WO2016189634A1

WO2016189634A1 - Output device for working machine and output method for working machine

Info

Publication number: WO2016189634A1
Application number: PCT/JP2015/064969
Authority: WO
Inventors: 勇樹伊藤; 謙太郎田島; 敏裕小出; ロサット，アンドレア; ストゥルス，カルロ
Original assignee: 株式会社小松製作所
Priority date: 2015-05-25
Filing date: 2015-05-25
Publication date: 2016-12-01
Also published as: DE112015000969T5; KR20160148518A; DE112015000969B4

Abstract

The present invention is a working machine which is equipped with a switching control unit having a first travel mode and a second travel mode and switching from the first travel mode to the second travel mode if all of the plurality of conditions for switching from the first travel mode to the second travel mode are satisfied, the working machine being equipped with a display control unit. If the plurality of conditions are not satisfied, the display control unit displays, on a display unit, icons I11, I12, and I13 serving as the individual condition information showing the contents of the unsatisfied conditions. If the unsatisfied conditions are satisfied, the display control unit does not display the icons I11, I12, and I13 serving as the individual condition information. Since the individual condition information showing the unsatisfied conditions and the contents thereof are displayed, an operator can easily recognize the unsatisfied switching conditions upon switching between the travel modes, and the convenience in switching between the travel modes is improved.

Description

Work machine output device and work machine output method

The present invention relates to a work machine output device and a work machine output method by which an operator (driver) can easily recognize a switching condition that is not satisfied when the traveling mode is switched.

The wheeled hydraulic excavator has three driving modes in which the steering control method for the front wheels and the rear wheels differs depending on the steering operation. Also in each traveling mode, the steering of the front wheels is controlled according to the steering angle of the steering, but the steering of the rear wheels differs depending on each traveling mode as follows. In the 2WS (two-wheel steering) mode, the steering of the rear wheels remains facing the upper turning body regardless of the steering angle. In the 4WS-R (opposite phase four-wheel steering) mode, the steering of the rear wheels is controlled in the opposite direction to the steering direction of the front wheels. In the 4WS-C (in-phase four-wheel steering) mode, the steering of the rear wheels is controlled in the same direction as the steering direction of the front wheels. In addition to the three travel modes described above, a public road travel mode (street mode) can be selected when traveling on a public road. In this street mode, as in the 2WS mode, the rear wheels remain facing the upper turning body regardless of the steering operation.

Patent Document 1 has a display means for displaying the current travel mode and whether or not the front wheels and the rear wheels are in the neutral position. When the front wheels and the rear wheels are not in the neutral position, the travel mode is changed. There is described a steering device for a working vehicle that displays a disabled state and that does not perform mode switching even when there is a switching instruction from the mode switching means.

JP 2003-252230 A

By the way, in order to switch the driving mode, it is often necessary to satisfy not only one condition but all of a plurality of predetermined conditions. However, conventionally, at the time of switching the driving mode, even if any of a plurality of predetermined conditions is not satisfied, only the state in which the driving mode cannot be changed is displayed on the display unit. It was impossible to know which of the plurality of predetermined conditions does not satisfy the state in which the driving mode cannot be changed. As a result, there is a problem that the operator is forced to try the unsatisfied conditions at random, and the convenience associated with the switching of the traveling mode is poor.

The present invention has been made in view of the above, and provides a work machine output device and a work machine output method capable of easily recognizing a switching condition not satisfied by an operator at the time of traveling mode switching. The purpose is to do.

In order to solve the above-described problems and achieve the object, an output device for a work machine according to the present invention has a first mode and a second mode, and the first mode to the second mode. An output device of a work machine having a switching control unit that switches from the first mode to the second mode when a plurality of conditions for switching to the second mode are satisfied, wherein two or more of the plurality of conditions If the above condition is not satisfied, a part or all of the individual condition information corresponding to each of the two or more conditions that are not satisfied is output to the output unit, and the two or more conditions that are not satisfied An output control unit is provided that restricts output of the individual condition information corresponding to the one condition when one of the conditions is satisfied.

In the work machine output device according to the present invention, in the above invention, when the output control unit does not satisfy one or more of the plurality of conditions, the output from the first mode is performed in the second mode. State information indicating that the condition for switching to the mode is not satisfied is output to the output unit.

Also, the output device of the work machine according to the present invention is characterized in that, in the above invention, the output of the individual condition information or the state information is an image display, a character display, a lighting display, or a sound output.

In the work machine output device according to the present invention, in the above invention, the image display, the character display, or the lighting display may be a color and / or color depending on the content of the individual condition information or the state information. The display mode is changed.

Further, the output device for a work machine according to the present invention is characterized in that, in the above invention, the first mode and the second mode are a first travel mode and a second travel mode, respectively.

In the work machine output device according to the present invention, in the above invention, the first traveling mode and the second traveling mode are a two-wheel steering mode, an anti-phase four-wheel steering mode, and an in-phase four-wheel steering mode. It is one of public road driving modes.

Moreover, in the output device of the work machine according to the present invention, in the above invention, something is displayed as a region for displaying the individual condition information or the state information on the output unit until before switching to the second mode. Displayed in place of the display, displayed in the area where nothing was displayed before switching to the second mode, or displayed until before switching to the second mode. It is characterized by being displayed so as to partially overlap the area.

In the work machine output device according to the present invention, in the above invention, the output unit is a display unit, the output control unit is a display control unit, and the output device is a display device. To do.

The output method of the work machine according to the present invention has a first mode and a second mode, and satisfies a plurality of conditions for switching from the first mode to the second mode. The step of switching from the first mode to the second mode and the individual condition information corresponding to each of the two or more conditions that do not satisfy the two or more conditions when the two or more conditions are not satisfied A step of outputting a part or all of the individual condition information to the output unit, and the individual condition corresponding to the one condition when one of the two or more unsatisfied conditions is satisfied Limiting the output of information.

According to the present invention, when a plurality of conditions for switching from the first mode to the second mode are satisfied, the first mode and the second mode are satisfied. An output device of a work machine including a switching control unit that switches to the second mode, and when two or more of the plurality of conditions are not satisfied, each of the two or more conditions that are not satisfied Of the corresponding individual condition information, a part or all of the individual condition information is output to the output unit, and when one of the two or more unsatisfied conditions is satisfied, the one condition is dealt with An output control unit that restricts output of the individual condition information is provided. As a result, for example, when the first mode and the second mode are travel modes, the operator can easily recognize unsatisfactory switching conditions when switching between travel modes, and the convenience associated with travel mode switching is improved. improves.

FIG. 1 is a side view showing a wheel-type hydraulic excavator which is an example of a work machine including a display device for a work machine according to an embodiment of the present invention. FIG. 2 is a diagram showing an internal arrangement in the driver's seat. FIG. 3 is a block diagram showing a schematic configuration of a control system of the wheeled hydraulic excavator. FIG. 4 is a diagram showing a schematic configuration of the monitor. FIG. 5 is a diagram showing a display screen configuration of the monitor when the driving mode is switched. FIG. 6 is a state transition diagram of travel mode switching. FIG. 7 is a diagram showing transition of the display screen when switching from the 2WS mode to the 4WS-R mode. FIG. 8 is a diagram illustrating transition of the display screen when switching from the 2WS mode to the street mode. FIG. 9 is a flowchart showing a traveling mode switching display control processing procedure by the monitor controller.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

[Overall configuration of wheeled hydraulic excavator]
First, FIG. 1 is a side view showing a wheel-type hydraulic excavator 1 which is an example of a work machine including a display device for a work machine according to an embodiment of the present invention. As shown in FIG. 1, a wheel-type hydraulic excavator 1 includes a lower traveling body 2 having a front wheel 11 attached to the front left and right of the vehicle and a rear wheel 12 attached to the rear left and right of the vehicle, and a lower traveling body 2. The upper revolving unit 3 provided on the upper revolving unit 3 and the working machine 4 mounted on the upper revolving unit 3 are provided. The lower traveling body 2 may be provided with an outrigger for stabilizing the vehicle body during work such as excavation by the wheeled hydraulic excavator 1, a blade for extruding or leveling earth and sand, and the like.

The work machine 4 has a boom 41, an arm 42, and a bucket 43. The boom 41, the arm 42, and the bucket 43 are each flexibly driven by the expansion / contraction drive of the hydraulic cylinder 44. The boom 41 has a two-piece structure having two

booms

45 and 46.

A power container such as an engine 33 (see FIG. 3), a hydraulic pump 34 (see FIG. 3), a radiator, and an oil cooler is mounted behind the upper swing body 3. A counterweight 32 is attached to the rear end of the upper swing body 3. Further, a hydraulic oil tank or the like is disposed on the front left side of the upper swing body 3.

A cab 31 is arranged on the right front side of the upper swing body 3. As shown in FIG. 2, the cab 31 has an operator seat 50. Operation levers 51 and 52 are arranged on the left and right sides of the operator seat 50. The operation lever 51 is arranged on the left hand side when the operator is seated on the operator seat 50. The operation lever 52 is disposed on the right hand side when the operator is seated on the operator seat 50. The operation lever 51 corresponds to the turning operation of the upper revolving body 3 and the operation of the arm 42. When the operating lever 51 is operated left and right, the upper revolving body 3 is turned left and right, and when the operating lever 51 is operated up and down, the arm is operated. 42 rotates in the front-rear direction. The operation lever 52 corresponds to the operation of the boom 41 and the operation of the bucket 43. When the operation lever 52 is operated to the left and right, the bucket 43 rotates in the excavation and soil removal direction, and when the operation lever 52 is operated up and down, the boom is operated. 41 rotates in the vertical direction. Note that the combination of the operation of the operation levers 51 and 52 and which work machine operates is not limited to that of the present embodiment.

Further, a steering handle 53, a shift lever 54, and a pedal group 55 are provided in front of the operator seat 50. The pedal group 55 includes an accelerator pedal 55a and a brake pedal 55b. The steering handle 53 steers the front wheels 11 and the rear wheels 12 according to the travel mode. The shift lever 54 performs a selection operation of forward travel, neutral, and reverse travel. The accelerator pedal 55a performs engine control according to the depression operation. The brake pedal 55b activates a brake (not shown) according to the stepping operation to stop the front wheels 11 and the rear wheels 12.

In the present embodiment, the above-described travel modes are classified into 2WS (two-wheel steering) mode M1, 4WS-R (antiphase four-wheel steering) mode M2, 4WS-C (in-phase four-wheel steering) mode M3, and street. It is described as mode M4. The method of steering the front wheels 11 and the rear wheels 12 according to the steering of the steering wheel 53 in each traveling mode is as described above.

In the 2WS mode (two-wheel steering mode) M1, the front wheels are controlled in accordance with the steering angle of the steering handle 53, but the rear wheels remain facing the upper swing body 3 regardless of the steering angle of the steering handle 53. The steering control is similar to that of a general automobile. In the 4WS-R mode (reverse phase four-wheel steering mode) M2, front wheel steering is the same as in the 2WS mode, but the rear wheel steering is controlled in the opposite direction to the steering direction of the front wheels, so it is smaller than the 2WS mode. Can turn to. In the 4WS-C mode (in-phase four-wheel steering mode) M3, the front wheel steering is the same as in the 2WS mode, but the rear wheel steering is controlled in the same direction as the steering direction of the front wheels. It is possible to do so-called crab running without changing. In addition, as a kind of driving mode, it is not restricted to the thing of this embodiment.

Also, the console on the right side of the cab 31 is provided with a suspension lock switch 57, travel mode changeover switches 58 and 59, a street mode changeover switch 60, and a speed mode changeover switch 61 as examples of various changeover switches. The suspension lock switch 57 is a switch for locking the expansion and contraction of a suspension cylinder 81 (see FIG. 3) provided in the lower traveling body 2, and may be, for example, an ON / OFF switching type switch. This is because, by locking the suspension cylinder 81, the workability is ensured by suppressing the swinging of the vehicle body due to the change of the center of gravity during the work using the work machine 4.

The travel mode changeover switches 58 and 59 are switches for selecting / switching the 2WS mode M1, 4WS-R mode M2, and 4WS-C mode M3. For example, the travel mode changeover switch 58 includes “2WS” and “4WS”. The travel mode switch 59 may be a switch that switches between “4WS-R” and “4WS-C”. That is, if the travel mode changeover switch 58 is in the “2WS” position, the travel mode changeover switch 59 is set to the 2WS mode M1 regardless of the position, and if the travel mode changeover switch 58 is in the “4WS” position. The travel mode may be determined depending on which position of the travel mode selector switch 59 is “4WS-R” or “4WS-C”.

The street mode changeover switch 60 is a switch for making a request for switching to the street mode M4, and may be, for example, an ON / OFF switchable switch. A request for switching to the street mode is issued in the ON state, and a request for switching to the street mode is not issued in the OFF state. The speed mode changeover switch 61 may be a switch for switching, for example, three speed modes for changing the upper limit of the vehicle speed, a Hi (high speed) mode, a Low (low speed) mode, and a Creep (slow speed) mode. The high-speed mode is a mode for traveling at a speed of 30 km / h or less, for example. The low speed mode is a mode for traveling at a speed of 10 km / h or less, for example. Further, the slow speed mode is a mode for traveling at a speed of 4.5 km / h or less, for example. Note that the configuration of the various switches is not limited to that of the present embodiment.

In addition, a monitor 70 is arranged in front of the cab 31. The monitor 70 includes a display unit (output unit) 71 that displays various information, and an operation unit 72 for operating information displayed on the display unit (output unit) 71.

FIG. 3 is a block diagram showing a schematic configuration of the control system of the wheeled hydraulic excavator 1. As shown in FIG. 3, the main controller C10, the monitor controller C11, and the engine controller C12 are connected to a CAN 100 that is an in-vehicle network. The CAN 100 is connected to a suspension lock switch 57, travel mode changeover switches 58 and 59, a street mode changeover switch 60, and a speed mode changeover switch 61.

The monitor controller C11 transmits / receives information to / from various switches such as the travel mode changeover switches 58 and 59 and other controllers such as the main controller C10 and the engine controller C12 via the CAN 100 and to the monitor 70 based on the information. Display control. The monitor controller C11 constitutes a “display controller (output controller)”, and the monitor controller C11 and the monitor 70 constitute a “display device (output device)”. Specific display contents displayed on the monitor will be described later.

The engine controller C12 exchanges information with other controllers via the CAN 100, and controls the fuel injection device 33a to control the output of the engine 33. The output shaft of the engine 33 is connected to the input shaft of the hydraulic pump 34. The hydraulic pump 34 is driven to rotate by driving the engine 33. The hydraulic oil discharged from the hydraulic pump 34 is supplied to the traveling-related, turning-related, and working machine-related hydraulic devices via the main valve 35.

Explain about hydraulic equipment related to driving. The hydraulic oil that has passed through the main valve 35 is supplied to the hydraulic motor 21. The hydraulic motor 21 is rotationally driven by the supplied hydraulic oil and rotationally drives the rear wheel 12 via the transmission 22.

Also, suspension cylinders 81 are provided at the suspension portions of the front wheels 11 and the rear wheels 12. Hydraulic fluid is supplied from the main valve 35 to the suspension cylinder 81 via the suspension lock valve 82. The main controller C10 is connected to a suspension lock solenoid (not shown) incorporated in the suspension lock valve 82. When the main controller C10 receives a signal that the suspension lock switch 57 is switched to the ON side, the suspension controller drives the suspension lock solenoid. 82 is closed, the flow path between the main valve 35 and the suspension cylinder 81 is shut off, and the damper function due to the expansion and contraction of the suspension cylinder 81 is locked.

Furthermore, the front wheels 11 and the rear wheels 12 are steered by

known steering mechanisms

83 and 84. The

steering mechanisms

83 and 84 have a steering hydraulic cylinder (not shown). The hydraulic oil is supplied to the steering hydraulic cylinder via the main valve 35 and the steering valve 36. The steering valve 36 performs valve control so that the front wheels 11 and the rear wheels 12 are steered in a predetermined direction with respect to the steering direction of the steering handle 53 according to the traveling mode.

The main controller C10 is connected to a steering valve solenoid (not shown) incorporated in the steering valve 36. The 2WS mode (also the street mode), 4WS-R mode, 4WS set by the travel mode changeover switches 58 and 59. The steering valve solenoid is driven in accordance with one of the three traveling modes in the -C mode, and the steering in accordance with the set traveling mode is performed via the

steering mechanisms

83 and 84. The steering amount of the front wheels 11 and the rear wheels 12 is an amount corresponding to the steering angle of the steering handle 53.

Further, a front wheel facing sensor S1 and a rear wheel facing sensor S2 are connected to the main controller C10. Here, “frontal” of the front wheel 11 and the rear wheel 12 is a state in which the steering angle of the front wheel 11 is zero when the front wheel 11 is taken as an example, and the direction of the lower traveling body 2 and the direction of the front wheel 11 are the same. It shows the state you are doing. For example, it can be said that the front wheel 11 and the rear wheel 12 in FIG. The front wheel facing sensor S1 detects whether or not the front wheel 11 is facing the front. In addition, the rear wheel facing sensor S2 detects whether or not the rear wheel 12 is facing the front.

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

Explain the swing related hydraulic equipment. The hydraulic oil that has passed through the main valve 35 is supplied to a swing motor 37 provided in the upper swing body 3. The turning motor 37 is rotationally driven by the supplied hydraulic oil. Then, the turning motor 37 turns the upper turning body 3 through a swing machinery (not shown).

The turning position detection sensor S4 is connected to the main controller C10. The turning position detection sensor S4 detects whether or not the turning position (turning angle) of the upper turning body 3 with respect to the lower traveling body 2 is directly facing. Here, the “facing” of the upper swing body 3 indicates a state in which the direction of the work implement 4 provided on the upper swing body 3 is coincident with the straight traveling direction L of the lower travel body 2. It will face directly at one place of the 0 ° phase. In addition, you may set so that it may judge facing directly in two places of 0 degree and a 180 degree phase.

Explain the hydraulic equipment related to work equipment. The hydraulic oil is supplied from the main valve 35 to each hydraulic cylinder 44 in the work machine 4. By controlling the main valve 35 according to the operation amount of the operation levers 51 and 52, a predetermined amount of hydraulic oil is supplied to the hydraulic cylinder 44 (for example, boom cylinder) corresponding to the predetermined work machine 4 (for example, boom 41). As a result, the hydraulic cylinder expands and contracts, and the predetermined working machine 4 rotates.

[Monitor Overview]
Next, an overview of the monitor 70 will be described with reference to FIG. On the left side of the display unit 71, an engine water temperature gauge G1 indicating the coolant temperature of the engine is displayed. Further, on the right side of the display unit 71, a fuel level gauge G3 indicating the level of the remaining amount of fuel is displayed. Further, a hydraulic oil temperature gauge G2 indicating the oil temperature of the hydraulic oil in the hydraulic circuit is displayed on the upper center portion of the display unit 71 smaller than the engine water temperature gauge G1 and the fuel level gauge G3.

In the lower center of the display unit 71, an area E1 is displayed, which is an area for displaying information related to driving mode switching. The icon I10 displayed in the area E1 indicates state information that the current travel mode is the 2WS mode.

FIG. 5 shows that although a request for switching to the 4WS-R mode is output from the state of the 2WS mode in FIG. 4 by operating the travel mode changeover switches 58 and 59, the predetermined condition is not satisfied. This shows a state where switching to the mode has not been completed. In this state, an icon I1 and an icon I2 described below are displayed in the area of the icon I10 in FIG.

The icon I1 is a case where a switching request is output from a certain traveling mode to another traveling mode, and since all of the plurality of conditions for switching to another traveling mode are not satisfied, under which conditions the unsatisfied conditions are satisfied It is an icon for displaying individual condition information indicating whether or not there is. In the example of FIG. 5, three small icons are displayed in the area of the icon I1 as unsatisfied conditions, that is, there are three unsatisfied conditions. Details of specific conditions will be described later.

The icon I2 displays state information indicating that the switching of the driving mode is not completed because the condition is not satisfied when one or more conditions for switching to another driving mode are not satisfied. Icon. In the icon I3, the front wheel 11 and the rear wheel 12 are respectively displayed. When the front wheel 11 or the rear wheel 12 is facing the front, the front wheel 11 or the rear wheel 12 facing the front is displayed in green and is not facing the front. In this case, the front wheels 11 or the rear wheels 12 that are not facing each other are displayed in yellow. Thereby, the operator can determine whether the front wheels 11 and the rear wheels 12 are facing each other at a glance.

In addition, the selection state of the shift lever 54 is displayed on the icon I4, and in the example of FIG. 5, the neutral state is indicated. Further, the icon I5 indicates the suspension lock state. In the example of FIG. 5, the suspension lock is activated, that is, the suspension lock switch 57 is turned on. If the suspension lock is not activated, the color of the icon I5 may be changed.

Further, the icon I6 displays the state of the request for switching to the street mode M4. In the example of FIG. 5, the state in which the request for switching to the street mode M4 is issued, that is, the street mode switch 60 is ON. It shows that it has become. Note that the icon I6 may be blank when a request for switching to the street mode M4 has not been issued.

[Transition mode transition]
FIG. 6 is a state transition diagram of travel mode switching. This state transition is performed by the main controller C10 functioning as a “switching control unit” in the travel mode. As shown in FIG. 6, the 2WS mode M1, 4WS-R mode M2, and 4WS-C mode M3 can be switched to each other. On the other hand, the street mode M4 can be switched only between the 2WS mode M1.

Switching from the 4WS-R mode M2, the 4WS-C mode M3, and the street mode M4 to the 2WS mode M1 is performed when all the following conditions A are satisfied.
Condition A: 2WS mode M1 selection + predetermined vehicle speed or less + front wheels 11 and rear wheels 12 facing each other

Here, the selection of the 2WS mode M1 is based on the condition that the travel mode changeover switch 58 (the switch for switching between 2WS and 4WS) is in the “2WS” state (the travel mode changeover switch 59 may be in any position). ). Further, as the predetermined vehicle speed, any vehicle speed may be set, but it may be set to a vehicle speed close to approximately 0 km / h. This is because if the traveling mode can be switched during traveling, the rudder angle of the rear wheel 12 may suddenly change during traveling, and the behavior of the vehicle against the operator's intention may occur. Further, the front wheel 11 and the rear wheel 12 facing each other is whether or not the front wheel 11 and the rear wheel 12 are “facing” as described above using the front wheel facing sensor S2 and the rear wheel facing sensor S3. Is detected.

Further, switching from the 2WS mode M1, 4WS-C mode M3 to the 4WS-R mode M2 is performed when the following condition B is satisfied.
Condition B: 4WS-R mode M2 selection + predetermined vehicle speed or less + front wheel 11 and rear wheel 12 facing + selection of street mode M4

Here, the selection of the 4WS-R mode M2 means that the travel mode changeover switch 58 (switch for switching between 2WS and 4WS) is set to the state of “4WS”, and the travel mode changeover switch 59 (4WS-R and 4WS-C is changed). This is based on the condition that the switch to be switched is in the “4WS-R” state. The deselection of the street mode M4 indicates that a request for switching to the street mode M4 has not been issued, that is, the street mode switch 60 is in an OFF state.

Further, switching from the 2WS mode M1, 4WS-R mode M2 to the 4WS-C mode M3 is performed when the following condition C is satisfied.
Condition C: Selection of 4WS-C mode M3 + predetermined vehicle speed or less + front wheel 11 and rear wheel 12 facing + selection cancellation of street mode M4 + selection of speed mode other than Hi mode

Here, the selection of the 4WS-C mode M3 means that the travel mode changeover switch 58 (switch for switching between 2WS and 4WS) is set to the state of “4WS”, and the travel mode changeover switch 59 (4WS-R and 4WS-C is changed). The switch is to be in the “4WS-C” state. “Selection of speed mode other than Hi mode (high speed mode)” is that the speed mode is set to Low mode or Creep mode. This is because when the vehicle is operated in the 4WS-C mode, that is, in the crab running, the direction of the operator seat 50 may not coincide with the traveling direction of the vehicle, and the high speed running during the crab running is restricted.

The switching from the 2WS mode M1 to the street mode M4 is switched when the following condition D is satisfied after the street mode M4 is selected by the travel mode switch 58.
Condition D: Selection of street mode M4 + 2WS mode state + predetermined vehicle speed or less + facing the upper turning body 3 + release of suspension lock

Here, the selection of the street mode M4 is based on the condition that the street mode changeover switch 60 is in the ON state. The 2WS mode state is on condition that the current travel mode is the 2WS mode. Further, whether or not the upper swing body 3 is directly facing is determined by the swing position detection sensor S6 as to whether or not the upper swing body 3 is “facing” as described above. The suspension lock is released on condition that the suspension lock switch 57 is in the released state. This is because if the vehicle travels on a public road with the suspension lock activated, a shock due to the rattling of the road surface is transmitted to the operator.

In addition, after selecting the switching from one driving mode to another driving mode, the driving mode switching is not completed because one or more conditions are not satisfied, and the other driving When the selection of the mode is canceled, the travel mode before the selection of another travel mode is maintained. For example, when the current travel mode is the 2WS mode M1, if the selection is made to the 4WS-R mode M2 after the 4WS-R mode M2 is selected and before the switching is completed, the 2WS mode M1 is changed. maintain.

[Run mode switching display example]
FIG. 7 is a diagram showing transition of the display screen when switching from the 2WS mode to the 4WS-R mode. As shown in FIG. 7, the display screen 200 in the 2WS mode displays an icon I10 as state information indicating the 2WS mode that is the current travel mode. Further, since the icon I6 is displayed, it can be seen that the street mode changeover switch 60 is ON.

Here, the travel mode changeover switch 58 (a switch for switching between “2WS” and “4WS”) is set to “4WS”, and the travel mode changeover switch 59 (a switch for switching between “4WS-R” and “4WS-C”) is set to “4WS”. -R ", the monitor controller C11 determines whether all the plurality of switching conditions (condition B) for switching to the 4WS-R mode are satisfied. If there are switching conditions that are not satisfied, for example, display Like the screen 201, the icons I11 to I13 corresponding to the switching conditions that are not satisfied are displayed as individual condition information, and the icon I2 indicating that the switching conditions are not satisfied is displayed as status information.

Note that the icon I11 satisfies the condition “below the predetermined vehicle speed” in the condition B described above, the icon I12 satisfies the condition “facing the front wheel 11”, and the icon I13 satisfies the condition “deselection of the street mode M4”. It shows no. Based on the individual condition information, when the operator performs a deceleration operation to satisfy the condition of “below the predetermined vehicle speed”, the icon I11 disappears as shown in the display screen 202, and the operator makes the condition of “below the predetermined vehicle speed” Can be recognized.

Further, when the condition of “facing the front wheels 11” is satisfied by steering the steering wheel 53 in the state of the display screen 202, the icon I12 disappears as shown in the display screen 203, and the operator It can be recognized that the “pair” condition is satisfied. Further, in the state of the display screen 203, when the condition “deselection of the street mode M4” is satisfied by turning off the street mode switch 60, as shown in the display screen 204, all the switching conditions are satisfied. An icon I15 indicating that the mode has been switched to the 4WS-R mode is displayed. In the area of the icon I6, an icon I7 (blank) indicating that the street mode changeover switch 60 is OFF is displayed instead of the icon I6.

In the state of the display screens 201, 202, and 203, if the traveling mode changeover switch 58 is switched to “2WS”, that is, the selection of the 4WS-R mode is canceled, the current traveling mode 2WS mode is maintained. The display transitions to the display screen 200 indicating the 2WS mode.

FIG. 8 is a diagram showing the transition of the display screen when switching from the 2WS mode to the street mode. As shown in FIG. 8, the display screen 300 in the 2WS mode displays an icon I20 as state information indicating the 2WS mode that is the current travel mode, similarly to the display screen 200. At this time, the suspension lock is activated (icon I5 is displayed) and the street mode changeover switch 60 is OFF (icon I7 is displayed).

Here, when the street mode changeover switch 60 is turned on and a street mode change request is output, the monitor controller C11 determines whether or not all the plurality of changeover conditions (condition D) for changing to the street mode are satisfied. If there is a switching condition that is not present, for example, the icons I21 to I23 that are individual condition information may be displayed in the area of the icon I7 as in the display screen 301. Since the street mode is the same type as the 2WS mode, the icon I20 may be left as it is. In addition, an icon I21 indicating that switching to the street mode has not been completed may be displayed as one piece of individual condition information.

Therefore, there are two conditions that are not satisfied in this case, the conditions corresponding to the icons I22 and I23. The icon I22 indicates that the “upward turning body 3 is directly facing”, and the icon I23 indicates that the condition of “release of suspension lock” is not satisfied.

In the state of the display screen 301, when the upper swing body 3 is made to face the lower traveling body 2 by turning the upper swing body 3, the icon I22 indicating that the upper swing body 3 is not facing is disappeared, A screen like the display screen 302 is displayed. Further, when the suspension lock is released by switching the suspension lock switch 57 to OFF in the state of the display screen 302, the icon I23 indicating that the suspension lock is not released disappears, and all the switching conditions are satisfied. Therefore, the icon I21 also disappears, and an icon I6 that is state information indicating that the mode has been switched to the street mode is displayed in the area where the individual condition information is displayed.

The operator recognizes that the mode has been changed to the street mode by displaying the icons I20 and I6. In the area where the icon I5 is displayed, an icon I8 (changed color of the icon I5) indicating a suspension lock release state is displayed.

If the street mode changeover switch 60 is turned OFF and the selection of the street mode M4 is canceled in the state of the display screens 301, 302, and 303, a display screen showing the 2WS mode such as the display screen 300 is obtained.

[Driving mode switching display control process]
Next, a travel mode switching display control processing procedure by the monitor controller C11 will be described with reference to a flowchart shown in FIG.

As shown in FIG. 9, first, it is determined whether or not another travel mode has been selected (step S101). Whether or not another travel mode has been selected is determined based on the selection states of the travel mode changeover switches 58 and 59 and the street mode changeover switch 60. If the current travel mode is the 2WS mode M1, this determination is made when no other travel mode such as the 4WS-R mode M2, the 4WS-C mode M3, or the street mode M4 is selected (No in step S101). Repeat the process. On the other hand, if another travel mode is selected (step S101, Yes), the process proceeds to the next step.

Next, it is determined whether there are any unsatisfied conditions among a plurality of switching conditions for the selected other travel mode (step S102). When there is a condition that is not satisfied (step S102, Yes), status information indicating that the switching condition is not satisfied is displayed (step S103). For example, like the icon I2 shown in FIG. 7, status information indicating that switching from the 2WS mode to the 4WS-R mode cannot be performed is displayed. In addition, individual condition information indicating the content of the switching condition that is not satisfied is displayed (step S104). For example, as shown by icons I11, I12, and I13 in the display screen 201 of FIG. 7, three pieces of individual condition information are displayed.

Thereafter, the monitor controller C11 determines whether there is a satisfied switching condition among the unsatisfied switching conditions (step S106). When there is a satisfied switching condition (step S106), the display of the individual condition information is deleted (step S107). For example, in the state of the display screen 201 in FIG. 7, when a deceleration operation is performed so as to satisfy the condition of a predetermined vehicle speed or less, the display of the icon I <b> 11 that is the individual condition information is deleted and the display screen 202 is displayed as shown in FIG. It becomes a screen. On the other hand, when there is no satisfactory switching condition (No at Step S106), the process proceeds to Step S108.

Thereafter, it is determined whether or not the other selected driving mode has been deselected (step S108). Deselection of the selected other travel mode means that the travel

mode changeover switch

58, 59 is used so that the travel mode before the selection of another travel mode by the travel mode changeover switches 58, 59, that is, the current travel mode is maintained. The case where 59 is operated again is shown. When the selected other travel mode is deselected (step S108, Yes), the display returns to the current travel mode before the selection of the other travel mode, so that the status information indicating that the current travel mode is displayed (Step S109), the process returns to step S101 and the above-described processing is repeated. For example, when the selected 4WS-R mode is deselected in the state of the display screen 202 in FIG. 6, the display returns to the display screen 200, and the icon I10, which is state information indicating that the current running mode (2WS mode) is present. Is displayed.

On the other hand, if the selected other travel mode is not deselected (step S108, No), it is further determined whether or not all switching conditions are satisfied (step s109). When all the switching conditions are satisfied (step S110, Yes), the state information indicating that it is in another travel mode is displayed (step S111), the process returns to step S101, and the above-described processing is repeated. . In step S111, for example, an icon I15 of status information is displayed as in the display screen 203 of FIG. 7, and an icon of individual condition information indicating a condition that is not satisfied with the display of this icon I15 is also displayed. Erased. On the other hand, if all the switching conditions are not satisfied (step S110, No), the process proceeds to step S106 and this loop is repeated.

Furthermore, in step S103, when there is no unsatisfied condition among the plurality of switching conditions (No in step S103), since all the switching conditions are satisfied, the process proceeds to step S111 and immediately other Status information indicating that the mode has been switched to the travel mode is displayed. Then, it transfers to step S101 and repeats the process mentioned above.

In the above-described processing, the display of the individual condition information is sequentially deleted every time the switching condition is satisfied. However, the present invention is not limited to this, and when all the conditions are satisfied, all the individual condition information is collectively displayed. Then, it may be erased.

Further, the individual condition information and the state information may be not only an image display such as an icon but also a character display such as a message. Furthermore, a lamp corresponding to the individual condition information and the state information may be displayed in a lit state. Depending on the contents of the individual condition information and the state information, the color of the lamp and icon and other display modes (such as brightness / darkness, transmittance, presence / absence of blinking) may be changed. Moreover, the aspect by audio | voice output may be sufficient.

In the above embodiment, only the unsatisfied conditions are displayed. However, as another aspect, for example, all the conditions are displayed in advance, and the conditions that are already satisfied and the conditions that are not yet satisfied. It is good also as an aspect which can discriminate | determine. For example, icons corresponding to all conditions are prepared in advance on the display area, icons corresponding to conditions already satisfied at the time of driving mode switching are darkened, and icons corresponding to conditions not yet satisfied are displayed brightly. In addition, when a certain condition is satisfied, an icon corresponding to the condition may be displayed darkly.

Also, since displaying all icons corresponding to unsatisfied conditions may be cumbersome, it may be displayed in a more simplified form. For example, when there are a plurality of conditions that are not satisfied, only a part of the conditions, for example, only icons corresponding to one or two conditions may be displayed. In this case, the display may be made based on the priority order of items set in advance.

In the above embodiment, the travel mode changeover switches 58 and 59 and the street mode changeover switch 60 are used as the switches for switching the travel modes. However, any type of switch for mode switching may be used. . It may be a button type, a dial type, or a touch panel type.

In the above-described embodiment, the main controller C10 may store the travel mode when the key switch is off, and may control the previous travel mode stored when the key switch is on. A predetermined traveling mode, for example, the 2WS mode may be selected whenever the key is turned on.

Also, the type and form of sensors such as the front wheel facing sensor S1, the rear wheel facing sensor S2, the vehicle speed sensor S3, and the turning position detecting sensor S4 may be any.

In the above embodiment, the rear-wheel drive vehicle via the transmission 22 has been described as an example, but any drive system such as front-wheel drive or four-wheel drive may be used. Further, the present invention may be applied not only to a wheel-type hydraulic excavator but also to any work machine such as a crawler-type hydraulic excavator, a wheel loader, a bulldozer, and a dump truck.

In the above-described embodiment, the four travel modes are used. However, the present invention is not limited to modes related to travel, and may be applied to any “mode” switching. Any number of modes may be provided as long as it is two or more.

Also, when the above-described work machine is provided with an outrigger, the outrigger installation release may be added as a mode switching condition.

Furthermore, when displaying individual condition information and status information at the time of a mode switching request, the individual condition information may be displayed instead of the display in an area where something was displayed until the mode switching as in the above embodiment. It is also possible to display individual condition information in an area where nothing has been displayed until then, or to display individual condition information so that it partially overlaps the area where something was displayed before the mode was switched. May be.

DESCRIPTION OF SYMBOLS 1 Wheel type hydraulic excavator 2 Lower traveling body 3 Upper revolving body 4 Working machine 11 Front wheel 12 Rear wheel 21 Hydraulic motor 22 Transmission 31 Driver's cab 32 Counterweight 33 Engine 33a Fuel injection device 34 Hydraulic pump 35 Main valve 36 Steering valve 37 Turning motor 38 Rotating

brake

41, 45, 46 Boom 42 Arm 43 Bucket 44 Hydraulic cylinder 50

Operator seat

51, 52 Operation lever 53 Steering handle 54 Shift lever 55 Pedal group

55a Accelerator pedal

55b Brake pedal 57

Suspension lock switch

58, 59 Travel mode switch 60 Street mode selector switch 61 Speed mode selector switch 70 Monitor 71 Display unit 72 Operation unit 81 Suspension Cylinder 82

Suspension lock valve

83, 84 Steering mechanism 200-203, 301-303 Display screen C10 Main controller C11 Monitor controller C12 Engine controller E1
G1 Engine water temperature gauge G2 Hydraulic oil temperature gauge G3 Fuel level gauge I1 to I8, I10 to I13, I15, I20 to I23 Icon S1 Front wheel facing sensor S2 Rear wheel facing sensor S3 Vehicle speed sensor S4 Turning position detection sensor

Claims

When the first mode and the second mode are satisfied and a plurality of conditions for switching from the first mode to the second mode are satisfied, the first mode is changed to the second mode. An output device for a work machine having a switching control unit for switching,
If two or more conditions among the plurality of conditions are not satisfied, a part or all of the individual condition information corresponding to each of the two or more conditions that are not satisfied is output to the output unit. A work machine comprising: an output control unit that restricts output of the individual condition information corresponding to the one condition when one of the two or more conditions that are not satisfied is satisfied Output device.
The output control unit outputs state information indicating that a condition for switching from the first mode to the second mode is not satisfied when one or more of the plurality of conditions are not satisfied. The output device for a work machine according to claim 1, wherein the output device outputs the output to a section.
3. The work machine output device according to claim 1, wherein the output of the individual condition information or the state information is image display, character display, lighting display, or sound output.
The work machine according to claim 3, wherein the image display, the character display, or the lighting display changes a color and / or a display mode in accordance with the contents of the individual condition information or the state information. Output device.
The work machine output device according to any one of claims 1 to 4, wherein the first mode and the second mode are a first travel mode and a second travel mode, respectively.
6. The first traveling mode and the second traveling mode are any one of a two-wheel steering mode, an anti-phase four-wheel steering mode, an in-phase four-wheel steering mode, and a public road traveling mode. The output device of the work machine as described.
Switch to the second mode in which the individual condition information or the state information is displayed on the output unit, instead of the display, in an area where something was displayed before switching to the second mode. 2. A new display is made in an area where nothing has been displayed before, or a part of the displayed area is displayed so as to partially overlap before switching to the second mode. 7. The work machine output device according to any one of 1 to 6.
The output of the work machine according to any one of claims 1 to 7, wherein the output unit is a display unit, the output control unit is a display control unit, and the output device is a display device. apparatus.
When the first mode and the second mode are satisfied and a plurality of conditions for switching from the first mode to the second mode are satisfied, the first mode is changed to the second mode. Switching steps;
When two or more conditions among the plurality of conditions are not satisfied, a part or all of the individual condition information corresponding to each of the two or more conditions that are not satisfied is output to the output unit. Steps,
Limiting the output of the individual condition information corresponding to the one condition when one of the two or more conditions that are not satisfied is satisfied;
The output method of the working machine characterized by including.