Work machine

Abstract

This work machine comprises: a vehicle body; a touch monitor 203; operation levers 201 to 201d for operating the vehicle body; a shut-off lever 202 for switching the state of the vehicle body between an operable state in which operation of the vehicle body by the operation levers 201 to 201d is enabled and an inoperable state in which operation of the vehicle body by an operation device is disabled; and a control device 8 for controlling operation of the vehicle body. The work machine is characterized in that, even when the state of the vehicle body has been switched to the operable state by the shut-off lever 202, the control device 8 controls the state of the vehicle body to the inoperable state when a setting screen for setting an operation function of the vehicle body is displayed on the touch monitor 203. Accordingly, a work machine can be provided that is less likely to experience a decrease in work efficiency while suppressing an operation of the work machine that is not intended by the operator.

Description

Working Machine

[0001] The present invention particularly relates to a working machine that displays a setting screen on a display device and performs settings related to vehicle body operations from the setting screen.

[0002] In working machines such as hydraulic excavators, there are many cases where an input / output device such as a touch monitor, which integrates a display device for displaying various types of information of the working machine and an input device for operating screens displayed on the display device, is attached in front of the driver's seat. Such an integrated or adjacent arrangement of the display device and the input device allows an operator to perform intuitive screen operations. On the other hand, with such an input / output device, the operator needs to extend his or her arm forward of the driver's seat to operate the screen, which may cause the operator to accidentally touch the operation lever provided in front, leading to unintended machine operation.

[0003] Patent Document 1 describes a malfunction prevention device for construction machinery. This malfunction prevention device uses tactile sensors, as grip detection means, mounted on the entire surface of the grip portions of left and right operation levers to detect the pressure applied by an operator when gripping the grip portions. Further, the hydraulic lock mechanism is released only when pressure detection by the tactile sensors of both the left and right operation levers continues for a preset set time, on the premise that gripping of the left and right operation levers has been detected.

[0004] Japanese Unexamined Patent Publication No. 2010-250459

[0005] In the prior art, the working machine does not operate unless an operation lever is detected to be in a gripped state, so unintended machine operation caused by accidentally touching the operation lever when extending the arm to the input device can be suppressed. However, the prior art activates the hydraulic lock mechanism independently of screen operations on a display device such as a touch monitor. Furthermore, for an operator to operate the working machine, it is necessary to grip both the left and right operation levers for a certain period of time or longer, so there is a concern that the efficiency of normal work may be reduced.

[0006] The present invention aims to provide a work machine that suppresses unintended operation of the machine while minimizing a decrease in work efficiency.

[0007] To solve the above problems, the present invention provides a work machine comprising a vehicle body, a display device, an operating device for operating the vehicle body, an operation capability selection device for switching the state of the vehicle body between an operationable state that allows operation of the vehicle body by the operating device and an operation disabled state that disables operation of the vehicle body by the operating device, and a control device for controlling the operation of the vehicle body, wherein the control device controls the state of the vehicle body to an operation disabled state when the operation capability selection device has switched the state of the vehicle body to an operationable state, and when a setting screen for setting the operation function of the vehicle body is displayed on the display device.

[0008] Here, for example, the control device further includes an input receiving unit that receives input operations from an operator. Even if a setting screen is displayed on the display device and the vehicle's state is switched to an inoperable state, the control device controls the vehicle's state to an operable state when the input receiving unit enters an acceptance state indicating that an input operation has been received. In this case, if the input receiving unit can confirm that the operator intends to operate, the vehicle can be made operable. Also, for example, when the input receiving unit enters an acceptance state indicating that an input operation has been received, the control device maintains the acceptance state as long as the vehicle remains in an operating state, and discards the acceptance state when the vehicle transitions from an operating state to a stopped state. In this case, the vehicle can be made inoperable when the operator changes from intending to operate to not intending to operate. Furthermore, for example, the setting screen includes a display of the switching state between operable and inoperable states by an operation availability selection device. In this case, the operator can confirm the operable and inoperable states on the display device screen.

[0009] According to the present invention, it is possible to provide a work machine that suppresses unintended operation of the work machine while minimizing a decrease in work efficiency.

[0010] This is an overall view of the work machine according to this embodiment, showing the work machine from the side. This is a diagram showing the interior of the driver's cab. This is a diagram showing an example of the basic screen displayed on the touch monitor. This is a block diagram showing the system configuration of this embodiment. This is a flowchart showing the processing flow in the operation intention determination unit. This is a diagram showing the front work machine operating speed adjustment screen as an example of a setting screen. This is a flowchart showing the processing flow in the operation feasibility determination unit. This is a diagram showing the flow from when the operating speed adjustment screen is displayed until the state in which the vehicle body can be operated is reached. (a) to (b) are diagrams showing the flow when the adjustment of the front operating speed is confirmed while the operation lever is operated.

[0011] The following describes in detail an embodiment of the present invention, a working machine, with reference to the attached drawings.

[0012] <Description of the overall configuration of the work machine> Figure 1 is an overall view of the work machine according to this embodiment, and is a view of the work machine from the side. The work machine shown in Figure 1 is a hydraulic excavator 1. However, the work machine is not limited to a hydraulic excavator 1, and can be construction machinery such as a wheel loader, bulldozer, or crane. In addition, for example, the work machine can be agricultural machinery such as a felling machine, logging machine, tractor, forestry work vehicle, or logging machine.

[0013] The hydraulic excavator 1 consists of a multi-jointed front work unit 1A comprising a boom 1a, an arm 1b, and a bucket 1c that rotate vertically, and a vehicle body 1B comprising an upper slewing body 1d and a lower traveling body 1e. The upper slewing body 1d is equipped with a driver's cab 1f. The base end of the boom 1a of the front work unit 1A is supported at the front of the upper slewing body 1d. The boom 1a, arm 1b, bucket 1c, upper slewing body 1d, and lower traveling body 1e are driven by actuators: a boom cylinder 2a, an arm cylinder 2b, a bucket cylinder 2c, a slewing motor (not shown), a left-side traveling motor 3e, and a right-side traveling motor 3f, respectively. The bucket 1c is designed to be replaceable with other attachments such as a breaker or a crushing machine. Attitude sensors 4a, 4b, and 4c are mounted on the sides of the boom 1a, arm 1b, and bucket 1c to measure their posture and obtain their respective angles.

[0014] The upper rotating body 1d is equipped with an engine 5 for operating the hydraulic excavator 1, a pump (not shown), an electronically controlled valve 7 (see Figure 8, described later), and a control device 8 for controlling the entire hydraulic excavator 1. The pump is driven by the rotation of the engine 5 and discharges hydraulic fluid. This discharged hydraulic fluid flows to the boom cylinder 2a, arm cylinder 2b, bucket cylinder 2c, slewing motor, and travel motors 3e and 3f, thereby driving each actuator and operating the hydraulic excavator 1. Therefore, as the rotational speed of the engine 5 increases, the flow rate of hydraulic fluid discharged from the pump increases, and the maximum operating speed of each actuator increases.

[0015] Furthermore, the electronically controlled valve 7 opens and closes in accordance with the control command value output from the control device 8, thereby controlling the flow rate of hydraulic fluid supplied to each actuator. The rotational speed of the engine 5 is controlled based on various settings of the hydraulic excavator 1, such as the target rotational speed and power mode set by the operator.

[0016] The travel motors 3e and 3f have two states, a low-speed mode and a high-speed mode, depending on the tilt angle of the swash plate they contain. When the same hydraulic fluid flow rate is supplied, the travel motors 3e and 3f rotate faster in high-speed mode than in low-speed mode. Furthermore, when attaching attachments other than bucket 1c, a dedicated hydraulic piping is connected, and the attachment can be operated using hydraulic fluid discharged from the pump. The control device 8 can retain and change information about the attached attachments, and calculates control command values ​​for the electronic control valve 7 based on these settings.

[0017] The upper slewing body 1d is equipped with cameras 9a, 9b, and 9c on its right, rear, and left sides, respectively, for capturing images of the area around the hydraulic excavator 1. The captured images can be viewed in real time inside the operator's cab 1f. In addition, work lights (not shown) are attached to both the upper slewing body 1d and the boom 1a. When working in dark places, such as at night, the work lights can be turned on to ensure visibility of the surroundings. There are three states for the work lights: off, one work light on, and both work lights on, and the operation to switch between these states can be performed inside the operator's cab 1f.

[0018] The front window of the driver's cab 1f is fitted with a wiper (not shown) and a washer (not shown) mechanism, and the wiper is driven and the washer fluid is sprayed by controlling the motors that operate each of them.

[0019] Figure 2 shows the interior of the driver's cab 1f. Inside the driver's cab 1f, electric control levers 201a, 201b, 201c, and 201d are installed as an example of control devices for operating the vehicle body. Control levers 201a and 201b can be operated in four directions: forward, backward, left, and right, and correspond to the operation of the front work implement 1A and the upper slewing body 1d. Control levers 201c and 201d can be operated in two directions: forward and backward, and correspond to the operation of the left and right travel motors 3e and 3f attached to the lower travel body 1e. The control device 8 controls the movement of the vehicle body by operating the control levers 201a, 201b, 201c, and 201d.

[0020] The upper end surfaces of the operating levers 201a and 201b are provided with lever buttons 201e, 201f, 201g, and 201h. By pressing these buttons, it is possible to sound the horn or operate the attachments.

[0021] The operator's cab 1f is equipped with a shut-off lever 202 for selecting whether the hydraulic excavator 1 is operational or not. When the shut-off lever 202 is in the locked position, the electronic control valve 7 controls the system so that all actuators do not operate, regardless of the amount of operation of each operating lever. In other words, the shut-off lever 202 functions as an operational status selection device that switches the state of the excavator between an operational state (a state in which the excavator can be operated) in which the excavator can be operated by the operating levers 201a, 201b, 201c, and 201d, and an operational state (a state in which the excavator cannot be operated by the operating device).

[0022] In addition, the driver's cab on the first floor is equipped with air conditioning and audio equipment, allowing operators to adjust the airflow and temperature, and listen to the radio according to their preferences.

[0023] Furthermore, a touch monitor 203 is mounted on the front right of the driver's cab 1f, which allows for checking and changing various settings of the hydraulic excavator 1 and displaying camera images captured by cameras 9a, 9b, and 9c. The touch monitor 203 is an example of a display device capable of screen display. The touch monitor 203 is also an example of an input receiving unit that accepts input operations from the operator. The information displayed on the touch monitor 203 is controlled by the control device 8.

[0024] To the right of the driver's seat, there is a rotary dial 204 and four momentary push buttons 205a, 205b, 205c, and 205d. The following processes are executed in response to the operation of each button: Dial 204 (rotation): Changes the target rotational speed of the engine 5. Push button 205a: Switches the illumination state of the work lights. Push button 205b: Switches the mute state of the audio system. Push button 205c: Switches the operation state of the wipers. Push button 205d: Sprays the washer fluid (only when pressed).

[0025] Figure 3 shows an example of the basic screen 300 displayed on the touch monitor 203. The basic screen 200 is the screen displayed while the hydraulic excavator 1 is in operation. The basic screen 300 is also the screen that is first displayed when the hydraulic excavator 1 is started, and can be called the home screen. The basic screen 300 shown in Figure 3 displays information that is frequently checked during operation. In this case, various vehicle information is displayed at the top of the basic screen 300. Here, the setting status related to the operating characteristics of the hydraulic excavator 1 is displayed at the top of the screen, such as the driving mode 301, power mode 302, attachment type 303, etc. In addition, the basic screen 300 also displays a fuel gauge 304, a water temperature gauge 305, a clock 307, and a menu icon 308 at the top of the screen.

[0026] The driving mode 301 indicates whether the driving motors 3e and 3f are set to low-speed mode or high-speed mode. In this embodiment, the low-speed mode is represented by a turtle icon and the high-speed mode by a rabbit icon. The power mode 302 is a setting that indicates the maximum rotational speed of the engine 5, and indicates one of three modes: ECO mode, PWR mode, or HP mode. The attachment type 303 is a setting that indicates the type of attachment attached to the tip of the front work implement 1A. This is a setting item that the operator sets according to the type of attachment attached, and its current setting is displayed by an icon that mimics the shape of the attachment.

[0027] The basic screen 300 also displays a camera image 306 at the bottom of the screen, which is a composite image created from camera image information captured by cameras 9a, 9b, and 9c. In addition to the basic screen 300 described above, the touch monitor 203 also has a menu screen display state, where various settings of the hydraulic excavator 1, including the air conditioner and audio system, can be checked and changed through screen operation. The menu screen can be accessed by selecting a menu icon 308.

[0028] Figure 4 is a block diagram showing the system configuration of this embodiment. Each input / output device, shown as the operating levers 201a to 201d, lever buttons 201e to 201h, shut-off lever 202, engine 5, electronically controlled valve 7, cameras 9a, 9b, 9c, and touch monitor 203, is connected to the control device 8. These devices perform various controls, such as inputting and outputting information with the operator and issuing commands for the operation of the vehicle body.

[0029] The control device 8 is configured to include a touch monitor control unit 401, a lever operation information acquisition unit 404, a vehicle body control unit 405, a lever button operation information acquisition unit 406, an operation intention determination unit 407, a shut-off lever state acquisition unit 408, an operation feasibility determination unit 409, and a vehicle body setting management unit 410. The touch monitor control unit 401 includes a display control unit 402 and an input control unit 403. The processing flow in each processing unit will be described below.

[0030] The touch monitor control unit 401 controls the screen display and touch operation input of the touch monitor 203. As shown in Figure 3, the display control unit 402 generates a display screen based on various vehicle information and camera image information captured by cameras 9a, 9b, and 9c, and outputs it to the touch monitor 203. In addition, identification information of the screen currently displayed on the touch monitor 203 is output to the input control unit 403 and the operation feasibility determination unit 409.

[0031] The input control unit 403 determines the processing content based on the touch operation information from the touch monitor 203 and the currently displayed screen information, and makes change requests for screen operations and various vehicle body settings. The change requests are output to the vehicle body setting management unit 410 and reflected in various vehicle body behaviors. The lever operation information acquisition unit 404 determines the operation content of each lever in response to signals from the operation levers 201a to 201d and outputs the information. For example, the lever operation amounts of the operation levers 201a, 201b, 201c, and 201d are expressed with the neutral position of the lever as 0, the operation direction as positive or negative, and the operation amount as 1 to 100, with each operation amount shown in the range of -100 to 100.

[0032] The vehicle control unit 405 controls the operation of the hydraulic excavator 1, including the rotational speed of the engine 5 and control commands to the electronically controlled valves 7. The control command value for the electronically controlled valves 7 is determined based on information such as the vehicle operation status and the amount of lever operation. In addition, the control command value is determined by receiving the setting status related to the vehicle's dynamic characteristics, such as the driving mode, power mode, and attachment type, which is held by the vehicle setting management unit 410. The electronically controlled valves 7 control the flow rate of hydraulic fluid supplied to each actuator according to this control command value. The lever button operation information acquisition unit 406 determines the operation status (pressed / not pressed) of each button in response to the operation signals of the lever buttons 201e to 201h attached to the operation levers 201a and 201b, and outputs it to the operation intention determination unit 407.

[0033] The operation intention determination unit 407 determines the intention to operate the operation levers 201a to 201d based on the input information from the lever button 201g and the touch monitor 203, and outputs the result to the operation feasibility determination unit 409. The shut-off lever state acquisition unit 408 determines whether the shut-off lever 202 is in the locked position or the unlocked position, and outputs the result to the operation feasibility determination unit 409.

[0034] The operation feasibility determination unit 409 determines whether the vehicle body can be operated. In this case, the operation feasibility determination unit 409 determines whether the operation of the operating levers 201a to 201d is valid or invalid when the operator has operated them. That is, if the operation feasibility determination unit 409 determines that the operation is valid when the operating levers 201a to 201d are in the operating state, the vehicle body will operate in accordance with that operation. On the other hand, if the operation feasibility determination unit 409 determines that the operation is invalid, the vehicle body will not operate. The vehicle body setting management unit 410 manages various vehicle body information, such as setting value information.

[0035] Figure 5 is a flowchart showing the processing flow in the operation intention determination unit 407. In the operation intention determination unit 407, steps 501 to 506 are repeatedly executed according to the operation cycle of the control device 8. In step 501, the operation intention determination unit 407 performs branching processing according to the current operating state based on the information input from the vehicle body control unit 405. If the vehicle body is currently operating, the operation has already started, so the process proceeds to step 505, and the operation intention determination unit 407 outputs "yes" as the intention to operate. In other words, the operation intention determination unit 407 determines that there is an intention to operate as long as the operating state of the hydraulic excavator 1 continues.

[0036] Currently, if the vehicle body is not operating (non-operating) in step 501, the process proceeds to step 502, where the operation intention determination unit 407 makes a determination based on the vehicle body's operating state at the time of the previous processing. As a result, if the vehicle was operating at the time of the previous processing, it can be determined that the operation of the control levers 201a to 201d was stopped between the time of the previous processing and the present, and the vehicle body has stopped. Therefore, the process proceeds to step 506, and the operation intention determination unit 407 outputs "none" as the intention to operate. In other words, the operation intention determination unit 407 determines that there is no intention to operate when the hydraulic excavator 1 has transitioned from an operating state to a stopped state.

[0037] On the other hand, if the vehicle body was in a non-operating state when the previous process was executed in step 502, the process proceeds to step 503, where the operation intention determination unit 407 determines the intention to operate based on the pressed state of the lever button 201g. When the lever button is pressed (while pressed), the operator is gripping the operation lever 201a, and therefore it can be determined that the operator is intentionally gripping the lever in order to move the vehicle body. In this case, the operation intention determination unit 407 proceeds to step 505 and determines that there is an intention to operate.

[0038] Thus, in this embodiment, one means of determining the intention to operate the operating lever is to use the result of determining whether or not the operating lever is in a gripped state. In this example, the gripped state is determined by whether the lever button 201g is pressed, but for example, an electrostatic sensor may be provided on the surface of the gripping part of each operating lever, and the gripped state may be determined by its output value. Alternatively, the operation intention determination unit 407 may use a motion capture system to detect the position of the operator's hand, and determine that the lever is in a gripped state if the position of the operator's hand and the operating lever are at a distance of less than or equal to a certain threshold. Furthermore, in this example, the pressed state of the lever button 201g is used as a means of determining the intention to operate each of the operating levers 201a to 201d on a representative basis, but for example, the intention to operate each operating lever may be determined individually, and the possibility of operation may be determined for each.

[0039] On the other hand, if the lever button is not pressed in step 503 (not pressed), the process proceeds to step 504, where the operation intention determination unit 407 determines the operation intention based on the input content of the touch monitor 203. This process will be explained below using Figure 6.

[0040] Figure 6 shows an example of a setting screen, specifically the operating speed adjustment screen 600A for the front work implement 1A. The setting screen is used to set at least one of the following: area control, operating characteristics, lever pattern changes, and calibration of attitude sensors 4a, 4b, and 4c. This screen is configured to include setting item names 601, operation intention input section 602, setting input operation section 603, back button 604, confirmation button 605, camera image 306, etc.

[0041] The setting input operation unit 603 consists of a setting value 603a, a slider 603b, and a knob 603c. By moving the knob 603c to any position, the front operating speed can be adjusted. Depending on the adjustment value of the front operating speed, the flow rate of hydraulic fluid discharged to each actuator changes according to the amount of operation of the operating levers 201a to 201d, making it possible to adjust the front operating speed. The front operating speed can be changed within a predetermined range based on the default setting of 0.0%, for example, from -10.0% to +10.0%. The larger the adjustment value of the front operating speed, the faster the front operating speed will be compared to the default setting value, and conversely, the smaller the value, the slower the front operating speed will be compared to the default setting value. By setting the front operating speed according to the operator's preference, it becomes possible to operate the vehicle body intuitively and efficiently. When the position of the knob 603c is moved, the adjustment value of the front operating speed is provisionally set and temporarily reflected in the vehicle body behavior.

[0042] When the position of the knob 603c is moved and the confirmation button 605 is tapped, the adjustment value is confirmed and the front operating speed is changed permanently. On the other hand, when the back button 604 is tapped, the adjustment value is not changed according to the position of the knob 603c, but returns to the originally set adjustment value and returns to the screen before transitioning to this screen. In this case, when the settings on the setting screen are completed, the touch monitor control unit 401 controls the transition to the basic screen 300 shown in Figure 5. Regardless of whether the confirmation button 605 or the back button 604 is tapped, it is desirable to display a pop-up screen indicating whether the adjustment value has been reflected or not to alert the operator. Furthermore, the operation intention input unit 602 is further composed of a lock release indicator icon 602a, a lock indicator icon 602b, and a slide switch 602c.

[0043] The operation intention input unit 602 acquires the selection state of the slide switch 602c from the touch monitor control unit 401. As shown in FIG. 6, when the slide switch 602c is positioned on the lock display icon 602b side, it can be determined that the operator has no intention to operate the operation levers 201a to 201d. On the other hand, when the slide switch 602c is positioned on the opposite unlock display icon 602a side, it can be determined that the operator has an intention to operate the operation levers 201a to 201d. That is, the slide switch 602c functions as an operation intention input means for inputting an operation intention. Then, the operator performs an input operation of an operation intention on the slide switch 602c on the operation speed adjustment screen 600A.

[0044] The slide switch 602c allows swipe operations. When the slide switch 602c is positioned on the lock display icon 602b side, swiping to the left switches the slide switch 602c to the unlock display icon 602a side. Conversely, when the slide switch 602c is positioned on the unlock display icon 602a side, swiping to the right switches the slide switch 602c to the lock display icon 602b side.

[0045] As an initial state when transitioning to the operation speed adjustment screen 600A, it is preferable that the slide switch 602c is positioned on the lock display icon 602b side. In addition, the position of the slide switch 602c is switched according to the determination result of the operation availability determination unit 409. For example, when it is determined that there is an operation intention because the lever button 201g is in a pressed state and the vehicle body is in an operable state, the slide switch 602c operates to be positioned on the unlock display icon 602a side. Therefore, based on the position of the slide switch 602c, the operator can currently determine whether or not the vehicle body is in an operable state.

[0046] Returning to Figure 5, if in step 504 it is determined that there is no intention to operate because no operation lock release operation was performed from the touch monitor 203, the process proceeds to step 506, and the operation intention determination unit 407 outputs "none" as the intention to operate. In other words, if the setting screen is displayed on the touch monitor 203, even if an operable state is selected on the shut-off lever 202, if no operation intention input operation is performed using the slide switch 602c, the operation intention determination unit 407 determines that there is no intention to operate.

[0047] Conversely, if in step 504 an operation to release the operation lock is performed from the touch monitor 203 and it is determined that there is an intention to operate, the process proceeds to step 505, and the operation intention determination unit 407 outputs "yes" to indicate an intention to operate. In other words, if the setting screen is displayed on the touch monitor 203, and an operable state is selected on the shut-off lever 202, and an operation intention input operation is performed using the slide switch 602c, the operation intention determination unit 407 determines that there is an intention to operate.

[0048] Fig. 7 is a flowchart showing the flow of processing in the operation availability determination unit 409. In the operation availability determination unit 409, the processing from step 701 to step 707 is repeatedly executed according to the operation cycle of the control device 8. First, in step 701, branch processing is performed in accordance with the position of the shut-off lever 202 determined by the shut-off lever state acquisition unit 408. If the shut-off lever 202 is in the lock position, the process proceeds to step 707, and the operation availability determination unit 409 sets the vehicle body operation availability state to "disabled" and outputs the state to the touch monitor control unit 401 and the vehicle body control unit 405. By this processing, when the shut-off lever 202 is in the lock position, the vehicle body cannot be operated regardless of whether there is an operation intention. On the other hand, if the shut-off lever 202 is in the unlocked position, the process proceeds to step 702, and the operation availability determination unit 409 determines whether or not the current display screen corresponds to a predetermined setting screen as shown in the operation speed adjustment screen 600A. If the current display screen does not correspond to the predetermined setting screen, the process proceeds to step 704, and if it does correspond, the process proceeds to step 703. Note that whether the current display screen corresponds to the predetermined setting screen is determined based on identification information held by the display control unit 402.

[0049] The predetermined setting screen is desirably a screen on which efficient setting operation can be performed by operating the operation levers 201a to 201d during the setting operation, such as a screen for setting the working range of the vehicle body in addition to a setting screen that changes the dynamic characteristics of the vehicle body like a front operation speed screen, but other setting screens may also be set as the predetermined setting screen.

[0050] In step 704, the operation feasibility determination unit 409 determines whether the previous display screen corresponds to a predetermined setting screen. If the previous display screen corresponds to a predetermined setting screen, and the operator continues to operate the operation levers 201a to 201d while the screen transitions, there is a possibility that the vehicle may unintentionally move at the same time as exiting the predetermined setting screen. Therefore, if the previous display screen corresponds to a predetermined setting screen, in step 705, the operation feasibility determination unit 409 makes a determination according to the operating state of the operation levers 201a to 201d. If the operation levers 201a to 201d are being operated, in step 707, the operation of the vehicle is determined to be "impossible". In other words, even when the vehicle is in an operational state due to the shut-off lever 202, if the touch monitor 203 is displaying a setting screen related to the operation of the vehicle, the control device 8 controls the vehicle so as not to move even if the operation levers 201a to 201 are operated. This makes it possible to prevent the vehicle from suddenly moving at the same time as the screen transition.

[0051] If, in step 704, the previously displayed screen does not correspond to a predetermined setting screen, or if, in step 705, it is determined that the operating levers 201a to 201d are in an unoperated state, the process proceeds to step 706. In step 706, the operation feasibility determination unit 409 determines that the vehicle operation is "possible" according to the selected state of the shut-off lever 202.

[0052] Furthermore, in step 702, if the current display screen corresponds to a predetermined setting screen, in step 703, the operation feasibility determination unit 409 determines whether the vehicle body can be operated based on the operation intent determination unit 407. If the current display screen corresponds to a predetermined setting screen and it is determined that there is an operation intent, the process proceeds to step 706, where the operation feasibility determination unit 409 determines that the vehicle body can be operated. In other words, the control device 8 enables operation by the operation levers 201a to 201 when it is determined that there is an operation intent. In this case, the vehicle body operates in response to the operation of the operation levers 201a to 201.

[0053] On the other hand, if the current display screen corresponds to a predetermined setting screen and it is determined that there is no intention to operate, the process proceeds to step 707, and the operation feasibility determination unit 409 determines that vehicle operation is "impossible". In other words, even when the vehicle body is in an operational state due to the shut-off lever 202, if the operator does not indicate an intention to operate when the touch monitor 203 displays a setting screen related to vehicle operation, the control device 8 controls the vehicle body so as not to operate even if the operation levers 201a to 201 are operated. In this way, even when the unlock position is selected for the shut-off lever 202, if the display screen corresponds to a predetermined setting screen and there is a high probability that setting operations will be performed on the touch monitor 203, vehicle operation is only enabled when the intention to operate the vehicle is clearly indicated, and it is possible to prevent vehicle body operation due to unintended operation of the operation levers 201a to 201d during setting operations.

[0054] Next, we will describe a specific example of operation using the present invention. Figures 8(a) to 8(c) show the flow from when the operating speed adjustment screen is displayed until the vehicle body can be operated. First, Figure 8(a) shows the case when the operating speed adjustment screen 800A is accessed with the shut-off lever 202 locked. At this time, since the shut-off lever 202 is locked, the process proceeds from step 701 to step 707 in Figure 7, and it is determined that vehicle body operation is not possible. Therefore, the slide switch 602c displayed on the operating speed adjustment screen 800A is represented using an inactive color to indicate that touch operation is not possible, in order to show that the vehicle body is in an inoperable state regardless of the user's intention.

[0055] In the operating speed adjustment screen 800A, moving the position of the knob 603c of the setting input operation unit 603 changes the setting value 603a of the operating speed adjustment screen 800B shown in Figure 8(b) from 5.0% to 9.0%. As mentioned above, the front operating speed is temporarily reflected in the vehicle settings at this point. Therefore, the operator performs the shut-off lever 202 release operation to check how much the current setting value affects the vehicle behavior. As a result, the color of the knob changes to an active color, as with the slide switch 602c on the operating speed adjustment screen 800B, indicating that the slide switch 602c is in an operable state. In other words, the operating speed adjustment screen 800A includes an indication of the operable state by the shut-off lever 202. Specifically, the color of the knob indicates whether it is operable or not. In other words, the setting screen includes an indication of the switching state between operable and non-operable states by the shut-off lever 202.

[0056] When this screen is displayed, the slide switch 602c is in the state where the lock indicator icon 602b is selected. Therefore, in step 504 of Figure 5, it is determined that there is no unlock operation from the touch monitor 203, and the intention to operate is output as "none". Furthermore, a predetermined setting screen is displayed, so the process proceeds from step 702 to step 703 in Figure 7. In step 703, it is determined that there is no intention to operate, so the process proceeds to step 707, and it is output that the vehicle cannot be operated. Therefore, when the operating speed adjustment screen 800B is displayed, the vehicle cannot be operated even if the operating levers 201a to 201d are operated. In other words, even when the vehicle state is switched to an operable state by the shut-off lever 202, the control device 8 controls the vehicle state to an operable state when the setting screen for setting the vehicle's operating function is displayed on the touch monitor 203.

[0057] In this embodiment, when the shut-off lever 202 is switched to the unlocked position, the slide switch 602c is set to the lock indicator icon 602b position and touch operation is enabled. However, it is also possible to configure the system so that the change in the shut-off lever 202 position is considered to indicate an intention to operate the vehicle, and the slide switch 602c is changed to the unlock indicator icon 602a position.

[0058] Next, when the lever button 201g is pressed on the operating speed adjustment screen 800B, as long as the press operation continues, the system transitions to the operating speed adjustment screen 800C shown in Figure 8(c), and the slide switch 602c changes to the unlock indicator icon 602a. At this time, in step 503 of Figure 5, the condition that the lever button 201g is pressed is met, so in step 505, it is determined that there is an intention to operate the vehicle, and the vehicle becomes operational. Similarly, by swiping the slide switch 602c to the left on the operating speed adjustment screen 800B, the process proceeds from step 504 to step 505 in Figure 5, it is determined that there is an intention to operate the vehicle, and the vehicle becomes operational. In other words, even when the setting screen is displayed on the touch monitor 203 and the vehicle's state is switched to an inoperable state, the control device 8 controls the vehicle's state to an operable state when the touch monitor 203 enters an input operation acceptance state. Conversely, if the lever button 201g switches from pressed to unpressed on the operating speed adjustment screen 800C, or if the slide switch 602c is swiped to the right, the process proceeds from step 503 to step 504 and step 505 in Figure 5, and it is determined again that there is no intention to operate. Therefore, the system transitions from the operating speed adjustment screen 800C to the operating speed adjustment screen 800B, and vehicle operation becomes impossible.

[0059] Furthermore, if the vehicle starts moving while the operating speed adjustment screen 800C is displayed, and then the vehicle stops moving (operating levers 201a to 201d return to the neutral position), the process proceeds from step 502 to step 506 in Figure 5, and it is determined that there is no intention to operate. Therefore, the system transitions from the operating speed adjustment screen 800C to the operating speed adjustment screen 800B, and vehicle movement becomes impossible. In other words, when the touch monitor 203 has received an input operation, the control device 8 maintains the reception state as long as the vehicle is in operation, and discards the reception state when the vehicle transitions from the operation state to the stopped state. In this way, the operating speed adjustment screen 800B and the operating speed adjustment screen 800C alternate depending on whether the vehicle can move when various conditions are met.

[0060] These processes prevent accidental contact with the operation levers 201a to 201d when reaching for the touch monitor 203 to change settings, or when returning to a normal driving position after completing settings, which can lead to unintended vehicle movements, especially when performing setting operations that involve alternating between touch operations and vehicle operation. On the other hand, when not performing a predetermined setting operation, the work machine can be operated as usual, thus not reducing work efficiency. Furthermore, as in this embodiment, the intention to operate can be easily switched using operations on the same screen of the monitor displaying the setting screen, or by using lever buttons, eliminating the need to switch the shut-off lever 202 each time a touch operation is attempted, thus enabling efficient setting operations.

[0061] Figures 9(a) to 9(b) show the flow when the adjustment of the front operating speed is confirmed while the operating levers 201a to 201d are being operated. In this embodiment, the explanation will assume that the system automatically transitions to the basic screen 300 after the setting operation is confirmed. To confirm the setting operation, it is necessary to tap the confirmation button 605 on the operating speed adjustment screen 900A shown in Figure 9(a). If the confirmation button 605 is tapped while the operating levers 201a to 201d are in operation, the basic screen 300 shown in Figure 9(b) after the automatic transition does not correspond to a predetermined setting screen. Therefore, the operation feasibility determination unit 409 will transition sequentially from step 702 in Figure 7 to step 704, step 705, and step 707, making vehicle operation impossible. In this way, if the system transitions to a screen other than a predetermined screen such as the basic screen 300 while the operating levers 201a to 201d are in operation, the above process makes it possible to prevent the vehicle from suddenly moving. Furthermore, as shown in Figure 9(b), it is desirable to display a message 901 to the operator indicating that vehicle operation is restricted.

[0062] Although this embodiment has been described above, the technical scope of the present invention is not limited to the scope described in the above embodiment. It is clear from the claims that various modifications or improvements made to the above embodiment are also included in the technical scope of the present invention.

[0063] 1...Hydraulic excavator (working machine), 1B...Vehicle body, 8...Control device, 201a-201d...Operating lever (operating device), 202...Shut-off lever (operation feasibility selection device), 203...Touch monitor (display device, input reception unit), 300...Basic screen, 401...Touch monitor control unit, 402...Display control unit, 403...Input control unit, 404...Lever operation information acquisition unit, 405...Vehicle body control unit, 406...Lever button operation information acquisition unit, 407...Operation intention determination unit, 408...Shut-off lever status acquisition unit, 409...Operation feasibility determination unit, 410...Vehicle body setting management unit, 602c...Slide switch, 600A, 800A-800C, 900A...Operation speed adjustment screen (setting screen)

Claims

1. A work machine comprising: a vehicle body; a display device; an operating device for operating the vehicle body; an operation capability selection device for switching the state of the vehicle body between an operation capability state that allows operation of the vehicle body by the operating device and an operation capability state that prevents operation of the vehicle body by the operating device; and a control device for controlling the operation of the vehicle body, wherein the control device controls the state of the vehicle body to the operation capability state even when the state of the vehicle body has been switched to the operation capability state by the operation capability selection device, if a setting screen for setting the operation function of the vehicle body is displayed on the display device.

2. A work machine according to claim 1, further comprising an input receiving unit for receiving input operations by an operator, wherein the control device controls the state of the vehicle body to the operable state when the input receiving unit enters an input operation reception state, even when the setting screen is displayed on the display device and the state of the vehicle body is switched to the non-operational state.

3. The work machine according to claim 2, wherein the control device, when the input receiving unit enters a receiving state in which an input operation has been received, maintains the receiving state while the operating state in which the vehicle body is in operation continues, and discards the receiving state when the vehicle body transitions from an operating state to a stopped state.

4. The work machine according to claim 1, wherein the setting screen includes a display of the switching status between the operational state and the operational state by the operational status selection device.

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