JP2023074224A - Control method for work machine, control program for work machine, control system for work machine and work machine - Google Patents

Abstract

To provide a control method for a work machine, a control program for a work machine, a control system for a work machines, and a work machine, which enable the load of operators in charge of the operation to be easily reduced.SOLUTION: A control method of a work machine 3 is the control method of the work machine 3 which comprises a machine body 30 performing actions according to the operation of a control device 35, and can change operation patterns which are the correspondence between the operation of the control device 35 and the actions of the machine body 30. The control method includes presenting operation pattern information to show current operation patterns when a status that the machine body 30 performs no action according to the operation of the control device 35 changes to a status that the machine body 30 performs actions according to the operation of the control device 35.SELECTED DRAWING: Figure 2

Description

The present invention relates to a work machine control method, a work machine control program, a work machine control system, and a work machine, which are used in a work machine having a body that operates according to operation of an operating device.

As a related technology, there is provided a self-propelled undercarriage, an upper revolving body mounted on the undercarriage via a revolving device so as to be able to turn, and a work device provided in front of the upper revolving body. Hydraulic excavators are known as working machines (construction machines) (see, for example, Patent Document 1). A working machine according to the related art has, as a working device, a boom, an arm, a bucket, and a hydraulic cylinder for driving these, which are provided so as to be able to move up and down. This working machine is equipped with a control valve for supplying and discharging pressurized oil to and from the turning device and the working device in accordance with the operation of the operating lever. It is configured to be switchable by operating a switching lever. That is, by operating the switching lever, the correspondence relationship between the operating direction of the operating device (operating lever) and the operation of each actuator such as the boom cylinder, the arm cylinder, or the bucket cylinder is switched.

In the above-described related art, in the operation pattern confirmation work, the operator exposes the pattern switching valve by opening the maintenance door of the cab. By visually observing the position of the switching lever of the pattern switching valve in this state, it is possible to confirm whether or not the operation pattern suits one's taste.

Japanese Patent Application Laid-Open No. 2020-147968

In the above-mentioned related art, the operator checks the operation pattern by visually checking the position of the switching lever. , and must be operated with caution by the operator.

SUMMARY OF THE INVENTION An object of the present invention is to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that can easily reduce the burden on an operator involved in operation.

A work machine control method according to an aspect of the present invention includes a machine body that operates according to an operation of an operation device, and is capable of changing an operation pattern that is a correspondence relationship between the operation of the operation device and the movement of the machine body. is the control method of The control method includes operation pattern information indicating the current operation pattern when switching from a state in which the aircraft does not operate in response to operation of the operating device to a state in which the aircraft operates in response to operation of the operating device. presenting a

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

A working machine control system according to an aspect of the present invention includes a machine body that operates in accordance with an operation of an operating device, and is capable of changing an operation pattern that is a correspondence relationship between the operation of the operating device and the movement of the machine body. used for The work machine control system includes a presentation processing unit. The presentation processing unit provides an operation pattern indicating the current operation pattern when switching from a state in which the machine body does not operate in response to operation of the operation device to a state in which the machine body operates in response to operation of the operation device. Present information.

A work machine according to an aspect of the present invention includes the work machine control system and the airframe.

Advantageous Effects of Invention According to the present invention, it is possible to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that easily reduce the burden on an operator involved in operation.

FIG. 1 is a schematic perspective view showing the overall configuration of a working machine according to Embodiment 1. FIG. FIG. 2 is a schematic block diagram of the working machine according to Embodiment 1. FIG. FIG. 3 is a schematic external view of the display device of the work machine according to Embodiment 1. FIG. FIG. 4 is a schematic external view of the nameplate of the work machine according to Embodiment 1. FIG. FIG. 5 is a diagram showing an example of a home screen displayed by the work machine control system according to the first embodiment. FIG. 6 is a diagram showing an example of a notification screen displayed by the work machine control system according to the first embodiment. FIG. 7 is a conceptual diagram showing transition states of display screens displayed by the work machine control system according to the first embodiment. FIG. 8 is a diagram showing an example of a home screen displayed by the work machine control system according to the first embodiment. FIG. 9 is a diagram showing an example of a home screen (camera screen) displayed by the work machine control system according to the first embodiment. FIG. 10 is a diagram showing an example of a change screen displayed by the work machine control system according to the first embodiment. FIG. 11 is a conceptual diagram showing transition states of display screens displayed by the work machine control system according to the first embodiment. FIG. 12 is a conceptual diagram showing transition states of display screens displayed by the work machine control system according to the first embodiment. FIG. 13 is a flow chart showing an operation example of the work machine control system according to the first embodiment. FIG. 14 is a diagram showing an example of a notification screen displayed by the work machine control system according to the second embodiment. FIG. 15 is a diagram showing an example of a home screen displayed by the work machine control system according to the second embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are specific examples of 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 section 31 , a turning section 32 , and a working section 33 on the body 30 . In addition, as shown in FIG. 2, the work machine 3 further includes a work machine control system 1 (hereinafter also simply referred to as "control system 1"). In addition, as shown in FIGS. 1 and 2, the airframe 30 further includes a display device 2, a main switch 34, an operating device 35, a sound output section 36, a camera 38, a cutoff switch 371, a cutoff lever 372, and the like. there is

The term “working machine” used in the present disclosure means various working machines, and examples thereof include working vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. The working machine 3 includes a working section 33 configured to perform one or more tasks. The work machine 3 is not limited to a "vehicle" and may be, for example, a work vessel, a work projectile such as a drone or a multicopter. Furthermore, the work machine 3 is not limited to a construction machine (construction machine), and may be, for example, an agricultural machine (agricultural machine) such as a rice transplanter, a tractor, or a combine harvester. In this embodiment, unless otherwise specified, the working machine 3 is a riding type backhoe, and the case where excavation work, ground leveling work, ditch excavation work, loading work, or the like can be performed as work is taken as an example. explain. More specifically, in the working machine 3 according to the present embodiment, the turning section 32 including the working section 33 can fully turn within 120% of the total width of the traveling section 31 (the total width of the pair of left and right crawlers 311). or a "rear minimal radius" with a radius ratio at the rear end of 120% or less.

Further, in this embodiment, for convenience of explanation, the vertical direction in which the work machine 3 is usable is defined as the up-down direction D1. Furthermore, in the non-rotating state of the revolving unit 32, the front-rear direction D2 and the left-right direction D3 are defined with reference to the direction viewed from the user (operator) on (the operating unit 321 of) the work machine 3. In other words, the directions used in the present embodiment are defined with reference to the machine body 30 of the work machine 3. The direction in which the body 30 moves when the machine 3 moves backward is "rear". Similarly, the direction in which the front end of the machine body 30 moves when the work machine 3 turns to the right is "right", and the direction in which the front end of the machine body 30 moves when the work machine 3 turns to the left is "left". However, these directions are not meant to limit the directions in which the work machine 3 is used (directions during use).

The work machine 3 has an engine as a power source. As an example in this embodiment, the engine is a diesel engine. The engine is driven by being supplied with fuel (light oil in this case) from a fuel tank. In the work machine 3, for example, the engine drives the hydraulic pump 41 (see FIG. 2), and hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic actuators (including the hydraulic motor 43, the hydraulic cylinder 44, etc.) of each part of the machine body 30. As a result, the airframe 30 is driven. Such a work machine 3 is controlled by, for example, a user (operator) on board the operation section 321 of the machine body 30 operating the operation device 35 such as operation levers 351 and 352 (see FIG. 2).

In this embodiment, as described above, it is assumed that the work machine 3 is a riding type backhoe. etc. A driving unit 321 on which a user rides is provided in the revolving unit 32 .

Here, the display device 2 and the operation device 35 are mounted on the operation unit 321 of the machine body 30 , and the user can operate the operation device while viewing various information related to the work machine 3 displayed on the display device 2 . 35 can be operated. As an example, the display screen of the display device 2 displays information about the operating state of the work machine 3 , such as the temperature of the cooling water and the temperature of the hydraulic oil. Information about the status can be confirmed on the display device 2 .

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

The turning portion 32 is positioned above the traveling portion 31 and is configured to be able to turn with respect to the traveling portion 31 about a rotation axis along the vertical direction. The turning section 32 has a hydraulic motor 45 (see FIG. 2) and the like as a hydraulic actuator for turning. In addition to the operating section 321, the revolving section 32 is equipped with an engine, a hydraulic pump 41, and the like. Furthermore, a boom bracket 322 to which the working part 33 is attached is provided at the front end of the swivel part 32 .

The work unit 33 is configured to be able to execute one or more works. The working part 33 is supported by the boom bracket 322 of the swivel part 32 and performs work. The working unit 33 has a bucket 331 . The bucket 331 is a type of attachment (work tool) attached to the body 30 of the work machine 3, and is an arbitrary tool selected from a plurality of types of attachments according to the content of the work. As an example, the bucket 331 is detachably attached to the fuselage 30 and replaced according to the content of the work. For example, in addition to the bucket 331, attachments for the work machine 3 include a breaker, auger, crusher, fork, fork claw, steel frame cutter, asphalt cutter, lawn mower, ripper, mulcher, tiltrotator, and tamper. I have the equipment.

The working unit 33 further includes a boom 332, an arm 333, hydraulic actuators (including hydraulic cylinders 44, hydraulic motors, etc.) and the like. Bucket 331 is attached to the tip of arm 333 .

Boom 332 is rotatably supported by boom bracket 322 of revolving section 32 . Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable around a rotation axis along the horizontal direction. The boom 332 has a shape extending upward from the base end supported by the boom bracket 322 . Arm 333 is connected to the tip of boom 332 . The arm 333 is rotatably supported on the boom 332 around a rotation axis along the horizontal direction.

The working unit 33 operates by receiving power from an engine as a power source. Specifically, the hydraulic pump 41 is driven by the engine, and hydraulic fluid is supplied from the hydraulic pump 41 to the hydraulic actuators (hydraulic cylinders 44, etc.) of the working unit 33, so that each part of the working unit 33 (bucket 331, boom 332 and arm 333) move.

Particularly in this embodiment, the working section 33 has a multi-joint structure in which the boom 332 and the arm 333 are individually rotatable. In other words, each of the boom 332 and the arm 333 rotates around a rotation axis extending in the horizontal direction, so that, for example, the articulated working part 33 including the boom 332 and the arm 333 can be extended or folded as a whole. It is possible to move around.

Each of the traveling portion 31 and the turning portion 32 also operates by receiving power from the engine as a power source, similarly to the working portion 33 . In other words, the hydraulic motor 43 of the traveling portion 31 and the hydraulic motor 45 of the turning portion 32 are supplied with hydraulic oil from the hydraulic pump 41, so that the turning portion 32 and the traveling portion 31 are operated.

The work machine 3 further includes a driving device (mechanism) such as a PTO (Power take-off) for supplying power to the bucket 331 (attachment). Specifically, the driving device sends hydraulic oil from the hydraulic pump 41 driven by the engine to the bucket 331 and adjusts the amount of power supplied to the bucket 331 by adjusting the flow rate of the hydraulic oil. . Here, the driving device has a plurality of (four as an example in this embodiment) PTO ports, that is, output ports (hereinafter referred to as "PTO1", "PTO2", "PTO3", and "PTO4"). PTO1 to PTO4 can individually adjust the power, that is, the flow rate of hydraulic oil.

FIG. 2 schematically shows a hydraulic circuit and an electric circuit (electrical connection relationship) of the work machine 3 according to this embodiment. In FIG. 2, a solid line indicates a high-pressure oil passage (for hydraulic oil), a dotted line indicates a low-pressure oil passage (for pilot oil), and a chain-dotted arrow indicates a path of an electric signal.

As shown in FIG. 2, the work machine 3 includes a hydraulic pump 41, a hydraulic cylinder 44 and a hydraulic motor 45, as well as a pilot pump 42, first control valves 491 to 494, a second control valve 47, and direction switching valves ( control valve) 48 and the like. Although FIG. 2 shows only one hydraulic cylinder 44 for driving the boom 332, a similar hydraulic circuit is configured for the hydraulic cylinders 44 for driving the arm 333, the bucket 331, and the like. 2 shows only the hydraulic motor 45 of the turning section 32, the hydraulic motor 43 of the traveling section 31 also has a similar hydraulic circuit.

Hydraulic oil from a hydraulic pump 41 driven by the engine is supplied to a hydraulic motor 43 of the traveling portion 31, a hydraulic motor 45 of the turning portion 32, a hydraulic cylinder 44 of the working portion 33, and the like. Hydraulic actuators such as the hydraulic motors 43 and 45 and the hydraulic cylinder 44 are thereby driven.

Hydraulic actuators such as the hydraulic motors 43 and 45 and the hydraulic cylinder 44 are provided with a pilot type directional switching valve 48 capable of switching the direction and flow rate of hydraulic oil from the hydraulic pump 41 . The directional switching valve 48 is driven by being supplied with pilot oil as an input command from the pilot pump 42 .

First control valves 491 to 494 are provided in the pilot oil supply passages to the respective direction switching valves 48 . The first control valves 491 to 494 are all electromagnetic control valves (solenoid valves), and are inserted between the direction switching valve 48 and the pilot pump 42, respectively. Each first control valve 491-494 is connected to the control system 1 and operates according to a control signal (supplied current) from the control system 1. FIG. Specifically, the control system 1 controls the first control valves 491 to 494 according to the operation of the operating device 35 (operating lever), and instructs the working unit 33 to expand and contract, for example. Each of the first control valves 491 to 494 is here assumed to be a (electromagnetic) proportional control valve, but is not limited to this, and may be, for example, an on-off valve capable of switching opening/closing of the flow path. .

Such directional switching valves and first control valves include not only the hydraulic cylinder 44 for driving the boom 332 and the hydraulic motor 45 for the revolving section 32, but also the hydraulic cylinder 44 for driving the arm 333 or the bucket 331 and the travel section. 31 is also provided in the hydraulic circuit of the hydraulic motor 43 . Therefore, it is possible to operate the traveling part 31 , the turning part 32 and the working part 33 according to the operation of the operating device 35 .

Further, a second control valve 47 is provided on the upstream side of the pilot oil as viewed from the first control valves 491-494. The second control valve 47 is an electromagnetic control valve (solenoid valve) and is inserted between the pilot pump 42 and the plurality of first control valves 491-494. The second control valve 47 is connected to the power supply through the cutoff switch 371 and operates according to the current supplied from the power supply. Here, the second control valve 47 opens the passage of the pilot oil in an energized state, that is, a state in which the current as the control signal is supplied, and is in a non-energized state, that is, in a state in which the current as the control signal is cut off. block the pilot oil flow path. Therefore, the supply current to the second control valve 47 is cut off, so that the hydraulic actuator (such as the hydraulic cylinder 44 ) becomes inoperable, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35 .

The cutoff switch 371 is interlocked with the cutoff lever 372 . The cut-off lever 372 is arranged in the operating section 321 of the machine body 30 and receives an operation input by a user (operator). In this embodiment, as an example, the cutoff 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". Off switch 371 is "on". The cutoff switch 371 is connected to the control system 1, and the control system 1 monitors whether the cutoff switch 371 is on or off.

Therefore, when the cut-off lever 372 is in the "lowered position", the second control valve 47 is energized, and the operation of the operating device 35 drives the hydraulic actuator (hydraulic cylinder 44, etc.). On the other hand, if the cut-off lever 372 is at the "up position", the second control valve 47 is de-energized, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35. Therefore, in order to drive the hydraulic actuator (hydraulic cylinder 44, etc.), the user (operator) needs to operate the cutoff lever 372 to the "down position".

Further, each of the turning section 32 and the traveling section 31 is also operated by supplying hydraulic fluid from the hydraulic pump 41 to the hydraulic actuators (hydraulic motors 43, 45, etc.), so that the cutoff lever 372 is in the "up position". , the swivel portion 32 and the traveling portion 31 also become undrivable. That is, when the cut-off lever 372 is at the "raised position", all of the working portion 33, the rotating portion 32 and the traveling portion 31 are forcibly brought into a non-drivable state.

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 turned off, and is in an "unlocked state" in which the operation of the work machine 3 is not restricted when it is turned on. It is in. When the cut-off lever 372 is in the "up position" and the cut-off switch 371 is in the locked state (OFF), the operation of the working machine 3 is forcibly restricted without depending on the operation of the operating device 35. 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 a gate lock lever.

The main switch 34 is arranged in the operating section 321 of the machine body 30 and is operated by the user (operator) when the work machine 3 is started. While the main switch 34 is off, the machine body 30 (including the traveling section 31, the turning section 32, and the working section 33) is not in a state of being operated in accordance with the operation of the operating device 35, and the main switch 34 is turned on. , the machine body 30 moves according to the operation of the operating device 35 . When the main switch 34 is turned on, the display device 2 and the like are also energized. In this embodiment, as an example, the main switch 34 is interlocked with a key cylinder, and is turned on when the engine is started (ignition turned on) using a key.

The operation device 35 is arranged in the operation section 321 of the machine body 30, and is a user interface for receiving an operation input by a user (operator). In this embodiment, the operation device 35 is an electric operation device 35, and receives various operations by the user by outputting electrical signals (operation signals) corresponding to user's operations to the control system 1. As an example in this embodiment, the operating device 35 includes a pair of operating levers 351 and 352 (see FIG. 2). The operating lever 351 is positioned on the right hand side as viewed from the user (operator) riding in the driving section 321 , and the operating lever 352 is positioned on the left hand side as viewed from the user riding in the driving section 321 . Therefore, for example, the user holds the operating lever 351 with the right hand and the operating lever 352 with the left hand, and individually operates the pair of operating levers 351 and 352 to cause the working machine 3 to perform various operations.

The operation levers 351 and 352 are stick-type operators, and can be manipulated, for example, to be tilted to any one of "front", "rear", "left" and "right". It outputs an electrical signal (operation signal) corresponding to this. For example, the operation device 35 can perform an operation of tilting the operation lever 351 forward, an operation of tilting the operation lever 351 rightward, an operation of tilting the operation lever 352 forward, and an operation of tilting the operation lever 352 rightward. A different operation signal is output corresponding to each of the above.

The sound output unit 36 outputs sound (including voice) to the user (operator). The sound output unit 36 includes a buzzer, a speaker, or the like, and receives electrical signals to output sounds. The sound output unit 36 is connected to the control system 1 and outputs sounds such as beeps or voices according to sound control signals from the control system 1 . In the present embodiment, the sound output section 36 is provided in the operation section 321 of the aircraft 30 as in the display device 2 . The sound output unit 36 may be provided integrally with the display device 2 .

The camera 38 has a function of capturing an image of the surroundings of the airframe 30 . The camera 38 is provided, for example, in the revolving section 32, and is configured to be able to capture an image of the surroundings of the aircraft 30 (at least one of the front, rear, left, right, up, and down directions). An image captured by the camera 38 may be a black-and-white image, an infrared image, or a full-color image, or may be either a still image or a moving image. In this embodiment, as an example, the camera 38 captures an image (peripheral image) behind the aircraft 30 as a full-color moving image, and outputs image data of the peripheral image to the control system 1 in real time.

The control system 1 is mainly composed of a computer system having, for example, one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), Executes various processes (information processing). 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 provided separately from the integrated controller, or may have one processor or a plurality of processors as a main component. The control system 1 will be described in detail in the section "[2] Configuration of control system".

The display device 2 is arranged in the operation section 321 of the machine body 30, and is a user interface for receiving operation input by a user (operator) and outputting various information to the user. The display device 2 accepts various operations by the user, for example, by outputting an electrical signal according to the user's operation. This allows the user (operator) to visually recognize the display screen Dp1 (see FIG. 3) displayed on the display device 2, and to operate the display device 2 as necessary.

The display device 2 includes a control section 21, an operation section 22, and a display section 23, as shown in FIG. The display device 2 is configured to be communicable with the control system 1 and can exchange data with the control system 1 . In this embodiment, as an example, the display device 2 is a dedicated device used in 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 electric signal according to the user's operation received by the operation unit 22 and displays the 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) on 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 an electrical signal according to the operation by the user U1 (see FIG. 3). In this embodiment, as an example, the operation unit 22 includes a plurality of (here, six) mechanical push button switches 221 to 226, as shown in FIG. The plurality of push button switches 221 to 226 are arranged near (in the example of FIG. 3, below) the display area of the display unit 23 along the periphery of the display area. These pushbutton switches 221 to 226 are associated with items displayed on a display screen Dp1, which will be described later. item is operated (selected).

Moreover, the operation unit 22 may include a touch panel, an operation dial, and the like. Also in this case, any item on the display screen Dp1 is operated (selected) by operating 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 that displays various kinds of information. The display unit 23 presents various types of information to the user by display. In this embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and has a "horizontally long" display area that is long in the horizontal direction, as shown in FIG.

In addition to the configuration described above, the airframe 30 further includes a communication terminal, a fuel tank, a battery, and the like. Furthermore, the machine body 30 is equipped 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 images of the surroundings of the machine body 30 .

[2] Configuration of Control System Next, the configuration of the control system 1 according to this embodiment will be described with reference to FIG. The control system 1 controls each part of the machine body 30 (including the traveling part 31, the turning part 32, the working part 33, etc.) according to the operation on the operating device 35. FIG. 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 machine body 30 and the like. In other words, the work machine 3 according to this embodiment includes at least the control system 1 and the machine body 30 .

The control system 1 includes an acquisition processing unit 11, a control processing unit 12, a change processing unit 13, a presentation processing unit 14, and a storage unit 15, as shown in FIG. In this embodiment, as an example, the control system 1 is mainly composed of a computer system having one or more processors. 11, etc.) are realized. The plurality of functional units included in the control system 1 may be provided dispersedly in a plurality of housings, or may be provided in one housing.

The control system 1 is configured to be able to communicate with devices provided in each part of the airframe 30 . That is, the control system 1 is connected to at least the display device 2, the main switch 34, the operation device 35, the sound output section 36, the first control valves 491 to 494, the cutoff switch 371, and the like. As a result, the control system 1 controls the display device 2, the sound output unit 36, the first control valves 491 to 494, etc., and the electric signals ( operation signal, etc.). "Communication possible" as used in this disclosure means direct or indirect communication via a communication network (network) or repeater, etc., using an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). In short, it means that information (data) can be sent and received. Therefore, the control system 1 may exchange various types of information (data) directly with each device or indirectly through a repeater or the like. The control system 1 and the devices provided in each part of the fuselage 30 can communicate by a communication method such as CAN (Controller Area Network), for example.

Acquisition processing unit 11 executes an acquisition process for receiving an operation to operation device 35 for controlling work machine 3 . That is, the operation device 35 having a pair of operation levers 351 and 352 outputs an operation signal according to the user's operation, and the acquisition processing unit 11 acquires the operation signal. As a result, an operation signal representing the operation content (operation direction and operation amount) of the operation levers 351 and 352, such as an operation for tilting the right operation lever 351 forward or an operation for tilting the left operation lever 352 forward, is generated. can be acquired by the acquisition processing unit 11 . The acquisition processing unit 11 is also configured to be able to acquire the on/off information of each of the main switch 34 and the cutoff switch 371 .

The control processing unit 12 executes control processing for controlling the machine body 30 according to the operation of the operation device 35 . In the control process, the control processing unit 12 executes control of the traveling unit 31, the turning unit 32, the working unit 33, and the like of the body 30. FIG. Specifically, the control processing unit 12 outputs control signals to the first control valves 491 to 494 in accordance with the operation of the operation device 35 acquired by the acquisition processing unit 11, so that the hydraulic motors 43, 45 and the hydraulic cylinders It controls hydraulic actuators such as 44.

Here, the control processing unit 12 executes control processing according to the operation pattern. The “operation pattern” referred to in the present disclosure means the correspondence relationship between the operation of the operating device 35 and the motion of the aircraft 30 , and includes data and the like indicating the combination of the operation of the operating device 35 and the motion of the aircraft 30 . That is, the control processing unit 12 realizes the operation of the machine body 30 according to the operation of the operation device 35 according to the correspondence relationship between the operation of the operation device 35 and the movement of the machine body 30 defined as the operation pattern.

For example, in a certain operation pattern, an operation of tilting the right operation lever 351 of the operation device 35 forward is associated with an operation of lowering the boom 332 of the machine body 30, and the left operation lever 352 of the operation device 35 The operation of tilting backward is associated with the operation of bending the arm 333 of the airframe 30 . In this case, when the acquisition processing unit 11 receives an operation of tilting the operation lever 351 forward, the control processing unit 12 controls the first control valves 491 to 494 to lower the boom 332. Cylinder 44 is driven. Similarly, when the acquisition processing unit 11 receives an operation to tilt the operation lever 352 rearward, the control processing unit 12 controls the first control valves 491 to 494 to bend the arm 333. Cylinder 44 is driven.

The change processing unit 13 executes change processing for changing the operation pattern. That is, the operation pattern used by the control processing unit 12 is not fixed, and can be arbitrarily changed by the change processing unit 13 . In this embodiment, as an example, the storage unit 15 of the control system 1 stores a plurality of operation patterns in advance. operation pattern”. In this manner, the change processing unit 13 sets the "current operation pattern" by selecting one operation pattern from a plurality of predetermined operation patterns. Therefore, the "current operation pattern" is switched by switching the operation pattern selected by the change processing unit 13 among the plurality of operation patterns. The control processing unit 12 executes control processing for controlling the machine body 30 according to the operation of the operation device 35 according to the operation pattern (current operation pattern) set by the change processing unit 13 .

As an example, in a state in which the storage unit 15 stores four operation patterns, ie, a first pattern, a second pattern, a third pattern, and a fourth pattern, the change processing unit 13 changes these first to fourth patterns. Select one of them as the "current operation pattern". The first pattern, the second pattern, the third pattern, and the fourth pattern are data indicating the correspondence (combination) between different operations of the operation device 35 and actions of the aircraft 30 . For example, when the change processing unit 13 selects the first pattern as the operation pattern, the control processing unit 12 executes control processing according to the first pattern. On the other hand, when the change processing unit 13 selects the third pattern as the operation pattern, the control processing unit 12 executes control processing according to the third pattern.

The presentation processing unit 14 executes presentation processing for presenting operation pattern information indicating the current operation pattern. The “current operation pattern” referred to here is an operation pattern set by the change processing unit 13 and an operation pattern used for control processing by the control processing unit 12 . That is, for example, when the change processing unit 13 selects the first pattern as the operation pattern, the presentation processing unit 14 presents operation pattern information indicating the first pattern. On the other hand, when the change processing unit 13 selects the third pattern as the operation pattern, the presentation processing unit 14 presents operation pattern information indicating the third pattern.

"Presentation" in the present disclosure means to present information to the user (operator) by various means, such as display (including lighting of indicator lights), sound (including voice), printing, etc. Transmission to a terminal, writing to a non-transitory recording medium, etc., or a combination thereof. In this embodiment, as an example, the presentation processing unit 14 presents the operation pattern information by causing the display unit 23 of the display device 2 to display the operation pattern information.

The storage unit 15 includes a non-volatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. The storage unit 15 stores (stores) programs such as a work machine control program. The work machine control program is recorded on, for example, a computer-readable non-temporary recording medium and provided. The work machine control program may be provided (downloaded) from a server or the like to the control system 1 via an electric communication line and stored in the storage unit 15 .

The storage unit 15 also stores a plurality of operation patterns (for example, a first pattern, a second pattern, a third pattern, and a fourth pattern) that are candidates for the "current operation pattern" set by the change processing unit 13. etc. are stored. Further, the storage unit 15 also stores the “current operation pattern” set (selected) by the change processing unit 13 .

[3] Work Machine Control Method An example of a work machine 3 control method (hereinafter simply referred to as “control method”) mainly executed by the control system 1 will be described below with reference to FIGS. 4 to 13 .

The control method according to the present embodiment is executed by the control system 1 mainly composed of a computer system. . That is, the control program according to this embodiment is a computer program for causing one or more processors to execute the control method. Such a control program may be executed cooperatively by the control system 1 and the display device 2, for example.

Here, in the control method according to the present embodiment, the working machine includes the machine body 30 that operates according to the operation of the operating device 35, and can change the operation pattern, which is the correspondence relationship between the operation of the operating device 35 and the movement of the machine body 30. 3 control method. In other words, the control system 1 according to the present embodiment includes the machine body 30 that operates according to the operation of the operation device 35, and is capable of changing the operation pattern, which is the correspondence relationship between the operation of the operation device 35 and the movement of the machine body 30. Used for machine 3. That is, in the present embodiment, the control processing unit 12 of the control system 1 executes control processing for controlling the machine body 30 according to the operation of the operation device 35, so that the machine body 30 operates according to the operation of the operation device 35. will do. Furthermore, the change processing unit 13 of the control system 1 executes change processing for changing the operation pattern, thereby making it possible to change the operation pattern, which is the correspondence relationship between the operation of the operation device 35 and the operation of the aircraft 30 . As described above, the work machine 3 to be controlled by the control method and control system 1 according to the present embodiment can change the operation pattern, which is the correspondence relationship between the operation of the operation device 35 and the operation of the machine body 30. 3.

In this embodiment, as an example, the storage unit 15 stores four operation patterns, A pattern, B pattern, C pattern, and D pattern, and one of these four operation patterns is changed. It is selected (set) by the processing unit 13 . These four patterns are indicated on a nameplate 39 attached to the airframe 30, as shown in FIG. The nameplate 39 is arranged on the operating section 321 so as to be easily visible to an operator who gets on the operating section 321, for example. In the example of FIG. 4, the nameplate 39 has an operation pattern for "ISO, manufactured by XX, manufactured by YY" as the "A" pattern, and "manufactured by ZZ, manufactured by XY, manufactured by YX" as the "B" pattern. , "C" pattern for "ZX company, YZ company", and "D" pattern for "XYZ company, YXZ company".

Further, on the nameplate 39, for each of pattern A, pattern B, pattern C, and pattern D, an image (icon) representing a combination of the operation direction of each of the pair of control levers 351 and 352 and the operation of the airframe 30 is displayed. It is

For example, in the "A" pattern, the operation of tilting the right operation lever 351 forward and the operation of lowering the boom 332 of the machine body 30 are associated with each other. The operation of raising the boom 332 is associated with the operation of tilting the operation lever 351 to the right, and the operation of opening the bucket 331 on the airframe 30 is associated with the operation of tilting the operation lever 351 to the left. , and the action of closing (excavating) the bucket 331 in the airframe 30 . Furthermore, in the case of the "A" pattern, the operation of tilting the left operation lever 352 forward is associated with the operation of extending the arm 333 of the fuselage 30, and the operation of tilting the operation lever 352 rearward, The operation of bending the arm 333 of the machine body 30 is associated with the operation of tilting the operation lever 352 to the right, and the operation of turning the turning section 32 of the machine body 30 to the right is associated with the operation of turning the operation lever 352 to the left. The operation of tilting to the left is associated with the operation of turning the turning section 32 of the airframe 30 to the left.

On the other hand, in the case of the "B" pattern, the operation of tilting the left operation lever 352 forward is associated with the operation of turning the turning section 32 of the airframe 30 to the right, and the operation lever 352 is tilted backward. is associated with the operation of turning the turning portion 32 of the machine body 30 to the left, and the operation of tilting the operation lever 352 to the right is associated with the operation of bending the arm 333 of the machine body 30 . is associated with an operation of tilting to the left and an operation of extending the arm 333 of the airframe 30 .

Since the operation of the operation device 35 differs depending on the selected operation pattern, the operator can operate the operation device 35 while confirming the operation pattern according to the operation pattern written on the nameplate 39. It has become.

In addition, the work machine 3 to be controlled by the control method and control system 1 according to the present embodiment changes from a state in which the machine body 30 does not operate according to the operation of the operating device 35 to a state in which the machine body 30 does not operate according to the operation of the operating device 35. is configured to be able to switch to a state in which That is, the work machine 3 does not always operate the machine body 30 according to the operation of the operating device 35 , and there may be a state where the machine body 30 does not operate according to the operation of the operating device 35 . Hereinafter, a state in which the machine body 30 does not operate in accordance with the operation of the operating device 35 is also called a "non-operating state", and a state in which the machine body 30 operates in accordance with the operation of the operating device 35 is also called an "operating state". Examples of the non-operating state include when the main switch 34 is off, an activation period immediately after the main switch 34 is switched from off to on, and when the cutoff lever 372 is in the "up position". On the other hand, examples of the operating state include after an activation period has elapsed after the main switch 34 is switched from off to on, and when the cutoff lever 372 is in the "down position". In short, for example, by switching the main switch 34 from off to on, the work machine 3 changes from a “non-operating state” in which the machine body 30 does not operate in accordance with the operation of the operating device 35 to the machine body in response to the operation of the operating device 35 . 30 is switched to the "active state".

Here, the control system 1 executes the following various processes related to the control method when a preset specific start operation for executing the control program is performed. The starting operation is, for example, an operation to start the engine of the work machine 3, that is, an ON operation of the main switch 34, or the like. On the other hand, the control system 1 ends the following various processes related to the control method when a specific end operation set in advance is performed. The end operation is, for example, an operation to stop the engine of the work machine 3, that is, an operation to turn off the main switch 34, or the like.

[3.1] Home Screen First, the configuration of the display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to the present embodiment will be described. In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2 such as FIG. It is not actually displayed on the display device 2 .

A display screen Dp1 shown in FIG. 5 is a home screen Dp11 displayed by the control method. The home screen Dp11 is a basic display screen Dp1 that is to be displayed on the display device 2 in an operating state (a state in which the machine body 30 operates according to the operation of the operation device 35). The display screen Dp1 can be changed from the home screen Dp11 to various display screens Dp1 including a menu screen, a crane screen, a mode screen, a PTO screen, and the like, according to an operation on the operation unit 22 .

As shown in FIG. 5, the home screen Dp11 includes a first area R1, a second area R2, a third area R3, a fourth area R4, a fifth area R5, a sixth area R6, a seventh area R7, and an eighth area. It includes R8, a ninth region R9 and a tenth region R10.

Specifically, the display screen Dp1 is divided into four areas in the vertical direction (vertical direction). Each of the three regions from the top is further divided into three regions in the horizontal direction (horizontal direction). As a result, the display screen Dp1 is divided into a total of 10 areas. The regions on the second row from the top are the first region R1, the second region R2, and the third region R3 in order from the left. The lowest region is the fourth region R4. Furthermore, the regions on the third row from the top are the fifth region R5, the sixth region R6, and the seventh region R7 in order from the left, and the regions in the top row are the eighth region R8 and the ninth region R9, in order from the left. , the tenth region R10. Regarding the size in the vertical direction, among the four vertically divided regions, the second region from the top (the first region R1, the second region R2, and the third region R3) is the largest. Regarding the size in the horizontal direction, the middle region (the second region R2, the sixth region R6, and the ninth region R9) is the largest among the three regions divided in the horizontal direction.

However, the arrangement and size of each of these regions are merely examples, and can be changed as appropriate. Also, it is not essential that each area is clearly divided by a boundary line. For example, in the example of FIG. 5 as well, the second region R2 and the third region R3 are clearly divided by the boundary line, whereas the boundary line between the first region R1 and the second region R2 is not exist. Of course, the first region R1 and the second region R2 may be clearly divided by a boundary line.

The first region R1 is a rectangular region elongated in the vertical direction. In the first region R1, for example, remaining amount information G1 regarding the remaining amount of engine fuel (for example, light oil) is displayed. The presentation processing unit 14 generates the remaining amount information G1 in the display screen Dp1 based on the output of the remaining amount sensor (sensor signal) and the like.

The second region R2, which occupies most of the home screen Dp11, is a horizontally elongated rectangular region. In the control method according to the present embodiment, information regarding the operating state of the work machine 3 is displayed in the second area R2. As an example, cooling water temperature information G3 and hydraulic oil temperature information G2 are displayed in the second region R2. The presentation processing unit 14 generates cooling water temperature information G3 in the display screen Dp1 (home screen Dp11) based on the output of the cooling water temperature sensor. Similarly, the presentation processing unit 14 generates hydraulic oil temperature information G2 in the display screen Dp1 (home screen Dp11) based on the output of the hydraulic oil temperature sensor.

In this embodiment, both the cooling water temperature information G3 and the hydraulic oil temperature information G2 are graphs imitating analog meters. In analog meters, the needle rotates and the position of the needle presents a value. That is, the cooling water temperature information G3 is information that indexes the cooling water temperature included in the operating state of the work machine 3 and represents it by the position of the needle in the graph. Similarly, the hydraulic oil temperature information G2 is information obtained by indexing the hydraulic oil temperature included in the operating state of the work machine 3 and represented by the position of the needle in the graph. Displaying the cooling water temperature information G3 and the hydraulic oil temperature information G2 in the form of a graph has the advantage that the visibility is good for the user and the operating state of the work machine 3 can be intuitively understood. The cooling water temperature information G3 and the hydraulic oil temperature information G2 are not only information representing the cooling water temperature and the hydraulic oil temperature numerically, but also information representing the cooling water temperature and the hydraulic oil temperature step by step by, for example, an icon pattern. etc.

The third region R3 is a vertically elongated rectangular region. An image (icon) Im1 indicating whether each function of the work machine 3 is enabled/disabled, abnormal/normal, or the like is displayed in the third region R3. A plurality of icons Im1 can be displayed in the third region R3, and depending on the design (picture) of each icon Im1, for example, any function such as battery, seat belt, cooling water temperature, hydraulic oil temperature, etc. can be displayed. show water. Here, each icon Im1 indicates whether each function is enabled/disabled, abnormal/normal, etc., depending on display mode such as display/non-display, display color or size. The presentation processing unit 14 determines the state of each part of the work machine 3 using outputs of various sensors (including a cooling water temperature sensor and a hydraulic oil temperature sensor) that detect the operating state of each part of the work machine 3 . Then, when an abnormal value is detected in any part, the presentation processing unit 14 performs warning display by changing the display mode such as the display color of the icon image Im1 of that part.

The fourth region R4 is a strip-shaped region extending over the entire width of the home screen Dp11. Each item for operating the display screen Dp1 is displayed in the fourth region R4. As an example in FIG. 5, in the fourth area R4, six items of "menu", "crane", "mode", "camera", "PTO", and "switch" are arranged in this order from the left. ing. These six items are associated with the six push button switches 221 to 226 of the operation unit 22 positioned directly below them. For example, the item "menu" is associated with the push button switch 221, and the item "crane" is associated with the push button switch 222, respectively. Therefore, for example, when the push button switch 224 corresponding to the item "camera" is operated by the user U1 (see FIG. 3), the item "camera" is operated (selected).

Furthermore, in the present embodiment, any item is highlighted in the fourth area R4 so as to correspond to the operation of the operation dial (or cursor key) of the operation unit 22 or the like. In the example of FIG. 5, the item "Menu" is highlighted, and the highlighted item is switched by operating the operation dial (or cursor key) or the like. The user U1 can select a desired item by operating the decision button while the desired item is highlighted. Therefore, for example, when the enter button is operated with the item "camera" highlighted, the item "camera" is operated (selected). Further, when the operation unit 22 includes a touch panel, the user U1 can select a desired item by touching the desired item on the home screen Dp11.

In the fifth region R5, a warning display image (icon) is displayed to indicate that an abnormal value is detected by various sensors (including the cooling water temperature sensor and the hydraulic oil temperature sensor). In the sixth area R6, for example, information regarding the working unit 33 in operation in the work machine 3 is displayed. In the seventh area R7, for example, information regarding the operating state of the work machine 3, such as the number of revolutions of the engine, is displayed. For example, the current time is displayed in the eighth region R8. In the ninth region R9, for example, information indicating the item to which the currently displayed display screen Dp1 belongs is displayed. In the tenth area R10, for example, information regarding the operating time (hour meter) of the work machine 3 is displayed.

[3.2] Display Screen at Startup Next, among the control methods according to the present embodiment, processing related to display of the display screen Dp1 at startup of the work machine 3 will be described in detail.

In the present embodiment, as described above, the work machine 3 changes from a non-operating state (a state in which the machine body 30 does not operate according to the operation of the operating device 35) to an operating state (a state in which the machine body 30 operates according to the operation of the operating device 35). state) can be switched. Then, for example, when the main switch 34 is off, the working machine 3 is in a non-operating state, and after the elapse of the activation period after the main switch 34 is switched from off to on, the working machine 3 changes from the non-operating state to the operating state. and switch.

In the control method according to the present embodiment, a state (non-operating state) in which the machine body 30 does not operate according to the operation of the operating device 35 is changed to a state (operating state) in which the machine body 30 operates according to the operation of the operating device 35. Presenting operation pattern information indicating the current operation pattern at the time of switching. That is, the presentation processing unit 14 of the control system 1 shifts from a state (non-operating state) in which the machine body 30 does not operate in accordance with the operation of the operating device 35 to a state in which the machine body 30 operates in accordance with the operation of the operating device 35 (operating state). ), the operation pattern information indicating the current operation pattern is presented.

Specifically, the presentation processing unit 14 reads out the operation pattern set by the change processing unit 13 from the storage unit 15 as the "current operation pattern", and presents the "current operation pattern" in an identifiable manner. Operation pattern information is presented to the operator. As an example, when the "A" pattern is set (selected) by the change processing unit 13 among the four patterns "A" pattern, "B" pattern, "C" pattern and "D" pattern, the presentation process The unit 14 presents information indicating that the current operation pattern is the "A" pattern to the operator as operation pattern information.

In short, in this embodiment, the current operation pattern is presented as the operation pattern information when the working machine 3 is switched from the non-operating state to the operating state, such as when the main switch 34 is switched from off to on. . As in the present embodiment, in the control method (or control system 1) in which the work machine 3 capable of changing the operation pattern is controlled, the operator operates the operation device 35 after recognizing the current operation pattern. is preferred. Here, for example, when the operator is forced to confirm the operation pattern by visually checking the position of the switching lever, if the operator neglects this confirmation work, the machine body 30 may unexpectedly respond to the operation of the operation device 35. There is a possibility that it may move unexpectedly, and the operator needs to operate with caution. In contrast, according to the control method and control system 1 according to the present embodiment, when switching from the non-operating state to the operating state, the current operation pattern is actively presented as the operation pattern information. The operator can easily confirm the current operation pattern. As a result, it is possible to provide the control method for the work machine 3, the work machine control program, the work machine control system 1, and the work machine 3 that easily reduce the burden on the operator involved in the operation.

Here, the presentation processing unit 14 presents the operation pattern information by causing the display unit 23 of the display device 2 to display the operation pattern information. More specifically, the presentation processing unit 14 displays a notification screen Dp12 including operation pattern information (see FIG. 6 ) on the display device 2 in which the home screen Dp11 is displayed in a state where the machine body 30 operates in accordance with the operation of the operation device 35. ) is displayed, the operation pattern information is presented. That is, in the present embodiment, the operation pattern information is presented by displaying the notification screen Dp12 as shown in FIG. . This allows the operator to visually recognize the current operation pattern from the notification screen Dp12 displayed on the display device 2 .

The notification screen Dp12 is, for example, a screen in which a pop-up window W1 including operation pattern information is superimposed on the home screen Dp11, as shown in FIG. Specifically, the pop-up window W1 is displayed overlapping the second region R2. The pop-up window W1 includes a mark Ob1 and text Ob2 as operation pattern information. That is, the operation pattern information includes mark Ob1 and text Ob2. In the example of FIG. 6, the mark Ob1 is an image (icon) in the shape of a cross arrow and the letter "A" indicating the "A" pattern, and the text Ob2 is "current operation pattern". is a sentence meaning that the mark Ob1 represents the current operation pattern. That is, in the example of FIG. 6, the operation pattern information on the notification screen Dp12 indicates that the current operation pattern is the "A" pattern (operation pattern for "ISO, manufactured by XX, manufactured by YY"). . Therefore, by displaying such a notification screen Dp12 on the display device 2, the operation pattern information indicating the current operation pattern is presented to the operator.

Furthermore, in the notification screen Dp12, items displayed in the fourth region R4 are different from those in the home screen Dp11. In the fourth region R4 of the notification screen Dp12, a determination button Ob3, which is the item of "determination", is displayed at the right end. That is, instead of the item "switch" on the home screen Dp11, the item "determine" is displayed. When the user U1 operates the push button switch 226 corresponding to the item "determine" while the notification screen Dp12 is displayed, the item "determine" (determination button Ob3) is operated (selected). Become.

In this embodiment, when the work machine 3 is started, the display screen Dp1 displayed on the display device 2 transitions as shown in FIG. That is, when the main switch 34 is switched from off to on, the power of the display device 2 is turned on, and the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the startup screen Dp10 as the display screen Dp1. The display screen Dp1 is changed in the order of the screen Dp12 and the home screen Dp11.

The activation screen Dp10 includes text indicating that the work machine 3 is being activated, such as "Welcome" or the name of the manufacturer of the work machine 3, for example. The startup screen Dp10 is displayed, for example, for a startup period of about several seconds after the power of the display device 2 is turned on. After the startup period elapses, the display screen Dp1 displayed on the display device 2 changes from the startup screen Dp10 to the notification screen Dp12. Transition. When the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the display screen Dp1 displayed on the display device 2 transitions from the notification screen Dp12 to the home screen Dp11. do. In the present embodiment, as an example, the working machine 3 is in a state (non-operating state) in which the machine body 30 does not operate in response to the operation of the operating device 35 during the startup period in which the startup screen Dp10 is displayed. On the other hand, while the notification screen Dp12 or the home screen Dp11 is being displayed, the working machine 3 is in a state (operating state) in which the body 30 operates according to the operation of the operation device 35 .

In this way, the notification screen Dp12 is displayed on the display device 2 after the power of the display device 2 is turned on and before the home screen Dp11 is displayed. As a result, when the power of the display device 2 is turned on by the operator turning on the main switch 34 or the like, the notification screen Dp12 is displayed on the display device 2 when the working machine is switched from the non-operating state to the operating state. become. As a result, the operator can easily grasp the current operation pattern on the notification screen Dp12 displayed on the display device 2 without being particularly conscious of it.

Also, presentation of the operation pattern information ends when a specific operation is performed. That is, in the present embodiment, when the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, presentation of the operation pattern information by the notification screen Dp12 is terminated, and the display screen Dp1 is displayed. The screen transitions to the home screen Dp11. In this way, the presentation of the operation pattern information is terminated with a specific operation (here, operation of the decision button Ob3) by the operator (user U1) as a trigger, thereby making it easier for the operator to confirm the current operation pattern. .

However, it is not essential that the work machine 3 is in a non-operating state during the start-up period when the start-up screen Dp10 is displayed. It may be in a state (operating state). Even in this case, the display screen Dp1 displayed on the display device 2 transitions in order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11 after the power is turned on, as shown in FIG. As a result, when the work machine 3 is switched from the non-operating state to the operating state, the current operation pattern is presented as the operation pattern information on the notification screen Dp12 after the startup screen Dp10 in the operating state is displayed. Become. In short, it is only necessary to present the operation pattern information indicating the current operation pattern when the work machine 3 is switched from the non-operating state to the operating state after the power of the work machine 3 is turned on.

Similarly, while the notification screen Dp12 or the home screen Dp11 is displayed, the work machine 3 does not necessarily have to be in an operating state, and the machine body 30 does not operate in response to the operation of the operation device 35 (non-operating state). ). For example, it is assumed that the operating position of the main switch 34 includes an accessory (ACC) ON position for turning on power to the display device 2, etc., between the OFF position and the engine startup operation (ignition ON) position. . In this case, when the main switch 34 is operated from OFF to accessory ON, the engine is not started, so the airframe 30 remains in a non-operating state. At this time, since the display device 2 and the like are powered on, the display screen Dp1 displayed on the display device 2 transitions in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11, as shown in FIG. . In this case, the current operation pattern is presented as the operation pattern information on the notification screen Dp12 before the basic information of the aircraft 30 is presented (displayed) as the home screen Dp11 after the power of the aircraft 30 is turned on. Become.

In short, in the present embodiment, at least the operation pattern information indicating the current operation pattern should be presented when the working machine 3 is switched from the non-operating state to the operating state. Therefore, in addition to when the work machine 3 switches from the non-operating state to the operating state, for example, even when the work machine 3 maintains the non-operating state, the operation pattern information may be presented at a specific timing. Here, an example of the "specific timing" is the timing before basic information about the aircraft 30 is presented after the power is turned on to the aircraft 30, such as when the accessory is turned on.

By the way, presentation of the operation pattern information by the notification screen Dp12 may be performed not only when the work machine 3 is started, but also when the cutoff lever 372 is operated, for example. That is, the presentation processing unit 14 presents the operation pattern information when switching from the non-operating state to the operating state. , the operation pattern information is preferably presented.

Specifically, when the cut-off lever 372 is moved to the “up position” after the activation period has elapsed and the cut-off switch 371 is locked (off), the working machine 3 can be operated regardless of the operation of the operating device 35. , the operation of the work machine 3 is forcibly restricted to a non-operating state. In this state, when the operator operates the cut-off lever 372 to the "down position" and the cut-off switch 371 is unlocked (on), the work machine 3 is switched from the non-operating state to the operating state. . Therefore, when the cut-off lever 372 is operated from the "up position" to the "down position" in this way, the presentation processing unit 14 preferably causes the display device 2 to display the notification screen Dp12.

In short, it is preferable that the notification screen Dp12 is displayed on the display device 2 before the home screen Dp11 is displayed after a specific event related to the operation occurs. The "specific event" referred to here includes, for example, operator change (replacement), etc., in addition to the operation of the cut-off lever 372 described above. That is, when the operator riding in the driving unit 321 changes, it is preferable that the change is detected based on the attachment and detachment of the seat belt, and the presentation processing unit 14 causes the display device 2 to display the notification screen Dp12. As a result, the notification screen Dp12 notifies the operator of the current operation pattern at an appropriate timing, thereby reducing the burden on the operator.

[3.3] Display Screen in Operating State Next, among the control methods according to the present embodiment, processing related to display of the display screen Dp1 in the operating state of the working machine 3 will be described in detail.

In the present embodiment, as described above, when the work machine 3 is started, the display screen Dp1 displayed on the display device 2 transitions in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11. That is, when switching from a non-operating state (a state in which the aircraft 30 does not operate in response to an operation of the operation device 35) to an operating state (a state in which the aircraft 30 operates in response to an operation of the operation device 35), the display screen Dp1 displays: The transition is made in the order of the startup screen Dp10, the notification screen Dp12, and the home screen Dp11. In the operating state of the work machine 3, the home screen Dp11 is basically displayed.

The basic configuration (layout, etc.) of the home screen Dp11 is as described in “[3.1] Home screen”. That is, the home screen Dp11 includes information about the operating state of the work machine 3. FIG. Specific examples of the information regarding the operating state of the work machine 3 include remaining amount information G1 displayed in the first region R1, and cooling water temperature information G3 and hydraulic oil temperature information G2 displayed in the second region R2. In other words, the home screen Dp11 displays various information about the operating state of the work machine 3, so that the operator can select various information necessary for operating the work machine 3 from the home screen Dp11 displayed on the display device 2. It is possible to confirm.

Furthermore, in this embodiment, the home screen Dp11 includes operation pattern information. The operation pattern information included in the home screen Dp11 is information indicating the current operation pattern, like the operation pattern information included in the notification screen Dp12. In other words, the presentation processing unit 14 reads the operation pattern set by the change processing unit 13 from the storage unit 15 as the "current operation pattern", and displays the operation pattern information indicating the "current operation pattern" in a identifiable manner. is displayed in the home screen Dp11. This allows the operator to confirm the current operation pattern even from the operation pattern information on the home screen Dp11.

As described above, the control method according to the present embodiment causes the display device 2 to display the home screen Dp11 including information about the operating state of the work machine 3 and operation pattern information indicating the current operation pattern. have That is, the presentation processing unit 14 of the control system 1 causes the display device 2 to display the home screen Dp11 including information about the operating state of the work machine 3 and operation pattern information indicating the current operation pattern.

In short, in the present embodiment, the current operation pattern is presented (displayed) as operation pattern information together with information regarding the operating state of the work machine 3 on the home screen Dp11. For example, when the operator is forced to confirm the operation pattern by visually checking the position of the switching lever, if the operator neglects this confirmation work, the machine body 30 may behave unexpectedly in response to the operation of the operation device 35. may occur and must be handled with caution by the operator. On the other hand, according to the control method and control system 1 according to the present embodiment, the current operation pattern is displayed on the home screen Dp11 displayed on the display device 2 along with the information regarding the operating state of the work machine 3. Since it is positively presented (displayed) as information, the operator can easily confirm the current operation pattern. As a result, it is possible to provide the control method for the work machine 3, the work machine control program, the work machine control system 1, and the work machine 3 that easily reduce the burden on the operator involved in the operation.

In addition, in the present embodiment, the home screen Dp11 includes an icon Im1 showing information about the functions of the work machine. The icon Im1 is displayed in the third region R3, and indicates whether each function of the work machine 3 is enabled/disabled, abnormal/normal, etc., depending on the display mode. That is, the home screen Dp11 further includes an icon image Im1 showing information about the functions of the work machine 3. FIG. Accordingly, the operator can check whether each function of the work machine 3 is enabled/disabled, abnormal/normal, etc., in addition to the current operation pattern from the home screen Dp11.

As an example, the home screen Dp11 includes a mark Ob4 as operation pattern information in the sixth region R6, as shown in FIG. That is, the operation pattern information of the home screen Dp11 includes the mark Ob4. In the example of FIG. 8, the mark Ob4 is an icon representing a crossed arrow and the letter "A" indicating the "A" pattern. That is, in the example of FIG. 8, the operation pattern information on the home screen Dp11 indicates that the current operation pattern is the "A" pattern (operation pattern for "ISO, manufactured by XX, manufactured by YY"). . Therefore, by displaying such a home screen Dp11 on the display device 2, operation pattern information indicating the current operation pattern is presented to the operator.

FIG. 8 is an enlarged view of a portion of the sixth region R6 (surrounding the mark Ob4) of the home screen Dp11, and shows display examples in three patterns <A>, <B>, and <C>. shown inside. That is, <A> in FIG. 8 indicates the mark Ob4 displayed on the home screen Dp11 when the current operation pattern is the "A" pattern. <B> in FIG. 8 shows the mark Ob4 displayed on the home screen Dp11 when the current operation pattern is the “B” pattern (operation pattern for “manufactured by ZZ, manufactured by XY, manufactured by YX”). showing. <C> in FIG. 8 shows the mark Ob4 displayed on the home screen Dp11 when the current operation pattern is the “C” pattern (operation pattern for “manufactured by ZX, manufactured by YZ”).

In this manner, the operation pattern information included in the home screen Dp11 is displayed in the same manner as the operation pattern information included in the notification screen Dp12. Therefore, the operator can easily grasp the current operation pattern consistently through the notification screen Dp12 and the home screen Dp11. Here, it is preferable that the display size of the mark Ob4 on the home screen Dp11 is smaller than the display size of the mark Ob1 on the notification screen Dp12. In other words, the mark Ob1 on the notification screen Dp12 is displayed on the display unit 23 of the display device 2 larger than the mark Ob4 on the home screen Dp11. As a result, the notification screen Dp12 can present the operation pattern information with relatively higher visibility than the home screen Dp11 and the notification screen Dp12. Therefore, the operator can easily recognize the current operation pattern when the notification screen Dp12 is displayed.

Further, in the present embodiment, the presentation processing unit 14 displays information about the operating state of the work machine 3 on the home screen Dp11, and then displays operation pattern information using an empty space. Therefore, a relatively simple screen configuration can be realized as the home screen Dp11, and the display of the operation pattern information on the home screen Dp11 is less likely to get in the way, leading to improved visibility for the operator.

Here, on the home screen Dp11, the information regarding the operating state of the work machine 3 and the operation pattern information are arranged adjacent to each other. That is, the mark Ob4 as the operation pattern information is displayed in the sixth region R6, whereas the cooling water temperature information G3 and the hydraulic oil temperature information G2 as information regarding the operating state of the work machine 3 are displayed in the second region R2. be done. Since the sixth region R6 and the second region R2 are vertically aligned and adjacent to each other (see FIG. 5), the information regarding the operating state of the work machine 3 and the operation pattern information are arranged adjacent to each other. will be As a result, the operation pattern information is displayed on the home screen Dp11 at a relatively conspicuous position for the operator who operates the work machine 3 . Further, the operation pattern information may be displayed not only in the sixth area R6, but also in the fifth area R5, for example. In this case, since the fifth area R5 is vertically aligned with the first area R1 where the remaining amount information G1 is displayed, the information regarding the operating state of the work machine 3 and the operation pattern information are arranged adjacent to each other. It will be.

On the other hand, on the home screen Dp11, the icon image Im1 and the operation pattern are arranged apart from each other. That is, the mark Ob4 as the operation pattern information is displayed in the sixth area R6, while the icon image Im1 is displayed in the third area R3. Since the sixth area R6 and the third area R3 are not adjacent to each other and are separated from each other (see FIG. 5), the icon image Im1 and the operation pattern information are arranged apart from each other. As a result, the operation pattern information is less likely to be mixed with the icon image Im1, and is displayed at a relatively conspicuous position for the operator operating the work machine 3 on the home screen Dp11.

By the way, the presentation processing unit 14 changes the display screen Dp1 displayed on the display device 2 from the home screen Dp11 as shown in FIG. ).

As an example, when the item "camera" is operated (selected) by operating the push button switch 224 corresponding to the item "camera" while the home screen Dp11 is being displayed, the home screen Dp11 is displayed as shown in FIG. to the camera screen Dp13 as shown in . When the item "camera" is operated (selected) while the camera screen Dp13 is displayed, the camera screen Dp13 transitions to the home screen Dp11 or the full display screen. However, the operation for transitioning the display screen Dp1, the order of transition, and the like are not limited to the above example, and can be changed as appropriate.

A camera screen Dp13 shown in FIG. 9 is a kind of home screen Dp11, and is a screen in which only the display content of the second region R2 is changed from the home screen Dp11 shown in FIG. That is, the display other than the second region R2 is the same between the camera screen Dp13 and the home screen Dp11 shown in FIG.

In the second region R2 of the camera screen Dp13, information including a peripheral image G4 of the working machine 3 is displayed instead of the cooling water temperature information G3 and the hydraulic oil temperature information G2 as display target information. The presentation processing unit 14 generates a peripheral image G4 in the display screen Dp1 (camera screen Dp13) based on the output (image data) of the camera 38. FIG. Here, as an example, the peripheral image G4 is displayed when the engine is in operation and the cut-off switch 371 for prohibiting operation of the work machine 3 is switched from the "locked state" to the "unlocked state" as a trigger. be done.

The camera screen Dp13, that is, the home screen including the peripheral image G4 of the work machine 3 also includes operation pattern information indicating the current operation pattern. Specifically, the camera screen Dp13 includes a mark Ob4 as operation pattern information in the sixth region R6. Therefore, even when the camera screen Dp13 is displayed on the display device 2, the operation pattern information indicating the current operation pattern is presented to the operator.

In this manner, the peripheral image G4 of the machine body 30 can be displayed in the area (the second area R2) where at least part of the information regarding the operating state of the work machine 3 is displayed in the home screen Dp11. Therefore, in the surrounding image G4 displayed on the home screen Dp11, the operator can easily check the surroundings (here, the rear) of the work machine 3, which tend to be blind spots.

Here, the operation pattern information is arranged around the area (second area R2) in which the peripheral image G4 can be displayed on the home screen. That is, the mark Ob4 as the operation pattern information is displayed in the sixth region R6, while the peripheral image G4 is displayed in the second region R2. Since the sixth region R6 and the second region R2 are vertically aligned and adjacent to each other (see FIG. 9), the operation pattern information is arranged around the peripheral image G4. As a result, even when the peripheral image G4 is displayed on the home screen Dp11, the operation pattern information is displayed on the home screen Dp11.

By the way, it is preferable to determine whether or not to display the operation pattern information in the home screen Dp11 according to at least one of the specification and type of the work machine 3 . That is, the presentation processing unit 14 of the control system 1 does not always display the operation pattern information on the home screen Dp11. good too. As a result, it is possible to display the home screen Dp11 containing appropriate information according to the specifications or type of the work machine 3 while using the same control method and control system 1 (or control program).

Specifically, in the present embodiment, if the work machine 3 does not have the function of changing the operation pattern, the operation pattern information is not displayed on the home screen Dp11. That is, when the presentation processing unit 14 acquires data relating to at least one of the specifications and type of the working machine 3 and determines from the data that the working machine 3 does not have a function to change the operation pattern, the presentation processing unit 14 obtains the operation pattern information. is displayed on the display device 2. On the other hand, when determining that the work machine 3 has the function of changing the operation pattern, the presentation processing unit 14 causes the display device 2 to display the home screen Dp11 including the operation pattern information. As a result, the operation pattern information is removed from the home screen Dp11 displayed on the display device 2 for the work machine 3 that does not have the function of changing the operation pattern, and only necessary information can be displayed efficiently. can.

Further, it is preferable that the operation pattern information on the home screen Dp11 corresponds to the notation on the nameplate 39 attached to the machine body 30 (see FIG. 4). That is, it is preferable that the operation pattern information displayed in the sixth region R6 of the home screen Dp11 include an iconographic image similar to the iconographic image indicated on the nameplate 39, for example. As a result, the operator can grasp the details of each operation pattern based on familiar notation similar to the nameplate 39 .

[3.4] Change of Operation Pattern Next, among the control methods according to the present embodiment, the processing related to the display of the display screen Dp1 particularly related to the change of the operation pattern will be described in detail.

In the present embodiment, as described above, the change processing unit 13 of the control system 1 executes the change processing for changing the operation pattern, so that the operation corresponding to the operation of the operation device 35 and the operation of the aircraft 30 is performed. Patterns can be changed. Here, the setting (change) of the operation pattern is performed according to the operation of the operator (user U1). In other words, the current operation pattern is changed by the operator selecting an arbitrary pattern from A pattern, B pattern, C pattern, and D pattern.

Specifically, as shown in FIG. 10, the presentation processing unit 14 has a function of causing the display device 2 to display a change screen Dp14 for changing the operation pattern as the display screen Dp1. The operation pattern selected on the change screen Dp14 is set as the "current operation pattern" by the change processing unit 13. FIG. As a result, the operator can determine the operation pattern, which is the corresponding relationship between the operation of the operation device 35 and the operation of the machine body 30, while visually confirming the operation on the display device 2. FIG.

As an example, the change screen Dp14, as shown in FIG. 10, replaces the first region R1 to third region R3 and the fifth region R5 to seventh region R7 of the home screen Dp11 with the 11th region R11 and the 12th region R11. It has a region R12. In addition, in the fourth region R4 of the change screen Dp14, items of "up" and "down" cursors, an item of "return" for returning to the previous screen, and an item of "determine" are displayed.

In the eleventh region R11, A pattern, B pattern, C pattern, and D pattern are displayed as options for operation patterns. In the eleventh region R11, any one of A pattern, B pattern, C pattern and D pattern is highlighted. The highlighted pattern is switched by operating the cursor in the fourth area R4. Furthermore, each of the A pattern, B pattern, C pattern, and D pattern is associated with a radio button, and the radio button corresponding to the selected pattern is in the "on" state. In the example of FIG. 10, "A pattern" is highlighted and "A pattern" is selected as the operation pattern.

In the twelfth area R12, detailed information about the highlighted operation pattern is displayed as post-change pattern information. In the example of FIG. 10, detailed information of the highlighted "A pattern" is displayed in the twelfth area R12. Here, the detailed information as the post-change pattern information includes an image (icon) indicating the correspondence relationship between the operation of the operation device 35 and the motion of the aircraft 30 . Specifically, the detailed information includes the text "ISO, manufactured by XX company, manufactured by YY company" and an image representing the combination of the operation direction of each of the pair of control levers 351 and 352 and the operation of the airframe 30. . The detailed information displayed in the twelfth area R12 is information corresponding to the notation on the nameplate 39 (see FIG. 4), and includes, for example, the same iconography as that on the nameplate 39. FIG.

According to such a change screen Dp14, as shown in FIG. 11, the highlighted pattern is switched by operating the cursor in the fourth area R4. Along with this, the detailed information displayed in the twelfth area is also switched to the detailed information of the highlighted pattern. Therefore, the operator can select a desired pattern by operating the item "determine" while the desired pattern is highlighted.

As described above, the change screen Dp14 includes post-change pattern information (detailed information) indicating the operation pattern after change. Therefore, the operator can easily grasp the operation pattern to be changed from the change screen Dp14, and can easily change the operation pattern. Furthermore, the post-change pattern information (detailed information) on the change screen Dp14 corresponds to the notation on the nameplate 39 attached to the machine body 30 . As a result, the operator can grasp the details of each operation pattern based on familiar notation similar to the nameplate 39 .

In order to display the change screen Dp14 as described above while the home screen Dp11 is being displayed, the display screen Dp1 displayed on the display device 2 transitions as shown in FIG. That is, when the item "Menu" is operated (selected) on the home screen Dp11, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the menu screen Dp15 as the display screen Dp1, and then the vehicle body change screen. The display screen Dp1 is changed in the order of Dp16 and change screen Dp14.

The menu screen Dp15 includes various items such as "monitor setting", "PTO flow rate setting", and "operation setting" in addition to "body setting". In the menu screen Dp15, when the item "determine" is operated (selected) in a state where "body setting" is selected by operating the cursor (in the fourth region R4), the display screen Dp1 displayed on the display device 2 is displayed. transitions from the menu screen Dp15 to the body change screen Dp16.

The vehicle body change screen Dp16 includes various items such as "interference prevention setting" and "interference prevention release" in addition to "operation pattern". The body change screen Dp16 is a kind of call screen for calling the change screen Dp14, and the item "operation pattern" in the body change screen Dp16 functions as a call object Ob5 that receives an operation for calling the change screen Dp14. do. That is, in the vehicle body change screen Dp16, when the "OK" item is operated (selected) while the call object Ob5 labeled "Operation Pattern" is selected by operating the cursor (in the fourth region R4), The display screen Dp1 displayed on the display device 2 transitions from the vehicle body change screen Dp16 to the change screen Dp14.

Further, the vehicle body change screen Dp16 includes a mark Ob6 as operation pattern information on the right side of the call object Ob5 so as to correspond to the call object Ob5. That is, the operation pattern information of the vehicle body change screen Dp16 as the call screen includes the mark Ob6. In the example of FIG. 12, the mark Ob6 is an icon representing a crossed arrow and the letter "A" indicating the "A" pattern. That is, in the example of FIG. 12, the operation pattern information on the body change screen Dp16 indicates that the current operation pattern is the "A" pattern (operation pattern for "ISO, manufactured by XX, manufactured by YY"). there is Therefore, by displaying the vehicle body change screen Dp16 on the display device 2, at least when the change screen Dp14 is called, the operation pattern information indicating the current operation pattern is presented to the operator.

As described above, the control method according to the present embodiment causes the display device 2 to display the change screen Dp14 for changing the operation pattern, and a call screen (vehicle change screen Dp16) for calling the change screen Dp14. is displayed on the display device 2. That is, the presentation processing unit 14 of the control system 1 causes the display device 2 to display a change screen Dp14 for changing the operation pattern and a call screen (body change screen Dp16) for calling the change screen Dp14. Here, the call screen (body change screen Dp16) includes operation pattern information indicating the current operation pattern. “Calling” in the present disclosure means causing the display device 2 to display the display screen Dp1 such as the change screen Dp14.

In short, in this embodiment, when changing the operation pattern, the current operation pattern is presented (displayed) as operation pattern information on the call screen (body change screen Dp16). For example, when the operator is forced to confirm the operation pattern by visually checking the position of the switching lever, if the operator neglects this confirmation work, the machine body 30 may behave unexpectedly in response to the operation of the operation device 35. may occur and must be handled with caution by the operator. In contrast, according to the control method and control system 1 according to the present embodiment, when the operation pattern is changed, the current operation pattern is actively presented (displayed) as the operation pattern information. The operator can easily confirm the current operation pattern. As a result, it is possible to provide the control method for the work machine 3, the work machine control program, the work machine control system 1, and the work machine 3 that easily reduce the burden on the operator involved in the operation.

Furthermore, in the present embodiment, the change screen Dp14 for changing the operation pattern is called from the home screen Dp11 via one or more screens (here, the menu screen Dp15 and the body change screen Dp16). That is, the control method according to the present embodiment causes the display device 2 to display the home screen Dp11 in a state where the machine body 30 operates according to the operation of the operation device 35 . Then, the display screen Dp1 displayed on the display device 2 transitions from the home screen Dp11 to the change screen Dp14 via a call screen (body change screen Dp16) different from the home screen Dp11. By adopting a hierarchical screen configuration in this way, the change screen Dp14 is called not directly but indirectly from the home screen Dp11. is suppressed from opening.

The call screen (body change screen Dp16) also includes a call object Ob5 that receives an operation for calling the change screen Dp14. The operation pattern information is displayed in association with the call object Ob5. According to this configuration, when the operator operates the call object Ob5 to call the change screen Dp14, the operation pattern information indicating the current operation pattern is easily noticeable.

By the way, the presentation of the operation pattern information by the notification screen Dp12 may be performed not only when the work machine 3 is activated and when the cutoff lever 372 is operated, but also after the operation pattern is changed (set), for example. That is, the presentation processing unit 14 preferably presents the operation pattern information even when the operation pattern is changed on the change screen Dp14.

Specifically, in the change screen Dp14, when the operator sets (selects) a desired pattern by operating the item "determine" with one of the operation patterns selected, the presentation processing unit 14 , it is preferable to cause the display device 2 to display the notification screen Dp12. When the decision button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the display screen Dp1 displayed on the display device 2 transitions from the notification screen Dp12 to the home screen Dp11. do.

In short, the notification screen Dp12 is preferably displayed on the display device 2 at the time of transition from the specific screen to the home screen Dp11. The “specific screen” referred to here is a screen other than the home screen Dp11 displayed on the display device 2 as the display screen Dp1, and includes the above-described change screen Dp14 and the like. As a result, the notification screen Dp12 notifies the operator of the current operation pattern at an appropriate timing, thereby reducing the burden on the operator.

By the way, in the control method according to the present embodiment, there are a state in which the machine body 30 does not operate in accordance with the operation of the operating device 35 and a state in which the machine body 30 operates in accordance with the operation of the operating device 35. The operation pattern can be changed only in a state in which the machine body 30 does not operate in response to. In other words, although the working machine 3 has a non-operating state and an operating state, the change processing unit 13 can accept an operation for changing the operation pattern only in the non-operating state. Do not accept operations to change the pattern. In the operating state, for example, by prohibiting the display of the change screen Dp14 itself, an operation for changing the operation pattern is not accepted. However, the present invention is not limited to this, and the operation for changing the operation pattern may not be accepted by, for example, prohibiting the operation of the item "determine" on the change screen Dp14 in the operating state. As a result, it is possible to avoid a sudden change in the operation of the machine body 30 corresponding to the operation of the operating device 35 due to the change of the operation pattern while the work machine 3 is in the operating state.

Here, switching between a state in which the machine body 30 does not operate in accordance with the operation of the operating device 35 (non-operating state) and a state in which the machine body 30 operates in accordance with the operation of the operating device 35 (operating state) is at least a cutoff state. It is performed according to the operation of the lever 372 . That is, when the cutoff lever 372 is operated to the "lowered position" and the cutoff switch 371 is in the unlocked state (on), the work machine 3 is in the operating state. In this state, the change processing unit 13 does not accept an operation for changing the operation pattern. On the other hand, when the cut-off lever 372 is operated to the "up position" and the cut-off switch 371 is in the locked state (OFF), the working machine 3 is in a non-operating state. Accepts an operation to Accordingly, by operating the cut-off lever 372, it is possible to easily switch between a state in which the operation pattern can be changed and a state in which the operation pattern cannot be changed.

The configuration in which the operation pattern can be changed only in the non-operating state in which the machine body 30 does not operate in response to the operation of the operation device 35 is independent from the function of displaying the change screen Dp14 and the call screen (body change screen Dp16). can be adopted in In short, the control method according to the present embodiment includes the machine body 30 that operates according to the operation of the operating device 35, and the working machine 3 that can change the operation pattern, which is the correspondence relationship between the operation of the operating device 35 and the movement of the machine body 30. In the control method of (1), one of a state in which the machine body 30 does not operate in response to the operation of the operating device 35 and a state in which the machine body 30 operates in response to the operation of the operating device 35, and the machine body 30 operates according to the operation of the operating device 35. The operation pattern can be changed only when 30 does not operate. In this case, it is not essential to adopt the function of displaying the change screen Dp14 and the call screen (body change screen Dp16).

[3.5] Overall Processing Next, the overall flow of processing related to the control method will be described with reference to FIG. FIG. 13 is a flowchart showing an example of processing related to the control method.

As shown in FIG. 13, the control system 1 first determines whether or not the main switch 34 is turned on (S1). When the main switch 34 is turned on (S1: Yes), the display device 2 is powered on, and the presentation processing unit 14 of the control system 1 causes the display unit 23 of the display device 2 to display the startup screen Dp10 as the display screen Dp1 ( S2). Then, after an activation period of about several seconds has elapsed, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display a notification screen Dp12 including operation pattern information as the display screen Dp1 (S3).

When the determination button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the operation pattern information as the display screen Dp1. is displayed (S4). Here, it is not essential that the display of the notification screen Dp12 ends with the operation of the decision button Ob3. good too. In this case, when a certain period of time has passed since the start of display of the notification screen Dp12, the presentation processing unit 14 causes the display screen Dp1 to transition from the notification screen Dp12 to the home screen Dp11 without operating the decision button Ob3.

While the home screen Dp11 is being displayed, the control system 1 determines whether or not an operation for calling the change screen Dp14 has been performed (S5). Specifically, when "Menu" is selected on the home screen Dp11, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the menu screen Dp15 as the display screen Dp1, and the "Vehicle setting" is displayed on the menu screen Dp15. is selected, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the vehicle body change screen Dp16 as the display screen Dp1. When the call object Ob5 of the vehicle body change screen Dp16 is selected, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the change screen Dp14 as the display screen Dp1. In other words, it is determined that an operation for calling the change screen Dp14 has been performed (S5: Yes) with the series of operations. Until these series of operations are performed, the control system 1 continues to determine whether or not an operation for calling the change screen Dp14 has been performed (S5).

If the operation for calling the change screen Dp14 has been performed (S5: Yes), the control system 1 determines whether or not the work machine 3 is in a "locked state" in which the operation is restricted (S6). At this time, if the cut-off lever 372 is in the "down position" and the cut-off switch 371 is in the unlocked state (on), the control system 1 determines that it is not in the "locked state" (S6: No), The processing is returned to step S4. On the other hand, if the cut-off lever 372 is in the "up position" and the cut-off switch 371 is in the locked state (OFF), the control system 1 determines that it is in the "locked state" (S6: Yes), and executes the process. Move to step S7.

In step S7, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display a change screen Dp14 for changing the operation pattern as the display screen Dp1. While the change screen Dp14 is being displayed, the change processing unit 13 of the control system 1 sets a desired pattern as the "current operation pattern" according to the operation of the operator (user U1) (S8). Thereafter, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the notification screen Dp12 including the operation pattern information as the display screen Dp1 (S9). When the determination button Ob3 is operated (the push button switch 226 is operated) while the notification screen Dp12 is being displayed, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the operation pattern information as the display screen Dp1. is displayed (S4).

The control system 1 repeatedly executes the processes of steps S1 to S9. However, the flowchart shown in FIG. 13 is merely an example, and processes may be added or omitted as appropriate, and the order of the processes may be changed as appropriate.

[4] Modifications Modifications of the first embodiment are listed below. Modifications described below can be applied in combination as appropriate.

The control system 1 in the present disclosure includes a computer system. A computer system is mainly composed of one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided. Moreover, some or all of the functional units included in the control system 1 may be configured by electronic circuits.

In addition, it is not an essential configuration of the control system 1 that at least part of the functions of the control system 1 are integrated in one housing, and the components of the control system 1 are dispersed in a plurality of housings. may be provided. Conversely, in Embodiment 1, functions distributed across multiple devices (eg, control system 1 and display device 2) may be consolidated within a single housing. Furthermore, at least part of the functions of the control system 1 may be realized by a cloud (cloud computing) or the like.

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

Moreover, the display device 2 is not limited to a dedicated device, and may be a general-purpose terminal such as a laptop computer, a tablet terminal, or a smart phone. Furthermore, the display unit 23 is not limited to a mode in which the display screen Dp1 is directly displayed like a liquid crystal display or an organic EL display. good too. The display area of the display unit 23 is not limited to be horizontally long, and may be vertically long.

Further, as a mode of inputting information on the operation unit 22, a mode other than the push button switches 221 to 226, the touch panel and the operation dial may be adopted. For example, the operation unit 22 may employ a mode such as a keyboard, a pointing device such as a mouse, voice input, gesture input, or input of an operation signal from another terminal.

Further, the operation device 35, the display device 2, and the like are not limited to being mounted on the body 30, and may be provided separately from the body 30, for example. In this case, the operating device 35, the display device 2, and the like are configured to be able to communicate with the machine body 30, and realize remote control of the machine body 30. FIG.

Further, the display mode of the operation pattern information on each of the notification screen Dp12, the home screen Dp11, and the vehicle body change screen Dp16 (call screen) is not limited to the above-described marks, and may be, for example, text, photograph, display/non-display, or animation. etc., or a combination thereof.

Further, it is not essential that the operation pattern set by the change processing unit 13 is selected from a plurality of patterns as options, and may be freely customized by the operator (user U1). Specifically, for example, on the change screen Dp14, the operator can freely customize the operation pattern by individually designating the operation of the machine body 30 associated with each operation of the operation levers 351 and 352 .

In addition, the manner in which the operation pattern information is presented by the presentation processing unit 14 is not limited to display. A combination of these may be used.

(Embodiment 2)
As shown in FIG. 14, the control method according to this embodiment differs from the control method according to the first embodiment in the display mode of the notification screen Dp12. In the following, configurations similar to those of the first embodiment are denoted by common reference numerals, and descriptions thereof are omitted as appropriate.

In this embodiment, as shown in FIG. 14, the notification screen Dp12 displays the operation pattern information in a larger display size instead of the pop-up window W1 displayed on the home screen Dp11. This notification screen Dp12 includes an image (icon) Ob7 indicating the correspondence relationship between the operation of the operation device 35 and the operation of the aircraft 30 as operation pattern information. That is, in the present embodiment, by allocating most of the display screen Dp1 to display the icon image Ob7, similar to the detailed information of the change screen Dp14, the operation directions of the pair of control levers 351 and 352 and the movement of the aircraft 30 An icon image Ob7 representing a combination with an action is included as operation pattern information.

Furthermore, the operation pattern information on the notification screen Dp12 corresponds to the notation on the nameplate 39 attached to the machine body 30 (see FIG. 4). That is, the icon image Ob7 in the notification screen Dp12 has the same design as the icon image written on the nameplate 39, for example. As a result, the operator can grasp the details of each operation pattern based on familiar notation similar to the nameplate 39 .

The notification screen Dp12 also includes text Ob8, such as "Current operation pattern is A", indicating that "Pattern A" is selected as the operation pattern. Therefore, by displaying such a notification screen Dp12 on the display device 2, the operator can easily confirm the operation pattern information indicating the current operation pattern.

Even in the notification screen Dp12 according to the present embodiment, as in the first embodiment, the state in which the machine body 30 does not operate (non-operating state) in response to the operation of the operation device 35 30 is displayed when switching to the operating state (operating state). 14 is displayed on the display device 2 when the work machine 3 is started, when the cut-off lever 372 is operated, or the like.

The configuration according to the second embodiment can be employed in appropriate combination with various configurations (including modifications) described in the first embodiment.

(Embodiment 3)
The control method according to the present embodiment differs from the control method according to the first embodiment in the procedure for calling (displaying) the change screen Dp14. In the following, configurations similar to those of the first embodiment are denoted by common reference numerals, and descriptions thereof are omitted as appropriate.

In this embodiment, as shown in FIG. 15, the home screen Dp11 includes a call object Ob9 for calling the change screen Dp14. That is, when the call object Ob9 is operated (selected) on the home screen Dp11, the presentation processing unit 14 causes the display unit 23 of the display device 2 to display the change screen Dp14 as the display screen Dp1. Thus, in the present embodiment, the home screen Dp11 is a kind of call screen for calling the change screen Dp14, and the display screen Dp1 transitions directly from the home screen Dp11 to the change screen Dp14.

In the example of FIG. 15, the call object Ob9 is arranged in the fourth region R4 in place of the "mode" item on the home screen Dp11 in the first embodiment. Therefore, when the user U1 (see FIG. 3) operates the push button switch 223 corresponding to the call object Ob9 while the home screen Dp11 is displayed, the call object Ob9 is operated (selected) and the change screen Dp14 is displayed. will be displayed.

Also, the call object Ob9 includes a mark as operation pattern information. In the example of FIG. 15, the mark of the call object Ob9 is a crossed arrow and an icon representing the letter "A" indicating the "A" pattern. That is, in the example of FIG. 15, the operation pattern information included in the call object Ob9 of the home screen Dp11 indicates that the current operation pattern is pattern "A" (operation pattern for "ISO, manufactured by XX company, manufactured by YY company"). represents something. Therefore, by displaying such a call object Ob9 on the display device 2, at least when the change screen Dp14 is called, the operation pattern information indicating the current operation pattern is presented to the operator.

As described above, in the present embodiment, the change screen Dp14 for changing the operation pattern is directly called from the home screen Dp11. Therefore, when setting (changing) the operation pattern, the operator can open the change screen Dp14 from the home screen Dp11 with fewer procedures.

The configuration according to the third embodiment can be employed in appropriate combination with various configurations (including modifications) described in the first or second embodiment.

1 working machine control system 2 display device 3 working machine 14 presentation processing unit 30 body 35 operating device 39 nameplate Dp11 home screen Dp12 notification screen Dp14 change screen (specific screen)
Ob7 Iconography

Claims (13)

A control method for a working machine comprising a machine body that operates according to an operation of an operating device, and capable of changing an operation pattern that is a correspondence relationship between the operation of the operating device and the movement of the machine body,
Presenting operation pattern information indicating the current operation pattern when switching from a state in which the machine body does not operate in response to the operation of the operating device to a state in which the machine body operates in response to the operation of the operating device; having
Work machine control method. Presenting the operation pattern information by displaying a notification screen containing the operation pattern information on a display device that displays a home screen in a state in which the aircraft operates in accordance with the operation of the operation device;
A control method for a working machine according to claim 1. The notification screen is displayed on the display device after power-on of the display device and before the home screen is displayed.
A control method for a working machine according to claim 2. The notification screen is displayed on the display device when transitioning from the specific screen to the home screen,
A control method for a working machine according to claim 2 or 3. The notification screen is displayed on the display device after a specific event related to the operation occurs and before the home screen is displayed.
A control method for a work machine according to any one of claims 2 to 4. the home screen includes information about the operating state of the work machine;
A control method for a work machine according to any one of claims 2 to 5. the home screen includes the operation pattern information;
A control method for a work machine according to any one of claims 2 to 6. The notification screen includes, as the operation pattern information, an image showing a correspondence relationship between the operation of the operation device and the operation of the aircraft.
A control method for a work machine according to any one of claims 2 to 7. The operation pattern information on the notification screen corresponds to the notation on the nameplate attached to the aircraft,
A control method for a work machine according to any one of claims 2 to 8. presentation of the operation pattern information ends when a specific operation is performed;
A control method for a work machine according to any one of claims 1 to 9. The work machine control method according to any one of claims 1 to 10,
A work machine control program for execution by one or more processors. A work machine comprising a machine body that operates according to an operation of an operating device and capable of changing an operation pattern, which is a correspondence relationship between the operation of the operating device and the movement of the machine body,
Presentation processing for presenting operation pattern information indicating the current operation pattern when switching from a state in which the machine body does not operate in accordance with the operation of the operating device to a state in which the machine body operates in response to the operation of the operating device. having a department,
Control system for working machines. A control system for a work machine according to claim 12;
and
working machine.

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