Control device, control method, and work machine

Abstract

A control device includes an acquisition unit configured to 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 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 determine whether or not the first detection signal and the second detection signal are a value corresponding to the neutral position at the time of start of a work machine, generate and output a control signal for controlling the work equipment where both the first detection signal and the second detection signal are 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 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 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,   generate and output a predetermined control signal for controlling the work equipment based on the first detection signal in a case where both of the first detection signal and the second detection signal are the value corresponding to the neutral position, and   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, generate and output the control signal based on the other of the first detection signal or the second detection signal, and output predetermined information corresponding to a case where the one is not the value corresponding to the neutral position from a predetermined output unit.   
     
     
         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 after limiting a function of the work equipment. 
     
     
         3 . The control device according to  claim 1 , wherein the second tilt amount sensor outputs the second detection signal according to the tilt amount such that a total value of the first detection signal and the second detection signal is a certain value, and
 in a case where it is determined that both of the first detection signal and the second detection signal are the value corresponding to the neutral position, the control unit generates and outputs the control signal to determine whether or not the total value of the first detection signal and the second detection signal is the certain value, and stop the work equipment in a case where the total value is not the certain value.   
     
     
         4 . A control method of a work machine including work equipment, the control method comprising:
 a step of 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 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,   generating and outputting a predetermined control signal for controlling the work equipment based on the first detection signal in a case where both of the first detection signal and the second detection signal are the value corresponding to the neutral position, and   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, generating and outputting the control signal based on the other of the first detection signal or the second detection signal, and outputting predetermined information corresponding to a case where the one is not the value corresponding to the neutral position from a predetermined output unit.   
     
     
         5 . A work machine comprising:
 a work equipment;   an acquisition unit configured to 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 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,   generate and output a predetermined control signal for controlling the work equipment based on the first detection signal in a case where both of the first detection signal and the second detection signal are the value corresponding to the neutral position, and   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, generate and output the control signal based on the other of the first detection signal or the second detection signal, and output predetermined information corresponding to a case where the one is not the value corresponding to the neutral position from a predetermined output unit.   
     
     
         6 . The control device according to  claim 2 , wherein the second tilt amount sensor outputs the second detection signal according to the tilt amount such that a total value of the first detection signal and the second detection signal is a certain value, and
 in a case where it is determined that both of the first detection signal and the second detection signal are the value corresponding to the neutral position, the control unit generates and outputs the control signal to determine whether or not the total value of the first detection signal and the second detection signal is the certain value, and stop the work equipment in a case where the total value is not the certain value.