Work machine operating characteristic adjusting system and work machine operating characteristic adjusting method

Abstract

To provide a work machine operating characteristic adjusting system and a work machine operating characteristic adjusting method that reduce hassles to check the behavior of the work machine after adjusting the output characteristics of an actuator.SOLUTION: A work machine 2 includes an actuator AC. An input part 31 inputs operating characteristics of the actuator AC in the work machine 2. A controller 20 calculates the behavior of the work machine 2 based on the operating characteristics of the actuator AC input in the input part 31, and controls a display part 21 to simultaneously display an input screen 50B for inputting the operating characteristics and a behavior screen 50A showing the calculated behavior of the work machine 2 on a display surface 21d.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a system and a method for adjusting operating characteristics of a work machine. [Background technology]

[0002] In some cases, the same work machine is used by many operators. If the output characteristics of the actuator in the work machine are constant, some operators may feel that the responsiveness is poor, while other operators may feel that the responsiveness is too good.

[0003] To solve this problem, for example, International Publication No. 2017 / 168687 (Patent Document 1) discloses a technology for changing the output characteristics of an actuator. In the above document, output characteristic information that matches the operability desired by the operator is extracted from operator information and vehicle body information, and the output characteristics of the actuator are changed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2017 / 168687 Summary of the Invention [Problem to be solved by the invention]

[0005] However, there was a demand to eliminate the need to exit the control characteristics adjustment screen every time to check the behavior of the work machine after adjusting the actuator output characteristics.

[0006] An object of the present disclosure is to provide a system and method for adjusting the operating characteristics of a work machine that reduce the effort required to check the behavior of the work machine after adjusting the output characteristics of an actuator. [Means for solving the problem]

[0007] The working machine operating characteristic adjustment system of the present disclosure includes a working machine, an input unit, a display unit, and a controller. The working machine includes an actuator. The input unit inputs operating characteristics of the actuator in the working machine. The display unit has a display surface. The controller calculates behavior of the working machine based on the operating characteristics of the actuator input to the input unit, and controls the display unit to simultaneously display, on the display surface, an input screen unit for inputting the operating characteristics and a behavior screen showing the calculated behavior of the working machine.

[0008] The method for adjusting the operating characteristics of a work machine according to the present disclosure comprises the following steps.

[0009] An operating characteristic of an actuator of the work machine is acquired. A behavior of the work machine is calculated based on the acquired operating characteristic. A display unit is controlled to simultaneously display a behavior screen relating to the calculated behavior of the work machine on a display surface together with an input screen for the operating characteristic. Effect of the Invention

[0010] According to the present disclosure, it is possible to realize a work machine operation characteristic adjustment system and a work machine operation characteristic adjustment method that reduce the effort required to check the behavior of the work machine after adjusting the output characteristics of an actuator. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing a configuration of a work machine according to an embodiment of the present disclosure. FIG. [Diagram 2] FIG. 2 is a perspective view of the inside of a cab of a work machine. [Diagram 3] FIG. 2 is a schematic diagram showing an outline of a configuration for transmitting and receiving information to a work machine. [Figure 4] 1 is a block diagram showing a configuration of a working machine operation characteristic adjustment system according to an embodiment of the present disclosure. FIG. [Diagram 5] FIG. 5 is a diagram showing functional blocks of a controller shown in FIG. 4. [Figure 6]1 is a diagram showing an example of an image displayed in a work machine operation characteristic adjustment system according to an embodiment of the present disclosure. FIG. [Figure 7] FIG. 7 is a diagram showing an example of a behavior screen in FIG. 6. [Figure 8] FIG. 4 is a flow diagram illustrating a method for an operator to adjust operating characteristics of a work machine. [Figure 9] FIG. 4 is a flow chart showing control in a controller when an operator adjusts the operating characteristics of a work machine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0013] In the specification and drawings, the same or corresponding components are given the same reference numerals, and redundant explanations are not repeated. In addition, in the drawings, configurations may be omitted or simplified for the sake of convenience. In the following, a plan view refers to a viewpoint from which the work machine 100 is viewed from above and below.

[0014] <Work machine configuration>

[0015] FIG. 1 is a diagram illustrating a schematic configuration of a work machine according to an embodiment of the present disclosure. As illustrated in FIG. 1, a work machine 100 according to this embodiment is, for example, a hydraulic excavator. The work machine 100 has a main body 1 and a working implement 2 that is hydraulically operated. The main body 1 has a revolving body 3 and a traveling device 5. The traveling device 5 has a pair of tracks 5Cr. The work machine 100 can travel by rotation of the tracks 5Cr. The traveling device 5 may have wheels (tires).

[0016] The rotating body 3 is disposed on and supported by the traveling device 5. The rotating body 3 is capable of rotating relative to the traveling device 5 about a rotation axis AX. The rotating body 3 has an operator's cab 4. The operator's cab 4 is provided with an operator's seat 4S in which an operator sits. The operator can operate the work machine 100 in the operator's cab 4.

[0017] The rotating body 3 has an engine room 9 and a counterweight provided at the rear of the rotating body 3. A handrail 19 is provided in front of the engine room 9 in the rotating body 3. A satellite communication antenna 16 is attached to the handrail 19. A vehicle body attitude sensor 34 may be attached to the handrail 19. In the engine room 9, an engine 45, hydraulic pumps (pilot hydraulic pump 44, main hydraulic pump 46), etc. shown in FIG. 4 are arranged.

[0018] The work machine 2 is supported by the rotating body 3. The work machine 2 has 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.

[0019] A base end of the boom 6 is connected to the rotating body 3 via a boom pin 13. A base end of the arm 7 is connected to a tip end of the boom 6 via an arm pin 14. The bucket 8 is connected to a tip end of the arm 7 via a bucket pin 15.

[0020] The boom 6 is rotatable about a boom pin 13. The arm 7 is rotatable about an arm pin 14. The bucket 8 is rotatable about a bucket pin 15. The arm 7 and the bucket 8 are each a movable member that is movable on the tip side of the boom 6.

[0021] In this embodiment, the front-rear direction, left-right direction, and up-down direction are specified as follows, with the work machine 2 as a reference.

[0022] The boom 6 of the work machine 2 rotates around a boom pin 13 provided at the base end of the boom 6 relative to the rotating structure 3. A specific portion of the boom 6 that rotates relative to the rotating structure 3, for example the tip of the boom 6, moves along an arc-shaped trajectory, and a plane including this arc is specified. When the work machine 100 is viewed from above, the plane is represented as a straight line. The extension direction of this straight line is the fore-aft direction of the main body 1 of the work machine 100, or the fore-aft direction of the rotating structure 3, and hereinafter will also be referred to simply as the fore-aft direction.

[0023] The left-right direction (vehicle width direction) of the main body 1 of the work machine 100 or the left-right direction of the rotating body 3 is a direction perpendicular to the front-rear direction in a plan view, and will hereinafter also be referred to simply as the left-right direction. The up-down direction of the main body 1 of the work machine 100 or the up-down direction of the rotating body 3 is a direction perpendicular to a plane including the front-rear direction and the left-right direction which are perpendicular to each other, and will hereinafter also be referred to simply as the up-down direction.

[0024] In the front-to-rear direction, the side where the work implement 2 protrudes from the main body 1 of the work machine 100 is the front direction, and the opposite direction to the front direction is the rear direction. Looking forward, the right side and left side in the left-right direction are the right direction and the left direction, respectively. The ground side is the downward direction, and the sky side is the upward direction.

[0025] The work machine 2 has 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. Each of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 is a hydraulic cylinder driven by hydraulic oil.

[0026] Fig. 2 is a perspective view of the inside of a cab of a work machine. As shown in Fig. 2, a driver's seat 4S is arranged inside the cab 4, where an operator sits facing forward F. The cab 4 includes a roof portion arranged to cover the driver's seat 4S, and a plurality of pillars supporting the roof portion. The plurality of pillars include a front pillar arranged forward F of the driver's seat 4S, a rear pillar arranged rear B of the driver's seat 4S, and an intermediate pillar arranged between the front pillar and the rear pillar. Each pillar extends in the vertical direction and is connected to the floor and roof portion of the cab 4.

[0027] The space surrounded by each pillar and the floor and roof of the cab 4 forms the interior space of the cab 4. The driver's seat 4S is accommodated in the interior space of the cab 4, and is disposed approximately in the center of the floor of the cab 4. A door for the operator to get in and out of the cab 4 is provided on the left side L of the cab 4.

[0028] A front window is disposed in front of the driver's seat 4S at F. The front window is made of a transparent material, and an operator seated in the driver's seat 4S can view the outside of the driver's cab 4 through the front window. The operator seated in the driver's seat 4S can directly view, for example, the bucket 8 that excavates earth and sand through the front window.

[0029] A monitor device 26 is installed at the front F inside the cab 4. The monitor device 26 is disposed in a right front corner inside the cab 4, and is supported by a support base extending from the floor of the cab 4. The monitor device 26 is disposed on the driver's seat 4S side with respect to the front pillar. The monitor device 26 is disposed on the front side of the front pillar as viewed from the operator seated in the driver's seat 4S.

[0030] The monitor device 26 is used for multiple purposes and has a flat display surface 26d with various monitor functions, a switch section 27 with multiple switches assigned with multiple functions, and a voice generator 28 that expresses the contents displayed on the display surface 26d by voice. The display surface 26d is composed of a graphic display such as a liquid crystal display or an organic EL (Electro-Luminescence) display. The switch section 27 is composed of multiple key switches, but is not limited to this and may be a touch panel type touch switch.

[0031] Travel operation levers (left and right travel operation levers) 22a, 22b for the left and right crawlers 5Cr are provided in front F of the driver's seat 4S. The left and right travel operation levers 22a, 22b constitute a travel operation unit 22 for operating the traveling device 5.

[0032] A first operating lever 41 is provided to the right R of the driver's seat 4S, which enables the operator in the driver's cab 4 to operate the drive of the boom 6 and bucket 8 of the work machine 2. A switch panel 29 on which various switches are mounted is provided to the right R of the driver's seat 4S. A second operating lever 42 is provided to the left L of the driver's seat 4S, which enables the operator to operate the drive of the arm 7 of the work machine 2 and the rotation of the rotating body 3.

[0033] A display unit (monitor) 21 is disposed above the monitor device 26. The display unit 21 has a flat display surface 21d. Comparing the display surface 26d of the monitor device 26 with the display surface 21d of the display unit 21, the display surface 21d is provided to be larger than the display surface 26d.

[0034] The display unit 21 is attached to the right R front pillar of the pair of front pillars, which is closer to the work implement 2. The display unit 21 is disposed on the near side of the front pillar within the line of sight to the right front of the operator seated in the driver's seat 4S. In a work machine 100 having a work implement 2 on the right R of the driver's cab 4, by attaching the display unit 21 to the front pillar on the right R, the operator can see both the work implement 2 and the display unit 21 with a small amount of line of sight movement.

[0035] Fig. 3 is a schematic diagram showing an outline of a configuration for transmitting and receiving information to and from a work machine. As shown in Fig. 3, the work machine 100 has a controller 20. The controller 20 has functions for controlling the operation of the work implement 2, the rotation of the revolving body 3, and the traveling drive of the traveling device 5. The controller 20 and the display unit 21 are connected via a bidirectional network communication cable 23, forming a communication network within the work machine 100. The display unit 21 and the controller 20 are capable of transmitting and receiving information to and from each other via the network communication cable 23. It should be noted that the display unit 21 and the controller 20 are each mainly constituted by a computer device such as a microcomputer.

[0036] Information can be transmitted and received between the controller 20 and an external monitoring station 96. In this embodiment, the controller 20 and the monitoring station 96 communicate with each other via satellite communication, for example. A communication terminal 17 having a satellite communication antenna 16 is connected to the controller 20. The satellite communication antenna 16 is mounted on the rotating body 3 as shown in FIG. 1. The satellite communication antenna 16 has a positioning device. The positioning device receives a satellite positioning signal indicating the position of the main body 1 in the global coordinate system from a communication satellite 93.

[0037] A network control station 95, which is connected by a dedicated line to a communication earth station 94 that communicates with a communication satellite 93 by a dedicated communication line, is connected to the ground monitor station 96 via the Internet, etc. As a result, data is transmitted and received between the controller 20 and a predetermined monitor station 96 via the communication terminal 17, the communication satellite 93, the communication earth station 94, and the network control station 95.

[0038] An example in which an information-based construction system is adopted for the work machine 100 of this embodiment will be described. Design terrain data created using 3D CAD (Computer Aided Design) is stored in advance in the controller 20. The display unit 21 updates and displays the current position of the work machine 100 received from outside on the screen in real time, allowing the operator to constantly check the work status of the work machine 100.

[0039] The controller 20 compares the position and attitude of the work machine 2 with the designed terrain data in real time, and controls the work machine 2 by driving the hydraulic circuit based on the comparison result. More specifically, the position to be worked on according to the designed terrain data (design surface) is compared with the position of the bucket 8, and the blade tip 8a (Fig. 1) of the bucket 8 is controlled so as not to dig below the design surface. This improves the efficiency and accuracy of work, and makes it possible to easily carry out high-quality construction work.

[0040] <Configuration of the working machine operation characteristic adjustment system>

[0041] Next, the configuration of the operation characteristic adjustment system for the work machine 100 will be described with reference to FIG.

[0042] Fig. 4 is a block diagram showing the configuration of a work machine operation characteristic adjustment system in one embodiment of the present disclosure. As shown in Fig. 4, the operation characteristic adjustment system for the work machine 100 has at least a controller 20, operation levers 41, 42, an operation amount detection sensor 43, a pilot hydraulic pump 44, an engine 45, a main hydraulic pump 46, a control valve 47, a directional control valve 48, and an actuator AC.

[0043] The pilot hydraulic pump 44 and the main hydraulic pump 46 are each mechanically connected to the engine 45. This allows the driving force of the engine 45 to be transmitted to each of the pilot hydraulic pump 44 and the main hydraulic pump 46. The pilot hydraulic pump 44 and the main hydraulic pump 46 are each driven by the driving force of the engine 45. When the pilot hydraulic pump 44 is driven, pilot oil is supplied to a control valve 47. When the main hydraulic pump 46 is driven, hydraulic oil is supplied to a directional control valve 48.

[0044] Each of the operation levers 41, 42 receives an operation by an operator. The operation amount detection sensor 43 detects the operation amount of each of the operation levers 41, 42 operated by the operator. The operation amount detection sensor 43 is, for example, a potentiometer. The operation amount detection sensor 43 outputs the detected operation amount to the controller 20 as an operation signal (electrical signal).

[0045] Based on the acquired operation signal, the controller 20 controls the opening and closing operation of the control valve 47. The amount of pilot oil supplied from the control valve 47 to the directional control valve 48 is controlled by opening and closing the control valve 47.

[0046] The directional control valve 48 has a rod-shaped spool. The spool of the directional control valve 48 is driven based on the amount of pilot oil supplied to the directional control valve 48. Driving the spool of the directional control valve 48 switches the flow direction of the hydraulic oil supplied from the directional control valve 48 to the actuator AC. Driving the spool of the directional control valve 48 also adjusts the amount of hydraulic oil supplied from the directional control valve 48 to the actuator AC.

[0047] The actuators AC are, for example, a boom cylinder 10, an arm cylinder 11, a bucket cylinder 12, etc. The extension and contraction of each of the hydraulic cylinders 10, 11, 12 is controlled by switching the flow direction of hydraulic oil supplied from a directional control valve 48. Also, the extension and contraction speed of each of the hydraulic cylinders 10, 11, 12 is controlled by adjusting the amount of hydraulic oil supplied from the directional control valve 48.

[0048] As described above, the operation of the actuator AC is controlled by an operator operating the control levers 41, 42. The above-mentioned control levers 41, 42 are so-called electric control levers in which the amount of operation is converted into an electric signal and then controls the control valve 47. The control levers 41, 42 may be so-called hydraulic control levers in which the control valve 47 is controlled hydraulically.

[0049] The operating characteristic adjustment system for the work machine 100 further has a satellite communication antenna 16, an input unit 31, a surroundings detection sensor 32, a work implement attitude sensor 33, a vehicle body attitude sensor 34, and a display unit 21. Each of the satellite communication antenna 16, the input unit 31, the surroundings detection sensor 32, the work implement attitude sensor 33, the vehicle body attitude sensor 34, and the display unit 21 is connected to the controller 20 by electrical wiring.

[0050] The satellite communication antenna 16 outputs a signal acquired from a communication satellite 93 (FIG. 3) to the controller 20. The positioning device included in the satellite communication antenna 16 outputs a satellite positioning signal indicating the position of the main body 1 in the global coordinate system to the controller 20.

[0051] The input unit 31 is a section for allowing an operator to input operating characteristics of the actuator AC. The input unit 31 also acquires information of the operator who inputs the operating characteristics. The input unit 31 is, for example, a touch panel type display surface 21d of the display unit 21. The input unit 31 may also be a physical button, a physical switch, or the like, and may be, for example, the switch unit 27 of the monitor device 26. The input unit 31 outputs information related to the operating characteristics of the actuator AC input by the operator and information about the operator to the controller 20.

[0052] The surroundings detection sensor 32 is attached to the work machine 100, for example, facing toward the front. The surroundings detection sensor 32 is attached to the cab 4, for example. The surroundings detection sensor 32 is, for example, a LiDAR (Light Detection and Ranging) that emits laser light to acquire information about an object. The surroundings detection sensor 32 may be a Radar (Radio Detection and Ranging) that acquires information about an object by emitting radio waves. The radar may be, for example, a millimeter wave radar that detects, with a receiving antenna, how millimeter wave band radio waves emitted from a transmitting antenna are reflected off the surface of an object and returned. The surroundings detection sensor 32 may be a visual sensor including a camera. The surroundings detection sensor 32 may be an infrared sensor. The surroundings detection sensor 32 outputs information about the detected surroundings of the work machine 100 to the controller 20.

[0053] The work machine attitude sensor 33 detects the attitude (position) of the work machine 2 relative to the main body 1. The work machine attitude sensor 33 detects the attitude of the work machine 2 in a local coordinate system. The work machine attitude sensor 33 may be, for example, a stroke sensor. When the work machine attitude sensor 33 is a stroke sensor, for example, a stroke sensor is attached to each of the hydraulic cylinders 10, 11, and 12. The stroke amount of each cylinder can be detected by the stroke sensor. The attitudes of the boom 6, arm 7, and bucket 8 can be detected based on this stroke amount and the dimensions of each element of the work machine 2. The work machine attitude sensor 33 outputs information related to the detected attitude of the work machine 2 to the controller 20.

[0054] The work machine attitude sensor 33 is not limited to the stroke sensor described above, and may be a rotary encoder, an inertial measurement unit (IMU), a potentiometer, a visual sensor, or the like.

[0055] When a rotary encoder is used as the work machine attitude sensor 33, the rotary encoder is attached, for example, near the boom pin 13, near the arm pin 14, and near the bucket pin 15. The attitude of the work machine 2 can be detected from the angle of the boom 6 relative to the main body 1, the angle of the arm 7 relative to the boom 6, the angle of the bucket 8 relative to the arm 7, the dimensions of each element of the work machine 2, etc. detected by the rotary encoder.

[0056] When an inertial measurement unit is used as the work machine attitude sensor 33, for example, an inertial measurement unit is attached to each of the boom 6, the arm 7, and the bucket 8. Each inertial measurement unit detects three-axis angles (or angular velocities) and acceleration. The attitude of each of the boom 6, the arm 7, and the bucket 8 can be detected from the three-axis angles (or angular velocities) and acceleration detected by the inertial measurement unit.

[0057] When a potentiometer is used as the work implement attitude sensor 33, a potentiometer is attached, for example, near the connection between the boom 6 and the main body 1, near the connection between the boom 6 and the arm 7, and near the connection between the arm 7 and the bucket 8. Each potentiometer can detect the rotation angle 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. The attitude of the work implement 2 can be detected from these rotation angles.

[0058] When a visual sensor is used as the work machine attitude sensor 33, the visual sensor captures images of the respective states of the boom 6, the arm 7, and the bucket 8. The attitudes of each of the boom 6, the arm 7, and the bucket 8 can be detected from the image information captured by the visual sensor. The visual sensor is, for example, an imaging device such as a camera.

[0059] The vehicle body attitude sensor 34 detects the attitude of the main body 1 in the local coordinate system. The vehicle body attitude sensor 34 is provided on the main body 1. The vehicle body attitude sensor 34 includes, for example, an inertial measurement device. The attitude of the main body 1 includes a roll angle indicating the tilt angle of the main body 1 about an axis extending in the front-rear direction, a pitch angle indicating the tilt angle of the main body 1 about an axis extending in the left-right direction, and a yaw angle indicating the tilt angle of the main body 1 about an axis extending in the up-down direction. The vehicle body attitude sensor 34 outputs information related to the detected attitude of the main body 1 in the local coordinate system to the controller 20.

[0060] The work machine 100 has a memory 20K. The memory 20K may be provided within the controller 20, or may be provided separately from the controller 20. The memory 20K stores, for example, current terrain data, designed terrain data, work machine data, display image data, and the like.

[0061] The current terrain data is data on the current terrain of the construction site, and may be data detected by the surrounding detection sensor 32, or may be data detected by other devices. The design terrain data is a target shape of the ground at the construction site, and may be data created by a construction company, for example. The work machine data is data indicating the dimensions of each part of the elements (boom 6, arm 7, bucket 8, etc.) that make up the work machine 2.

[0062] The display image data is data for constructing an image to be displayed on the display unit 21. The display image data includes data for constructing a behavior screen 50A, an input screen 50B, an information screen 50C, various button images 50D, 50E, 50F, 50G, and the like shown in FIG.

[0063] <Controller 20>

[0064] Next, the functional blocks of the controller 20 will be described with reference to FIG.

[0065] Fig. 5 is a diagram showing functional blocks of the controller shown in Fig. 4. As shown in Fig. 5, the controller 20 has an operation amount acquisition unit 20A, a positioning information acquisition unit 20B, a vehicle body attitude information acquisition unit 20C, a work machine attitude information acquisition unit 20D, a surrounding information acquisition unit 20E, and an operation characteristic acquisition unit 20F. The controller 20 further has a behavior control unit 20G, a behavior calculation unit 20H, a display image generation unit 20I, a display control unit 20J, and a memory 20K.

[0066] The operation amount acquisition unit 20A acquires an operation signal detected by the operation amount detection sensor 43. The operation amount acquisition unit 20A outputs the acquired operation signal to the behavior control unit 20G. The behavior control unit 20G controls the opening and closing operation of the control valve 47 based on the operation signal acquired from the operation amount acquisition unit 20A. As a result, the work machine 2 operates based on the operation of the operation levers 41, 42 by the operator, as described above.

[0067] The positioning information acquisition unit 20B acquires a satellite positioning signal indicating the position of the main body 1 in the global coordinate system output by the positioning device of the satellite communication antenna 16. The positioning information acquisition unit 20B outputs the acquired satellite positioning signal to the behavior calculation unit 20H.

[0068] The vehicle body attitude information acquisition unit 20C acquires information about the attitude of the main body 1 in the local coordinate system detected by the vehicle body attitude sensor 34. The vehicle body attitude information acquisition unit 20C outputs the acquired information about the attitude of the main body 1 in the local coordinate system to the behavior calculation unit 20H.

[0069] The work machine attitude information acquisition unit 20D acquires information about the attitude of the work machine 2 relative to the main body 1 detected by the work machine attitude sensor 33. The work machine attitude information acquisition unit 20D outputs the acquired information about the attitude of the work machine 2 to the behavior calculation unit 20H.

[0070] The surrounding information acquisition unit 20E acquires information relating to the surroundings of the work machine 100 detected by the surroundings detection sensor 32. The surrounding information acquisition unit 20E outputs the acquired information relating to the surroundings of the work machine 100 to the behavior calculation unit 20H.

[0071] The motion characteristic acquisition unit 20F acquires information on the motion characteristics of the actuator AC input to the input unit 31. The motion characteristic acquisition unit 20F outputs the acquired information on the motion characteristics of the actuator AC to the behavior calculation unit 20H and the display image generation unit 20I.

[0072] The behavior calculation unit 20H calculates the behavior of the work machine 2 in automatic control, for example. The behavior calculation unit 20H calculates the position of the blade tip 8a of the work machine 2 in the local coordinate system based on the posture data of the work machine 2 acquired by the work machine posture information acquisition unit 20D and the work machine data acquired from the memory 20K. The behavior calculation unit 20H calculates the position of the blade tip 8a of the work machine 2 in the global coordinate system based on the position of the main body 1 in the global coordinate system acquired by the positioning information acquisition unit 20B and the calculated position of the blade tip 8a of the work machine 2 in the local coordinate system.

[0073] The behavior calculation unit 20H may take into consideration the attitude of the main body 1 in the local coordinate system acquired by the vehicle body attitude information acquisition unit 20C when calculating the position of the blade tip 8a of the work implement 2 in the global coordinate system. For example, when the main body 1 is inclined with respect to the horizontal plane, the position of the blade tip 8a of the work implement 2 in the global coordinate system may be calculated taking into account the inclination angle of the main body 1 detected by the vehicle body attitude sensor 34. The behavior calculation unit 20H calculates a construction plan based on the current topography data and the designed topography data acquired from the memory 20K. When calculating the construction plan, the behavior calculation unit 20H may calculate the construction plan taking into consideration the work implement data acquired from the memory 20K. When calculating the construction plan, the behavior calculation unit 20H calculates the movement path of the blade tip 8a of the work implement 2 for construction.

[0074] The behavior calculation unit 20H outputs information about the movement path of the blade tip 8a under automatic control calculated by calculation to the behavior control unit 20G.

[0075] The behavior control unit 20G controls the opening and closing operation of the control valve 47 based on information regarding the movement path of the cutting edge 8a during automatic control obtained from the behavior calculation unit 20H. In this way, the movement path of the cutting edge 8a of the work machine 2 is calculated by the behavior calculation unit 20H, and the behavior control unit 20G controls the control valve 47 so that the cutting edge 8a of the work machine 2 moves along that movement path, thereby enabling automatic control of the work machine 2.

[0076] The behavior calculation unit 20H also outputs information about the movement path of the cutting edge 8a in automatic control calculated by calculation to the display image generation unit 20I. The behavior calculation unit 20H also outputs information about the attitude of the work machine 2 with respect to the main body 1, acquired from the work machine attitude information acquisition unit 20D, to the behavior control unit 20G.

[0077] The display image generating unit 20I generates images to be displayed on the display unit 21 based on the information acquired from each of the behavior calculation unit 20H, the memory 20K, and the operation characteristic acquisition unit 20F. The display image generating unit 20I generates a behavior screen 50A, an input screen 50B, an information screen 50C, various button images 50D, 50E, 50F, 50G, etc. shown in Fig. 8 based on the display image data acquired from the memory 20K.

[0078] The display image generating unit 20I generates an image in which the position of the handle M2 on the input screen 50B shown in Fig. 6 is changed, based on the information on the operation characteristics of the actuator AC acquired from the operation characteristics acquiring unit 20F. Specifically, the display image generating unit 20I generates an image in which the position of the handle M2 is moved in the left-right direction on the scaled bar M1 on the input screen 50B shown in Fig. 6. The display image generating unit 20I also generates an image in which the numerical value M4 on the input screen 50B shown in Fig. 6 is changed, based on the information on the operation characteristics of the actuator AC acquired from the operation characteristics acquiring unit 20F.

[0079] The display image generating unit 20I generates an image relating to the behavior of the work implement 2, for example to be displayed on the behavior screen 50A, based on information relating to the movement path of the blade tip 8a acquired from the behavior calculation unit 20H. The image relating to the behavior of the work implement 2 is an image showing the behavior of the work implement 2 (work machine 100) itself, and may include images of the main body 1, boom 6, arm 7, bucket 8, etc. The image relating to the behavior of the work implement 2 may be an image showing the trajectory of the blade tip 8a of the work implement 2, for example.

[0080] The display image generating unit 20I generates an image in which the behavior of the work machine 2 changes in real time according to the actual operation of the work machine 2. The display image generating unit 20I also generates an image in which the trajectory of the blade tip 8a of the work machine 2 changes in real time according to the actual operation of the work machine 2.

[0081] The display image generating unit 20I outputs the generated information about the trajectory of the cutting edge 8a to the memory 20K. The memory 20K stores the acquired trajectory of the cutting edge 8a. The input unit 31 has a storage start / stop button 50E for starting and stopping storage of the trajectory of the cutting edge 8a. When the operator operates the storage start / stop button 50E, the memory 20K starts or stops storing information about the trajectory of the cutting edge 8a.

[0082] The display image generating unit 20I outputs information about the generated image to the display control unit 20J. The display control unit 20J controls the display content of the display unit 21 based on the acquired image information.

[0083] Furthermore, when the operator operates the storage start / stop button 50E, the display control section 20J controls the display section 21 to start or stop displaying the trajectory of the blade tip 8a on the behavior screen 50A.

[0084] Furthermore, the controller 20 may associate the motion characteristics input to the input unit 31 with operator information at the time the motion characteristics were input, and store the association in the memory 20K. The controller 20 may also recognize the operator riding on the work machine 100, and control the work machine 2 to operate with the motion characteristics associated with the operator, based on the association between the motion characteristics stored in the memory 20K and the operator.

[0085] The controller 20 includes a processor, a main memory, and a storage. The processor is, for example, a CPU (Central Processing Unit), etc. The main memory includes, for example, a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory).

[0086] The controller 20 reads out the program stored in the storage, loads it into the main memory, and executes a predetermined process in accordance with the program. The program may be distributed to the controller 20 via a network.

[0087] Each of the controller 20, the input unit 31 and the display unit 21 may be mounted on the work machine 100, or may be disposed remotely outside the work machine 100. When the controller 20 is disposed remotely outside the work machine 100, the controller 20 may be wirelessly connected to the satellite communication antenna 16, the surroundings detection sensor 32, the work machine attitude sensor 33, the vehicle body attitude sensor 34, and the like. The controller 20 may be stored in a server separate from the work machine 100. In addition, the operator may operate the work machine 100 remotely without boarding inside the cab 4 of the work machine 100.

[0088] <Image displayed on display surface 21d of display unit 21>

[0089] Next, an image displayed on the display surface 21d of the display unit 21 in this embodiment will be described with reference to FIGS.

[0090] FIG. 6 is a diagram showing an example of an image displayed in the working machine operating characteristic adjustment system in one embodiment of the present disclosure. FIG. 7 is a diagram showing an example of the behavior screen in FIG. 6. As shown in FIG. 6, an input screen 50B and a behavior screen 50A are simultaneously displayed as adjustment images on the display surface 21d. An image for adjusting the operating characteristics of the actuator AC in automatic control is displayed on the input screen 50B. The behavior screen 50A displays operation information of the working machine 2 after the operating characteristics have been changed. This allows the operator to check the adjustment of the operating characteristics of the actuator AC in automatic control and the operation of the working machine 2 after the operating characteristics have been adjusted on the same screen.

[0091] 6, an input screen 50B and a behavior screen 50A for automatic ground leveling assist control are displayed as an automatic control. An input screen 50B and a behavior screen 50A for an automatic control other than the automatic ground leveling assist control may be displayed on the display surface 21d. An input screen 50B and a behavior screen 50A for an automatic stop control may be displayed as an automatic control other than the automatic ground leveling assist control.

[0092] The input screen 50B displays an image for adjusting various parameters related to the operating characteristics of the actuator AC. By adjusting various parameters on the input screen 50B, the operating characteristics of the actuator AC in automatic control can be adjusted. As parameters related to the operating characteristics of the actuator AC, adjustment screens for, for example, initial motion, low speed stability, high speed stability, approaching speed to design surface, and approaching acceleration to design surface are displayed. In the automatic ground leveling assist control, in addition to the above parameters, adjustment screens for, for example, work equipment acceleration limit, arm initial speed, and arm steady speed may be displayed.

[0093] In addition, in the automatic stop control, an adjustment screen may be displayed for parameters related to the operating characteristics of the actuator AC, such as the design surface approach speed, the work implement descent acceleration limit, the stop feeling, and the stop position adjustment.

[0094] The adjustment screen for each parameter is displayed, for example, with a left-right slider SM. The adjustment screen for each parameter has a bar M1 having a scale and extending left and right, and a handle M2 that moves left and right on the bar M1. Each parameter is adjusted by moving the handle M2 left and right. If the display surface 21d is a touch panel type, the operator moves the handle M2 by touching either of the triangular arrow images M3 on either side of the bar M1.

[0095] 7, an image showing operation information of the work machine 2 is displayed on the behavior screen 50A. On the behavior screen 50A, an image 100I of the work machine 100, a design surface (a target line serving as a reference for the behavior of the work machine 100) L1, and cutting edge trajectories L2, L3 are displayed. The design surface L1 is not limited to a horizontal surface, and may be a slope, etc.

[0096] Image 100I of work machine 100 corresponds to the actual machine and has an image 1I of main body 1 and an image 2I of work implement 2. Image 2I of work implement 2 has an image 6I of boom 6, an image 7I of arm 7, and an image 8I of bucket 8. Image 8I of bucket 8 has an image 8aI of cutting edge 8a.

[0097] The blade edge trajectory L2 (first blade edge trajectory) is, for example, the trajectory of the blade edge 8a before the adjustment of the operating characteristics of the actuator AC. The blade edge trajectory L3 (second blade edge trajectory) is, for example, the trajectory of the blade edge 8a after the adjustment of the operating characteristics of the actuator AC. In this manner, the blade edge trajectory L2 before the adjustment of the operating characteristics and the blade edge trajectory L3 after the adjustment of the operating characteristics may be displayed simultaneously on the behavior screen 50A. The blade edge trajectory L2 and the blade edge trajectory L3 may be displayed with different line types and different colors.

[0098] The image 2I of the work machine 2 changes in real time according to the operation of the actual work machine 2. Furthermore, according to the movement of the cutting edge 8a in the actual work machine 2, each of the cutting edge trajectories L2, L3 changes in real time.

[0099] As shown in FIG. 6, in addition to the behavior screen 50A and the input screen 50B, an information screen 50C and various button images 50D, 50E, 50F, 50G, etc. may be simultaneously displayed on the display surface 21d.

[0100] Information screen 50C displays information useful for adjusting parameters on input screen 50B. Information screen 50C displays, for example, the weight of bucket 8 and the operation amounts of operation levers 41, 42. The operation amounts of operation levers 41, 42 displayed on information screen 50C are, for example, the operation amounts of arm operation levers.

[0101] The various buttons displayed on the display unit 21 include, for example, a design surface creation button 50D, a memory start / stop button 50E, a help button 50F, and a setting application button 50G. When the design surface creation button 50D is operated, the design surface L1 is displayed on the behavior screen 50A. When the memory start / stop button 50E is operated, the memory 20K starts or stops storing information about the trajectory of the cutting edge 8a (cutting edge trajectories L2, L3).

[0102] By operating the help button 50F, an explanation of the various parameters (initial behavior, low speed stability, etc.) displayed on the input screen 50B is displayed. By operating the setting application button 50G, the changed parameters on the input screen 50B are set as the operation parameters of the work machine 2.

[0103] <Method for adjusting the operating characteristics of a work machine>

[0104] Next, a method in which the operator adjusts the operating characteristics of the actuator AC in automatic control will be described with reference to Figures 6 to 8. Figure 8 is a flow chart showing a method in which the operator adjusts the operating characteristics of the work machine.

[0105] As shown in Fig. 6, first, an adjustment screen is displayed on the display surface 21d of the display unit 21. On this adjustment screen, the operator operates the design surface creation button 50D. As a result, a design surface L1 is created and displayed on the behavior screen 50A (step S1: Fig. 8).

[0106] Thereafter, the operator operates the operating levers 41, 42, and the work machine 2 operates. As the work machine 2 operates, the image 2I of the work machine 2 in the behavior screen 50A changes in accordance with the operation of the work machine 2. The image 2I of the work machine 2 changes to be the same as the actual operation of the work machine 2. As the work machine 2 operates, the blade tip trajectory L2 is displayed in accordance with the operation of the work machine 2. As shown in FIG. 7, the blade tip trajectory L2 is displayed so as to extend following the movement of the image 8aI of the blade tip 8a. The operator checks the operation of the work machine 2 by checking the change in the image 2I of the work machine 2 or the change in the blade tip trajectory L2 (step S2: FIG. 8).

[0107] After checking the operation of the work machine 2, the operator considers whether or not adjustment of the operating characteristics of the actuator AC is necessary (step S3: FIG. 8). If the operator determines in this consideration that adjustment of the operating characteristics is not necessary, the adjustment of the operating characteristics of the actuator AC is completed (step S7: FIG. 8).

[0108] On the other hand, if the operator determines in the above examination that the operating characteristics of actuator AC need to be adjusted, the operator examines whether or not the parameters for adjusting the operating characteristics of actuator AC are known (step S4: FIG. 8). In this examination, the operator refers to the information screen 50C in the adjustment image shown in FIG.

[0109] If the operator knows which parameter should be changed to adjust the operating characteristics of actuator AC in this examination, he or she changes the parameter on input screen 50B and operates setting application button 50G (step S5: FIG. 8). This causes the change in the operating characteristics of actuator AC to be reflected. As a result, for example, when the value of the parameter "Initial motion" on input screen 50B is set to a "+" value, the opening characteristics of control valve 47 (FIG. 4) change and the operating speed of work machine 2 increases. After this, the operator repeats the operation of step S2.

[0110] On the other hand, if the operator does not know which parameter should be changed to adjust the operating characteristics of the actuator AC in step S4, the operator operates the help button 50F. This causes explanations of the various parameters (initial behavior, low-speed stability, etc.) displayed on the input screen 50B to be displayed on the display surface 21d. This allows the operator to recognize which parameter should be changed (step S6: FIG. 8). After this, the operator repeats the operation of step S4.

[0111] In this manner, in this embodiment, the operator can adjust the operating characteristics of the actuator AC under automatic control.

[0112] Next, the control method of the controller 20 when adjusting the above-mentioned operating characteristics will be described with reference to FIGS.

[0113] Fig. 9 is a flow diagram showing the control in the controller when the operator adjusts the operating characteristics of the work machine. When the operator changes the parameters and operates the setting application button 50G in step S5 in Fig. 8, the operating characteristic acquisition unit 20F of the controller 20 shown in Fig. 5 acquires the changed operating characteristics from the input unit 31 (step S11: Fig. 9).

[0114] Thereafter, the behavior calculation unit 20H calculates the behavior of the work machine 2 based on the operation characteristics acquired from the operation characteristic acquisition unit 20F and the information acquired from the other acquisition units 20B, 20C, 20D, and 20E and the memory 20K (step S12: FIG. 9). The display image generation unit 20I generates an adjusted image (FIG. 6) to be displayed on the display surface 21d of the display unit 21 based on the information on the behavior of the work machine 2 calculated by the behavior calculation unit 20H (step S13: FIG. 9). The display control unit 20J controls the display unit 21 to display the display image generated by the display image generation unit 20I on the display unit 21 (step S14). As a result, as shown in FIG. 6, an input screen 50B for inputting the operation characteristics of the actuator AC and a behavior screen 50A showing the calculated behavior of the work machine 2 are simultaneously displayed on one display surface 21d. Note that the input screen 50B and the behavior screen 50A may be simultaneously displayed on two display surfaces separated from each other. The two separate display surfaces may be, for example, display surface 21d and display surface 26d. For example, the input screen 50B may be displayed on display surface 21d, and the behavior screen 50A may be displayed on display surface 26d. Conversely, the input screen 50B may be displayed on display surface 26d, and the behavior screen 50A may be displayed on display surface 21d. The two separate display surfaces may be display surfaces other than display surfaces 21d and 26d.

[0115] In this manner, the controller 20 controls the display unit 21 so as to display the adjusted image shown in FIG.

[0116] <Effects>

[0117] In recent years, the introduction of information-based construction has been rapidly promoted for work machines. Information-based construction is a system that aims to achieve highly efficient and highly accurate construction by detecting the position of work machines using information and communication technology (ICT) during the construction stage of a construction project and automatically controlling the work machines based on the detected positions.

[0118] When automatically controlling a work machine, such as a hydraulic excavator, in ground leveling work, it is necessary to prevent the machine from digging deeper than the design level. Therefore, when the tip of the bucket is about to drop below the design level, a control is performed to automatically and forcibly raise the boom (automatic stop control).

[0119] In addition, the blade of the bucket traces an arc-shaped path. Therefore, if the boom is not lowered during plowing work to create a flat surface, the blade of the bucket may move away from the design surface. Therefore, a control system (automatic leveling assist control) is used to automatically and forcibly lower the boom so that a flat surface can be created during plowing work.

[0120] However, there are various individual differences in the work machines on which the automatic control is executed, the way they are used, and the behavior of the work machine desired by the operator. For this reason, some operators may feel that the stopping shock is large when the work machine is automatically stopped in the automatic stop control. Also, some operators may feel that the cutting edge drops significantly when plowing work starts in the automatic ground leveling assist control.

[0121] In view of the above, for example, when an operator is not satisfied with the operating characteristics of actuator AC under automatic control, there is a demand to be able to change the operating characteristics of actuator AC and to be able to check, with minimal effort, the behavior of the work machine after the operating characteristics have been changed.

[0122] The present inventors conducted intensive research into the above-mentioned needs and as a result have completed the present disclosure.

[0123] According to the operation characteristic adjustment system for the work machine 100 of the present disclosure, as shown in Fig. 6, an input screen 50B for inputting operation characteristics and a behavior screen 50A showing the calculated behavior of the work machine are simultaneously displayed on the display surface 21d. This allows the operator to input the operation characteristics of the actuator AC on the display surface 21d of the display unit 21, which serves as the input unit 31, and then check the behavior of the work machine 2 on the same display surface 21d. This makes it possible to change the output characteristics of the actuator AC and to check the behavior of the work machine 2 after the output characteristics have been changed with little effort.

[0124] In the above-described operation characteristic adjustment system for the working machine 100, the behavior screen 50A shows the trajectories L2, L3 of the cutting edge 8aI as shown in Fig. 7. This allows the operator to easily confirm the cutting edge trajectories L2, L3 on the behavior screen 50A.

[0125] Furthermore, in the operating characteristic adjustment system for the working machine 100 described above, the display of the trajectories L2, L3 of the cutting edge 8a on the behavior screen 50A is started or stopped by the operator operating the memory start / stop button 50E shown in Fig. 6. This makes it possible to easily check the trajectories L2, L3 of the cutting edge 8a by operating the memory start / stop button 50E when it is desired to check the trajectories L2, L3 of the cutting edge 8a.

[0126] In the operating characteristic adjustment system for the working machine 100 described above, the storage of the trajectories L2, L3 of the cutting edge 8a is started or stopped by operating the storage start / stop button 50E shown in Fig. 6. This makes it possible to store only the necessary parts of the trajectory of the cutting edge 8a.

[0127] 7, in the operation characteristic adjustment system for the working machine 100 described above, a first cutting edge trajectory L2 before adjustment of the operation characteristic and a second cutting edge trajectory L3 after adjustment of the operation characteristic are simultaneously displayed on the behavior screen 50A as the trajectory of the cutting edge 8a. This allows the first cutting edge trajectory L2 and the second cutting edge trajectory L3 to be easily compared on the display unit 21.

[0128] 7, in the above-described operation characteristic adjustment system for the work machine 100, the behavior screen 50A displays a design plane L1 (a target line that is a reference for the behavior of the work machine 2). This allows the operator to perform work while checking the design plane L1 on the behavior screen 50A.

[0129] In the above-described operation characteristic adjustment system for the working machine 100, the behavior screen 50A displays the trajectories L2, L3 of the cutting edge 8a relative to the design surface L1, as shown in Fig. 7. This allows the operator to easily confirm the extent to which the trajectories L2, L3 of the cutting edge 8a differ from the design surface L1.

[0130] In the above-described operation characteristic adjustment system for the working machine 100, as shown in Fig. 6, the operation characteristic of the actuator AC is a parameter of the behavior of the working machine 2 for varying the moving speed of the cutting edge 8a relative to the design surface L1 (a target line predetermined in automatic control). Specifically, the operation characteristic of the actuator AC is the design surface approach speed displayed on the input screen 50B. This allows the speed at which the cutting edge 8a approaches the design surface L1 to be controlled to the operator's preference.

[0131] 6, in the operation characteristic adjustment system for the work machine 100, the behavior screen 50A shows the behavior of the work machine 2. This allows the operator to confirm the behavior of the work machine 2 on the behavior screen 50A.

[0132] Furthermore, in the above-described operation characteristic adjustment system for the work machine 100, the controller 20 associates and stores the operation characteristics of the actuator AC input to the input unit 31 with the operator information at the time of inputting the operation characteristics. This allows the operator to execute automatic control with the operation characteristics of the actuator AC that suit his or her preferences. Also, by accumulating data on the settings under which the operation characteristics of the actuator AC were used, it becomes possible to statistically grasp the characteristics that are preferred in the market.

[0133] <Additional Notes>

[0134] The above-described embodiment includes the following technical ideas.

[0135] (Appendix 1) A work machine including an actuator; an input unit for inputting operational characteristics of the actuator in the working machine; A display unit having a display surface; a controller that calculates the behavior of the work machine based on the operating characteristics of the actuator input to the input unit, and controls the display unit to simultaneously display on the display surface an input screen for inputting the operating characteristics and a behavior screen showing the calculated behavior of the work machine.

[0136] (Appendix 2) The working machine has a cutting edge, The working machine operating characteristic adjustment system according to claim 1, wherein the behavior screen shows a trajectory of the cutting edge.

[0137] (Appendix 3) Further equipped with a button, The working machine operating characteristic adjustment system according to claim 2, wherein the controller starts or stops displaying the trajectory of the cutting edge on the behavior screen by operating the button.

[0138] (Appendix 4) The working machine operating characteristic adjustment system according to claim 3, wherein the controller starts or stops storing the trajectory of the cutting edge by operating the button.

[0139] (Appendix 5) The working machine operating characteristic adjustment system according to any one of Appendix 2 to Appendix 4, wherein the controller controls the display unit to simultaneously display, on the behavior screen, a first cutting edge trajectory before the adjustment of the operating characteristic and a second cutting edge trajectory after the adjustment of the operating characteristic as the cutting edge trajectory.

[0140] (Appendix 6) 6. The working machine operation characteristic adjustment system according to claim 2, wherein the behavior screen displays a target line that is a reference for the behavior of the working machine.

[0141] (Appendix 7) The working machine operating characteristic adjustment system according to claim 6, wherein the behavior screen displays a trajectory of the cutting edge relative to the target line.

[0142] (Appendix 8) The working machine operating characteristic adjustment system according to claim 6 or 7, wherein the operating characteristic of the actuator is a parameter of the behavior of the working machine for varying the moving speed of the cutting edge relative to the target line predetermined in automatic control.

[0143] (Appendix 9) 10. The working machine operation characteristic adjustment system according to any one of Supplementary Note 1 to Supplementary Note 9, wherein the controller stores the operation characteristic input to the input unit in association with operator information at the time of inputting the operation characteristic.

[0144] (Appendix 10) A step of acquiring an operating characteristic of an actuator of a work machine; A step of calculating a behavior of the work machine based on the acquired operation characteristics; A method for adjusting operating characteristics of a work machine, comprising: a step of controlling a display unit so as to simultaneously display a behavior screen relating to the calculated behavior of the work machine on a display surface together with an input screen for the operating characteristics.

[0145] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0146] 1 main body, 1I, 2I, 6I, 7I, 8I, 8aI, 100I image, 2 work machine, 3 rotating body, 4 cab, 4S driver's seat, 5 running gear, 5Cr track, 6 boom, 7 arm, 8 bucket, 8a, 8aI cutting edge, 9 engine room, 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 controller, 20A operation amount acquisition unit, 20B positioning information acquisition unit, 20C vehicle attitude information acquisition unit, 20D work machine attitude information acquisition unit, 20E surrounding information acquisition unit, 20F operation characteristic acquisition 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 surface, 22 travel operation unit, 22a, 22b left and right travel operation levers, 23 network communication cable, 26 monitor device, 27 switch unit, 28 voice generator, 29 switch panel, 31 input unit, 32 surrounding detection sensor, 33 work machine attitude sensor, 34 vehicle attitude sensor, 41 first operation lever, 42 second operation lever, 43 operation amount detection sensor, 44 pilot hydraulic pump, 45 engine, 46 main hydraulic pump, 47 control valve, 48 directional control valve, 50A behavior screen, 50B input screen, 50C information screen, 50D design surface creation button, 50E stop button, 50F help button, 50G setting application button, 93 communication satellite, 94 communication earth station, 95 network control station, 96 monitoring station, 100 work machine, AC actuator, AX Swivel axis, L1 design surface, L2,L3 cutting edge trajectory, M1 bar, M2 handle, M3 triangular arrow image, M4 numerical value, SM slider.

Claims

1. A work machine including an actuator; an input unit for inputting operational characteristics of the actuator in the working machine; A display unit having a display surface; a controller that calculates the behavior of the work machine based on the operating characteristics of the actuator input to the input unit, and controls the display unit to simultaneously display on the display surface an input screen for inputting the operating characteristics and a behavior screen showing the calculated behavior of the work machine.

2. The working machine has a cutting edge, The system for adjusting the operational characteristics of a work machine according to claim 1 , wherein the behavior screen indicates a trajectory of the cutting edge.

3. Further equipped with a button, The system for adjusting the operating characteristics of a work machine according to claim 2 , wherein the controller starts or stops displaying the trajectory of the cutting edge on the behavior screen in response to an operation of the button.

4. The system for adjusting the operating characteristics of a work machine according to claim 3 , wherein the controller starts or stops storing the trajectory of the cutting edge in response to an operation of the button.

5. 3. The work machine operating characteristic adjustment system according to claim 2, wherein the controller controls the display unit to simultaneously display, on the behavior screen, a first cutting edge trajectory before the adjustment of the operating characteristic and a second cutting edge trajectory after the adjustment of the operating characteristic as the cutting edge trajectory.

6. The system for adjusting the operation characteristics of a work machine according to claim 2 , wherein the behavior screen displays a target line that is a reference for the behavior of the work machine.

7. The system for adjusting the operational characteristics of a work machine according to claim 6 , wherein the behavior screen displays a trajectory of the cutting edge relative to the target line.

8. 7. The system for adjusting the operating characteristics of a work machine according to claim 6, wherein the operating characteristic of the actuator is a parameter of the behavior of the work machine for varying the moving speed of the cutting edge relative to the target line predetermined in automatic control.

9. 2. The system for adjusting motion characteristics of a work machine according to claim 1, wherein the controller stores the motion characteristics input to the input unit in association with operator information at the time of inputting the motion characteristics.

10. A step of acquiring an operating characteristic of an actuator of a work machine; A step of calculating a behavior of the work machine based on the acquired operation characteristics; A method for adjusting operating characteristics of a work machine, comprising: a step of controlling a display unit so as to simultaneously display a behavior screen relating to the calculated behavior of the work machine on a display surface together with an input screen for the operating characteristics.

Images