Control system and control method

Abstract

This control system comprises a display unit, an operating device, and a physical manipulator, and controls the motion of a work machine in accordance with the operation on the operating device. The control system also comprises: a display control unit that can change an operation pattern representing a correspondence relationship between the content of the operation and the content of the motion, and that displays the operation pattern on the display unit; and a work machine control unit that, in the case where the physical manipulator is operated after the operation pattern has been displayed on the display unit, finalizes the operation pattern, and enables the motion of the work machine according to the operation pattern finalized by the operation on the operating device.

Description

Control System and Control Method

[0001] The present disclosure relates to a control system and a control method. This application claims priority based on Japanese Patent Application No. 2024-160308 filed in Japan on September 17, 2024, and incorporates its content herein by reference.

[0002] The starting system of the working machine described in Patent Document 1 includes an operation lever for the working machine to operate an actuator, a presentation unit that presents an operation pattern of the operation lever, and a starting control unit that enables the power source to be started after the operator confirms the operation pattern. In the embodiment of the starting system described in Patent Document 1, the operation pattern of the operation lever and the "OK" button are simultaneously displayed on the touch panel, and when the "OK" button is pressed, it is recognized that the operation pattern has been confirmed.

[0003] Japanese Unexamined Patent Application Publication No. 2023-50808

[0004] According to the starting system described in Patent Document 1, the engine can be started after the operation pattern is confirmed, so the possibility of the operator making an incorrect operation can be reduced. However, in the starting system described in Patent Document 1, due to malfunctions of the touch panel or the like, there is a possibility that the operation pattern is determined even though the operation pattern has not been confirmed.

[0005] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a control system and a control method capable of improving the reliability of the confirmation operation and determination method of the operation pattern.

[0006] The control system of the present disclosure includes a display unit, an operation device, and a physical operator, and is a control system that controls the operation of the working machine according to the operation of the operation device. The operation pattern, which is the correspondence between the content of the operation and the content of the operation, can be changed. A display control unit that displays the operation pattern on the display unit, and when the physical operator is operated after the operation pattern is displayed on the display unit, the operation pattern is determined, and a working machine control unit that enables the operation of the working machine corresponding to the determined operation pattern to be performed by the operation of the operation device.

[0007] Furthermore, the control method of the present disclosure is a control method for a control system comprising a display unit, an operating device, and a physical operator, for controlling the operation of a work machine in accordance with the operation of the operating device, wherein the operation pattern, which is a correspondence between the content of the operation and the content of the operation, is changeable, and includes the steps of displaying the operation pattern on the display unit, and, when the physical operator is operated after the operation pattern has been displayed on the display unit, confirming the operation pattern and enabling the operation of the work machine in accordance with the confirmed operation pattern by operating the operating device.

[0008] The control system and control method disclosed herein can improve the reliability of the operation pattern verification operation and confirmation method.

[0009] This is a schematic diagram showing the configuration of a work machine according to an embodiment of this disclosure. This is a diagram showing the internal configuration of the operator's cab according to an embodiment of this disclosure. This is a diagram showing an example of the operation of a lock lever according to an embodiment of this disclosure. This is a schematic block diagram showing the hardware configuration of a control system according to an embodiment of this disclosure. This is a flowchart showing an example of the operation of a control system according to an embodiment of this disclosure. This is a transition diagram showing an example of the transition of a display screen at startup according to an embodiment of this disclosure. This is a diagram showing an example of a display screen according to an embodiment of this disclosure. This is a diagram showing an example of a display screen according to an embodiment of this disclosure. This is a transition diagram showing an example of the transition of a display screen when setting an operation pattern according to an embodiment of this disclosure. This is a diagram showing an example of a display screen according to an embodiment of this disclosure. This is a diagram showing an example of the transition of a display screen when setting an operation pattern according to an embodiment of this disclosure. This is a diagram showing an example of a display screen according to an embodiment of this disclosure. This is a diagram showing an example of a display screen according to an embodiment of this disclosure. This is a diagram showing an example of a display screen according to an embodiment of this disclosure. This is a diagram showing an example of a display screen according to an embodiment of this disclosure.

[0010] Embodiments of this disclosure will be described below with reference to the drawings. In each drawing, the same or corresponding components are given the same reference numerals, and their descriptions will be omitted as appropriate.

[0011] (Configuration of the work machine 100) Figure 1 is a schematic diagram showing the configuration of the work machine 100 according to an embodiment of the present disclosure. The work machine 100 operates at a construction site and performs construction work on materials such as soil and sand. The work machine 100 according to an embodiment of the present disclosure is a hydraulic excavator. However, the work machine of the present disclosure may be other work machines such as a dump truck, wheel loader, or motor grader. The work machine 100 comprises a traveling body 110, a rotating body 120, a work machine 130, and an operator's cab 140.

[0012] The traveling body 110 supports the work machine 100 so that it can move. The traveling body 110 is equipped with two tracks 111a and 111b on the left and right sides, and two travel motors 112 for driving each track 111a and 111b. The slewing body 120 is supported by the traveling body 110 so that it can slewing around a pivot point.

[0013] The work implement 130 is driven by hydraulics. The work implement 130 is supported on the front of the slewing body 120 so as to be movable in the vertical direction. The operator's cab 140 is a space for the operator to sit in and operate the work machine 100. The operator's cab 140 is located on the left front of the slewing body 120. In this embodiment, as shown in Figure 1, the vertical, horizontal, and front-to-back directions are defined with respect to the slewing body 120. The part of the slewing body 120 to which the work implement 130 is attached is called the front. Furthermore, with respect to the slewing body 120, the part opposite the front is called the rear, the left side is called the left side, and the right side is called the right side.

[0014] (Configuration of the slewing body 120) The slewing body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, a slewing motor 124, etc. The engine 121 is the prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source. In this embodiment, the engine 121 is a diesel engine.

[0015] The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic fluid to a plurality of actuators via a control valve 123. The plurality of actuators include a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a travel motor 112, and a slewing motor 124. The control valve 123 controls the flow rate of hydraulic fluid supplied from the hydraulic pump 122.

[0016] The slewing motor 124 is driven by hydraulic fluid supplied from the hydraulic pump 122 via the control valve 123, causing the slewing body 120 to rotate.

[0017] (Configuration of the work machine 130) The work machine 130 comprises a boom 131, an arm 132, a bucket 133, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C.

[0018] The base end of the boom 131 is attached to the slewing body 120 via a boom pin P1. The arm 132 connects the boom 131 and the bucket 133. The base end of the arm 132 is attached to the tip of the boom 131 via an arm pin P2. The bucket 133 has a blade for excavating soil and sand and a storage section for collecting the excavated soil. The base end of the bucket 133 is attached to the tip of the arm 132 via a bucket pin P3.

[0019] The boom cylinder 131C is a hydraulic cylinder for driving the boom 131. The base end of the boom cylinder 131C is attached to the slewing body 120. The tip end of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The base end of the arm cylinder 132C is attached to the boom 131. The tip end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. The base end of the bucket cylinder 133C is attached to the arm 132. The tip end of the bucket cylinder 133C is attached to the link member connected to the bucket 133.

[0020] (Example of camera configuration) The rotating body 120 is equipped with multiple cameras 126 (front camera 126A, left side camera 126B, rear camera 126C, and right side camera 126D) that capture images of the area around the work machine 100. The front camera 126A is located inside the operator's cab 140. The front camera 126A, left side camera 126B, rear camera 126C, and right side camera 126D are collectively referred to as multiple cameras 126. Alternatively, instead of multiple cameras 126, or in conjunction with multiple cameras 126, a single omnidirectional camera may be used. The display unit 206, described later, displays overhead images and single-camera images based on the images (single-camera images) captured by each camera 126.

[0021] (Configuration of the driver's cab 140) A door 141 for the operator to board is provided on the left side of the driver's cab 140. Figure 2 is a diagram showing the internal configuration of the driver's cab 140 according to the embodiment of this disclosure. The driver's cab 140 is equipped with a driver's seat 142, an operating device 143, a rotary switch 144, a display unit 206, and the like.

[0022] The operating device 143 is a device for driving the traveling body 110, the slewing body 120, and the work equipment 130 by manual operation by the operator. The operating device 143 comprises a left operating lever 143LO, a right operating lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left traveling lever 143LT, a right traveling lever 143RT, and a lock lever 143LL. The left operating lever 143LO is located on the left side of the driver's seat 142. The right operating lever 143RO is located on the right side of the driver's seat 142.

[0023] The left operating lever 143LO is an operating mechanism for, for example, the rotational movement of the slewing body 120 and the excavation / dumping movement of the arm 132. Specifically, for example, when the operator of the work machine 100 pushes the left operating lever 143LO forward, the arm 132 performs a dumping operation. Also, when the operator of the work machine 100 pushes the left operating lever 143LO backward, the arm 132 performs an excavation operation. Also, when the operator of the work machine 100 pushes the left operating lever 143LO to the right, the slewing body 120 rotates to the right. Also, when the operator of the work machine 100 pushes the left operating lever 143LO to the left, the slewing body 120 rotates to the left. The correspondence between the operation of the operating device 143 and the operation of the work machine 100 is called an operation pattern (hereinafter also called a lever pattern). In this embodiment, the operation pattern is defined as a correspondence between the operation of the left operation lever 143LO and the right operation lever 143RO and the operation of the work machine 100. In the control system 200 of this embodiment, the operation pattern can be changed and, for example, set for each operator. In other operation patterns, for example, when the left operation lever 143LO is tilted in the forward or backward direction, the slewing body 120 may rotate to the right or left, and when the left operation lever 143LO is tilted in the left or right direction, the arm 132 may perform an excavation operation or a dumping operation.

[0024] The right-hand control lever 143RO is an operating mechanism for, for example, performing digging / dumping operations of the bucket 133 and raising / lowering operations of the boom 131. Specifically, in one operating pattern, when the operator of the work machine 100 pushes the right-hand control lever 143RO forward, the boom 131 is lowered. Also, when the operator of the work machine 100 pushes the right-hand control lever 143RO backward, the boom 131 is raised. Also, when the operator of the work machine 100 pushes the right-hand control lever 143RO to the right, the bucket 133 is dumped. Also, when the operator of the work machine 100 pushes the right-hand control lever 143RO to the left, the bucket 133 is dug. In other operating patterns, for example, when the right-hand control lever 143RO is pushed forward or backward, the bucket 133 may perform a dumping or digging operation, and when the right-hand control lever 143RO is pushed left or right, the boom 131 may perform a raising or lowering operation.

[0025] Furthermore, the left operating lever 143LO is equipped with a plurality of push-button switches, such as the push-button switch BSWL1. One or more of the plurality of push-button switches may be wheel buttons. Push-button switch BSWL1 is one example of the configuration of the "physical operator" of this disclosure. The left operating lever 143LO is one example of the configuration of the "operating lever" of this disclosure. In this embodiment, the push-button switch BSWL1 is provided on the left operating lever 143LO. Push-button switch BSWL1 is used, for example, as an operator's operator (key) to input that the operator has confirmed the operation pattern. Furthermore, the right operating lever 143RO is equipped with a plurality of push-button switches. One or more of the plurality of push-button switches may be wheel buttons. The plurality of push-button switches can be set to functions such as a horn, windshield washer, front windshield wiper, and single-camera image switching, which will be described later. For example, push-button switch BSWL1 may be provided on the right operating lever 143RO.

[0026] The left foot pedal 143LF is located on the left side of the floor in front of the driver's seat 142. The right foot pedal 143RF is located on the right side of the floor in front of the driver's seat 142. The left travel lever 143LT is pivotally supported by the left foot pedal 143LF, and the tilt of the left travel lever 143LT is linked to the downward movement of the left foot pedal 143LF. The right travel lever 143RT is pivotally supported by the right foot pedal 143RF, and the tilt of the right travel lever 143RT is linked to the downward movement of the right foot pedal 143RF.

[0027] The left foot pedal 143LF and the left travel lever 143LT correspond to the rotational drive of the left track 111a of the vehicle 110. Specifically, when the operator of the work machine 100 pushes the left foot pedal 143LF or the left travel lever 143LT forward, the left track 111a rotates in the forward direction. Also, when the operator of the work machine 100 pushes the left foot pedal 143LF or the left travel lever 143LT backward, the left track 111a rotates in the reverse direction.

[0028] The right foot pedal 143RF and the right travel lever 143RT correspond to the rotational drive of the right track 111b of the vehicle 110. Specifically, when the operator of the work machine 100 pushes the right foot pedal 143RF or the right travel lever 143RT forward, the right track 111b rotates in the forward direction. Also, when the operator of the work machine 100 pushes the right foot pedal 143RF or the right travel lever 143RT backward, the right track 111b rotates in the reverse direction.

[0029] The rotary switch 144 is a switch that takes on four positions—OFF, ACC (accessory), IG (ignition), and ST (start)—by rotating its rotating part. When the finger is released from the ST position, the rotary switch 144 automatically returns to the IG position by a spring mechanism (not shown). In the OFF position, an instruction is given to stop the engine 121. In the ACC position, an instruction is given to stop the engine 121 and to activate a predetermined device. In the IG position, an instruction is given to activate the engine 121. In the ST position, an instruction is given to start the engine 121.

[0030] The lock lever 143LL is a safety device provided to prevent the operator from unintentionally operating actuators such as the work implement 130 when the machine is not in operation. The lock lever 143LL is positioned along the side of the left console box 143LC, which is erected to the left of the driver's seat 142, and is rotatable between a locked position and an unlocked position. In Figure 3, the lock lever 143LL shown by the solid line is in the locked position, and the lock lever 143LL shown by the dashed line is in the unlocked position. Hereafter, the locked position will also be referred to as the locked state of the lock lever 143LL (also indicated as LL lock in the drawings), and the unlocked position will also be referred to as the released state of the lock lever 143LL (also indicated as LL released in the drawings). When the lock lever 143LL is set to the locked position, the control of the hydraulic fluid by the control valve 123 is stopped. Also, when the lock lever 143LL is set to the locked position, the switch LL-SW, which operates in conjunction with the lock lever 143LL, is turned on.

[0031] When the lock lever 143LL is in the locked position, it rotates to a position where it is hidden on the side of the left console box 143LC of the driver's seat 142, that is, a position where it is retracted from the passage between the door 141 and the driver's seat 142, and locks there. This allows the operator to move back and forth between the door 141 and the driver's seat 142. On the other hand, when the lock lever 143LL is in the unlocked position, it rotates to a position where it is tilted forward so as to block the passage between the driver's seat 142 and the door 141, and locks there. This prevents the operator from leaving the driver's cab 140 while actuators such as the work equipment 130 are operational, because when the lock lever 143LL is in the unlocked position, the lock lever 143LL will get in the way and prevent the operator from getting in or out of the driver's seat 142. The on / off state of the switch LL-SW, which operates in conjunction with the lock lever 143LL, is monitored, for example, by the work equipment control unit 2013, which will be described later.

[0032] The display unit 206 is, for example, a touch panel. The display unit 206 is an input / output device that integrally configures an input unit 206I that accepts input operations by touching the display screen 206S with a fingertip or an input pen, and an output device that displays an image on the display screen 206S. The display unit 206 is an example of a display unit. The display unit 206 is controlled by a display control unit 2012, which will be described later, and displays predetermined information related to the work machine 100 on the display screen 206S. The predetermined information related to the work machine 100 that the display screen 206S displays is, for example, information representing the operating state of the work machine 100, information representing the setting state and operation state, image information representing the surroundings of the work machine 100 based on moving images, still images, etc., captured by multiple cameras 126. In this embodiment, "information" refers to the content that is transmitted, and includes image information that represents the content as an image, numerical information that represents the content as a numerical value, etc. Also, in this embodiment, the vertical and horizontal directions of the display screen 206S are the directions shown in Figure 2. In this embodiment, the display screen 206S has a rectangular shape with its longitudinal direction being vertical. For example, the display screen 206S may have a rectangular shape with its longitudinal direction being horizontal. The display unit 206 also receives input operations to the input unit 206I and outputs information indicating the operation content to the display control unit 2012.

[0033] (Configuration of Control System 200) Figure 4 is a schematic block diagram showing the hardware configuration of the control system 200 of the work machine 100 according to an embodiment of the present disclosure. The control system 200 includes a controller 201. The controller 201 includes an input / output unit 2011, a display control unit 2012, a work machine control unit 2013, and a storage unit 2014. The control system 200 also includes a plurality of cameras 126, a display unit 206, a rotary switch 144, a push-button switch BSWL1, a switch LL-SW, a plurality of other sensors 208, a plurality of actuators 209, etc. In the control system 200, the display control unit 2012 is one example of the configuration of the "display control unit" of the present disclosure, and the work machine control unit 2013 is one example of the configuration of the "work machine control unit" of the present disclosure.

[0034] The controller 201 can be configured using a computer such as a microcontroller or CPU (Central Processing Unit), and hardware such as peripheral circuits and peripheral devices for the computer. Alternatively, the controller 201 may be configured using a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). Furthermore, some or all of the functions realized by the processor may be realized by the integrated circuit. The controller 201 is a functional block composed of a combination of hardware such as a computer and software such as a program executed by the computer, and includes an input / output unit 2011, a display control unit 2012, a work machine control unit 2013, and a storage unit 2014. The controller 201 may be configured as a single controller, or it may be configured as multiple controllers that are connected and cooperate via a predetermined communication line, for example.

[0035] The input / output unit 2011 inputs and outputs predetermined signals (input or output or input and output) to and from multiple cameras 126, display unit 206, rotary switch 144, push button switch BSWL1, switch LL-SW, multiple other sensors 208, and multiple actuators 209.

[0036] The work machine control unit 2013 acquires setting information from the storage unit 2014, which indicates the currently set operation pattern, etc. The setting information includes information indicating the operation pattern, information indicating the functions assigned to the multiple push-button switches on the left operation lever 143LO and the right operation lever 143RO, and information indicating vehicle operability (such as the responsiveness to operation of the operation device 143).

[0037] The work machine control unit 2013 acquires various data related to the hydraulic equipment that controls the operation of the work machine 130 using multiple sensors 208, and outputs multiple control signals to multiple actuators 209 related to the work machine 130 to control the hydraulic equipment according to the operation of the operating device 143. The work machine control unit 2013 also transmits predetermined information related to the operation of the work machine 100 to the display control unit 2012, etc.

[0038] The memory unit 2014 stores configuration information and other data.

[0039] Furthermore, the multiple sensors 208 include multiple sensors for detecting the operating state of the operating device 143, which includes a push-button switch BSWL1 and a switch LL-SW, a sensor for detecting the hydraulic oil temperature, a sensor for detecting the hydraulic pressure, a sensor for detecting the posture of the work machine 130, and the like. The multiple actuators 209 include a hydraulic pump 122, a control valve 123, a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a travel motor 112, a slewing motor 124, and the like. In this embodiment, the operating signal of the push-button switch BSWL1 is input to the work machine control unit 2013 without going through the display control unit 2012.

[0040] The display control unit 2012 controls the image display on the display screen 206S of the display unit 206, and notifies the work machine control unit 2013 of the occurrence of a touch operation on the input unit 206I of the display unit 206.

[0041] Furthermore, the display control unit 2012 acquires image information and the like from the camera 126 via the input / output unit 2011, and also acquires information from the work machine control unit 2013, such as the operating status of the work machine 100, the setting status of the operating mode of the work machine 100, and information representing the operation pattern.

[0042] Furthermore, the display control unit 2012 receives signals from the display unit 206 that represent input operations to the input unit 206I of the display unit 206, and notifies the work machine control unit 2013 of a signal indicating that a predetermined input operation has been performed.

[0043] In addition, based on the acquired information, input operations to the input unit 206I, etc., the display control unit 2012 generates a display image to be displayed on the display screen 206S based on a plurality of predetermined display modes. In this embodiment, the "display screen" (display screen 206S) means the surface on which an image is projected. Also, the display control unit 2012 causes the display image to transition based on the acquired information, input operations to the input unit 206I, etc.

[0044] In addition, the display control unit 2012 controls the display unit 206 to display the generated image on the display screen 206S.

[0045] In this embodiment, the display control unit 2012, for example, displays the currently set operation pattern (or the operation pattern for which the setting is about to be changed) on the display unit 206. Also, the display control unit 2012, for example, displays the currently set operation pattern (or the operation pattern for which the setting is about to be changed) on the display unit 206 together with a guidance image regarding the push button switch BSWL1. For example, an operation pattern of a predetermined initial setting may be displayed on the display unit 206.

[0046] (Operation Example of Control System 200) FIG. 5 is a flowchart showing an operation example of the control system 200 according to an embodiment of the present disclosure. The operation shown in FIG. 5 is executed when the control system 200 (controller 201) is activated. For example, when receiving a signal that the rotary switch 144 has been operated to the ACC position, the controller 201 starts the processing shown in FIG. 5. When the processing shown in FIG. 5 is started, the display control unit 2012 displays the setting information and that a confirmation operation is required on the display unit 206 (step S1). In step S1, the work machine control unit 2013 acquires the setting information from the storage unit 2014, and the display control unit 2012 receives the setting information from the work machine control unit 2013. For example, the setting information includes information indicating the setting state of the operation pattern and the setting states regarding the operability of the operation device 143, the work machine 130, and the traveling body 110. The display control unit 2012 that has received the setting information displays the setting information on the display unit 206. In step S1, for example, the setting information is displayed together with information (guidance image) indicating that the confirmation operation is a pressing operation of the push button switch BSWL1.

[0047] After step S1, the work machine control unit 2013 waits until there is a pressing operation (button operation) of the push button switch BSWL1 (repetition of NO in step S2). When there is a pressing operation of the push button switch BSWL1 (YES in step S2), the setting information is determined by reflecting it in an internal variable as, for example, control parameters (step S3). Next, the work machine control unit 2013 enables the operation of the work machine 100 according to the operation of the operation device 143, and starts control according to the operation of the operation device 143 for the operation of the work machine 100 (step S4). In the present embodiment, the pressing operation (step S2) of the push button switch BSWL1 for changing the operation pattern is performed through one or more display images and then the button operation is performed.

[0048] Further, for example, the work machine control unit 2013 transmits a signal indicating that the setting of the setting information has been reflected to the display control unit 2012, and the display control unit 2012 displays, for example, the home screen (step S5), and ends the process shown in FIG. 5. Thereafter, the control system 200 controls the work machine 100 according to the operation of the operation device 143 or the like.

[0049] The transition of the display image on the display screen 206S in the operation shown in FIG. 5 will be described with reference to FIGS. 6 to 8. FIG. 6 shows the transition conditions and the like between the display image D2 and the display image D5, and FIGS. 7 and 8 show the display images D2 and D5. When receiving the setting information from the work machine control unit 2013, for example, in step S1, the display control unit 2012 displays the display image D2 (FIG. 7) (step S1). The display image D2 includes an image D21 indicating the operation pattern, an image D22 indicating the contents of the functions set for each of the five push button switches provided on the left operation lever 143LO and the right operation lever 143RO, and an image D23 indicating guidance regarding the push button switch BSWL1 for reflecting the setting information. The image D23 includes an image D231 representing the push button switch BSWL1 (left lever switch 1) and an image D232 representing character information. For example, the number of push button switches provided on the left operation lever 143LO and the right operation lever 143RO may be one or a plurality of numbers.

[0050] Furthermore, if the push-button switch BSWL1 is pressed in display image D2, display image D5 (Figure 8) is displayed. As shown in Figure 8, display image D5 includes an overhead view image D51, a single-camera image D52, and an image D53 representing a menu button for displaying the settings menu. Display image D5 is the image (home screen) that is displayed by default on the display screen 206S when the work machine 100 is in an operational state. The home screen is not limited to display image D5, but can be any display screen.

[0051] Next, the transitions of display images on the display screen 206S during the operation when setting the operation pattern will be explained with reference to Figures 9 to 16. Figures 9 and 12 show the transition conditions for display images D5, D6, D7, D9 to D12, while Figures 10 to 11 and 13 to 16 show each of the display images D6, D7, D9 to D12. Image D74 shown in Figure 9 and display image D74 shown in Figure 12 are the same image.

[0052] As shown in Figure 9, when the lock lever 143LL is in the locked state (LL lock) and the image D53 representing the menu button is pressed in the display image D5 (home screen) (Figure 8), the display image D6 (Figure 10) is displayed. As shown in Figure 10, the display image D6 includes the image D61 for switching the lever switch assignment, the image D62 for setting the lever pattern (operation pattern), and the image D63 which shows the home button to return to the display image D5 (home screen).

[0053] As shown in Figure 9, when image D62 is pressed in display image D6, display image D7 (Figure 11) is displayed. As shown in Figure 11, display image D7 includes image D71 which shows an explanatory text for canceling the execution state of the lever pattern setting, image D74 which represents a "Yes" button for starting the setting, image D73 which represents a "No" button for not starting the setting, and image D63 which represents a home button.

[0054] As shown in Figure 9, when display image D7 is displayed, if image D73 is pressed or if there is no operation for 30 seconds, display image D6 is displayed. When display image D6 or display image D7 is displayed (display state DS2), if image D63 is pressed or the lock lever 143LL is released (LL released), display image D5 is displayed. When display screen D6 is displayed, if there is no operation for 30 seconds, display image D5 is displayed. For example, the duration of the no-operation state can be set arbitrarily.

[0055] Furthermore, when image 74 is pressed while display image D7 is displayed, display image D9 (Figure 13) is displayed as shown in Figure 12. As shown in Figure 13, display image D9 includes image D91 for selecting an ISO / JIS pattern, image D92 for selecting pattern A, image D93 for selecting pattern B, image D94 for selecting pattern C, image D95 showing the content of the currently selected operation pattern, and image D96 showing a button for setting the operation pattern to the selected operation pattern. As shown in Figure 12, when image D96 is pressed in display image D9, display image D10 (Figure 14) is displayed.

[0056] As shown in Figure 14, display image D10 includes image D101, which represents text information indicating that an operation pattern is to be set, and image D102, which provides guidance regarding the push-button switch BSWL1 for reflecting the setting information. As shown in Figure 12, when the push-button switch BSWL1 is pressed while display image D10 is displayed, display image D11 (Figure 15) is displayed. As shown in Figure 15, display image D11 includes image D111, which represents text information indicating that an operation pattern has been set, and image D112, which is a button for inputting that the contents of image D95 have been confirmed. Image D95 shown on display screen D9 shows the setting information of the currently selected operation pattern. In contrast, image D95 shown on display screen D10 displays the setting information of the operation pattern recognized by the work machine control unit 2013. In other words, image D95 shown on display screen D10 displays the set (confirmed) operation pattern.

[0057] As shown in Figure 12, when either display image D9 or D10 is displayed (display state DS3), and the lock lever 143LL is released (LL released), display image D12 (Figure 16) is displayed. As shown in Figure 16, display image D12 is a display image in which a pop-up window D121 indicating cancellation of setting changes is superimposed on display image D5 (home screen) shown in Figure 8. The pop-up window D121 includes an "×" image D122 for closing the pop-up window D121.

[0058] As shown in Figure 12, when display image D11, if image D112 is pressed, or if 3 seconds have elapsed since display image D11 was displayed, display image D6 shown in Figures 10 and 9 is displayed. Also, when either display image D11 or D6 is displayed (display state DS4), if the lock lever 143LL becomes unlocked (LL released), or if image D63 is pressed, display image D5 (Figure 8) is displayed. Also, when display image D12 is displayed, if image D122 is pressed, or if 10 seconds have elapsed since display image D12 was displayed, display image D5 (Figure 8) is displayed. The elapsed time can be set arbitrarily.

[0059] Through the above screen transitions, the control system 200 can change the settings of the operation pattern.

[0060] (Function and Effects) As described above, the control system 200 of this embodiment comprises a display unit 206, an operating device 143, and a push-button switch (physical operator) BSWL1, and is a control system that controls the operation of the work machine 100 in accordance with the operation of the operating device 143. In the control system 200, the operation pattern, which is the correspondence between the content of the operation of the operating device 143 and the content of the operation of the work machine 100, can be changed. That is, the control system 200 of this embodiment comprises a work machine 100 that operates according to the operation of the operating device 143, and is a control system 200 in which the operation pattern, which is the correspondence between the operation of the operating device 143 and the operation of the work machine 100, can be changed. Furthermore, the control system 200 includes a display control unit 2012 that displays the currently set or intended setting operation pattern on the display unit 206, and a work machine control unit 2013 that, when the push-button switch (physical operator) BSWL1 is operated after the operation pattern is displayed on the display unit 206, confirms the operation pattern and enables the work machine 100 to operate according to the confirmed operation pattern by operating the operating device 143. With this configuration, by using a physical operator (hardware key) for the confirmation operation, the time from the display of the operation pattern to the completion of the confirmation operation can be increased compared to when a software key displayed on the display unit 206 is used. As a result, the display time of the operation pattern can be increased, which expands the opportunities for the operator to confirm the displayed operation pattern and improves the reliability of the operation pattern confirmation operation. In addition, by using a physical operator (hardware key) for the confirmation operation, it is possible to prevent erroneous operations due to so-called ghost touches, which are falsely detected as being close to or touching the display unit 206. Furthermore, by using a physical operator (hardware key) for the confirmation operation, the operator can reliably confirm the current operation pattern or the operation pattern to be changed.

[0061] The operating device 143 includes a left operating lever (operating lever) 143LO, and a push-button switch (physical operator) BSWL1 is provided on the left operating lever (operating lever) 143LO. With this configuration, the physical operator can be operated relatively easily compared to when the physical operator is a push-button switch not provided on the operating lever.

[0062] Furthermore, the display control unit 2012 displays the currently set operation pattern on the display unit 206 along with instructions regarding the push-button switch (physical operator) BSWL1. This configuration allows for easy operation of the physical operator.

[0063] Furthermore, the push-button switch (physical operator) BSWL1 is input to the work machine control unit 2013 without going through the display control unit 2012. With this configuration, the degree of freedom in the positional relationship between the physical operator and the display unit 206 can be increased relatively easily.

[0064] The control method of this embodiment is a control method for a control system 200 that includes a display unit 206, an operating device 143, and a push-button switch (physical operator) BSWL1, and controls the operation of the work machine 100 in accordance with the operation of the operating device 143. In the control method of this embodiment, the operation pattern, which is the correspondence between the content of the operation of the operating device 143 and the content of the operation of the work machine 100, can be changed. That is, the control method of this embodiment is a control method for a work machine 100 that includes a work machine 100 that operates according to the operation of the operating device 143, and in which the operation pattern, which is the correspondence between the operation of the operating device 143 and the operation of the work machine 100, can be changed. The control method of this embodiment includes step S1 of displaying the operation pattern on the display unit 206, and step S4 of enabling the operation of the work machine 100 in accordance with the operation of the operating device 143 when the push-button switch (physical operator) BSWL1 is operated after the currently set operation pattern is displayed on the display unit 206.

[0065] (Modifications, etc.) Although embodiments of this invention have been described above with reference to the drawings, the specific configuration is not limited to the above embodiments, and design changes, etc., that do not depart from the gist of this invention are also included.

[0066] Furthermore, the prime mover may be an electric motor instead of the engine 121, or a combination of an engine and an electric motor. Also, the operating device 143 (including the push-button switch (physical operator) BSWL1) and the display unit 206 may be located in a remote control room for remotely operating the work machine 100, instead of (or in addition to) being located in the operator's cab 140 of the work machine 100. In this case, the operating device 143 and the display device 206, etc., are configured to communicate with the work machine 100, thereby enabling remote operation of the work machine 100. Furthermore, the physical operator for reflecting (or confirming) the setting of the operation pattern is not limited to one provided on the operating lever. Also, the physical operator for reflection (or confirmation) may be changed, for example, each time the machine is started. Furthermore, some or all of the program executed by the computer in the above embodiment can be distributed via a computer-readable recording medium or communication line.

[0067] [Note] The control system 200 described in the embodiment can be understood as follows.

[0068] (1) A control system according to a first aspect of the present disclosure is a control system that controls the operation of a work machine in accordance with the operation of the operation device, wherein the operation pattern, which is a correspondence between the content of the operation and the content of the operation, is changeable, and the system includes a display control unit that displays the operation pattern on the display unit, and a work machine control unit that, when the physical operator is operated after the operation pattern has been displayed on the display unit, determines the operation pattern and enables the work machine to operate in accordance with the determined operation pattern by operating the operation device.

[0069] (2) A control system according to a second aspect of the present disclosure is the control system of (1), wherein the operating device includes an operating lever, and the physical operator is provided on the operating lever.

[0070] (3) A control system according to a third aspect of the present disclosure is the control system of (1) or (2), wherein the display control unit displays the operation pattern together with a guide image relating to the physical operator on the display unit.

[0071] (4) A control system according to a fourth aspect of the present disclosure is the control system of (1) to (3), wherein the operation signals of the physical operator are input to the work machine control unit without going through the display control unit.

[0072] (5) A control system according to a fifth aspect of the present disclosure is the control system of (1) to (4), wherein the operation pattern is one or more operation patterns, and the one or more operation patterns are displayed on the display unit.

[0073] (6) A control system according to a sixth aspect of the present disclosure is a control system according to (1) to (5) which allows the user to select a desired operation pattern from a plurality of operation patterns.

[0074] (7) A control system according to a seventh aspect of the present disclosure is the control system of (1) to (6), wherein the display unit displays an image showing the operation pattern that indicates the correspondence between the operation of the operating device and the operation of the work machine.

[0075] The control system and control method disclosed herein can improve the reliability of the operation pattern verification operation and confirmation method.

[0076] 100...Work machine 110...Traveling body 120...Slewing body 126, 126A-D...Camera 130...Work machine 140...Operator's cab 143...Operating device 143LO...Left operating lever 200...Control system 201...Controller 2011...Input / output unit 2012...Display control unit 2013...Work machine control unit 2014...Memory unit 206...Display unit (touch panel) 206S...Display screen 206I...Input unit BSWL1...Push button switch (physical operator)

Claims

1. A control system comprising a display unit, an operating device, and a physical operator, for controlling the operation of a work machine in accordance with the operation of the operating device, wherein the operation pattern, which is the correspondence between the content of the operation and the content of the operation, is changeable, the operation pattern is displayed on the display unit, and when the physical operator is operated after the operation pattern is displayed on the display unit, the operation pattern is finalized, and the operation of the work machine in accordance with the finalized operation pattern can be performed by operating the operating device.

2. The control system according to claim 1, wherein the operating device includes an operating lever, and the physical operating element is provided on the operating lever.

3. The control system according to claim 2, which displays the operation pattern on the display unit along with instructions regarding the physical operator.

4. The control system according to any one of claims 1 to 3, wherein the operation signal of the physical operator is input to the control of the work machine without going through display control.

5. The control system according to claim 4, wherein the operation pattern is one or more operation patterns, and the one or more operation patterns are displayed on the display unit.

6. The control system according to claim 5, which allows the user to select a desired operation pattern from a plurality of operation patterns.

7. The control system according to claim 1, wherein the display unit displays an image showing the operation pattern that indicates the correspondence between the operation of the operating device and the operation of the work machine.

8. A control method for a control system comprising a display unit, an operating device, and a physical operator, for controlling the operation of a work machine in accordance with the operation of the operating device, wherein the operation pattern, which is a correspondence between the content of the operation and the content of the operation, is changeable, the operation pattern is displayed on the display unit, and when the physical operator is operated after the operation pattern is displayed on the display unit, the operation pattern is finalized, and the operation of the work machine in accordance with the finalized operation pattern can be performed by operating the operating device.

Images