Walking work machine

Abstract

To provide a walking type work machine capable of coping with an unexpected movement without depending on a dead man type clutch.SOLUTION: A walking type work machine includes a machine body, a sensor for detecting the state of the machine body, a control device for acquiring output of the sensor, and a controlled device whose operation is controlled by the control device. The control device determines the state of the machine body on the basis of output of the sensor, executes first control, which is the control at the normal time, for the controlled device when determining that the machine body is in a usual first state, executes second control, which is the control at the warning time and different from the first control, for the controlled device when determining that the machine body is in a second state in which the possibility of abnormality is higher than in the first state, and executes third control, which is the control at the abnormal time and different from the first control and the second control, for the controlled device when determining that the machine body is in a third state in which the possibility of abnormality is higher than in the second state.SELECTED DRAWING: Figure 4

Description

Technical Field

[0006] , , ,

[0001] The present invention relates to a walking work machine.

Background Art

[0002] Patent Document 1 describes a walking work machine. In this walking work machine, a clutch lever provided on a steering handle is configured in a so-called dead man type, and the clutch is disengaged when the hand is released from the clutch lever.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A dead man type clutch disengages when the hand is released, but the clutch cannot be disengaged unless the hand is released. Therefore, when unexpected movements occur in the walking control machine such as sudden acceleration or sudden stop, it is preferable to be able to deal with it without relying on the dead man type clutch.

[0005] An object of the present invention is to provide a walking work machine capable of dealing with unexpected movements without relying on a dead man type clutch.

Means for Solving the Problems

[0006] As a means of solving the above-mentioned problems, the walking type work machine of the present invention comprises a machine body, a sensor for detecting the state of the machine body, a control device for acquiring the output of the sensor, and an operated device whose operation is controlled by the control device, wherein the control device determines the state of the machine body based on the output of the sensor, and when it determines that the machine body is in a normal first state, it executes a first control, which is normal control, on the operated device, when it determines that the machine body is in a second state in which there is a higher possibility of abnormality than the first state, it executes a second control, which is a warning control and is different from the first control, on the operated device, and when it determines that the machine body is in a third state in which there is a higher possibility of abnormality than the second state, Furthermore, when the second state continues for a predetermined time, The control in the event of an abnormality is characterized by executing a third control, which is different from the first and second controls, on the operated device.

[0007] Based on the above features, the system determines a normal first state, a second state with a high probability of abnormality, and a third state with an even higher probability of abnormality based on the sensor output. In the second state, the second control, which is a warning control, is executed, and in the third state, the third control, which is an abnormality control, is executed. In this way, three types of control are applied to the controlled device based on the sensor output, making it possible to deal with abnormalities without a deadman's clutch. Furthermore, by executing the second control, which is a warning control, as a precaution, the transition to the third control, which is an abnormality control, can be made smoother.

[0008] also, When the second state continues for a predetermined time, the control device executes the third control on the operated device. ru.

[0009] the result, Even if the third state is not determined, the third control is executed when the second state continues for a predetermined time, so that abnormalities are dealt with more appropriately.

[0010] In the present invention, it is preferable that a release operating tool is further provided, and the control device terminates the third control in response to the release operating tool receiving a human operation.

[0011] According to the above characteristics, the third control terminates in response to human input, which is preferable because it suppresses the termination of the third control unintended by the operator.

[0012] In the present invention, it is preferable that the sensor includes at least one of the following: a load sensor for detecting the magnitude of the load on the work device, an acceleration sensor for detecting the acceleration of the machine, and a tilt sensor for detecting the tilt angle of the machine.

[0013] Based on the above characteristics, the aircraft's condition can be accurately determined.

[0014] In the present invention, it is preferable that the device further comprises a drive source operating tool and a drive source as the operated device, wherein the first control is the operation of the drive source by an amount corresponding to the instruction amount received by the drive source operating tool, the second control is the operation of the drive source by an amount lower than that of the first control, and the third control is the stopping of the drive source.

[0015] Based on the above features, the drive source is controlled based on the sensor output, operating with a low operating amount in the second state and stopping the drive source in the third state, thus enabling response to abnormalities without the need for a deadman's clutch. Furthermore, the preliminary operation with a low operating amount as a warning control allows for a smoother shutdown of the drive source in the event of an abnormality.

[0016] In the present invention, it is preferable that the device further comprises a drive source operating tool and a drive source and a notification device as the operated device, wherein the first control is the operation of the drive source by an amount corresponding to the instruction amount received by the drive source operating tool, the second control is the operation of the notification device, and the third control is the stopping of the drive source.

[0017] According to the above features, the drive source is controlled based on the output of the sensor, and the notification device operates in the second state and the drive source stops in the third state. Therefore, it is possible to deal with abnormalities without relying on a dead man clutch. In addition, by executing the operation of the notification device as control during warning, it is possible to prompt the operator to deal with abnormalities and be prepared.

[0018] The present invention The walking-type work machine in question comprises a machine body, a sensor for detecting the state of the machine body, a control device for acquiring the output of the sensor, and a control device whose operation is controlled by the control device. comprises a clutch as an operating device and a clutch monitoring device as the operating device for monitoring the state of the clutch. The control device determines the state of the aircraft based on the output of the sensor, and when it determines that the aircraft is in a normal first state, Monitoring the state of the clutch If the procedure is not performed and it is determined that the aircraft is in a second state which is more likely to be abnormal than the first state, Monitoring the state of the clutch When the process is executed and it is determined that the aircraft is in a third state which is more likely to be abnormal than the second state, The clutch of Disengagement operation It is characterized by doing so.

[0019] According to the above features, the clutch is controlled based on the output of the sensor, and the state of the clutch is monitored in the second state and the disengagement operation of the clutch is performed in the third state. Therefore, it is possible to deal with abnormalities without relying on a dead man clutch. In addition, by preliminarily executing the state monitoring of the clutch as control during warning, the disengagement operation of the clutch, which is control during abnormality, can be smoothly performed.

Brief Description of the Drawings

[0020] [Figure 1] It is a right side view of a walking type working machine. [Figure 2] It is a plan view of a walking type working machine. [Figure 3] It is a diagram showing a power transmission system, an operation system, and a control system. [Figure 4] It is a flowchart showing the processing performed by the control device. [Figure 5] It is a diagram showing a power transmission system, an operation system, and a control system.

Modes for Carrying Out the Invention

[0021] 〔First Embodiment〕 The following describes a walking-type cultivator, which is an example of a walking-type work machine according to the present invention, based on the drawings. It should be noted that the present invention is not limited to the following embodiments, and various modifications are possible without departing from its essence.

[0022] In this embodiment, unless otherwise specified, the forward / backward and left / right directions are described as follows: "Forward" refers to the direction of travel on the forward side when the walking type tiller is working (see arrow FR in Figures 1 and 2), "rear" refers to the direction of travel on the reverse side (see arrow BK in Figures 1 and 2), "right" refers to the direction corresponding to the right side relative to the forward-facing posture in the forward / backward direction (see arrow RH in Figure 2), and similarly, "left" refers to the direction corresponding to the left side (see arrow LH in Figure 2). "Up" and "down" are indicated by arrows UP and DW in Figures 1 and 2.

[0023] [Overall structure] As shown in Figure 1, the walking-type tiller's body 1 has an engine 11 mounted on an engine frame 10, which is part of the body frame 1a.

[0024] The engine frame 10 is integrally connected to the rear of the engine frame 10, with the transmission case 2 forming part of the airframe 1a together with the engine frame 10. The engine 11 and the transmission case 2 are linked together via a belt drive mechanism to enable power transmission.

[0025] In this embodiment, the engine 11 is equipped with an electronically controlled fuel injection system (FI) (Figure 3). The electronically controlled fuel injection system (FI) forcibly injects fuel into the combustion cylinder using an actuator, offering advantages such as reduced influence from external environmental factors like temperature, stable operation of the engine 11, and the realization of detailed control.

[0026] The transmission case 2 is formed in a bifurcated shape, comprising a front case 2A extending downward and a rear case 2B extending diagonally downward and rearward.

[0027] The left and right running gears 13 are supported at the lower part of the front case 2A via the axle 20. In this embodiment, the running gear 13 is a wheel. The running gear 13 may be other types of devices, such as a crawler running gear.

[0028] The working device 14 is supported in the rear case 2B via the drive shaft 21. In this embodiment, the working device 14 is a rotary tiller. The working device 14 may be other types of devices, such as a ridging machine or a seed planter.

[0029] The power from the engine 11 is transmitted via a belt drive mechanism to the gear shift mechanism inside the transmission case 2. The belt drive mechanism is configured to allow power transmission to be switched on and off by a clutch operating arm. This belt drive mechanism and the clutch operating arm constitute the main clutch 24 (Figure 3), which intermittently transmits power to the drivetrain and the worktrain.

[0030] The transmission case 2 contains a work clutch 25, a travel clutch 26, and a differential mechanism 27 (see Figure 3). Power from the main clutch 24 is branched and transmitted to the work clutch 25 and the travel clutch 26.

[0031] The work clutch 25 switches power transmission to the work device 14 on and off. The travel clutch 26 switches power transmission to the travel device 13 via the differential mechanism 27 on and off. The differential mechanism 27 can regulate the differential between the left and right travel devices 13.

[0032] A main gear shift lever 15 extends diagonally upward and backward from the top of the transmission case 2. By operating this main gear shift lever 15, the gear shifting and forward / reverse rotation of the travel device 13, as well as the forward / reverse rotation of the work device 14, can be performed.

[0033] A control handle 16 extends from the rear of the mission case 2 toward the rear of the aircraft. A slewing lever 17, a stop switch 18, and a throttle lever 19 are located on the right side of the control handle 16. The main clutch lever 3 is located at the rear end of the control handle 16.

[0034] The slewing lever 17 is a manual operating device used to switch the state of the walking-type tiller between a state in which it operates while moving in a straight line and a state in which it stops working to facilitate turning. The slewing lever 17 is connected to the work clutch 25 and the differential mechanism 27.

[0035] When the slewing lever 17 is in the disengaged position, the working clutch 25 is in a state where power is transmitted (clutch engaged), and the differential mechanism 27 is in a state where the differential of the running gear 13 is restricted (locked).

[0036] When the slewing lever 17 is in the engaged position, the working clutch 25 is in a state where it does not transmit power (clutch disengaged), and the differential mechanism 27 is in a state where it does not restrict the differential movement of the running gear 13 (unlocked).

[0037] The stop switch 18 is wired to the control system of the engine 11 for stopping the engine 11.

[0038] The throttle lever 19 is used to control the rotational speed of the engine 11. In this embodiment, the throttle lever 19 is configured to remain in the operating position even when the operator releases their hand. Alternatively, the throttle lever 19 may be configured to automatically return to its initial position when the operator releases their hand.

[0039] A main clutch 24 is provided to switch the power transmission from the engine 11 to the work clutch 25 and the travel clutch 26 on and off. The main clutch lever 3 is connected to the main clutch 24 for operating the main clutch 24 on and off.

[0040] In the walking-type cultivator configured as described above, the operator controls the walking-type cultivator using the steering handle 16 and walks alongside the moving cultivator. Turning is performed by the operator turning the steering handle 16 left or right to change the direction of travel of the walking-type cultivator.

[0041] [Power transmission system, operating system, and control system] Figure 3 shows the power transmission system, operating system, and control system of the walking-type cultivator of this embodiment.

[0042] The power transmission system will now be described. Power from the engine 11 to the working device 14 is transmitted via the main clutch 24 and the working clutch 25. Power from the engine 11 to the traveling device 13 is transmitted via the main clutch 24, the traveling clutch 26, and the differential mechanism 27.

[0043] The operating system and control system will be described below.

[0044] The slewing lever 17, the work clutch 25, and the differential mechanism 27 are connected by an operating wire 17a. When the slewing lever 17 is operated to the slewing position and the operating wire 17a is pulled, the work clutch 25 is disengaged and the differential mechanism 27 is unlocked. When the slewing lever 17 is operated to the work position and the operating wire 17a is returned, the work clutch 25 is engaged and the differential mechanism 27 is locked.

[0045] The main clutch lever 3 and the main clutch 24 are connected by an operating wire 3a. When the main clutch 24 is gripped and the operating wire 3a is pulled, the main clutch 24 is engaged. When the hand is released from the main clutch 24 and the operating wire 3a is returned, the main clutch 24 is disengaged.

[0046] The throttle lever 19 and the control device CU are connected by an operating wire 19a.

[0047] The control unit CU is a so-called ECU and includes a storage device ME and a CPU (not shown). The storage device ME includes an HDD or non-volatile RAM, and stores programs for controlling the walking-type management machine, permanent data, and temporary data. The functions of the control unit CU described below are realized when the program is executed by the CPU.

[0048] The control unit CU controls the electronic fuel injection system FI to control the rotational speed of the engine 11 based on the operation received by the throttle lever 19.

[0049] The walking-type management machine of this embodiment includes a sensor S, an alerting device AL, and a release operating tool UL.

[0050] Sensor S detects the state of the aircraft 1 and sends an output to the control unit CU.

[0051] Sensor S is, for example, a load sensor S1. The load sensor S1 detects the magnitude of the load on the work device 14. Specifically, the load sensor S1 detects the rotational speed, torque, strain, etc., of the PTO shaft that drives the work device 14. The load sensor S1 may be installed on the work device 14 or on the work clutch 25.

[0052] Sensor S is, for example, an acceleration sensor S2. The acceleration sensor S2 detects the acceleration of the aircraft 1. The acceleration sensor S2 may detect the acceleration of the aircraft 1 in the front-to-back direction, the acceleration of the aircraft 1 in the left-to-right direction, the acceleration of the aircraft 1 in the up-and-down direction, or it may detect acceleration in all directions (a so-called 3-axis acceleration sensor).

[0053] Sensor S is, for example, a tilt sensor S3. The tilt sensor S3 detects the tilt angle of the aircraft 1. The tilt sensor S3 is, for example, a gyro sensor.

[0054] Sensor S may include only one, two, or three of the following: load sensor S1, acceleration sensor S2, and tilt sensor S3. Sensor S may also include other types of sensors. Sensor S may be singular or plural.

[0055] The notification device AL operates under the control of the control unit CU and provides notifications to the operator. Examples of notification devices AL include buzzers, speakers, lamps, and display devices. There may be one or more notification devices AL, and they may be of a single type or multiple types.

[0056] The release device UL receives release commands from the operator. The release device UL is connected to the control unit CU. The release device UL can take any form, but for example, it may be a push-button switch.

[0057] [Modes of control by the control device] The control unit CU acquires the output of sensor S and determines the state of the aircraft 1 based on the output of sensor S. Based on the determination result, the control unit CU selectively executes the first control, second control, and third control on the controlled device D.

[0058] [Determining the aircraft's condition] First, let's explain how the state of the aircraft 1 is determined. The control device CU determines, based on the output of the sensor S, which of the following states the aircraft 1 is in: the first state, the second state, or the third state. The first state is the normal state. The second state is a state that is more likely to be abnormal than the first state. The third state is a state that is more likely to be abnormal than the second state.

[0059] This section explains how to determine if sensor S is load sensor S1. The control device CU calculates the load on the working device 14 (hereinafter referred to as "load amount") from the rotational speed, torque, strain, etc. of the PTO shaft detected by load sensor S1. The load amount may fluctuate significantly if the working device 14 comes into contact with a large stone in the field or if the machine 1 accelerates or decelerates rapidly.

[0060] The control unit CU determines that the machine 1 is in the normal first state if the load fluctuation range (absolute value) is smaller than a predetermined first load threshold. The control unit CU determines that the machine 1 is in the second state if the load fluctuation range exceeds the first load threshold (for example, if the load decreases (or increases) rapidly). The control unit CU determines that the machine 1 is in the third state if the load fluctuation range exceeds a predetermined second load threshold (a value greater than the first load threshold).

[0061] The determination may be made based on the range (absolute value) of the load fluctuation, or it may be made by considering the increase or decrease in the load (positive or negative of the fluctuation).

[0062] This section explains how to determine if sensor S is an acceleration sensor S2. The acceleration of the machine 1 detected by acceleration sensor S2 may fluctuate significantly when the work device 14 comes into contact with a large stone in the field, or when the machine 1 accelerates or decelerates rapidly.

[0063] The control device CU determines that the aircraft 1 is in the normal first state if the magnitude (absolute value) of the acceleration is less than a predetermined first acceleration threshold. The control device CU determines that the aircraft 1 is in the second state if the magnitude of the acceleration exceeds the first acceleration threshold. The control device CU determines that the aircraft 1 is in the third state if the magnitude of the acceleration exceeds a predetermined second acceleration threshold (a value greater than the first acceleration threshold).

[0064] The determination may be made based on the magnitude (absolute value) of the acceleration, or by considering the increase or decrease in acceleration (positive or negative fluctuation), or by considering the positive or negative sign of the acceleration.

[0065] Furthermore, the determination may be made taking into account the position of the acceleration sensor S2. For example, with respect to the acceleration sensor S2 located near the work device 14, the determination may be made by giving greater weight to the vertical acceleration.

[0066] The determination when sensor S is a tilt sensor S3 will be explained. The tilt angle of the machine 1 detected by the tilt sensor S3 may fluctuate significantly when the working device 14 comes into contact with a large stone in the field or when the machine 1 accelerates or decelerates rapidly.

[0067] The control unit CU determines that the aircraft 1 is in the normal first state if the tilt angle is less than a predetermined first tilt threshold. The control unit CU determines that the aircraft 1 is in the second state if the tilt angle exceeds the first tilt threshold. The control unit CU determines that the aircraft 1 is in the third state if the tilt angle exceeds a predetermined second tilt threshold (a value greater than the first tilt threshold).

[0068] The determination may be made based on the magnitude (absolute value) of the inclination angle, or based on the magnitude of the inclination angle including positive and negative values ​​(for example, based on the normal working posture), or it may be made by considering the increase or decrease (positive or negative value of the variation) of the inclination angle.

[0069] The determination by the control device CU may be made in parallel based on the outputs of all types of sensors S provided by the walking-type management machine, or it may be made based on the outputs of some types of sensors S provided by the walking-type management machine. When different determinations are made based on the outputs of multiple sensors S, the control device CU may be configured to adopt the strictest determination, or it may be configured to adopt the lenient determination.

[0070] [Control of the device being operated] The first, second, and third controls performed on the operated device D will be described below. First, let's explain an example where the operated device D is the engine 11.

[0071] The first control is the control under normal conditions. In this embodiment, the first control is the operation of the engine 11 (an example of a drive source) by an amount corresponding to the instruction received by the throttle lever 19 (an example of a drive source operating device). Specifically, the control device CU acquires the instruction amount (operation amount) received by the throttle lever 19 and controls the electronically controlled fuel injection device FI of the engine 11 to operate by an amount (engine speed) corresponding to that instruction amount.

[0072] The second control is a control performed during a warning state and is different from the first control. In this embodiment, the second control is the operation of the engine 11 at a lower operating amount than the first control. Specifically, the control device CU controls the electronically controlled fuel injection system FI of the engine 11 to operate at an operating amount (engine speed) lower than the indicated amount of the throttle lever 19. For example, the control device CU multiplies the indicated amount of the throttle lever 19 by a predetermined coefficient (e.g., 0.5) and controls the engine 11 to operate at an operating amount corresponding to that amount. The control device CU may be configured to operate the engine 11 at a preset operating amount in the second control. The coefficients and settings mentioned above may be changeable based on human intervention.

[0073] The third control is a control for abnormal situations and is different from the first and second controls. In this embodiment, the third control is to stop the engine 11. Specifically, the control device CU controls the electronically controlled fuel injection device FI to stop the engine 11.

[0074] Next, we will describe an example where the operated device D is the engine 11 and the notification device AL. The first and third controls in this example are the same as in the example described above.

[0075] In this example, the second control is the activation of the notification device AL. In addition, in the second control, the engine 11 may be operated at a lower operating amount than the first control (the second control in the example described above) in conjunction with the activation of the notification device AL.

[0076] [Control flow by the control device] The control flow performed by the control unit (CU) will be explained with reference to the flowchart in Figure 4. This control flow is repeatedly executed while the walking-type management machine is starting up.

[0077] The control unit CU obtains the indicated value of the throttle lever 19 (step #101).

[0078] The control unit CU acquires the output of sensor S (step #102).

[0079] The control device CU determines, based on the output of the sensor S, whether the state of the aircraft 1 is the first state, the second state, or the third state (step #103).

[0080] If the first state is determined (step #103: first state), the control unit CU executes the first control (step #104). Then the process returns to step #101.

[0081] If the second state is determined (Step #103: Second state), the control unit CU executes the second control (Step #105).

[0082] When the second control is initiated, the control device CU determines whether the second state has continued for a predetermined time (step #106). The predetermined time is a time set in advance for the determination, for example, 2 seconds. The control device CU may be configured to change the predetermined time to a larger value while the work device 14 is operating.

[0083] If it is determined that the second state has not continued for a predetermined time (step #106: No), the process returns to step #101.

[0084] If it is determined that the third state is present (Step #103: Third state), or if it is determined that the second state has continued for a predetermined time (Step #106: Yes), the control device CU executes the third control (Step #107).

[0085] When the third control is initiated, the control device CU determines whether the release tool UL has received a release command from the operator (step #108). If the release command has not been received (step #108: No), the process in step #108 is repeated.

[0086] When the release operation is accepted (Step #108: Yes), the control unit CU terminates the third control (Step #109). In Step #109, the control unit CU may be configured to determine the state of the aircraft 1 and terminate the third control if it is not in the third state.

[0087] [Second Embodiment] A second embodiment will be described with reference to Figure 5. In the following description, components similar to those in the above-described embodiment will be denoted by the same reference numerals, and their descriptions may be omitted.

[0088] In this embodiment, the walking-type cultivator is equipped with a clutch monitoring device MD. The clutch monitoring device MD is controlled by the control device CU and monitors the status of the main clutch 24 and the work clutch 25. The clutch monitoring device MD may be configured to monitor the status of either the main clutch 24 or the work clutch 25. Hereinafter, the main clutch 24 and the work clutch 25 may be collectively referred to as "clutches".

[0089] [Control of the device being operated] The first, second, and third controls performed on the operated device D will be described below. First, we will describe an example in which the operated device D consists of a clutch monitoring device MD, a main clutch 24, and a work clutch 25.

[0090] The first control is the control under normal conditions. In this embodiment, the first control is the non-performance of clutch state monitoring. Specifically, the control device CU does not cause the clutch monitoring device MD to perform clutch state monitoring.

[0091] The second control is a control performed during the warning period and is different from the first control. In this embodiment, the second control is the execution of clutch state monitoring. Specifically, the control device CU causes the clutch monitoring device MD to perform clutch state monitoring. For example, the control device CU causes the clutch monitoring device MD to monitor the clutch state at predetermined time intervals (e.g., 0.5 seconds) and acquires the clutch state.

[0092] The third control is a control for abnormal situations and is different from the first and second controls. In this embodiment, the third control is a clutch disengagement operation. Specifically, the control device CU disengages the main clutch 24 and the work clutch 25 to stop the work device 14. The control device CU may be configured to disengage one of the main clutch 24 and the work clutch 25. The control device CU may be configured to disengage a clutch that is in the engaged state based on the clutch state acquired in the second control.

[0093] The operated device D may include a notification device AL. In the second control described above, the control device CU may activate the notification device AL in conjunction with the clutch state monitoring by the clutch monitoring device MD.

[0094] In this embodiment, the control device CU executes the same control flow as in the embodiment described above (Figure 4).

[0095] [Another embodiment] The present invention is not limited to the configurations exemplified in the embodiments described above. Representative alternative embodiments of the present invention are described below.

[0096] (1) The engine 11 may not be equipped with an electronically controlled fuel injection system (FI). That is, the engine 11 may be one in which the rotational speed (operating amount) is adjusted by a mechanical carburetor or the like.

[0097] (2) The walking type cultivator may be equipped with an electric motor as a drive source instead of the engine 11. In this case, the control device CU performs first control, second control, and third control on the electric motor which is the operated device D.

[0098] (3) In the embodiments described above, an example equipped with a differential mechanism 27 has been described. However, the invention is not limited to this, and a walking-type tiller without a differential mechanism may also be used. An example of a walking-type tiller without a differential mechanism is one equipped with a side clutch mechanism, in which a clutch lever is provided on both the left and right sides of the handle, and by gripping either the left or right clutch lever, the power transmission to the work device on the gripped side is stopped. [Industrial applicability]

[0099] The present invention is applicable to walking-type work machines. For example, it can be applied to walking-type rice transplanters, walking-type vegetable transplanters, and the like. [Explanation of symbols]

[0100] 1: Aircraft 11: Engine (power source) 14: Working equipment 19: Throttle lever (drive source control device) 24: Main clutch (clutch) 25: Working clutch (clutch) AL: Notification device CU: Control Unit D: Operated device MD: Clutch monitoring device S: Sensor S1: Load sensor S2: Accelerometer S3: Tilt sensor UL: Release operation tool

Claims

1. The aircraft and, A sensor for detecting the state of the aforementioned aircraft, A control device that acquires the output of the aforementioned sensor, The device comprises an operated device whose operation is controlled by the control device, The control device is The state of the aircraft is determined based on the output of the aforementioned sensor, When it is determined that the aircraft is in a normal first state, the first control, which is the normal control, is executed on the operated device. When it is determined that the aircraft is in a second state in which the likelihood of abnormality is higher than that of the first state, a second control, which is a warning control and different from the first control, is executed on the operated device. A walking-type work machine that, when it is determined that the machine is in a third state which is more likely to be abnormal than the second state, and when the second state continues for a predetermined time, executes a third control, which is an abnormal control and is different from the first control and the second control, on the operated device.

2. Further equipped with a release mechanism, The walking-type work machine according to claim 1, wherein the control device terminates the third control in response to the release device receiving a human operation.

3. The walking-type work machine according to claim 1, wherein the sensor includes at least one of a load sensor for detecting the magnitude of the load on the work device, an acceleration sensor for detecting the acceleration of the machine, and an inclination sensor for detecting the inclination angle of the machine.

4. A drive source operating device, The device further comprises a drive source as the operated device, The first control is the operation of the drive source by an amount corresponding to the instruction amount received by the drive source operating tool, The second control is the operation of the drive source with a lower operating amount than the first control. The walking-type work machine according to any one of claims 1 to 3, wherein the third control is the stopping of the drive source.

5. A drive source operating device, The device further comprises a drive source and a notification device as the operated device, The first control is the operation of the drive source by an amount corresponding to the instruction amount received by the drive source operating tool, The second control is the operation of the notification device, The walking-type work machine according to any one of claims 1 to 3, wherein the third control is the stopping of the drive source.

6. The aircraft and, A sensor for detecting the state of the aforementioned aircraft, A control device that acquires the output of the aforementioned sensor, A clutch as an operated device whose operation is controlled by the control device, The system includes a clutch monitoring device, which is the operated device, for monitoring the state of the clutch, The control device is The state of the aircraft is determined based on the output of the aforementioned sensor, When it is determined that the aircraft is in the normal first state, the clutch state monitoring is not performed. When it is determined that the aircraft is in a second state which is more likely to be abnormal than the first state, the clutch state monitoring is performed. A walking-type work machine that disengages the clutch when it is determined that the machine is in a third state which is more likely to be abnormal than the second state.

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