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公开(公告)号：EP3650605A1
公开(公告)日：2020-05-13
申请号：EP18904145.2
申请日：2018-07-20
申请人： Komatsu Ltd.
发明人： SEKI, Yohei , OZAKI, Masataka , IMANISHI, Kota
IPC分类号： E02F9/26 , G01B11/00 , G01B11/245
摘要： A work machine includes: a vehicle body front part to which a front wheel is attached; a vehicle body rear part which is coupled to the vehicle body front part through an articulated mechanism and to which a rear wheel is attached; a working equipment coupled to the vehicle body front part; a headlight supported by the vehicle body front part and arranged above the front wheel; and a three-dimensional measurement device arranged on an outer side of the headlight in a vehicle width direction that is in parallel with a rotation axis of the front wheel.
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公开(公告)号：EP3760794A1
公开(公告)日：2021-01-06
申请号：EP19792698.3
申请日：2019-03-11
申请人： Komatsu Ltd.
发明人： SEKI, Yohei , OZAKI, Masataka
IPC分类号： E02F9/20
摘要： A loading machine control device includes a measurement data acquisition unit acquiring measurement data of a measurement device mounted in a loading machine having working equipment, a target calculation unit calculating, based on the measurement data, a position of an upper end portion of a loading target to which an excavation object excavated by a bucket of the working equipment is loaded, a bucket calculation unit calculating position data of the bucket, an overlap determination unit determining whether the upper end portion of the loading target and the bucket that are in the measurement data overlap each other, and a working equipment control unit controlling the working equipment based on the measured position of the upper end portion of the loading target when it is determined that the upper end portion of the loading target and the bucket that are in the measurement data do not overlap each other.
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公开(公告)号：EP4283052A1
公开(公告)日：2023-11-29
申请号：EP22771387.2
申请日：2022-03-14
申请人： Komatsu Ltd.
发明人： OZAKI, Masataka , SEKI, Yohei , KUSAKA, Koji , HOSODA, Yuki
摘要： A control system of a work machine includes: a three-dimensional measurement device 20 that measures a work target of a work machine 1; a detection device 25 that detects the work target; and a working equipment control unit 87 functioning as an intervention control unit that performs intervention control of the work machine 1 when both the three-dimensional measurement device 20 and the detection device 25 have detected the work target.
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4.发明授权
公开(公告)号：EP3226553B1
公开(公告)日：2018-12-12
申请号：EP17727786.0
申请日：2017-02-09
申请人： Komatsu Ltd.
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/607 , B60R2300/802 , E02F9/24 , E02F9/26 , H04N7/18 , H04N7/181
摘要： A surroundings monitoring system for a work vehicle includes a bending angle data acquisition unit, a shot image data acquisition unit, a bird's eye image composition unit, a storage unit, a determination unit, a selection unit, and a display control unit. The bending angle data acquisition unit acquires bending angle data between a vehicle body front portion and a vehicle body rear portion. The shot image data acquisition unit acquires shot images respectively shot by multiple cameras. The bird's eye image composition unit performs image processing of a plurality of the shot image data to generate a bird's eye image. The storage unit stores representative images of the work vehicle respectively belong to multiple bending angle ranges between the vehicle body front portion and the vehicle body rear portion. The determination unit determines, from the multiple bending angle ranges, a bending angle range to which the bending angle belongs. The selection unit selects, from a plurality of the representative images, a representative image that belongs to the bending angle range determined by the determination unit. The display control unit causes a display device to simultaneously display the bird's eye image generated by the bird's eye image composition unit and the representative image selected by the selection unit.
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公开(公告)号：EP3385458A1
公开(公告)日：2018-10-10
申请号：EP17724310.2
申请日：2017-02-09
申请人： Komatsu Ltd.
IPC分类号： E02F9/26
CPC分类号： E02F9/264
摘要： A work vehicle includes a vehicle body, a working implement, a camera, and a display control unit. To the vehicle body, front tires are mounted. The working implement is movably coupled to the vehicle body and at least a part thereof is arranged anterior to the front tires. The camera is arranged at a front portion of the vehicle body and shoots an image of an anterior area outside the vehicle body as a shooting area. The display control unit causes a display device to display a shot image shot by the camera and a first guide image which indicates a first projection position obtained by projecting a first site of the working implement on a plane including ground-contacting surfaces of the front tires in a superimposed manner.
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6.发明公开
公开(公告)号：EP3828865A1
公开(公告)日：2021-06-02
申请号：EP19865722.3
申请日：2019-07-12
申请人： Komatsu Ltd.
摘要： A work vehicle periphery monitoring system includes: an alarm range storage unit that stores an alarm range, in which an alarm output is required when an object is present, in a detection range of an object detection device that detects an object present in a periphery of a work vehicle; a work mode determination unit that determines a work mode of the work vehicle; an alarm range changing unit that changes the alarm range in the detection range when it is determined that the work mode is a specific work mode; and an alarm control unit that causes an alarm device to output an alarm when an object is present in the alarm range.
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7.发明公开
公开(公告)号：EP3744909A1
公开(公告)日：2020-12-02
申请号：EP19777375.7
申请日：2019-03-11
申请人： Komatsu Ltd.
发明人： SEKI, Yohei , OZAKI, Masataka
IPC分类号： E02F9/20 , G01B11/245 , G01S17/89
摘要： A work machine control device includes a measurement-data acquisition unit that acquires measurement data of a three-dimensional measurement device that is mounted on a work machine including work equipment and measures a three-dimensional shape including a ridgeline of a work target on which the working equipment performs work, and a target calculation unit that calculates and outputs, based on the measurement data regarding the ridgeline of the work target, a distance from the work machine to the work target or an angle of repose of the work target.
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公开(公告)号：EP3733981A1
公开(公告)日：2020-11-04
申请号：EP19775283.5
申请日：2019-03-11
申请人： Komatsu Ltd.
发明人： SEKI, Yohei , OZAKI, Masataka , IMANISHI, Kota , AOSHIMA, Koji
IPC分类号： E02F9/20
摘要： A work machine control device includes a measurement-data acquisition unit that acquires measurement data of a measurement device that measures a work target, the measurement device being mounted on a work machine including a working equipment, an algorithm selection unit that selects a specific algorithm that processes the measurement data depending on work of the work machine, and a calculation unit that processes the measurement data based on the algorithm selected by the algorithm selection unit to calculate a parameter regarding the work target.
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9.发明公开WORK VEHICLE PERIPHERY MONITORING SYSTEM, WORK VEHICLE, AND WORK VEHICLE PERIPHERY MONITORING METHOD 审中-公开工作车辆周边监控系统，工作车辆和工作车辆周边监控方法
公开(公告)号：EP3226553A1
公开(公告)日：2017-10-04
申请号：EP17727786.0
申请日：2017-02-09
申请人： Komatsu Ltd.
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/607 , B60R2300/802 , E02F9/24 , E02F9/26 , H04N7/18 , H04N7/181
摘要： A surroundings monitoring system for a work vehicle includes a bending angle data acquisition unit, a shot image data acquisition unit, a bird's eye image composition unit, a storage unit, a determination unit, a selection unit, and a display control unit. The bending angle data acquisition unit acquires bending angle data between a vehicle body front portion and a vehicle body rear portion. The shot image data acquisition unit acquires shot images respectively shot by multiple cameras. The bird's eye image composition unit performs image processing of a plurality of the shot image data to generate a bird's eye image. The storage unit stores representative images of the work vehicle respectively belong to multiple bending angle ranges between the vehicle body front portion and the vehicle body rear portion. The determination unit determines, from the multiple bending angle ranges, a bending angle range to which the bending angle belongs. The selection unit selects, from a plurality of the representative images, a representative image that belongs to the bending angle range determined by the determination unit. The display control unit causes a display device to simultaneously display the bird's eye image generated by the bird's eye image composition unit and the representative image selected by the selection unit.
摘要翻译： 用于作业车辆的周围监视系统包括弯曲角度数据获取单元，拍摄图像数据获取单元，鸟瞰图像合成单元，存储单元，确定单元，选择单元和显示控制单元。 弯曲角度数据获取单元获取车身前部和车身后部之间的弯曲角度数据。 拍摄图像数据获取单元获取分别由多个照相机拍摄的拍摄图像。 鸟瞰图像合成单元执行多个拍摄图像数据的图像处理以生成鸟瞰图像。 存储单元存储作业车辆的代表性图像，分别属于车体前部和车体后部之间的多个弯曲角度范围。 确定单元从多个弯曲角度范围确定弯曲角度所属的弯曲角度范围。 选择单元从多个代表图像中选择属于由确定单元确定的弯曲角度范围的代表性图像。 显示控制单元使显示装置同时显示由鸟瞰图像合成单元生成的鸟瞰图像和由选择单元选择的代表图像。
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