公开(公告)号：US20160281331A1

公开(公告)日：2016-09-29

申请号：US14760876

申请日：2015-03-24

Applicant: KOMATSU LTD.

Inventor： Katsuhiro Ikegami ,  Yoshiki Kami ,  Akinori Baba ,  Takeshi Takaura

IPC: E02F9/22 ,  E02F3/32 ,  E02F9/26 ,  E02F9/20 ,  E02F3/43

CPC classification number: E02F9/2228 ,  E02F3/32 ,  E02F3/435 ,  E02F3/438 ,  E02F9/2004 ,  E02F9/2029 ,  E02F9/2033 ,  E02F9/2041 ,  E02F9/2203 ,  E02F9/2271 ,  E02F9/2285 ,  E02F9/26 ,  E02F9/264

Abstract: A control system includes: a data acquisition unit that acquires an operation command value and data on a cylinder speed in a state where an operation command of operating a hydraulic cylinder is output; a deriving unit that derives an operation start operation command value when the hydraulic cylinder in a stopped state starts operating and slow-speed operation characteristics indicating a relation between the operation command value and the cylinder speed in a slow-speed area based on the data acquired by the data acquisition unit; a storage unit that stores the operation start operation command value and the slow-speed operation characteristics derived by the deriving unit; and a work machine control unit that controls a work machine based on information stored in the storage unit.

Abstract translation: 控制系统包括：数据获取单元，其在输出操作液压缸的操作命令的状态下获取操作指令值和关于气缸速度的数据; 基于获取的数据，当停止状态下的液压缸开始运转时，导出运转开始运转指令值的导出单元和表示低速区域中的运转指令值与气缸速度的关系的低速运转特性 由数据采集单元; 存储单元，存储由导出单元导出的操作开始操作命令值和慢速操作特性; 以及作业机控制单元，其基于存储在存储单元中的信息来控制作业机。

公开(公告)号：US09371626B2

公开(公告)日：2016-06-21

申请号：US14419507

申请日：2014-09-10

Applicant: KOMATSU LTD.

Inventor： Yoshiki Kami ,  Takeo Yamada ,  Toru Matsuyama ,  Yuto Fujii ,  Takeshi Takaura

IPC: E02F3/43 ,  E02F3/32 ,  E02F9/22 ,  E02F9/26

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/437 ,  E02F9/2207 ,  E02F9/262 ,  E02F9/265

Abstract: A work vehicle includes a speed limit calculation portion, a speed determination portion, an adjustment portion, and a boom speed determination portion. The speed limit calculation portion calculates a speed limit for limiting a speed of a cutting edge of a bucket. The speed determination portion determines whether or not a speed of raising the boom has been lowered when an amount of operation of an arm is smaller than a prescribed amount. The adjustment portion delays speed change to the speed limit. The boom speed determination portion determines a target speed of the boom based on the speed limit after delay by the adjustment portion when it is determined that the speed of raising the boom has been lowered, and determines a target speed of the boom based on the speed limit calculated when it is not determined that the speed of raising the boom has been lowered.

Abstract translation: 工作车辆包括速度限制计算部分，速度确定部分，调节部分和动臂速度确定部分。 速度限制计算部分计算用于限制铲斗的切割刃的速度的速度限制。 当臂的操作量小于规定量时，速度确定部分确定升降臂的升高速度是否已经降低。 调整部分将速度变化延迟到速度限制。 当确定悬臂的升高速度已经降低时，起重臂速度确定部分基于调节部分的延迟之后的速度限制来确定起重臂的目标速度，并且基于速度确定起重臂的目标速度 当没有确定提升吊杆的速度已经降低时计算出的极限。

公开(公告)号：US20150308081A1

公开(公告)日：2015-10-29

申请号：US14372472

申请日：2014-04-24

Applicant: KOMATSU LTD.

Inventor： Takeshi Takaura ,  Yoshiki Kami ,  Jin Kitajima

IPC: E02F9/26 ,  E02F3/43 ,  E02F9/20 ,  E02F3/32

CPC classification number: E02F3/439 ,  E02F3/32 ,  E02F3/437 ,  E02F9/2033 ,  E02F9/262 ,  E02F9/265

Abstract: There is provided a work vehicle in which sudden operation of a work implement can be suppressed. The work vehicle includes a design surface information acquiring unit for acquiring data of a design surface indicative of a target shape of a work object by the work implement; a cutting edge position computing unit for computing a position of a cutting edge of a bucket; and an operation restricting unit for executing operation restriction control by which a boom is forcibly raised in accordance with a relative position of the cutting edge to the design surface, and the position of the cutting edge is restricted to an upper part of the design surface. In a state where the cutting edge is located away from the design surface in a downward perpendicular direction by a prescribed distance or longer, the operation restricting unit does not execute the operation restriction control.

Abstract translation: 提供了能够抑制作业装置的突然动作的作业车辆。 工作车辆包括：设计面信息获取单元，用于通过工作工具获取指示工作对象的目标形状的设计表面的数据; 用于计算铲斗的切削刃的位置的切削刃位置计算单元; 以及操作限制单元，用于根据切割边缘相对于设计表面的相对位置执行动臂被强制升高的操作限制控制，并且切割边缘的位置限制在设计表面的上部。 在切削刃沿向下垂直方向远离设计表面一定距离或更长的状态下，操作限制单元不执行操作限制控制。

公开(公告)号：US10161111B2

公开(公告)日：2018-12-25

申请号：US14433170

申请日：2014-09-09

Applicant: Komatsu Ltd.

Inventor： Daishi Iwanaga ,  Takeshi Takaura ,  Daiki Arimatsu

IPC: G06F7/70 ,  G06F19/00 ,  G06G7/00 ,  G06G7/76 ,  E02F9/26 ,  E02F3/43 ,  G01S19/14 ,  G01S19/43 ,  G01S19/54 ,  E02F3/32 ,  B66C23/00 ,  B66F9/00 ,  E02F3/00 ,  G06F3/0481

Abstract: A display system of an excavation machine including a work machine having a bucket and a body portion on which the work machine is mounted. The display system includes a bucket position information generator which generates position information of the bucket; a storage which stores information of a dimension of the bucket and information of a target construction surface indicating a target shape of a construction object; a display which displays an image of the target construction surface on a screen; and a processor which displays a straight line image that is generated by extracting a part corresponding to a bottom surface of the bucket, viewed from a side surface, along with the image of the target construction surface on the display.

公开(公告)号：US09481976B2

公开(公告)日：2016-11-01

申请号：US14419542

申请日：2014-09-10

Applicant: KOMATSU LTD.

Inventor： Yoshiki Kami ,  Takeo Yamada ,  Yuto Fujii ,  Takeshi Takaura

IPC: E02F3/43 ,  E02F3/30 ,  G05B19/41 ,  E02F9/26 ,  G05B19/416

CPC classification number: E02F3/435 ,  E02F3/30 ,  E02F3/437 ,  E02F9/262 ,  E02F9/265 ,  G05B19/416 ,  G05B2219/40043 ,  G05B2219/43203 ,  G05B2219/45012

Abstract: A work vehicle includes a boom, an arm, a bucket, an arm control member, a speed limit determination portion, and a target speed determination portion. The speed limit determination portion determines a speed limit for limiting a speed of a cutting edge of the bucket in accordance with a distance between a cutting edge and a design surface. The target speed determination portion determines a target speed of the boom based on the speed limit. The speed limit determination portion decides on a speed limit calculated based on correlation between the speed limit and the distance between the design surface and the cutting edge when an amount of operation of the arm control member is equal to or greater than a prescribed amount and decides on a speed limit lower than the speed limit calculated based on the correlation when the amount of operation is smaller than the prescribed amount.

Abstract translation: 工作车辆包括吊杆，臂，铲斗，臂控制构件，限速确定部和目标速度确定部。 速度限制判定部根据切削刃和设计面之间的距离，决定限制铲斗的切削刃速度的速度限制。 目标速度确定部分基于速度限制来确定起重臂的目标速度。 速度限制判断部判定在臂控制部件的动作量为规定量以上的情况下，基于速度限制与设计面与切削刃之间的距离的关系而计算出的速度限制，并且决定 在比操作量小于规定量时基于相关性计算的速度限制的速度限制。

公开(公告)号：US20160273186A1

公开(公告)日：2016-09-22

申请号：US14390590

申请日：2014-05-30

Applicant: KOMATSU LTD.

Inventor： Yoshiki Kami ,  Masashi Ichihara ,  Takeshi Takaura

IPC: E02F3/43 ,  E02F9/26

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F9/2285 ,  E02F9/2292 ,  E02F9/2296 ,  E02F9/26 ,  E02F9/265

Abstract: A control method controlling a work machine including a working unit with a working tool, comprising: obtaining a position of the working unit based on a detected position information item of the work machine and generating a target excavation ground shape information item indicating a target shape of an excavation target of the working unit from an information item of a design face indicating the target shape; and performing an excavation control of restraining the working unit from performing an excavation beyond the target shape based on the target excavation ground shape information item and, when the target excavation ground shape information item is not able to be acquired during the excavation control, continuing the excavation control by storing the target excavation ground shape information item obtained before a time point at which the target excavation ground shape information item is not able to be acquired, for a predetermined time.

Abstract translation: 一种控制方法，其控制包括具有加工工具的作业单元的作业机械，其特征在于，包括：基于所述作业机械的检测位置信息项获得所述作业单元的位置，并生成表示目标形状的目标挖掘地面形状信息项 来自指定目标形状的设计面的信息项的工作单元的挖掘对象; 基于目标挖掘地面形状信息进行限制作业单元进行超出目标形状的挖掘的挖掘控制，并且当在挖掘控制期间不能获取目标挖掘地面形状信息项时，继续 通过存储在目标挖掘地面形状信息项目不能被获取的时间点之前获得的目标挖掘地面形状信息项目的预定时间来进行挖掘控制。

公开(公告)号：US20150240446A1

公开(公告)日：2015-08-27

申请号：US14370069

申请日：2014-04-24

Applicant: KOMATSU LTD.

Inventor： Takeshi Takaura

IPC: E02F3/43 ,  E02F3/42 ,  E02F9/22 ,  E02F3/32

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/425 ,  E02F9/22 ,  E02F9/2228 ,  E02F9/2285 ,  E02F9/2292 ,  F15B2211/329 ,  F15B2211/355 ,  F15B2211/36 ,  F15B2211/6316 ,  F15B2211/6346 ,  F15B2211/6355 ,  F15B2211/665 ,  F15B2211/67 ,  F15B2211/8613 ,  Y10T137/87064

Abstract: There is provided a hydraulic excavator in which invasion of a design surface by a work implement can be suppressed. A boom-lowering proportional solenoid valve is provided in a boom-lowering pilot conduit connected to a boom-lowering pilot port. A first pressure sensor detects a pressure generated in the boom-lowering pilot conduit between a control lever and the boom-lowering proportional solenoid valve. A controller controls an opening degree of the boom-lowering proportional solenoid valve based on the pressure detected by the first pressure sensor. The controller gently increases, from zero, a current value outputted to the boom-lowering proportional solenoid valve.

Abstract translation: 提供了可以抑制由工作装置侵入设计表面的液压挖掘机。 在与起重臂下降导向口连接的起重臂下降先导管路中设置有动臂降档比例电磁阀。 第一压力传感器检测在控制杆和动臂下降比例电磁阀之间在动臂下降先导管路中产生的压力。 控制器基于由第一压力传感器检测到的压力来控制起重臂下降比例电磁阀的开度。 控制器从零点轻轻地增加输出到动臂下降比例电磁阀的电流值。

公开(公告)号：US09551129B2

公开(公告)日：2017-01-24

申请号：US14390590

申请日：2014-05-30

Applicant: Komatsu Ltd.

Inventor： Yoshiki Kami ,  Masashi Ichihara ,  Takeshi Takaura

IPC: G06F7/70 ,  G06F19/00 ,  G06G7/00 ,  G06G7/76 ,  E02F3/43 ,  E02F9/26 ,  E02F3/32

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F9/2285 ,  E02F9/2292 ,  E02F9/2296 ,  E02F9/26 ,  E02F9/265

Abstract: A control method controlling a work machine including a working unit with a working tool, comprising: obtaining a position of the working unit based on a detected position information item of the work machine and generating a target excavation ground shape information item indicating a target shape of an excavation target of the working unit from an information item of a design face indicating the target shape; and performing an excavation control of restraining the working unit from performing an excavation beyond the target shape based on the target excavation ground shape information item and, when the target excavation ground shape information item is not able to be acquired during the excavation control, continuing the excavation control by storing the target excavation ground shape information item obtained before a time point at which the target excavation ground shape information item is not able to be acquired, for a predetermined time.

Abstract translation: 一种控制方法，其控制包括具有加工工具的作业单元的作业机械，其特征在于，包括：基于所述作业机械的检测位置信息项获得所述作业单元的位置，并生成表示目标形状的目标挖掘地面形状信息项 来自指定目标形状的设计面的信息项的工作单元的挖掘对象; 基于目标挖掘地面形状信息进行限制作业单元进行超出目标形状的挖掘的挖掘控制，并且当在挖掘控制期间不能获取目标挖掘地面形状信息项时，继续 通过存储在目标挖掘地面形状信息项目不能被获取的时间点之前获得的目标挖掘地面形状信息项目的预定时间来进行挖掘控制。

公开(公告)号：US09540793B2

公开(公告)日：2017-01-10

申请号：US14386094

申请日：2014-05-30

Applicant: Komatsu Ltd.

Inventor： Yoshiki Kami ,  Takeshi Takaura

IPC: E02F9/20 ,  E02F9/26 ,  E02F3/43 ,  E02F9/22 ,  G01C15/00 ,  E02F3/32

CPC classification number: E02F9/265 ,  E02F3/32 ,  E02F3/435 ,  E02F3/439 ,  E02F9/2033 ,  E02F9/2203 ,  E02F9/2292 ,  E02F9/2296 ,  E02F9/262 ,  G01C15/00 ,  G01C21/165

Abstract: A work machine control method of controlling a work machine including a work unit with a working tool, the work machine control method includes: detecting a position of the work unit; obtaining the position of the work unit based on the detected position information item and generating a first target excavation ground shape information item as an information item of an intersection portion of at least one target construction face indicating a target shape with respect to a first cut face which intersects a work unit operation plane as an operation plane for the work unit and is parallel to a vertical direction; and controlling a velocity in a direction in which the work unit approaches an excavation target so that the velocity becomes equal to or less than a limitation velocity based on the first target excavation ground shape information item.

Abstract translation: 一种工作机械控制方法，其包括具有作业工具的作业单元的作业机械的控制，所述作业机械控制方法包括：检测所述作业单元的位置; 基于检测到的位置信息项获得作业单元的位置，并产生第一目标挖掘地面形状信息项作为指示目标形状相对于第一切割面的至少一个目标构造面的交点部分的信息项 其与工作单元操作平面相交作为工作单元的操作平面并且平行于垂直方向; 并且控制工作单元接近挖掘对象的方向的速度，使得该速度基于第一目标挖掘地面形状信息项等于或小于限制速度。

公开(公告)号：US09476180B2

公开(公告)日：2016-10-25

申请号：US14355394

申请日：2013-12-06

Applicant: KOMATSU LTD.

Inventor： Takeshi Takaura

IPC: E02F3/32 ,  E02F3/43 ,  E02F3/42 ,  E02F9/22

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/425 ,  E02F9/22 ,  E02F9/2228 ,  E02F9/2285 ,  E02F9/2292 ,  F15B2211/329 ,  F15B2211/355 ,  F15B2211/36 ,  F15B2211/6316 ,  F15B2211/6346 ,  F15B2211/6355 ,  F15B2211/665 ,  F15B2211/67 ,  F15B2211/8613 ,  Y10T137/87064

Abstract: There is provided a hydraulic excavator in which occurrence of minute vibrations in a control lever can be suppressed. A boom-raising proportional solenoid valve is provided in a boom-raising pilot conduit. A boom-lowering proportional solenoid valve is provided in a boom-lowering pilot conduit. A controller controls an opening degree of the boom-lowering proportional solenoid valve based on a pressure generated in the boom-lowering pilot conduit between the control lever and the boom-lowering proportional solenoid valve, and controls an opening degree of the boom-raising proportional solenoid valve. An amount of increase in current per unit time when the controller outputs, to the boom-lowering proportional solenoid valve, an instruction signal for instructing an increase in opening degree is smaller than an amount of increase in current per unit time when the controller outputs, to the boom-raising proportional solenoid valve, an instruction signal for instructing an increase in opening degree.

Abstract translation: 提供了一种液压挖掘机，其中可以抑制控制杆中的微小振动的发生。 在起重臂提升先导管道中设置起重臂起升比例电磁阀。 在起重臂下降的先导管道中设置有降档比例电磁阀。 控制器基于在控制杆和起重臂下降比例电磁阀之间的动臂降低先导管路中产生的压力来控制动臂下降比例电磁阀的开度，并且控制动臂提升比例电磁阀的开度 电磁阀。 当控制器输出到控制器输出时，单位时间内的电流的增加量增加到起动器下降比例电磁阀，用于指示开度增加的指令信号小于每单位时间的电流增加量， 到起重臂提升比例电磁阀，用于指示开度增加的指令信号。