JP7652841B2 - Method for controlling construction machinery - Google Patents

Description

The present invention relates to a method for controlling a construction machine.

The following Patent Document 1 discloses technology relating to a construction machine that includes a lower running body that enables traveling, an upper rotating body that is rotatably mounted on the upper part of the lower running body, a working machine that is attached to the upper rotating body so that it can swing up and down, a hoist that is attached to the tip of the working machine so that it can swing back and forth, an actual load detection unit that detects the actual load of a load suspended from the hoist, a working radius detection unit that detects the working radius, and a traveling control unit that controls the traveling of the lower running body based on the actual load and working radius detected by the actual load detection unit and the working radius detection unit.

JP 2004-123362 A

However, the invention described in Patent Document 1 had the problem that the operator could not know whether or not the suspended traveling was possible based on the detected actual load and working radius before the suspended traveling.

In view of the above problems, the present invention aims to provide a construction machine that can notify the operator before suspended travel whether or not suspended travel is possible based on the detection results.

In order to achieve the above object, a method of controlling a construction machine according to one aspect of the present invention includes detecting the actual load of a load suspended from a working implement of the construction machine, calculating a traveling rated load, which is the load of the suspended load that can be suspended when the construction machine is traveling, and determining whether or not suspended traveling is possible based on the traveling rated load and the actual load, and if the determination of whether or not suspended traveling is possible is negative, displaying a first indication indicating that the determination of whether or not suspended traveling is negative on the display unit that displays the actual load before the construction machine travels.

According to the present invention, the operator can be notified before suspended travel whether suspended travel is possible or not based on the detection results.

FIG. 1 is a left side view showing a hydraulic excavator according to an embodiment of the present invention. FIG. 2 is a diagram showing a hydraulic circuit according to the embodiment. FIG. 13 is a diagram showing a crane mode screen according to the embodiment. FIG. 13 is a diagram showing a crane mode screen according to the embodiment. FIG. 2 is a diagram showing a basic display screen according to the embodiment. FIG. 13 is a diagram showing a guidance display screen according to the embodiment. 13 is a diagram showing an enlarged icon display section according to the embodiment; FIG. 13 is a diagram showing an enlarged icon display section according to the embodiment; FIG. FIG. 11 is a flowchart showing screen transitions when a function of the hydraulic excavator according to the embodiment is activated.

Below, an embodiment of the present invention will be described with reference to the drawings.

First, the general structure of a hydraulic excavator 1 as an example of a construction machine will be described with reference to Figure 1. The hydraulic excavator 1 comprises a lower traveling body 2 that enables traveling, an upper rotating body 3 that is rotatably mounted on the upper part of the lower traveling body 2, a working machine 4 that is attached to the upper rotating body 3 so that it can swing up and down, a hoisting device 5 that is attached to the tip of the working machine 4 so that it can swing back and forth, and an alarm unit 8 that alarms the operator.

The lower traveling body 2 is driven by power from an engine 32 (described later) to travel the hydraulic excavator 1. The lower traveling body 2 includes a pair of left and right crawlers 21, 21 and a pair of left and right traveling motors 22, 22 (the right crawler 21 and the right traveling motor 22 are not shown in FIG. 1). The left and right traveling motors 22, 22, which are hydraulic motors, drive the left and right crawlers 21, 21, respectively, enabling the hydraulic excavator 1 to move forward and backward.

The upper rotating body 3 is configured to be rotatable relative to the lower traveling body 2 via a swivel bearing (not shown). The upper rotating body 3 is equipped with an operating unit 31, an engine 32, a swivel base 33, a swivel motor 34, etc. The upper rotating body 3 rotates via the swivel bearing by the driving force of the swivel motor 34, which is a hydraulic motor. The upper rotating body 3 is also equipped with multiple hydraulic pumps (see 61, 62, 63 in FIG. 2) driven by the engine 32. These hydraulic pumps 61, 62, 63 supply pressure oil to the traveling motors 22, 22, the swivel motor 34, the boom cylinder 41a, the arm cylinder 42a, and the bucket cylinder 43a, which will be described later. The traveling motor 22 can be switched between two speeds, high speed and low speed, depending on the supply of pressure oil.

The operation unit 31 is provided with a cockpit 311. A pair of work operation levers 312, 312 are arranged on the left and right sides of the cockpit 311, a pair of travel levers 313, 313 are arranged in front, and an operation button 314 for operating the display unit 81 is arranged below the display unit 81 described later. The operator sits in the cockpit 311 and operates the work operation levers 312, 312 and the travel levers 313, 313, etc. to control the engine 32, each hydraulic motor, each hydraulic actuator, etc., and can travel, turn, work, etc. Note that the display unit 81 can be operated not only by pressing the operation buttons 314 arranged in a row below the display unit 81 so as to correspond to the icons (menu display unit G3 described later) indicating operations displayed in a row at the bottom of the display unit 81, but also by providing the display unit 81 with a touch panel and having the operator touch the screen.

The working machine 4 is driven by power from the engine 32 and performs excavation work for soil and sand. The working machine 4 is equipped with a boom 41, an arm 42, and a bucket 43, which can be driven independently to perform excavation work. The hydraulic excavator 1 is equipped with the working machine 4 that is composed of the boom 41, the arm 42, and the bucket 43.

The boom 41 has its base end supported on the front of the upper rotating body 3 and is swung up and down by a boom cylinder 41a that can move telescopically. A boom angle sensor 41b (see Figure 2) that detects the angle of the boom 41 is attached to the base end of the boom 41.

The arm 42 has its base end supported by the tip of the boom 41 and is swung up and down by an arm cylinder 42a that can move telescopically. An arm angle sensor 42b (see Figure 2) that detects the angle of the arm 42 is attached to the base end of the arm 42.

The bucket 43 is supported at its base end on the tip of the arm 42 and is swung back and forth by a bucket cylinder 43a that can be extended and retracted.

Here, the boom cylinder 41a, arm cylinder 42a, and bucket cylinder 43a correspond to hydraulic actuators that drive the working unit.

The bucket 43 is a container-shaped member that is attached to the tip of the work machine 4 and has claws for performing excavation work. The bucket 43 is attached so that it can swing via a pin 44 attached to the tip of the arm 42. Furthermore, the bucket 43 is connected to a bucket cylinder 43a via a link mechanism 45.

When the bucket 43 is retracted toward the front (toward the upper rotating body 3), a hoisting device 5 for crane work is swingably attached to the lower end of the bucket 43 and the end of the link mechanism 45. The hoisting device 5 is a hook-shaped member used for crane work, and is supported swingably with the axis of the link mechanism 45 as a swing fulcrum, and can change its position between an expanded state in which it protrudes from the link mechanism 45 and a stored state (not shown) in which it is stored on the link mechanism 45 side.

The notification unit 8 includes a display unit 81 and a notification unit 82 (see FIG. 2). The display unit 81 is disposed in front of the operator's seat 311, and displays images to notify the operator of the status of the hydraulic excavator 1, etc.

The hydraulic circuit 6 of the hydraulic excavator 1 will be described with reference to FIG. 2. In this embodiment, the hydraulic circuit 6 includes a first work machine actuator 40a (arm cylinder 42a), a second work machine actuator 40b (boom cylinder 41a), a third work machine actuator 40c (bucket cylinder 43a), a first travel motor 22a, a second travel motor 22b (either the left travel motor 22 or the right travel motor 22), a swing motor 34, a variable displacement pump 61, a fixed displacement pump 62, a pilot pump 63, and a controller 70. However, this is not limited thereto, and the first work machine actuator 40a may be the boom cylinder 41a, and the second work machine actuator 40b may be the arm cylinder 42a.

The variable displacement pump 61 and the fixed displacement pump 62 are driven by the engine 32 and discharge pressurized oil that is supplied to the hydraulic actuators (the first work machine actuator 40a, the second work machine actuator 40b, the third work machine actuator 40c, the first travel motor 22a, the second travel motor 22b, and the swing motor 34).

The variable displacement pump 61 supplies pressure oil to the first work machine actuator 40a, the second work machine actuator 40b, the third work machine actuator 40c, the first travel motor 22a, and the second travel motor 22b to drive them. The fixed displacement pump 62 supplies pressure oil to the swing motor 34 to drive them.

The variable displacement pump 61 can control the discharge flow rate of the pressurized oil by changing the inclination angle of the movable swash plate 61b through the drive of the pump regulator 61a.

The variable displacement pump 61 is a so-called split flow type hydraulic pump equipped with a first discharge port P1 and a second discharge port P2. The pressure oil discharged from the first discharge port P1 is supplied to the first work machine direction switching valve 65a and the first travel direction switching valve 65e described later via the first center bypass oil passage 61d, and the pressure oil discharged from the second discharge port P2 is supplied to the second travel direction switching valve 65f, the second work machine direction switching valve 65b, and the third work machine direction switching valve 65c described later via the second center bypass oil passage 61e.

The pressure oil discharged from the fixed displacement pump 62 is supplied to the rotation direction control valve 65g, which will be described later, via the third center bypass oil passage 62a.

The hydraulic actuators (first work machine actuator 40a, second work machine actuator 40b, third work machine actuator 40c, first travel motor 22a, second travel motor 22b, swing motor 34) are each provided with a corresponding directional control valve 65, which is a pilot-type directional control valve that can switch the direction and volume of the pressurized oil pumped from the variable displacement pump 61 and fixed displacement pump 62 to the hydraulic actuators.

The directional control valve 65 can be switched to multiple positions by sliding the spool. When pilot signal pressure is not applied to either of the two pilot ports of the directional control valve 65, the directional control valve 65 is held in the neutral position by the biasing force of the spring. When the directional control valve 65 is in the neutral position, the pressurized oil is not supplied to the corresponding hydraulic actuator, but flows to the oil tank through the first center bypass oil passage 61d, the second center bypass oil passage 61e, and the third center bypass oil passage 62a. On the other hand, when pilot signal pressure is applied to either of the pilot ports of the directional control valve 65, the directional control valve 65 is switched from the neutral position to the other position, and the pressurized oil is supplied to the corresponding hydraulic actuator.

In this embodiment, a first work machine direction switching valve 65a corresponding to the first work machine actuator 40a, a second work machine direction switching valve 65b corresponding to the second work machine actuator 40b, a third work machine direction switching valve 65c corresponding to the third work machine actuator 40c, a first travel direction switching valve 65e corresponding to the first travel motor 22a, a second travel direction switching valve 65f corresponding to the second travel motor 22b, and a swing direction switching valve 65g corresponding to the swing motor 34 are provided. These direction switching valves 65 are collectively called control valves.

The oil passage that supplies pressure oil from the second work machine directional control valve 65b to the second work machine actuator 40b is provided with a bottom pressure sensor 61f that detects the bottom pressure on the bottom side of the boom cylinder 41a and a rod pressure sensor 61g that detects the rod pressure on the rod side of the boom cylinder 41a.

The pilot pump 63 is driven by the engine 32 and discharges pressure oil to generate pilot primary pressure in the oil passage 63a, and the pilot secondary pressure (hereinafter, pilot signal pressure) generated by reducing the pilot primary pressure with a remote control valve (not shown) is input to the directional control valve 65 to control the hydraulic actuator. The pilot signal pressure input to the directional control valve 65 can also be generated by reducing the pilot primary pressure with the solenoid proportional valve 63b, and in that case, it is adjusted according to the control command from the controller 70.

The first work machine direction control valve 65a and the second work machine direction control valve 65b are connected to the output part of the shuttle valve 63d, one input part of the shuttle valve 63d is connected to the remote control valve, and the other input part is connected to the solenoid proportional valve 63b, both of which are provided in the oil passage 63a between the pilot pump 63. By setting the remote control valve to be higher pressure than the solenoid proportional valve 63b, when a pilot signal pressure is output from the remote control valve while a pilot signal pressure is being output from the solenoid proportional valve 63b by automatic control described later, the shuttle valve 63d outputs the pilot signal pressure from the remote control valve. Also, if a pilot signal pressure is transmitted from any of the remote control valves during automatic control, the control command from the controller 70 input to the solenoid proportional valve 63b is stopped, and the automatic control is stopped. In other words, manual control is prioritized over automatic control.

An on-off valve 63c is provided in the oil passage 63a between the dump side of the bucket 43 (see FIG. 1) of the third work machine directional control valve 65c and the pilot pump 63. Note that FIG. 2 does not show the oil passage 63a from the pilot pump 63 to the other directional control valves 65.

The on-off valve 63c can switch between supplying and cutting off pressure oil to the third work machine directional control valve 65c, which controls the dump operation of the bucket 43, based on a control command from the controller 70.

The controller 70 issues control commands to the solenoid proportional valve 63b and the on-off valve 63c. The solenoid proportional valve 63b is operated and controlled by the controller 70, and can adjust the pilot signal pressure input to each pilot port of the first work machine direction control valve 65a and the second work machine direction control valve 65b according to the magnitude of the control current value applied. In other words, the control command is, for example, a control current value.

An operation button 314 is electrically connected to the controller 70. By pressing the operation button 314, the operator can select between an excavation mode for performing excavation work and a crane mode for hoisting a load with the hoisting tool 5 (see FIG. 1). In this embodiment, the operation button 314 can be used to switch to the crane mode only when the hoisting tool 5 is in the deployed state. However, this is not limited to this, and the configuration may be such that when the hoisting tool 5 is in the deployed state, the crane mode is automatically selected without the operator having to press the operation button 314.

When the operator selects the crane mode, the operation button 314 sends a crane mode command to the controller 70. When the crane mode command is sent to the controller 70, the controller 70 stops sending control commands to the on-off valve 63c. This cuts off the supply of pressure oil to the third work machine directional control valve 65c, which controls the dump operation of the bucket 43. Therefore, in the crane mode, the dump operation of the bucket 43 can be prohibited, and, for example, a collision between the hoist 5 and the load and the bucket 43 can be avoided.

When the crane mode is selected, the travel motors 22, 22 are automatically switched to low speed rotation in response to a control command from the controller 70 (the control command line is not shown), and the engine 32 maintains its engine speed at the low speed side.

The controller 70 includes an actual load calculation unit 71, a position detection unit 72, a rated load map storage unit 73, a suspended travel feasibility determination unit 75, a crane operation feasibility determination unit 76, and an operation information generation unit 77.

The actual load calculation unit 71 calculates the actual load of the load from the length of the boom 41 (see FIG. 1), the length of the arm 42 (see FIG. 1), the boom angle detected by the boom angle sensor 41b, the arm angle detected by the arm angle sensor 42b, the pressure detected by the bottom pressure sensor 61f, and the pressure detected by the rod pressure sensor 61g. However, this is not limited to this, and the actual load may be detected by providing a crane scale, which is an actual load detection unit, between the hoist 5 (see FIG. 1) and the load.

The position detection unit 72 includes a working radius calculation unit 72a and a center of gravity calculation unit (not shown). The working radius calculation unit 72a detects the working radius, which is the distance from the center of rotation of the upper rotating body 3 (see FIG. 1) to the lifting center of the hoisting device 5. In this embodiment, the working radius calculation unit 72a calculates the working radius from the length dimension from the center of rotation of the upper rotating body 3 to the base end of the boom 41, the length dimension of the boom 41, the length dimension of the arm 42, the boom angle detected by the boom angle sensor 41b, and the arm angle detected by the arm angle sensor 42b. However, this is not limited to this, and a position sensor, which is a working radius detection unit, may be attached to the hoisting device 5 and the working radius may be detected by the position sensor. The center of gravity calculation unit calculates the center of gravity position (including ZMP) of the hydraulic excavator 1.

The rated load map storage unit 73 stores a crane mode rated load map, which is a map of the crane mode rated load, which is the rated load when lifting from the working radius and a fixed position corresponding to the working radius (e.g., the center of rotation of the upper rotating body 3), and a suspended traveling mode rated load map, which is a map of the working radius and the suspended traveling mode rated load, which is the rated load when lifting while traveling corresponding to the working radius. The crane mode rated load is determined by multiplying an arbitrarily determined safety factor against the tipping load, and the traveling mode rated load is determined by multiplying an arbitrarily determined safety factor against the crane mode rated load.

The suspended travel feasibility determination unit 75 determines whether suspended travel is possible by comparing the suspended travel mode rated load referenced from the suspended travel mode rated load map based on the calculated working radius with the actual load calculated by the actual load calculation unit 71. The suspended travel feasibility determination unit 75 determines whether suspended travel is possible before and/or during travel. The suspended travel feasibility determination unit 75 may also determine whether suspended travel is possible based on the center of gravity position detected by the center of gravity calculation unit.

The crane operation feasibility determination unit 76 determines whether or not crane operation is possible by comparing the crane mode rated load referenced from the crane mode rated load map with the actual load calculated by the actual load calculation unit 71 based on the operation radius calculated by the operation radius calculation unit 72a. If the actual load is within the crane mode rated load, the crane operation feasibility determination unit 76 determines that crane operation is possible. If the actual load exceeds the crane mode rated load, the crane operation feasibility determination unit 76 determines that crane operation is not possible and alerts the operator by sounding an alarm in the alarm issuing unit 82. The crane operation feasibility determination unit 76 may also determine whether or not crane operation is possible based on the center of gravity position calculated by the center of gravity calculation unit.

When the suspended travel feasibility determination unit 75 determines that the suspended travel feasibility determination unit 75 determines that the operation is possible, the operation information generation unit 77 calculates the attitude (boom angle, arm angle) of the work machine 4 (see FIG. 1) that results in the determination of the suspended travel feasibility determination unit 75 being possible. However, this is not limited to this, and the operation information generation unit 77 may also calculate the attitude (boom angle, arm angle) of the work machine 4 that results in the determination of the crane work feasibility determination unit 76 being possible even when the determination of the crane work feasibility determination unit 76 is not possible.

The controller 70 may be provided with an automatic operation unit (not shown) that automatically controls the work machine 4, and the operation information generating unit 77 and each electromagnetic proportional valve 63b may be electrically connected via the automatic operation unit. With this configuration, even if the suspended travel feasibility determination unit 75 determines that suspended travel is not possible, the work machine 4 can be automatically put into a posture in which the suspended travel feasibility determination unit 75 determines that suspended travel is possible. As a result, even if the suspended travel feasibility determination unit 75 determines that suspended travel is not possible, the operator can safely perform suspended travel without operating the work machine 4 with the work operation lever 312, for example.

If the operation information generating unit 77 cannot calculate the posture of the work machine 4 that allows the suspended travel determination unit 75 to determine that suspended travel is possible, for example, the operation information generating unit 77 may restrict suspended travel, i.e., stop the travel motors 22, 22, and prompt the operator to reduce the weight of the suspended load. This makes it possible to prevent the hydraulic excavator 1 (see FIG. 1) from tipping over due to suspended travel.

The display unit 81 displays the calculation results of the actual load calculation unit 71, the working radius calculation unit 72a, the rated load map storage unit 73, and the operation information generation unit 77, the determination result of the suspended travel feasibility determination unit 75, and the detection result of the boom angle sensor 41b. However, this is not limited to this, and for example, the display unit 81 may display the detection result of the arm angle sensor 42b, etc.

Here, the calculation results of the actual load calculation unit 71, the working radius calculation unit 72a, and the rated load map storage unit 73 and the detection result of the boom angle sensor 41b are regarded as machine information, the judgment result of the suspended travel feasibility determination unit 75 is regarded as the suspended travel judgment result, and the calculation result of the operation information generation unit 77 is regarded as operation information.

Figure 3 is a diagram showing an example of the crane mode screen G1 displayed on the display unit 81. The operation buttons 314 arranged at the bottom of the display unit 81 include, from the left, a first button 314a, a second button 314b, a third button 314c, a fourth button 314d, a fifth button 314e, and a sixth button 314f. Each button 314a-f has a different function when pressed, depending on the screen displayed on the display unit 81.

When the second button 314b is pressed on the basic display screen G0 described below, the screen transitions to the crane mode screen G1. The crane mode screen G1 displays a machine information display section G2, a menu display section G3, a suspended travel determination result display section G4, an operation information display section G5, an icon display section G6, and a basic information display section G7.

The machine information display unit G2 displays machine information in the center of the display unit 81. During suspended travel, the "rated load" and "traveling rating" values displayed on the machine information display unit G2 are the results of calculations in the rated load map memory unit 73 (see Figure 2) (see Figure 4). The menu display unit G3 displays menus corresponding to each of the buttons 314a-f at the bottom of the display unit 81 and above each of the buttons 314a-f. When the operator presses each of the buttons 314a-f, the screen transitions to the content displayed on the menu display unit G3.

The suspended travel judgment result display unit G4 displays the suspended travel judgment result in the upper part of the display unit 81 only when the suspended travel judgment result is negative. However, this is not limited to this, and for example, the suspended travel judgment result may also be displayed when the suspended travel judgment result is positive. If the suspended travel judgment result is negative before suspended travel, for example, "suspended travel not possible" is displayed on the suspended travel judgment result display unit G4. This makes it possible to inform the operator of the possibility of suspended travel before suspended travel, and, for example, to prevent the hydraulic excavator 1 from tipping over due to suspended travel.

As shown in FIG. 4, when suspended travel is started with the suspended travel judgment result being negative, or when the suspended travel judgment result becomes negative during suspended travel, for example, "STOP load 100%" is displayed in red on the suspended travel judgment result display section G4. This makes it possible to inform the operator that suspended travel is dangerous even after suspended travel, and to prevent the hydraulic excavator 1 from tipping over due to suspended travel, for example.

Between the machine information display unit G2 and the menu display unit G3, the operation information display unit G5 displays operation information that enables the suspended travel judgment result when the suspended travel judgment result is negative. For example, the operation information display unit G5 displays "Please move the load closer or lighten it" by flashing. As a result, even if the judgment result is negative for suspended travel, operation information that enables suspended travel is displayed, so that the operator can operate the work machine 4 without hesitation, for example, based on the displayed operation information.

The operation information display unit G5 may display specific operation guidance for bringing the load closer. This allows the operator to safely perform hoisting travel simply by following the operation guidance displayed on the operation information display unit G5, for example.

The icon display section G6 displays an icon corresponding to the currently operating function of the hydraulic excavator 1 on the right side of the display section 81. When a function of the hydraulic excavator 1 is activated by operating the operation button 314, the icon in the icon display section G6 corresponding to that function lights up (e.g., yellow) and flashes, and then the icon corresponding to the currently operating function of the hydraulic excavator 1 stops flashing.

When a function of the hydraulic excavator 1 is stopped by operating the operation button 314, the icon in the icon display section G6 corresponding to that function is turned off. This allows, for example, the operator to easily recognize the function that is currently operating on the hydraulic excavator 1 by checking the icon display section G6. However, this is not limited to this, and even when a function of the hydraulic excavator 1 is stopped, the icon in the icon display section G6 corresponding to that function may remain lit.

The basic information display unit G7 displays water temperature information, hydraulic oil information, remaining fuel, and time in the left portion of the display unit 81, and displays the operation time in the upper right portion. However, this is not limited to this, and for example, a camera may be provided on the upper rotating body 3 (see FIG. 1), and the basic information display unit G7 may display the camera image in the center portion of the display unit 81.

Using Figures 5 to 9, an example of the screen transition when executing a function of the hydraulic excavator 1 (see Figure 1) will be described. In STEP 1, the basic display screen G0 is displayed. The basic display screen G0 is the initial screen that is displayed when the display unit 81 is started up, and displays the menu display section G3, the icon display section G6, and the basic information display section G7. The basic display screen G0 shown in Figure 5 is in a state where the boom height limiting function is turned off, i.e., the icon related to the boom height limiting function in the icon display section G6 has disappeared.

In STEP 2, the operator presses the operation button 314 corresponding to the function displayed in the menu display section G3. As a result, in STEP 3, the display section 81 transitions from the basic display screen G0 to the guidance display screen G8. For example, when the operator presses the third button 314c located below the "Boom" display on the left-center of the menu display section G3, the display section 81 transitions to the guidance display screen G8 related to the boom height limit function.

The guidance display screen G8 displays a function explanation display section G9 in the center and an intention display section G10 at the bottom. The function explanation display section G9 displays an image G91 and a guidance statement G92 according to the selected function. For example, the boom height limit function displays an image G91 of a ceiling above the boom and a guidance statement G92 saying, "Raise the boom to the position where you want to limit the boom height, and press the decision button."

The intention display unit G10 displays a message to confirm to the operator whether or not to execute the selected function. For example, the intention display unit G10 displays "OK" on the right side, which indicates the operator's intention to execute the selected function, and "RETURN" on the left side, which indicates the operator's intention not to execute the selected function.

In STEP 4, the operator presses the sixth button 314f located below "OK" in the intention display section G10, or the first button 314a located below "RETURN" in the intention display section G10. When the operator presses the sixth button 314f, the operation proceeds to the next STEP 5, and when the operator presses the first button 314a, the operation returns to the basic display screen G0.

In STEP 5, the enlarged icon display section G11 is displayed superimposed on the guidance display screen G8. The enlarged icon display section G11 displays an enlarged icon corresponding to the selected function. However, this is not limited to this, and the enlarged icon display section G11 may display, for example, an explanatory text explaining the state of the selected function below the icon in the enlarged icon display section G11.

In STEP 6, the guidance display screen G8 transitions to the basic display screen G0 while the enlarged icon display section G11 is displayed. At that time, the enlarged icon display section G11 is displayed at a position that does not overlap with the basic information display section G7 and the like displayed on the basic display screen G0.

In STEP 7, the icon in the enlarged icon display section G11 displayed on the basic display screen G0 and the icon in the icon display section G6 corresponding to the selected function are lit in red and begin to flash. Then, in STEP 8, the enlarged icon display section G11 displayed on the basic display screen G0 is turned off, and the icon in the icon display section G6 corresponding to the selected function is colored yellow and stops flashing.

Through steps 1 to 8 above, the operator can associate the content displayed on the guidance display screen G8 with the icons displayed in the icon display section G6. This allows the operator to easily remember, for example, which icon displayed in the icon display section G6 corresponds to which active function of the hydraulic excavator 1, eliminating the need for the operator to read an instruction manual or the like while operating the hydraulic excavator 1.

By using STEPs 1 to 8, the operator can change the settings of functions such as the boom height limit, arm retraction limit, excavation depth limit, and maximum PTO flow rate setting.

As described above, the construction machine according to this embodiment includes a lower running body 2 that enables traveling, an upper rotating body 3 that is rotatably mounted on the upper part of the lower running body 2, a working machine 4 that is attached to the upper rotating body 3 so as to be swingable in the vertical direction, a hoisting device 5 that is attached to the tip of the working machine 4 so as to be swingable in the front-rear direction, an actual load detection unit (actual load calculation unit 71) that detects the actual load of the load suspended from the hoisting device 5, a position detection unit 72 that detects the position of the working machine 4, a suspended traveling feasibility determination unit 75 that determines whether suspended traveling is possible based on the actual load detected by the actual load detection unit (actual load calculation unit 71) and the position detection unit 72 and the position information of the working machine 4, and a notification unit 8 that notifies the operator of the result of the determination by the suspended traveling feasibility determination unit 75 before suspended traveling.

With this configuration, before suspended travel, the operator can be notified of the possibility of suspended travel based on the actual load detected by the actual load detection unit (actual load calculation unit 71) and the position detection unit 72 and the position information of the work machine 4.

The construction machine according to this embodiment is also configured to include an operation unit 31 that operates the lower traveling body 2 and the work machine 4, and an operation information generation unit 77 that calculates and outputs operation information for the operation unit 31 to set the work machine 4 to a posture in which the suspended traveling feasibility determination unit 75 determines that suspended traveling is possible when the determination result of the suspended traveling feasibility determination unit 75 is not possible.

With this configuration, when the result of the suspended travel feasibility determination unit 75 is negative, operation information that enables suspended travel can be output.

The construction machine according to this embodiment is also equipped with a display unit 81 that displays the actual load and working radius detected by the actual load detection unit (actual load calculation unit 71) and the working radius detection unit (working radius calculation unit 72), and the notification unit 8 displays the operation information calculated by the operation information generation unit 77 on the display unit 81.

With this configuration, when the suspended traveling feasibility determination unit 75 determines that ...

The construction machine according to this embodiment may also be configured to include an automatic operation unit that performs automatic operation based on the operation information calculated by the output operation information generating unit 77.

With this configuration, even if the result of the suspended travel feasibility determination unit 75 is negative, the work machine 4 can be automatically placed in a position that allows suspended travel.

The construction machine according to this embodiment may also be configured to restrict the travel of the lower traveling body 2 if the operation information generating unit 77 is unable to calculate the operation information.

With this configuration, if the result of the suspended travel feasibility determination unit 75 is negative, suspended travel is not possible.

Although the present embodiment and other embodiments have been described above based on the drawings, the specific configurations should not be considered to be limited to these embodiments. The scope of the present disclosure is indicated not only by the description of the above embodiment but also by the claims, and further includes all modifications within the meaning and scope equivalent to the claims.

REFERENCE SIGNS LIST 1 Hydraulic excavator 2 Lower travel unit 3 Upper revolving unit 31 Operation unit 4 Work machine 5 Lifting tool 71 Actual load calculation unit 72 Position detection unit 75 Lifting travel feasibility determination unit 77 Operation information generation unit 8 Notification unit 81 Display unit

Claims (4)

Detecting an actual load of a load suspended from a working device of a construction machine;
Calculating a traveling load rating, which is a load of a suspended load that can be allowed to be suspended while the construction machine is traveling, and determining whether or not the construction machine can travel with a suspended load based on the traveling load rating and the actual load;
When the judgment as to whether or not the suspended traveling is possible is "no, " displaying a first indication indicating that the judgment as to whether or not the suspended traveling is possible is "no" before the construction machine travels on a suspended traveling judgment result display section provided separately from an area on a display screen of a display section that displays the actual load and the traveling rated load;
When the construction machine travels in a state where the judgment of whether or not the suspended traveling is possible is negative, a second indication different from the first indication is displayed on the suspended traveling judgment result display unit instead of the first indication;
A method for controlling a construction machine comprising the steps of: 2. The method for controlling a construction machine according to claim 1 , wherein the second indication includes information indicating that the actual load has reached the rated traveling load. When the determination of whether or not the suspended traveling is possible is negative, calculating operation information of the work machine for changing the posture of the work machine to a posture in which the determination is positive;
displaying the operation information on the display unit;
The method for controlling a construction machine according to claim 1 or 2 , further comprising: The method for controlling a construction machine according to claim 3 , further comprising displaying a camera image of the surroundings of the construction machine and the operation information or the actual load on the display unit.