JP2024005874A - Work machine control method, work machine control program, work machine control system, and work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work machine control method capable of changing control device settings from another device by a safe, reliable, and simple method, a work machine control program, a work machine control system, and a work machine.

SOLUTION: A work machine control method is configured to change settings to other settings by performing an operation of a state transition of a work machine after a setting change request is executed to a control device (520) to change the setting to another setting in order to control a work machine from a setting change device (335).

SELECTED DRAWING: Figure 4

COPYRIGHT: (C)2024,JPO&INPIT

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.

As a conventional technology, an operation pattern is set and inputted using an operation pattern setting input means, and an operation signal from an operation lever device is generated by an operation pattern corresponding to an operation pattern instruction signal transmitted from the operation pattern setting input means to a controller (control device). Construction machines (work machines) are known that generate a drive signal based on the following and output it to a corresponding solenoid valve to control pilot pressure input to a control valve and control the flow of pressure oil to a hydraulic actuator. . (See Patent Document 1)

Japanese Patent Application Publication No. 2007-332563

In working machines that are used in harsh environments, the operation pattern setting input means may fail for unexpected reasons, causing an erroneous operation pattern instruction signal to be sent to the control device, resulting in the operation pattern being changed regardless of the operator's intention. Therefore, from a fail-safe perspective, after sending the operation pattern instruction signal from the setting input means to the control device, a separate physical device that reflects the operator's intention is required to enable the setting. There is a problem in that a suitable means of approval is required.

In order to solve the above-mentioned problem, it may be possible to provide an approval switch or the like separately from the operation pattern setting input means, but this would increase cost and cause layout problems.

In addition, the above problem is not only a change in the operation pattern settings, but also a change in the settings related to the operation of similar working machines, and is a control to prevent the tip of the working machine of an ultra-small swing excavator from interfering with the cabin. This problem may also occur when changing settings depending on the type of attachment attached to the tip of the work equipment.

The present invention has been made in view of the problems of the prior art described above, and its objects are: a control method for a working machine for changing the settings of a control device from another device in a safe, reliable and simple manner; The purpose of the present invention is to provide a work machine control program, a work machine control system, and a work machine.

In a work machine control method according to one aspect of the present invention, a setting change request to change the setting to another setting is executed from a setting change device to a control device that controls the work machine based on stored settings. and, after the setting change request is executed, the control device changes the setting to another setting by an operation for executing a state transition of the work machine.

A work machine control program according to one aspect of the present invention causes one or more computing devices to execute the work machine control method.

A control system for a work machine according to one aspect of the present invention executes a setting change request to change the setting to another setting to a control device that controls the work machine based on the settings stored from the setting change device. The control apparatus includes a setting change requesting section and a setting changing section for causing the control device to change the setting to another setting by an operation that causes the work machine to perform a state transition after executing the setting change request.

A work machine according to one aspect of the present invention includes the work machine control system.

According to the present invention, a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine for changing the settings of a control device from another device in a simple method with high safety and reliability. can be provided.

FIG. 1 is a right side view of a hydraulic excavator according to an embodiment of the present invention. FIG. 1 is a right side view of a hydraulic excavator according to an embodiment of the present invention. FIG. 1 is a perspective view of a driver's seat of a hydraulic excavator according to an embodiment of the present invention. 1 is a schematic diagram of a control system for a hydraulic excavator according to an embodiment of the present invention. 1 is a schematic diagram illustrating an implementation of interference prevention control for a hydraulic excavator according to an embodiment of the present invention. FIG. It is a home screen of the display device of the hydraulic excavator concerning one embodiment of the present invention. 1 is a plan view of an operating device for a display device of a hydraulic excavator according to an embodiment of the present invention. It is a setting menu screen of the display device of the hydraulic excavator concerning one embodiment of the present invention. It is an operation pattern setting screen of the display device of the hydraulic excavator concerning one embodiment of the present invention. It is an operation pattern setting screen when pattern B is selected on the display device of the hydraulic excavator according to an embodiment of the present invention. It is a home screen when the B pattern of the display device of the hydraulic excavator concerning one embodiment of the present invention is set. It is a flowchart figure of the control flow of the control device of the hydraulic excavator concerning one embodiment of the present invention. It is an attachment change screen of the display device of the hydraulic excavator concerning one embodiment of the present invention. It is an attachment change screen when a breaker is selected on the display device of the hydraulic excavator according to an embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described in detail with reference to the accompanying drawings, taking a hydraulic excavator 100 as a representative example of a construction machine according to the present invention. Note that the direction in which the working device 400 extends upwardly above the cabin 310 with respect to the upper revolving body 300 is defined as the front, and the opposite direction is defined as the rear.

As shown in FIGS. 1, 2, and 4, the hydraulic excavator 100 includes a self-propelled lower traveling body 200, an upper rotating body 300 rotatably supported on the lower traveling body 200, and an upper rotating body 300 that is rotatably supported on the lower traveling body 200. The system includes a working device 400 and a control system 500, which are rotatably supported by the robot.

The upper revolving body 300 is formed with a cabin 310 disposed on the left side from the front of the fuselage to the rear end, and a cabin 310 arranged from the front right side to the rear end of the fuselage, so as to fill the cutout at the lower rear of the cabin 310. A working device 400 is rotatably supported between the cabin 310 and the engine room 320.

The engine room 320 includes an engine (not shown), a variable displacement pump 511 that is driven by the engine, and pumps hydraulic fluid to a plurality of actuators that move the hydraulic excavator 100, such as a boom cylinder 460 and an arm cylinder 470. A control valve 514 that controls the actuator, and a pilot pump that generates the primary pressure of the control signal pressure (pilot pressure) that is input to the control valve 514 and the pilot pressure that is input to the regulator 511a that controls the flow rate of the variable displacement pump 511. A plurality of devices such as 512 and the like are arranged.

A driver's cab 330 is installed inside the cabin 310 above the engine room 320.

As shown in FIG. 3, the driver's seat 330 is formed from a seat 331, a floor material 333 extending forward from a lower front surface of a seat mount 332 below the seat 331, and an operating device 334.

The operating device 334 can output pilot pressure from the electromagnetic proportional valve 517 to the control valve 514 to operate each actuator in response to the operating signal output from the control device 520 by outputting the operating direction and amount as an electric signal. can.

The operating device 334 is arranged in front of the driver's seat 330 on the left and right, and is installed upright on a left travel lever 334a and a right travel lever 334b protruding from the floor material 333, and console boxes located on the left and right sides of the seat 331. It consists of a left operating lever 334c, a right operating lever 334d, and an offset pedal 334e arranged adjacent to the right side of the right travel lever 334b.

The left operation lever 334c and the right operation lever 332d are respectively assigned boom raising/lowering operation, arm operation, bucket operation, and turning operation, and there are four types of combinations (operation patterns) of these operation assignments, and the operator can , the operation pattern can be arbitrarily selected by operating the display device 335 disposed in front of the right operation lever 334d. Further, the offset pedal 334e can be used to offset the upper part of the boom 420 in the left-right direction as described later.

A cut lever 336 that extends forward and diagonally upward is protruded from the lower front end of the console where the left operating lever 334c stands. The console on which the left operating lever 334c is erected rotates upward by pulling up the cutoff lever 336. A cutoff lever switch 337 is installed at the base end of the console. When the cutoff lever 336 is in the raised position, the cutoff lever switch 337 is in the cutoff position, and when the cutoff lever 336 is in the lowered position, the cutoff lever switch 337 is in the cutoff position. Lever switch 337 is in the connected position. Although details will be described later, the operating device 334 becomes operable when the cut-off lever 336 is in the lowered position, and enters an operation locked state in which the operation is locked when the cut-off lever 336 is in the raised position.

A key cylinder 338 for starting the engine is arranged on the back surface of the rear end of the console where the right operating lever 334c stands.

The key cylinder 338 has three positions set by rotation of the key, and an OFF position, an ON position, and a START position are set clockwise. (See Figure 4)

In the OFF position, the engine is stopped and power is not supplied to electrical equipment including control device 520.

In the ON position, power is supplied to electrical equipment including control device 520.

In the START position, the starter motor starts and rotates the engine. Note that after moving from the ON position to the START position, the key position automatically returns from the START position to the ON position.

The work device 400 includes a boom 420, an arm 430 attached to the tip of the boom 420 so as to be rotatable up and down, a bucket 450 attached to the tip of the arm 430 so as to be rotatable, and a bucket 450 attached in front and below the boom 420. A boom cylinder 460 that is installed and moves the boom 420, an arm cylinder 470 that is installed above the boom 420 and moves the arm 430, and a bucket cylinder that is installed in front of the arm 430 and moves the bucket 450 via the bucket link 440. 480.

The boom 420 includes a first boom 421 rotatably supported on the upper revolving structure, and above the cabin 310, the boom 420 is rotatably supported from side to side by the end of the first boom 421, and extends upward toward the front. The third boom 423 is supported at the front end of the second boom 422 so as to be rotatable left and right, and supports an arm 430 so as to be rotatable up and down.

The base end of the first boom 421 side of the side surface of the second boom 422 on the cabin 310 side and the third boom 423 are connected by an offset cylinder 461 that moves the second boom 422 from side to side. An offset link 462 connecting the third boom 423 and the first boom 421 is arranged.

The lower traveling body 200 has a center frame (not shown) and side frames 210a and 210b that are symmetrically paired with the center frame and extend in the front and back direction. A driving wheel 211a driven by a traveling motor (not shown) is installed, and a plurality of idler wheels 212a are arranged facing forward.A crawler belt 213a is wrapped around the driving wheel 211a and the idler wheel 212a, and the driving wheel 211a and the idler wheel 212a are arranged on the right side. A driving wheel 211b (not shown) driven by a right running motor (not shown) is installed at the rear end of the side frame 210b, and a plurality of idler wheels 212b (not shown) are arranged toward the front. A crawler belt 213b is wound around the drive wheel 211b and the idler wheel 212b, and an earth removal device 220 is attached to the front of the center frame.

Next, the control system 500 of the hydraulic excavator 100 will be described using FIG. 4.

The control system 500 includes a hydraulic circuit 510, a control device 520, a posture detection device 530, a cutoff switch 337 (cutoff lever 336), a key cylinder 338, and a display device 335.

Hydraulic circuit 51
0 represents the high-pressure hydraulic oil piping extending from the variable displacement pump 511 as a solid line, and the low-pressure hydraulic oil (pilot pressure) piping extending from the pilot pump 512 as a dotted line.

The hydraulic circuit 510 includes a center bypass passage 513 extending from a variable displacement pump 511 that controls the discharge flow rate by inputting pilot pressure reduced by an electromagnetic proportional valve 518 to a regulator 511a, and an oil passage extending from the center bypass passage 513. The hydraulic circuit 510 includes a control valve 514 composed of a directional switching valve that controls each actuator connected to the directional switching valve, and a hydraulic circuit 510 that controls the flow from the center bypass passage 513 to the tank 515 regardless of the sliding position of the spool of the directional switching valve. This is a so-called closed center circuit in which no path is formed, but it is not limited to this.

The control valve 514 includes a directional switching valve 514a that controls the boom cylinder 460, a directional switching valve 514b that controls the arm cylinder 470, left and right travel motors, a bucket cylinder 480, an offset cylinder 461, and a left and right travel motor. , a plurality of other directional control valves each controlling a plurality of other actuators such as a swing motor (not shown). , the description is omitted. Further, the pilot pressure output from the electromagnetic proportional valve 517 controlled by the control device 520 is input to the pilot pressure input port of the directional switching valve constituting the control valve 514 .

The pilot pressure input ports 514a1 and 514a2 of the directional switching valve 514a have outputs from the electromagnetic proportional valves 517a1 and 517a2 depending on the direction and amount of operation (tilting amount) of the left operating lever 334c or the right operating lever 334d. When the pilot pressure is input, the spool of the directional control valve 514a slides, and oil according to the opening amount of the corresponding spool flows to the rod side or the bottom side of the boom cylinder 460, raising and lowering the boom 420.

The pilot pressure output from the electromagnetic proportional valves 517b1 and 517b2 is input to the pilot pressure input ports 514b1 and 514b2 of the directional switching valve 514b, depending on the direction and operation amount of the left operating lever 334c or the right operating lever 334d. As a result, the spool of the directional control valve 514b slides, and oil according to the opening amount of the corresponding spool flows to the rod side or bottom side of the arm cylinder 470, causing the arm 430 to perform a cloud operation or a dump operation.

A solenoid valve 519 is arranged upstream of the solenoid proportional valve 517 that outputs pilot pressure to the input port of the directional control valve 514. When the aforementioned cut-off lever switch 337 is in the connected position, the solenoid valve 519 is When the electric signal is input, the solenoid valve 519 opens, and pilot pressure is supplied to the solenoid proportional valve 517. When the cut-off lever switch 337 is in the cutoff position, the electric signal is cut off, the solenoid valve 519 is closed, pilot pressure is not supplied to the solenoid proportional valve 517, and the actuator is rendered inoperable (operation locked state) by the operating device 334. Become. When the cut-off lever switch 337 is in the connected position, an energizing signal is output to the control device 520, and when the cut-off lever switch 337 is in the cut-off position, no energizing signal is output to the control device 520.

The bucket cylinder 480 also performs a dumping operation or a clouding operation depending on the direction and amount of operation (tilting amount) of the left operating lever 334c or the right operating lever 334d.

The rotation motor also rotates the upper rotating body 300 to the left or to the right depending on the direction and amount of operation (tilting amount) of the left operation lever 334c or the right operation lever 334d.

The operating device 334 includes a left running lever 334a, a right running lever 334b, a left operating lever 334c, a right operating lever 334d, etc., and a signal output from the operating device 334 is input to the control device 520. .

The attitude detection device 530 includes a boom angle detection device 531 that detects the rotation angle of the boom, an arm angle detection device 532 that detects the rotation angle of the arm, and an offset angle detection device 533 that detects the offset angle of the second boom. These detection devices are portations and are installed at positions where the necessary rotation angle can be measured; Any sensor for detection may be used, for example, an acceleration sensor.

The control device 520 is an ECU (electronic control unit), and includes an input buffer that converts the signal level of a digital input signal, an AD converter that converts an analog input signal to digital, and a microcomputer that calculates control amounts from various input signals. The output driver converts the output signal from the microcomputer into a drive signal for driving the actuator, a communication driver, a communication receiver, and the like.

A signal input to the control device 520 is represented by a dashed-dotted line with an arrow pointing toward the control device 520, and a signal output from the control device 520 is represented by a dotted line with an arrow pointing toward the device into which the signal is input. Represented by a dashed line.

The calculation unit 521 includes a storage unit 522, a posture calculation unit 523, and an execution processing unit 524.

The storage unit 522 is a combination of the electromagnetic proportional valve 517 of the control valve 514 that controls the arm, bucket, boom, and swing operation to which an operation signal is input in response to the operation of the left operation lever 334c and the right operation lever 334d, that is, the left operation lever 334c and the right operation lever 334d. Information on the combination (operation pattern) of the arm, bucket, boom, and rotation operations by operating the lever 334c and the right operation lever 334d, the currently set operation pattern, and the position information of the end of the work equipment 400 are calculated. Attitude parameters are set for each attachment (for example, bucket, breaker, etc.) for this purpose, and a boundary is set upward from the front of the cabin 310 to prevent the attachment at the tip of the work equipment 400 from coming into contact with the cabin 310. Position information of area 600 (see FIG. 5) is stored.

The operation patterns stored in the storage unit 522 are four combinations of pattern A, pattern B, pattern C, and pattern D.

In pattern A, arm dump is assigned to the forward tilting operation of the left operating lever 334c, arm cloud is assigned to the backward tilting operation, left rotation is assigned to the leftward tilting operation, and right rotation is assigned to the rightward tilting operation. The forward tilting operation of the right operating lever 334d is assigned to lower the boom, the backward tilting operation is assigned to the boom up, the leftward tilting operation is assigned to a bucket cloud, and the rightward tilting operation is assigned to a bucket dump.

In pattern B, a right turn is assigned to a forward tilting operation of the left operating lever 334c, a right turn is assigned to a backward tilting operation, an arm dump is assigned to a leftward tilting operation, and an arm cloud is assigned to a rightward tilting operation. Boom lowering is assigned to the forward tilting operation of the right operating lever 334d, boom raising is assigned to the backward tilting operation, arm cloud is assigned to the leftward tilting operation, and arm dump is assigned to the rightward tilting operation.

In pattern C, the forward tilting operation of the left control lever 334c is assigned to lower the boom, the backward tilting operation is assigned to the boom up, the leftward tilting operation is assigned to bucket dump, and the rightward tilting operation is assigned to the bucket arm. Arm dump is assigned to the forward tilting operation of the right operating lever 334d, arm cloud is assigned to the backward tilting operation, left turn is assigned to the leftward tilting operation, and right turn is assigned to the rightward tilting operation.

In pattern D, the forward tilting operation of the left operating lever 334c is assigned to lower the boom, the backward tilting operation is assigned to the boom up, the leftward tilting operation is assigned to a bucket dump, and the rightward tilting operation is assigned to a bucket arm. Arm cloud is assigned to the forward tilting operation of the right operating lever 334d, arm dump is assigned to the backward tilting operation, left turn is assigned to the leftward tilting operation, and right turn is assigned to the rightward tilting operation.

The posture calculation unit 523 calculates the position of the attachment based on the posture information of the posture detection device 530 and the posture parameters of the storage device 522 corresponding to the currently set attachment, and determines whether the boundary area 600 has entered.

The execution processing unit 524 refers to the operation pattern stored in the storage unit 522 from the operation signal transmitted to the operation device 334, and outputs a signal to the electromagnetic proportional valve 517 of the control valve 514 to move the actuator.

For example, when the A pattern is set and the right operating lever 334d is tilted up or down, the execution processing unit 523 moves the boom 420 up and down.

FIG. 5 schematically represents an embodiment of interference prevention control that automatically controls the attachment attached to the tip of the work equipment 400 so that it does not interfere with the cabin 3100, and is installed in front and above the cabin 310. A working machine 400 having a bucket 450 attached to its tip and a working machine 400 having a breaker 451 longer than the bucket 450 attached to its tip are controlled so as to be located in front of the boundary area 600.

Interference prevention control will be exemplified. For example, when the bucket 450 attached to the work equipment 400 is located near the boundary area 600 and the operator performs a boom raising operation, the attitude calculation unit 523 determines that the bucket 450 has entered the boundary area 600. The execution processing unit 524 calculates the moving speed of the arm cylinder 470 that allows the arm 470 to cloud to the front edge of the boundary area 600, and the control device 520 outputs a signal corresponding to the electromagnetic proportional valve 517b1. In other words, if the operator continues the boom raising operation, the bucket 450 will rise along the front edge of the boundary area 600. Here, when the breaker 451 is attached to the work equipment 400, the attitude calculation unit 523 determines whether the breaker 451 enters the boundary area 600 based on the attitude parameter corresponding to the breaker 451 instead of the bucket 450. The amount of cloud on arm 430 when attached is larger than when bucket 450 is attached.

The display device 335 includes a display section 335a, a control section 335b, and an operation section 335c.

The display section 334a is a liquid crystal display, but is not limited to this, and may be an organic EL display.

The operation unit 335c is a jog dial, but is not limited to this, and may be a touch panel type operation or a push button type operation tool.

Next, a method for controlling a working machine according to the present invention will be described in detail with reference to FIGS. 4 and 6 to 12. Note that the dotted lines in the drawings are for representing areas of the display screen and are not displayed on the actual display device 335.

FIG. 6 shows the home screen Dp1 displayed on the display section 335a.

The home screen Dp1 includes a first display section DpA and a second display section DpB.

The first display section DpA is located at the center of the screen, and includes a fuel meter Ic1 that displays the remaining amount of fuel by the height of a bar, and a hydraulic oil temperature meter Ic2 that displays the temperature of the hydraulic oil by the position of a rotating needle. Cooling water temperature meters Ic3, which display the temperature of the cooling water by the position of a rotating needle, are displayed side by side from the left end to the right end of the screen.

The second display section DpB is located below the first display section DpA and at the bottom of the screen. The engine rotation speed Ic4 is displayed at the lower left end of the second display section DpB, and the hour meter Ic5 is displayed at the lower right end. An icon Ic6 (Ic6A) representing the current operation pattern is displayed to the right of the engine rotation speed Ic4. (The display shows that the currently set operation pattern is pattern A.)

The current operation pattern can be changed by operating the screen displayed on the display section 335a using the operation section 335c.

FIG. 7 is a schematic diagram of a jog dial that is the operation section 335c. The operation unit 335c has an operation dial 335c1, a decision button 335c2, a home button 335c3, and a setting menu button 335c4.

When the setting menu button 335c4 is pressed while the home screen Dp1 is displayed on the display section 335a, the home screen Dp1 changes to the setting menu screen Dp2.

FIG. 8 is a setting menu screen Dp2 displayed on the display section 335a. In the settings menu screen Dp2, a third display part DpC on which setting icons for checking various settings or equipment information of the hydraulic excavator 100 are displayed is arranged at the position where the second display part DpB of the home screen Dp1 was. There is.

The third display section DpC includes an icon Ic4 for transitioning to a screen for setting more detailed functions, an icon Ic5 for transitioning to a screen for checking the history of equipment errors, and an icon Ic5 for transitioning to a screen for changing attachments. An icon Ic6 for transitioning to a screen for activating the auto-stop function, an icon Ic7 for transitioning to a screen for enabling the auto-stop function, and an icon Ic8 for transitioning to a screen for selecting an operation pattern are displayed.

Any one of the icons displayed on the third display section DpC is always highlighted, and by rotating the operation dial 335c1, the icon to be highlighted can be selected, and the decision button 335c2 is pressed. Therefore, it is possible to transition from the settings menu screen Dp2 to a screen set as an icon, and in FIG. 8, the icon Ic8 is highlighted, and when the enter button 335c2 is pressed, the operation pattern settings are changed from the settings menu screen Dp2. The screen changes to Dp3.

In the operation pattern setting screen Dp3, a text Ic9 explaining the screen is displayed at the top, and below it, icons Ic10, Ic11, Ic12, and Ic13 indicating operation patterns are arranged from the top to the bottom. The icon indicating the operation pattern is formed by an alphabet representing the operation pattern, and the current operation pattern has a circle icon next to the alphabet in black.

In FIG. 9, the current operation pattern is set to pattern A, and by rotating the operation dial 335c1, the icon of the pattern to be changed is highlighted, and by pressing the enter button 335c2, the highlighted icon The circle part of the icon becomes black, and the circle part of the icon before the change becomes white. In FIG. 10, pattern B is selected.

After pressing the decision button 335c2, by turning the key position of the key cylinder 338 from ON to OFF and then ON again (approval operation), the state of the hydraulic excavator 100 changes from a state where the engine is running to a state where the engine is stopped. , the power to the electrical equipment including the control device 520 is cut off, and by turning the key to ON again, the power to the electrical equipment is turned on, and the data is stored in the storage unit 522. The current operation pattern being performed is changed from pattern A to pattern B.

After the approval operation, the home screen Dp4 is displayed on the display unit 335a, and an icon Ic6 (Ic6B) representing the current operation pattern is displayed. Then, the execution processing unit 524 refers to the B pattern stored in the storage unit 522 from the operation signal transmitted in response to the operation of the operating device 332, and outputs a signal to the electromagnetic proportional valve 517 of the control valve 514 to move the actuator.

When changing the settings related to the operation, which is the settings related to the control of the hydraulic excavator 100, from the display device 355, which is the setting change means, the hydraulic excavator 100 is completely stopped by the key cylinder without approval by the separately provided device. By changing the state from the state to the power-on state, the operator can not only be aware that important settings related to safety have been changed, but also be able to easily and easily change important settings related to safety. It is possible to change the method.

The control flow will be explained using FIG. 12. FIG. 12 is a flowchart relating to the control method.

The user selects a setting pattern from the setting screen Dp3 displayed on the display section 335a of the display device 335, and presses the enter button 335c2. (S1)

The key cylinder 338 executes the approval operation. (S2)

The currently selected operation pattern stored in the storage unit 522 of the control device 520 is changed to the operation pattern selected in S1. (S3)

The home screen Dp4 is displayed on the display unit 335a of the display device 335, and the icon Ic6 of the changed operation pattern is displayed on the home screen Dp4. (S4) End the flow.

The flowchart shown in FIG. 12 is only an example, and processes may be added or omitted as appropriate, processes may be repeatedly executed, and the order of processes may be changed as appropriate.

Next, a second embodiment of the present invention will be described with reference to FIGS. 4, 5, 6 to 8, 13, and 14, but descriptions of common parts with the first embodiment will be omitted. do.

A modification of the second embodiment is a work machine control method regarding interference prevention control associated with attachment change of the work machine 400.

When the home screen Dp1 is displayed on the display section 335a, if you press the settings menu button 335c4, the home screen Dp1 will transition to the settings menu screen Dp2, highlight the icon Ic6, and if you press the enter button 335c2, the settings menu will be displayed. The screen Dp2 transitions to an attachment change screen Dp5.

At the top of the attachment change screen Dp5, text Ic14 explaining the screen is displayed, and below that text Ic15, Ic16, Ic17, and Ic18 indicating attachments are arranged from top to bottom. The current attachment has a black circle icon next to the text it represents.

In FIG. 13, the currently set attachment is a bucket, and the interference prevention control is controlled by attitude parameters for the bucket stored in the storage unit 522.

Here, by rotating the operation dial 335c1, the text of the attachment to be changed is highlighted, and by pressing the enter button 334c2, the circle next to the highlighted text becomes black, and the text next to the text before the change is changed. The circle part becomes white. In FIG. 14, a breaker is selected.

When the cutoff lever 336 is in the raised position, after pressing the determination button 335c2, the cutoff lever 336 is moved to the lowered position (the cutoff lever switch 337 is in the connected position), the hydraulic excavator 100 is made operable, and then The cutoff lever 336 is in the raised position (the cutoff lever switch 337 is in the cutoff position), and the hydraulic excavator 100 is placed in the operation lock state. (Approval Operation) After these series of approval operations, interference prevention control is controlled by the attitude parameters regarding the breaker stored in the storage unit 522.

After requesting the control device 520 to change the settings related to the operation control of the hydraulic excavator 100 from the display device 355, which is a setting change means, the cut-off lever 336 allows the hydraulic excavator 100 to be in an operation locked state. By performing the approval operation from the operable state to the operation lock state, the operator not only becomes aware that important settings related to safety have been changed, but also changes the important settings related to safety. can be changed in a reliable and simple way.

The invention according to the embodiment of the present invention can be specified as in the following additional notes.

<Additional Note 1> A setting change request for changing the setting to another setting is executed from a setting change device to a control device that controls a work machine based on the stored settings, and the execution of the setting change request is A method for controlling a working machine, comprising: changing the setting to another setting by the control device by an operation that causes the working machine to perform a state transition.

<Supplementary Note 2> The method for controlling a working machine according to Supplementary Note 1, wherein the setting changing device is a display device, and the setting is changed to the other setting based on an image displayed on a display section of the display device.

<Supplementary Note 3> The method for controlling a working machine according to Supplementary Note 1 or 2, wherein the operation for executing the state transition of the working machine is an operation for starting or stopping the working machine.

<Supplementary Note 4> The state transition of the working machine is such that the prime mover of the working machine is in a driving state and the control device is in an energized state, the prime mover of the working machine is in a stopped state and the control device is in a non-energized state, and further, The method for controlling a working machine according to any one of Supplementary Notes 1 to 3, wherein the control device transitions from a non-energized state to a energized state.

<Supplementary Note 5> The method for controlling a working machine according to Supplementary Note 1 or 2, wherein the operation for executing the state transition of the working machine is an operation for validating or disabling the operation of an operating device that operates the working machine.

<Supplementary note 6> The working machine according to supplementary note 5, wherein the state transition of the working machine transitions the operation of the operating device from an invalid state to a valid state, and further transitions the operation of the operating device from a valid state to an invalid state. Control method.

<Appendix 7> A work machine control program for causing one or more arithmetic units to execute the work machine control method described in any of Appendices 1 to 6.

<Additional Note 8> A setting change requesting unit that issues a setting change request to change the setting to another setting to a control device that controls a work machine based on the settings stored from the setting change device; and the setting change requesting unit. A control system for a work machine, comprising: a setting change unit for causing the control device to change the setting to another setting by an operation for causing a state transition of the work machine after execution of .

<Appendix 9> A work machine equipped with the work machine control system described in Appendix 8.

The various configurations described in the first and second embodiments described above can be employed in appropriate combinations.

The above explanation uses a hydraulic excavator as an example of a working machine, but working machines are not limited to hydraulic excavators, and can include not only construction machines such as compact track loaders and wheel loaders, but also other working machines such as tractors. Further, although the engine has been described as the prime mover, an electric motor may also be used.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited thereto, and can be expanded or modified without departing from the spirit of the invention.

The present invention relates to a work machine control method, a work machine control program, a work machine control system, and a work machine, and has industrial applicability.

100 Hydraulic excavator (work machine) 335 Display device (setting change device) 520 Control device 522 Storage section 524 Execution processing section 338 Key cylinder (operation means for executing state transition)

FIG. 1 is a right side view of a hydraulic excavator according to an embodiment of the present invention. FIG. 1 is a left side view of a hydraulic excavator according to an embodiment of the present invention. FIG. 1 is a perspective view of a driver's seat of a hydraulic excavator according to an embodiment of the present invention. 1 is a schematic diagram of a control system for a hydraulic excavator according to an embodiment of the present invention. 1 is a schematic diagram illustrating an implementation of interference prevention control for a hydraulic excavator according to an embodiment of the present invention. FIG. It is a home screen of the display device of the hydraulic excavator concerning one embodiment of the present invention. 1 is a plan view of an operating device for a display device of a hydraulic excavator according to an embodiment of the present invention. It is a setting menu screen of the display device of the hydraulic excavator concerning one embodiment of the present invention. It is an operation pattern setting screen of the display device of the hydraulic excavator concerning one embodiment of the present invention. It is an operation pattern setting screen when pattern B is selected on the display device of the hydraulic excavator according to an embodiment of the present invention. It is a home screen when the B pattern of the display device of the hydraulic excavator concerning one embodiment of the present invention is set. It is a flowchart figure of the control flow of the control device of the hydraulic excavator concerning one embodiment of the present invention. It is an attachment change screen of the display device of the hydraulic excavator concerning one embodiment of the present invention. It is an attachment change screen when a breaker is selected on the display device of the hydraulic excavator according to an embodiment of the present invention.

Claims (9)

A setting change request is executed from a setting change device to a control device that controls a work machine based on the stored settings to change the setting to another setting, and after the setting change request is executed, A method for controlling a working machine, the method comprising: changing the setting to another setting by the control device by an operation that causes a state transition of the working machine. 2. The method for controlling a working machine according to claim 1, wherein the setting changing device is a display device, and the setting is changed to the other setting based on an image displayed on a display section of the display device. 3. The method of controlling a working machine according to claim 1, wherein the operation of causing the state transition of the working machine is an operation of starting or stopping the working machine. The state transition of the working machine is such that the prime mover of the working machine is in a driving state and the control device is in a energized state, the prime mover of the working machine is in a stopped state and the control device is in a de-energized state, and further, the control device is in a de-energized state. 4. The method of controlling a working machine according to claim 3, wherein the control device transitions from the state to the energized state. 3. The method for controlling a working machine according to claim 1, wherein the operation for executing the state transition of the working machine is an operation for enabling or disabling the operation of an operating device that operates the working machine. 6. The method of controlling a working machine according to claim 5, wherein the state transition of the working machine moves the operation of the operating device from an invalid state to a valid state, and further moves the operation of the operating device from a valid state to an invalid state. A work machine control program for causing one or more computing devices to execute the work machine control method according to claim 1 or claim 2. a setting change requesting unit that executes a setting change request to change the setting to another setting to a control device that controls the work machine based on the settings stored from the setting change device; after executing the setting change request; A control system for a work machine, comprising: a setting change unit for causing the control device to change the setting to another setting by an operation for executing a state transition of the work machine. A work machine comprising the work machine control system according to claim 8.