Control device, control method, and working machine

Abstract

The control device includes an acquisition unit configured to repeatedly acquire a first detection signal output according to a tilt amount of an operation lever by a first tilt amount sensor configured to detect the tilt amount of the operation lever of the work equipment tilted from a neutral position in a first direction or a second direction opposite to the first direction, and a second detection signal output according to the tilt amount by a second tilt amount sensor configured to detect the tilt amount, and a control unit configured to repeatedly determine whether or not the first detection signal and the second detection signal are a value corresponding to the neutral position at a time of start of the work machine, and output an alarm indicating that both of the first detection signal and the second detection signal are not the value corresponding to the neutral position.

1 . A control device of a work machine including work equipment, the control device comprising:
 an acquisition unit configured to repeatedly acquire a first detection signal output according to a tilt amount of an operation lever by a first tilt amount sensor configured to detect the tilt amount of the operation lever of the work equipment tilted from a neutral position in a first direction or a second direction opposite to the first direction, and a second detection signal output according to the tilt amount by a second tilt amount sensor configured to detect the tilt amount; and   a control unit configured to repeatedly determine whether or not the first detection signal and the second detection signal are a value corresponding to the neutral position at a time of start of the work machine, for a predetermined time,   output an alarm indicating that both of the first detection signal and the second detection signal are not the value corresponding to the neutral position from a predetermined output unit in a case where both of the first detection signal and the second detection signal are not the value corresponding to the neutral position, and stop the output of the alarm and generate and output a predetermined control signal for controlling the work equipment based on the first detection signal when both of the first detection signal and the second detection signal are the value corresponding to the neutral position before the predetermined time elapses.   
     
     
         2 . The control device according to  claim 1 , wherein, in a case where any one of the first detection signal or the second detection signal is not the value corresponding to the neutral position, the control unit generates and outputs the control signal based on the other of the first detection signal or the second detection signal, and outputs predetermined information corresponding to a case where the one is not the value corresponding to the neutral position, from the predetermined output unit. 
     
     
         3 . The control device according to  claim 2 , wherein, in a case where any one of the first detection signal or the second detection signal is not the value corresponding to the neutral position, the control unit generates and outputs the control signal based on the other of the first detection signal or the second detection signal after limiting a function of the work equipment. 
     
     
         4 . A control method of a work machine including work equipment, the control method comprising:
 a step of repeatedly acquiring a first detection signal output according to a tilt amount of an operation lever by a first tilt amount sensor configured to detect the tilt amount of the operation lever of the work equipment tilted from a neutral position in a first direction or a second direction opposite to the first direction, and a second detection signal output according to the tilt amount by a second tilt amount sensor configured to detect the tilt amount; and   a step of repeatedly determining whether or not the first detection signal and the second detection signal are a value corresponding to the neutral position at a time of start of the work machine, for a predetermined time,   outputting an alarm indicating that both of the first detection signal and the second detection signal are not the value corresponding to the neutral position from a predetermined output unit in a case where both of the first detection signal and the second detection signal are not the value corresponding to the neutral position, and   stopping the output of the alarm and generating and outputting a predetermined control signal for controlling the work equipment based on the first detection signal when both of the first detection signal and the second detection signal are the value corresponding to the neutral position before the predetermined time elapses.   
     
     
         5 . A work machine comprising:
 work equipment;   an acquisition unit configured to repeatedly acquire a first detection signal output according to a tilt amount of an operation lever by a first tilt amount sensor configured to detect the tilt amount of the operation lever of the work equipment tilted from a neutral position in a first direction or a second direction opposite to the first direction, and a second detection signal output according to the tilt amount by a second tilt amount sensor configured to detect the tilt amount; and   a control unit configured to repeatedly determine whether or not the first detection signal and the second detection signal are a value corresponding to the neutral position at a time of start of the work machine, for a predetermined time,   output an alarm indicating that both of the first detection signal and the second detection signal are not the value corresponding to the neutral position from a predetermined output unit in a case where both of the first detection signal and the second detection signal are not the value corresponding to the neutral position, and   stop the output of the alarm and generate and output a predetermined control signal for controlling the work equipment based on the first detection signal when both of the first detection signal and the second detection signal are the value corresponding to the neutral position before the predetermined time elapses.