Control method for industrial machinery, control program for industrial machinery, control system for industrial machinery, industrial machinery

Abstract

To provide a work machine control method capable of changing control device settings from another device by a safe, reliable, and simple method, a work machine control program, a work machine control system, and a work machine.SOLUTION: A work machine control method is configured to change settings to other settings by performing an operation of a state transition of a work machine after a setting change request is executed to a control device (520) to change the setting to another setting in order to control a work machine from a setting change device (335).SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] As a conventional technique, an operation pattern is set and input by an operation pattern setting input means, and based on an operation signal from an operation lever device according to an operation pattern corresponding to an operation pattern instruction signal transmitted from the operation pattern setting input means to a controller (control device), a drive signal is generated and output to a corresponding solenoid valve to control the pilot pressure input to a control valve and control the flow of pressure oil to a hydraulic actuator. A construction machine (working machine) is known. (See Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a working machine used in a harsh environment, the operation pattern setting input means may malfunction for unexpected reasons, and an operation pattern instruction signal may be mistransmitted to the control device, resulting in a change in the operation pattern without the operator's intention. Therefore, from the perspective of fail-safe, after transmitting an operation pattern instruction signal from the setting input means to the control device, a physical approval means for reflecting the operator's intention separately is required to enable the setting. There is a problem.

[0005] To solve the above problems, it is conceivable to provide an approval switch or the like separately from the operation pattern setting input means, but there are also problems such as increased costs and layout problems.

[0006] Furthermore, the above problem may occur not only when setting operating patterns, but also when changing settings related to the operation of similar work machines, such as when controlling the tip of the work implement of an ultra-short-swing excavator to prevent interference with the cabin, and when changing settings depending on the type of attachment mounted on the tip of the work implement.

[0007] The present invention has been made in view of the problems of the prior art described above, and its objective is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that allow the setting of a control device to be changed from another device in a simple and highly safe and reliable manner. [Means for solving the problem]

[0008] A control method for a work machine according to one aspect of the present invention involves a setting change request being executed from a setting change device to a control device that controls the work machine based on stored settings, to change the setting to another setting, and after the execution of the setting change request, the control device changing the setting to another setting by an operation that causes a state transition of the work machine.

[0009] A control program for a work machine according to one aspect of the present invention causes one or more computing devices to execute a control method for the work machine.

[0010] A control system for a work machine according to one aspect of the present invention includes a setting change request unit that executes a setting change request to a control device that controls the work machine based on settings stored in a setting change device, to change the setting to another setting, and a setting change unit that, after the execution of the setting change request, causes the control device to change the setting to another setting by an operation that causes the work machine to transition state.

[0011] A work machine according to one aspect of the present invention is equipped with a control system for the work machine. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that allow the setting of a control device to be changed from another device in a simple and highly safe and reliable manner. [Brief explanation of the drawing]

[0013] [Figure 1] This is a right side view of a hydraulic excavator according to one embodiment of the present invention. [Figure 2] This is a left side view of a hydraulic excavator according to one embodiment of the present invention. [Figure 3] This is a perspective view of the driver's cab of a hydraulic excavator according to one embodiment of the present invention. [Figure 4] This is a schematic diagram of a control system for a hydraulic excavator according to one embodiment of the present invention. [Figure 5] This is a schematic diagram of an embodiment of interference prevention control for a hydraulic excavator according to one embodiment of the present invention. [Figure 6] This is the home screen of a display device for a hydraulic excavator according to one embodiment of the present invention. [Figure 7] This is a plan view of the operating device for a display device of a hydraulic excavator according to one embodiment of the present invention. [Figure 8] This is the settings menu screen for the display device of a hydraulic excavator according to one embodiment of the present invention. [Figure 9] This is the operation pattern setting screen for a display device of a hydraulic excavator according to one embodiment of the present invention. [Figure 10] This is the operation pattern setting screen when pattern B is selected for the display device of a hydraulic excavator according to one embodiment of the present invention. [Figure 11] This is the home screen of the display device for a hydraulic excavator according to one embodiment of the present invention when pattern B is set. [Figure 12] This is a flowchart diagram of the control flow of a control device for a hydraulic excavator according to one embodiment of the present invention. [Figure 13] This is a screen showing the attachment change settings for a display device of a hydraulic excavator according to one embodiment of the present invention. [Figure 14]This is the attachment change screen when selecting the breaker of the display device of the hydraulic excavator according to an embodiment of the present invention.

Embodiment for Carrying Out the Invention

[0014] Hereinafter, as a representative example of the construction machine according to the present invention, a hydraulic excavator 100 will be taken as an example, and the first embodiment according to the present invention will be described in detail while referring to the attached drawings. For the upper revolving body 300, the direction in which the working device 400 extends upward above the cab 310 is defined as the front, and the opposite direction is defined as the rear.

[0015] As shown in FIGS. 1, 2 and 4, the hydraulic excavator 100 includes a self-propelled lower traveling body 200, an upper revolving body 300 rotatably supported on the lower traveling body 200, a working device 400 rotatably supported on the upper revolving body 300, and a control system 500.

[0016] The upper revolving body 300 is composed of a cab 310 arranged on the left side from the front part to the rear end of the machine body, and an engine room 320 formed from the front part on the right side to the rear end of the machine body and configured to fill the cut-out part at the lower rear part of the cab 310. Between the cab 310 and the engine room 320, the working device 400 is rotatably supported.

[0017] In the engine room 320, there are arranged a plurality of devices such as an engine (not shown), a variable displacement pump 511 that is driven by the engine and pumps hydraulic oil to a plurality of actuators that move the hydraulic excavator 100 such as a boom cylinder 460 and an arm cylinder 470, a control valve 514 that controls the plurality of actuators, and a pilot pump 512 that generates a primary pressure of the pilot pressure input to the control valve 514 and the regulator 511a that controls the flow rate of the variable displacement pump 511.

[0018] An operator's cab 330 is installed inside the cab 310 above the engine room 320.

[0019] As shown in Figure 3, the driver's seat 330 is formed from a seat 331, a floor material 333 extending forward from the lower front of the seat mount 332 below the seat 331, and an operating device 334.

[0020] The operating device 334 outputs the operating direction and operating amount as electrical signals, so that the operating signals output from the control device 520 can cause the electromagnetic proportional valve 517 to output pilot pressure to the control valve 514 and operate each actuator.

[0021] The operating device 334 is arranged in a row from left to right in front of the driver's seat 330 and consists of a left travel lever 334a and a right travel lever 334b ​​that protrude from the floor material 333, a left operating lever 334c and a right operating lever 334d that are erected on console boxes located on the left and right sides of the seat 331, and an offset pedal 334e that is positioned adjacent to the right of the right travel lever 334b.

[0022] The left control lever 334c and the right control lever 332d are assigned to boom lifting / lowering, arm operation, bucket operation, and slewing operation, respectively. There are four possible combinations of these operation assignments (operation patterns), and the operator can select any operation pattern by operating the display device 335 located in front of the right control lever 334d. In addition, the offset pedal 334e allows the operator to offset the upper part of the boom 420 in the left-right direction, as will be described later.

[0023] A cutoff lever 336 is provided at the lower front end of the console where the left operating lever 334c is mounted, extending diagonally upward toward the front. The console on which the left operating lever 334c is mounted rotates upward by pulling up the cutoff lever 336. A cutoff lever switch 337 is installed at the base end of the console. When the cutoff lever 336 is in the raised position, the cutoff lever switch 337 is in the off position, and when the cutoff lever 336 is in the lowered position, the cutoff lever switch 337 is in the on position. As will be described in more detail later, the operating device 334 becomes operable when the cutoff lever 336 is in the lowered position, and enters an operation lock state where the operation is locked when the cutoff lever 336 is in the raised position.

[0024] On the rear end of the console where the right-hand control lever 334c is mounted, there is a key cylinder 338 for starting the engine.

[0025] The key cylinder 338 has three positions that are set by rotating the key: OFF position, ON position, and START position, in a clockwise direction. (See Figure 4)

[0026] In the OFF position, the engine is stopped, and no power is supplied to the electrical equipment, including the control unit 520.

[0027] In the ON position, power is supplied to the electrical equipment, including the control device 520.

[0028] In the START position, the starter motor activates and rotates the engine. After moving from the ON position to the START position, the key position automatically returns from the START position to the ON position.

[0029] The working device 400 consists of a boom 420, an arm 430 mounted on the tip of the boom 420 so as to be rotatable vertically, a bucket 450 mounted on the tip of the arm 430 so as to be rotatable, a boom cylinder 460 installed in front of and below the boom 420 to move the boom 420, an arm cylinder 470 installed above the boom 420 to move the arm 430, and a bucket cylinder 480 installed in front of the arm 430 to move the bucket 450 via a bucket link 440.

[0030] The boom 420 consists of a first boom 421 pivotally supported on the upper slewing body so as to be rotatable, a second boom 422 supported above the cabin 310 at the end of the first boom 421 so as to be rotatable from side to side and extending upward toward the front, and a third boom 423 supported at the front end of the second boom 422 so as to be rotatable from side to side and supporting the arm 430 so as to be rotatable up and down.

[0031] The base end of the second boom 422 on the cabin 310 side, which is on the side of the first boom 421, and the third boom 423 are connected by an offset cylinder 461 that moves the second boom 422 from side to side. Above the offset cylinder 461, an offset link 462 is positioned to connect the third boom 423 and the first boom 421.

[0032] The lower running body 200 has a center frame (not shown) and side frames 210a and 210b that extend in the front-rear direction in pairs symmetrically to the center frame. A drive wheel 211a driven by a left running motor (not shown) is installed at the rear end of the left side frame 210a, and multiple idler wheels 212a are positioned facing forward. Tracks 213a are wrapped around the drive wheel 211a and idler wheels 212a. A drive wheel 211b (not shown) driven by a right running motor (not shown) is installed at the rear end of the right side frame 210b, and multiple idler wheels 212b (not shown) are positioned facing forward. Tracks 213b are wrapped around the drive wheel 211b and idler wheels 212b. A soil removal device 220 is mounted in front of the center frame.

[0033] Next, we will explain the control system 500 of the hydraulic excavator 100 using Figure 4.

[0034] The control system 500 consists of a hydraulic circuit 510, a control device 520, an attitude detection device 530, a cutoff switch 337 (cutoff lever 336), a key cylinder 338, and a display device 335.

[0035] Hydraulic circuit 51 In the diagram, line 0 represents the high-pressure hydraulic fluid piping extending from the variable displacement pump 511 with a solid line, and the low-pressure hydraulic fluid (pilot pressure) piping extending from the pilot pump 512 with a dotted line.

[0036] The hydraulic circuit 510 consists of a center bypass passage 513 extending from a variable displacement pump 511 that controls the discharge flow rate by inputting a pilot pressure reduced by an electromagnetic proportional valve 518 to a regulator 511a, and a control valve 514 composed of directional control valves that control each actuator connected to the oil passages extending from the center bypass passage 513. The hydraulic circuit 510 is a so-called closed center circuit in which no passage is formed from the center bypass passage 513 to the tank 515 regardless of the sliding position of the spool of the directional control valve, but is not limited to this.

[0037] The control valve 514 consists of a directional control valve 514a that controls the boom cylinder 460, a directional control valve 514b that controls the arm cylinder 470, and several other directional control valves that control several other actuators, such as the left and right travel motors, the bucket cylinder 480, the offset cylinder 461, the left and right travel motors, and a slewing motor (not shown). The details of the several other actuators and several other directional control valves are omitted from the description of the hydraulic circuit 510. In addition, the pilot pressure output from the electromagnetic proportional valve 517 controlled by the control device 520 is input to the pilot pressure input port of the directional control valve that constitutes the control valve 514.

[0038] At the pilot pressure input ports 514a1 and 514a2 of the directional control valve 514a, pilot pressure output from the electromagnetic proportional valves 517a1 and 517a2 is input according to the direction and amount of operation (tilt amount) of the left operating lever 334c or the right operating lever 334d. This causes the spool of the directional control valve 514a to slide, and oil corresponding to the opening amount of the spool flows to the rod side or bottom side of the boom cylinder 460, raising or lowering the boom 420.

[0039] Pilot pressure output from solenoid proportional valves 517b1 and 517b2 is input to the pilot pressure input ports 514b1 and 514b2 of the directional control valve 514b, according to the direction and amount of operation of the left operating lever 334c or the right operating lever 334d. This causes the spool of the directional control valve 514b to slide, and oil corresponding to the opening amount of the spool flows to the rod side or bottom side of the arm cylinder 470, causing the arm 430 to perform a clouding or dumping motion.

[0040] Upstream of the solenoid proportional valve 517, which outputs pilot pressure to the input port of the directional control valve 514, is a solenoid valve 519. When the aforementioned cutoff lever switch 337 is in the connected position, an electrical signal is input to the solenoid valve 519, causing it to open and supply pilot pressure to the solenoid proportional valve 517. When the cutoff lever switch 337 is in the shut-off position, the electrical signal is shut off, the solenoid valve 519 closes, no pilot pressure is supplied to the solenoid proportional valve 517, and the actuator becomes inoperable by the operating device 334 (operation locked state). Furthermore, when the cutoff lever switch 337 is in the connected position, an energizing signal is output to the control device 520, and when the cutoff lever switch is in the shut-off position, no energizing signal is output to the control device 520.

[0041] The bucket cylinder 480 also performs dumping or clouding operations depending on the direction and amount of operation (tilt amount) of the left operating lever 334c or the right operating lever 334d.

[0042] The slewing motor also rotates the upper slewing body 300 to the left or right depending on the direction and amount of operation (tilt amount) of the left operating lever 334c or the right operating lever 334d.

[0043] The operating device 334 consists of a left travel lever 334a and a right travel lever 334b, a left operating lever 334c and a right operating lever 334d, and the signals output from the operating device 334 are input to the control device 520.

[0044] The posture detection device 530 consists of a boom angle detection device 531 for detecting the rotation angle of the boom, an arm angle detection device 532 for detecting the rotation angle of the arm, and an offset angle detection device 533 for detecting the offset angle of the second boom. These detection devices are portable and are mounted in a position where the required rotation angle can be measured. However, the posture detection device 530 is not limited to this and can be any sensor for detecting the posture of the work machine 400, such as an acceleration sensor.

[0045] The control device 520 is an ECU (Electronic Control Unit) and consists of an arithmetic unit 521 comprising an input buffer that converts the signal level of digital input signals, an AD converter that converts analog input signals to digital, and a microcontroller that calculates control quantities from various input signals, and an output driver, communication driver, communication receiver, etc. that convert the output signals of the microcontroller into drive signals that drive actuators.

[0046] Signals input to the control device 520 are represented by a dashed line with an arrow pointing towards the control device 520 at its tip, and signals output from the control device 520 are represented by a dashed line with an arrow pointing towards the device into which the signal is input.

[0047] The calculation unit 521 includes a storage unit 522, a posture calculation unit 523, and an execution processing unit 524.

[0048] The memory unit 522 stores information on the combination of electromagnetic proportional valves 517 of the control valve 514 that controls the arm, bucket, boom, and slewing movements to which operation signals are input in response to the operation of the left operation lever 334c and the right operation lever 334d, that is, the combination of operation patterns (operation patterns) of the arm, bucket, boom, and slewing movements by the operation of the left operation lever 334c and the right operation lever 334d, the currently set operation patterns, attitude parameters set for each attachment (e.g., bucket, breaker, etc.) to calculate the position information of the end of the work machine 400, and position information of the boundary area 600 (see Figure 5) which is set from the front to above the cabin 310 and prevents the attachment at the front of the work machine 400 from coming into contact with the cabin 310.

[0049] The operation patterns stored in the memory unit 522 are combinations of four patterns: A pattern, B pattern, C pattern, and D pattern.

[0050] In pattern A, the left control lever 334c is assigned to arm dump for forward tilting, arm cloud for rearward tilting, left swivel for leftward tilting, and rightward swivel for rightward tilting. The right control lever 334d is assigned to boom lowering for forward tilting, boom raising for rearward tilting, bucket cloud for leftward tilting, and bucket dump for rightward tilting.

[0051] In pattern B, the left control lever 334c is assigned to right rotation for forward tilting, right rotation for backward tilting, arm dump for left tilting, and arm cloud for right tilting. The right control lever 334d is assigned to boom lowering for forward tilting, boom raising for backward tilting, arm cloud for left tilting, and arm dump for right tilting.

[0052] In pattern C, the left control lever 334c is assigned to lower the boom when tilting forward, raise the boom when tilting backward, dump the bucket when tilting left, and control the bucket arm when tilting right. The right control lever 334d is assigned to dump the arm when tilting forward, cloud the arm when tilting backward, rotate left when tilting left, and rotate right when tilting right.

[0053] In pattern D, the left control lever 334c is assigned to lower the boom when tilting forward, raise the boom when tilting backward, dump the bucket when tilting left, and control the bucket arm when tilting right. The right control lever 334d is assigned to control the arm cloud when tilting forward, dump the arm when tilting backward, rotate left when tilting left, and rotate right when tilting right.

[0054] The attitude calculation unit 523 calculates the position of the attachment based on the attitude information from the attitude detection device 530 and the attitude parameters in the storage device 522 corresponding to the currently set attachment, and determines whether it has entered the boundary region 600.

[0055] The execution processing unit 524 refers to the operation pattern stored in the storage unit 522 from the operation signal transmitted in response to the operation of the operating device 334, and causes the electromagnetic proportional valve 517 of the control valve 514 to output a signal and move the actuator.

[0056] For example, if pattern A is set, tilting the right operating lever 334d up or down will cause the execution processing unit 523 to raise or lower the boom 420.

[0057] Figure 5 schematically illustrates an embodiment of interference prevention control, which automatically controls the attachment mounted on the tip of the work implement 400 so as not to interfere with the cabin 3100. In this embodiment, work implement 400 with a bucket 450 mounted on its tip and work implement 400 with a breaker 451, which is longer than the bucket 450, mounted on its tip are controlled to be positioned in front of the boundary area 600 located in front of and above the cabin 310.

[0058] Interference prevention control will be explained with an example. For instance, when a bucket 450 attached to a work machine 400 is near a boundary area 600, and the operator performs a boom-raising operation, the attitude calculation unit 523 determines that the bucket 450 is entering the boundary area 600. The execution processing unit 524 then calculates the movement speed of the arm cylinder 470 so that the arm 470 can crowd up to the front edge of the boundary area 600, and the control device 520 outputs a signal corresponding to the electromagnetic proportional valve 517b1. In other words, if the operator continues the boom-raising operation, the bucket 450 will rise along the front edge of the boundary area 600. If a breaker 451 is attached to the work machine 400, the attitude calculation unit 523 determines that the breaker 451 is entering the boundary area 600 based on attitude parameters corresponding to the breaker 451, not the bucket 450. In this case, the amount of crowding of the arm 430 when the breaker 451 is attached is greater than when the bucket 450 is attached.

[0059] The display device 335 consists of a display unit 335a, a control unit 335b, and an operation unit 335c.

[0060] The display unit 334a is a liquid crystal display, but is not limited to that; it may also be an organic EL display.

[0061] The control unit 335c is a jog dial, but is not limited to this; it may also be a touch panel or a push-button control device.

[0062] Next, the control method for the work machine according to the present invention will be described in detail with reference to Figures 4 and 6 to 12. Note that the dotted lines in the drawings represent the area of ​​the display screen and are not actually displayed on the display device 335.

[0063] Figure 6 shows the home screen Dp1 displayed on the display unit 335a.

[0064] The home screen Dp1 consists of a first display unit DpA and a second display unit DpB.

[0065] The first display unit DpA is located in the center of the screen and displays a fuel meter Ic1 that shows the remaining fuel level by the height of a bar, a hydraulic oil temperature meter Ic2 that shows the hydraulic oil temperature by the position of a rotating needle, and a coolant temperature meter Ic3 that shows the coolant temperature by the position of a rotating needle, arranged from the left edge to the right edge of the screen.

[0066] The second display unit DpB is located below the first display unit DpA, at the bottom of the screen. The engine speed Ic4 is displayed at the lower left corner of the second display unit DpB, and the hour meter Ic5 is displayed at the lower right corner. To the right of the engine speed Ic4, an icon Ic6 (Ic6A) representing the current operating pattern is displayed. (This indicates that the currently set operating pattern is pattern A.)

[0067] The current operation pattern can be changed by operating the screen displayed on the display unit 335a using the operation unit 335c.

[0068] Figure 7 is a schematic diagram of the jog dial, which is the control unit 335c. The control unit 335c has an operation dial 335c1, a select button 335c2, a home button 335c3, and a settings menu button 335c4.

[0069] When the home screen Dp1 is displayed on the display unit 335a, pressing the settings menu button 335c4 will transition the home screen Dp1 to the settings menu screen Dp2.

[0070] Figure 8 shows the settings menu screen Dp2 displayed on the display unit 335a. The settings menu screen Dp2 is located on the second display unit DpB of the home screen Dp1. A third display unit, DpC, is located in a specific position, where setting icons for various settings or for checking the equipment information of the hydraulic excavator 100 are displayed.

[0071] The third display unit DpC shows icons Ic4 for transitioning to a screen for configuring more detailed functions, Ic5 for transitioning to a screen for checking the history of device errors, Ic6 for transitioning to a screen for changing attachments, Ic7 for transitioning to a screen for enabling the auto-stop function, and Ic8 for transitioning to a screen for selecting an operation pattern.

[0072] One of the icons displayed on the third display unit DpC is always highlighted, and by rotating the operation dial 335c1, the icon to be highlighted can be selected. By pressing the OK button 335c2, the user can transition from the settings menu screen Dp2 to the screen associated with that icon. In Figure 8, icon Ic8 is highlighted, and pressing the OK button 335c2 transitions the user from the settings menu screen Dp2 to the operation pattern setting screen Dp3.

[0073] The operation pattern setting screen Dp3 displays explanatory text Ic9 at the top, and below it, from top to bottom, are icons Ic10, Ic11, Ic12, and Ic13 indicating the operation patterns. The icons representing the operation patterns are formed by letters of the alphabet that represent the operation pattern, and the current operation pattern is indicated by a black circular icon next to the alphabet.

[0074] In Figure 9, the current operation pattern is set to pattern A. By rotating the operation dial 335c1, the icon of the pattern to be changed is highlighted, and by pressing the OK button 335c2, the circle of the highlighted icon turns black, and the circle of the icon before the change turns white. In Figure 10, pattern B is selected.

[0075] After pressing the confirmation button 335c2, the key position of the key cylinder 338 is changed from ON to OFF and then back to ON (approval operation). This changes the state of the hydraulic excavator 100 from the engine running state to the engine stopped state, with power cut off to the electrical equipment including the control device 520. Then, by turning the key position back to ON, power is restored to the electrical equipment, and the current operation pattern stored in the memory unit 522 is changed from pattern A to pattern B.

[0076] After the approval operation, the display unit 335a displays the home screen Dp4, and the icon Ic6 (Ic6B) representing the current operation pattern is displayed. The execution processing unit 524 then refers to the B pattern stored in the storage unit 522 from the operation signal transmitted to the operation device 332, and causes the electromagnetic proportional valve 517 of the control valve 514 to output a signal and move the actuator.

[0077] When changing the settings related to operation, which are settings for controlling the hydraulic excavator 100, from the display device 355, which is a setting change means, an approval operation by a separately installed device is performed by switching the power on from a state where the hydraulic excavator 100 is completely stopped by the key cylinder. This not only allows the operator to be aware that important safety settings have been changed, but also makes it possible to change important safety settings in a reliable and simple manner.

[0078] The control flow will be explained using Figure 12. Figure 12 is a flowchart related to the control method.

[0079] Select a setting pattern from the setting screen Dp3 displayed on the display unit 335a of the display device 335, and press the OK button 335c2. (S1)

[0080] The authorization operation is performed using the key cylinder 338. (S2)

[0081] The currently selected operation pattern stored in the memory unit 522 of the control device 520 is changed to the operation pattern selected in S1. (S3)

[0082] The display unit 335a of the display device 335 displays the home screen Dp4, and the icon Ic6 of the changed operation pattern is displayed on the home screen Dp4. (S4) The flow is terminated.

[0083] The flowchart shown in Figure 12 is merely an example; processes may be added or omitted as appropriate, processes may be executed repeatedly, and the order of processes may be changed as appropriate.

[0084] Next, a second embodiment of the present invention will be described with reference to Figures 4, 5, 6 to 8, 13, and 14, but the parts common to the first embodiment will not be described.

[0085] A modified example of the second embodiment is a control method for a work machine relating to interference prevention control associated with changing the attachment of the work machine 400.

[0086] When the home screen Dp1 is displayed on the display unit 335a, pressing the settings menu button 335c4 will transition the home screen Dp1 to the settings menu screen Dp2, highlighting icon Ic6. Pressing the OK button 335c2 will transition the settings menu screen Dp2 to the attachment change screen Dp5.

[0087] The attachment change screen Dp5 displays explanatory text Ic14 at the top, and below it, from top to bottom, are the attachment-related texts Ic15, Ic16, Ic17, and Ic18. The current attachment is indicated by a black circular icon next to the text representing the attachment.

[0088] In Figure 13, the currently configured attachment is a bucket, and the interference prevention control is controlled by attitude parameters for the bucket stored in the memory unit 522.

[0089] By rotating the operation dial 335c1, the text of the attachment to be changed is highlighted, and by pressing the OK button 334c2, the circle next to the highlighted text turns black, and the circle next to the original text turns white. In Figure 14, a circuit breaker is selected.

[0090] If the cutoff lever 336 is in the raised position, after pressing the confirmation button 335c2, the cutoff lever 336 is moved to the lowered position (the cutoff lever switch 337 is in the connected position) to make the hydraulic excavator 100 operable, and then the cutoff lever 336 is moved to the raised position (the cutoff lever switch 337 is in the shut-off position) to lock the hydraulic excavator 100 into an operable state. (Approval operation) After this series of approval operations, the interference prevention control is controlled by the attitude parameters for the breaker stored in the memory unit 522.

[0091] After requesting a setting change related to the operation control of the hydraulic excavator 100 from the display device 355, which is a setting change means, to the control device 520, an approval operation by a separately installed device is performed by using the cutoff lever 336 to change the hydraulic excavator 100 from the operation locked state to the operation enabled state, and then by performing an approval operation to change it from the operation enabled state back to the operation locked state. This allows the operator to be aware that important safety settings have been changed, and also enables the change of important safety settings in a reliable and simple manner.

[0092] The invention according to embodiments of the present invention can be specified as follows:

[0093] <Note 1> A method for controlling a work machine, comprising: a setting change request being executed from a setting change device to a control device that controls the work machine based on stored settings, to change the setting to another setting; and, after the execution of the setting change request, the control device changing the setting to another setting by an operation that causes a state transition of the work machine.

[0094] <Note 2> The control method for the work machine described in Note 1, wherein the setting change device is a display device, and the setting is changed to the other setting based on an image displayed on the display unit of the display device.

[0095] <Note 3> A control method for a work machine as described in Note 1 or Note 2, wherein the operation that causes the state transition of the work machine is an operation that starts or stops the work machine.

[0096] <Note 4> A control method for a work machine as described in any of Notes 1 to 3, wherein the state transition of the work machine is from a state in which the prime mover of the work machine is in operation and the control device is energized to a state in which the prime mover of the work machine is stopped and the control device is not energized, and further from a state in which the control device is not energized to a state in which the control device is energized.

[0097] <Note 5> A control method for a work machine as described in Note 1 or Note 2, wherein the operation that performs the state transition of the work machine is an operation that enables or disables the operation of the operating device that operates the work machine.

[0098] <Note 6> The control method for the work machine described in Note 5, wherein the state transition of the work machine is such that the operation of the operating device is changed from an inactive state to an active state, and further changed from an active state to an inactive state.

[0099] <Note 7> A control program for a work machine to execute one or more computing devices the control method for the work machine described in any of Notes 1 to 6.

[0100] <Note 8> A control system for a work machine comprising: a setting change request unit that executes a setting change request to a control device that controls the work machine based on a setting stored in a setting change device, to change the setting to another setting; and a setting change unit that, after the execution of the setting change request, causes the control device to change the setting to another setting by an operation that causes the work machine to transition state.

[0101] <Note 9> A work machine equipped with the work machine control system described in Note 8.

[0102] The various configurations described in the first and second embodiments above can be combined and adopted as appropriate.

[0103] In the above explanation, a hydraulic excavator was used as an example of a work machine, but the work machine is not limited to a hydraulic excavator. It can be any construction machine such as a compact track loader or wheel loader, or even other work machines such as a tractor. Furthermore, although an engine was used as the prime mover in the explanation, an electric motor is also acceptable.

[0104] Although embodiments of the present invention have been described above, the scope of the present invention is not limited thereto, and it can be expanded or modified without departing from the spirit of the invention. [Industrial applicability]

[0105] The present invention relates to a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine, and has industrial applicability. [Explanation of symbols]

[0106] 100 Hydraulic excavator (working machine) 335 Display device (setting change device) 520 Control device 522 Memory unit 524 Execution processing unit 338 Key cylinder (operating means for executing state transitions)

Claims

1. The system includes: a setting change request being executed from a setting change device to a control device that controls a work machine based on stored settings, to change the setting to another setting; and, after the execution of the setting change request, the control device changing the setting to another setting by an operation that causes a state transition of the work machine. The operation that causes the state transition of the aforementioned work machine is the operation of starting or stopping the aforementioned work machine. The state transition of the aforementioned work machine is such that the prime mover of the work machine is in a driving state and the control device is energized. A control method for a work machine, wherein the prime mover of the work machine transitions to a stopped state and the control device transitions to a de-energized state, and further transitions the control device from a de-energized state to an energized state.

2. The method for controlling a work machine according to claim 1, wherein the setting change device is a display device, and the setting is changed to the other setting based on an image displayed on the display unit of the display device.

3. A setting change request is made from a setting change device to a control device that controls a work machine based on a stored setting, to change the setting to another setting; and after the setting change request is made, the control device changes the setting to another setting by an operation that causes a state transition of the work machine, The operation that performs the state transition of the work machine is an operation that enables or disables the operation of the operating device that operates the work machine. The state transition of the aforementioned work machine is a transition from an inactive state to an active state for the operation of the operating device. Furthermore, a control method for a work machine that transitions the operation of an operating device from an enabled state to an disabled state.

4. A control program for a work machine to execute the control method of the work machine described in Claim 1 or Claim 3 on one or more computing devices.

5. A setting change request unit that executes a setting change request to a control device that controls a work machine based on stored settings, to change the setting to another setting, and a setting change unit that, after the execution of the setting change request, causes the control device to change the setting to another setting by an operation that causes the work machine to transition state, The operation that causes the state transition of the aforementioned work machine is the operation of starting or stopping the aforementioned work machine. A control system for a work machine in which the state transition of the work machine is from a state in which the prime mover of the work machine is in a driving state and the control device is energized, to a state in which the prime mover of the work machine is stopped and the control device is not energized, and further, the control device is transitioned from the state of not energized to the state of energized.

6. A setting change request unit that executes a setting change request to a control device that controls a work machine based on stored settings, to change the setting to another setting, and a setting change unit that, after the execution of the setting change request, causes the control device to change the setting to another setting by an operation that causes the work machine to transition state, The operation that causes the state transition of the work machine is an operation that enables or disables the operation of the operating device that operates the work machine. A control system for a work machine in which the state transition of the work machine is such that the operation of the operating device is changed from an inactive state to an active state, and further changed from an active state to an inactive state.

7. A work machine comprising the work machine control system according to claim 5 or 6.

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