SYSTEM FOR SETTING AN OPERATING VALUE OF A WORK MACHINE AND METHOD FOR SETTING AN OPERATING VALUE OF A WORK MACHINE

Abstract

A working device (2) includes an actuator (AC). An input unit (31) is configured to input an operating characteristic of the actuator (AC) into the working device (2). The control unit (20) is configured to calculate a behavior of the working device (2) based on the operating characteristic of the actuator (AC) entered into the input unit (31) and to control the display unit (21) to simultaneously display on a display area (21d) an input screen (50B), which is used to input the operating characteristic, and a behavior screen (50A), which indicates the calculated behavior of the working device (2).

Description

TECHNICAL AREA

[0001] The present disclosure relates to a system for setting an operating characteristic of a working machine and a method for setting an operating characteristic of a working machine. STATE OF THE ART

[0002] In some cases, the same machine is used by many operators. If an actuator's output parameter in the machine is constant, one operator might perceive the response sensitivity as poor, while another operator might, conversely, perceive it as too sensitive.

[0003] To solve this problem, WO 2017 / 168687 (Patent Literature 1), for example, discloses a technique that modifies the output characteristic of the actuator. In the literature described above, output characteristic information that matches the operator's desired operability is extracted based on operator information and vehicle body information, and the actuator's output characteristic is modified. List of oppositions patent literature

[0004] Patent literature 1: WO 2017 / 168687 BRIEF DESCRIPTION OF THE INVENTION Technical Problem

[0005] However, there is a need to eliminate the work of leaving a screen to set a control parameter in order to check the behavior of the working machine every time the output parameter of the actuator is set.

[0006] One object of the present disclosure is to provide a system for setting an operating characteristic of a working machine and a method for setting an operating characteristic of a working machine, which reduce the work of checking a behavior of the working machine after setting an output characteristic of an actuator. Solution to the problem

[0007] A system for setting an operating characteristic of a working machine according to the present disclosure includes a working device, an input unit, a display unit, and a control unit. The working device includes an actuator. The input unit is used to input an operating characteristic of the actuator into the working device. The display unit includes a display area. The control unit calculates a behavior of the working device based on the operating characteristic of the actuator entered into the input unit and controls the display unit to simultaneously display on the display area an input screen section, used for entering the operating characteristic, and a behavior screen, which displays the calculated behavior of the working device.

[0008] A method for setting an operating characteristic of a working machine according to the present disclosure includes the following steps.

[0009] An operating characteristic of an actuator of a machine is recorded. The machine's behavior is calculated based on this recorded operating characteristic. A display unit is controlled to simultaneously show, on one display area, a screen showing the calculated behavior of the machine and an input screen for the operating characteristic. Advantageous effects of the invention

[0010] The present disclosure makes it possible to achieve a system for setting an operating characteristic of a working machine and a method for setting an operating characteristic of a working machine, which reduce the work of checking a behavior of the working machine after setting an output characteristic of an actuator. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a diagram illustrating a configuration of a working machine according to an embodiment of the present disclosure. Fig. Figure 2 is a perspective view illustrating the interior of a cabin of the work machine. Fig. Figure 3 is a schematic view illustrating a schematic configuration for sending and receiving information to and from the working machine. Fig. Figure 4 is a block diagram showing a configuration of a system for setting an operating characteristic of the working machine according to an embodiment of the present disclosure. Fig. 5 is a diagram showing function blocks of a Fig. 4 illustrated control units. Fig. Figure 6 is a diagram illustrating an example of an image displayed in the system for setting an operating characteristic of the working machine according to an embodiment of the present disclosure. Fig. 7 is a diagram that shows an example of a behavior screen in Fig. 6 illustrates. Fig. Figure 8 is a flowchart showing a procedure for setting an operating characteristic of the machine, the procedure being carried out by an operator. Fig. Figure 9 is a flowchart showing the control process in a control unit when an operator sets an operating parameter of the machine. DESCRIPTION OF EXECUTION FORMS

[0011] An embodiment of the present disclosure is described below with reference to the drawings.

[0012] In this description and the drawings, identical or corresponding components are designated with the same reference numerals, and their descriptions are not repeated. Furthermore, some configurations may be omitted or simplified in the drawings for the sake of clarity. It should be noted that in the following description, the term "top view" means viewing a machine 100 from top to bottom. Configuration of the working machine

[0013] Fig. Figure 1 is a diagram that schematically illustrates the configuration of a working machine according to an embodiment of the present disclosure. As in Fig. As illustrated in Figure 1, a working machine 100 according to the present embodiment is, for example, a hydraulic excavator. The working machine 100 includes a main body 1 and a working device 2 that operates with hydraulic pressure. The main body 1 includes a rotating body 3 and a travel device 5. The travel device 5 includes a pair of crawler tracks 5Cr. The working machine 100 is able to move by rotating the crawler tracks 5Cr. It should be noted that the travel device 5 may include a wheel (tire).

[0014] The rotating body 3 is arranged above the transport device 5 and is supported by the transport device 5. The rotating body 3 is capable of rotating relative to the transport device 5, with a rotation axis AX forming the center. The rotating body 3 encloses a cabin (operator's cab) 4. A driver's seat 4S is provided in the cabin 4, in which an operator sits. From the cabin 4, the operator is able to operate the machine 100.

[0015] The rotating body 3 encloses an engine compartment 9 and a counterweight provided at a rear section of the rotating body 3. A handrail 19 is provided in the rotating body 3 in front of the engine compartment 9. A satellite communication antenna 16 is attached to the handrail 19. A vehicle body position sensor 34 is also attached to the handrail 19. A motor 45, hydraulic pumps (a pilot hydraulic pump 44 and a main hydraulic pump 46) are located in the rotating body 3. Fig. 4 are illustrated, and similar items are arranged in the engine compartment 9.

[0016] The working device 2 is supported by the rotating body 3. The working device 2 includes a boom 6, an arm 7, and a bucket 8. The boom 6 is connected to the rotating body 3. The arm 7 is connected to the boom 6. The bucket 8 is connected to the arm 7.

[0017] A base end section of the boom 6 is connected to the rotating body 3 via a boom pin 13. A base end section of the arm 7 is connected to a tip end section of the boom 6 via an arm pin 14. The spoon 8 is connected to a tip end section of the arm 7 via a spoon pin 15.

[0018] The boom 6 is capable of rotating, with the boom pin 13 forming the center. The arm 7 is capable of rotating, with the arm pin 14 forming the center. The spoon 8 is capable of rotating, with the spoon pin 15 forming the center. Each of the arm 7 and the spoon 8 is a movable element that can move at a pointed end of the boom 6.

[0019] It should be noted that in the present embodiment, a front-back direction, a left-right direction and an up-down direction are defined with the working device 2 as a reference in the following manner.

[0020] The boom 6 of the working device 2 rotates relative to the rotating body 3, with the boom pin 13, provided at the base end section of the boom 6, forming the center. A specific section of the boom 6 rotating relative to the rotating body 3, for example, the tip end section of the boom 6, moves along an arc-shaped path, and a plane enclosing this arc is specified. When viewing the working device 100 from a top view, this plane is specified as a straight line. The direction in which this straight line runs is referred to as the forward-backward direction of the main body 1 of the working device 100 or the forward-backward direction of the rotating body 3, and is also simply referred to as the forward-backward direction in the following description.

[0021] The left-right direction (vehicle width direction) of the main body 1 of the working machine 100 or the left-right direction of the rotating body 3 is, in plan view, a direction perpendicular to the forward-backward direction and is also simply referred to as the left-right direction in the following description. The up-down direction of the main body 1 of the working machine 100 or the up-down direction of the rotating body 3 is a direction perpendicular to a plane that includes the forward-backward direction and the left-right direction, which are perpendicular to each other, and is also simply referred to as the up-down direction in the following description.

[0022] In the forward-backward direction, the side on which the working tool 2 protrudes from the main body 1 of the working machine 100 is a forward direction, and the opposite direction is a backward direction. The right and left sides in the left-right direction, viewed in the forward direction, are the right and left directions, respectively. A side facing the ground is the downward direction, and a side facing the sky is the upward direction.

[0023] The working device 2 includes a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. The boom cylinder 10 drives the boom 6. The arm cylinder 11 drives the arm 7. The bucket cylinder 12 drives the bucket 8. The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are each hydraulic cylinders driven by hydraulic oil.

[0024] Fig. Figure 2 is a perspective view illustrating the interior of a cab of the work machine. As in Fig. As illustrated in Figure 2, the operator seat 4S, in which an operator sits facing the front F, is located within the cabin 4. The cabin 4 includes a roof section positioned to cover the operator seat 4S and a plurality of columns configured to support the roof section. The plurality of columns includes a front column located at the front F with respect to the operator seat 4S, a rear column located at a rear B with respect to the operator seat 4S, and a middle column located between the front and rear columns. Each column extends along the up-down direction and is connected to a floor section and the roof section of the cabin 4.

[0025] A space enclosed by each of the columns, the floor section, and the roof section of cabin 4 forms the interior of cabin 4. The operator seat 4S is located within the interior of cabin 4 and is positioned in a substantially central section of the floor section of cabin 4. A door for an operator to enter and exit cabin 4 is provided in a side panel, left L, of cabin 4.

[0026] A front window is located at the front F relative to the operator's seat 4S. The front window is made of a transparent material, allowing an operator seated in the operator's seat 4S to view the outside of the cab 4 through the front window. Through the front window, the operator seated in the operator's seat 4S can directly see the bucket 8, which, for example, excavates earth and sand.

[0027] A monitoring device 26 is arranged at the front F of the interior of cabin 4. The monitoring device 26 is located at a right front corner inside cabin 4 and is supported by a base extending from the floor section of cabin 4. The monitoring device 26 is located on the side of the operator seat 4S relative to the front pillar. The monitoring device 26 is located on the operator side of the front pillar as viewed by the operator seated in the operator seat 4S.

[0028] Since the monitoring device 26 is used for multiple purposes, it includes: a flat display surface 26d with various types of monitoring functions; a switch section 27 that includes a plurality of switches to which different functions are assigned; and a tone generator 28 configured to express details displayed on the display surface 26d by means of sound. This display surface 26d is configured with a graphic display unit such as a liquid crystal display unit, an organic electroluminescent display unit (EL display unit), or the like. The switch section 27 includes a plurality of touch switches. However, the configuration is not limited to this. The switch section can be a touch switch of the touch panel type.

[0029] Drive control levers (left and right drive control levers) 22a and 22b for each of the left and right crawler tracks 5Cr are provided on the front F of the operator's seat 4S. The left and right drive control levers 22a and 22b form a drive control unit 22, which is used to operate the drive mechanism 5.

[0030] A first operating lever 41, used by an operator seated in the cab 4 to drive the boom 6 and bucket 8 of the work tool 2, is located to the right (R) of the operator's seat 4S. A control panel 29, on which various types of switches or the like are mounted, is located to the right (R) of the operator's seat 4S. A second operating lever 42, used by the operator to drive the arm 7 of the work tool 2 and rotate the rotary body 3, is located to the left (L) of the operator's seat 4S.

[0031] A display unit (monitor) 21 is arranged on an upper side of the monitor device 26. The display unit 21 encloses a flat display area 21d. When the display area 26d of the monitor device 26 and the display area 21d of the display unit 21 are compared, the display area 21d is provided such that it is larger than the display area 26d.

[0032] The display unit 21 is mounted on a front column on the right R side, which is located under a pair of front columns closest to the working device 2. The display unit 21 is positioned on the operator side of the front column within the operator's field of vision in the right forward direction while seated in the operator's seat 4S. In the working machine 100, which includes the working device 2 located to the right R of the cab 4, the operator can see both the working device 2 and the display unit 21 with minimal eye movement by mounting the display unit 21 on the front column on the right R.

[0033] Fig. Figure 3 is a schematic view illustrating a schematic configuration for sending and receiving information to and from the working machine. As shown in Fig. As illustrated in Figure 3, the working machine 100 includes a control unit 20. The control unit 20 has a function for controlling the operation of the working tool 2, rotating the rotating body 3, driving and powering the travel device 5, and the like. The control unit 20 and the display unit 21 are coupled in both directions by a network communication cable 23 and form a communication network within the working machine 100. The display unit 21 and the control unit 20 transmit and receive information to and from each other via the network communication cable 23. It should be noted that the display unit 21 and the control unit 20 are each primarily composed of a computer device such as a microcomputer or the like.

[0034] Information can be transmitted and received between the control unit 20 and an external monitoring station 96. In the present embodiment, the control unit 20 and the monitoring station 96 communicate with each other, for example, via satellite communication. A communication terminal 17, which includes the satellite communication antenna 16, is coupled to the control unit 20. The satellite communication antenna 16 is mounted on the rotating body 3, as shown in Fig. Figure 1 illustrates the satellite communication antenna 16, which includes a positioning device. The positioning device receives a satellite positioning signal from a communication satellite 93, indicating the position of the main body 1 in the global coordinate system.

[0035] A network control station 95 is connected via a dedicated line to a satellite communication ground station 94, which communicates with the communication satellite 93 via a dedicated communication line, and is linked to the monitoring station 96 on the ground via the internet or similar. With this configuration, data is transmitted and received between the control unit 20 and a predetermined monitoring station 96 via the communication terminal 17, the communication satellite 93, the satellite communication ground station 94, and the network control station 95.

[0036] An example is described in which an information-based design system is used in the machine 100 according to the present embodiment. Design topography data created using three-dimensional computer-aided design (CAD) is stored in advance in the control unit 20. The display unit 21 updates and displays the externally received current position of the machine 100 in real time on the screen, allowing an operator to check the working status of the machine 100 at any time.

[0037] The control unit 20 compares construction topography data with the position and orientation of the working tool 2 in real time and drives a hydraulic circuit based on the comparison result to control the working tool 2. More precisely, the target location for the construction (construction surface) according to the construction topography data and the position of the bucket 8 are compared to perform control such that a cutting edge 8a ( Fig. 1) The bucket 8 is not positioned lower than the construction surface to avoid excavation at or below the construction surface. This improves work efficiency and accuracy, making it possible to easily carry out high-quality construction work.

[0038] Configuration of a system for setting an operating characteristic of a working machine. Next, the configuration of the system for setting an operating characteristic of the working machine 100 will be described with reference to Fig. 4 described. Fig. Figure 4 is a block diagram showing a configuration of the system for setting an operating characteristic of the working machine according to an embodiment of the present disclosure. As in Fig. As illustrated in Figure 4, the system for setting an operating characteristic of the working machine 100 includes at least the control unit 20, the actuating levers 41 and 42, an actuating quantity sensing sensor 43, the pilot hydraulic pump 44, the motor 45, the main hydraulic pump 46, a control valve 47, a directional control valve 48 and an actuator AC.

[0039] Each of the pilot hydraulic pumps 44 and the main hydraulic pump 46 is mechanically coupled to the motor 45. This allows the drive power of the motor 45 to be transmitted to each of the pilot hydraulic pumps 44 and the main hydraulic pump 46. The drive power of the motor 45 drives each of the pilot hydraulic pumps 44 and the main hydraulic pump 46. When the pilot hydraulic pump 44 is driven, pilot oil is supplied to the control valve 47. When the main hydraulic pump 46 is driven, hydraulic oil is supplied to the directional control valve 48.

[0040] The operating levers 41 and 42 each receive an actuation signal from an operator. The actuation quantity sensor 43 detects the actuation quantity of each of the operating levers 41 and 42 actuated by the operator. The actuation quantity sensor 43 is, for example, a potentiometer. The actuation quantity sensor 43 outputs the detected actuation quantity to the control unit 20 as an actuation signal (electrical signal).

[0041] The control unit 20 controls the opening and closing of the control valve 47 based on the detected actuation signal. The opening and closing of the control valve 47 controls the amount of pilot oil supplied from the control valve 47 to the directional control valve 48.

[0042] The directional control valve 48 comprises a rod-shaped spool. The spool of the directional control valve 48 is actuated based on the quantity of pilot oil supplied to the directional control valve 48. This actuation of the spool of the directional control valve 48 reverses the flow direction of the hydraulic oil supplied from the directional control valve 48 to the actuator AC. Additionally, this actuation of the spool of the directional control valve 48 allows for adjustment of the quantity of hydraulic oil supplied from the directional control valve 48 to the actuator AC.

[0043] The actuator AC includes, for example, the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the like. Since the direction in which the hydraulic oil supplied by the directional control valve 48 flows is reversed, the extension and retraction of each of the hydraulic cylinders 10, 11, and 12 are controlled.

[0044] Additionally, when the amount of hydraulic oil supplied by the directional control valve 48 is adjusted, the speed at which each of the hydraulic cylinders 10, 11 and 12 extends and retracts is controlled.

[0045] In this way, an operator actuates the actuating levers 41 and 42, thereby controlling the operation of the actuator AC. The actuating levers 41 and 42 described above are so-called electric actuating levers, in which the actuation force is converted into an electrical signal to control the control valve 47. The actuating levers 41 and 42 can be so-called hydraulic pressure actuating levers, configured to control the control valve 47 with hydraulic pressure.

[0046] The system for setting an operating characteristic of the work machine 100 further includes the satellite communication antenna 16, an input unit 31, an environmental sensing sensor 32, a work implement position sensor 33, the vehicle body position sensor 34, and the display unit 21. The satellite communication antenna 16, the input unit 31, the environmental sensing sensor 32, the work implement position sensor 33, the vehicle body position sensor 34, and the display unit 21 are each coupled to the control unit 20 via an electrical wiring connection.

[0047] Satellite communication antenna 16 transmits the signal from communication satellite 93 ( Fig. 3) The detected signal is transmitted to the control unit 20. The positioning device enclosed in the satellite communication antenna 16 outputs a satellite positioning signal to the control unit 20, indicating the position of the main body 1 in the global coordinate system.

[0048] The input unit 31 is a section used by an operator to enter an operating characteristic of the actuator AC. The input unit 31 also captures information about the operator entering the operating characteristic. For example, the input unit 31 is the touch-sensitive display area 21d of the display unit 21. Additionally, the input unit 31 can be a physical button, a physical switch, or the like, and can, for example, be the switch section 27 of the monitoring device 26. The input unit 31 outputs to the control unit 20 information regarding the operating characteristic of the actuator AC entered by the operator, as well as information about the operator.

[0049] The environmental sensing sensor 32 is, for example, mounted so that it faces the front of the work machine 100. The environmental sensing sensor 32 is, for example, attached to the cabin 4. The environmental sensing sensor 32 is a lidar configured to emit laser light to acquire information about a target object. The environmental sensing sensor 32 can be a radar configured to emit a radio wave to acquire information about a target object. The radar can be a millimeter-wave radar, which, with a receiving antenna, detects a condition in which radio waves emitted by a transmitting antenna in a millimeter-wave band are reflected from and return to the front surface of an object. The environmental sensing sensor 32 can be a visual sensor, including a camera. The environmental sensing sensor 32 can be an infrared light sensor.The environmental sensing sensor 32 outputs information regarding the detected environment of the work machine 100 to the control unit 20.

[0050] The implement position sensor 33 detects the position of the working machine 2 relative to the main body 1. The implement position sensor 33 detects the position of the working machine 2 in a local coordinate system. The implement position sensor 33 can, for example, be a stroke sensor. In a case where the implement position sensor 33 is a stroke sensor, the stroke sensor is, for example, attached to each of the hydraulic cylinders 10, 11, and 12. The stroke sensor makes it possible to detect the stroke of each of the cylinders. The positions of the boom 6, arm 7, and bucket 8 can be detected based on the stroke amount and dimensions of each element of the working machine 2. The implement position sensor 33 outputs information regarding the detected position of the working machine 2 to the control unit 20.

[0051] The work tool position sensor 33 is not limited to the stroke sensor described above and can be a rotary encoder, an inertial measurement unit (IMU), a potentiometer, a visual sensor or the like.

[0052] In a case where a rotary encoder is used as the work tool position sensor 33, the rotary encoder is, for example, attached to or around each of the boom pin 13, the arm pin 14, and the bucket pin 15. The position of the work tool 2 can be determined based on the angle of the boom 6 relative to the main body 1, which is detected by the rotary encoder, the angle of the arm 7 relative to the boom 6, the angle of the bucket 8 relative to the arm 7, the dimension of each element of the work tool 2, and the like.

[0053] In a case where an inertial measurement unit is used as the work tool position sensor 33, the inertial measurement unit is attached, for example, to each of the boom 6, arm 7, and bucket 8. Each of the inertial measurement units detects angles (or angular velocities) and accelerations of three axes. The position of each of the boom 6, arm 7, and bucket 8 can be determined based on the angles (or angular velocities) and accelerations of the three axes detected by the inertial measurement unit.

[0054] In a case where a potentiometer is used as the working tool position sensor 33, the potentiometer is, for example, attached to or around each of the connecting sections between the boom 6 and the main body 1, between the boom 6 and the arm 7, and between the arm 7 and the bucket 8. Each of the potentiometers makes it possible to detect each of the rotation angles of the boom 6 relative to the main body 1, the rotation angle of the arm 7 relative to the boom 6, and the rotation angle of the bucket 8 relative to the arm 7. Based on these rotation angles, it is possible to detect the position of the working tool 2.

[0055] In a case where a vision sensor is used as the work tool position sensor 33, the states of the boom 6, arm 7, and bucket 8 are mapped by the vision sensor. Based on image information captured by the vision sensor, it is possible to determine the position of each of the boom 6, arm 7, and bucket 8. The vision sensor is, for example, an image capture device such as a camera.

[0056] The vehicle body position sensor 34 detects the position of the main body 1 in the global coordinate system. The vehicle body position sensor 34 is provided on the main body 1. The vehicle body position sensor 34 includes, for example, an inertial measurement unit. The position of the main body 1 includes: a roll angle, which specifies an inclination angle of the main body 1, where the center is an axis extending in the forward-backward direction; a pitch angle, which specifies an inclination angle of the main body 1, where the center is an axis extending in the left-right direction; and a yaw angle, which specifies an inclination angle of the main body 1, where the center is an axis extending in the up-down direction. The vehicle body position sensor 34 outputs information to the control unit 20 regarding the detected position of the main body 1 in the local coordinate system.

[0057] The work machine 100 includes a memory 20K. The memory 20K can be provided in the control unit 20 or can be provided separately from the control unit 20. Current topographic data, construction topography data, work equipment data, display image data, and the like are stored in memory 20K, for example.

[0058] The current topographic data is current topographic data on a construction site and can be, for example, data acquired by the environmental sensing sensor 32 or data acquired by other devices. The construction topography data relates to a target shape of the ground on a construction site and can be, for example, data created by a construction company. The work equipment data is data that specifies a dimension of each section of the elements (the boom 6, the arm 7, the bucket 8, and the like) that make up the work equipment 2.

[0059] The display image data is data used to create an image displayed on the display unit 21. The display image data includes data used to create a behavior screen 50A, an input screen 50B, an information screen 50C, various types of button images 50D, 50E, 50F and 50G, and the like, which are described in Fig. 6 are illustrated. Control unit 20

[0060] Next, the functional blocks of control unit 20 will be described with reference to Fig. 5 described.

[0061] Fig. 5 is a diagram that shows function blocks of the in Fig. 4 illustrated control units. As shown in Fig. As illustrated in Figure 5, the control unit 20 includes an actuation quantity detection unit 20A, a positioning information detection unit 20B, a vehicle position information detection unit 20C, a work tool position information detection unit 20D, an environment information detection unit 20E, and an operating characteristic value detection unit 20F. Additionally, the control unit 20 further comprises a behavior control unit 20G, a behavior calculation unit 20H, a display image generation unit 20I, a display control unit 20J, and the memory 20K.

[0062] The actuation quantity detection unit 20A detects an actuation signal determined by the actuation quantity measurement sensor 43. The actuation quantity detection unit 20A outputs the detected actuation signal to the behavior control unit 20G. The behavior control unit 20G controls an opening and closing operation of the control valve 47 based on the actuation signal detected by the actuation quantity detection unit 20A. With this configuration, the working device 2 operates as described above based on the actuation performed by the operator on the actuating levers 41 and 42.

[0063] The position information acquisition unit 20B acquires a satellite position determination signal output by the position determination device of the satellite communication antenna 16, indicating the position of the main body 1 in the global coordinate system. The position information acquisition unit 20B outputs the acquired satellite position determination signal to the behavior calculation unit 20H.

[0064] The vehicle attitude information acquisition unit 20C acquires information regarding the position of the main body 1 in the local coordinate system, which is detected by the vehicle body attitude sensor 34. The vehicle attitude information acquisition unit 20C outputs the acquired information regarding the position of the main body 1 in the local coordinate system to the behavior calculation unit 20H.

[0065] The tool position information acquisition unit 20D acquires information regarding the position of the tool 2 relative to the main body 1, which is acquired by the tool position sensor 33. The tool position information acquisition unit 20D outputs the acquired information regarding the position of the tool 2 to the behavior calculation unit 20H.

[0066] The environmental information acquisition unit 20E acquires information about the environment of the work machine 100, which is detected by the environmental sensor 32. The environmental information acquisition unit 20E outputs the acquired information about the environment of the work machine 100 to the behavior calculation unit 20H.

[0067] The operating characteristic acquisition unit 20F acquires information regarding an operating characteristic of the actuator AC, which is entered into the input unit 31. The operating characteristic acquisition unit 20F outputs the acquired information regarding the operating characteristic of the actuator AC to the behavior calculation unit 20H and the display image generation unit 20I.

[0068] For example, the behavior calculation unit 20H calculates the behavior of the working tool 2 under automatic control. The behavior calculation unit 20H calculates the position of the cutting edge 8a of the working tool 2 in the local coordinate system based on position data for the working tool 2 acquired by the working tool position information acquisition unit 20D and on working tool data acquired from memory 20K. The behavior calculation unit 20H calculates the position of the cutting edge 8a of the working tool 2 in the global coordinate system based on the position of the main body 1 in the global coordinate system, acquired by the position information acquisition unit 20B, and the calculated position of the cutting edge 8a of the working tool 2 in the local coordinate system.

[0069] When calculating the position of the cutting edge 8a of the working tool 2 in the global coordinate system, the behavior calculation unit 20H can take into account the position of the main body 1 in the local coordinate system, which is acquired by the vehicle attitude information acquisition unit 20C. For example, in a case where the main body 1 is tilted relative to a horizontal plane, the position of the cutting edge 8a of the working tool 2 in the global coordinate system can be calculated taking into account the tilt angle of the main body 1, which is acquired by the vehicle body attitude sensor 34. The behavior calculation unit 20H calculates a construction plan based on the current topographic data and the construction topography data acquired from memory 20K.When calculating the construction plan, the behavior calculation unit 20H can calculate the construction plan taking into account the work tool data acquired by memory 20K. During the construction plan calculation, the behavior calculation unit 20H calculates a movement path for the cutting edge 8a of the work tool 2, and this movement path is used for the construction.

[0070] The behavior calculation unit 20H outputs information to the behavior control unit 20G regarding the movement path for the cutting edge 8a during automatic control, which was obtained by calculation.

[0071] The behavior control unit 20G controls the opening and closing of the control valve 47 based on information regarding the movement path of the cutting edge 8a in automatic control, which is obtained from the behavior calculation unit 20H. In this way, the movement path for the cutting edge 8a of the working tool 2 is calculated by the behavior calculation unit 20H, and the control valve 47 is controlled by the behavior control unit 20G such that the cutting edge 8a of the working tool 2 moves along this movement path. This enables automatic control of the working tool 2.

[0072] Additionally, the behavior calculation unit 20H outputs to the display image generation unit 20I the information regarding the movement path for the cutting edge 8a in automatic control, which was obtained by calculation. Furthermore, the behavior calculation unit 20H outputs to the behavior control unit 20G the information regarding the position of the working tool 2 relative to the main body 1, which was acquired by the working tool position information acquisition unit 20D.

[0073] The display image generation unit 20I generates an image to be displayed on the display unit 21 based on the information acquired by each of the behavior calculation unit 20H, the memory 20K, and the operational parameter acquisition unit 20F. The display image generation unit 20I generates the behavior screen 50A, the input screen 50B, the information screen 50C, various types of button images 50D, 50E, 50F, and 50G, and the like, which are displayed in Fig. 8 are illustrated, based on the display image data captured from memory 20K.

[0074] The display image generation unit 20I generates an image in which the position of a handle M2 is shown in the Fig. The input screen 50B, illustrated in section 6, is modified based on the information regarding the operating characteristic of the actuator AC, which is acquired by the operating characteristic acquisition unit 20F. In particular, the display image generation unit 20I generates an image in which the operating characteristic of the actuator AC is displayed. Fig. The input screen 50B illustrates that the position of the handle M2 is moved in the left-right direction on a bar M1, to which scale markings are attached. Additionally, the display image generation unit 20I generates an image in which a numerical value M4 is displayed. Fig. The input screen 50B, illustrated in Figure 6, is changed based on the information regarding the operating characteristic of the actuator AC, which was acquired by the operating characteristic acquisition unit 20F.

[0075] The display image generation unit 20I generates an image relating to the behavior of the work tool 2, which is to be displayed, for example, on the behavior screen 50A, based on information relating to the movement path for the cutting edge 8a, which was acquired by the behavior calculation unit 20H. The image relating to the behavior of the work tool 2 is an image that displays a behavior of the work tool 2 (working machine 100) itself and can, for example, include an image relating to the main body 1, the boom 6, the arm 7, the bucket 8, and the like. The image relating to the behavior of the work tool 2 can, for example, be an image that displays a movement path of the cutting edge 8a of the work tool 2.

[0076] The display image generation unit 20I generates an image in which the behavior of the working tool 2 changes in real time in response to the actual operation of the working tool 2. Furthermore, the display image generation unit 20I generates an image in which the movement path of the cutting edge 8a of the working tool 2 changes in real time according to the actual operation of the working tool 2.

[0077] The display unit 20I outputs the generated information about the movement path of the cutting edge 8a to the memory 20K. The memory 20K stores the detected movement path of the cutting edge 8a. The input unit 31 closes the storage start / stop button 50E, which is used to start and stop the storage of the movement path of the cutting edge 8a. When an operator presses the storage start / stop button 50E, the memory 20K starts or stops storing the information about the movement path of the cutting edge 8a.

[0078] The display image generation unit 20I outputs information about the generated image to the display control unit 20J. The display control unit 20J controls details regarding the display on the display unit 21 based on the captured information about an image.

[0079] Furthermore, when an operator presses the storage start / stop button 50E, the display control unit 20J controls the display unit 21 so that the display of the movement path of the cutting edge 8a in the behavior screen 50A is started or stopped.

[0080] Additionally, the control unit 20 can assign information about an operator to the operating parameter entered into the input unit 31 at the time the operating parameter was entered, in order to assign this link in memory 20K. Furthermore, the control unit 20 can perform a control operation such that an operator boarding the work machine 100 is recognized, and based on the assignment of the operator to the operating parameter stored in memory 20K, the work machine 2 operates in accordance with the operating parameter assigned to the operator.

[0081] The control unit 20 described above includes a processor, main memory, and storage. The processor, for example, is a central processing unit (CPU) or the like. The main memory includes, for example, non-volatile memory such as Read Only Memory (ROM) and volatile memory such as Random Access Memory (RAM).

[0082] The control unit 20 reads a program stored in memory and executes it in main memory to carry out a predefined processing action according to the program. This program can be distributed to the control unit 20 via a network.

[0083] The control unit 20, the input unit 31, and the display unit 21 can each be mounted on the work machine 100 or can each be arranged separately outside the work machine 100. If the control unit 20 is arranged separately outside the work machine 100, it can be wirelessly connected to the satellite communication antenna 16, the environmental sensing sensor 32, the work tool position sensor 33, the vehicle body position sensor 34, and the like. The control unit 20 can be housed in a server located remotely from the work machine 100. Additionally, an operator can remotely control the work machine 100 without entering the interior of the work machine 100's cab 4. Image displayed on display area 21d of display unit 21

[0084] Next, with reference to the Fig. 6 and Fig. 7 a description of images that are displayed on the display surface 21d of the display unit 21 according to the present embodiment.

[0085] Fig. Figure 6 is a diagram illustrating an example of an image displayed in the system for setting an operating characteristic of the working machine according to an embodiment of the present disclosure. Fig. 7 is a diagram that shows an example of the behavior screen in Fig. 6 illustrates. As in Fig. As illustrated in Figure 6, the input screen 50B and the behavior screen 50A, which serve as adaptation screens, are displayed simultaneously on the display area 21d. An image used to set an operating characteristic of the actuator AC in automatic control is displayed on the input screen 50B. Operating information about the working device 2 after the operating characteristic has been changed is displayed on the behavior screen 50A. This allows an operator to verify the setting of the operating characteristic of the actuator AC in automatic control and the operation of the working device 2 after the operating characteristic has been set, all on the same screen.

[0086] The input screen 50B and the behavior screen 50A for the automatic leveling aid control, which serves as an example of automatic control, are shown on the in Fig. The display surface 21d is illustrated in Figure 6. The input screen 50B and the behavior screen 50A for an automatic control other than the automatic leveling assist control can be displayed on the display surface 21d. For example, the input screen 50B and the behavior screen 50A for the automatic stop control can be displayed as the automatic control other than the automatic leveling assist control.

[0087] An image for setting various types of parameters related to the operating characteristics of the AC actuator is displayed on input screen 50B. By setting these parameters on input screen 50B, it is possible to adjust the operating characteristics of the AC actuator in automatic control mode. Parameters related to the operating characteristics of the AC actuator include, for example, setting screens for initial behavior (initial movement), low-speed stability (stability at low speed), high-speed stability (stability at high speed), approach speed to the construction surface (approach speed to the construction surface), and approach acceleration to the construction surface (approach acceleration to the construction surface).In addition to the parameters described above, setting screens for the acceleration limit for lowering the work tool (work tool acceleration limit), an arm start speed (initial speed of the arm) and an arm duration speed (continuous speed of the arm) for the automatic leveling aid control may be displayed.

[0088] Furthermore, in automatic stop control, setting screens for an approach speed to the construction surface, an acceleration limit for lowering the working tool, a stop feel, a stop position setting, and the like can be displayed as parameters relating to the operating characteristic of the actuator AC.

[0089] The setting screens for each parameter are displayed, for example, as a left-right slider SM. Each setting screen includes a bar M1 with scale markings extending from left to right, and also includes a handle M2 that moves along the bar M1 in the same direction. Moving the handle M2 in the left-right direction adjusts each parameter. In a case where the display area 21d is a touch panel, an operator touches one of the images M3 of triangular arrows located on either side of the bar M1 to move the handle M2.

[0090] As in Fig. As illustrated in Figure 7, an image displaying operating information about the work tool 2 is shown in the behavior screen 50A. An image 100I relating to the work machine 100, a design surface (target line serving as a reference for the behavior of the work machine 100) L1, and cutting edge movement paths L2 and L3 are displayed on the behavior screen 50A. The design surface L1 is not limited to a horizontal plane and can be an incline or the like.

[0091] Figure 100I relating to the working machine 100 includes Figure 1I of the main body 1 and Figure 2I of the working device 2 to correspond to the actual machine. Figure 2I of the working device 2 includes Figure 6I of the boom 6, Figure 7I of the arm 7, and Figure 8I of the bucket 8. Figure 8I of the bucket 8 includes Figure 8aI of the cutting edge 8a.

[0092] The cutting edge movement path L2 (first cutting edge movement path) is, for example, a movement path of cutting edge 8a before the operating characteristic value of actuator AC is set. The cutting edge movement path L3 (second cutting edge movement path) is, for example, a movement path of cutting edge 8a after the operating characteristic value of actuator AC has been set. In this way, the cutting edge movement path L2 before the operating characteristic value is set and the cutting edge movement path L3 after the operating characteristic value has been set can be displayed simultaneously on the behavior screen 50A. The cutting edge movement paths L2 and L3 can be displayed with lines of different types and in different colors.

[0093] The image 2I of the working device 2 changes in real time in response to the actual operation of the working device 2. In addition, the cutting edge movement paths L2 and L3 each change in real time in response to the actual movement of the cutting edge 8a of the working device 2.

[0094] In addition to the behavior screen 50A and the input screen 50B, it may be possible to simultaneously display the information screen 50C, various types of button images 50D, 50E, 50F and 50G, and the like on the display area 21d, as shown in Fig. 6 illustrates.

[0095] Information that assists in setting parameters on input screen 50B is displayed on information screen 50C. For example, the weight of the spoon 8 and the actuation quantity of the operating levers 41, 42 are displayed on information screen 50C. The actuation quantity of operating lever 41, 42 displayed on information screen 50C is, for example, the actuation quantity of an arm operating lever.

[0096] Various types of buttons displayed on the display unit 21 include, for example, the construction surface creation button 50D, the save start / stop button 50E, the help button 50F, and the settings application button 50G. Pressing the construction surface creation button 50D displays the construction surface L1 on the behavior screen 50A. Pressing the save start / stop button 50E starts or stops the memory 20K from saving information regarding the movement path (cutting edge movement paths L2 and L3) of the cutting edge 8a.

[0097] Pressing the help button 50F displays an explanation of various types of parameters (initial behavior, low-speed stability, etc.) shown on the input screen 50B. Pressing the settings application button 50G sets the parameters changed via the input screen 50B as operating parameters of the working device 2.

[0098] Procedure for setting an operating characteristic of a working machine. Next, with reference to Fig. 6, Fig. 7 to Fig. 8 describes a procedure in which an operator sets the operating characteristic of the actuator AC in automatic control. Fig. Figure 8 is a flowchart showing a procedure for adjusting the operating characteristic of the working machine, the procedure being carried out by an operator.

[0099] As in Fig. As illustrated in Figure 6, the settings screen is initially displayed on display area 21d of display unit 21. On this settings screen, the operator presses the construction surface creation button 50D. This action creates the construction surface L1 and displays it on the behavior window 50A (Step S1: Fig. 8).

[0100] The operator then activates the operating lever 41, 42, and the tool 2 begins to operate. While the tool 2 is operating, the tool 2I image on the behavior screen 50A changes according to the operation of the tool 2. The tool 2I image changes to reflect the actual operation of the tool 2. Additionally, while the tool 2 is operating, the cutting edge movement path L2 is displayed to correspond to this operation of the tool 2. The cutting edge movement path L2 is displayed such that its path of movement follows the movement of the cutting edge 8a shown in image 8aI, as shown in Fig. Figure 7 illustrates this. The operator checks this change in image 2I of the work tool 2 or the change in the cutting edge movement path L2 to check the operation of the work tool 2 (step S2: Fig. 8).

[0101] After checking the operation of the working device 2, the operator checks whether the operating characteristic value of the actuator AC needs to be changed or not (step S3: Fig. 8) As a result of this check, if the operator determines that the operating characteristic does not need to be set, the setting of the operating characteristic of actuator AC (step S7:) ends. Fig. 8).

[0102] On the other hand, in a case where the operator determines, as a result of the check described above, that the operating characteristic of the actuator AC needs to be set, the operator checks whether a parameter for setting the operating characteristic of the actuator AC can be identified or not (step S4: Fig. 8) During this test, the operator calls up information screen 50C in which Fig. 6 illustrated setup images.

[0103] In a case where the operator has already identified during this test which parameter should be changed to adjust the operating characteristic of the actuator AC, the parameter is changed on the input screen 50B and the setting application button 50G is pressed (step S5: Fig. 8) This makes it possible to display the change in the operating characteristic of the actuator AC. Thus, for example, if a numerical value of the parameter “Initial movement” on input screen 50B is set to a numerical value of “+”, the opening characteristic of the control valve 47 changes ( Fig. 4) by increasing the operating speed of the work device 2. The operator then repeats the process from step S2.

[0104] On the other hand, if the operator cannot identify which parameter should be changed to adjust the operating characteristic of the AC actuator in step S4, the operator presses the help button 50F. Pressing this button displays an explanation of various types of parameters (initial behavior, low-speed stability, etc.) shown on the input screen 50B, on display area 21d. This allows the operator to identify which parameter should be changed (step S6: Fig. 8) The operator then repeats the process from step S4.

[0105] In this way, the operator can set the operating characteristic of the actuator AC in the automatic control in the present embodiment.

[0106] Next, the control procedure of control unit 20 at the time of setting the operating characteristic described above will be described with reference to the Fig. 5, Fig. 6, Fig. 8 and Fig. 9 described.

[0107] Fig. Figure 9 is a flowchart showing the control process in the control unit when the operator sets an operating parameter of the machine. After the operator changes the parameter and presses the setting application button 50G in step S5 in Fig. 8 is activated, the operating characteristic value acquisition unit 20F of the control unit 20 records, which is in Fig. Figure 5 illustrates the operating characteristic value from input unit 31 after the change (step S11: Fig. 9).

[0108] The behavior calculation unit 20H then calculates the behavior of the working device 2 based on the operating characteristic value recorded by the operating characteristic acquisition unit 20F and information recorded by other acquisition units 20B, 20C, 20D and 20E as well as the memory 20K (step S12: Fig. 9) The display image generation unit 20I generates a setting image ( Fig. 6), which is to be displayed on the display area 21d of the display unit 21, based on information regarding a behavior of the working device 2 calculated by the behavior calculation unit 20H (step S13: Fig. 9) The display control unit 20J controls the display unit 21 so that a display image generated by the display image generation unit 20I is shown on the display unit 21 (step S14). With this control, the input screen 50B, which is used to input the operating characteristic of the actuator AC, and the behavior screen 50A, which shows the calculated behavior of the working device 2, are displayed simultaneously on a display surface 21d, as shown in Fig. Figure 6 illustrates this. Note that the input screen 50B and the behavior screen 50A can be displayed simultaneously on two separate display areas. These two separate display areas could be, for example, display area 21d and display area 26d. For instance, it might be possible to use a configuration where the input screen 50B is displayed on display area 21d and the behavior screen 50A is displayed on display area 26d. Conversely, it might be possible to use a configuration where the input screen 50B is displayed on display area 26d and the behavior screen 50A is displayed on display area 21d. The two separate display areas can be other than display areas 21d and 26d.

[0109] In this way, the control unit 20 controls the display unit 21 such that the in Fig. The illustrated setting image is displayed on the display unit 21. Effects

[0110] In recent years, construction machinery has been increasingly encouraged to use information-based construction. In a construction phase, information-based construction is a system that aims to achieve highly efficient and precise construction by capturing the position of the work equipment using information and communication technologies (ICT) and performing automatic control of the work equipment based on this captured position.

[0111] For example, in a case where automatic control is implemented on a work tool during ground grading work using a hydraulic excavator as the work machine, it is necessary to prevent digging deeper than the design surface. Therefore, if the bucket's cutting edge is likely to sink deeper than the design surface, a control is implemented to automatically raise the boom in a forced manner (automatic stop control).

[0112] Additionally, the bucket's cutting edge follows an arc-shaped path. If the boom is not lowered during plowing to create a level surface, the bucket's cutting edge may deviate from the surface being worked. Therefore, an automatic leveling control system is implemented, which automatically and forcibly lowers the boom during plowing to ensure a level surface.

[0113] However, there are various individual differences among implements with automatic control; implements are used in different ways, operators' preferences regarding implement behavior vary, and so on. Therefore, some operators may feel that the stopping jolt when the implement automatically stops, as described above, is too strong. Furthermore, some operators may feel that the initial drop of the cutting edge at the start of plowing, as with automatic leveling assistance, is too pronounced.

[0114] For this reason, for example, in a case where an operator is not satisfied with the operating characteristic of the AC actuator in automatic control, there is a need for a configuration that makes it possible to change the operating characteristic of the AC actuator and also to check the behavior of the working device after the change of the operating characteristic with reduced effort.

[0115] The present inventors have conducted intensive studies on the need described above and have achieved the completion of the present disclosure.

[0116] With the system for setting an operating characteristic of the working machine 100 according to the present disclosure, the input screen 50B, which is used to input the operating characteristic, and the behavior screen 50A, which displays the calculated behavior of the working machine, are displayed simultaneously on the display surface 21d, as shown in Fig. Figure 6 illustrates this. This allows an operator to input the operating characteristic of the actuator AC via the display area 21d of the display unit 21, which serves as the input unit 31, and then to check the behavior of the working device 2 via the same display area 21d. Thus, it is possible to change an output characteristic of the actuator AC and to check the behavior of the working device 2 after the change of the output characteristic with less effort.

[0117] Furthermore, in the system described above for setting an operating characteristic value of the machine 100, the behavior screen 50A shows the movement paths L2 and L3 of the cutting edge 8aI, as in Fig. Figure 7 illustrates this. This allows an operator to easily check the cutting edge paths L2 and L3 via the behavior screen 50A.

[0118] Additionally, in the system for setting an operating characteristic value of the work machine 100, which was described above, when an operator presses the storage start / stop button 50E, which is located in Fig. Figure 6 illustrates how the display of the movement paths L2 and L3 of the cutting edge 8a is started or stopped on the behavior screen 50A. With this configuration, in a case where the movement paths L2 and L3 of the cutting edge 8a need to be checked, it is possible to easily check them by pressing the save start / stop button 50E.

[0119] Furthermore, in the system for setting an operating characteristic value of the work machine 100, which was described above, when the storage start-stop button 50E, which is located in Fig. Figure 6 illustrates how the storage of the movement paths L2 and L3 of the cutting edge 8a is started or stopped. This makes it possible to store only the necessary section of the movement path of the cutting edge 8a.

[0120] Additionally, in the system for setting an operating characteristic value of the machine 100 described above, the first cutting edge movement path L2 before the setting of the operating characteristic value and the second cutting edge movement path L3 after the setting of the operating characteristic value are simultaneously displayed on the behavior screen 50A as movement paths of the cutting edge 8a, as shown in Fig. Figure 7 illustrates this. This makes it possible to easily compare the first cutting edge path curve L2 and the second cutting edge path curve L3 using the display unit 21.

[0121] Furthermore, in the system described above for setting an operating characteristic value of the working machine 100, the behavior screen 50A displays the design surface L1 (target line, which serves as a reference for the behavior of the working device 2), as shown in Fig. Figure 7 illustrates this. This allows an operator to perform an operation while checking the construction area L1 via the behavior screen 50A.

[0122] Additionally, in the system described above for setting an operating characteristic value of the machine 100, the behavior screen 50A shows the movement paths L2 and L3 of the cutting edge 8a relative to the construction surface L1, as shown in Fig. Figure 7 illustrates this. This allows an operator to easily check the degree of deviation of the movement paths L2 and L3 of the cutting edge 8a relative to the construction surface L1.

[0123] Furthermore, in the system described above for setting an operating characteristic of the working machine 100, the operating characteristic of the actuator AC is a parameter of the behavior of the working device 2, which is used to change the movement speed of the cutting edge 8a relative to the construction surface L1 (target line predetermined in the automatic control), as in Fig. Figure 6 illustrates this. In particular, the operating characteristic of the actuator AC is an approach speed to the construction surface, which is displayed in the input screen 50B. This makes it possible to control the speed of the cutting edge 8a approaching the construction surface L1 to a speed preferred by the operator.

[0124] Additionally, in the system described above for setting an operating characteristic value of the working machine 100, the behavior screen 50A displays a behavior of the working device 2, as shown in Fig.Figure 6 illustrates this. This allows an operator to check the behavior of the work device 2 via the behavior screen 50A.

[0125] Furthermore, in the system described above for setting an operating characteristic of the machine 100, the control unit 20 stores an operating characteristic of the actuator AC entered into the input unit 31 and information about the operator at the time the operating characteristic was entered in a linked manner. This enables the operator to perform automatic control using the operating characteristic of the actuator AC that corresponds to the operator's preference. Moreover, by collecting data regarding which type of operating characteristic of the actuator AC is used in which type of situation, it is possible to statistically identify the characteristics preferred in the market. Notes

[0126] The embodiment described above includes the following technical ideas. Note 1

[0127] System for setting an operating characteristic of a working machine, including: a working device including an actuator; an input unit used to input an operating characteristic value of the actuator into the working device; a display unit including a display area and a control unit configured to calculate the behavior of the working device based on the operating characteristic of the actuator entered into the input unit and to control the display unit to simultaneously display on the display surface an input screen used to enter the operating characteristic and a behavior screen indicating the calculated behavior of the working device. Note 2

[0128] System for setting an operating characteristic of a working machine according to Note 1, wherein the tool includes a cutting edge and The behavior screen indicates a movement path of the cutting edge. Note 3

[0129] System for setting an operating characteristic of a working machine according to Note 2, further comprising a button, wherein When the button is pressed, the control unit starts or stops the display of the cutting edge's movement path in the behavior screen. Note 4

[0130] System for setting an operating characteristic of a working machine in accordance with Note 3, wherein When the button is pressed, the control unit starts or stops the storage of the cutting edge's movement path. Note 5

[0131] System for setting an operating characteristic value of a working machine according to one of Notes 2 to 4, wherein The control unit controls the display unit in such a way that it simultaneously displays a first cutting edge movement path before setting the operating parameter and a second cutting edge movement path after setting the operating parameter as movement paths of the cutting edge in a behavior screen. Note 6

[0132] System for setting an operating characteristic value of a working machine according to one of Notes 2 to 5, wherein The behavior screen displays a target line that serves as a reference for the behavior of the work device. Note 7

[0133] System for setting an operating characteristic of a working machine in accordance with Note 6, wherein The behavior screen displays a movement path of the cutting edge relative to the target line. Note 8

[0134] System for setting an operating characteristic value of a working machine in accordance with Note 6 or 7, wherein The operating characteristic of the actuator is a parameter of the behavior of the working device, which is used to change the movement speed of the cutting edge relative to the predetermined target line in the automatic control. Note 9

[0135] System for setting an operating characteristic value of a working machine according to one of Notes 1 to 9, wherein The control unit stores the operating parameter entered into the input unit and information about an operator at the time the operating parameter was entered in a linked manner.

[0136] In all aspects, the embodiment disclosed herein should be understood as an example and does not constitute a limitation. The scope of protection of the present invention is defined by the claims and not by the preceding description and is intended to include all modifications within the scope and meaning that are equivalent to the content of the claims. Reference symbol list

[0137] 1 Main body, 1I, 2I, 6I, 7I, 8I, 8aI, 100I Image, 2 Working device, 3 Rotating body, 4 Cab, 4S Operator seat, 5 Travel device, 5Cr Crawler track, 6 Boom, 7 Arm, 8 Bucket, 8a, 8aI Cutting edge, 9 Engine compartment, 10 Boom cylinder, 11 Arm cylinder, 12 Bucket cylinder, 13 Boom pin, 14 Arm pin, 15 Bucket pin, 16 Satellite communication antenna, 17 Communication terminal, 19 Handrail, 20 Control unit, 20A Actuation quantity detection unit, 20B Position information detection unit, 20C Vehicle position information detection unit, 20D Working device position information detection unit, 20E Environment information detection unit, 20F Operating parameter detection unit, 20G Behavior control unit, 20H Behavior calculation unit, 20I Display image generation unit, 20J Display control unit, 20K Memory, 21 Display unit, 21d, 26d Display area, 22 Driving control unit, 22a, 22b Left-right driving control lever, 23 Network communication cable, 26 Monitoring device,27 Switch section, 28 Tone generator, 29 Switch panel, 31 Input unit, 32 Environmental sensing sensor, 33 Work tool position sensor, 34 Vehicle body position sensor, 41 First actuating lever, 42 Second actuating lever, 43 Actuating quantity sensing sensor, 44 Pilot hydraulic pump, 45 Motor, 46 Main hydraulic pump, 47 Control valve, 48 Directional control valve, 50A Behavior screen, 50B Input screen, 50C Information screen, 50D Construction surface creation button, 50E Stop button, 50F Help button, 50G Setting application button, 93 Communication satellite, 94 Satellite communication ground station, 95 Network control station, 96 Monitoring station, 100 Work machine, AC Actuator, AX Rotary axis, L1 Construction surface, L2, L3 Cutting edge movement path, M1 bar, M2 handle, M3 image of a triangle arrow, M4 numerical value, SM slider. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 2017 / 168687 [0003, 0004]

Claims

[1] System for setting an operating characteristic of a working machine, comprising: a working device including an actuator; an input unit used to input an operating characteristic value of the actuator into the working device; a display unit including a display area and a control unit configured to calculate the behavior of the working device based on the operating characteristic of the actuator entered into the input unit and to control the display unit to simultaneously display on the display surface an input screen used to enter the operating characteristic and a behavior screen indicating the calculated behavior of the working device. [2] System for setting an operating characteristic of a working machine according to claim 1, wherein the tool includes a cutting edge and The behavior screen indicates a movement path of the cutting edge. [3] System for setting an operating characteristic of a machine according to claim 2, further comprising a button, wherein when the button is pressed the control unit starts or stops the display of the movement path of the cutting edge in the behavior screen. [4] System for setting an operating characteristic of a machine according to claim 3, wherein when the button is pressed the control unit starts or stops the storage of the movement path of the cutting edge. [5] System for setting an operating characteristic of a machine according to claim 2, wherein the control unit controls the display unit in such a way that it simultaneously displays in the behavior screen a first cutting edge movement path before setting the operating characteristic and a second cutting edge movement path after setting the operating characteristic as movement paths of the cutting edge. [6] System for setting an operating characteristic of a working machine according to claim 2, wherein the behavior screen displays a target line which serves as a reference for a behavior of the working machine. [7] System for setting an operating characteristic of a machine according to claim 6, wherein the behavior screen displays a movement path of the cutting edge relative to the target line. [8] System for setting an operating characteristic of a working machine according to claim 6, wherein the operating characteristic of the actuator is a parameter of a behavior of the working device which is used to change a movement speed of the cutting edge relative to the predetermined target line in the automatic control. [9] System for setting an operating characteristic of a working machine according to claim 1, wherein the control unit stores the operating characteristic entered into the input unit and information about an operator at the time of input of the operating characteristic in a linked manner. [10] Method for setting an operating characteristic of a working machine, including: a step in recording an operating characteristic value of an actuator in a working device; one step of calculating the behavior of the work equipment based on the recorded operating parameter and a step of controlling a display unit so that it simultaneously displays on a display surface a behavior screen regarding the calculated behavior of the working device and an input screen of the operating characteristic value.

Images