DE112015000969T5 - Output device of working machine and output method of working machine - Google Patents

Abstract

The present invention is a work machine including a changeover control unit having a first drive mode and a second drive mode and switching from the first drive mode to the second drive mode when a plurality of conditions for switching from the first drive mode to the second drive mode are met. The work machine includes a display control unit. The display control unit displays symbols I11, I12 and I13 on a display unit as individual condition information indicating the content of unfulfilled conditions when the plurality of conditions are not satisfied. The display control unit does not display the symbols I11, I12 and I13, which are individual condition information, when the unfulfilled conditions have been satisfied. Individual condition information that does not satisfy a condition and its contents is displayed. Therefore, the user can easily recognize a switching condition that is not satisfied at the time of switching of the driving mode, and the ease of driving mode switching is improved.

Description

area

 The present invention relates to an output device of a work machine and an output method of a work machine that enable a user (driver) to easily recognize a switching condition that is not satisfied at the time of switching a running mode.

background

A wheeled excavator has three driving modes, with the steering control methods for a front wheel and a rear wheel different depending on the steering mode. In driving mode, the steering of the front wheel is controlled according to a steering angle. However, the steering of the rear wheel is different in each drive mode, as described below. In a two-wheel steering (2WS) mode, the steering of the rear wheel always remains in the direction of an upper swing body regardless of a steering angle. In a reversed-phase all wheel steering (4WS-R) mode, the steering of the rear wheel is controlled in a direction opposite to a steering direction of the front wheel. In an in-phase all-wheel steering (4WS-C) mode, the steering of the rear wheel is controlled in the same direction as the steering direction of the front wheel. In addition, a driving mode for public roads (road mode) other than the three driving modes described above in the case of driving on a public road may be selected. In the road mode, as in the 2WS mode, the rear wheel always remains in the direction of the upper pivot body regardless of the steering.

 Patent Literature 1 discloses a steering apparatus of a work vehicle including a display device that indicates the running running mode and indicates whether a front wheel and a rear wheel are in a neutral position. When the front wheel and the rear wheel are not in the neutral position, the display device displays a status that the driving mode is fixed and that the steering device does not perform mode switching even when a switching command is outputted from a mode switching device.

citations

patent literature

• Patent Literature 1: Japanese Laid-Open Patent Application No. 2003-252230

Summary

Technical problem

In many cases, it is necessary to satisfy not only one condition but also to satisfy a variety of prescribed conditions in order to switch driving modes. However, usually, even if one of the plurality of prescribed conditions is not satisfied, when the drive mode is switched, only the status of the drive mode that is fixed is usually displayed on the display unit. Therefore, a user is unable to recognize which condition of the plurality of prescribed conditions is not satisfied, making the driving mode invariable. Thus, there is a problem that the user must try to find out the unfulfilled condition at random, which makes the drive mode switching uncomfortable.

The present invention has been made in view of the above, and an object thereof is to provide a work machine output device and a work machine output method that allow a user to easily change a switching condition that is not met at the time of switching a running mode detect.

the solution of the problem

In order to solve the above-described problem and achieve the object, an output device of a work machine provided with a switching control unit having a first mode and a second mode and switching from the first mode to the second mode when a plurality of conditions for When the switching from the first mode to the second mode is satisfied, an output control unit configured to output to an output unit a part or each condition information corresponding to two or more unfulfilled conditions among the plurality of conditions when the two or more Conditions are not met and if a condition under the two or more unfulfilled conditions has been met, to limit the output of the individual condition information corresponding to the one condition.

Further, in the above-described output device of the work machine according to the present invention, the output control unit outputs to the output unit status information indicating that a condition for switching from the first mode to the second mode is not satisfied if one or more conditions among the Variety of conditions are not met.

Further, in the above-described output device of the work machine according to the present invention, the single condition information or the status information is output by an image display, a text display, a light display, or an audio output.

 Further, in the above-described output device of the work machine according to the present invention, the image display, the text display or the light display changes the colors and / or the display modes depending on the contents of each condition or status information.

 Further, in the above-described output device of the work machine according to the present invention, the first mode and the second mode are a first drive mode and a second drive mode, respectively.

Further, in the above-described output device of the work machine according to the present invention, the first drive mode and the second drive mode are each one of a two-wheel steering mode, a reverse-phase all-wheel steering mode, an in-phase all-wheel control mode, or a public road drive mode.

Further, in the above-described output device of the work machine according to the present invention, as the area for displaying the individual condition information or the status information on the output unit, the individual condition information or the status information is displayed in a range up to switching to the second mode instead of one such ad has been displayed; newly displayed in an area in which until now nothing was displayed until switching to the second mode; or they are displayed to partially overlap with an area in which something has been displayed until switching to the second mode.

Further, in the above-described output device of the work machine according to the present invention, the output unit is a display unit, the output control unit is a display control unit, and the output device is a display device.

Further, an output method of a work machine according to the present invention comprises the following steps: with a first mode and a second mode, and switching from the first mode to the second mode when a plurality of conditions for switching from the first mode to the second mode are satisfied is; Outputting to an output unit, part or each condition information corresponding to two or more unfulfilled conditions among the plurality of conditions when the two or more conditions are not satisfied; and if a condition under the two or more unfulfilled conditions has been satisfied, limiting the output of the individual condition information corresponding to the one condition.

According to the present invention, the output device of a work machine includes the switching control unit having the first mode and the second mode and switching from the first mode to the second mode when the plurality of conditions for switching from the first mode to the second mode are met , The output device of a work machine includes the output control unit. The output control unit outputs, to the output unit, a part or each condition information corresponding to the two or more unfulfilled conditions among the plurality of conditions when the two or more conditions are not satisfied. If the one condition has been satisfied under the two or more unfulfilled conditions, the output controller limits the output of the individual condition information corresponding to the one condition. Thus, for example, when the first mode and the second mode are the driving modes, the user can easily recognize the switching conditions that are not satisfied at the time of the driving mode switching, and thus the ease of driving mode switching is improved.

Brief description of the drawings

1 FIG. 13 is a side view illustrating a wheeled excavator that is an example of a work machine including a display device of a work machine according to an embodiment of the present invention. FIG.

2 is a view and explains an inner arrangement of a driver's seat.

3 FIG. 12 is a block diagram illustrating a schematic configuration of a control system of the wheeled excavator. FIG.

4 is a view and explains a schematic configuration of a monitor.

5 FIG. 13 is a view explaining a display screen configuration of the monitor at the time of switching a driving mode. FIG.

6 is a status transition diagram of the drive mode switching.

7 Figure 12 is a diagram illustrating the transition of the display screen when switching from a 2WS mode to a 4WS1-R mode.

8th Fig. 12 is a diagram explaining the transition of the display screen when switching from the 2WS mode to a road mode.

9 FIG. 10 is a flowchart explaining a drive mode switching display control processing operation by a monitor controller. FIG.

Description of embodiments

Embodiments for implementing the present invention will be described below with reference to the accompanying drawings.

[Overall configuration of a wheeled excavator]

1 is a side view and explains a wheeled excavator 1 which is an example of a work machine including a display device of a work machine according to an embodiment of the present invention. As in 1 explained, the wheeled excavator points 1 a lower drive body 2 , an upper swivel body 3 , which is pivotally provided on the lower drive body, and one on the upper swivel body 3 attached work unit 4 on. The lower drive body 2 has front wheels mounted on the left and right sides of a vehicle 11 and rear wheels mounted on the left and right sides of the vehicle 12 on. On the lower traveling body may be a Stützfuß for stabilizing a vehicle body during working, such as digging by the wheeled excavator 1 , or a flock be provided for parting or leveling of sediment.

The work unit 4 has a boom 41 , an arm 42 , and a spoon 43 on. The boom 41 , the arm 42 and the spoon 43 Be bendable by expansion / contraction drive of a hydraulic cylinder 44 driven. The boom 41 has a two part structure with two arms 45 and 46 on.

At a rear portion of the upper pivot body 3 Electricity tanks are like a motor 33 (please refer 3 ), a hydraulic pump 34 (please refer 3 ), a heater and an oil cooler attached. A counterweight 32 is at the rear end of the upper slewing body 3 appropriate. Further, a hydraulic oil tank and the like is at the front left of the upper swing body 3 appropriate.

An operating room 31 is front right on the upper swivel body 3 arranged. As in 2 explained, the operating room 31 a driver's seat 50 on. operating lever 51 and 52 are left and right of the driver's seat 50 arranged. The operating lever 51 is on the left side of the user, on the driver's seat 50 sits, arranged. The operating lever 52 is on the right side of the user, on the driver's seat 50 sits, arranged. The operating lever 51 corresponds to the pivoting operation of the upper pivoting body 3 and the operation of the arm 42 , When the operating lever 51 is operated to the left and right, pivots the upper swivel body 3 left and right. When the operating lever 51 is operated up and down, the arm turns 42 in the forward-backward direction. The operating lever 52 corresponds to the operation of the boom 41 and the operation of the spoon 43 , When the control lever is operated left and right, the bucket rotates 43 in the grab / unload direction. When the operating lever 52 is operated up and down, the boom turns 41 in up-and-down direction. The combination of operation of the control lever 51 and 52 and which work unit functions accordingly is not limited to that of the present embodiment.

In front of the driver's seat 50 are a steering wheel 53 , a shift lever 54 , and a pedal group 55 intended. The pedal group 55 includes an accelerator pedal 55a and a brake pedal 55b , The steering wheel 53 steers the front wheels 11 and the rear wheels 12 according to the driving mode. The shifter 54 Selects the operation of forward driving, idling and reverse driving. The gas pedal 55a Controls the motor according to the pedaling. The brake pedal 55b stops the front wheels 11 and the rear wheels 12 by operating the brake (not shown) according to the pedaling.

In the present embodiment, the driving modes described above are referred to as a two-wheel steering (2WS) mode M1, a reverse-phase all-wheel steering (4WS-R) mode M2, an in-phase all-wheel steering (4WS-C) mode M3, and a road mode M4. Steering method for the front wheels 11 and the rear wheels 12 according to the steering of the steering wheel 53 in the respective driving modes are described above.

In the two-wheel steering mode (2WS mode) M1, the front wheels become a steering angle of the steering wheel according to 53 controlled, but the rear wheels continue to point in the direction of the upper pivot body 3 regardless of the steering angle of the steering wheel 53 , Therefore, the steering control is the same as that in a typical vehicle. In the reversed-phase all wheel steering mode (4WS-R mode) M2, the front wheel steering is the same as that of the 2WS mode, but the rear wheel steering is controlled in a direction opposite to a steering direction of the front wheels. Therefore It is possible to swing with a smaller turn than in 2WS mode. In the in-phase four-wheel steering mode (4WS-C mode) M3, the front wheel steering is the same as that of the 2WS mode, but the rear wheel steering is controlled in the same direction as the steering direction of the front wheels. Therefore, the wheeled excavator 1 driving while panning (driving like a crab) without changing the orientation of it. The types of travel modes are not limited to those of the present embodiment.

On a console on the right side of the operating room 31 Various types of switches are provided, such as a suspension lock switch 57 , a driving mode switch 58 and 59 , a road mode switcher 60 and a speed mode switcher 61 , The suspension lock switch 57 is a switch for inhibiting the expansion and contraction of a suspension cylinder 81 (please refer 3 ), the lower drive body 2 is provided and may be, for example, an ON / OFF switch. This is due to the fact that by locking the suspension cylinder 81 the work ability by suppressing vibration of the vehicle body due to the change of the center of gravity during the work using the work unit 4 is ensured.

The driving mode switch 58 and 59 are switched to select / switch the 2WS mode M1, the 4WS-R mode M2 and the 4WS-C mode M3. For example, the drive mode switch 58 be a switch that switches between "2WS" and "4WS", and the drive mode switcher 59 may be a switch that toggles between "4WS-R" and "4WS-C". That is, when the drive mode switch 58 is in the "2WS" position, the drive mode is set to the 2WS mode M1 regardless of the position of the drive mode changeover switch 59 located. When the drive mode switch 58 is in the "4WS" position, the drive mode may be determined depending on the position of the drive mode changeover switch 59 between "4WS-R" and "4WS-C".

The road mode switch 60 is a switch for requesting the shift to the road mode M4 and may be, for example, an ON / OFF changeover switch. The road mode switch 60 requests the shift to the road mode in an ON state, and does not request a change to the road mode in an OFF state. The speed mode switcher 61 For example, a switch may be for switching the three speed modes that change an upper limit of a vehicle speed. The three speed modes are a high (high speed) mode, a low speed mode, and a creep (extremely slow speed) mode. The high-speed mode is, for example, a mode in which the vehicle runs at a speed of 30 km / h or less. The low-speed mode is, for example, a mode in which the vehicle runs at a speed of 10 km / h or less. For example, the extreme low-speed mode is a mode in which the vehicle runs at a speed of 4.5 km / h or less. The configuration of each type of circuits is not limited to the present embodiment.

A monitor 70 is front right in the operating room 31 arranged. The display 70 has a display unit (output unit) 71 which displays various information and an operation unit 72 for processing on the display unit (output unit) 71 displayed information.

3 FIG. 12 is a block diagram illustrating a schematic configuration of a control system of the wheeled excavator. FIG 1 , As in 3 12, a main controller C10, a monitor controller C11, and a motor controller C12 are in a CAN 100 connected, which is an in-vehicle network. Furthermore, the suspension lock switch 57 , the driving mode switch 58 and 59 , the road mode switcher 60 , and the speed mode switcher 61 to the CAN 100 connected.

The monitor controller C11 transmits and receives information via the CAN 100 to and from different switches, such as the drive mode switches 58 and 59 and other controls such as the main controller C10 and the engine controller C12. The monitor control C11 also controls the display on the monitor 70 based on such information. The monitor controller C11 configures a "display control unit (output control unit)", and a "display apparatus (output apparatus)" is provided by the monitor control C11 and the monitor 70 configured. Special display contents displayed on the monitor will be described later.

The engine controller C12 transmits and receives information to and from other controllers via the CAN 100 , and controls the output of the engine 33 by controlling a fuel injection device 33a , An output shaft of the motor 33 is with an input shaft of the hydraulic pump 34 coupled. The hydraulic pump 34 is by driving the engine 33 rotatably driven. One from the hydraulic pump 34 discharged working oil is via a main valve 35 each associated with driving and panning hydraulic apparatus and a working unit supplied.

The driving apparatus related hydraulic apparatus will be described. The working oil, which is the main valve 35 has happened is a hydraulic motor 21 fed. The hydraulic motor 21 is rotatably driven by the supplied working oil and drives the rear wheel 12 for rotation via a gearbox 22 at.

The suspension cylinders 81 are in suspension parts of the front wheels 11 and the rear wheels 12 intended. The working oil becomes the suspension cylinder 81 from main valve 35 via a suspension lock valve 82 fed. The main controller C10 is connected to a suspension lock solenoid (not shown) that fits into the suspension check valve 82 is incorporated. When a signal for switching the suspension lock switch 57 is received, the main controller C10 drives the suspension lock solenoid, closes the suspension check valve 82 , switches the path between main valve 35 and suspension cylinders 81 off and locks the damper function by expansion / contraction of the suspension cylinder 81 ,

The front wheels 11 and the rear wheels 12 be through known steering mechanisms 83 respectively. 84 directed. The steering mechanisms 83 and 84 have inside each hydraulic steering cylinder (not shown). The working oil is supplied to the hydraulic steering cylinder via the main valve 35 and a steering valve 36 fed. The steering valve 36 controls the valve according to the driving mode, so that the front wheels 11 and the rear wheels 12 in a certain direction relative to the steering direction of the steering wheel 53 to be controlled.

The main controller C10 is connected to the steering valve solenoid (not shown), which is in the steering valve 36 is incorporated. The main controller C10 drives the steering valve solenoid according to one of the three driving modes, ie, the 2WS mode (same as the road mode), the 4WS-R mode, and the 4WS-C mode selected by the travel mode change-over switches 58 and 59 be set. Then, the main controller C10 steers via the steering mechanisms according to the set driving mode 83 and 84 , The amount of steering the front wheels 11 and the rear wheels 12 is an amount corresponding to the steering angle of the steering wheel 53 ,

A front wheel sensor S1 and a rear wheel sensor S2 are connected to the main controller C10. Here's "tie" the front wheels 11 and "tie" the rear wheels 12 , for example in the front wheels 11 , a status in which a steering angle of the front wheels 11 Zero is and the orientation of the lower body 2 with the orientation of the front wheels 11 matches. For example, it can be said that the front wheels 11 in 3 face each other and the rear wheels 12 in 3 face each other. The front wheel position sensor S1 detects whether the front wheels 11 face. The rear wheel sensor S2 detects whether the rear wheels 12 face.

A vehicle speed sensor S3 is connected to the main controller C10. The vehicle speed sensor S3 may, for example, the vehicle speed of the wheeled excavator 1 by detecting the rotational speed of the front wheels 11 to calculate.

The hydraulic apparatus associated with pivoting will be described. The working oil, which is the main valve 35 has happened on the upper swivel body 3 provided swivel motor 37 fed. The swivel motor 37 is rotatably driven by the supplied working oil. Then the slewing motor pivots 37 the upper swivel body 3 about the pivoting machinery (not shown).

A pivot position detection sensor S4 is connected to the main controller C10. The swivel position detection sensor S4 detects whether a swivel position (swivel angle) of the upper swivel body 3 opposite to the lower drive body. Here is "Geradestand" of the upper swivel body 3 a status in which the orientation of the on the upper swivel body 3 intended working unit 4 coincides with the straight-ahead direction L of the lower vehicle and, for example, it stands at a position in the 0 ° -phase. It can be set to determine the state of the machine in two positions from 0 ° and 180 °.

The hydraulic apparatus related to the working unit will be described. The working oil is from the main valve 35 every hydraulic cylinder 44 inside the work unit 4 fed. By controlling the main valve 35 according to the operating amount of the operating lever 51 and 52 becomes the hydraulic cylinder 44 (For example, a boom cylinder) corresponding to a specific work unit 4 (for example, boom 41 ) supplied a predetermined amount of the working oil. As a result, such a hydraulic cylinder is operated for expansion and contraction, and the particular unit of work 4 turns.

[Overview of the monitor]

Next is an overview of the monitor 70 with reference to 4 described. A motor water temperature gauge G1 indicating the water temperature of engine cooling water is on the right side of the display unit 71 displayed. A fuel gauge G3 indicative of the amount of remaining fuel is on the right side of the display unit 71 displayed. Further, in the upper middle portion of the display unit 71 a working oil temperature gauge G2 indicating the oil temperature of the working oil in a hydraulic circuit is displayed smaller than the engine water temperature gauge G1 and the fuel gauge G3.

An area E1 is in the lower middle portion of the display unit 71 displayed. The area E1 is an area indicating information related to the switching of the driving mode. An icon I10 displayed in area E1 indicates status information indicating that the current drive mode is 2WS mode.

5 indicates a status that switching from 2WS mode to 4 is not completed in the 4WS-R mode. The changeover is not completed because prescribed conditions are not satisfied although the request to switch to the 4WS-R mode is made by operating the drive mode changeover switch 58 and 59 was issued. In this status, a symbol I1 and a symbol I2, which will be described next, are displayed in the area of the symbol I10 of FIG 4 displayed.

The symbol I1 is a symbol indicating individual condition information. The individual condition information in a case where the request for switching is issued from one drive mode to another drive mode indicates which condition is not satisfied when all conditions for switching to the other drive mode are not satisfied. In the example of 5 , three small icons in one area of the icon I1 are displayed as conditions that are not satisfied. That is, there are three conditions that are not met. The content of certain conditions will be described later.

The symbol I2 is a symbol indicating status information. The status information in a case where one or a plurality of conditions for switching to the other drive mode is not satisfied indicates that the switching of the drive mode is not completed because the condition (s) is not satisfied. In an icon I3 are the front wheels 11 and the rear wheels 12 displayed. If the front wheels 11 are aligned straight or if the rear wheels 12 are aligned straight, the straight front wheels are aligned 11 or rear wheels 12 are displayed in green, and if they are not straightened, the non-aligned front wheels become 11 or rear wheels 12 displayed in yellow. As a result, the user can determine at a glance on the monitor whether the front wheels 11 are aligned straight and the rear wheels 12 are aligned straight.

In an icon I4 is an election status of the shift lever 54 indicated, and in the example of 5 the idle state is specified. In addition, in a symbol I5 is a status of the suspension lock switch 57 displayed. In the example of 5 the suspension lock is indicated in operation. That is, the suspension lock switch 57 will be turned ON. If the suspension lock is not in operation, the color of the symbol I can be changed.

Further, in a symbol I6, a status of the request for switching to the road mode M4 is displayed, and in the example of FIG 5 the status is indicated, with the request to switch to the road mode M4, currently being issued. That is, the road mode switch 60 will be turned ON. If no request to switch to the road mode M4 is issued, the symbol I6 may be a space.

[Transition status of driving mode]

6 is a status transition diagram of the drive mode switching. This status transition is performed by the main controller C10, which functions as a "switching control unit" of the driving modes. As in 6 11, the driving modes between the 2WS mode M1, the 4WS-R mode M2, and the 4WS-C mode M3 may be switched among each other. However, the road mode M4 can only be switched to / from the 2WS mode M1.

The switching from the 4WS-R mode M2, the 4WS-C mode M3 and the road mode M4 to the 2WS mode M1 is performed when all the items of the following condition A are satisfied: Condition A: Selection of the 2WS mode M1 + predetermined vehicle speed or less + straight alignment of the front wheels 11 and straight alignment of the rear wheels 12 ,

Here, when choosing the 2WS mode M1, it is necessary that the drive mode switch 58 (Switch that switches between 2WS and 4WS) in the "2WS" state (a position of the drive mode changeover switch 59 can be anywhere) is located. The predetermined vehicle speed may be set to any speed, or may be set to a vehicle speed substantially close to 0 km / h. This is because if the switching of the driving mode is possible while driving, there is a possibility that a steering angle of the rear wheels 12 changes suddenly and the behavior of the vehicle occurs against the intention of the user. The straight alignment of the front wheels 11 and the straight alignment of the rear wheels 12 are determined by proving whether the front wheels 11 are in the "straight line" and whether the rear wheels 12 in the "Straightness" are, as described above, using the front wheel position sensor S2 and the rear wheel position sensor S3. The switching from the 2WS mode M1 and the 4WS-C mode M3 to the 4WS-R mode M2 is performed when the following condition B is satisfied: Condition B: Selection of the 4WS-R mode M2 + predetermined vehicle speed or less + straight alignment of the front wheels 11 and straight alignment of the rear wheels 12 + Deselection of the road mode M4.

Here it is necessary when choosing the 4WS-R mode M2 that the drive mode switch 58 (Switch that switches between 2WS and 4WS) in the "4WS" state, and the drive mode switch 59 (Switch that switches between 4WS-R and 4WS-C) is in "4WS-R" status. The deselection of the road mode M4 indicates a status in which the request to switch to the road mode M4 is not output, that is, the road mode changeover switch 60 is in the OFF state.

The switching from the 2WS mode M1 and the 4WS-R mode M2 to the 4WS-C mode M3 is performed when the following condition C is satisfied: Condition C: Selection of the 4WS-C mode M3 + predetermined vehicle speed or less + straight alignment of the front wheels 11 and straight alignment of the rear wheels 12 + Deselection of the road mode M4 + selection of the speed mode other than the high mode.

Here it is necessary when choosing the 4WS-C mode M3 that the drive mode switcher 58 (Switch that switches between 2WS and 4WS) in the "4WS" state, and the drive mode switch 59 (Switch that switches between 4WS-R and 4WS-C) is in the "4WS-C" status. When "selecting the speed mode other than the high mode (high speed mode)", the speed mode is required to be in the low mode or the creep mode. This is because when the vehicle is operated in the 4WS-C mode, ie, driving like a crab, a case occurs wherein the orientation of the driver's seat 50 does not coincide with the direction of travel of the vehicle, in which case the vehicle should be controlled so that it does not travel at high speed.

Switching from the 2WS mode M1 to the road mode M4 is performed when the road mode M4 is driven by the drive mode switch 58 is selected and the following condition D is satisfied: Condition D: Choice of the road mode M4 + 2WS mode status + predetermined vehicle speed or less + straight alignment of the upper swing body 3 + Release a suspension lock.

Here it is necessary when choosing the road mode M4 that the road mode switch 60 is in the ON state. In the 2WS mode status, it is necessary for the current drive mode to be in 2WS mode. With regard to the straight alignment of the upper swivel body 3 determines the Schwenkpositionsnachweissensor S6, whether the upper swivel body 3 in the "straight line", as described above. The release of the suspension lock requires that the suspension lock switch 57 is in the unlocked state. This is because when the suspension lock is operated on public roads, shock due to unevenness of the road surface is transmitted to the user.

Upon selecting the changeover from a drive mode status to another drive mode, and a status wherein the switching of the drive mode is not completed because one or a plurality of conditions are not satisfied when the deselection of the other drive mode is performed, the drive mode is maintained before the selection of the other driving mode. For example, in a case where the current drive mode is the 2WS mode M1, the 2WS mode M1 is retained when deselecting the switch to the 4WS-R mode M2 after the selection of the 4WS-R mode M2 and before the switchover is performed.

[Drive Mode Umschaltanzeigebeispiel]

7 Figure 12 is a diagram illustrating the transition of a display screen when switching from 2WS mode to 4WS-R mode. As in 7 illustrates a display screen 200 at the time of the 2WS mode, a symbol I10 as status information indicating the 2WS mode which is the current running mode. Since the symbol I6 is displayed, it can be seen that the road mode switch 60 turned ON.

When the drive mode switch 58 (Switch that switches between "2WS" and "4WS") is switched to "4WS", and the drive mode changeover switch 59 (Switch switching between "4WS-R" and "4WS-C") is switched to "4WS-R", the monitor controller C11 determines whether all of the plurality of switching conditions (condition B) for switching to the 4WS-R Mode are met. If there is an unrequired switching condition, for example, as on a display screen 201 , the symbols I11 to I13 are respectively displayed as individual condition information in the respective unfulfilled switching conditions, and a symbol I2 indicating the fact that there is an unrequired switching condition is displayed as status information.

The symbol I11, the symbol I12 and the symbol I13 indicate that the conditions "predetermined vehicle speed or less", "straight alignment of the front wheels 11" and "deselection of the road mode M4" are not satisfied in the condition B described above. Based on the single condition information, the condition "predetermined vehicle speed or less" is satisfied by a deceleration operation performed by the user. Then the icon I11 disappears, as on a display screen 202 explained. Therefore, the user can recognize that the condition "predetermined vehicle speed or less" has been satisfied.

In addition, the status of the display screen disappears 202 if the condition is "straight alignment of the front wheels 11 "Through the steering of the steering wheel 53 has been satisfied, the icon I12, as on a display screen 203 explained. Therefore, the user can recognize that the condition "straight alignment of the front wheels 11 "Has been fulfilled. Further, in the status of the display screen 203 when the condition of "deselecting the road mode M4" by turning the road mode switch 60 has been met, all switching conditions have been met. Therefore, as on a display screen 204 11, the symbol I15 indicating that the road mode M4 has been switched to the 4WS-R mode is displayed. Then, instead of the symbol I6, in the area of the symbol I6, a symbol I7 (space) indicating that the road mode switch is displayed 60 turned OFF.

In the status of the display screen 201 . 202 and 203 when the drive mode switch 58 is switched to "2WS", that is, the deselection of the 4WS-R mode is performed, the 2WS mode, which is the current drive mode, is maintained. Therefore, the display screen enters the display screen 200 over, which indicates the 2WS mode.

8th is a diagram illustrating the transition of the display screen when switching from the 2WS mode to the road mode. As in 8th illustrates a display screen 300 at the time of 2WS mode, according to the display screen 200 , an icon I20 as status information indicating the 2WS mode that is the current drive mode. This is the suspension lock in operation (the icon I5 is displayed), and the road mode switch 60 is switched off (the symbol I7 is displayed).

When the road mode switch 60 is turned ON and the request for the road mode switching is issued, the monitor controller C11 determines whether all of the plurality of switching conditions (condition D) for switching to the road mode are met. If there is an unrequired switching condition, for example, as on a display screen 301 , the symbols I21 to I23, which are individual condition information, may be displayed in the area of the symbol I7. The road mode is the same kind of mode as the 2WS mode, so the icon I20 can be as it is. Further, the icon I21 indicating that the shift to the road mode is not completed may be displayed as one of the individual condition information.

Therefore, the unfulfilled conditions in this case are two conditions corresponding to a symbol I22 and a symbol I23. The symbol I22 and the symbol I23 indicate that the conditions "straight alignment of the upper swivel body 3 "Or" release the suspension lock "are not met.

In the status of the display screen 301 when the upper swivel body 3 by pivoting the upper pivoting body 3 with the lower drive body 2 is aligned, disappears the icon I22, indicating that the upper swivel body 3 not exactly aligned, making it look like a display screen 302 looks. Furthermore, the status of the display screen disappears 302 when the suspension lock by turning OFF the suspension lock switch 57 is released, the symbol I23 indicating that the suspension lock has not been released, and since all switching conditions have been satisfied, the symbol I21 also disappears. Therefore, the icon I6 which is the status information indicating that the shift to the road mode has been performed is displayed in the area in which the individual condition information is displayed.

Therefore, by displaying the icons I20 and I6, the user recognizes that the drive mode has entered the road mode. In the area where the symbol I5s is displayed, a symbol I8 (a symbol in which the colors of the symbol I5 are changed) indicating the released status of the suspension lock is displayed.

In the status of the display screens 301 . 302 , and 303 when the road mode switch 60 is turned OFF and the deselection of the road mode M4 is performed, the display screen becomes like the display screen 300 indicating the 2WS mode.

[Drive Mode Umschaltanzeigesteuerungsverarbeitung]

Next, a drive mode switching display control processing operation by the monitor controller C11 will be described with reference to the flowchart shown in FIG 9 is explained.

As in 9 1, it is first determined whether another traveling mode is selected (step S101). Whether the other drive mode is selected is the drive mode changeover switch based on the selection status 58 and 59 and the road mode switcher 60 certainly. In a case where the current drive mode is the 2WS mode M1, when the other drive mode such as the 4WS-R mode M2, the 4WS-C mode M3, or the road mode M4 is not selected (step S101, No) this determination processing is repeated. On the other hand, if the other traveling mode is selected (step S101, Yes), the processing proceeds to the next step.

Then, it is determined whether there is an unmet condition among a plurality of switching conditions for the other selected traveling mode (step S102). If there is an unrequested condition (S102, Yes), the status information indicating the fact that the switching condition is not satisfied is displayed (step S103). For example, as symbol I2, which is in 7 is explained, the status information indicates that switching from 2WS mode to 4WS-R mode can not be performed. In addition, individual condition information indicating the content of the unrequested switching condition is displayed (step S104). For example, as in symbols I11, I12, and I13 on the display screen 201 from 7 explains, the three items of each condition information are displayed.

Subsequently, the monitor controller C11 determines whether there is a satisfied switching condition among the unrequired switching conditions (step S106). If there is a satisfied switching condition (step S106), the indication of the individual condition information is cleared (step S107). For example, in the status of the display screen 201 from 7 That is, when the deceleration operation is performed so that the condition of the predetermined vehicle speed or less is satisfied, the display of the icon I11 that is a single condition information is cleared, and the screen looks like the display screen 202 out. On the other hand, if there is no satisfied switching condition (step S106, No), the processing proceeds to step S108.

Then, it is determined whether deselecting the other selected traveling mode has been performed (step S108). The deselection of the other selected drive mode indicates the case, with the drive mode switch 58 and 59 be operated again, so that the driving mode before selecting the other driving mode, ie the current driving mode, by the driving mode switch 58 and 59 , is maintained. When the other selected drive mode is deselected (step S108, Yes), the status information indicating that the driver is in the current drive mode is displayed to return to the current drive mode before the other drive mode is selected (step S109). , Then, the processing returns to step S101 and repeats the above-described processing. For example, in the status of the display screen goes 202 from 6 the display screen when the selected 4WS-R mode is deselected on the display screen 200 and displays icon I10, which is the status information indicating the fact that you are in the current drive mode (2WS mode).

On the other hand, if the other selected traveling mode is not deselected (step S108, No), it is further determined whether all the switching conditions are satisfied (step S109). When all the switching conditions are satisfied (step S110, Yes), the status information indicating the fact that the other driving mode is displayed (step S111) is displayed, and the processing returns to step S101 and repeats the above-described processing. In step S111, for example, as on the display screen 203 from 7 , the symbol I1 is displayed as status information. Also, a symbol as a single condition information indicating the unfulfilled condition is deleted according to the display of the icon I15. On the other hand, if all the switching conditions are not satisfied (step S110, No), the processing proceeds to step S106 and the loop is repeated.

Further, in step S103, if there is no condition among the plurality of switching conditions that is not satisfied (step S103, No), all the switching conditions are satisfied. Therefore, the processing proceeds to step S111, and the status information indicating the fact that the drive mode has been switched is displayed. Then, the processing proceeds to step S101 and repeats the above-described processing.

In the above-described processing, the display of each condition information is cleared whenever the switching condition is satisfied. However, the processing is not limited to these, and the individual condition information can be completely deleted immediately when all the switching conditions are satisfied.

In addition, individual condition information and status information may be not just an image display such as a symbol, but also a textual display such as a message. Further, a lamp may be turned on and displayed in accordance with individual condition information or status information. According to the content of a single condition and status information, colors or other display modes (such as brightness, transmittance, or blinking) of the lamp or lamp may be displayed Symbols are changed. Furthermore, the modes can be voice outputs.

In the embodiment described above, only the unfulfilled conditions are displayed. However, as another mode, for example, the condition already satisfied and the condition that has not yet been satisfied may be determined in advance by displaying all conditions. For example, symbols corresponding to all conditions can be stored in advance in an area of the display unit. At the time of switching the driving mode, a symbol corresponding to the condition already met can be displayed dark, and a symbol corresponding to the condition that has not yet been satisfied can be displayed brightly. If then a condition has been fulfilled, the corresponding symbol can be displayed dark.

There is a possibility that the display of all symbols corresponding to the unfulfilled conditions may make the display screen confusing. Therefore, the icons can be displayed in a simpler mode. For example, if there are a variety of unfulfilled conditions, only a portion of them can be displayed. That it may be a mode that limits the amount of information to be displayed. For example, only the symbol (s) may be displayed according to one or two unfulfilled condition (s). In such a mode, the icons may be displayed based on the priority order of predetermined points.

In the embodiment described above, the driving mode changeover switches 58 and 59 and the road mode switcher 60 used as a switch for switching between the driving modes. However, the mode switching switches may be of any shape. It can be a knob or dial or a touch panel shape.

 In the above-described embodiment, the main controller C10 may store the driving mode when a key switch is turned off. Then, when the key switch is turned on, the main controller C10 may control to store the previous drive mode or may initiate a certain drive mode, for example, the 2WS mode, which is always selected when the key is turned on.

The sensors such as the front wheel position sensor S1, the rear wheel position sensor S2, the vehicle speed sensor S3, and the swivel position detection sensor S4 may be of any type or shape.

In the embodiment described above, a rear-wheel drive vehicle has been used using the transmission 22 described as an example; however, the drive may be any type, such as a front-wheel drive or four-wheel drive. In addition, the drive type can be not only in a wheeled excavator but also any work machine, such as a digger or wheel loader crawler type, a bulldozer, or a dump truck.

Further, in the embodiment described above, there are four driving modes; however, the modes are not limited to a driving-related mode and may be applied to switching to any "mode". The number of types of modes may be any number as long as there are two or more.

In a case where a support foot is provided in the above-described work machine, setting and removal of the support foot may be added as a condition of mode switching.

Further, in a case where individual condition and status information is displayed when a mode switch is retrieved, the individual condition information may be displayed in an area in which something has been displayed until the mode is switched to such a display, as in the embodiment described above. Alternatively, the individual condition information can be newly displayed in an area in which nothing has been displayed so far. Still alternatively, the individual condition information may be displayed to partially overlap with an area in which something has been displayed until the mode is switched.

LIST OF REFERENCE NUMBERS

1

 Wheel excavators

2

 Lower carriage

3

 Upper swivel body

4

 work unit

11

 front wheels

12

 rear wheels

21

 hydraulic motor

22

 transmission

31

 operating room

32

 counterweight

33

 engine

33a

 Fuel injection system

34

 hydraulic pump

35

 main valve

36

 steering valve

37

 swing motor

38

 swing brake

41, 45, 46

 boom

42

 poor

43

 spoon

44

 hydraulic cylinders

50

 users seat

51, 52

 operating lever

53

 steering wheel

54

 gear lever

55

 pedals

55a

 accelerator

55b

 brake pedal

57

 Suspension lock switch

58, 59

 Driving mode switch

60

 Road mode switch

61

 Speed mode switch

70

 monitor

71

 display unit

72

 operating unit

81

 suspension cylinder

82

 Suspension lock valve

83, 84

 steering mechanism

200 to 203, 301 to 303

 display screen

C10

 main control

C11

 monitor control

C12

 motor control

E1

G1

 Engine water temperature gauge

G2

 Working oil temperature gauge

G3

 Fuel level gauge

I1 to I8, I10 to I13, I1, I20 to I23

 symbol

S1

 Front level sensor

S2

 Behind wheelbase sensor

S3

 Vehicle speed sensor

S4

 Swing position detection sensor

Claims (9)

 A dispenser of a work machine equipped with a switching control unit having a first mode and a second mode and switching from the first mode to the second mode when a plurality of conditions for switching from the first mode to the second mode is met the output device comprises an output control unit configured to output, to an output unit, a part or all of individual condition information corresponding to two or more unfulfilled conditions among the plurality of conditions when the two or more conditions are not satisfied, and if a condition under the two or more unfulfilled conditions has been satisfied, limiting the output of the individual condition information corresponding to the one condition. The output device of the work machine according to claim 1, wherein the output control unit outputs to the output unit status information indicating that a condition for switching from the first mode to the second mode is not satisfied when one or more conditions do not satisfy the plurality of conditions are. The output device of the work machine according to claim 1 or 2, wherein the single condition information or the status information is output via an image display, a text display, a light display or an audio output.  The output device of the work machine according to claim 3, wherein the image display, the text display or the light display changes colors and / or display modes depending on the content of the individual condition information or the status information. The output device of the work machine according to any one of claims 1 to 4, wherein the first mode and the second mode are a first drive mode and a second drive mode, respectively. The output device of the work machine according to claim 5, wherein the first drive mode and the second drive mode are each one of a two-wheel steering mode, a reverse-phase all-wheel steering mode, an in-phase all-wheel drive mode, or a public road drive mode.  The output apparatus of the work machine according to any one of claims 1 to 6, wherein as the region for displaying the individual condition information or the status information on the output unit, the individual condition information or status information is displayed in an area in which something is displayed instead of a display until switching to the second mode has been; is displayed again in an area that was not displayed until switching to the second mode; or is displayed to partially overlap with an area in which something has been displayed until switching to the second mode. The output device of the work machine according to any one of claims 1 to 7, wherein the output unit is a display unit, the output control unit is a display control unit, and the output apparatus is a display device. Output method of a work machine, comprising the following steps: Have a first Mode and a second mode, and switching from the first mode to the second mode when a plurality of conditions for switching from the first mode to the second mode is met; Outputting to an output unit a part or all of the condition information corresponding to two or more unfulfilled conditions among the plurality of conditions when the two or more conditions are not satisfied; and if a condition under the two or more unfulfilled conditions has been satisfied, limiting the output of the individual condition information corresponding to the one condition.

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