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

Abstract

To provide a control method for a work machine, a work machine control program, a work machine control system, and a work machine that can easily reduce the burden on an operator involved in operation.SOLUTION: A control method for a work machine 3 comprises receiving an operation to an operating device 35 for controlling the work machine 3, monitoring a specific event being monitored, and determining whether a determination condition regarding an operation of the operating device 35 is satisfied when a specific event occurs.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine, which are used for a working machine controlled according to an operation on an operating device.

Background Art

[0002] As related art, a working machine including a machine body, a working device mounted on the machine body, and a hydraulic breaker attached to the tip of the working device is known (see, for example, Patent Document 1). The working machine according to the related art further includes a changeover switch that can switch between an auto hammer prohibited state in which the hydraulic breaker is inoperable and an auto hammer permitted state in which the hydraulic breaker is operable. In this working machine, normally, the auto hammer prohibited state is set so as not to perform an inadvertent strike, and when the changeover switch is operated, it is switched to the auto hammer permitted state. Specifically, when the changeover switch is operated in the auto hammer prohibited state, the working machine shifts to the auto hammer standby state, and when the changeover switch is operated again within a certain time in the auto hammer standby state, it shifts to the auto hammer permitted state.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above related art, since the auto hammer prohibited state is switched to the auto hammer permitted state by operating the changeover switch, for example, the operator needs to operate carefully so that the hydraulic breaker does not suddenly become operable and the strike does not start.

[0005] The object of the present invention is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can easily reduce the burden on the operator involved in its operation. [Means for solving the problem]

[0006] A control method for a work machine according to one aspect of the present invention includes receiving an operation to an operating device for controlling the work machine, monitoring a specific event that is the target of monitoring, and, when the specific event occurs, determining whether or not the determination conditions related to the operation to the operating device are met.

[0007] A control program for a work machine according to one aspect of the present invention is a program that causes one or more processors to execute a control method for the work machine.

[0008] A control system for a work machine according to one aspect of the present invention comprises an acquisition processing unit, a monitoring processing unit, and a determination processing unit. The acquisition processing unit receives operations for an operating device for controlling the work machine. The monitoring processing unit monitors a specific event that is the target of monitoring. When the specific event occurs, the determination processing unit determines whether or not the determination conditions related to the operation of the operating device are met.

[0009] A work machine according to one aspect of the present invention comprises a control system for the work machine and a machine body that is controlled in response to an operation of the operating device. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can easily reduce the burden on the operator involved in its operation. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a schematic perspective view showing the overall configuration of the work machine according to Embodiment 1. [Figure 2]Figure 2 is a schematic block diagram of the work machine according to Embodiment 1. [Figure 3] Figure 3 is a schematic external view of the operating device of the work machine according to Embodiment 1. [Figure 4] Figure 4 is a schematic external view of the display device for the work machine according to Embodiment 1. [Figure 5] Figure 5 is a flowchart showing an example of the operation of the control system for a work machine according to Embodiment 1. [Figure 6] Figure 6 is a timing chart showing an example of the operation of the control system for a work machine according to Embodiment 1. [Figure 7] Figure 7 shows an example of a display screen shown on the display device of the work machine according to Embodiment 1. [Figure 8] Figure 8 is a flowchart showing an example of the operation of the control system for a work machine according to Embodiment 2. [Modes for carrying out the invention]

[0012] The embodiments of the present invention will be described below with reference to the attached drawings. The following embodiments are examples that embody the present invention and are not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall structure As shown in Figure 1, the work machine 3 according to this embodiment is equipped with a traveling section 31, a rotating section 32, and a working section 33 on a machine body 30. Furthermore, as shown in Figure 2, the work machine 3 is equipped with a control system 1 for work machines (hereinafter also simply referred to as "control system 1"). In addition, as shown in Figures 1 and 2, the machine body 30 is further equipped with a display device 2, a drive device 34, an operating device 35, a control valve 36, a cutoff switch 371, and a cutoff lever 372, etc.

[0014] In this disclosure, "working machinery" refers to various types of machinery used for work, and examples include work vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. Working machinery 3 includes a working unit 33 configured to perform one or more tasks. Working machinery 3 is not limited to "vehicles," but may also be, for example, a work vessel, a drone, or a multicopter. Furthermore, working machinery 3 is not limited to construction machinery, but may also be, for example, agricultural machinery such as a rice transplanter, tractor, or combine harvester. In this embodiment, unless otherwise specified, the description will be based on the example where working machinery 3 is a ride-on type backhoe capable of performing tasks such as excavation, leveling, trenching, or loading.

[0015] Furthermore, in this embodiment, for the sake of explanation, the vertical direction when the work machine 3 is in a usable state is defined as the up-down direction D1. In addition, the forward-backward direction D2 and left-right direction D3 are defined based on the direction viewed from the user (operator) riding in the work machine 3 (operator's unit 321) when the slewing unit 32 is in a non-slewing state. In other words, each direction used in this embodiment is defined based on the body 30 of the work machine 3, with the direction in which the body 30 moves when the work machine 3 moves forward being "forward," and the direction in which the body 30 moves when the work machine 3 moves backward being "rear." Similarly, the direction in which the front end of the body 30 moves when the work machine 3 turns right is "to the right," and the direction in which the front end of the body 30 moves when the work machine 3 turns left is "to the left." However, these directions are not intended to limit the direction of use (direction during use) of the work machine 3.

[0016] The work machine 3 includes an engine as a power source. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (here, light oil) being supplied from a fuel tank. In the work machine 3, for example, a hydraulic pump is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 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) boarding the operation part 321 of the machine body 30 operating an operation device 35 such as operation levers 351, 352 (see FIG. 3).

[0017] In this embodiment, assuming that the work machine 3 is a ride-on type backhoe as described above, the working part 33 is driven according to the operation of a user (operator) boarding the operation part 321 and performs operations such as excavation work. The operation part 321 where the user boards is provided on the swing part 32.

[0018] Here, a display device 2 and an operation device 35 are mounted on the operation part 321 of the machine body 30, and the user can operate the operation device 35 while viewing various information related to the work machine 3 displayed on the display device 2. As an example, by displaying information related to the operating state of the work machine 3 such as the coolant water temperature and the hydraulic oil temperature on the display screen of the display device 2, the user can confirm information related to the operating state of the work machine 3 necessary for operating the operation device 35 on the display device 2.

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

[0020] The slewing section 32 is located above the traveling section 31 and is configured to rotate around a rotation axis perpendicular to the traveling section 31. The slewing section 32 has a hydraulic motor (hydraulic actuator) for slewing. In addition to the operating section 321, the slewing section 32 is equipped with an engine and a hydraulic pump. Furthermore, a boom bracket 322 to which the working section 33 is attached is provided at the front end of the slewing section 32.

[0021] The work unit 33 is configured to perform one or more tasks. The work unit 33 is supported by the boom bracket 322 of the slewing unit 32 and performs tasks. The work unit 33 has attachments 331. Attachments 331 are any tools (work implements) selected from a variety of tools according to the nature of the work. For example, attachments 331 are detachably attached to the machine body 30 and are replaced according to the nature of the work. Examples of attachments 331 for the work machine 3 include various tools such as breakers, augers, crushers, forks, buckets, fork claws, steel cutters, asphalt milling machines, brush cutters, rippers, mulchers, tilt rotators, and tampers.

[0022] The working unit 33 further includes a boom 332, an arm 333, and a hydraulic actuator (including a hydraulic cylinder 44 and a hydraulic motor, etc.). The attachment 331 is attached to the tip of the arm 333. Here, the working unit 33 operates by receiving power from an engine, which serves as the power source. Specifically, the engine drives a hydraulic pump, and hydraulic fluid is supplied from the hydraulic pump to the hydraulic actuator of the working unit 33, thereby operating the working unit 33.

[0023] The boom 332 is rotatably supported by the boom bracket 322 of the slewing section 32. Specifically, the boom 332 is rotatably supported by the boom bracket 322 around a rotation axis along the horizontal direction. The boom 332 has a shape that extends upward from its base end, which is supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is rotatably supported relative to the boom 332 around a rotation axis along the horizontal direction.

[0024] Furthermore, the work machine 3 is equipped with a drive unit 34, and the power from the drive unit 34 drives the attachment 331 of the work unit 33 to perform various tasks. In other words, in the work machine 3, depending on the content of the work, an attachment 331 such as a breaker or auger is attached to the machine body 30, and the work is performed by supplying power from the drive unit 34 to the attachment 331 to drive the attachment 331. Therefore, when performing work with the work machine 3, the output (power) supplied to the attachment 331 by the drive unit 34 is controlled, for example, by operating the control device 35, so that the attachment 331 moves as desired.

[0025] The drive unit 34 is a device for supplying power to the attachment 331. In this embodiment, as an example, the drive unit 34 consists of a device (mechanism) such as a PTO (Power take-off) for extracting power from the engine as power for driving the attachment 331, which consists of hydraulic equipment. Specifically, the drive unit 34 supplies power to the attachment 331 by sending hydraulic fluid from a hydraulic pump driven by the engine to the attachment 331. The drive unit 34 adjusts the amount of power supplied to the attachment 331 by adjusting the flow rate of the hydraulic fluid supplied to the attachment 331.

[0026] Here, the drive unit 34 has a plurality of output ports 341 to 344 (four in this embodiment as an example) (see Figure 2). Each of these plurality of output ports 341 to 344 is configured to output power. Each of the plurality of output ports 341 to 344 can individually adjust the power, i.e., the flow rate of hydraulic fluid, and the drive unit 34 outputs power from each of these plurality of output ports 341 to 344. In this embodiment, each of the plurality of output ports 341 to 344 is a PTO port, so output port 341 may be referred to as "PTO1", output port 342 as "PTO2", output port 343 as "PTO3", and output port 344 as "PTO4".

[0027] The slewing section 32 and the traveling section 31, like the working section 33, operate by receiving power from the engine as a power source. In other words, the slewing section 32 and the traveling section 31 operate when hydraulic fluid is supplied from a hydraulic pump to the hydraulic actuators (hydraulic motors) of the slewing section 32 and the traveling section 31.

[0028] The control device 35 is located in the control unit 321 of the machine body 30 and is a user interface for receiving operation input from the user (operator). The control device 35 accepts various operations from the user by outputting electrical signals (operation signals) corresponding to the user's operations. In this embodiment, as an example, the control device 35 includes a pair of operation levers 351 and 352 (see Figure 3). The control device 35 will be described in detail in the section "[2] Control Device".

[0029] The control system 1 primarily consists of a computer system having, for example, one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire work machine 3, and consists of, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller, or it may primarily consist of one processor or multiple processors. The control system 1 will be explained in detail in section "[3] Configuration of the Control System".

[0030] The display device 2 is located in the control unit 321 of the machine body 30 and is a user interface for receiving operation input from the user (operator) and outputting various information to the user. The display device 2 accepts various operations from the user by outputting electrical signals corresponding to the user's operations. As a result, the user (operator) can view the display screen Dp1 (see Figure 4) displayed on the display device 2 and operate the display device 2 as needed.

[0031] As shown in Figure 2, the display device 2 comprises a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to communicate with the control system 1 and can exchange data with the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0032] The control unit 21 controls the display device 2 according to data from the control system 1. Specifically, the control unit 21 outputs electrical signals corresponding to user operations received by the operation unit 22, and displays the display screen Dp1 generated by the control system 1 on the display unit 23.

[0033] The operation unit 22 is a user interface for receiving operation input from a user (operator) to the display screen Dp1 displayed on the display unit 23. The operation unit 22 accepts various operations by user U1 (see Figure 4) by outputting electrical signals corresponding to the user U1's operations. In this embodiment, as an example, the operation unit 22 includes a plurality of (in this case, six) mechanical push-button switches 221 to 226, as shown in Figure 4. These plurality of push-button switches 221 to 226 are arranged close to the display area (below in the example of Figure 4) so ​​as to be along the periphery of the display area of ​​the display unit 23. These plurality of push-button switches 221 to 226 are associated with items displayed on the display screen Dp1, which will be described later, and when any of the plurality of push-button switches 221 to 226 are operated, any of the items on the display screen Dp1 are operated (selected).

[0034] Furthermore, the operation unit 22 may include a touch panel and an operation dial. In this case as well, an operation on the operation unit 22 will result in an operation (selection) of one of the items on the display screen Dp1.

[0035] The display unit 23 is a user interface for presenting information to the user U1 (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 23 presents various types of information to the user through display. In this embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and as shown in Figure 4, it has a horizontally elongated "landscape" display area.

[0036] Figure 2 schematically shows the hydraulic and electrical circuits (electrical connection relationships) of the work machine 3 according to this embodiment. In Figure 2, the dotted lines indicate the low-pressure (pilot oil) oil passages, and the dashed-dotted arrows indicate the electrical signal paths.

[0037] As shown in Figure 2, the machine body 30 of the work machine 3 is equipped with a control valve 36, a cutoff switch 371, a cutoff lever 372, and the like, in addition to the display device 2, the drive device 34, and the operating device 35.

[0038] Here, the drive unit 34 is equipped with a pilot-operated directional control valve (control valve) that can switch the direction and flow rate of the hydraulic fluid from the hydraulic pump. The drive unit 34 is driven when pilot oil, which is an input command from the pilot pump, is supplied to the directional control valve. An electromagnetic control valve 36 (solenoid valve) is inserted into the supply path of the pilot oil to the directional control valve. The control valve 36 operates in accordance with a control signal (current) from the control system 1. Here, the control valve 36 is assumed to be an (electromagnetic) proportional control valve, but it is not limited to this, and may be an on-off valve that can switch between opening and closing the flow path, for example.

[0039] The control valve 36 opens the pilot oil passage when energized, i.e., when current as a control signal is supplied, and closes the pilot oil passage when de-energized, i.e., when current as a control signal is cut off. As a result, when the current supplied to the control valve 36 (control signal) is cut off, the drive unit 34 becomes unable to drive, and the output of the drive unit 34 is forcibly stopped regardless of the operation of the operating device 35.

[0040] The cutoff switch 371 is linked to the cutoff lever 372. The cutoff lever 372 is located in the operating section 321 of the machine body 30 and accepts operational input from the user (operator). In this embodiment, as an example, the cutoff lever 372 can be operated along the vertical direction D1. When the cutoff lever 372 is in the "up position," which is the upper end of its movable range, the cutoff switch 371 is "off," and when the cutoff lever 372 is in the "down position," which is the lower end of its movable range, the cutoff switch 371 is "on." The cutoff switch 371 is connected to the control system 1, and when the cutoff switch 371 is in the off state, the control system 1 interrupts the current as a control signal, thereby forcibly shutting off the hydraulic circuit at the control valve 36. Alternatively, if a cutoff valve is provided that directly switches between energized and de-energized depending on whether the cutoff switch 371 is on or off, the hydraulic circuit may be shut off in conjunction with the cutoff switch 371 without the intervention of the control system 1. In other words, when the cutoff switch 371 is off, the hydraulic circuit is shut off by the cutoff valve, forcibly shutting off the hydraulic circuit without the intervention of the control system 1. Therefore, when the cutoff lever 372 is in the "down position", the drive unit 34 is driven by the operation of the operating device 35, whereas when the cutoff lever 372 is in the "up position", the output of the drive unit 34 is forcibly stopped regardless of the operation of the operating device 35. For this reason, in order to drive the drive unit 34, the user (operator) needs to operate the cutoff lever 372 to the "down position".

[0041] Furthermore, since the slewing section 32 and the traveling section 31 also operate when hydraulic fluid is supplied from a hydraulic pump to a hydraulic actuator (hydraulic motor), if the cutoff lever 372 is in the "up position", the slewing section 32 and the traveling section 31 will also become inoperable. In other words, if the cutoff lever 372 is in the "up position", the working section 33, the slewing section 32, and the traveling section 31 are all forcibly rendered inoperable.

[0042] In short, the cutoff switch 371 is in a "locked state" when it is off, where the operation of the work machine 3 is restricted (including prohibited), and in an "unlocked state" when it is on, where the operation of the work machine 3 is not restricted. When the cutoff lever 372 is in the "up position" and the cutoff switch 371 is in the locked state (off), the operation of the work machine 3, including the drive unit 34, is forcibly restricted without operation of the operating device 35. The cutoff lever 372 is the lever that is operated when locking the operation of the work machine 3 in this way, and is synonymous with a gate (type) lock lever.

[0043] Furthermore, in addition to the above-described configuration, the aircraft 30 is also equipped with a communication terminal, fuel tank, battery, etc. Moreover, the aircraft 30 is equipped with various sensors (including cameras) for detecting objects to be detected in the monitoring area around the work machine 3, such as cameras that capture images of the area around the aircraft 30.

[0044] [2] Operating device Next, the configuration of the operating device 35 will be described in detail with reference to Figure 3. As described above, the operating device 35 includes a pair of operating levers 351 and 352. As shown in the "front view" of Figure 3, the operating lever 351 is located on the right side as seen from the user (operator) sitting in the driver's seat 321, and the operating lever 352 is located on the left side as seen from the user sitting in the driver's seat 321. Therefore, the user, for example, holds the operating lever 351 with their right hand and the operating lever 352 with their left hand, and operates this pair of operating levers 351 and 352 to make the work machine 3 perform various actions such as moving forward and backward.

[0045] Here, the operating device 35 has multiple (in this case, four) operators Sw1 to Sw4 that correspond one-to-one to the multiple output ports 341 to 344 of the drive device 34, so that the multiple output ports 341 to 344 of the drive device 34 can be operated individually. Operator Sw1 is located on the front side of the operating lever 351, and operator Sw2 is located on the front side of the operating lever 352. Operator Sw4 is located on the rear side of the operating lever 351, and operator Sw3 is located on the rear side of the operating lever 352. In other words, in this embodiment, the operating lever 351 on the right side is provided with operators Sw1 and Sw4 on its front and rear sides, respectively, and the operating lever 352 on the left side is provided with operators Sw2 and Sw3 on its front and rear sides, respectively. These multiple operators Sw1 to Sw4 constitute an "adjustment operator" that adjusts the magnitude of the power output (flow rate of hydraulic fluid) from the drive device 34.

[0046] In this embodiment, as an example, each of the multiple operators Sw1 to Sw4 consists of a lever switch that can be operated to tilt to the right A1 or to the left A2. In particular, each operator Sw1 to Sw4 is a momentary switch with the center of its movable range D3 in the left-right direction as the neutral position Pn1 (see Figure 3), tilting to the right A1 or to the left A2 only while an operating force is applied, and returning to the neutral position Pn1 when the operating force is removed. By operating each of these operators Sw1 to Sw4 to the right A1 or to the left A2, the amount of power (amount of tilt) output from the corresponding output ports 341 to 344 is determined according to the amount of operation (amount of tilt). Basically, the larger the amount of operation of operators Sw1 to Sw4, the greater the power output from the corresponding output ports 341 to 344, that is, the greater the flow rate of hydraulic fluid.

[0047] Here, as an example, we assume that the operator Sw1 corresponds to output port 341, the operator Sw2 corresponds to output port 342, the operator Sw3 corresponds to output port 343, and the operator Sw4 corresponds to output port 344. In this case, when the user operates the operator Sw1, the power output from output port 341 of the drive unit 34 is adjusted according to the amount of operation of the operator Sw1. On the other hand, when the user operates the operator Sw4, the power output from output port 344 of the drive unit 34 is adjusted according to the amount of operation of the operator Sw4. The correspondence between the multiple output ports 341 to 344 and the multiple operators Sw1 to 4 is defined by "assignment information," which is stored, for example, in the memory of the control system 1.

[0048] While a detailed explanation is omitted, settings related to the operation of the control device 35, such as assignment information (the correspondence between multiple output ports 341-344 and multiple control elements Sw1-Sw4), are performed, for example, on the display device 2. That is, the user can set the correspondence between multiple output ports 341-344 and multiple control elements Sw1-Sw4 through a setting screen displayed on the display unit 23 of the display device 2.

[0049] In this embodiment, an operator Sw5 is located on the rear side (back side) of the operating lever 351, and an operator Sw6 is located on the rear side (back side) of the operating lever 352. Operators Sw5 and Sw6 are for enabling (turning on) the hold function that maintains the output of the drive unit 34. In other words, operators Sw5 and Sw6 constitute a "hold operator" for maintaining the output of the drive unit 34. In this embodiment, as an example, operators Sw5 and Sw6 are both momentary push-button switches. Therefore, when the user presses operators Sw5 or Sw6, the hold function is enabled, and the output of the drive unit 34 is maintained (held).

[0050] In particular, in this embodiment, the operator Sw5 provided on the operating lever 351 enables the maintenance function for output port 341, which corresponds to operator Sw1 provided on the same operating lever 351. On the other hand, the operator Sw6 provided on the operating lever 352 enables the maintenance function for output port 342, which corresponds to operator Sw2 provided on the same operating lever 352. Therefore, for example, when a user presses operator Sw5, the output is maintained (held) for output port 341 among the multiple output ports 341 to 344.

[0051] However, the configuration is not limited to the above. Each operator Sw5, Sw6 only needs to correspond to at least one of the output ports 341 to 344 that correspond to operators Sw1 to Sw4 provided on the same operating levers 351 and 352. For example, operator Sw5 may enable the maintenance function for both output ports 341 and 344, or it may enable the maintenance function for output port 344. On the other hand, operator Sw6 may enable the maintenance function for both output ports 342 and 343, or it may enable the maintenance function for output port 343.

[0052] In short, in the work machine 3 according to this embodiment, the drive unit 34 operates in response to operations on an operating device 35 having a plurality of operators Sw1 to Sw6. Here, the plurality of operators Sw1 to Sw6 include adjustment operators (operators Sw1 to Sw4) for adjusting the output of the drive unit 34, and maintenance operators (operators Sw5, Sw6) for maintaining the output of the drive unit 34. Furthermore, multiple adjustment operators (operators Sw1 to Sw4) are provided for a single operating lever 351 (or operating lever 352).

[0053] Here, the work machine 3 maintains the output of the drive unit 34 at a value corresponding to the amount of adjustment operation of the adjustment operation (operators Sw1 to Sw4) when the adjustment operation (operators Sw1 to Sw4) and the maintenance operation (operators Sw5 and Sw6) are operated simultaneously. For example, if the user presses operator Sw5 while operating operator Sw1, the adjustment operation (operator Sw1) and the maintenance operation (operator Sw5) are operated simultaneously. In this case, the magnitude of the power output from the output port 341 is maintained at a value corresponding to the amount of operation of operator Sw1 at the time operator Sw5 was operated.

[0054] On the other hand, if only the maintenance controls (operators Sw5 and Sw6) are operated among the adjustment controls (operators Sw1 to Sw4), the work machine 3 maintains the output of the drive unit 34 at a specified value. For example, if the user presses only operator Sw5, the amount of power output from the output port 341 corresponding to operator Sw1 is maintained at a predetermined value set for the output port 341.

[0055] Therefore, depending on how the user operates the system, it is easy to switch between maintaining the output of the drive unit 34 at an arbitrary value and maintaining the output of the drive unit 34 at a specified value. In the following, the operating state of the maintenance function when maintaining the output of the drive unit 34 at an arbitrary value will be referred to as "arbitrary hold," and the operating state of the maintenance function when maintaining the output of the drive unit 34 at a specified value will be referred to as "specified value hold."

[0056] Furthermore, in this embodiment, as shown in Figure 3, each operating lever 351, 352 is provided with an indicator light 350 on its grip portion that indicates the operating status of the maintenance function. The indicator light 350 includes, for example, an LED or other light-emitting element, and indicates the operating status of the maintenance function by its light emission state (illuminated state).

[0057] Furthermore, each of the controls Sw1 to Sw4 is not limited to lever switches, but may also be, for example, a toggle switch, rocker switch, rotary switch, slide switch, or encoder. Similarly, controls Sw5 and Sw6 are not limited to push-button switches, but may also be, for example, lever switches or touch sensors. Also, the operating levers 351 and 352 may be reversed left and right, or they may be arranged side by side in the front-to-back direction D2 or the up-to-down direction D1. There may be only one operating lever 351 or 352. Moreover, controls Sw5 and Sw6 are not limited to the rear side of the operating levers 351 and 352, but may also be arranged on the side or front side of the operating levers 351 and 352. Furthermore, the operating device 35 may have controls other than the above-mentioned multiple controls Sw1 to Sw6 on the operating levers 351 and 352. Also, the indicator light 350 can be omitted as appropriate.

[0058] [3] Configuration of the control system Next, the configuration of the control system 1 according to this embodiment will be described with reference to Figure 2. The control system 1 controls each part of the machine body 30 (including the traveling section 31, the rotating section 32, the working section 33, and the drive unit 34, 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 together with the machine body 30, etc., constitutes the work machine 3. In other words, the work machine 3 according to this embodiment comprises at least the control system 1 and the machine body 30 which is controlled in response to operations on the operating device 35.

[0059] As shown in Figure 2, the control system 1 includes an acquisition processing unit 11, a monitoring processing unit 12, a determination processing unit 13, a switching processing unit 14, a control processing unit 15, and a notification processing unit 16. In this embodiment, as an example, the control system 1 mainly consists of a computer system having one or more processors, so these multiple functional units (acquisition processing unit 11, etc.) are realized by one or more processors executing a control program for the work machine. These multiple functional units included in the control system 1 may be distributed and provided in multiple housings, or they may be provided in a single housing.

[0060] The control system 1 is configured to communicate with devices provided in various parts of the aircraft body 30. Specifically, the control system 1 is connected to at least a display device 2, an operating device 35, a control valve 36, and a cutoff switch 371. This allows the control system 1 to control the display device 2 and the control valve 36, and to acquire electrical signals (operation signals, etc.) from the display device 2, the operating device 35, and the cutoff switch 371. In this disclosure, "communication possible" means the ability to exchange information (data) directly or indirectly via a communication network or repeater, using 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 types of information (data) directly with each device, or indirectly via a repeater, etc. The control system 1 and the devices provided in various parts of the aircraft body 30 can communicate using, for example, a communication method such as CAN (Controller Area Network).

[0061] The acquisition processing unit 11 performs an acquisition process to receive operations on the operating device 35 for controlling the work machine 3. In other words, the operating device 35, which has multiple operators Sw1 to Sw6, outputs an operation signal corresponding to the user's operation, and the acquisition processing unit 11 acquires this operation signal. As a result, for example, the acquisition processing unit 11 can acquire an operation signal representing the amount of operation relative to the neutral position Pn1 for operator Sw1 among the multiple operators Sw1 to Sw6.

[0062] The monitoring processing unit 12 executes monitoring processes to monitor specific events that are the target of monitoring. In this disclosure, a "specific event" is a predetermined event, and the monitoring processing unit 12 monitors whether or not a specific event occurs. In other words, when a specific event occurs, the monitoring processing unit 12 detects the occurrence of the specific event.

[0063] In this embodiment, a specific event includes events that involve a change in the operating state of the work machine 3 in response to the operation of the operating device 35. That is, a specific event includes events in which some kind of change occurs in the operating state of the work machine 3 even though the operation of the operating device 35 remains constant (fixed). With this configuration, when the user (operator) maintains the operating state of the operating device 35, the monitoring processing unit 12 can detect the occurrence of an event that causes a sudden change in the operating state of the work machine 3 as the occurrence of a specific event. This makes it possible to detect events that lead to, for example, a sudden start of the work machine 3 or a sudden stop of the work machine 3 as the occurrence of a specific event.

[0064] Specifically, in this embodiment, a specific event includes the switching of the cutoff switch 371 in the work machine 3 from a locked state (off) to an unlocked state (on). In other words, a specific event includes the switching of the cutoff switch 371 from a state where the cutoff lever 372 is in the "up position" and the cutoff switch 371 is in the locked state (off) to a state where the cutoff lever 372 is operated to the "down position" and the cutoff switch 371 is unlocked (on). This makes it possible for the monitoring processing unit 12 to detect the occurrence of an event such as the work machine 3 suddenly being driven when the cutoff switch 371 switches from a locked state to an unlocked state while the user is operating the operating device 35, as the occurrence of a specific event.

[0065] Furthermore, a specific event includes a change in the settings related to the operation of the operating device 35. In other words, a specific event includes a change in the settings related to the operation of the operating device 35, such as a change in the "assignment information" that defines the correspondence between multiple output ports 341 to 344 and multiple operators Sw1 to Sw4. As a result, for example, the monitoring processing unit 12 can detect the occurrence of an event such as output port 342 being suddenly activated when, while the user is operating operator Sw1, the assignment information for operator Sw1 is changed from output port 341 to output port 342, as a specific event.

[0066] When a specific event occurs, the determination processing unit 13 executes a determination process to determine whether or not the determination conditions related to the operation of the operating device 35 are met. The "determination conditions" as used in this disclosure are predetermined conditions related to the operation of the operating device 35, such as the position of each operator Sw1 to Sw4 being in the neutral position Pn1, the operators Sw5 and Sw6 not being operated, or a specific operator being pressed and held (operated continuously for a predetermined time or longer).

[0067] The switching processing unit 14 performs a switching process to enable or disable the control of the work machine 3 corresponding to the operation of the operating device 35, based on the determination result of whether or not the determination condition is met. If the control of the work machine 3 corresponding to the operation of the operating device 35 is "disabled", for example, the drive unit 34 becomes unable to drive, and the output of the drive unit 34 is forcibly stopped regardless of the operation of the operating device 35. In this embodiment, as an example, the switching processing unit 14 enables the control of the work machine 3 corresponding to the operation of the operating device 35 when the determination condition is met, and disables the control of the work machine 3 corresponding to the operation of the operating device 35 when the determination condition is not met.

[0068] The control processing unit 15 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 15 executes control of the machine body 30, including the traveling section 31, the turning section 32, and the working section 33. Specifically, the control processing unit 15 controls the drive unit 34 by outputting a control signal to the control valve 36 in response to the operation of the operating device 35.

[0069] The notification processing unit 16 performs notification processing to provide notification based on the determination result of whether or not the determination conditions are met. In this disclosure, "notification" means notifying the user (operator) by various means, including, for example, display (including lighting an indicator light), sound (including voice), transmission to another terminal, or writing to a non-temporary recording medium. In this embodiment, as an example, if the determination conditions are not met, that is, if the control of the work machine 3 corresponding to the operation of the operating device 35 is "invalidated", the notification processing unit 16 provides notification based on the determination result by displaying that fact on the display unit 23 of the display device 2 (see Figure 7).

[0070] [4] Control method for working machinery The following describes an example of a control method (hereinafter simply referred to as "control method") for the work machine 3, which is mainly executed by the control system 1, with reference to Figures 5 to 7. Figure 5 is a flowchart showing an example of a process related to the control method. Figure 6 is a timing chart with the horizontal axis being the time axis, showing an example of a change in the state of the cutoff signal, PTO operation, and PTO control. The "cutoff signal" here is an electrical signal input to the control system 1 from the cutoff switch 371, indicating whether the cutoff switch 371 is off (locked) or on (unlocked). The "PTO operation" here is an electrical signal (operation signal) input to the control system 1 from the operating device 35, and in particular indicates the operating state of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the drive unit 34. The "PTO control" is the state of control by an electrical signal (control signal) output from the control system 1 to the control valve 36, and in particular indicates whether the control of the output ports 341 to 344 of the drive unit 34 is enabled or disabled.

[0071] The control method according to this embodiment is executed by a control system 1, which mainly consists of a computer system; in other words, it is embodied in a control program for a work machine (hereinafter simply referred to as the "control program"). That is, the control program according to this embodiment is a computer program that causes one or more processors to execute each process related to the control method. Such a control program may be executed in cooperation with, for example, the control system 1 and the display device 2.

[0072] Here, the control system 1 executes the following various processes related to the control method when a specific pre-set start operation is performed to execute the control program. The start operation is, for example, the operation to start the engine of the work machine 3. On the other hand, the control system 1 terminates the following various processes related to the control method when a specific pre-set end operation is performed. The end operation is, for example, the operation to stop the engine of the work machine 3.

[0073] Furthermore, as an example, the control method will be described below when the initial state is that the cutoff lever 372 is in the "up position" and the cutoff switch 371 is in the locked (off) state. In addition, the following will describe the switching of the cutoff switch 371 from the locked (off) state to the unlocked (on) state as an example of a "specific event," and the position of each operator Sw1 to Sw4 being in the neutral position Pn1 as an example of a "determination condition."

[0074] As shown in Figure 5, the control system 1 first acquires a cutoff signal from the cutoff switch 371 (S1). In the initial state, as described above, the cutoff lever 372 is in the "up position," so the cutoff signal is locked. Subsequently, the monitoring processing unit 12 of the control system 1 determines from the cutoff signal whether the cutoff switch 371 is in the unlocked state or not (S2). As long as the cutoff lever 372 remains in the "up position," the cutoff signal is locked, so the monitoring processing unit 12 determines that it is not in the unlocked state (S2: No), and returns to step S1. On the other hand, when the user lowers the cutoff lever 372 and the cutoff lever 372 is in the "down position," the cutoff signal becomes unlocked, so the monitoring processing unit 12 determines that it is in the unlocked state (S2: Yes), and moves the process to step S3. At this time, the monitoring processing unit 12 determines that a "specific event" has occurred when the cutoff switch 371 switches from the locked state (off) to the unlocked state (on).

[0075] In step S3, the acquisition processing unit 11 of the control system 1 acquires an operation signal from the operating device 35. At this time, the acquisition processing unit 11 acquires the operating state of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the drive device 34 as a PTO operation. In step S4, the determination processing unit 13 of the control system 1 determines whether the operating state (PTO operation) of the operators Sw1 to Sw4 identified from the operation signal is in the neutral position Pn1 (not limited to a pinpoint, but may be a predetermined range including play). Operators Sw1 to Sw4 are momentary switches that return to the neutral position Pn1 when the operating force is removed. Therefore, when the user is operating at least one of the operators Sw1 to Sw4, the determination processing unit 13 determines that it is not in the neutral position Pn1 (S4: No), and proceeds to step S5. On the other hand, in the non-operation state where the user is not operating any of the operators Sw1 to Sw4, the determination processing unit 13 determines that the device is in the neutral position Pn1 (S4: Yes) and proceeds to step S6. At this time, the determination processing unit 13 determines that the "determination condition" is met because all operators Sw1 to Sw4 are in the neutral position Pn1.

[0076] In step S5, the switching processing unit 14 of the control system 1 disables the control of the work machine 3 corresponding to the operation of the operating device 35. In this embodiment, as an example, the switching processing unit 14 disables the control of the work machine 3 by disabling the control (PTO control) of the output ports 341 to 344 of the drive unit 34 corresponding to the operation (PTO operation) of the operators Sw1 to Sw4. As a result, the output is forcibly stopped for all of the output ports 341 to 344 of the drive unit 34, regardless of the actual amount of operation of the operators Sw1 to Sw4.

[0077] Furthermore, in step S6, the switching processing unit 14 of the control system 1 enables control of the work machine 3 corresponding to the operation of the operating device 35. In this embodiment, as an example, the switching processing unit 14 enables control of the work machine 3 by enabling control of the output ports 341 to 344 of the drive unit 34 in accordance with the operation of the operators Sw1 to Sw4 (PTO operation). This makes it possible to control the output of each output port 341 to 344 of the drive unit 34 according to the actual amount of operation of the operators Sw1 to Sw4.

[0078] Subsequently, in step S7, the acquisition processing unit 11 of the control system 1 acquires an operation signal from the operating device 35. At this time, the acquisition processing unit 11 acquires the operating status of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the drive device 34 as a PTO operation. In step S8, the control processing unit 15 of the control system 1 determines whether the operating status (PTO operation) of the operators Sw1 to Sw4 identified from the operation signal is in the neutral position Pn1. If the user is operating at least one of the operators Sw1 to Sw4, the control processing unit 15 determines that it is not in the neutral position Pn1 (S8: No) and proceeds to step S9. On the other hand, if the user is not operating any of the operators Sw1 to Sw4, the control processing unit 15 determines that it is in the neutral position Pn1 (S8: Yes) and returns to step S7.

[0079] In step S9, the control processing unit 15 of the control system 1 performs PTO control by outputting a control signal to the control valve 36 according to the operating state (PTO operation) of the operators Sw1 to Sw4 identified from the operation signal, thereby controlling the output ports 341 to 344 of the drive unit 34. With step S9, the series of processes related to the control method are completed.

[0080] The control system 1 executes the processes in steps S1 to S9 described above each time the cutoff lever 372 is operated to the "up position" and the cutoff switch 371 is locked (off). The flowchart shown in Figure 5 is merely an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0081] As a result of the series of processes described above, the control signal will be switched between enabled and disabled, as shown in Figure 6. That is, during the period up to time t1, the cutoff lever 372 is in the "up position" and the cutoff signal is locked (off). Therefore, during the period up to time t1, PTO control is "disabled," and even if the operators Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is in the "operated" state, the drive unit 34 is not controlled. In other words, regardless of the actual amount of operation of the operators Sw1 to Sw4, the output of all output ports 341 to 344 of the drive unit 34 is forcibly stopped. In this embodiment, as an example, if the cutoff signal is locked (off), the control signal is turned off to prevent unnecessary power consumption by the control signal, but the configuration is not limited to this. In other words, if the cutoff signal is locked (off), the hydraulic circuit is interrupted in the first place and the drive unit 34 is not driven, so the drive unit 34 is forcibly stopped even without turning off the control signal.

[0082] On the other hand, at time t1, when the user operates the cutoff lever 372 to the "down position", the cutoff signal becomes unlocked (on). In other words, at time t1, a "specific event" occurs in which the cutoff switch 371 switches from the locked state (off) to the unlocked state (on). However, at time t1, the PTO operation is in the "operation" state and not in the neutral position Pn1, so the "determination condition" is not met. Therefore, during the period from time t1 to time t2, PTO control is "ineffective", and even if the operators Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is in the "operation" state, the drive unit 34 is not controlled. In other words, regardless of the actual amount of operation of the operators Sw1 to Sw4, the output is forcibly stopped for all output ports 341 to 344 of the drive unit 34.

[0083] At time t2, the user stops operating all of the controls Sw1 to Sw4, causing all of them to return to the neutral position Pn1, and the PTO operation becomes "off-operated". In other words, at time t2, the fact that all of the controls Sw1 to Sw4 are in the neutral position Pn1 satisfies the "determination condition". Therefore, at time t2, the PTO control switches to "enabled". Consequently, at time t3, after time t2, when the controls Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation becomes "operated", the drive unit 34 is controlled. In other words, during the period after time t2, the output of the output ports 341 to 344 of the drive unit 34 is controlled according to the actual amount of operation of the controls Sw1 to Sw4.

[0084] In this embodiment, when PTO control is "disabled," not only is the drive unit 34 not driven in response to the operation of the adjustment controls (controllers Sw1 to Sw4), but the drive unit 34 also not driven in response to the operation of the hold controls (controllers Sw5 and Sw6). In other words, even if an operation to drive the drive unit 34 is performed by the "default value hold" function, if PTO control is "disabled," the output of the drive unit 34 is forcibly stopped.

[0085] As described above, the control method according to this embodiment includes receiving an operation to the operating device 35 for controlling the work machine 3, monitoring a specific event that is the target of monitoring, and determining whether or not the determination conditions for the operation to the operating device 35 are met when the specific event occurs. In short, in the example of Figure 6, if the cutoff switch 371 switches from the locked state to the unlocked state at time t1 (step S2 in Figure 5: Yes), it is determined that a "specific event" has occurred. In this case, for example, if all the operators Sw1 to Sw4 are in the neutral position Pn1 from time t1 onward, it is determined that the "determination conditions" are met (step S4 in Figure 5: Yes).

[0086] With this configuration, for example, when the cutoff switch 371 switches from a locked state to an unlocked state, it is determined whether or not the conditions for operation of the operating device 35 are met. Therefore, for example, by informing the user (operator) of the determination result, the operator can prepare for sudden movements of the work machine 3, thus reducing the burden on the operator involved in the operation.

[0087] Furthermore, the control method according to this embodiment further includes enabling and disabling the control of the work machine 3 corresponding to the operation of the operating device 35 based on the determination result of whether or not the determination conditions are met. As a result, for example, when the cutoff switch 371 switches from the locked state to the unlocked state, the control of the work machine 3 is automatically switched on and off depending on whether or not the determination conditions related to the operation of the operating device 35 are met. Therefore, it is possible to avoid sudden movements of the work machine 3 without the user (operator) having to operate it carefully.

[0088] In this embodiment, after a specific event occurs, the control of the work machine 3 corresponding to the operation of the operating device 35 is activated when it is determined that the determination conditions are met. In other words, after the specific event occurs, the control of the work machine 3 is automatically activated when the determination conditions are met. Therefore, it is possible to avoid sudden movements of the work machine 3 without the user (operator) having to operate it carefully.

[0089] Furthermore, in this embodiment, operations on the operating device 35 include operations to control the output of the PTO ports (output ports 341-344) of the work machine 3. This makes it possible to avoid a sudden surge in output from the PTO ports (output ports 341-344) of the work machine 3 when, for example, the cutoff switch 371 switches from a locked state to an unlocked state.

[0090] Incidentally, according to the control method according to this embodiment, as illustrated in Figure 7, notification based on the determination result of whether or not the determination condition is met is performed on the display screen Dp1 displayed on the display unit 23 of the display device 2. In this disclosure, "screen" such as the display screen Dp1 means the image displayed on the display device 2, and includes illustrations, figures, photographs, text, and videos. Here, if the display screen Dp1 includes videos, etc., the display screen Dp1 does not include a constant image, but an image that changes moment by moment. In the drawing showing the display screen Dp1 displayed on the display unit 23 of the display device 2 as shown in Figure 7, the dashed lines, leader lines and reference numerals representing areas are all there for explanatory purposes only and are not actually displayed on the display device 2.

[0091] In this embodiment, as an example, the notification processing unit 16 of the control system 1 displays message M1 on the display screen Dp1, as shown in Figure 7, when the determination condition is not met, that is, when the control of the work machine 3 corresponding to the operation of the operating device 35 is "disabled". In this embodiment, the switching processing unit 14 notifies the notification processing unit 16 by displaying message M1 when the control of the work machine 3 corresponding to the operation of the operating device 35 is disabled (step S5 in Figure 5). Message M1 is displayed as a pop-up, for example, superimposed on other displays on the display screen Dp1, and includes text indicating that the control of the work machine 3 (in this case, PTO control) is "disabled", such as "PTO control: disabled". Furthermore, message M1 includes text indicating the procedure for enabling the control of the work machine 3 (in this case, PTO control), such as "To enable, return the switch to neutral once".

[0092] In this embodiment, such message M1 is displayed only while the control of the work machine 3 is "inactive". Therefore, when the switching processing unit 14 of the control system 1 activates the control of the work machine 3 corresponding to the operation of the operating device 35 (step S6 in Figure 5), message M1 disappears. Furthermore, the display method of notification based on the determination result of whether or not the determination condition is met is not limited to message M1. For example, similar to the icon Im1 that indicates the on / off state of the cutoff switch 371, notification based on the determination result of whether or not the determination condition is met may be provided by an icon displayed on the display screen Dp1.

[0093] Thus, the control method according to this embodiment further includes providing notification based on a determination result of whether or not the determination condition is met. This allows the user (operator) to know whether the control of the work machine 3 is currently "enabled" or "disabled," and then to operate the operating device 35. The notification of the determination result is not limited to a configuration in which it is provided only when the determination condition is not met, that is, when the control of the work machine 3 corresponding to the operation of the operating device 35 is "disabled," as described above. In other words, the notification of the determination result only needs to be a notification that can distinguish whether or not the determination condition is met. For example, the notification of the determination result may be provided when the determination condition is met, that is, when the control of the work machine 3 corresponding to the operation of the operating device 35 becomes "enabled." Furthermore, if the determination condition is not met, that is, when the control of the work machine 3 corresponding to the operation of the operating device 35 is "disabled," and the operating device 35 is operated, the notification that the control of the work machine 3 is "disabled" may be provided only in that case.

[0094] [5] Other functions The "specific event" is not limited to the cutoff switch 371 switching from the locked state (off) to the unlocked state (on). Similarly, the "determination condition" is not limited to the position of each operator Sw1 to Sw4 being in the neutral position Pn1. Furthermore, the control that can be enabled / disabled by the switching processing unit 14 is not limited to the output control (PTO control) of the PTO ports (output ports 341 to 344) of the work machine 3.

[0095] In other words, a "specific event" may be a change in the settings related to the operation of the control device 35, such as a change in the "assignment information" that defines the correspondence between multiple output ports 341 to 344 and multiple operators Sw1 to Sw4. In this case, for example, a user operation on the display device 2 will cause a change in the settings related to the operation of the control device 35, such as the assignment information, and this will trigger the specific event. Here, the settings related to the operation of the control device 35 are not limited to the settings of the correspondence between multiple output ports 341 to 344 and multiple operators Sw1 to Sw4, but also include settings such as the correspondence between the operation of the control device 35 and the flow rate of the hydraulic fluid.

[0096] Furthermore, if the control that is enabled / disabled by the switching processing unit 14 is, for example, a control of the travel unit 31, slewing unit 32, or work unit 33 other than PTO control, then a change in the correspondence between the operation of the operating levers 351, 352 and the operation of the travel unit 31, slewing unit 32, or work unit 33 may be included as a specific event. In addition, a change in the operation pattern of the travel unit 31, slewing unit 32, or work unit 33 in response to the operation of the operating levers 351, 352 may also be included as a specific event. In this case, the "determination condition" is not the individual operators Sw1 to Sw4, but rather that the operating levers 351, 352 are in the neutral position.

[0097] Furthermore, the control that can be enabled or disabled by the switching processing unit 14 may include control of the quick hitch for attaching and detaching the attachment 331 from the machine body 30. In this case, for example, instead of the cutoff switch 371 switching from a locked state to an unlocked state, the specific event may include the power switch for enabling the quick hitch switching from off to on. This allows the monitoring processing unit 12 to detect, for example, the occurrence of an event in which the quick hitch is suddenly driven when the power switch switches from off to on while the user (operator) has opened the quick hitch, as a specific event.

[0098] [6] Variant The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0099] The control system 1 in this disclosure includes a computer system. The computer system mainly consists of one or more processors and one or more memories as hardware. The functions of the control system 1 in this disclosure are realized by the execution of a program recorded in the memory of the computer system by the processor. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional parts included in the control system 1 may be composed of electronic circuits.

[0100] Furthermore, it is not essential for control system 1 to have at least some of its functions integrated into a single housing; the components of control system 1 may be distributed across multiple housings. Conversely, functions that are distributed across multiple devices (e.g., control system 1 and display device 2) in Embodiment 1 may be integrated into a single housing. Moreover, at least some of the functions of control system 1 may be implemented by the cloud (cloud computing) or the like.

[0101] Furthermore, the power source for the work machine 3 is not limited to a diesel engine; for example, it may be an engine other than a diesel engine, or a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0102] Furthermore, the drive unit 34 is not limited to a device such as a PTO (Power take-off) for extracting power from the engine (as power for driving the attachment 331), but may also be a device that outputs power for driving the attachment 331 separately from the engine. Moreover, the drive unit 34 is not limited to a device that supplies power to the attachment 331 by supplying hydraulic fluid, but may also be a device that generates power using an electric motor, for example. In this case, the power output from the drive unit 34 is controlled, for example, by the current flowing through the drive unit 34.

[0103] Furthermore, the attachment 331 only needs to be attached to the aircraft 30, and it is not essential that the attachment 331 be detachably attached to the aircraft 30. Moreover, multiple attachments 331 may be attached to the aircraft 30 simultaneously.

[0104] Furthermore, the display device 2 is not limited to a dedicated device, but may be a general-purpose terminal such as a laptop computer, tablet terminal, or smartphone. In addition, the display unit 23 is not limited to a configuration that directly displays the display screen Dp1, such as a liquid crystal display or an organic EL display, but may also 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 horizontal orientation, but may also be vertical.

[0105] Furthermore, the input method for information to the operation unit 22 may be other than the push-button switches 221-226, the touch panel, and the operation dial. For example, the operation unit 22 may use a keyboard, a mouse or other pointing device, voice input, gesture input, or input of operation signals from another terminal.

[0106] Furthermore, the operating device 35 and the display device 2, etc., are not limited to being mounted on the aircraft body 30, but may, for example, be provided separately from the aircraft body 30. In this case, the operating device 35 and the display device 2, etc., are configured to communicate with the aircraft body 30, thereby enabling remote control of the aircraft body 30.

[0107] (Embodiment 2) As shown in Figure 8, the control method according to this embodiment differs from the control system 1 according to Embodiment 1 in that the timing for activating PTO control is different. Hereinafter, components similar to those in Embodiment 1 will be denoted by common reference numerals and their descriptions will be omitted as appropriate.

[0108] The flowchart shown in Figure 8 differs from the flowchart shown in Figure 5 in that step S6, which enables the control of the work machine 3 corresponding to the operation of the operating device 35, is omitted, and step S16, which enables the control of the work machine 3 corresponding to the operation of the operating device 35, is added between steps S8 and S9. Other points are as described in Embodiment 1, so they will not be explained here.

[0109] In other words, in this embodiment, even if it is determined in step S4 that all of the controls Sw1 to Sw4 are in the neutral position Pn1, thus satisfying the "determination condition" (S4:Yes), the control of the work machine 3 (PTO control) is not immediately activated. That is, after it is determined that the determination condition is satisfied (S4:Yes), an operation signal is acquired again (S7), and the control of the work machine 3 (PTO control) is activated when it is determined that the controls are not in the neutral position Pn1 by the user operating at least one of the controls Sw1 to Sw4 (S8:No) (S16).

[0110] In this example, after the judgment condition is determined to be met, the control of the work machine 3 (PTO control) is disabled until the user operates at least one of the operators Sw1 to Sw4. Therefore, the message M1 shown in Figure 7 will continue to be displayed.

[0111] Thus, in this embodiment, after a specific event occurs, if it is determined that the judgment conditions are met and the operating device 35 is operated, the control of the work machine 3 corresponding to the operation of the operating device 35 is activated. As a result, the control of the work machine 3 corresponding to the operation of the operating device 35 is activated only when the user (operator) actually operates the operating device 35, in addition to the judgment conditions being met, making it easier to prevent the work machine 3 from operating due to an operation unintended by the operator.

[0112] The configuration according to Embodiment 2 can be adopted in appropriate combination with the various configurations (including modified versions) described in Embodiment 1. [Explanation of Symbols]

[0113] 1. Control system for industrial machinery 3. Working Machines 11. Acquisition Processing Unit 12 Monitoring Processing Unit 13. Determination Processing Unit 30 aircraft 35 Operating device 371 Cutoff switch 341-344 Output ports (PTO ports)

Claims

1. To receive commands for the control device used to control the work machine, Monitoring specific events that are subject to monitoring, When the aforementioned specific event occurs, it is determined whether or not the conditions for determining operation of the operating device are met. If the aforementioned determination conditions are not met, notification is given including the procedure for meeting the aforementioned determination conditions. The aforementioned specific event includes a change in the settings related to the operation of the control device. A method for controlling industrial machinery.

2. The system further includes switching between enabling and disabling the control of the work machine corresponding to the operation of the operating device, based on the determination result of whether or not the aforementioned determination conditions are met. A method for controlling a work machine according to claim 1.

3. After the aforementioned specific event occurs, if it is determined that the aforementioned determination condition is met, the control of the work machine corresponding to the operation of the operating device is activated. A method for controlling a work machine according to claim 2.

4. After the aforementioned specific event occurs, if it is determined that the determination condition is met and the operating device is operated, the control of the work machine corresponding to the operation of the operating device is activated. A method for controlling a work machine according to claim 2.

5. The aforementioned specific event includes an event that involves a change in the operating state of the work machine corresponding to the operation of the operating device, A method for controlling a work machine according to any one of claims 1 to 4.

6. The aforementioned specific event includes the cutoff switch in the work machine switching from a locked state to an unlocked state. A method for controlling a work machine according to claim 5.

7. The operation of the control device includes an operation to control the output of the PTO port of the work machine. A method for controlling a work machine according to any one of claims 1 to 6.

8. A control method for a work machine according to any one of claims 1 to 7, A control program for a work machine to be executed by one or more processors.

9. An acquisition processing unit that receives operations for an operating device for controlling a work machine, A monitoring processing unit that monitors specific events that are the target of monitoring, When the aforementioned specific event occurs, a determination processing unit determines whether or not the determination conditions for operation of the operating device are met, The system includes a notification processing unit that, if the aforementioned determination conditions are not met, provides notification including a procedure for satisfying the aforementioned determination conditions. The aforementioned specific event includes a change in the settings related to the operation of the control device. Control system for industrial machinery.

10. A control system for a work machine according to claim 9, The aircraft comprises a unit controlled in response to an operation on the aforementioned operating device, A type of machinery used for industrial work.

Images