Parameter changing system, parameter changing method and parameter changing program for construction machinery

Abstract

In the present invention, the controller determines whether the current performance of the device meets the determination criterion based on the current state of the device acquired by the sensor. When the controller determines that the current performance of the device does not meet the determination criterion, the controller calculates parameters that make the performance of the device meet the determination criterion based on the current state of the device acquired by the sensor and the determination criterion. The controller changes the parameters managed by the storage device to the parameters calculated by itself.

Description

Technical Field

[0001] The present invention relates to a parameter changing system, a parameter changing method and a parameter changing program for engineering machinery for changing parameters of control software for controlling the engineering machinery. Background Art

[0002] Patent Document 1 discloses an improved process control in which the behavior of a plant equipment system is constantized by model-based design, and the behavior control is optimized based on the obtained model.

[0003] Furthermore, Patent Document 2 discloses a control loop adaptive adjustment system and method, in which parameters are set to optimize the output of a system or component including a loop control.

[0004] In addition, the state of the equipment of the construction machinery may change due to wear and tear caused by operation or aging. Therefore, even if the performance of the equipment of a new vehicle meets the judgment standard regarding the performance of the equipment, that is, the pre-set judgment standard, after a certain period of time, the performance of the equipment may no longer meet the judgment standard. The parameters of the control software for controlling the construction machinery are set based on the assumption that the equipment is in a new state. Therefore, it is possible to consider changing the parameters so that the performance of the equipment meets the judgment standard.

[0005] In Patent Documents 1 and 2, the parameters are dynamically switched by modeling the system. However, these documents do not foresee construction machinery, and therefore, they do not take into account the judgment criteria unique to construction machinery.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Publication No. 2004-527860

[0009] Patent Document 2: Japanese Patent Publication No. 2007-141234 Summary of the invention

[0010] An object of the present invention is to provide a parameter changing system, a parameter changing method and a parameter changing program for a construction machine, which can make the performance of the equipment of the construction machine meet the judgment criteria unique to the construction machine even if the performance of the equipment of the construction machine changes.

[0011] A parameter change system involved in one aspect of the present invention is a parameter change system for construction machinery that changes the parameters of control software for controlling the construction machinery, and includes: a parameter management device for managing the parameters; a judgment criterion management device for managing the judgment criterion for the performance of equipment possessed by the construction machinery, the judgment criterion being a pre-set judgment criterion; an acquisition device for acquiring the current state of the equipment; a determination unit for determining whether the current performance of the equipment meets the judgment criterion based on the current state of the equipment acquired by the acquisition device; a calculation unit for calculating parameters that make the performance of the equipment meet the judgment criterion based on the current state of the equipment acquired by the acquisition device and the judgment criterion when the determination unit determines that the current performance of the equipment does not meet the judgment criterion; and a change unit for changing the parameters managed by the parameter management device to the parameters calculated by the calculation unit.

[0012] In addition, another aspect of the present invention involves a parameter change method for engineering machinery, which is a method for changing parameters of control software for controlling engineering machinery, and includes: an acquisition step of acquiring the current state of a device possessed by the engineering machinery; a determination step of determining whether the current performance of the device satisfies a determination criterion regarding the performance of the device based on the acquired current state of the device, the determination criterion being a pre-set determination criterion; a calculation step of calculating, when it is determined that the current performance of the device does not satisfy the determination criterion, based on the acquired current state of the device and the determination criterion, parameters that make the performance of the device satisfy the determination criterion; and a change step of changing the parameters managed by the parameter management device to the calculated parameters.

[0013] In addition, a parameter change program for construction machinery involved in yet another aspect of the present invention is a parameter change program for construction machinery that enables a computer to function in a manner of changing parameters of control software for controlling the construction machinery, and enables the computer to function as an acquisition unit, a determination unit, a calculation unit, and a change unit, wherein the acquisition unit acquires the current state of the equipment possessed by the construction machinery; the determination unit determines whether the current performance of the equipment satisfies a determination criterion for the performance of the equipment based on the acquired current state of the equipment, and the determination criterion is a pre-set determination criterion; the calculation unit calculates parameters that make the performance of the equipment satisfy the determination criterion based on the acquired current state of the equipment and the determination criterion, if it is determined that the current performance of the equipment does not satisfy the determination criterion; the change unit changes the parameters managed by the parameter management device to the calculated parameters.

[0014] According to the present invention, when the current performance of the equipment of the construction machinery does not meet the judgment standard, the parameters managed by the parameter management device are changed to the calculated parameters. After the parameters are changed, the performance of the equipment will meet the judgment standard. Therefore, even if the performance of the equipment of the construction machinery changes, the performance of the equipment can meet the judgment standard unique to the construction machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a side view of the construction machinery.

[0016] Figure 2 This is a circuit diagram of the parameter changing system in the first embodiment.

[0017] Figure 3 It is a graph showing the temporal change of the measurement value of the sensor.

[0018] Figure 4 It is a bar graph comparing the braking performance before and after the improvement.

[0019] Figure 5 It is a graph showing the time change of the braking performance before and after the improvement.

[0020] Fig. 6A This is a diagram showing the temporal change of the measurement value of the sensor, and is a diagram when the threshold value is 1 threshold value.

[0021] Figure 6B This is a graph showing the temporal change of the measurement value of the sensor, and is a graph when an upper limit value and a lower limit value are set.

[0022] Figure 7 This is a flowchart of parameter change control in the first embodiment.

[0023] Figure 8 This is a flowchart of the determination process.

[0024] Fig. 9 This is a circuit diagram of a parameter changing system in the second embodiment.

[0025] Fig.10 This is a flowchart of parameter change control on the construction machine side in the second embodiment.

[0026] Fig.11 This is a flowchart of parameter change control on the server side in the second embodiment. DETAILED DESCRIPTION

[0027] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following embodiment is merely a specific example of the present invention and does not limit the technical scope of the present invention.

[0028] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0029] [First embodiment]

[0030] (Configuration of parameter change system)

[0031] Figure 1 FIG. 2 is a side view of a construction machine 2 to which the parameter changing system 1 for a construction machine according to the first embodiment of the present invention is applied. Figure 1 As shown, the parameter changing system 1 is installed in a construction machine 2. The construction machine 2 is a machine that performs work with an attachment 30, and is, for example, a hydraulic excavator. The construction machine 2 includes a lower traveling body 21, an upper swing body 22, the attachment 30, and a cylinder 40.

[0032] The lower traveling body 21 is a device for traveling the construction machine 2, and is provided with crawlers, for example. The upper revolving body 22 is rotatably mounted on the upper part of the lower traveling body 21 via a revolving device. A cab (operating room) 23 is provided in front of the upper revolving body 22.

[0033] The attachment 30 is mounted on the upper revolving body 22. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is mounted on the upper revolving body 22 so as to be able to swing freely (rise and fall freely). The arm 32 is mounted on the boom 31 so as to be able to swing freely. The bucket 33 is mounted on the arm 32 so as to be able to swing freely. The bucket 33 is a device for performing operations such as digging, leveling, and shoveling for the work object (sand and soil, etc.). In addition, a remote attachment such as a hydraulic breaker, a grab, a breaker, a lifting magnet, etc. may be mounted instead of the bucket 33.

[0034] The cylinder 40 operates the attachment 30 . The cylinder 40 is a hydraulic telescopic cylinder and includes a boom cylinder 41 , an arm cylinder 42 , and a bucket cylinder 43 .

[0035] The boom cylinder 41 drives the boom 31 to swing relative to the upper swing body 22. The base end of the boom cylinder 41 is swingably attached to the upper swing body 22. The distal end of the boom cylinder 41 is swingably attached to the boom 31.

[0036] The arm cylinder 42 drives the arm 32 to swing relative to the boom 31. The base end portion of the arm cylinder 42 is swingably attached to the boom 31. The distal end portion of the arm cylinder 42 is swingably attached to the arm 32.

[0037] The bucket cylinder 43 drives the bucket 33 to swing relative to the arm 32. The base end of the bucket cylinder 43 is swingably attached to the arm 32. The distal end of the bucket cylinder 43 is swingably attached to a link member, and the link member is swingably attached to the bucket 33.

[0038] (Electrical structure of parameter change system)

[0039] Figure 2 is a circuit diagram of the parameter change system 1. Figure 2 As shown, the construction machine 2 includes a storage device 11 and a sensor 12. The storage device 11 includes a parameter management device 111 and a judgment standard management device 112. The parameter management device 111 manages parameters of control software for controlling the construction machine 2.

[0040] The judgment criterion management device 112 manages a pre-set judgment criterion as a judgment criterion for the performance of the equipment 14 provided to the construction machine 2. Here, the equipment 14 provided to the construction machine 2 is, for example, an engine, a main safety valve, a swing device, etc., which are controlled by the controller 13 described later. The controller 13 converts the operation amount input to the operating device such as the operating lever by the operator into the command value of the equipment 14 using the parameters stored in the parameter management device 111. Therefore, the parameter is a coefficient for converting the operation amount input to the operating device such as the operating lever into the command value of the equipment 14.

[0041] In the present embodiment, the determination criterion is a factory determination criterion set according to the state of the equipment 14 when the construction machine 2 is shipped, but the determination criterion is not limited thereto. As shown in Table 1, the determination criterion has a reference value, an upper limit value, and a lower limit value. In Table 1, the upper limit value and the lower limit value are set based on the reference value, but the upper limit value and the lower limit value may also be set based on the average value of the measurement value of the sensor 12.

[0042] Table 1

[0043] project Benchmark value Upper limit Lower limit Engine speed 2000 +25 -25 Main safety valve pressure 37.5 +1.0 -1.0 Rotation speed 4.5 +0.5 -0.5 Swing brake performance 95 +10 -10 ■■■ ■■ ■■ ■■ ■■■ ■■ ■■ ■■ ■■■ ■■ ■■ ■■

[0044] The sensor (acquisition device) 12 acquires the current state of the device 14. The state of the device 14 may change from a new state due to wear and aging. The sensor 12 is at least one of a rotation speed sensor, a pressure sensor, a speed sensor, a gyro sensor, a temperature sensor, an infrared sensor, and a sound sensor. For example, when the device 14 is an engine, the sensor 12 is a rotation speed sensor that measures the rotation speed of the engine. In addition, when the device 14 is a main safety valve, the sensor 12 is a pressure sensor that measures the pressure of the main safety valve. The main safety valve is a valve that limits the discharge pressure of the hydraulic pump. In addition, when the device 14 is a rotary device, the sensor 12 is a speed sensor that measures the rotation speed.

[0045] The construction machine 2 includes a controller 13. The controller 13 controls the equipment 14 by executing control software, thereby controlling the construction machine 2. The controller 13 includes a determination unit 131, a calculation unit 132, a change unit 133, and a display control unit 134.

[0046] The determination unit 131 determines whether the current performance of the device 14 satisfies a determination criterion based on the current state of the device 14 acquired by the sensor 12 .

[0047] When the determination unit 131 determines that the current performance of the device 14 does not meet the determination criterion, the calculation unit 132 calculates the parameters that make the performance of the device 14 meet the determination criterion based on the current state of the device acquired by the sensor 12 and the determination criterion. When the performance of the device 14 deteriorates from the new state, the current performance of the device 14 becomes unsatisfactory to the determination criterion. The parameters managed by the storage device 11 when the construction machine 2 leaves the factory are set with the assumption that the device 14 is in a new state. For this reason, the calculation unit 132 calculates the parameters that make the performance of the device 14 meet the determination criterion for the device 14 whose current performance does not meet the determination criterion.

[0048] The changing unit 133 changes the parameters managed by the parameter management device 111 to the parameters calculated by the calculating unit 132 .

[0049] In this way, when the current performance of the equipment 14 of the construction machine 2 does not meet the judgment standard, the parameters managed by the parameter management device 111 are changed to the calculated parameters. If the parameters are changed, the performance of the equipment 14 will meet the judgment standard. Therefore, even if the performance of the equipment 14 of the construction machine 2 changes, the performance of the equipment 14 can meet the judgment standard unique to the construction machine 2.

[0050] The determination standard is a factory-delivery determination standard set according to the state of the equipment 14 when the construction machine 2 is shipped. Thus, by changing the parameters, the performance of the equipment 14 can be made to meet the factory-delivery determination standard.

[0051] The sensor 12 is at least one of a rotation speed sensor, a pressure sensor, a speed sensor, a gyro sensor, a temperature sensor, an infrared sensor, and a sound sensor. Thus, the current state of the device 14 can be appropriately acquired.

[0052] Figure 3It is a diagram showing the time change of the measurement value of the sensor 12. When the measurement value between the upper limit value and the lower limit value becomes lower than the lower limit value, for example, the determination unit 131 determines that the current performance of the device 14 does not meet the determination criterion. The calculation unit 132 calculates the parameters that make the performance of the device 14 meet the determination criterion. The change unit 133 changes the parameters managed by the parameter management device 111 to the parameters calculated by the calculation unit 132. When the measurement value exceeds the upper limit value, the parameter is also changed in the same way as when the measurement value is lower than the lower limit value.

[0053] Furthermore, even before the measurement value of the sensor 12 falls below the lower limit or exceeds the upper limit, the determination unit 131 may continuously calculate the parameter that makes the performance of the device 14 meet the determination criterion. In this case, when the measurement value of the sensor 12 falls below the lower limit or exceeds the upper limit, the determination unit 131 determines that the current performance of the device 14 does not meet the determination criterion. Furthermore, the change unit 133 may change the parameter managed by the storage device 11 to the parameter calculated by the calculation unit 132.

[0054] Return to reference Figure 2 The construction machine 2 has an input device 15 and a display (display device) 16. The input device 15 and the display 16 are arranged in the cab 23. The input device 15 may be a touch screen arranged overlapping with the display 16, or may be a physical button, or may be a mobile terminal (such as a smart phone) held by the operator of the construction machine 2.

[0055] When the determination unit 131 determines that the current performance of the device 14 does not satisfy the determination criterion, the display control unit 134 causes a screen to be displayed on the display 16 to notify that the current performance of the device 14 does not satisfy the determination criterion. In addition, the display control unit 134 may also notify the operator that the current performance of the device 14 does not satisfy the determination criterion through a speaker or a light provided in the cab 23.

[0056] In the present embodiment, the changing unit 133 changes the parameters on the condition that a parameter change instruction is input to the input device 15. Specifically, when the determination unit 131 determines that the current performance of the device 14 does not meet the determination criterion, the display control unit 134 displays a screen asking whether to change the parameters on the display 16. Furthermore, the changing unit 133 changes the parameters on the condition that a parameter change instruction agreeing to change the parameters is input to the input device 15.

[0057] In this way, the parameter is changed on the condition that the parameter change command is input to the input device 15. Therefore, the parameter is not changed when the parameter change command is not input to the input device 15. Thus, by entrusting the input to the input device 15 to the operator who operates the construction machine 2 or the manager who manages the site, it is possible to make them decide whether to change the parameter.

[0058] Before accepting input of a parameter change command to the input device 15 , the display control unit 134 causes the display 16 to display a performance comparison screen that compares the performance of the device 14 before the parameter change and the performance of the device 14 after the parameter change.

[0059] For example, in the case where the performance of the device 14 is the braking performance of a slewing device, Figure 4 As shown, the display control unit 134 causes the display 16 to display a performance comparison screen including a bar graph comparing the braking performance before and after the improvement. Here, the performance before the improvement refers to the performance of the device 14 before the parameter is changed (currently). The performance after the improvement refers to the performance of the device 14 expected when the parameter is changed. The value represented by the bar graph is an average value, but it is not limited to this.

[0060] Furthermore, in the case where the performance of the device 14 is the braking performance of the slewing device, such as Figure 5 As shown, the display control unit 134 causes the display 16 to display a performance comparison screen including a graph showing the temporal changes in the braking performance before and after the improvement.

[0061] Thus, before receiving input to the input device 15, the performance of the device 14 before the parameter change and the performance of the device 14 after the parameter change are displayed on the display 16. Thus, the operator operating the construction machine 2 or the manager managing the site can easily determine whether to input a parameter change instruction to the input device 15.

[0062] In addition, the performance comparison screen may also use numerical values ​​or colors to indicate the difference between the two performances. The performance comparison screen is not limited to a screen that compares and displays the performance of the device 14 before the parameter change and the performance of the device 14 after the parameter change. For example, the display control unit 134 may alternately display or overlap the performance of the device 14 before the parameter change and the performance of the device 14 after the parameter change.

[0063] The braking performance is, for example, the braking time required from the start of the application of the brake until the construction machine 2 actually stops. The parameter is, for example, a coefficient that converts the amount of operation input to the swing lever into a command value for the brake of the swing device. In this case, by adjusting the parameter, the braking time that was A seconds before the adjustment of the parameter can be shortened to B seconds. As a result, the braking performance satisfies the judgment criterion.

[0064] The performance of the device 14 is, for example, the operation amount per unit time of a component affecting an actuator provided in the construction machine 2 , such as brake performance or engine performance, or the time required to generate the unit operation amount.

[0065] Here, the changing unit 133 can change the parameters during the operation of the construction machine 2. Therefore, even during the operation of the construction machine 2, if a parameter change command is input to the input device 15, the parameters are changed. When the parameters are changed during the operation, the operation efficiency will not be reduced, and the performance of the equipment 14 can be maintained.

[0066] Specifically, when the construction machinery 2 is performing standard operations such as excavation, the sensor 12 obtains time series data of measurement values ​​such as engine speed, pump pressure, and proportional valve indicated current value. The determination unit 131 derives an estimated formula (approximate formula) for the change in the measurement value based on the acquired time series data of the measurement value. The estimated formula is used to set the upper limit and lower limit. For example, assume that the estimated formula for a certain item is f(t)=at(a: coefficient, t: time). In this case, for example, the upper limit is represented by g(t)=at+u(u>0), and the lower limit is represented by h(t)=at-V(V>0).

[0067] The estimation formula is a formula for estimating the current state (time t) from the state in the past closest to the present (time t-Δt). However, this is just an example, and the estimation formula may be a formula for estimating the state in the future closest to the present.

[0068] The determination unit 131 calculates what kind of value is output when the values ​​of various items based on the determination criteria are input. Specifically, the determination unit 131 compares the current state obtained by the sensor 12 with the current upper limit g(t) and the current lower limit h(t) to determine whether the current state is within the range of the current upper limit g(t) and the current lower limit h(t). Moreover, when the determination unit 131 determines that the current state is outside the range, the calculation unit 132 calculates parameters so that the current state is within the current upper limit g(t) and the current lower limit h(t). Thus, the current state satisfies the determination criteria. Various items include more than one threshold value. The calculation unit 132 increases or decreases the parameters according to the degree of deviation of the current state obtained by the sensor 12 relative to the threshold value. The sampling period when the time change of the measurement value of the sensor 12 is obtained can be appropriately changed. In addition, the start / stop of sampling can be appropriately switched by the operator of the construction machinery 2.

[0069] In addition, the controller 13 may also adopt a configuration of changing parameters by changing the state of the construction machine 2 to a state in which the parameters can be changed. The state change may be performed in an invisible manner through control software or in a tangible manner through a physical button. After the state change, an action example is displayed on the display 16 so that the operator actually performs the action. As an example of an action, there are, for example, a boom raising full lever, a boom extending full lever, and a swinging full lever, but there is no particular limitation.

[0070] In the action of the construction machinery 2, according to the time change of the measured value, the determination unit 131 calculates the upper limit value and the lower limit value based on the estimated value of the current state output when the values ​​of various items based on the determination criterion are input, and sets the range of the upper limit value and the lower limit value as the determination criterion. Moreover, in the case where the determination unit 131 determines that the current state obtained by the sensor 12 deviates from the determination criterion, the calculation unit 132 calculates the parameters to meet the determination criterion. After the parameters are changed or not changed, the state of the construction machinery 2 is changed to the normal working state. The controller 13 can let the operator perform the same action again after the parameter is changed and before it is changed to the normal working state to execute the step of confirming whether the determination criterion is met.

[0071] Fig. 6A is a graph showing the time variation of the measurement value of the sensor 12. Fig. 6A As shown in FIG. 1 , a case where one threshold is used is considered. In this case, as shown by the black circle, if the parameter is changed every time the measured value exceeds the threshold, the change will be frequent. The change of the parameter is executed by interrupt processing by the controller 13, but if the frequency of parameter change is high, the processing load of the controller 13 will increase.

[0072] Figure 6B is a graph showing the time variation of the measurement value of the sensor 12. Figure 6B As shown, in the present embodiment, the determination criterion has an upper limit value and a lower limit value. Moreover, in the present embodiment, when the parameter has not been changed once, and when the current state of the device 14 obtained by the sensor 12 exceeds the upper limit value or the current state of the device 14 obtained by the sensor 12 is lower than the lower limit value, the determination unit 131 determines that the determination criterion is not met. In addition, when the parameter has been changed at least once, when the current state of the device 14 in the last determination is higher than the upper limit value and when the current state of the device 14 in this determination is lower than the lower limit value, the determination unit 131 determines that the determination criterion is not met. In addition, when the parameter has been changed at least once, when the current state of the device 14 in the last determination is lower than the lower limit value and when the current state of the device 14 in this determination is higher than the upper limit value, the determination unit 131 determines that the determination criterion is not met.

[0073] use Figure 6B Specifically, when the parameter has not been changed once, the determination unit 131 determines whether the current state of the device 14 exceeds the upper limit and whether the current state of the device 14 is lower than the lower limit. Figure 6BIn the example, since the measured value exceeds the upper limit value (black dot on the left), the determination unit 131 determines that the determination criterion is not met. Therefore, the parameter is changed. Next, when the parameter is changed at least once, the determination unit 131 determines whether the current state of the device 14 that exceeded the upper limit value last time is lower than the lower limit value and whether the current state of the device 14 that was lower than the lower limit value last time exceeds the upper limit value. Figure 6B In the example, the measured value once exceeded the upper limit value and then fell below the lower limit value (black circle on the right), so the determination unit 131 determines that the determination criterion is not met. As a result, the parameter is changed again. Furthermore, the determination unit 131 repeatedly performs the determination process after the parameter is changed at least once.

[0074] This can suppress the frequency of the current state of the device 14 exceeding the upper limit or lower limit. This can reduce the load of the process of changing the parameter by calculating the changed parameter.

[0075] (Parameter change system operation)

[0076] Next, using the flow chart as parameter change control Figure 7 The operation of the parameter changing system 1 will be described.

[0077] First, the sensor 12 acquires the current state of the device 14 (step S1). Then, the determination unit 131 performs Figure 8 The determination process shown is (step S2). The determination process will be described later.

[0078] Next, the determination unit 131 determines whether the current performance of the device 14 satisfies the determination criteria (step S3). If it is determined in step S3 that the current performance of the device 14 satisfies the determination criteria (S3: "Yes"), the process returns to step S1. On the other hand, if it is determined in step S3 that the current performance of the device 14 does not satisfy the determination criteria (S3: "No"), the display control unit 134 causes the display 16 to display a screen notifying that the current performance of the device 14 does not satisfy the determination criteria (step S4).

[0079] Next, the calculation unit 132 calculates parameters that make the performance of the device 14 satisfy the criterion based on the current state of the device 14 acquired by the sensor 12 and the criterion (step S5). Then, the display control unit 134 displays the performance comparison screen on the display 16 (step S6).

[0080] Next, the changing unit 133 determines whether the parameter change instruction is input to the input device 15 (step S7). If it is determined in step S7 that the parameter change instruction is not input to the input device 15 (S7: "No"), the process returns to step S1. On the other hand, if it is determined in step S7 that the parameter change instruction is input to the input device 15 (S7: "Yes"), the changing unit 133 changes the parameters managed by the parameter management device 111 to the parameters calculated by the calculation unit 132 (step S8). After the process of step S8 is completed, the process returns to step S1.

[0081] Next, using the flowchart of the determination process Figure 8 The determination process will be described.

[0082] First, the determination unit 131 determines whether the parameter has been changed at least once (step S11). Specifically, when at least one of the flag f_up and the flag f_down is 1, the determination unit 131 determines that the parameter has been changed at least once. On the other hand, when both the flag f_up and the flag f_down are 0, the determination unit 131 determines that the parameter has not been changed once. The flag f_up is a flag indicating the history of the measured value exceeding the upper limit value. The flag f_down is a flag indicating the history of the measured value being lower than the lower limit value. When it is determined in step S11 that the parameter has not been changed once (S11: "No"), the determination unit 131 determines whether the measured value of the sensor 12 is greater than the upper limit value (step S12).

[0083] If it is determined in step S12 that the measured value of the sensor 12 is greater than the upper limit value (S12: YES), the determination unit 131 sets the flag f_up to 1 (step S13) and proceeds to step S14. When the parameter is not changed, both the flag f_up and the flag f_down are set to 0.

[0084] When it is determined in step S12 that the measurement value of the sensor 12 is equal to or less than the upper limit value (S12: No) or after step S13, the determination unit 131 determines whether the measurement value of the sensor 12 is lower than the lower limit value (step S14).

[0085] When it is determined in step S14 that the measurement value of the sensor 12 is lower than the lower limit value ( S14 : YES), the determination unit 131 sets the flag f_down to 1 (step S15 ), and advances the process to step S16 .

[0086] If it is determined in step S14 that the measured value of the sensor 12 is above the lower limit value (S14: "No") or after step S15, the determination unit 131 determines whether the flag f_up is 1 or the flag f_down is 1 (step S16). If it is determined in step S16 that the flag f_up is 1 or the flag f_down is 1 (S16: "Yes"), the determination unit 131 determines that the current performance of the device 14 does not meet the determination criterion (step S17), and the processing returns to Figure 7 Flowchart of the process.

[0087] On the other hand, when it is determined in step S16 that the flag f_up is 0 and the flag f_down is 0 (S16: No), the determination unit 131 determines that the current performance of the device 14 satisfies the determination criterion (step S18), and returns the process to step S19. Figure 7 Flowchart of the process.

[0088] If it is determined in step S11 that the parameter has been changed at least once (S11: "Yes"), the determination unit 131 determines whether the measured value of the sensor 12 exceeds the upper limit value and whether the flag f_down is 1 (step S19). If it is determined in step S19 that the measured value of the sensor 12 exceeds the upper limit value and the flag f_down is 1 (S19: "Yes"), the determination unit 131 sets the flag f_up to 1 and the flag f_down to 0 (step S20), and advances the process to step S21. For example, if the measured value of the sensor 12 exceeds the upper limit value after falling below the lower limit value, it is determined as "Yes" in step S19, and the flag f_up is set to 1 and the flag f_down is set to 0 in step S20.

[0089] If it is determined in step S19 that the measured value of the sensor 12 is below the upper limit value or the flag f_down is 0 (S19: "No"), the process proceeds to step S21. For example, if the measured value of the sensor 12 is below the lower limit value but the measured value of the sensor 12 does not exceed the upper limit value thereafter, the determination in step S19 is "No".

[0090] In step S21, the determination unit 131 determines whether the measured value of the sensor 12 is lower than the lower limit value and whether the flag f_up is 1. In the case where it is determined in step S21 that the measured value of the sensor 12 is lower than the lower limit value and the flag f_up is 1 (S21: "Yes"), the determination unit 131 sets the flag f_up to 0 and the flag f_down to 1 (step S22), and advances the process to step S23. For example, in the case where the measured value of the sensor 12 exceeds the upper limit value and falls below the lower limit value, it is determined as "Yes" in step S21, and the flag f_up is set to 0 and the flag f_down is set to 1 in step S22.

[0091] If it is determined in step S21 that the measured value of the sensor 12 is greater than the lower limit value or the flag f_up is 0 (S21: No), the process proceeds to step S24. For example, if the measured value of the sensor 12 exceeds the upper limit value but the measured value of the sensor 12 does not fall below the lower limit value thereafter, the determination in step S21 is No.

[0092] In step S23, the determination unit 131 determines that the current performance of the device 14 does not satisfy the determination criterion, and the process returns to step S24. Figure 7 Therefore, when the measured value of the sensor 12 is lower than the lower limit value and exceeds the upper limit value, it is determined that the current performance of the device 14 does not meet the determination criterion. Or when the measured value of the sensor 12 exceeds the upper limit value and is lower than the lower limit value, it is determined that the current performance of the device 14 does not meet the determination criterion.

[0093] On the other hand, in step S24, the determination unit 131 determines that the current performance of the device 14 satisfies the determination criterion, and the process returns to step S25. Figure 7 Therefore, when the measured value of the sensor 12 is lower than the lower limit value and does not exceed the upper limit value, it is determined that the determination criterion is satisfied. Or, when the measured value of the sensor 12 exceeds the upper limit value and does not fall below the lower limit value, it is determined that the determination criterion is satisfied.

[0094] (Effect)

[0095] As described above, according to the parameter change system 1 involved in this embodiment, when the current performance of the equipment 14 equipped in the construction machine 2 does not meet the judgment standard, the parameters managed by the storage device 11 are changed to the calculated parameters. If the parameters are changed, the performance of the equipment 14 will meet the judgment standard. Therefore, even if the performance of the equipment 14 of the construction machine 2 changes, the parameter change system 1 can make the performance of the equipment 14 meet the judgment standard unique to the construction machine 2.

[0096] Furthermore, according to the parameter changing system 1 , the current state of the device 14 can be appropriately acquired by at least one of the rotation speed sensor, the pressure sensor, the speed sensor, the gyro sensor, the temperature sensor, the infrared sensor, and the sound sensor.

[0097] Furthermore, the parameter is changed on the condition that the parameter change command is input to the input device 15. Therefore, the parameter is not changed when the parameter change command is not input to the input device 15. Thus, the parameter change system 1 enables the operator who operates the construction machine 2 or the manager who manages the site to decide whether to change the parameter by entrusting the input to the input device 15 to the operator.

[0098] Furthermore, before accepting input to the input device 15, the performance of the device 14 before the parameter change and the performance of the device 14 after the parameter change are displayed on the display 16. Thus, the parameter change system 1 allows the operator operating the construction machine 2 or the manager managing the site to easily determine whether to input to the input device 15.

[0099] In addition, the determination criterion is set according to the state of the equipment 14 at the time of shipment of the construction machine 2. Thus, the parameter changing system 1 can change the parameters so that the performance of the equipment 14 satisfies the determination criterion at the time of shipment.

[0100] In addition, parameters may be changed during operation of the construction machine 2. When parameters are changed during operation, the performance of the equipment 14 can be maintained without reducing the operation efficiency.

[0101] In addition, in the determination before the parameter is changed once, when the current state of the device 14 exceeds the upper limit or is below the lower limit, the parameter is changed. Moreover, in the determination after the parameter is changed once, when the current state of the device 14 that exceeded the upper limit last time is below the lower limit or the current state of the device 14 that was below the lower limit last time exceeds the upper limit, the parameter is changed. In this way, the frequency of the current state of the device 14 exceeding the upper limit or the lower limit can be suppressed. Thus, the frequency of parameter changes can be suppressed, and therefore, the load of the process of changing the parameter by calculating the changed parameter can be reduced.

[0102] [Second embodiment]

[0103] Next, the parameter change system of the second embodiment is described with reference to the accompanying drawings. Here, the description of the common structure with the first embodiment and the effects produced thereby are omitted, and the difference from the first embodiment is mainly described. In addition, the same symbols as those of the first embodiment are attached to the same components as those of the first embodiment.

[0104] (Electrical structure of parameter change system)

[0105] Fig. 9 is a circuit diagram of the parameter changing system 101. Fig. 9 As shown, a parameter changing system 101 according to the second embodiment of the present invention includes a construction machine 2 and a server 3 .

[0106] In the first embodiment, the controller 13 of the construction machine 2 determines whether the current performance of the equipment 14 satisfies the determination criteria and calculates updated parameters. In this embodiment, the server 3 performs the above determination and calculation. In this embodiment, the determination criteria are managed by the storage device of the server 3.

[0107] like Fig. 9 As shown, the construction machine 2 includes a transceiver 17 . The transceiver 17 can transmit and receive data with the server 3 .

[0108] The controller 13 of the construction machine 2 sends the current state of the device 14 acquired by the sensor 12 to the server 3 through the transceiver 17. The server 3 determines whether the current performance of the device 14 meets the determination criteria based on the current state of the device 14 received from the construction machine 2. Furthermore, if the server 3 determines that the current performance of the device 14 does not meet the determination criteria, the server 3 sends a change permission to the construction machine 2.

[0109] Furthermore, when the server 3 determines that the current performance of the equipment 14 does not satisfy the determination criterion, the server 3 calculates parameters so that the performance of the equipment 14 satisfies the determination criterion, and transmits the calculated parameters to the construction machine 2 .

[0110] The controller 13 of the construction machine 2 changes the parameters managed by the storage device 11 to the parameters received from the server 3. The controller 13 of the construction machine 2 may also notify the server 3 that the parameters have been changed to the parameters received from the server 3. In this case, the server 3 receiving the notification may also store the calculated parameters.

[0111] (Parameter change system operation)

[0112] Fig.10 and Fig.11 This is a flow chart of parameter change control. Fig.10 , Fig.11 The operation of the parameter changing system 101 will be described.

[0113] First, use Fig.10 The parameter change control on the construction machine 2 side is described below. The sensor 12 obtains the current state of the device 14 (step S31). The controller 13 uses the transceiver 17 to send the current state of the device 14 and the model information to the server 3 (step S32). The model information is the product number and version number of the software.

[0114] Next, the controller 13 determines whether the change permission is received from the server 3 (step S33). If it is determined in step S33 that the change permission is not received from the server 3 (S33: "No"), the process returns to step S31. On the other hand, if it is determined in step S33 that the change permission is received from the server 3 (S33: "Yes"), the controller 13 displays a screen on the display 16 to inform that the current performance of the device 14 does not meet the determination criterion (step S34).

[0115] Next, the controller 13 receives the parameters (changed parameters) that make the performance of the device 14 satisfy the determination criteria from the server 3 (step S35 ). Furthermore, the controller 13 displays the performance comparison screen on the display 16 (step S36 ).

[0116] Next, the controller 13 determines whether the parameter change instruction is input to the input device 15 (step S37). If it is determined in step S37 that the parameter change instruction is not input to the input device 15 (S37: "No"), the process returns to step S31. On the other hand, if it is determined in step S37 that the parameter change instruction is input to the input device 15 (S37: "Yes"), the controller 13 changes the parameters managed by the storage device 11 to the parameters calculated by itself (step S38). After step S38 is completed, the process returns to step S31.

[0117] Secondly, use Fig.11 The parameter change control on the server 3 side is described below. The controller of the server 3 (server-side controller) receives the current status and model information of the equipment 14 from the construction machine 2 (step S41). Figure 8 The determination process shown (step S42).

[0118] Next, the server-side controller determines whether the current performance of the device 14 satisfies the determination criteria based on the current state of the device 14 (step S43). If it is determined in step S43 that the current performance of the device 14 satisfies the determination criteria (S43: "Yes"), the process returns to step S41. On the other hand, if it is determined in step S43 that the current performance of the device 14 does not satisfy the determination criteria (S43: "No"), the server-side controller sends a change permission to the construction machine 2 (step S44).

[0119] Next, the server-side controller calculates parameters that make the performance of the device 14 meet the criterion based on the current state of the device 14 and the criterion (step S45). Furthermore, the controller 13 uses the transceiver 17 to send the changed parameters to the construction machine 2 (step S46). After step S46 is completed, the process returns to step S41.

[0120] As described above, according to the parameter changing system 101 according to the present embodiment, it is possible to obtain the same effects as those of the first embodiment.

[0121] In addition, the present embodiment may also adopt the following modified examples.

[0122] (1) Figure 7 The flowchart may further include the following processing: after step S1, the above-mentioned estimation formula is calculated, and the upper limit value and the lower limit value are set according to the estimation formula.

[0123] (2) Figure 7 The flowchart may be started when the construction machine 2 is in a specific state as a trigger. The specific state may be, for example, a state in which at least one of the boom-up full lever, the arm-extended full lever, and the swing full lever is input.

[0124] The above describes the embodiments of the present invention, but this is only a specific example, which does not particularly limit the present invention, and its specific structure, etc. can be appropriately designed and changed. In addition, the actions and effects recorded in the embodiments of the present invention are only the most preferred actions and effects produced based on the present invention, and the actions and effects produced by the present invention are not limited to the actions and effects recorded in the embodiments of the present invention.

[0125] (Summary of Implementation Methods)

[0126] This embodiment is summarized as follows.

[0127] The parameter change system involved in the present embodiment is a parameter change system for construction machinery for changing the parameters of control software for controlling the construction machinery, and comprises: a parameter management device for managing the parameters; a judgment criterion management device for managing the judgment criterion for the performance of the equipment equipped with the construction machinery, the judgment criterion being a pre-set judgment criterion; an acquisition device for acquiring the current state of the equipment; a determination unit for determining whether the current performance of the equipment satisfies the judgment criterion based on the current state of the equipment acquired by the acquisition device; a calculation unit for calculating parameters so that the performance of the equipment satisfies the judgment criterion based on the current state of the equipment acquired by the acquisition device and the judgment criterion when the determination unit determines that the current performance of the equipment does not satisfy the judgment criterion; and a change unit for changing the parameters managed by the parameter management device to the parameters calculated by the calculation unit.

[0128] According to the technical solution, when the current performance of the equipment of the construction machinery does not meet the judgment standard, the parameters managed by the parameter management device are changed to the calculated parameters. After the parameters are changed, the performance of the equipment will meet the judgment standard. Therefore, even if the performance of the equipment of the construction machinery changes, the performance of the equipment can meet the judgment standard unique to the construction machinery.

[0129] In the above-mentioned parameter changing system, the acquisition device may include at least one of a rotation speed sensor, a pressure sensor, a speed sensor, a gyro sensor, a temperature sensor, an infrared sensor, and a sound sensor.

[0130] According to this technical solution, the current state of the device can be appropriately acquired through at least one of a rotation speed sensor, a pressure sensor, a speed sensor, a gyroscope sensor, a temperature sensor, an infrared sensor, and a sound sensor.

[0131] The above parameter changing system may further include: an input device capable of inputting a parameter changing instruction; wherein the changing unit changes the parameter on the condition that the parameter changing instruction is input into the input device.

[0132] According to the technical solution, the parameter is changed on the condition that the parameter change instruction is input into the input device. Therefore, if the parameter change instruction is not input into the input device, the parameter is not changed. Thus, by entrusting the input of the input device to the operator who operates the construction machinery or the manager who manages the site, it is possible to make them decide whether to change the parameter.

[0133] The above-mentioned parameter change system may further include: a display device; and a display control unit that displays the performance of the device before the parameter change and the performance of the device after the parameter change on the display device before accepting the input to the input device.

[0134] According to the technical solution, before accepting input to the input device, the performance of the device before and after the parameter change is displayed on the display, thereby allowing operators of construction machinery or managers managing the site to easily determine whether to input to the input device.

[0135] In the above-mentioned parameter changing system, the determination criterion may be set according to a state of the equipment at the time of shipment of the construction machine.

[0136] According to this technical solution, the judgment standard is set according to the state of the equipment when the construction machine is shipped. Therefore, by changing the parameters, the performance of the equipment can meet the judgment standard when the construction machine is shipped.

[0137] In the above-mentioned parameter changing system, the changing unit can change the parameter during operation of the construction machine.

[0138] According to this technical solution, when parameters are changed during operation, the operation efficiency will not be reduced and the performance of the equipment can be maintained.

[0139] In the above-mentioned parameter change system, the judgment criterion may have a reference value, an upper limit value, and a lower limit value. When the current state of the device exceeds the upper limit value in the last judgment and is lower than the lower limit value in this judgment, or when the current state of the device is lower than the lower limit value in the last judgment and is higher than the upper limit value in this judgment, the judgment unit determines that the performance of the device does not meet the judgment criterion.

[0140] According to the technical solution, in the judgment before the parameter is changed once, when the current state of the device exceeds the upper limit or is lower than the lower limit, the performance of the device is judged to not meet the judgment criterion, and the parameter is changed. Moreover, in the judgment after the parameter is changed once, when the current state of the device that exceeded the upper limit last time is lower than the lower limit or the current state of the device that was lower than the lower limit last time exceeds the upper limit, the parameter is changed on the grounds that the performance of the device does not meet the judgment criterion. In this way, the frequency of the current state of the device exceeding the upper limit or the lower limit can be suppressed. In this way, the frequency of parameter changes can be suppressed, and therefore, the load of the process of changing the parameter by calculating the changed parameter can be reduced.

[0141] In the above-mentioned parameter changing system, the parameter may be a coefficient for converting an operation amount input to the construction machine into a command value of the device.

[0142] According to this technical solution, the state of the device is made to satisfy the determination criterion by adjusting the coefficient for converting the operation into the command value. Therefore, the state of the device can be made to satisfy the determination criterion with a simple process.

Claims

1. A parameter changing system for engineering machinery, which changes the parameters of the control software for controlling the engineering machinery, characterized in that include: A parameter management device for managing the parameters; A criterion management device for managing a criterion regarding the performance of equipment provided to the construction machine, the criterion being a pre-set criterion; An acquisition device acquires the current state of the device; a determination unit, for determining whether the current performance of the device satisfies the determination criterion according to the current state of the device acquired by the acquisition means; a calculation unit, which, when the determination unit determines that the current performance of the device does not satisfy the determination criterion, calculates a parameter that makes the performance of the device satisfy the determination criterion based on the current state of the device acquired by the acquisition device and the determination criterion; as well as, a changing unit, which changes the parameter managed by the parameter management device to the parameter calculated by the calculating unit; wherein, The judgment criterion includes a reference value, an upper limit value, and a lower limit value. When the current state of the device exceeds the upper limit value in the last judgment and is lower than the lower limit value in this judgment, or when the current state of the device is lower than the lower limit value in the last judgment and is higher than the upper limit value in this judgment, the judgment unit determines that the performance of the device does not meet the judgment criterion.

2. The parameter changing system for engineering machinery according to claim 1, characterized in that: The acquisition device includes at least one of a rotation speed sensor, a pressure sensor, a speed sensor, a gyroscope sensor, a temperature sensor, an infrared sensor, and a sound sensor.

3. The parameter changing system for engineering machinery according to claim 1, characterized in that Also includes: An input device capable of inputting parameter change instructions; wherein, The changing unit changes the parameter on the condition that a parameter change command is input to the input device.

4. The parameter changing system for engineering machinery according to claim 3, characterized in that Also includes: Display device; as well as, The display control unit causes the display device to display the performance of the device before the parameter change and the performance of the device after the parameter change before accepting the input to the input device.

5. The parameter changing system for engineering machinery according to any one of claims 1 to 4, characterized in that: The determination criterion is set according to the state of the equipment at the time of shipment of the construction machine.

6. The parameter changing system for engineering machinery according to any one of claims 1 to 4, characterized in that: The changing unit can change the parameter during operation of the construction machine.

7. The parameter changing system for engineering machinery according to any one of claims 1 to 4, characterized in that: The parameter is a coefficient for converting an operation amount input to the construction machine into a command value of the device.

8. A method for changing parameters of engineering machinery, for changing the parameters of control software for controlling the engineering machinery, characterized in that include: An acquisition step of acquiring the current status of the equipment provided by the engineering machinery; a determination step of determining, based on the acquired current state of the device, whether the current performance of the device satisfies a determination criterion regarding the performance of the device, the determination criterion being a pre-set determination criterion; a calculation step, in which, when it is determined that the current performance of the device does not meet the determination criterion, a parameter is calculated based on the acquired current state of the device and the determination criterion so as to make the performance of the device meet the determination criterion; as well as, A changing step, changing the parameters managed by the parameter management device to the calculated parameters; wherein, The judgment criterion includes a reference value, an upper limit value, and a lower limit value. In the determination step, when the current state of the device exceeds the upper limit value in the last determination and is lower than the lower limit value in this determination, or when the current state of the device is lower than the lower limit value in the last determination and is higher than the upper limit value in this determination, it is determined that the performance of the device does not meet the determination criteria.

9. A computer program product for construction machinery, which enables a computer to function in a manner that changes parameters of control software for controlling the construction machinery, characterized in that: The computer is made to function as an acquisition unit, a determination unit, a calculation unit, and a change unit, wherein: The acquisition unit acquires a current state of equipment provided in the construction machine; The determination unit determines, based on the acquired current state of the device, whether the current performance of the device satisfies a determination criterion regarding the performance of the device, where the determination criterion is a pre-set determination criterion; The calculation unit calculates a parameter that makes the performance of the device meet the determination criterion based on the acquired current state of the device and the determination criterion when it is determined that the current performance of the device does not meet the determination criterion; The changing unit changes the parameter managed by the parameter management device to the calculated parameter; The judgment criterion includes a reference value, an upper limit value, and a lower limit value. When the current state of the device exceeds the upper limit value in the last judgment and is lower than the lower limit value in this judgment, or when the current state of the device is lower than the lower limit value in the last judgment and is higher than the upper limit value in this judgment, the judgment unit determines that the performance of the device does not meet the judgment criterion.

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