CONTROL METHOD OF WORKING MACHINE, WORKING MACHINE CONTROL PROGRAM, WORKING MACHINE CONTROL SYSTEM, AND WORKING MACHINE

Description

CROSS-REFERENCE

This application claims foreign priority of JP2024-228723 filed December 25, 2024, the disclosure of which is hereby incorporated by reference in their entirety.

TECHNICAL FIELD

The present invention relates to a control method of a working machine including a prime mover for driving a hydraulic pump that discharges hydraulic oil, a working machine control program, a working machine control system, and a working machine.

BACKGROUND ART

As a related art, a working machine (hydraulic excavator) including an electric motor as a prime mover for driving a hydraulic pump is known (see, for example, Patent Document 1). The working machine according to the related art includes a lock lever (cutoff lever) in addition to a manipulation lever for driving a hydraulic actuator. The lock lever is disposed on the left side of a driver's seat (manipulation seat).

When the lock lever is in a second posture (lowered position), an operator can manipulate the manipulation lever to drive the hydraulic actuator. On the other hand, when the lock lever is in a first posture (raised position), the operator cannot drive the hydraulic actuator even if the operator manipulates the manipulation lever. Moreover, when the operator rotates a key to start the prime mover, the prime mover is not started even when the key is manipulated if the lock lever is at the lowered position, while the prime mover is started when the key is manipulated if the lock lever is at the raised position. Furthermore, when the operator sets the lock lever to the first posture after performing work by the working machine, control (idle stop control) to stop the rotation of the prime mover is performed.

PRIOR ART DOCUMENT

PATENT DOCUMENT

Patent Document 1: JP-A-2022-109462

SUMMARY OF INVENTION

TECHNICAL PROBLEM

In the related art described above, there are two choices for the manipulation state of the lock lever: the first posture and the second posture. Therefore, for example, even in a standby state in which work is temporarily suspended, the prime mover stops when the lock lever is in the first posture. Therefore, in a case where the work by the working machine is resumed from the standby state, it is necessary to restart the prime mover by setting the lock lever to the second posture and drive the hydraulic pump again. Therefore, it takes time to recover the pressure of the hydraulic oil necessary for the work, and there is a possibility that the working efficiency deteriorates.

An object of the present invention is to provide a control method of a working machine, a working machine control program, a working machine control system, and a working machine that facilitate improvement in working efficiency.

SOLUTION TO PROBLEM

A control method of a working machine according to one aspect of the present invention is a control method of a working machine including a prime mover for driving a hydraulic pump that discharges hydraulic oil, a working unit driven by a hydraulic actuator that receives the hydraulic oil, and a pair of lock levers each of which can be switched between a first posture and a second posture. The control method includes making an operation of the prime mover different between a first state in which only one of the pair of lock levers is in the first posture and a second state in which both of the pair of lock levers are in the first posture.

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

A working machine control system according to one aspect of the present invention is used for a working machine including a prime mover for driving a hydraulic pump that discharges hydraulic oil, a working unit driven by a hydraulic actuator that receives the hydraulic oil, and a pair of lock levers each of which can be switched between a first posture and a second posture. The working machine control system includes a control processing unit. The control processing unit makes an operation of the prime mover different between a first state in which only one of the pair of lock levers is in the first posture and a second state in which both of the pair of lock levers are in the first posture.

A working machine according to one aspect of the present invention includes the working machine control system and a machine body.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, it is possible to provide a control method of a working machine, a working machine control program, a working machine control system, and a working machine that facilitate improvement in working efficiency.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic perspective view illustrating an overall configuration of a working machine according to a first embodiment;

FIG. 2 is a schematic diagram illustrating a hydraulic circuit and the like of the working machine according to the first embodiment;

FIG. 3 is a schematic perspective view illustrating a driving unit of the working machine according to the first embodiment;

FIG. 4 is a flowchart illustrating an operation example during driving of a prime mover in a working machine control system according to the first embodiment;

FIG. 5 is a flowchart illustrating an operation example at the time of activation of the prime mover in the working machine control system according to the first embodiment; and

FIG. 6 is an explanatory diagram illustrating a specific operation example of the working machine control system according to the first embodiment.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. The following embodiment is an example embodying the present invention, and is not intended to limit the technical scope of the present invention.

First Embodiment

[1] Overall Configuration

As illustrated in FIG. 1, a working machine 3 according to the present embodiment includes a traveling unit 31, a turning unit 32, and a working unit 33 in a machine body 30. Moreover, as illustrated in FIG. 2, the working machine 3 further includes a working machine control system 1 (hereinafter, also simply referred to as “control system 1”). In addition, as illustrated in FIGS. 1 and 2, the machine body 30 further includes a display device 2, a manipulation device 35, a main switch 36, an accelerator manipulation unit 37, and the like.

The “working machine” in the present disclosure means various machines for work, and is, for example, a working vehicle such as a backhoe (including a hydraulic excavator, a mini excavator, and the like), a wheel loader, and a carrier. The working machine 3 includes the working unit 33 configured to be able to execute one or more types of work. The working machine 3 is not limited to a “vehicle”, and may be, for example, a working ship or a working flying object such as a drone or a multicopter. Furthermore, the working machine 3 is not limited to a construction machine, and may be, for example, an agricultural machine such as a rice transplanter, a tractor, or a combine. In the present embodiment, unless otherwise specified, a case will be described as an example in which the working machine 3 is a riding-type backhoe, and can execute excavation work, ground leveling work, groove excavation work, loading work, or the like as work.

Moreover, in the present embodiment, for convenience of description, a vertical direction in a state in which the working machine 3 can be used is defined as an up-down direction D1. Furthermore, in a non-turning state of the turning unit 32, a front-rear direction D2 and a left-right direction D3 are defined with reference to a direction viewed from a user (operator) riding on (a driving unit 321 of) the working machine 3. In other words, each direction used in the present embodiment is a direction defined with reference to the machine body 30 of the working machine 3, a direction in which the machine body 30 moves when the working machine 3 moves forward is “forward”, and a direction in which the machine body 30 moves when the working machine 3 moves rearward is “rearward”. Similarly, a direction in which the front end portion of the machine body 30 moves when the working machine 3 turns right is “rightward”, and a direction in which the front end portion of the machine body 30 moves when the working machine 3 turns left is “leftward”. However, these directions are not intended to limit the directions of use (directions during use) of the working machine 3.

The working machine 3 includes a prime mover 40 (see FIG. 2) serving as a power source. The prime mover 40 is, for example, a device that converts energy such as electricity or heat of combustion or steam into mechanical force (power) and generates power for driving each part of the machine body 30. In the present embodiment, as an example, the prime mover 40 is an electric motor. The prime mover 40 is driven by power supplied from a battery 381 (see FIG. 2). In the present embodiment, the prime mover 40 is an AC motor, and is driven by AC power (AC voltage) supplied from a drive circuit 39 (see FIG. 2) including an inverter circuit. The drive circuit 39 is electrically connected to the battery 381, and converts a DC voltage output from the battery 381 into an AC voltage and supplies the AC voltage to the prime mover 40 to drive the prime mover 40. That is, the working machine 3 includes a battery unit 38 (see FIG. 2) including the battery 381 and the drive circuit 39.

An output shaft of the prime mover 40 is connected to a hydraulic pump 41 (see FIG. 2) via a power transmission unit or the like, and the hydraulic pump 41 is driven by power from the prime mover 40. Then, in the working machine 3, the hydraulic pump 41 is driven by the prime mover 40, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including a hydraulic motor 43, a hydraulic cylinder 44, and the like) of parts of the machine body 30, so that the machine body 30 is driven. That is, the prime mover 40 drives the hydraulic pump 41 to discharge the hydraulic oil from the hydraulic pump 41, supplies power (hydraulic oil) to each part of the machine body 30 of the working machine 3, and drives each part of the machine body 30.

Such a working machine 3 is controlled, for example, by the user (operator) riding on the driving unit 321 of the machine body 30 and manipulating a manipulation lever or the like of the manipulation device 35. The driving unit 321 includes a driver's seat 323 (see FIG. 1) on which the operator sits. The operator sits on the driver's seat 323 in a state of riding on the driving unit 321 and manipulates the manipulation device 35 disposed around the driver's seat 323. That is, the power generated by the prime mover 40 is distributed to each part of the machine body 30 in accordance with the manipulation of the operator, whereby the working machine 3 operates according to the manipulation of the operator.

In the present embodiment, since it is assumed that the working machine 3 is a riding-type backhoe as described above, the working unit 33 is driven in accordance with the manipulation of the user (operator) riding on the driving unit 321 and executes work such as excavation work. The driving unit 321 (including the driver's seat 323) on which the user rides is provided in the turning unit 32.

Here, in addition to the driver's seat 323, the display device 2, the manipulation device 35, and the like are mounted on the driving unit 321 of the machine body 30, and the user can manipulate the manipulation device 35 while viewing various types of information related to the working machine 3 and displayed on the display device 2. As an example, information related to an operating state of the working machine 3 such as a cooling water temperature and a hydraulic oil temperature is displayed on a display screen of the display device 2, so that the user can confirm, with the display device 2, the information related to the operating state of the working machine 3 necessary for the manipulation of the manipulation device 35.

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

The turning unit 32 is located above the traveling unit 31, and is configured to be able to turn about a rotation axis along the up-down direction with respect to the traveling unit 31. The turning unit 32 includes a turning hydraulic motor (hydraulic actuator) and the like. In addition to the driving unit 321, the prime mover 40, the hydraulic pump 41, and the like are mounted on the turning unit 32. Furthermore, a boom bracket 322 to which the working unit 33 is attached is provided at the front end portion of the turning unit 32.

The working unit 33 is configured to be able to execute one or more types of work. The working unit 33 is supported by the boom bracket 322 of the turning unit 32 and executes work. The working unit 33 includes a bucket 331. The bucket 331 is a type of attachment (work tool) attached to the machine body 30 of the working machine 3, and includes an arbitrary instrument selected from a plurality of types of attachments according to the content of work. As an example, the bucket 331 is detachably attached to the machine body 30 and replaced according to the content of work. Examples of the attachment for the working machine 3 include, in addition to the bucket 331, various tools such as a breaker, an auger, a crusher, a fork, a fork claw, a steel cutter, an asphalt cutting machine, a mower, a ripper, a mulcher, a tilt rotator, and a tamper.

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

The boom 332 is rotatably supported by the boom bracket 322 of the turning unit 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable about the rotation axis along the horizontal direction. The boom 332 has a shape extending upward from the base end portion thereof supported by the boom bracket 322. The arm 333 is coupled to the tip of the boom 332. The arm 333 is supported so as to be rotatable about a rotation axis along the horizontal direction with respect to the boom 332.

The working unit 33 operates by receiving power from the prime mover 40 as a power source. Specifically, the hydraulic pump 41 is driven by the prime mover 40, and hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic actuators (hydraulic cylinder 44 and the like) of the working unit 33, so that parts (bucket 331, boom 332, and arm 333) of the working unit 33 operate.

In particular, in the present embodiment, the working unit 33 has an articulated structure in which the boom 332 and the arm 333 are individually rotatable. That is, when each of the boom 332 and the arm 333 rotates about the rotation axis along the horizontal direction, the articulated working unit 33 including the boom 332 and the arm 333 can be extended or folded as a whole, for example.

Similarly to the working unit 33, each of the traveling unit 31 and the turning unit 32 operates by receiving power from the prime mover 40 as a power source. That is, hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the turning unit 32, and the like, so that the turning unit 32 and the traveling unit 31 operate.

Then, actuators (hydraulic actuators including the hydraulic motor 43, the hydraulic cylinder 44, and the like in the present embodiment) provided in parts of the machine body 30 are actuated in accordance with the manipulation of the manipulation device 35. That is, the working machine 3 according to the present embodiment includes an actuator that is actuated in accordance with the manipulation of the manipulation device 35. Therefore, the working machine 3 executes various operations such as forward/rearward movement by the traveling unit 31, turning by the turning unit 32, and excavation work by the working unit 33 according to the manipulation of the manipulation device 35 by the user (operator).

FIG. 2 schematically illustrates a hydraulic circuit and an electric circuit (electrical connection relationship) of the working machine 3 according to the present embodiment. In FIG. 2, the solid line indicates a high pressure oil passage (for hydraulic oil), the dotted line indicates a low pressure oil passage (for pilot oil), and the dashed-dotted arrow indicates a path of an electric signal. Furthermore, the thick line (solid line) between the prime mover 40 and the hydraulic pump 41 indicates the physical coupling between (the output shaft of) the prime mover 40 and the hydraulic pump 41.

As illustrated in FIG. 2, the working machine 3 includes, in addition to the hydraulic pump 41, the hydraulic motor 43 (not illustrated in FIG. 2), the hydraulic cylinder 44, the prime mover 40, the battery unit 38, and the drive circuit 39, a pilot pump 42, a remote control valve 45, a control valve 461, a pair of cutoff switches 462L and 462R, a pair of lock levers 463L and 463R, a temperature sensor 47, a direction switching valve (control valve) 48, a hydraulic oil tank 49, the main switch 36, the accelerator manipulation unit 37, and the like.

The hydraulic oil from the hydraulic pump 41 driven by the prime mover 40 is supplied to the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the turning unit 32, the hydraulic cylinder 44 of the working unit 33, and the like. As a result, hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are driven.

The drive circuit 39 drives the prime mover 40 at an arbitrary rotation speed. That is, by controlling the rotation speed of the prime mover 40, the drive circuit 39 can control the rotation speed of the hydraulic pump 41 driven by the prime mover 40 and change the discharge amount of the hydraulic oil of the hydraulic pump 41. As described above, in the present embodiment, the flow rate of the hydraulic oil supplied from the hydraulic pump 41 is not fixed, and can be changed (is variable) by an appropriate means. The drive circuit 39 may continuously change the rotation speed of the prime mover 40 in a stepless manner or may change the rotation speed in a stepwise manner (for example, two stages, five stages, ten stages, or the like).

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

Here, for example, the remote control valve 45 is provided on a supply path of the pilot oil to the direction switching valve 48 corresponding to the hydraulic cylinder 44 of the working unit 33. The remote control valve 45 outputs a work manipulation command of the working unit 33 according to the manipulation of the manipulation device 35 (manipulation lever). The work manipulation command instructs an expanding operation, a contracting operation, and the like of the working unit 33. Moreover, the flow rate of the pilot oil supplied from the pilot pump 42 to the remote control valve 45 can be adjusted by the control valve 461.

The control valve 461 includes an electromagnetic control valve (electromagnetic valve), and is inserted between the remote control valve 45 and the pilot pump 42. The control valve 461 is connected to a power supply via each of the pair of cutoff switches 462L and 462R, and operates according to a supply current from the power supply. The control valve 461 is herein assumed to be an (electromagnetic) proportional control valve, but is not limited thereto, and may be, for example, an on-off valve capable of switching between opening and closing of a flow path.

The control valve 461 interrupts the flow path of the pilot oil in an energized state, that is, in a state in which a current as a control signal is supplied, and opens the flow path of the pilot oil in a non-energized state, that is, in a state in which the current as the control signal is interrupted. Therefore, when the supply current (control signal) to the control valve 461 is supplied, the hydraulic actuator (the hydraulic cylinder 44 or the like) corresponding to the remote control valve 45 cannot be driven, and the hydraulic actuator is forcibly stopped regardless of the manipulation of the manipulation device 35.

Similarly, a remote control valve is also provided on a supply path of the pilot oil to the direction switching valve corresponding to the hydraulic motor 43 of the traveling unit 31. The remote control valve outputs a traveling manipulation command of the traveling unit 31 according to the manipulation of the manipulation device 35 (manipulation lever). The traveling manipulation command instructs a traveling operation (forward movement, rearward movement, or the like) of the traveling unit 31. Furthermore, a remote control valve is also provided on a supply path of pilot oil to a direction switching valve corresponding to the hydraulic motor of the turning unit 32. The remote control valve outputs a turning manipulation command of the turning unit 32 according to the manipulation of the manipulation device 35 (manipulation lever). The turning manipulation command instructs a turning operation (left turning, right turning, or the like) of the turning unit 32. Then, the control valve 461 is also inserted between the remote control valves and the pilot pump 42.

The pair of cutoff switches 462L and 462R are linked to the pair of lock levers 463L and 463R, respectively. The cutoff switch 462L is switched on/off in conjunction with the lock lever 463L, and the cutoff switch 462R is switched on/off in conjunction with the lock lever 463R. Hereinafter, when the cutoff switch 462L and the cutoff switch 462R are not distinguished from each other, each is referred to as a "cutoff switch 462", and when the lock lever 463L and the lock lever 463R are not distinguished from each other, each is referred to as a "lock lever 463".

The pair of lock levers 463 are disposed in the driving unit 321 of the machine body 30 and receive a manipulation input by the user (operator). In the present embodiment, as an example, the lock lever 463 can be manipulated along the up-down direction D1, and the pair of lock levers 463 can be individually manipulated. When the lock lever 463 is at a "raised position" which is the upper end position of the movable range, the cutoff switch 462 linked thereto is "on", and when the lock lever 463 is at a "lowered position" which is the lower end position of the movable range, the cutoff switch 462 linked thereto is "off". Then, the cutoff switch 462 is connected to the control system 1, and on/off of the cutoff switch 462, that is, the manipulation state of the lock lever 463 is monitored by the control system 1. Specifically, the manipulation state of each of the pair of lock levers 463L and 463R is monitored by the control system 1.

Therefore, when both of the pair of lock levers 463 are at the "lowered position", the control valve 461 is in the non-energized state, and the hydraulic actuator (the hydraulic cylinder 44 or the like) is driven by the manipulation of the manipulation device 35. On the other hand, when at least one (that is, any one or both) of the pair of lock levers 463 is at the "raised position", the control valve 461 is in the energized state, and the hydraulic actuator is forcibly stopped regardless of the manipulation of the manipulation device 35. Therefore, in order to drive the hydraulic actuator (hydraulic cylinder 44 or the like), the user (operator) needs to manipulate both of the pair of lock levers 463 to the "lowered position".

Furthermore, since each of the turning unit 32 and the traveling unit 31 also operates when the hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic actuator (hydraulic motor 43 or the like), the turning unit 32 and the traveling unit 31 also cannot be driven when at least one of the pair of lock levers 463 is at the “raised position”. That is, when at least one of the pair of lock levers 463 is at the "raised position", all of the working unit 33, the turning unit 32, and the traveling unit 31 are forcibly brought into an undrivable state.

In the present embodiment, the pair of cutoff switches 462 and the pair of lock levers 463 constitute a lock device. Then, the state of the lock device when at least one of the pair of lock levers 463 is at the "raised position", that is, when the working machine 3 cannot be manipulated is defined as a "locked state". On the other hand, the state of the lock device when both of the pair of lock levers 463 are at the "lowered position", that is, when the working machine 3 can be manipulated is defined as an "unlocked state".

In short, when at least one of the pair of lock levers 463 is at the "raised position", the lock device is in the "locked state" in which the operation of the working machine 3 is restricted (including prohibited), and when both of the pair of lock levers 463 are at the "lowered position", the lock device is in the "unlocked state" in which the operation of the working machine 3 is not restricted. Then, when the lock device is in the locked state, the hydraulic actuator (the hydraulic cylinder 44 or the like) cannot be driven even if the hydraulic pump 41 is driven, and the operation of the working machine 3 is forcibly restricted regardless of the manipulation of the manipulation device 35. The lock lever 463 is a lever that is manipulated when the operation of the working machine 3 is locked in this manner, and has the same meaning as a cutoff lever or a gate lock lever.

Here, as illustrated in FIG. 3, the pair of lock levers 463L and 463R are disposed on both sides of the driver's seat 323, in the left-right direction D3, on which the operator rides in the working machine 3. The operator can ride on the driver's seat 323 from either side in the left-right direction D3. Specifically, the lock lever 463L is disposed on the left side of the driver's seat 323 in the driving unit 321, and the lock lever 463R is disposed on the right side of the driver's seat 323 in the driving unit 321. In FIG. 3, the lock lever 463L at the "lowered position" and the lock lever 463R at the "raised position" are indicated by the solid lines, and the lock lever 463L at the "raised position" and the lock lever 463R at the "lowered position" are indicated by the imaginary lines (two-dot chain lines).

For example, if the operator gets on and off from the left side of the driver's seat 323, the operator gets on and off the driving unit 321 in a state in which the lock lever 463L on the left side is moved to the "raised position". On the other hand, for example, if the operator gets on and off from the right side of the driver's seat 323, the operator gets on and off the driving unit 321 in a state in which the lock lever 463R on the right side is moved to the "raised position". As a result, even when the operator gets on and off the driver's seat 323 from any one side in the left-right direction D3 while the lock levers 463L and 463R are disposed on both sides of the driver's seat 323 in the left-right direction D3, at least one lock lever 463 is at the “raised position”, so that the operation of the working machine 3 is forcibly restricted.

The manipulation device 35 is disposed in the driving unit 321 of the machine body 30, and is a user interface for receiving a manipulation input by the user (operator). The manipulation device 35 includes, for example, a manipulation lever, and controls the remote control valve 45 according to a manipulation amount with respect to the manipulation lever. As a result, the operator can actuate the remote control valve 45 by manipulating the manipulation device 35, instruct the direction and flow rate of the hydraulic oil from the hydraulic pump 41, and operate the working machine 3.

The temperature sensor 47 detects the temperature (hydraulic oil temperature) of the hydraulic oil discharged from the hydraulic pump 41. Specifically, in the present embodiment, the temperature sensor 47 is disposed in the hydraulic oil tank 49 that stores the hydraulic oil, and detects the temperature of the hydraulic oil stored in the hydraulic oil tank 49. Since the hydraulic pump 41 sucks and discharges the hydraulic oil stored in the hydraulic oil tank 49, the temperature sensor 47 detects the temperature of the hydraulic oil discharged from the hydraulic pump 41. The temperature sensor 47 is connected to the control system 1, and a temperature detection signal indicating the temperature (hydraulic oil temperature) detected by the temperature sensor 47 is input to the control system 1.

Here, the temperature sensor 47 is an example of a detection unit that detects the state quantity of the hydraulic oil. The "state quantity" in the present disclosure means a physical quantity representing the state of an object (here, hydraulic oil) and a value determined according to the state, and includes, for example, viscosity, pressure, volume, density, oil type, or the like in addition to temperature. In the present embodiment, the temperature sensor 47 detects, as the state quantity of the hydraulic oil, the temperature of the hydraulic oil discharged from the hydraulic pump 41.

The battery unit 38 includes the battery 381 and a battery management unit 382. The battery management unit 382 manages various states related to the battery 381, such as a state of charge (SOC) of the battery 381, a voltage of the battery 381, and a temperature of the battery 381. The battery management unit 382 is connected to the control system 1, and information (battery information) such as the SOC of the battery 381 managed by the battery management unit 382 is input to the control system 1.

The main switch 36 is disposed in the driving unit 321 of the machine body 30, and is manipulated by the user (operator) at the time of activation of the working machine 3. While the main switch 36 is off, the machine body 30 (including the traveling unit 31, the turning unit 32, and the working unit 33) does not operate according to the manipulation of the manipulation device 35, and only after the main switch 36 is turned on, the machine body 30 operates according to the manipulation of the manipulation device 35. Moreover, when the main switch 36 is turned on, energization of the display device 2 and the like is also started. In the present embodiment, as an example, the main switch 36 is linked to a key cylinder 361 (see FIG. 6), and is turned on by performing an activation manipulation of the prime mover 40 using a key 362 (see FIG. 6).

The accelerator manipulation unit 37 is disposed in the driving unit 321 of the machine body 30, and is manipulated by the user (operator) at the time of activation of the working machine 3. The accelerator manipulation unit 37 is a device manipulated to set the steady rotation speed of the prime mover 40, and is, for example, an accelerator dial, an accelerator lever, an accelerator pedal, or the like. The accelerator manipulation unit 37 is connected to the control system 1, and a manipulation signal generated by the manipulation of the accelerator manipulation unit 37 is input to the control system 1. In the present embodiment, as an example, the accelerator manipulation unit 37 is a dial-type manipulation unit that is rotationally manipulated, and sets the steady rotation speed of the prime mover 40 according to the rotational position of the dial-type manipulation unit.

The control system 1 mainly includes, for example, a computer system including one or more processors such as a central processing unit (CPU) and one or more memories such as a read only memory (ROM) and a random access memory (RAM), and executes various types of processing (information processing). In the present embodiment, the control system 1 is an integrated controller that controls the entire working machine 3, and includes, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller, or may mainly include one processor or a plurality of processors. The control system 1 will be described in detail in the section of “[2] Configuration of Control System”.

The display device 2 is disposed in the driving unit 321 of the machine body 30, and is a user interface for receiving a manipulation input by the user (operator) and outputting various types of information to the user. The display device 2 receives various manipulations by the user, for example, by outputting an electric signal according to the manipulation of the user. As a result, the user (operator) can visually recognize the display screen displayed on the display device 2, and can manipulate the display device 2 as necessary.

As illustrated in FIG. 2, the display device 2 includes a control unit 21, a manipulation unit 22, and a display unit 23. The display device 2 is configured to be able to communicate with the control system 1, and can exchange data with the control system 1. In the present embodiment, as an example, the display device 2 is a dedicated device used for the working machine 3.

The control unit 21 controls the display device 2 in accordance with data from the control system 1. Specifically, the control unit 21 outputs an electric signal according to the manipulation of the user received by the manipulation unit 22, and displays, on the display unit 23, the display screen generated by the control system 1.

The manipulation unit 22 is a user interface for receiving a manipulation input by the user (operator) to the display screen displayed on the display unit 23. The manipulation unit 22 receives various manipulations by the user, for example, by outputting an electric signal according to the manipulation of the user.

The display unit 23 is a user interface for presenting information to the user (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 23 presents various types of information to the user by display.

Moreover, in addition to the above-described configuration, the machine body 30 further includes a drive device, a communication terminal, and the like. The drive device is a device for supplying power to the attachment of the working unit 33, and includes a device (mechanism) such as a power take-off (PTO) for extracting power from the prime mover 40 as power for driving the attachment including hydraulic equipment. Furthermore, the machine body 30 is provided with various sensors (including a camera) for detecting a detection target object in a monitoring area around the working machine 3, such as a camera for imaging the periphery of the machine body 30.

[2] Configuration of Control System

Next, the configuration of the control system 1 according to the present embodiment will be described with reference to FIG. 2. The control system 1 controls each part of the machine body 30 (including the traveling unit 31, the turning unit 32, the working unit 33, and the like). In the present embodiment, the control system 1 is a component of the working machine 3, and constitutes the working machine 3 together with the machine body 30 and the like. In other words, the working machine 3 according to the present embodiment includes at least the control system 1 and the machine body 30.

As illustrated in FIG. 2, the control system 1 includes an acquisition processing unit 11, a control processing unit 12, and a setting processing unit 13. In the present embodiment, as an example, since the control system 1 mainly includes the computer system including one or more processors, the plurality of functional units (acquisition processing unit 11 and the like) are realized by the one or more processors executing a working machine control program. The plurality of functional units included in the control system 1 may be provided in a plurality of housings in a distributed manner, or may be provided in one housing.

The control system 1 is configured to be able to communicate with a device provided in each part of the machine body 30. That is, at least the drive circuit 39, the prime mover 40, the main switch 36, the accelerator manipulation unit 37, (the battery management unit 382 of) the battery unit 38, the temperature sensor 47, the display device 2, the pair of cutoff switches 462, and the like are connected to the control system 1. As a result, the control system 1 can control the drive circuit 39, the display device 2, and the like, and acquire the rotation speed of the prime mover 40, the on/off state of the pair of cutoff switches 462, the manipulation state of the accelerator manipulation unit 37, the SOC of the battery 381, the detection result (hydraulic oil temperature) of the temperature sensor 47, and the like. Here, the control system 1 may directly exchange various types of information (data) with each device or indirectly exchange various types of information (data) via a repeater or the like. As an example, the control system 1 and the device provided in each part of the machine body 30 can communicate with each other by a communication system such as a controller area network (CAN).

The acquisition processing unit 11 executes acquisition processing of acquiring the rotation speed of the prime mover 40, the manipulation state of the accelerator manipulation unit 37, the SOC of the battery 381, the detection result (hydraulic oil temperature) of the temperature sensor 47, and the like. In the present embodiment, the acquisition processing unit 11 regularly or irregularly acquires the rotation speed of the prime mover 40, the manipulation state of the accelerator manipulation unit 37, the SOC of the battery 381, the detection result (hydraulic oil temperature) of the temperature sensor 47, and the like.

Furthermore, the acquisition processing unit 11 can regularly or irregularly acquire the on/off state and the like of each of the main switch 36 and the pair of cutoff switches 462 by the acquisition processing. The manipulation state of the pair of lock levers 463 can be specified from the on/off state of the pair of cutoff switches 462. For example, when the cutoff switch 462L is “on”, it is specified that the lock lever 463L is at the “raised position”, and when the cutoff switch 462R is “off”, it is specified that the lock lever 463R is at the “lowered position”. The acquisition processing unit 11 may directly acquire various data from various sensors or the like (including a camera) or may indirectly acquire various data via an electronic control unit or the like. The data acquired by the acquisition processing unit 11 is stored in, for example, a memory or the like.

The control processing unit 12 controls the drive circuit 39 to control the prime mover 40. In the present embodiment, the control processing unit 12 controls the prime mover 40 such as at least adjusting the rotation speed of the prime mover 40 and activating/stopping the prime mover 40.

Here, the control processing unit 12 sets a target rotation speed of the prime mover 40, and controls the rotation speed of the prime mover 40 with the drive circuit 39 such that the actual rotation speed of the prime mover 40 acquired by the acquisition processing unit 11 from the prime mover 40 approaches the target rotation speed. Specifically, when the actual rotation speed of the prime mover 40 is lower than the target rotation speed, the control processing unit 12 controls the drive circuit 39 to raise the rotation speed of the prime mover 40 (increase the speed). On the other hand, when the actual rotation speed of the prime mover 40 is higher than the target rotation speed, the control processing unit 12 controls the drive circuit 39 to lower the rotation speed of the prime mover 40 (decrease the speed).

Furthermore, the control processing unit 12 controls the drive circuit 39 to activate the prime mover 40 so that a state in which the prime mover 40 is stopped (that is, a state in which the rotation speed is 0) is changed to a state in which the prime mover 40 is operating (rotating). Moreover, the control processing unit 12 controls the drive circuit 39 to stop the prime mover 40 so that the state in which the prime mover 40 is operating (rotating) is changed to the state in which the prime mover 40 is stopped (that is, the state in which the rotation speed is 0).

The setting processing unit 13 executes setting processing of setting the steady rotation speed of the prime mover 40. The setting processing unit 13 changes the steady rotation speed according to the manipulation of the accelerator manipulation unit 37. That is, the steady rotation speed of the prime mover 40 is not constant, and can be arbitrarily set by the manipulation of the accelerator manipulation unit 37 by the operator. As a result, for example, the steady rotation speed can be set to a steady rotation speed corresponding to the operation of the working machine 3, such as setting the steady rotation speed to be high when performing a heavy load work and setting the steady rotation speed to be low when performing a light load work.

More specifically, the setting processing unit 13 changes the steady rotation speed of the prime mover 40 to a rotation speed lower or higher than the current set value according to the manipulation state of the accelerator manipulation unit 37 acquired by the acquisition processing unit 11. In the present embodiment, as an example, since the accelerator manipulation unit 37 is a dial-type manipulation unit that is rotationally manipulated, the setting processing unit 13 sets the steady rotation speed of the prime mover 40 to a value (rotation speed) corresponding to the rotational position of the accelerator manipulation unit 37. Here, the setting processing unit 13 may continuously change the steady rotation speed of the prime mover 40 in a stepless manner or may change the steady rotation speed in a stepwise manner (for example, two stages, five stages, ten stages, or the like).

[3] Control Method of Working Machine

Hereinafter, an example of a control method of the working machine 3 (hereinafter, simply referred to as a “control method”) mainly executed by the control system 1 will be described with reference to FIGS. 4 to 6.

The control method according to the present embodiment is executed by the control system 1 mainly including the computer system; in other words, the control method is embodied by the working machine control program (hereinafter, simply referred to as a “control program”). That is, the control program according to the present embodiment is a computer program for causing one or more processors to execute each type of processing related to the control method. Such a control program may be executed by, for example, the control system 1 and the display device 2 in cooperation with each other.

Here, when a specific start manipulation set in advance for executing the control program is performed, the control system 1 executes the following various types of processing related to the control method. The start manipulation is, for example, an activation manipulation of the prime mover 40 of the working machine 3, that is, an on manipulation or the like of the main switch 36. On the other hand, when a specific end manipulation set in advance is performed, the control system 1 ends the following various types of processing related to the control method. The end manipulation is, for example, a stop manipulation of the prime mover 40 of the working machine 3, that is, an off manipulation or the like of the main switch 36.

[3.1] Basic Control of Prime Mover

Here, first, an operation related to basic control of the prime mover 40 in the control method according to the present embodiment, that is, in the operation of the control system 1 according to the present embodiment will be described.

In the present embodiment, the control processing unit 12 of the control system 1 makes the operation of the prime mover 40 different depending on the manipulation state of the lock lever 463. In particular, the working machine 3 includes the pair of lock levers 463L and 463R, and the control processing unit 12 determines the operation of the prime mover 40 according to the combination of the manipulation state of the lock lever 463L and the manipulation state of the lock lever 463R.

Here, each of the pair of lock levers 463 can be switched between two postures: the first posture and the second posture. In the present embodiment, since the lock lever 463 can be switched between the “raised position” and the “lowered position”, the “raised position” is an example of the first posture and the “lowered position” is an example of the second posture. That is, the pair of lock levers 463 can be individually switched between the "raised position" which is the first posture and the "lowered position" which is the second posture.

Moreover, if the lock levers 463L and 463R are not distinguished, there are three combinations of manipulation states of the pair of lock levers 463: a first state, a second state, and a third state. The first state is a state in which only one lock lever 463 of the pair of lock levers 463 is in the first posture (raised position), that is, a state in which the other lock lever 463 is in the second posture (lowered position). The second state is a state in which both of the pair of lock levers 463 are in the first posture (raised position). The third state is a state in which both of the pair of lock levers 463 are in the second posture (lowered position).

The pair of lock levers 463 are levers that are originally manipulated when the operation of the working machine 3 is locked. Then, when at least one of the pair of lock levers 463 is in the first posture (raised position), the lock device is in the "locked state", the hydraulic actuator cannot be driven, and the operation of the working machine 3 is forcibly restricted regardless of the manipulation of the manipulation device 35. On the other hand, when both of the pair of lock levers 463 are in the second posture (lowered position), the lock device is in the "unlocked state", the hydraulic actuator can be driven, and the working machine 3 operates according to the manipulation of the manipulation device 35. As described above, the lock device is in the “unlocked state” only in the third state in which both of the pair of lock levers 463 are in the second posture, and the lock device is in the “locked state” in the first state and the second state.

That is, in the control method according to the present embodiment, the working unit 33 is made operable by the manipulation of the manipulation device 35 in the third state in which both of the pair of lock levers 463 are in the second posture, and the working unit 33 is made inoperable regardless of the manipulation of the manipulation device 35 in the first state and the second state. As a result, the hydraulic actuator cannot be driven only by setting any one of the pair of lock levers 463 to the first posture (raised position), and the operation of the working unit 33 of the working machine 3 can be restricted. Therefore, the operation of the working machine 3 can be reliably locked by the pair of lock levers 463.

In the control method according to the present embodiment, the operation of the prime mover 40 is determined according to the combination of the manipulation states of the pair of lock levers 463L and 463R as described above.

That is, the control method according to the present embodiment is a control method of the working machine 3 including the prime mover 40 for driving the hydraulic pump 41 that discharges hydraulic oil, the working unit 33 driven by the hydraulic actuator (including the hydraulic cylinder 44 and the like) that receives the hydraulic oil, and the pair of lock levers 463 each of which can be switched between the first posture and the second posture. This control method includes making the operation of the prime mover 40 different between the first state in which only one of the pair of lock levers 463 is in the first posture and the second state in which both of the pair of lock levers 463 are in the first posture.

According to this configuration, various controls can be realized as compared with a case where the operation of the prime mover 40 is made different depending on the manipulation state of the single lock lever 463. Specifically, by making the operation of the prime mover 40 different between the first state in which only one of the pair of lock levers 463 is in the first posture and the second state in which both of the pair of lock levers 463 are in the first posture, the drive can be continued without stopping the prime mover 40 by setting one lock lever 463 to the first posture in a standby state in which work is temporarily suspended, for example. Therefore, in a case where the work by the working machine 3 is resumed from the standby state, the work can be immediately resumed when the lock lever 463 in the first posture is set to the second posture. Therefore, the time until the work is resumed is shortened, and the working efficiency can be improved. Therefore, it is possible to provide the control method of the working machine 3, the working machine control program, the working machine control system 1, and the working machine 3 that facilitate improvement in working efficiency.

More specifically, the operation of the prime mover 40 in accordance with the manipulation state (first state/second state/third state) of the pair of lock levers 463 is different between during driving of the prime mover 40 and at the time of activation of the prime mover 40. Therefore, a specific operation during driving of the prime mover 40 will be described in the section of “[3.2] Operation during Driving of Prime Mover”, and a specific operation at the time of activation of the prime mover 40 will be described in the section of “[3.3] Operation at Time of Activation of Prime Mover”.

Moreover, in the present embodiment, the prime mover 40 is an electric motor. Therefore, it is easy to frequently change the operation state of the prime mover 40 depending on the manipulation state of the pair of lock levers 463.

[3.2] Operation during Driving of Prime Mover

Here, an operation during driving of the prime mover 40 in the control method according to the present embodiment, that is, in the operation of the control system 1 according to the present embodiment will be described with reference to FIG. 4.

During driving of the prime mover 40 at the steady rotation speed, that is, during driving of the hydraulic pump 41, the control processing unit 12 determines whether or not the manipulation state of the pair of lock levers 463 is the second state (S1). When both of the pair of lock levers 463 are in the first posture (raised position), the control processing unit 12 determines that the manipulation state is the second state (S1: Yes), controls the drive circuit 39 to stop the prime mover 40 (S2), and ends a series of processing.

On the other hand, when at least one of the pair of lock levers 463 is in the second posture (lowered position), the control processing unit 12 determines that the manipulation state is not the second state (S1: No), and determines whether or not the manipulation state of the pair of lock levers 463 is the first state (S3). When any one of the pair of lock levers 463 is in the first posture (raised position) and the other is in the second posture (lowered position), the control processing unit 12 determines that the manipulation state is the first state (S3: Yes) and controls the drive circuit 39 to drive the prime mover 40 at a low idle rotation speed (S4). The "low idle rotation speed" mentioned herein is a rotation speed lower than the steady rotation speed. That is, when the manipulation state of the pair of lock levers 463 is the first state, the control processing unit 12 switches the rotation speed of the prime mover 40 from the steady rotation speed to the low idle rotation speed (< steady rotation speed) while continuing the driving of the prime mover 40.

In next Step S5, the control processing unit 12 determines whether or not a specific condition is satisfied. The "specific condition" is a condition for forcibly stopping the prime mover 40 when the manipulation state of the pair of lock levers 463 is the first state. For example, the specific condition includes at least one of a condition that the rotation speed of the prime mover 40 is maintained at an idling rotation speed continuously for a predetermined time (first condition), a condition that the SOC of the battery 381 as the power source of the prime mover 40 is equal to or less than a threshold (second condition), a condition that an abnormality has occurred in the state of the working machine 3 (third condition), and a condition that the temperature of the hydraulic oil is equal to or higher than a predetermined temperature (fourth condition). In the present embodiment, as an example, the specific condition includes all of the first condition, the second condition, the third condition, and the fourth condition. Therefore, when any one of the first condition, the second condition, the third condition, and the fourth condition is satisfied, the control processing unit 12 determines that the specific condition is satisfied (S5: Yes), controls the drive circuit 39 to stop the prime mover 40 (S6), and ends the series of processing. On the other hand, when the specific condition is not satisfied (S5: No), the control processing unit 12 ends the series of processing while maintaining the rotation speed of the prime mover 40 at the idling rotation speed.

Moreover, in the third state in which both of the pair of lock levers 463 are in the second posture (lowered position), the control processing unit 12 determines that the manipulation state is not the first state (S3: No), controls the drive circuit 39 to drive the prime mover 40 at the steady rotation speed (S7), and ends the series of processing. That is, when the manipulation state of the pair of lock levers 463 is the third state, the control processing unit 12 sets the rotation speed of the prime mover 40 to the steady rotation speed while continuing the driving of the prime mover 40.

The control system 1 repeatedly executes the processing of Steps S1 to S7. However, the flowchart illustrated in FIG. 4 is merely an example, and processing may be added or omitted as appropriate, or the order of processing may be changed as appropriate.

In the control method according to the present embodiment as described above, during driving of the prime mover 40, the prime mover 40 is driven at least in the first state (S3: Yes), and the prime mover 40 is stopped in the second state (S1: Yes). As a result, during driving of the prime mover 40, the operator can stop the prime mover 40 by manipulating both of the pair of lock levers 463 to the first posture (raised position).

Therefore, when a situation in which the output of the prime mover 40 is not required continues for a prescribed time or more, there is little need to immediately operate the working machine 3. Therefore, in such a case, by manipulating both of the pair of lock levers 463 to the first posture, it is possible to reduce sound and vibration generated in the prime mover 40 and to suppress energy (power) consumption in the prime mover 40.

Furthermore, in the control method according to the present embodiment, the prime mover 40 is stopped when the specific condition is satisfied in a state in which the prime mover 40 is driven in the first state. That is, during the driving of the prime mover 40, the driving of the prime mover 40 is continued only by manipulating only one of the pair of lock levers 463 to the first posture (raised position) by the operator, but the prime mover 40 can be stopped when the specific condition is further satisfied in that state.

Therefore, when the situation in which the output of the prime mover 40 is not required continues for a prescribed time or more, there is little need to immediately operate the working machine 3. Therefore, in such a case, by satisfying the specific condition, it is possible to reduce sound and vibration generated in the prime mover 40 and to suppress energy (power) consumption in the prime mover 40.

Here, the specific condition includes a condition related to the rotation speed of the prime mover 40, the state of the power source of the prime mover 40, an abnormality of the working machine 3, or the temperature of the hydraulic oil. In the present embodiment as described above, the specific condition includes all of the first condition related to the rotation speed of the prime mover 40, the second condition related to the state of the power source of the prime mover 40, the third condition related to the abnormality of the working machine 3, and the fourth condition related to the temperature of the hydraulic oil.

As a result, in the first state, the prime mover 40 can be stopped when, for example, the situation where the output of the prime mover 40 is not required continues for a prescribed time or more, such as when the rotation speed of the prime mover 40 is maintained at the idling rotation speed continuously for a predetermined time (first condition). Moreover, in the first state, the prime mover 40 can be stopped when, for example, it is desired to suppress the output of the prime mover 40 as much as possible such as when the SOC of the battery 381 as a power source of the prime mover 40 is equal to or less than the threshold (second condition).

Furthermore, in the control method according to the present embodiment, the rotation speed of the prime mover 40 is reduced in the first state as compared with the third state. That is, in the first state in which only one of the pair of lock levers 463 is in the first posture (raised position), the rotation speed of the prime mover 40 is controlled to a rotation speed (idling rotation speed) lower than the steady rotation speed in the third state in which both of the pair of lock levers 463 are in the second posture (lowered position).

Therefore, when the situation in which the output of the prime mover 40 is not required continues for a prescribed time or more, there is little need to immediately operate the working machine 3. Therefore, in such a case, the rotation speed of the prime mover 40 can be reduced by manipulating only one of the pair of lock levers 463 to the first posture. As a result, it is possible to reduce sound and vibration generated in the prime mover 40 and to suppress energy (power) consumption in the prime mover 40.

[3.3] Operation at Time of Activation of Prime Mover

Next, the operation at the time of activation of the prime mover 40 in the control method according to the present embodiment, that is, in the operation of the control system 1 according to the present embodiment will be described with reference to FIG. 5.

While the prime mover 40 is stopped, that is, while the hydraulic pump 41 is stopped, the control processing unit 12 determines whether or not an activation manipulation for the main switch 36 is performed (S11). In the present embodiment, the activation manipulation includes a manipulation of the key cylinder 361 using the key 362. More specifically, as illustrated in FIG. 6, the position of the key 362 in the key cylinder 361 includes an off position, an on position, and a start position, and the activation manipulation includes manipulating the key 362 from the off position to the on position and further manipulating the key 362 from the on position to the start position.

When the activation manipulation is not performed (S11: No), the control processing unit 12 ends the series of processing. On the other hand, when the operator manipulates the key 362 from the off position to the on position and further manipulates the key from the on position to the start position, the control processing unit 12 determines that the activation manipulation has been performed (S11: Yes), and determines whether or not the manipulation state of the pair of lock levers 463 is the second state (S12).

When both of the pair of lock levers 463 are in the first posture (raised position) in Step S12, the control processing unit 12 determines that the manipulation state is the second state (S12: Yes), controls the drive circuit 39 to activate the prime mover 40 (S13), and ends the series of processing. On the other hand, when at least one of the pair of lock levers 463 is in the second posture (lowered position), the control processing unit 12 determines that the manipulation state is not the second state (S12: No), and ends the series of processing without activating the prime mover 40.

In short, in a case where the manipulation state of the pair of lock levers 463 is the second state (S12: Yes), the control processing unit 12 controls the drive circuit 39 to activate the prime mover 40 when the activation manipulation is performed (S11: Yes) because the prime mover 40 is set to be in an activatable state. On the other hand, in a case where the manipulation state of the pair of lock levers 463 is the first state or the third state (S12: No), the control processing unit 12 does not activate the prime mover 40 even when the activation manipulation is performed (S11: Yes) because the prime mover 40 is set to be in a non-activatable state.

The control system 1 repeatedly executes the processing of Steps S11 to S13. However, the flowchart illustrated in FIG. 5 is merely an example, and processing may be added or omitted as appropriate, or the order of processing may be changed as appropriate.

As described above, in the control method according to the present embodiment, the prime mover 40 is enabled to be activated in the second state (S12: Yes) while the prime mover 40 is stopped, and the prime mover 40 is disabled to be activated when at least one of the pair of lock levers 463 is in the second posture (lowered position) (S12: No). As a result, when the operator forgets to manipulate at least one of the pair of lock levers 463 to the first posture (raised position) while the prime mover 40 is stopped, the activation of the prime mover 40 can be prohibited.

Therefore, for example, it is easy to prevent the operator from unintentionally activating the prime mover 40 in a state in which the operation preparation of the working machine 3 is not ready.

Furthermore, in the control method according to the present embodiment, the activation manipulation of the prime mover 40 includes an at least two-stage manipulation. Specifically, the operator can activate the prime mover 40 for the first time by manipulating the key 362 from the off position to the on position and further manipulating the key 362 from the on position to the start position in two stages.

Therefore, for example, it is easy to prevent the operator from unintentionally activating the prime mover 40 in a state in which the operation preparation of the working machine 3 is not ready.

[3.4] Specific Operation Example

Next, in the control method according to the present embodiment, that is, in the operation of the control system 1 according to the present embodiment, a specific operation example when the prime mover 40 is activated from a state in which the prime mover 40 is not activated and work is performed by the working machine 3 will be described with reference to FIG. 6.

First, when the operator manipulates the key cylinder 361 from the off position to the on position using the key 362 in a state in which the main switch 36 is off, each part (excluding the prime mover 40) of the working machine 3 is energized, and the state of the working machine 3 shifts from “OFF” to “BOOT”. At this time, it is assumed that both the pair of lock levers 463L and 463R are in the first posture (raised position). That is, since the manipulation state of the pair of lock levers 463L and 463R is the second state, the prime mover 40 is in the activatable state.

In this state, when the operator manipulates the key cylinder 361 from the on position to the start position using the key 362, the control processing unit 12 controls the drive circuit 39 to activate the prime mover 40. As a result, the state of the working machine 3 shifts from “BOOT” to “START UP”. However, at this time, since the manipulation state of the pair of lock levers 463L and 463R is the second state, the control processing unit 12 stops the prime mover 40, and as a result, the prime mover 40 is not driven and the hydraulic pump 41 is not driven.

Thereafter, when the operator manipulates one (for example, the lock lever 463L) of the pair of lock levers 463L and 463R to the second posture (lowered position), the manipulation state of the pair of lock levers 463L and 463R is switched from the second state to the first state. As a result, the control processing unit 12 controls the drive circuit 39 to drive the prime mover 40, and the state of the working machine 3 shifts from “START UP” to “IDLING”. At this time, the rotation speed of the prime mover 40 is set to the idling rotation speed lower than the steady rotation speed. In this state, since the manipulation state of the pair of lock levers 463L and 463R is the first state, the lock device is in the locked state, and the operation of the working machine 3 is forcibly restricted regardless of the manipulation of the manipulation device 35.

Thereafter, when the operator manipulates the other (for example, the lock lever 463R) of the pair of lock levers 463L and 463R to the second posture (lowered position), the manipulation state of the pair of lock levers 463L and 463R is switched from the first state to the third state. As a result, the control processing unit 12 controls the drive circuit 39 to increase the rotation speed of the prime mover 40 from the idling rotation speed to the steady rotation speed, and the state of the working machine 3 shifts from “IDLING” to “WORK”. At this time, since the manipulation state of the pair of lock levers 463L and 463R is the third state, the lock device is in the unlocked state, and the working machine 3 operates in accordance with the manipulation of the manipulation device 35.

Thereafter, when the operator manipulates both of the pair of lock levers 463L and 463R to the first posture (raised position), the manipulation state of the pair of lock levers 463L and 463R is switched from the third state to the second state. As a result, the control processing unit 12 controls the drive circuit 39 to stop the prime mover 40, and the state of the working machine 3 shifts from “WORK” to “STOP”. At this time, since the manipulation state of the pair of lock levers 463L and 463R is the second state, the lock device is in the locked state, and the operation of the working machine 3 is forcibly restricted regardless of the manipulation of the manipulation device 35.

Moreover, the present invention is not limited to the above-described example, and for example, the control processing unit 12 may control the drive circuit 39 to drive the prime mover 40 at the timing when the operator manipulates the key cylinder 361 from the on position to the start position using the key 362, and the state of the working machine 3 may shift to “IDLING”.

[4] Modifications

Hereinafter, modifications of the first embodiment will be listed. The modifications described below can be applied in combination as appropriate.

The control system 1 in the present disclosure includes a computer system. The computer system mainly includes one or more processors and one or more memories as hardware. The processor executes a program recorded in the memory of the computer system to realize a function as the control system 1 in the present disclosure. The program may be prerecorded in the memory of the computer system, may be provided through a telecommunication line, or may be recorded and provided in a non-transitory recording medium, such as a memory card, an optical disk, or a hard disk drive, that is readable by the computer system. Moreover, some or all of the functional units included in the control system 1 may include an electronic circuit.

Moreover, it is not essential for the control system 1 that at least some functions of the control system 1 are integrated in one housing, and the components of the control system 1 may be provided in a plurality of housings in a distributed manner. Conversely, in the first embodiment, functions distributed to a plurality of devices (for example, the control system 1 and the display device 2) may be integrated in one housing. Furthermore, at least some functions of the control system 1 may be realized by a cloud (cloud computing) or the like.

Moreover, the prime mover 40 serving as a power source of the working machine 3 is not limited to the AC motor, and may be, for example, a DC motor or the like, or may be other than an electric motor in the first place. That is, the prime mover 40 may be a diesel engine, an internal combustion engine (engine) other than the diesel engine, or a hybrid power source including an electric motor and an internal combustion engine.

Moreover, the manipulation lever of the manipulation device 35 may be an electric manipulation device, and may be configured to receive various manipulations by the user by outputting, to the control system 1, an electric signal (manipulation signal) according to the manipulation of the user (operator). In this case, for example, the control system 1 can control the hydraulic actuator by controlling, according to the manipulation of the manipulation device 35 (manipulation lever), a control valve (electromagnetic valve) provided instead of the remote control valve 45.

Moreover, the display device 2 is not limited to a dedicated device, and may be, for example, a general-purpose terminal such as a laptop computer, a tablet terminal, or a smartphone. Furthermore, the display unit 23 is not limited to a mode of directly displaying a display screen as in a liquid crystal display or an organic EL display, and may be, for example, configured to display the display screen by projection as in a projector.

Moreover, as an information input mode of the manipulation unit 22, a mode other than a push button switch, a touch panel, and a manipulation dial may be adopted. For example, the manipulation unit 22 may employ a mode such as a keyboard, a pointing device such as a mouse, a sound input, a gesture input, or an input of a manipulation signal from another terminal.

Moreover, the actuator of each part of the machine body 30 is not limited to a hydraulic actuator, and may be, for example, a pneumatic actuator driven by air pressure such as compressed air, an electric actuator driven by power supply, or a combination thereof.

Additional Notes of Invention

Hereinafter, an outline of the invention extracted from the above-described embodiment will be additionally described. Note that configurations and processing functions described in the following additional notes can be selected and freely combined.

Additional Note 1

A control method of a working machine including

a prime mover for driving a hydraulic pump that discharges hydraulic oil,

a working unit driven by a hydraulic actuator that receives the hydraulic oil, and

a pair of lock levers each of which can be switched between a first posture and a second posture, the control method including

making an operation of the prime mover different between a first state in which only one of the pair of lock levers is in the first posture and a second state in which both of the pair of lock levers are in the first posture.

Additional Note 2

The control method of the working machine according to Additional Note 1, in which the prime mover is driven in the first state, and the prime mover is stopped in the second state.

Additional Note 3

The control method of the working machine according to Additional Note 2, in which the prime mover is stopped when a specific condition is satisfied in a state in which the prime mover is driven in the first state.

Additional Note 4

The control method of the working machine according to Additional Note 3, in which the specific condition includes a condition related to a rotation speed of the prime mover, a state of a power source of the prime mover, an abnormality of the working machine, or a temperature of the hydraulic oil.

Additional Note 5

The control method of the working machine according to any one of Additional Notes 1 to 4, further including making the working unit operable by a manipulation of a manipulation device in a third state in which both of the pair of lock levers are in the second posture, and making the working unit inoperable regardless of the manipulation of the manipulation device in the first state and the second state.

Additional Note 6

The control method of the working machine according to Additional Note 5, further including reducing a rotation speed of the prime mover in the first state as compared with the third state.

Additional Note 7

The control method of the working machine according to any one of Additional Notes 1 to 6, further including enabling activation of the prime mover in the second state, and disabling the activation of the prime mover when at least one of the pair of lock levers is in the second posture.

Additional Note 8

The control method of the working machine according to any one of Additional Notes 1 to 7, in which an activation manipulation of the prime mover includes an at least two-stage manipulation.

Additional Note 9

The control method of the working machine according to any one of Additional Notes 1 to 8, in which the pair of lock levers are disposed on both sides of a driver's seat, in a left-right direction, on which an operator rides in the working machine, and the operator can ride on the driver's seat from either side in the left-right direction.

Additional Note 10

The control method of the working machine according to any one of Additional Notes 1 to 9, in which the prime mover is an electric motor.

Additional Note 11

A working machine control program for causing one or more processors to execute the control method of the working machine according to any one of Additional Notes 1 to 10.

LIST OF REFERENCE SIGNS

1 Working machine control system

3 Working machine

12 Control processing unit

30 Machine body

33 Working unit

35 Manipulation device

40 Prime mover

41 Hydraulic pump

43 Hydraulic motor (hydraulic actuator)

44 Hydraulic cylinder (hydraulic actuator)

323 Driver's seat

381 Battery (power source)

463, 463L, 463R Lock lever

D3 Left-right direction