KR20230069858A - Control method of working machine, control program for working machine, control system for working machine and working machine - Google Patents

Abstract

The present invention is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can easily reduce the burden on the operator due to operation. The control method for a work machine (3) comprises: receiving operations on an operating device (35) for controlling the work machine (3); monitoring specific ideas that are subject to surveillance; and, when a specific event occurs, determining whether the judgment conditions regarding the operation of the operating device (35) are satisfied.

Description

Control method of working machine, control program for working machine, control system for working machine, and working machine

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

As a related art, a working machine equipped with a body, a work device mounted on the body, and a hydraulic breaker attached to the front end of the work device is known (see Patent Document 1, for example). The working machine according to the related art further includes a switching switch capable of switching between an auto hammer prohibition state in which the hydraulic breaker is inoperable and an auto hammer permission state in which the hydraulic breaker is operable. In this working machine, the auto hammer prohibition state is normally set so as not to inadvertently strike, and the switching switch is operated to switch to the auto hammer permission state. Specifically, when the switching switch is operated in the auto hammer prohibition state, the working machine transits to the auto hammer standby state, and when the switching switch is operated again within a certain period of time in the auto hammer standby state, it transits to the auto hammer permission state.

Japanese Unexamined Patent Publication No. 2010-209641

In the related art described above, since the automatic hammer prohibited state is switched to the automatic hammer permitted state by operation of a switching switch, the operator must operate carefully so that, for example, the hydraulic breaker does not suddenly become operable and start hitting. There is a need.

An object of the present invention is to provide a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine that can easily reduce the operator's burden by operation.

A method for controlling a working machine according to one aspect of the present invention includes receiving an operation to an operating device for controlling the working machine, monitoring a specific event to be monitored, and when the specific event occurs, the operating device It has to determine whether or not the decision condition regarding the operation for is satisfied.

A control program for a working machine according to one aspect of the present invention is a program for causing one or more processors to execute the control method of the working machine.

A control system for a working machine according to one aspect of the present invention includes an acquisition processing unit, a monitoring processing unit, and a judgment processing unit. The acquisition processing section accepts an operation to an operating device for controlling the work machine. The monitoring processing unit monitors a specific event to be monitored. The judgment processing unit judges whether or not a judgment condition regarding an operation on the operation device is satisfied when the specific event occurs.

A working machine according to one aspect of the present invention includes a control system for the working machine and a body controlled according to an operation to the operating device.

ADVANTAGE OF THE INVENTION According to this invention, the control method of a working machine, the control program for working machines, the control system for working machines, and the working machine which can easily alleviate the operator's burden by operation can be provided.

1 is a schematic perspective view showing the overall configuration of a working machine according to Embodiment 1;
2 is a schematic block diagram of a working machine according to Embodiment 1;
3 is a schematic external view of an operating device for a working machine according to Embodiment 1;
4 is a schematic external view of a work machine display device according to Embodiment 1;
5 is a flowchart showing an example of operation of the control system for working machines according to the first embodiment.
6 is a timing chart showing an example of operation of the control system for working machines according to Embodiment 1;
7 is a diagram showing an example of a display screen displayed on the display device of the working machine according to the first embodiment.
8 is a flowchart showing an example of operation of the control system for working machines according to Embodiment 2;

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described, referring an accompanying drawing. The following embodiments are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention.

(Embodiment 1)

[1] Overall configuration

As shown in FIG. 1 , the working machine 3 according to the present embodiment includes a traveling part 31 , a turning part 32 , and a working part 33 in the body 30 . In addition, as shown in FIG. 2 , the working machine 3 further includes a working machine control system 1 (hereinafter, simply referred to as “control system 1”). In addition, as shown in Figs. 1 and 2, the body 30 includes a display device 2, a driving device 34, an operating device 35, a control valve 36, a cut-off switch 371, and a cut-off lever. (372) and the like are further provided.

The "working machine" used in the present disclosure means various kinds of working machines, and examples thereof include work vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. The working machine 3 has a working unit 33 configured to be able to perform one or more jobs. The work machine 3 is not limited to a "vehicle", and may be, for example, a work flying vehicle such as a work vessel, a drone or a multicopter. In addition, the work machine 3 is not limited to a construction machine (dry machine), and may be, for example, an agricultural machine (agricultural machine) such as a power planter, a tractor or a combine. In this embodiment, unless otherwise specified, a case where the work machine 3 is a backhoe of a riding type and excavation work, leveling work, groove excavation work or stacking work as work will be described as an example.

In addition, in this embodiment, for convenience of description, the vertical direction in a usable state of the working machine 3 is defined as the vertical direction D1. In addition, in the non-swinging state of the turning unit 32, the front-back direction D2 and the left-right direction D3 are based on the direction seen from the user (operator) riding on (the driving unit 321 of) the work machine 3. ) is defined. In other words, each direction used in the present embodiment is a direction defined on the basis of the base body 30 of the working machine 3, and the direction in which the base body 30 moves when the working machine 3 moves forward is " "Front", the direction in which the base body 30 moves when the work machine 3 is retracted becomes "rearward". Similarly, the direction in which the front end of the body 30 moves when the work machine 3 turns right is "right", and the direction in which the front end of the machine 30 moves when the work machine 3 turns left is "left". . However, these directions are not intended to limit the direction of use of the work machine 3 (direction at the time of use).

The working machine 3 has an engine serving as a power source. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by being supplied with fuel (here, light oil) from a fuel tank. In the work machine 3, for example, a hydraulic pump is driven by an engine, and from the hydraulic pump to hydraulic actuators (including the hydraulic motor 43 and the hydraulic cylinder 44) of each part of the body 30 The gas 30 is driven by supplying hydraulic oil. In such a work machine 3, for example, a user (operator) riding on the driving unit 321 of the body 30 operates an operating device 35 such as operating levers 351 and 352 (see Fig. 3). controlled by manipulation.

In this embodiment, since the case where the work machine 3 is a passenger-type backhoe is assumed as described above, the work unit 33 is driven according to the operation of the user (operator) riding on the driver 321, and excavation is performed. run tasks, etc. The driving unit 321 on which the user rides is formed on the turning unit 32 .

Here, the display device 2 and the operating device 35 are mounted on the driving unit 321 of the body 30, and the user can perform various tasks related to the work machine 3 displayed on the display device 2. The operating device 35 can be operated while viewing the information. As an example, by displaying information on the operating state of the working machine 3, such as cooling water temperature and operating oil temperature, on the display screen of the display device 2, the user can operate the working machine 3 necessary for operating the operating device 35. Information about the state can be checked on the display device 2 .

The traveling unit 31 has a traveling function and is configured to be capable of traveling (including turning) on the ground. The traveling part 31 has, for example, a pair of right and left crawlers 311 and blades 312 and the like. The travel section 31 further has a travel hydraulic motor 43 (hydraulic actuator) and the like for driving the crawler 311 .

The turning unit 32 is located above the traveling unit 31 and is configured to be able to turn around a rotation axis along a vertical direction with respect to the traveling unit 31 . The turning part 32 has a hydraulic motor (hydraulic actuator) for turning and the like. In addition to the driving unit 321, an engine, a hydraulic pump, and the like are mounted in the turning unit 32. In addition, a boom bracket 322 to which the work unit 33 is attached is installed at the front end of the swing unit 32 .

The work unit 33 is configured to be able to execute one or more jobs. The work unit 33 is supported by the boom bracket 322 of the swing unit 32 and performs work. The working part 33 has an attachment 331 . The attachment 331 is an arbitrary tool (work tool) selected from among a plurality of types of tools according to the content of the work. The attachment 331 is detachably attached to the body 30 as an example, and is exchanged according to the contents of the work. As the attachment 331 for the working machine 3, for example, a breaker, an auger, a crusher, a fork, a bucket, a fork claw, a steel frame cutter, an asphalt cutter, a reaper, a ripper, a mulcher, a tilt rotator, and a tamper. There is an instrument of

The working part 33 further has a boom 332, an arm 333, a hydraulic actuator (including a hydraulic cylinder 44 and a hydraulic motor, etc.), and the like. Attachment 331 is attached to the front end of arm 333 . Here, the working unit 33 operates by receiving power from an engine as a power source. Specifically, the hydraulic pump is driven by the engine, and hydraulic oil is supplied to the hydraulic actuator of the working unit 33 from the hydraulic pump, so that the working unit 33 operates.

The boom 332 is rotatably supported by the boom bracket 322 of the pivoting part 32 . Specifically, the boom 332 is rotatably supported around a rotation axis along the horizontal direction by the boom bracket 322 . The boom 332 has a shape extending upward from the proximal end supported by the boom bracket 322 . The arm 333 is connected to the tip of the boom 332. The arm 333 is rotatably supported with respect to the boom 332 about a rotation axis along a horizontal direction.

In addition, the work machine 3 is equipped with a driving device 34, drives the attachment 331 of the work section 33 with power from the driving device 34, and executes various jobs. That is, in the working machine 3, an attachment 331 such as a breaker or an auger is attached to the body 30 according to the contents of the work, and power from the driving device 34 is supplied to the attachment 331 Then, by driving the attachment 331, the job is executed. Therefore, in executing a job with the work machine 3, the drive device supplied to the attachment 331 is supplied to the attachment 331 by, for example, a user (operator) operating the operating device 35 so that the attachment 331 makes a desired movement. The output (power) of (34) and the like are controlled.

The driving device 34 is a device for supplying power to the attachment 331 . In this embodiment, as an example, the driving device 34 is composed of a device (mechanism) such as a power take-off (PTO) for taking out power from the engine as driving power for the attachment 331 made of hydraulic equipment. Specifically, the driving device 34 supplies the attachment 331 by sending hydraulic oil from a hydraulic pump driven by an engine to the attachment 331 . The driving device 34 adjusts the amount of power supplied to the attachment 331 by adjusting the flow rate of hydraulic fluid supplied to the attachment 331 .

Here, the driving device 34 has a plurality of output ports 341 to 344 (four as an example in this embodiment) (see Fig. 2). Each of these plurality of output ports 341 to 344 is configured to be capable of outputting power. The plurality of output ports 341 to 344 can individually adjust power, that is, the flow rate of hydraulic oil, and the driving device 34 outputs power from each of the plurality of output ports 341 to 344. In this embodiment, since each of the plurality of output ports 341 to 344 is a PTO port, the output port 341 is set to "PTO1", the output port 342 is set to "PTO2", and the output port 343 is set to "PTO3". In some cases, the port 344 is indicated as "PTO4".

Each of the turning part 32 and the traveling part 31 operates by receiving power from an engine as a power source, similarly to the working part 33 . That is, by supplying hydraulic oil from a hydraulic pump to the hydraulic actuator (hydraulic motor) of the swinging part 32 and the traveling part 31, the turning part 32 and the traveling part 31 operate.

The operating device 35 is disposed on the driving unit 321 of the body 30 and is a user interface for receiving an operating input from a user (operator). The operating device 35 accepts various operations by the user by, for example, outputting an electrical signal (operation signal) corresponding to the user's operation. In this embodiment, as an example, the operating device 35 includes a pair of operating levers 351 and 352 (see Fig. 3). The operating device 35 is described in detail in the column of "[2] Operating device".

The control system 1 has, for example, a computer system having one or more processors such as CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory) as a main configuration, , various processing (information processing) is executed. In this embodiment, the control system 1 is an integrated controller that controls the entire working machine 3, and is composed of, for example, an electronic control unit (ECU). However, the control system 1 may be formed separately from the integrated controller, or may have one processor or a plurality of processors as its main configuration. The control system 1 is described in detail in the column of "[3] Configuration of Control System".

The display device 2 is disposed on the driving unit 321 of the body 30, and is a user interface for receiving operation input by a user (operator) and outputting various types of information to the user. The display device 2 accepts various operations by the user by, for example, outputting electrical signals corresponding to the user's operation. Thereby, the user (operator) can visually recognize the display screen Dp1 (refer to FIG. 4) displayed on the display device 2, and can also operate the display device 2 as needed.

As shown in FIG. 2 , the display device 2 includes a control unit 21 , an operation unit 22 , and a display unit 23 . The display device 2 is configured to be communicable with the control system 1, and data can be exchanged with the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used for the work machine 3 .

The control unit 21 controls the display device 2 according to data from the control system 1 . Specifically, the control unit 21 outputs an electrical signal corresponding to a user's operation received by the operation unit 22 or displays a display screen Dp1 generated by the control system 1 on the display unit 23 .

The operation unit 22 is a user interface for receiving an operation input by a user (operator) to the display screen Dp1 displayed on the display unit 23 . The operation unit 22 accepts various operations by the user U1, for example, by outputting electrical signals corresponding to the operation of the user U1 (see Fig. 4). In this embodiment, as an example, the operation unit 22 includes a plurality of mechanical push button switches 221 to 226 (six here) as shown in FIG. 4 . These plurality of push button switches 221 to 226 are arranged close to the display area (downward in the example of FIG. 4 ) so as to follow the circumferential edge of the display area of the display unit 23 . These plurality of push button switches 221 to 226 correspond to items displayed on a display screen Dp1 described later, and when any one of the plurality of push button switches 221 to 226 is operated, the display screen Dp1 Any one of the items is manipulated (selected).

In addition, the operation unit 22 may include a touch panel, an operation dial, and the like. Also in this case, any one item of the display screen Dp1 is operated (selected) by the operation of the operation unit 22 .

The display unit 23 is a user interface for presenting information to the user U1 (operator) such as a liquid crystal display or an organic EL display displaying various types of information. The display unit 23 presents various kinds of information to the user by means of a display. In this embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and as shown in FIG. 4, it has a horizontally long "horizontal" display area.

2 schematically shows a hydraulic circuit and an electric circuit (electrical connection relationship) of the working machine 3 according to the present embodiment. In FIG. 2, the dotted line indicates the low-pressure (pilot use) flow path, and the dotted line arrow indicates the electrical signal path.

As shown in FIG. 2 , the body 30 of the working machine 3 includes a control valve 36, a cutoff switch 371, in addition to the display device 2, the driving device 34, and the operating device 35, and a cut-off lever 372 and the like.

Here, the drive device 34 is provided with a pilot type directional switching valve (control valve) capable of switching the direction and flow rate of hydraulic oil from the hydraulic pump. The driving device 34 is driven by supplying pilot oil serving as an input command from the pilot pump to the directional switching valve. An electromagnetic control valve 36 (solenoid valve) is inserted into the pilot oil supply path to the directional switching valve. The control valve 36 operates according to a control signal (current) from the control system 1 . The control valve 36 is assumed to be a (electronic) proportional control valve here, but is not limited to this, and may be, for example, an on-off valve capable of switching the opening/closing of a flow path.

The control valve 36 opens the pilot oil passage in an energized state, i.e., a state in which current as a control signal is supplied, and blocks the pilot oil passage in a non-energized state, i.e., in a state in which the current as a control signal is cut off. Therefore, when the supply current (control signal) to the control valve 36 is cut off, the driving device 34 becomes inoperable, and the output of the driving device 34 is forcibly stopped regardless of the operation of the operating device 35. do.

The cut-off switch 371 is interlocked with the cut-off lever 372. The cut-off lever 372 is disposed on the driving unit 321 of the body 30 and receives an operation input from a user (operator). In this embodiment, as an example, the cut-off lever 372 can be operated along the vertical direction D1. When the cut-off lever 372 is at the "up position", which is the upper end of the movable range, the cut-off switch 371 is "off", and when the cut-off lever 372 is at the "down position", which is the lower end of the movable range, the cut-off switch ( 371) is "on". And, the cut-off switch 371 is connected to the control system 1, and in a state in which the cut-off switch 371 is off, the control system 1 cuts off the current as a control signal to open the hydraulic circuit by the control valve 36. forcibly blocked. In addition, when a cut-off valve that is directly switched on/off by the on/off of the cut-off switch 371 is provided, the hydraulic circuit operates in conjunction with the cut-off switch 371 without intervening the control system 1. may be blocked. That is, when the cut-off switch 371 is OFF, the hydraulic circuit is forcibly cut off without intervening the control system 1 by blocking the hydraulic circuit with the cut-off valve. Therefore, when the cut-off lever 372 is at the "lower position", the driving device 34 is driven by the operation of the operating device 35, whereas when the cut-off lever 372 is at the "up position", the operating device 35 ), the output of the driving device 34 is forcibly stopped. Therefore, in order to drive the drive device 34, the user (operator) needs to operate the cut-off lever 372 to the "down position".

In addition, since the hydraulic actuator (hydraulic motor) operates by supplying hydraulic oil from a hydraulic pump to each of the swing unit 32 and the traveling unit 31, when the cut-off lever 372 is in the "up position", the swing unit 32 and The driving part 31 also becomes inoperable. In other words, when the cut-off lever 372 is at the "raised position", all of the work portion 33, the swing portion 32, and the travel portion 31 are forcibly disabled.

In short, the cut-off switch 371 is in a "locked state" in which the operation of the work machine 3 is restricted (including prohibited) when it is off, and when it is on, it is in a "unlocked state" that does not restrict the operation of the work machine 3. state”. And, if the cut-off switch 371 is in a locked state (off) when the cut-off lever 372 is at the "raised position", regardless of the operation of the operating device 35, of the work machine 3 including the drive device 34 Movement is forcibly restricted. The cut-off lever 372 is a lever operated when locking the operation of the work machine 3 in this way, and is synonymous with the gate (expression) lock lever.

In addition, the body 30 further includes a communication terminal, a fuel tank, a battery, and the like in addition to the above configuration. In addition, the body 30 is provided with various sensors (including cameras) for detecting objects to be detected in the monitoring area around the work machine 3, such as a camera that captures an image of the surroundings of the body 30.

[2] Operating device

Next, the configuration of the operating device 35 will be described in detail with reference to FIG. 3 . The operating device 35 includes a pair of operating levers 351 and 352 as described above. As shown in the "front view" of FIG. 3 , the control lever 351 is located on the right hand side when viewed from the user (operator) riding on the driver's unit 321, and the control lever 352 is located on the driver's unit 321. It is located on the left side when viewed from the boarding user. Therefore, the user holds the control lever 351 with his right hand and the control lever 352 with his left hand, for example, and operates the pair of control levers 351 and 352 to move the machine 3 forward and backward. Execute various actions such as

Here, the operating device 35 corresponds to a plurality of (here, 4 dog) of operators (Sw1 to Sw4). The operator Sw1 is disposed on the front side (front side) of the control lever 351, and the operator Sw2 is disposed on the front side (front side) of the control lever 352. The operator Sw4 is disposed on the rear side (rear side) of the control lever 351, and the operator Sw3 is disposed on the rear side (rear side) of the control lever 352. That is, in the present embodiment, the operator Sw1 and the operator Sw4 are provided on the right-hand side operation lever 351 divided into front and rear surfaces, and the left-hand operation lever 352 is divided into the front and back sides and the operator Sw2 ) and an operator Sw3 are installed. These plurality of operators Sw1 to Sw4 constitute an "adjustment operator" that adjusts the magnitude of the power output from the driving device 34 (flow rate of hydraulic oil).

In this embodiment, as an example, all of the plurality of operators Sw1 to Sw4 are made of lever switches that can be operated to tilt to the right (A1) or to the left (A2). In particular, each manipulator Sw1 to Sw4 sets the center of the left and right direction D3 of the movable range at the neutral position Pn1 (see FIG. 3), and moves to the right (A1) or left (A2) only while the operating force is applied. It is a momentary type switch that is mild and returns to the neutral position (Pn1) when the operating force is lost. As such operators Sw1 to Sw4 are operated in the right direction A1 or the left direction A2, respectively, the amount of power output from the corresponding output ports 341 to 344 according to the amount of manipulation (the amount of hardness) (flow rate of hydraulic oil). decide Basically, as the operation amount of the operators Sw1 to Sw4 increases, the power output from the corresponding output ports 341 to 344 increases, that is, the flow rate of hydraulic oil increases.

Here, as an example, the operator Sw1 corresponds to the output port 341, the operator Sw2 corresponds to the output port 342, the operator Sw3 corresponds to the output port 343, and the output port 344 ) is assumed to correspond to the operator Sw4. In this case, when the user operates the operator Sw1, the power output from the output port 341 of the driving device 34 is adjusted according to the amount of operation of the operator Sw1. On the other hand, when the user operates the manipulator Sw4, the power output from the output port 344 of the driving device 34 is adjusted according to the amount of manipulation of the manipulator Sw4. Correspondence between the plurality of output ports 341 to 344 and the plurality of operators Sw1 to Sw4 is defined by "assignment information", and the assignment information is stored in the memory of the control system 1, for example. .

Although a detailed description is omitted, the setting related to the operation of the operating device 35, such as assignment information (correspondence relationship between the plurality of output ports 341 to 344 and the plurality of operators Sw1 to Sw4), for example, the display device It is done in (2). That is, it is possible to set a corresponding relationship between the plurality of output ports 341 to 344 and the plurality of operators Sw1 to Sw4 by a user's operation on a setting screen or the like displayed on the display unit 23 of the display device 2. do.

In this embodiment, the operator Sw5 is disposed on the rear side (rear side) of the control lever 351, and the operator Sw6 is disposed on the rear side (rear side) of the control lever 352. The operators Sw5 and Sw6 are operators for enabling (on) a holding function (hold function) for holding the output of the drive device 34 . That is, the operators Sw5 and Sw6 constitute a "maintenance operator" for maintaining the output of the driving device 34 . In the present embodiment, as an example, all of the operators Sw5 and Sw6 are momentary-type push button switches. Therefore, when the user pushes the operators Sw5 and Sw6, the holding function becomes effective, and the output of the driving device 34 is held (holded).

In particular, in this embodiment, the operator Sw5 disposed on the control lever 351 makes the holding function effective for the output port 341 corresponding to the operator Sw1 provided on the same control lever 351. On the other hand, the operator Sw6 installed on the operating lever 352 makes the holding function effective for the output port 342 corresponding to the operator Sw2 installed on the same operating lever 352. Therefore, for example, when the user presses the operator Sw5, the output is held (held) with respect to the output port 341 among the plurality of output ports 341 to 344.

However, it is not limited to the above configuration, as long as each operator Sw5 and Sw6 corresponds to at least one of the output ports 341 to 344 corresponding to the operators Sw1 to Sw4 provided on the same operation levers 351 and 352. good night. Therefore, for example, as long as it is the operator Sw5, the holding function for both of the output ports 341 and 344 may be made valid, or the holding function for the output port 344 may be made valid. On the other hand, if it is the operator Sw6, the holding function for both of the output ports 342 and 343 may be made valid, or the holding function for the output port 343 may be made valid.

In short, in the working machine 3 according to the present embodiment, the driving device 34 operates according to the operation of the operating device 35 having a plurality of operators Sw1 to Sw6. Here, the plurality of operators Sw1 to Sw6 include an adjustment operator (operators Sw1 to Sw4) for adjusting the output of the driving unit 34 and a holding operation for maintaining the output of the driving unit 34. includes maintenance operators (manipulators Sw5 and Sw6). In addition, a plurality of adjustment operators (operators Sw1 to Sw4) are provided with respect to one operating lever 351 (or operating lever 352).

Here, the working machine 3 converts the output of the driving device 34 to the adjusting operator (operators Sw1 to Sw6) when the adjusting operator (operators Sw1 to Sw4) and the holding operator (operators Sw5 and Sw6) are simultaneously operated. It is maintained at the value according to the manipulated variable of Sw4)). For example, when the user presses and operates the operator Sw5 while operating the operator Sw1, the adjustment operator (operator Sw1) and the maintenance operator (operator Sw5) are simultaneously operated. In this case, the magnitude of the power output from the output port 341 is maintained at a value according to the manipulation amount of the manipulator Sw1 at the time when the manipulator Sw5 is manipulated.

On the other hand, when only the holding operator (manipulators Sw5 and Sw6) is operated among the adjustment operators (operators Sw1 to Sw4) and the holding operators (operators Sw5 and Sw6), the working machine 3 is driven by the driving device 34 Maintains the output of the specified value. For example, when the user presses only the operator Sw5, the magnitude of the power output from the output port 341 corresponding to the operator Sw1 is maintained at a prescribed value set in advance for the output port 341. do.

Therefore, it is possible to easily divide and use between maintaining the output of the driving device 34 at an arbitrary value and maintaining the output of the driving device 34 at a specified value by a user's operation method. Hereinafter, the operating state of the holding function when the output of the driving device 34 is held at an arbitrary value is referred to as "optional hold", and the operating state of the holding function when holding the output of the driving device 34 at a specified value is referred to as "optional hold". This is called “regular value hold”.

Further, in this embodiment, as shown in Fig. 3, each control lever 351, 352 is provided with an indicator light 350 on its grip portion for presenting the operating state of the holding function. The indicator light 350 includes, for example, a light emitting element such as an LED, and the operating state of the holding function is presented by its light emitting state (lit state).

In addition, each operator Sw1 - Sw4 is not limited to a lever switch, For example, a toggle switch, a rocker switch, a rotary switch, a slide switch, or an encoder may be sufficient as it. The operators Sw5 and Sw6 are not limited to push button switches, and may be, for example, lever switches or touch sensors. In addition, the control levers 351 and 352 may be left and right reversed, or may be arranged side by side in the front-back direction D2 or up-down direction D1. One operation lever 351, 352 may be sufficient as it. Note that the operators Sw5 and Sw6 are not limited to the rear side of the control levers 351 and 352, but may be arranged on the side or front side of the control levers 351 and 352, for example. In addition, the operating device 35 may have operators other than the plurality of operators Sw1 to Sw6 described above on the operating levers 351 and 352 . Also, the indicator light 350 can be appropriately omitted.

[3] Composition of control system

Next, the configuration of the control system 1 according to the present embodiment will be described with reference to FIG. 2 . The control system 1 controls the body 30 (including the traveling part 31, the turning part 32, the working part 33, the driving device 34, etc.) according to the operation of the operating device 35. control each part of In this embodiment, the operating device 35 is mounted on the body 30 of the work machine 3 as described above. The control system 1 is a component of the working machine 3 and constitutes the working machine 3 together with the body 30 and the like. In other words, the working machine 3 according to the present embodiment includes at least the control system 1 and the body 30 controlled according to the operation of the operating device 35 .

As shown in FIG. 2, the control system 1 includes an acquisition processing unit 11, a monitoring processing unit 12, a judgment processing unit 13, a switching processing unit 14, a control processing unit 15, a notification processing unit ( 16) is provided. In the present embodiment, as an example, since the main configuration of the control system 1 is a computer system having one or more processors, these plurality of functional units (acquisition processing unit 11, etc.) come true These plurality of functional units included in the control system 1 may be formed in a dispersed manner in a plurality of housings, or may be formed in one housing.

The control system 1 is configured to be capable of communicating with devices installed in each part of the body 30 . That is, at least the display device 2, the operating device 35, the control valve 36, the cut-off switch 371 and the like are connected to the control system 1. Thereby, the control system 1 controls the display device 2 and the control valve 36 or the like or receives electrical signals (operation signals, etc.) from the display device 2, the operating device 35, and the cut-off switch 371. It is possible to acquire or do "Communication possible" as used in the present disclosure means that information (data) can be exchanged directly by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium) or indirectly through a communication network (network) or repeater. It means you can. Therefore, the control system 1 may perform exchange of various kinds of information (data) directly with each device or may perform it indirectly through a relay or the like. Devices installed in each part of the control system 1 and the body 30 can communicate by a communication method such as CAN (Controller Area Network) as an example.

Acquisition processing unit 11 executes acquisition processing for accepting an operation to operating device 35 for controlling work machine 3 . That is, when the operation device 35 having a plurality of operators Sw1 to Sw6 outputs an operation signal according to the user's operation, the acquisition processing unit 11 acquires the operation signal. This makes it possible for the acquisition processing unit 11 to acquire, for example, an operation signal representing the operation amount for the neutral position Pn1 for the operator Sw1 among the plurality of operators Sw1 to Sw6.

The monitoring processing unit 12 executes monitoring processing for monitoring a specific event as a monitoring target. A "specific event" referred to in the present disclosure is a specific event determined in advance, and the monitoring processing unit 12 monitors whether or not the specific event occurs. That is, when a specific event occurs, the monitoring processing unit 12 detects the occurrence of the specific event.

In the present embodiment, the specific event includes an event accompanying a change in the operating state of the work machine 3 corresponding to the operation of the operating device 35 . That is, the specific event includes an event in which some change occurs in the operating state of the work machine 3 despite the constant (fixed) operation of the operating device 35 . According to this configuration, when the user (operator) maintains the operating state of the operating device 35, the occurrence of an event in which the operating state of the work machine 3 suddenly changes is detected by the monitoring processing unit 12 as the occurrence of a specific event. detection becomes possible. This makes it possible to detect, for example, an event leading to a sudden drive of the work machine 3 or a sudden stop of the work machine 3 as the occurrence of a specific event.

Specifically, in the present embodiment, the specific idea includes that the cutoff switch 371 in the work machine 3 is switched from a locked state (off) to an unlocked state (on). That is, from the state in which the cut-off switch 371 is locked (off) when the cut-off lever 372 is in the "up position", the cut-off lever 372 is operated in the "lower position" to lock the cut-off switch 371. Switching to the unlocked state (on) is included in the specific idea. Thereby, for example, in a state where the user operated the operating device 35, the cut-off switch 371 is switched from the locked state to the unlocked state, and the working machine 3 is suddenly driven. The occurrence can be detected by the monitoring processing unit 12 as the occurrence of a specific event.

In addition, the specific idea includes that the settings related to the operation of the operating device 35 are changed. That is, a change in the setting related to the operation of the operating device 35, such as changing "assignment information" defining the correspondence between the plurality of output ports 341 to 344 and the plurality of operators Sw1 to Sw4, for example. What is done is included in the particular idea. As a result, as an example, the output port 342 is suddenly switched as the assignment information for the operator Sw1 is changed from the output port 341 to the output port 342 while the user is operating the operator Sw1. The occurrence of an event that seems to be driven can be detected by the monitoring processing unit 12 as the occurrence of a specific event.

The judgment processing unit 13 executes judgment processing for determining whether or not the judgment conditions relating to the operation of the operating device 35 are satisfied when a specific event occurs. The "determination condition" referred to in the present disclosure is a condition predetermined in relation to the operation of the operating device 35, for example, that the position of each operator Sw1 to Sw4 is in the neutral position Pn1, and the operator Sw5 , Sw6) is non-operation, or a specific operator is pressed for a long time (operated continuously for a predetermined period of time or longer).

The switching processing unit 14 executes switching processing for switching validity and invalidity of the control of the work machine 3 corresponding to the operation of the operating device 35 based on the determination result of whether or not the determination condition is satisfied. If the control of the work machine 3 corresponding to the operation of the operating device 35 is "invalid", for example, the driving device 34 becomes inoperable, and regardless of the operation of the operating device 35, the driving device The output of (34) is forcibly stopped. In this embodiment, as an example, the switching processing unit 14 validates the control of the work machine 3 corresponding to the operation of the operating device 35 when the judgment condition is satisfied, and operates when the judgment condition is not satisfied. The control of the work machine 3 corresponding to the operation of the device 35 is invalidated.

The control processing unit 15 executes control processing for controlling the aircraft 30 according to the operation of the operating device 35 . In the control processing, the control processing unit 15 executes control of the traveling unit 31, the turning unit 32, the working unit 33, and the like of the body 30. Specifically, the control processing unit 15 controls the driving device 34 by outputting a control signal to the control valve 36 according to the operation of the operating device 35 at least.

The notification processing unit 16 executes notification processing for making a notification based on a result of judgment as to whether or not a judgment condition is satisfied. "Notification" as used in the present disclosure means notifying the user (operator) by various means, such as display (including lighting of indicator lamps), sound (including voice), and other terminals. means such as transmission of or writing to a non-transitory recording medium. In this embodiment, as an example, the notification processing unit 16 displays the display device 2 when the determination condition is not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operating device 35 becomes "invalid". By displaying that effect on the display unit 23 of ), notification based on the determination result is performed (see Fig. 7).

[4] How to control work machines

Hereinafter, an example of a control method (hereinafter simply referred to as a “control method”) of the work machine 3 mainly executed by the control system 1 is described with reference to FIGS. 5 to 7 . 5 is a flowchart showing an example of processing by the control method. Fig. 6 is a timing chart showing an example of state changes of a cutoff signal, PTO operation, and PTO control, with the horizontal axis as the time axis. The "cutoff signal" referred to here is an electrical signal input from the cutoff switch 371 to the control system 1, and indicates the off (locked state) or on (unlocked state) of the cutoff switch 371. The "PTO operation" referred to here is an electric signal (operation signal) input to the control system 1 from the operating device 35, and in particular, an operator for operating the output ports 341 to 344 of the driving device 34 ( Indicates the operation status of Sw1 to Sw4). In addition, "PTO control" is a state of control by an electric signal (control signal) output from the control system 1 to the control valve 36, and in particular, the control of the output ports 341 to 344 of the drive device 34. indicates the validity or invalidity of

Since the control method according to the present embodiment is executed by the control system 1 whose main component is a computer system, in other words, it is embodied by a control program for working machines (hereinafter, simply referred to as "control program"). That is, the control program according to the present embodiment is a computer program for causing one or more processors to execute each process by the control method. Such a control program may be executed cooperatively by the control system 1 and the display device 2, for example.

Here, the control system 1 executes the following various processes by the control method when a specific preset start operation for executing the control program is performed. The starting operation is, for example, starting operation of the engine of the working machine 3 and the like. On the other hand, the control system 1 terminates the following various processes by the control method when a specific end operation set in advance is performed. The end operation is, for example, an engine stop operation of the work machine 3 or the like.

In addition, below, as an example, the control method in the case where the cut-off switch 371 is in the locked state (off) at the "raising position" of the cut-off lever 372 is set as the initial state will be described. In the following description, switching of the cut-off switch 371 from the locked state (off) to the unlocked state (on) is taken as an example of a "specific event", and the positions of the operators Sw1 to Sw4 are at the neutral position Pn1. Existence will be described as an example of "determination condition".

As shown in Fig. 5, the control system 1 first acquires a cutoff signal from the cutoff switch 371 (S1). Here, in the initial state, since the cut-off lever 372 is in the "raised position" as described above, the cut-off signal is in the locked state. After that, the monitoring processing unit 12 of the control system 1 determines whether or not the cut-off switch 371 is in an unlocked state from the cut-off signal (S2). Since the cut-off signal is in the locked state while the cut-off lever 372 remains in the "raised position", the monitoring processing unit 12 determines that it is not in the unlocked state (S2: No) and returns the processing to step S1. On the other hand, when the user performs an operation to lower the cut-off lever 372 and the cut-off lever 372 is brought to the "down position", the cut-off signal is in the unlock state, so the monitoring processing unit 12 determines that the lock is released (S2 : Yes) The processing proceeds to step S3. At this time, the monitoring processing unit 12 determines that a "specific event" occurs when the cutoff switch 371 is switched from a locked state (off) to an unlocked state (on).

In step S3, the acquisition processing part 11 of the control system 1 acquires the operation signal from the operation device 35. At this time, the acquisition processing unit 11 acquires the operating states of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the drive unit 34 as PTO operations. In step S4, the decision processing unit 13 of the control system 1 determines that the operation states (PTO operation) of the operators Sw1 to Sw4 specified from the operation signals are in the neutral position Pn1 (not limited to pinpoint, and the free space is may be within a predetermined range including). The operators Sw1 to Sw4 are momentary switches that return to the neutral position Pn1 when the operating force is lost. Therefore, in a state where the user is operating at least one of the operators Sw1 to Sw4, the determination processing unit 13 determines that the user is not in the neutral position Pn1 (S4: No) and transfers the processing to step S5. On the other hand, in a non-operating state in which the user is not operating any of the operators Sw1 to Sw4, the judgment processing unit 13 determines that the user is in the neutral position Pn1 (S4: Yes) and transfers the processing to step S6. At this time, the judgment processing unit 13 judges that the "determination condition" is satisfied because the operators Sw1 to Sw4 are all in the neutral positions Pn1.

In step S5, the switching processing unit 14 of the control system 1 invalidates the control of the work machine 3 corresponding to the operation of the operating device 35. In the present embodiment, as an example, the switching processing unit 14 invalidates the control (PTO control) of the output ports 341 to 344 of the drive device 34 according to the operations (PTO operation) of the operators (Sw1 to Sw4) to operate the machine. The control of (3) is invalidated. As a result, the output of all the output ports 341 to 344 of the drive device 34 is forcibly stopped regardless of the actual operation amount of the operators Sw1 to Sw4.

Moreover, in step S6, the switching processing part 14 of the control system 1 validates the control of the work machine 3 corresponding to the operation of the operating device 35. In this embodiment, as an example, the switching processing unit 14 activates the control (PTO control) of the output ports 341 to 344 of the drive unit 34 according to the operations of the operators (Sw1 to Sw4) (PTO operation), thereby enabling the working machine. The control of (3) is validated. Accordingly, the outputs of the respective output ports 341 to 344 of the drive device 34 can be controlled according to the actual operation amounts of the operators Sw1 to Sw4.

Then, in step S7, the acquisition processing part 11 of the control system 1 acquires the operation signal from the operation device 35. At this time, the acquisition processing unit 11 acquires the operating states of the operators Sw1 to Sw4 for operating the output ports 341 to 344 of the drive unit 34 as PTO operations. In step S8, the control processing unit 15 of the control system 1 determines whether or not the operation states (PTO operation) of the operators Sw1 to Sw4 specified from the operation signals are in the neutral position Pn1. In a state where the user is operating at least one of the operators Sw1 to Sw4, the control processing unit 15 determines that the user is not in the neutral position Pn1 (S8: No) and transfers the processing to step S9. On the other hand, in a non-operation state in which the user is not operating any of the operators Sw1 to Sw4, the control processing unit 15 determines that it is in the neutral position Pn1 (S8: Yes) and returns the process to step S7.

In step S9, the control processing unit 15 of the control system 1 outputs a control signal to the control valve 36 according to the operation states (PTO operation) of the operators Sw1 to Sw4 specified from the operation signals, thereby driving the device 34 ) Execute PTO control to control the output ports 341 to 344. A series of processing by the control method ends with step S9.

The control system 1 executes the processing of steps S1 to S9 above whenever the cut-off lever 372 is operated to the "raised position" and the cut-off switch 371 is locked (off). The flow chart shown in FIG. 5 is only an example, and processes may be added or omitted appropriately, or the order of processes may be appropriately replaced.

According to the series of processing as described above, as shown in Fig. 6, the validity/invalidity of the control signal is switched. That is, during the period up to the time point t1, the cutoff signal is in a locked state (off) when the cutoff lever 372 is in the "raised position". Therefore, in the period up to the time point t1, since the PTO control is "invalid", even if the operators Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is in the "operation" state, the operation of the drive device 34 No control is exercised. That is, the output of all of the output ports 341 to 344 of the drive device 34 is forcibly stopped regardless of the actual operation amount of the operators Sw1 to Sw4. In the present embodiment, as an example, when the cutoff signal is in a locked state (off), the control signal is turned off to prevent wasteful power consumption by the control signal from occurring, but it is not limited to this configuration. That is, if the cutoff signal is in a locked state (off), the hydraulic circuit is initially blocked and the drive device 34 will not be driven, so the drive device 34 is forcibly stopped even if the control signal is not turned off.

On the other hand, at the time point t1, when the user operates the cut-off lever 372 to the "lower position", the cut-off signal becomes a lock release state (on). That is, at the time point t1, a "specific event" in which the cutoff switch 371 is switched from a locked state (off) to an unlocked state (on) occurs. However, at the time point t1, since the PTO operation is not in the neutral position Pn1 in the state of "operation", the "determination condition" is not satisfied. Therefore, since the PTO control is "invalid" during the period from the time point t1 to the time point t2, even if the operators Sw1 to Sw4 are operated from the neutral position Pn1 and the PTO operation is in the "operation" state, the drive device The control of (34) is not performed. That is, the output of all of the output ports 341 to 344 of the drive device 34 is forcibly stopped regardless of the actual operation amount of the operators Sw1 to Sw4.

At the time point t2, since the user stops all operations of the operators Sw1 to Sw4, the entirety of the operators Sw1 to Sw4 is in the neutral position Pn1, and the PTO operation is in a state of "non-operation". That is, when all of the operators Sw1 to Sw4 are in the neutral position Pn1 at the time point t2, the "determination condition" is satisfied. Therefore, at the time point t2, the PTO control is switched to "effective". Accordingly, when the operators Sw1 to Sw4 are operated from the neutral position Pn1 at the time point t3 after the time point t2 and the PTO operation is in the "operation" state, control of the driving device 34 is performed. That is, in the period after the point in time t2, the outputs of the output ports 341 to 344 of the drive unit 34 are controlled according to the actual operation amounts of the operators Sw1 to Sw4.

In the present embodiment, when the PTO control is "invalid", not only is the drive device 34 not driven corresponding to the operation of the adjustment operators (operators Sw1 to Sw4), but also the maintenance operators (operators Sw5 and Sw6) The driving of the driving device 34 corresponding to the operation of ) is also not performed. That is, even if an operation for driving the drive device 34 is performed by the "regular value hold" function, when the PTO control is "invalid", the output of the drive device 34 is forcibly stopped.

As described above, the control method according to the present embodiment includes receiving an operation to the operating device 35 for controlling the work machine 3, monitoring a specific event to be monitored, and the operating device when a specific event occurs. It has a function to determine whether or not the determination condition regarding the operation for (35) is satisfied. In short, in the case of the example in Fig. 6, when the cutoff switch 371 is switched from the locked state to the unlocked state at the time point t1 (Step S2 in Fig. 5: Yes), it is determined that a "specific event" has occurred. In this case, for example, if all of the operators Sw1 to Sw4 are in the neutral position Pn1 after the time point t1, it is determined that the "determination condition" is satisfied (step S4 in FIG. 5: Yes).

According to this structure, when the cut-off switch 371 is switched from the locked state to the unlocked state, for example, whether or not the determination condition regarding the operation of the operating device 35 is satisfied is determined. Therefore, by notifying the user (operator) of the determination result, for example, the operator can prepare for the sudden operation of the work machine 3, so the burden on the operator due to operation can be easily reduced.

In addition, the control method according to the present embodiment further has switching validity and invalidation of the control of the work machine 3 corresponding to the operation of the operating device 35 based on the judgment result of whether or not the judgment condition is satisfied. . By this, for example, when the cut-off switch 371 is switched from the locked state to the unlocked state, the control of the work machine 3 depends on whether or not the determination condition regarding the operation of the operating device 35 is satisfied. Valid and invalid are automatically switched. Therefore, it is possible to avoid a sudden movement of the working machine 3 without a user (operator) needing to operate carefully.

Here, in this embodiment, control of the work machine 3 corresponding to the operation of the operating device 35 is made effective by determining that the determination condition is satisfied after a specific event occurs. That is, control of the working machine 3 is automatically validated by satisfying the determination condition after occurrence of a specific event. Therefore, it is possible to avoid a sudden movement of the working machine 3 without a user (operator) needing to operate carefully.

Moreover, in this embodiment, the operation to the operating device 35 includes an operation for controlling the output of the PTO ports (output ports 341 to 344) of the working machine 3. By this, for example, when the cut-off switch 371 is switched from the locked state to the unlocked state, it is possible to avoid sudden generation of output from the PTO ports (output ports 341 to 344) of the work machine 3. .

By the way, according to the control method according to the present embodiment, as illustrated in FIG. 7 , a display screen Dp1 on which a notification based on a result of determination of whether or not the determination condition is satisfied is displayed on the display unit 23 of the display device 2 is done on A “screen” such as the display screen Dp1 in the present disclosure refers to a video (image) displayed on the display device 2, and includes images, figures, photos, texts, moving pictures, and the like. Here, when the display screen Dp1 includes a video or the like, the display screen Dp1 is not a constant image, but includes a constantly changing image. As shown in FIG. 7 , in the diagram showing the display screen Dp1 displayed on the display unit 23 of the display device 2, dashed-dot lines, lead lines, and reference numerals indicating regions are all added for explanation only. and is not actually displayed on the display device 2.

In this embodiment, as an example, when the notification processing unit 16 of the control system 1 does not satisfy the determination condition, that is, the control of the work machine 3 corresponding to the operation of the operating device 35 becomes "invalid". In this case, as shown in Fig. 7, a message M1 is displayed on the display screen Dp1. In this embodiment, when the switching processing unit 14 invalidates the control of the work machine 3 corresponding to the operation of the operating device 35 (step S5 in Fig. 5), the notification processing unit 16 sends the message M1. Notification is made by displaying. The message M1 is displayed in a popup so as to overlap with other displays on the display screen Dp1, for example, and the control of the work machine 3 (here, the PTO control) is "invalid" such as "PTO control: invalid". Include text that expresses the purpose. In addition, the message M1 includes text indicating a procedure for validating the control of the work machine 3 (here, PTO control), such as "Return the switch to No. 1 neutral to make it valid."

In this embodiment, such a message M1 is displayed only while the control of the work machine 3 is "invalid". Therefore, when the switching processing part 14 of the control system 1 validates the control of the work machine 3 corresponding to the operation of the operating device 35 (step S6 in FIG. 5), the message M1 disappears. In addition, the display form of the notification based on the determination result of whether or not the determination condition is satisfied is not limited to the message M1. For example, a notification based on the determination result of whether or not the determination condition is satisfied may be made by an icon displayed on the display screen Dp1 similarly to the icon Im1 indicating on/off of the cut-off switch 371. .

In this way, the control method according to the present embodiment further has notification based on a result of determination as to whether or not the determination condition is satisfied. By this, the user (operator) can know whether the current control of the work machine 3 is "valid" or "invalid", and then can operate the operating device 35 . The notification of the judgment result is not limited to a configuration in which the notification of the judgment result is performed only when the judgment condition is not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operating device 35 becomes "invalid" as described above. . That is, the notification of the judgment result may be a notification that can distinguish whether or not the judgment condition is satisfied. ) may be notified of the determination result when the control of "valid". In addition, when the judgment condition is not satisfied, that is, when the control of the work machine 3 corresponding to the operation of the operating device 35 becomes "invalid", and only when the operating device 35 is operated, the working machine It may be notified that the control in (3) is "invalid".

[5] Other functions

The "specific event" is not limited to switching the cutoff switch 371 from a locked state (off) to an unlocked state (on). Similarly, the "determination condition" is not limited to the position of each manipulator Sw1 to Sw4 being in the neutral position Pn1. In addition, the control in which validation/invalidation is switched by the switching processing unit 14 is not limited to output control (PTO control) of the PTO ports (output ports 341 to 344) of the work machine 3.

That is, the "specific event" is the operation of the operating device 35, such as changing the "assignment information" defining the correspondence between the plurality of output ports 341 to 344 and the plurality of operators Sw1 to Sw4. It may be that the setting related to is changed. In this case, a specific event is generated by changing settings related to operation of the operation device 35, such as assignment information, by a user's operation to the display device 2, for example. Here, the setting related to the operation of the operating device 35 is not limited to the setting of the corresponding relationship between the plurality of output ports 341 to 344 and the plurality of operators Sw1 to Sw4, and the operation of the operating device 35 and the hydraulic fluid It includes settings such as the correspondence relationship of the flow rate of

Further, in the case where the control whose validity/invalidity is switched by the switching processing unit 14 is, for example, control of the driving unit 31, turning unit 32, or operation unit 33 other than the PTO control, yes For example, a specific event may include a change in correspondence between the operation of the control levers 351 and 352 and the operation of the traveling part 31, the turning part 32, or the working part 33. In addition, a change in the operation pattern of the driving part 31, the turning part 32, or the working part 33 in relation to the operation of the control levers 351 and 352 may also be included in the specific idea. In this case, the "determination condition" is that the control levers 351 and 352 are in the neutral position instead of the respective operators Sw1 to Sw4.

Also, the control of enabling/invalidating by the switching processing unit 14 may include control of a quick hitch for attaching or detaching the attachment 331 from the body 30. In this case, the specific idea may include, for example, that the power switch for enabling the quick hitch to be switched from off to on in response to the cutoff switch 371 being switched from the locked state to the unlocked state. As a result, for example, occurrence of an event in which the quick hitch is suddenly actuated as a result of the power switch being switched from off to on in a state where the user (operator) has operated the quick hitch to open is regarded as the occurrence of a specific event. It becomes detectable by the monitoring processing part 12.

[6] Modification

Modifications to Embodiment 1 are listed below. Modifications described below can be applied in appropriate combination.

The control system 1 in the present disclosure includes a computer system. A computer system has one or more processors as hardware and one or more memories as main components. The functions as the control system 1 in the present disclosure are realized when the processor executes the program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided through an electric communication line, or may be provided after being recorded on a non-transitory storage medium such as a memory card, an optical disk, or a hard disk drive readable by the computer system. In addition, some or all of the functional units included in the control system 1 may be constituted by electronic circuits.

In addition, it is not essential for the control system 1 that at least some of the functions of the control system 1 are integrated into one housing, and even if the components of the control system 1 are distributed and formed in a plurality of housings, good night. Conversely, in Embodiment 1, functions distributed among a plurality of devices (eg, control system 1 and display device 2) may be integrated into one housing. In addition, at least part of the functions of the control system 1 may be realized by a cloud (cloud computing) or the like.

In addition, the power source of the working machine 3 is not limited to a diesel engine, and may be, for example, an engine other than a diesel engine, a motor (electric motor) or a hybrid power source including an engine and a motor (electric motor).

In addition, the driving device 34 is not limited to a device such as a power take-off (PTO) for extracting power from the engine (as power for driving the attachment 331), and the attachment 331 separately from the engine. ) may be a device that outputs power for driving. In addition, the driving device 34 is not limited to a device that supplies power to the attachment 331 by supplying hydraulic fluid, and may be, for example, a device that generates power by an electric motor such as a motor. In this case, the power output from the driving device 34 is controlled by, for example, a current flowing through the driving device 34 or the like.

In addition, the attachment 331 should just be attached to the body 30, and it is not an essential configuration that the attachment 331 is detachably attached to the body 30. In addition, a plurality of attachments 331 may be simultaneously attached to the body 30 .

Note that the display device 2 is not limited to a dedicated device, and may be, for example, a general-purpose terminal such as a laptop computer, tablet terminal, or smart phone. In addition, the display unit 23 is not limited to a mode that directly displays the display screen Dp1, such as a liquid crystal display or an organic EL display, but may be configured to display the display screen Dp1 by projection, such as, for example, a projector. good night. The display area of the display section 23 is not limited to the horizontal length, but may be vertical.

Moreover, you may employ|adopt aspects other than the push button switches 221-226, a touch panel, and an operation dial as a form of inputting information of the operation part 22. For example, the operating unit 22 may employ a pointing device such as a keyboard or mouse, voice input, gesture input, or input of an operation signal from another terminal.

In addition, the operation device 35, the display device 2, etc. are not limited to the structure mounted on the base body 30, and may be formed separately from the base body 30, for example. In this case, the operating device 35, the display device 2, etc. are configured to be communicable with the body 30, and remote operation of the body 30 is realized.

(Embodiment 2)

As shown in Fig. 8, the control method according to the present embodiment differs from the control system 1 according to the first embodiment in the timing for validating the PTO control. Hereinafter, common reference numerals are given to components similar to those of Embodiment 1, and explanations are omitted appropriately.

In the flow chart shown in FIG. 8, step S6 for validating the control of the work machine 3 corresponding to the operation of the operating device 35 is omitted, and between steps S8 and S9 corresponding to the operation of the operating device 35 It differs from the flowchart shown in FIG. 5 in that step S16 for validating the control of the working machine 3 is added. Other points are the same as those described in Embodiment 1, so explanations are omitted here.

That is, in the present embodiment, control of the work machine 3 is performed only by determining that the "determination condition" is satisfied (S4: Yes) because all the operators Sw1 to Sw4 are in the neutral position Pn1 in step S4. (PTO control) will not be validated. That is, the timing at which it is determined that the user is not in the neutral position Pn1 by manipulating at least one of the operators Sw1 to Sw4 after it is determined that the determination condition is satisfied (S4: Yes), and the operation signal is acquired again (S7). At (S8: No), the control (PTO control) of the work machine 3 is validated (S16).

In this example, since the control (PTO control) of the work machine 3 is invalid until the user operates at least one of the operators Sw1 to Sw4 after it is determined that the determination condition is satisfied, a message M1 as shown in FIG. ) is displayed continuously.

In this way, in this embodiment, after a specific event occurs, it is determined that the determination condition is satisfied, and the control of the work machine 3 corresponding to the operation of the operating device 35 is made effective by further operating the operating device 35 . This not only satisfies the judgment conditions, but also the user (operator) actually operates the operating device 35, and the control of the work machine 3 corresponding to the operation of the operating device 35 is validated for the first time. It is easy to prevent the work machine 3 from operating by improper operation.

The configuration according to Embodiment 2 can be employed in appropriate combination with various configurations (including modified examples) described in Embodiment 1.

1: Control system for working machines
3: working machine
11: acquisition processing unit
12: monitoring processing unit
13: judgment processing unit
30: gas
35: operating device
371: cutoff switch
341~344: output ports (PTO ports)

Claims (12)

Receiving an operation to an operating device for controlling a working machine;
to monitor a specific ideology that is to be monitored; and
and judging whether or not a determination condition relating to an operation on the operating device is satisfied when the specific event occurs.
How to control working machines. According to claim 1,
and switching validity and invalidity of the control of the work machine corresponding to the operation of the operating device based on a result of determination of whether or not the determination condition is satisfied.
How to control working machines. According to claim 2,
When it is determined that the determination condition is satisfied after the specific event occurs, the control of the working machine corresponding to the operation of the operating device is effective.
How to control working machines. According to claim 2,
After the specific event occurs, it is determined that the determination condition is satisfied and the operating device is further operated, thereby validating the control of the working machine corresponding to the operation of the operating device.
How to control working machines. According to any one of claims 1 to 4,
The specific event includes an event involving a change in the operating state of the working machine corresponding to the operation of the operating device.
How to control working machines. According to claim 5,
The specific idea includes that the cutoff switch in the working machine is switched from a locked state to an unlocked state.
How to control working machines. According to claim 5 or 6,
The specific event includes changing settings related to operation of the operating device.
How to control working machines. According to any one of claims 1 to 7,
The operation of the operating device includes an operation for controlling the output of the PTO port of the working machine.
How to control working machines. According to any one of claims 1 to 8,
Further having a notification based on a result of determination of whether or not the above determination condition is satisfied.
How to control working machines. The control method of the working machine according to any one of claims 1 to 9,
A control program for working machines to run on one or more processors. an acquisition processing unit that accepts an operation to an operation device for controlling the work machine;
A monitoring processing unit that monitors a specific event to be monitored;
and a judgment processing unit for determining whether or not a judgment condition relating to an operation on the operating device is satisfied when the specific event occurs.
Control systems for working machines. A control system for a working machine according to claim 11;
Having a gas controlled according to the manipulation of the manipulation device
working machine.

Images