve 65b according to the magnitude of the control current value applied. That is, the control command is, for example, a control current value.

[0037] An operation button 314 is electrically connected to the controller 70. By pressing the operation button 314, the operator can select between an excavation mode for performing excavation work and a crane mode for suspending a load with the hoist 5 (see FIG. 1). In this embodiment, the operation button 314 can be used to switch to the crane mode only when the hoist 5 is in the deployed state. However, the present invention is not limited to this, and a configuration may also be used in which, when the hoist 5 is in the deployed state, the crane mode is automatically selected without the operator pressing the operation button 314.

[0038] When the operator selects the crane mode, the operation button 314 transmits a crane mode command to the controller 70. When the crane mode command is transmitted to the controller 70, the controller 70 stops transmitting the control command to the on-off valve 63c. This cuts off the supply of pressure oil to the third work implement directional control valve 65c that controls the dump operation of the bucket 43, so that in the crane mode, the dump operation of the bucket 43 can be prohibited and, for example, a collision between the hoisting gear 5 and the suspended load and the bucket 43 can be avoided.

[0039] Furthermore, when the crane mode is selected, the travel motors 22, 22 are automatically switched to low speed rotation in response to a control command from the controller 70 (the control command line is not shown), and the engine 32 maintains its engine speed at the low speed side.

[0040] The controller 70 includes an actual load calculation unit 71 , a position detection unit 72 , a rated load map storage unit 73 , a suspended travel feasibility determination unit 75 , a crane operation feasibility determination unit 76 , and an operation information generation unit 77 .

[0041] The actual load calculation unit 71 calculates the actual load of the load from the length of the boom 41 (see FIG. 1), the length of the arm 42 (see FIG. 1), the boom angle detected by the boom angle sensor 41b, the arm angle detected by the arm angle sensor 42b, the pressure detected by the bottom pressure sensor 61f, and the pressure detected by the rod pressure sensor 61g. However, without being limited to this, a crane scale serving as an actual load detection unit may be provided between the hoisting tool 5 (see FIG. 1) and the load to detect the actual load.

[0042] The position detection unit 72 includes a working radius calculation unit 72a and a center of gravity calculation unit (not shown). The working radius calculation unit 72a detects a working radius, which is a distance from the center of rotation of the upper rotating body 3 (see FIG. 1) to the hoisting center of the hoisting tool 5. In this embodiment, the working radius calculation unit 72a calculates the working radius from the length dimension from the center of rotation of the upper rotating body 3 to the base end of the boom 41, the length dimension of the boom 41, the length dimension of the arm 42, the boom angle detected by the boom angle sensor 41b, and the arm angle detected by the arm angle sensor 42b. However, the present invention is not limited to this, and a position sensor, which is a working radius detection unit, may be attached to the hoisting tool 5, and the working radius may be detected by the position sensor. The center of gravity calculation unit calculates the center of gravity position (including ZMP) of the hydraulic excavator 1.

[0043] The rated load map storage unit 73 stores a crane mode rated load map which is a map of a crane mode rated load that is a rated load when lifting between a working radius and a fixed position corresponding to the working radius (for example, the rotation center of the upper rotating body 3), and a suspended traveling mode rated load map which is a map of a working radius and a suspended traveling mode rated load that is a rated load when lifting while traveling corresponding to the working radius. The crane mode rated load is determined by multiplying an arbitrarily determined safety factor by the tipping load, and the traveling mode rated load is determined by multiplying an arbitrarily determined safety factor by the crane mode rated load.

[0044] The suspended traveling feasibility determination unit 75 determines whether suspended traveling is possible by comparing the suspended traveling mode rated load referenced from the suspended traveling mode rated load map based on the calculated working radius with the actual load calculated by the actual load calculation unit 71. The suspended traveling feasibility determination unit 75 determines whether suspended traveling is possible before and / or during traveling. The suspended traveling feasibility determination unit 75 may also determine whether suspended traveling is possible based on the center of gravity position detected by the center of gravity calculation unit.

[0045] The crane operation feasibility determination unit 76 determines whether or not crane operation is possible by comparing the crane mode rated load referenced from the crane mode rated load map with the actual load calculated by the actual load calculation unit 71 based on the operation radius calculated by the operation radius calculation unit 72a. If the actual load is within the crane mode rated load, the crane operation feasibility determination unit 76 determines that crane operation is possible. If the actual load exceeds the crane mode rated load, the crane operation feasibility determination unit 76 determines that crane operation is not possible and alerts the operator by sounding an alarm from the alarm issuing unit 82. The crane operation feasibility determination unit 76 may also determine whether or not crane operation is possible based on the center of gravity position calculated by the center of gravity calculation unit.

[0046] When the judgment of the suspended traveling feasibility judgment unit 75 is negative, the operation information generation unit 77 calculates the attitude (boom angle, arm angle) of the work machine 4 (see FIG. 1) that makes the judgment of the suspended traveling feasibility judgment unit 75 positive. However, without being limited thereto, the operation information generation unit 77 may calculate the attitude (boom angle, arm angle) of the work machine 4 that makes the judgment of the crane operation feasibility judgment unit 76 positive even when the judgment of the crane operation feasibility judgment unit 76 is negative.

[0047] The controller 70 may be provided with an automatic operation unit (not shown) that automatically controls the work machine 4, and the operation information generating unit 77 and each solenoid proportional valve 63b may be electrically connected via the automatic operation unit. With this configuration, even if the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the work machine 4 is capable of being automatically put into a posture in which the suspended travel feasibility determination unit 75 determines that ... work machine 4 is capable of being automatically put into a posture in which the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the work machine 4 is capable of being automatically put into a posture in which the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the work machine 4 is capable of being automatically put into a posture in which the work machine 4 is automatically put into a posture in which the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the work machine 4 is capable of being safely put into a posture in which the work machine 4 is automatically put into a posture in which the work machine 4 is automatically put into a posture in which the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the work machine 4 is capable of being automatically put into a posture in which the work

[0048] When the operation information generating unit 77 cannot calculate the attitude of the work machine 4 that makes the suspended traveling feasibility determining unit 75 judge that suspended traveling is possible, for example, the operation information generating unit 77 may restrict suspended traveling, that is, may stop the traveling motors 22, 22, and prompt the operator to reduce the weight of the suspended load. This makes it possible to prevent the hydraulic excavator 1 (see FIG. 1) from tipping over due to suspended traveling.

[0049] The display unit 81 displays the calculation results of the actual load calculation unit 71, the working radius calculation unit 72a, the rated load map storage unit 73, and the operation information generation unit 77, the determination result of the suspended travel feasibility determination unit 75, and the detection result of the boom angle sensor 41b. However, without being limited thereto, for example, the display unit 81 may display the detection result of the arm angle sensor 42b, etc.

[0050] Here, the calculation results of the actual load calculation unit 71, the working radius calculation unit 72a, and the rated load map memory unit 73 and the detection result of the boom angle sensor 41b are regarded as mechanical information, the judgment result of the suspended travel feasibility determination unit 75 is regarded as the suspended travel judgment result, and the calculation result of the operation information generation unit 77 is regarded as operation information.

[0051] 3 is a diagram showing an example of a crane mode screen G1 displayed on the display unit 81. The operation buttons 314 arranged at the bottom of the display unit 81 include, from the left, a first button 314a, a second button 314b, a third button 314c, a fourth button 314d, a fifth button 314e, and a sixth button 314f. Each of the buttons 314a to f has a different function when pressed depending on the screen displayed on the display unit 81.

[0052] When the second button 314b is pressed on the basic display screen G0 described later, the screen transitions to the crane mode screen G1. The crane mode screen G1 displays a machine information display section G2, a menu display section G3, a suspended travel determination result display section G4, an operation information display section G5, an icon display section G6, and a basic information display section G7.

[0053] The machine information display section G2 displays machine information in the center of the display section 81. During suspended traveling, the values ​​of "rated load" and "traveling rating" displayed on the machine information display section G2 are the results of calculations in the rated load map storage section 73 (see FIG. 2) (see FIG. 4). The menu display section G3 displays menus corresponding to each of the buttons 314a-f at the bottom of the display section 81 and above each of the buttons 314a-f. When the operator presses each of the buttons 314a-f, the screen transitions to the screen with the contents displayed on the menu display section G3.

[0054] The suspended traveling determination result display section G4 displays the suspended traveling determination result in the upper portion of the display section 81 only when the suspended traveling determination result is negative. However, this is not limited to this, and for example, the suspended traveling determination result may also be displayed when the suspended traveling determination result is positive. If the suspended traveling determination result is negative before suspended traveling, for example, "suspended traveling not possible" is displayed on the suspended traveling determination result display section G4. This makes it possible to inform the operator of the possibility of suspended traveling before suspended traveling, and makes it possible to prevent the hydraulic excavator 1 from tipping over due to suspended traveling, for example.

[0055] 4, when suspended traveling is started in a state where the suspended traveling judgment result is negative, or when the suspended traveling judgment result becomes negative during suspended traveling, for example, "STOP LOAD 100%" is displayed in red on the suspended traveling judgment result display section G4. This makes it possible to inform the operator that suspended traveling is dangerous even after suspended traveling, and makes it possible to prevent the hydraulic excavator 1 from tipping over due to suspended traveling, for example.

[0056] The operation information display unit G5 displays operation information that enables the suspended traveling judgment result when the suspended traveling judgment result is negative, between the machine information display unit G2 and the menu display unit G3. For example, the operation information display unit G5 displays "Please move the load closer or lighten it" by flashing. As a result, even if the judgment result is negative for suspended traveling, the operation information that enables suspended traveling is displayed, so that the operator can operate the work machine 4 without hesitation, for example, based on the displayed operation information.

[0057] The operation information display unit G5 may display specific operation guidance for bringing the load closer. This allows the operator to safely perform hoisting travel simply by following the operation guidance displayed on the operation information display unit G5.

[0058] The icon display section G6 displays an icon corresponding to a function currently being operated by the hydraulic excavator 1 in the right portion of the display section 81. When a function of the hydraulic excavator 1 is operated by operating the operation button 314, the icon in the icon display section G6 corresponding to that function lights up (for example, in yellow) and flashes, and then the icon corresponding to the function currently being operated by the hydraulic excavator 1 stops flashing.

[0059] When a function of the hydraulic excavator 1 is stopped by operating the operation button 314, the icon in the icon display section G6 corresponding to that function is turned off. This allows, for example, the operator to easily recognize the function that is currently operating of the hydraulic excavator 1 by checking the icon display section G6. However, this is not limited to the above, and even when a function of the hydraulic excavator 1 is stopped, the icon in the icon display section G6 corresponding to that function may remain lit.

[0060] The basic information display unit G7 displays water temperature information, hydraulic oil information, remaining fuel amount, and time in the left portion of the display unit 81, and displays the operation time in the upper right portion. However, the present invention is not limited to this, and for example, a camera may be provided on the upper rotating body 3 (see FIG. 1), and the basic information display unit G7 may display a camera image in the center portion of the display unit 81.

[0061] An example of screen transitions when executing a function of the hydraulic excavator 1 (see FIG. 1) will be described with reference to FIG. 5 to FIG. 9. In STEP 1, a basic display screen G0 is displayed. The basic display screen G0 is an initial screen that is displayed when the display unit 81 is started up, and displays a menu display section G3, an icon display section G6, and a basic information display section G7. The basic display screen G0 shown in FIG. 5 is in a state where the boom height limiting function is turned off, i.e., the icon related to the boom height limiting function in the icon display section G6 has disappeared.

[0062] In STEP 2, the operator presses the operation button 314 corresponding to the function displayed in the menu display section G3. As a result, in STEP 3, the display section 81 transitions from the basic display screen G0 to the guidance display screen G8. For example, when the operator presses the third button 314c arranged below the display of "BOOM" on the left center of the menu display section G3, the display section 81 transitions to the guidance display screen G8 related to the boom height limit function.

[0063] The guidance display screen G8 displays a function explanation display section G9 in the center and an intention display section G10 in the lower section. The function explanation display section G9 displays an image G91 and a guidance statement G92 according to the selected function. For example, the boom height limit function displays an image G91 of a ceiling above the boom and a guidance statement G92 saying, "Raise the boom to the position where you want to limit the boom height, and then press the decision button."

[0064] The intention display unit G10 displays a message to confirm to the operator whether to execute the selected function. For example, the intention display unit G10 displays "OK" on the right side, which indicates the operator's intention to execute the selected function, and "RETURN" on the left side, which indicates the operator's intention not to execute the selected function.

[0065] In STEP 4, the operator presses the sixth button 314f arranged below "OK" in the intention display section G10, or the first button 314a arranged below "RETURN" in the intention display section G10. When the operator presses the sixth button 314f, the operation proceeds to the next STEP 5, and when the operator presses the first button 314a, the operation returns to the basic display screen G0.

[0066] In STEP 5, the enlarged icon display section G11 is displayed superimposed on the guidance display screen G8. The enlarged icon display section G11 enlarges and displays an icon corresponding to the selected function. However, the enlarged icon display section G11 is not limited to this, and may display, for example, an explanatory text explaining the state of the selected function below the icon in the enlarged icon display section G11.

[0067] In STEP 6, the guidance display screen G8 is switched to the basic display screen G0 while the enlarged icon display section G11 is displayed. At that time, the enlarged icon display section G11 is displayed at a position that does not overlap with the basic information display section G7 and the like displayed on the basic display screen G0.

[0068] In STEP 7, the icon in the enlarged icon display section G11 displayed on the basic display screen G0 and the icon in the icon display section G6 corresponding to the selected function are lit in red and flashing. Then, in STEP 8, the enlarged icon display section G11 displayed on the basic display screen G0 is turned off, and the icon in the icon display section G6 corresponding to the selected function is colored yellow and stops flashing.

[0069] From the above STEPs 1 to 8, the operator can associate the contents displayed on the guidance display screen G8 with the icons displayed on the icon display section G6. This allows the operator to easily remember, for example, which icon displayed on the icon display section G6 corresponds to which currently operating function of the hydraulic excavator 1, and can save the operator the trouble of reading an instruction manual or the like while operating the hydraulic excavator 1.

[0070] By using STEPs 1 to 8, the operator can change the settings of functions such as the arm reeling limit, excavation depth limit, and maximum PTO flow rate setting in addition to the boom height limit.

[0071] As described above, the construction machine of this embodiment comprises a lower running body 2 that enables traveling, an upper rotating body 3 that is rotatably mounted on the upper part of the lower running body 2, a working machine 4 that is attached to the upper rotating body 3 so that it can swing up and down, a hoist 5 that is attached to the tip of the working machine 4 so that it can swing back and forth, an actual load detection unit (actual load calculation unit 71) that detects the actual load of the load suspended from the hoist 5, a position detection unit 72 that detects the position of the working machine 4, a suspended traveling feasibility determination unit 75 that determines whether or not suspended traveling is possible based on the actual load detected by the actual load detection unit (actual load calculation unit 71) and the position detection unit 72 and the position information of the work machine 4, and an alarm unit 8 that notifies the operator of the determination result of the suspended traveling feasibility determination unit 75 before suspended traveling.

[0072] With this configuration, before suspended traveling, the operator can be notified of whether suspended traveling is possible or not based on the actual load detected by the actual load detection unit (actual load calculation unit 71) and the position detection unit 72 and the position information of the work machine 4.

[0073] In addition, the construction machine of this embodiment is configured to include an operation unit 31 that operates the lower traveling body 2 and the work machine 4, and an operation information generation unit 77 that calculates and outputs operation information for the operation unit 31 to put the work machine 4 into a posture in which the judgment result of the suspended traveling feasibility determination unit 75 is positive when the judgment result of the suspended traveling feasibility determination unit 75 is negative.

[0074] With this configuration, when the result of the judgment by the suspended traveling feasibility judgment unit 75 is negative, operation information that enables suspended traveling can be output.

[0075] In addition, the construction machine of this embodiment is equipped with a display unit 81 that displays the actual load and working radius detected by the actual load detection unit (actual load calculation unit 71) and the working radius detection unit (working radius calculation unit 72), and the notification unit 8 is configured to display the operation information calculated by the operation information generation unit 77 on the display unit 81.

[0076] With this configuration, when the result of the judgment by the suspended traveling feasibility judgment unit 75 is negative, the operator can be visually notified of operation information that results in the judgment result of the suspended traveling feasibility judgment unit 75 being positive.

[0077] Furthermore, the construction machine according to this embodiment may be configured to include an automatic operation unit that performs automatic operation based on the operation information calculated by the output operation information generation unit 77.

[0078] With this configuration, even if the result of the judgment by the suspended travel possibility judgment unit 75 is negative, the working machine 4 can be automatically put into a posture that enables suspended travel.

[0079] Furthermore, the construction machine according to this embodiment may be configured so that, when the operation information generating unit 77 is unable to calculate the operation information, the traveling of the lower traveling structure 2 is restricted.

[0080] With this configuration, when the result of the judgment by the suspended traveling feasibility judgment unit 75 is negative, suspended traveling can be made impossible.

[0081] Although the present embodiment and other embodiments have been described above based on the drawings, the specific configurations should not be considered to be limited to these embodiments. The scope of the present disclosure is indicated not only by the description of the above-mentioned embodiments but also by the claims, and further includes all modifications within the meaning and scope equivalent to the claims. [Explanation of symbols]

[0082] 1. Hydraulic excavator 2 Undercarriage 3. Upper rotating body 31 Operation section 4 Work equipment 5. Lifting equipment 71 Actual load calculation section 72 Position detection unit 75 Suspended running feasibility determination section 77 Operation information generation section 8. Notification Department 81 Display section

Claims

1. Detecting an actual load of a load suspended from a working device of a construction machine; Calculating a traveling load rating, which is a load of a suspended load that can be allowed to be suspended while the construction machine is traveling, and determining whether or not the construction machine can travel with a suspended load based on the traveling load rating and the actual load; When the judgment as to whether or not the suspended traveling is possible is "no," displaying a first indication indicating that the judgment as to whether or not the suspended traveling is possible is "no" before the construction machine travels on a suspended traveling judgment result display section provided separately from an area on a display screen of a display section that displays the actual load and the traveling rated load; When the construction machine travels in a state where the judgment of whether or not the suspended traveling is possible is negative, a second indication different from the first indication is displayed on the suspended traveling judgment result display unit instead of the first indication; A method for controlling a construction machine comprising the steps of:

2. 2. The method for controlling a construction machine according to claim 1, wherein the second indication includes information indicating that the actual load has reached the rated traveling load.

3. When the determination of whether or not the suspended traveling is possible is negative, calculating operation information of the work machine for changing the posture of the work machine to a posture in which the determination is positive; displaying the operation information on the display unit; The method for controlling a construction machine according to claim 1 or 2, further comprising:

4. The method for controlling a construction machine according to claim 3, further comprising displaying a camera image of the surroundings of the construction machine and the operation information or the actual load on the display unit.

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