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公开(公告)号：US10774505B2
公开(公告)日：2020-09-15
申请号：US15525359
申请日：2017-01-13
Applicant: Komatsu Ltd.
Inventor： Yuto Fujii , Kota Beppu
Abstract: A work machine control system includes: an acquisition unit configured to acquire a plurality of pieces of current topographical data of a work site where a work machine including a work unit performs work; a setting unit configured to set predetermined first current topographical data and second current topographical data from the plurality of pieces of current topographical data acquired by the acquisition unit; and an arithmetic unit configured to calculate a difference between the first current topographical data and the second current topographical data, and obtain revision data to revise the first current topographical data based on the difference and parameter information related to the current topography of the work site.
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公开(公告)号：US10323381B2
公开(公告)日：2019-06-18
申请号：US15500272
申请日：2016-06-24
Applicant: KOMATSU LTD.
Inventor： Yuto Fujii , Takashi Yokoo
Abstract: A work implement has a boom, an arm, and a bucket pivotable around a bucket axis which is a pivot axis with respect to the arm and a tilt axis orthogonal to the bucket axis. The hydraulic cylinder has the bucket pivot around the tilt axis. The regulation valve regulates an amount of supply of a hydraulic oil to be supplied to the hydraulic cylinder based on a command signal. The position sensor measures a stroke length of the hydraulic cylinder. The control unit resets the stroke length measured by the position sensor. The control unit determines proximity to a stroke end of the hydraulic cylinder, generates a command signal for increasing a degree of opening of the regulation valve in the proximity of the stroke end, and resets the stroke length measured by the position sensor while the regulation valve is open in response to the command signal.
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3.发明授权公开(公告)号：US10017913B2
公开(公告)日：2018-07-10
申请号：US15326700
申请日：2016-05-31
Applicant: Komatsu Ltd.
Inventor： Tsutomu Iwamura , Jin Kitajima , Yoshiro Iwasaki , Yuto Fujii , Takashi Yokoo
CPC classification number: E02F3/435 , E02F3/32 , E02F3/3677 , E02F9/16 , E02F9/2004 , E02F9/2033 , E02F9/2267 , E02F9/2271 , E02F9/2285 , E02F9/2296 , E02F9/262 , G05D1/0278
Abstract: A construction machine control system includes: a target construction ground shape generation unit which generates a target construction ground shape indicating a target shape of an excavation target; a working device control instruction determination unit which outputs an instruction for driving the working device in a working device operation plane orthogonal to at least one of a boom axis, an arm axis, and a bucket axis based on an operation state of at least one of an arm and a bucket and a distance between the bucket and the target construction ground shape; and a tilting control instruction determination unit which outputs an instruction for performing a tilting control of the bucket about a tilting axis based on a tilting state of the bucket and the distance between the bucket and the target construction ground shape.
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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
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。
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公开(公告)号：US10731322B2
公开(公告)日：2020-08-04
申请号：US15526104
申请日：2017-01-13
Applicant: Komatsu Ltd.
Inventor： Toru Kurakane , Yuto Fujii , Kota Beppu , Yoshio Koda
Abstract: A work machine control system includes: an acquisition unit configured to acquire a plurality of pieces of current topographical data indicating a current topography of a work site where a work machine performs work; and a combining unit configured to generate combined current topographical data of the work site in accordance with a predetermined rule based on the plurality of pieces of current topographical data acquired in the acquisition unit.
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Patent Agency Ranking
公开(公告)号：US10378563B2
公开(公告)日：2019-08-13
申请号：US15562919
申请日：2016-11-09
Applicant: KOMATSU LTD.
Inventor： Atsushi Ishida , Yuto Fujii , Tsutomu Iwamura , Haruki Nishiguchi
Abstract: A work vehicle includes a work implement, a valve adjusting a flow rate of a hydraulic oil operating the work implement, an electromagnetic proportional control valve generating a pilot pressure guided to the valve, a controller outputting a current to the electromagnetic proportional control valve, and a sensor for detecting an operation of the work implement. The controller increases stepwise a current value of a current output to the electromagnetic proportional control valve by repeating processing for temporarily lowering a current value of the current output to the electromagnetic proportional control valve and thereafter outputting to the electromagnetic proportional control valve, a current having a current value greater than the current value before lowering. The controller calibrates data for predicting an operation speed of the work implement based on a result of detection by the sensor at the time when the current value is increased stepwise.
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公开(公告)号：US10106952B2
公开(公告)日：2018-10-23
申请号：US15328584
申请日：2016-05-31
Applicant: Komatsu Ltd.
Inventor： Tsutomu Iwamura , Yuhei Yamamoto , Yuto Fujii , Takashi Yokoo , Yoshiro Iwasaki
Abstract: A work machine control system that controls a work machine including a working device having a working tool that rotates about a shaft line includes: a target construction shape generation unit that generates a target construction shape indicating a target shape of a construction target of the work machine; a target shape calculation unit that calculates a control target shape which is a target shape when controlling rotation of the working tool from the target construction shape and calculates an extended target shape obtained by extending the control target shape; and a working device control unit that controls the rotation of the working tool about the shaft line based on a distance between the working tool and the control target shape and the extended target shape.
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公开(公告)号：US09617717B2
公开(公告)日：2017-04-11
申请号：US14890500
申请日：2015-06-29
Applicant: Komatsu Ltd.
Inventor： Shunichiro Kondo , Daiki Arimatsu , Yoshiki Kami , Yasuo Kanemitsu , Yuki Shimano , Yuto Fujii
Abstract: A construction machine control system controls a construction machine including a traveling device, a work machine having a working tool, and a swing structure to which the work machine is attached and which is attached to the traveling device to swing with respect to the traveling device. The construction machine control system includes a position detection device that detects a first position which is a position of a partial portion of the construction machine and outputs the first position as first position information; a state detection device that detects and outputs operation information indicating an operation of the construction machine; and a processing device that calculates a second position corresponding to the position of the partial portion using the first position information and the operation information and calculates a position of at least a partial portion of the work machine using second position information.
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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。
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公开(公告)号：US11993923B2
公开(公告)日：2024-05-28
申请号：US17598958
申请日：2020-05-20
Applicant: KOMATSU LTD.
Inventor： Yukihisa Takaoka , Kota Beppu , Yuto Fujii , Toru Kurakane
CPC classification number: E02F9/262 , E02F9/265 , E02F3/844 , E02F9/2228 , E02F9/2267
Abstract: A controller is configured to determine a target excavation depth of a first pass based on a position of an excavation end, a target soil amount, and an excavation distance. The controller is configured to move a work implement to the target excavation depth of the first pass to execute an excavation of the first pass. The controller is configured to acquire an actual soil amount excavated in the first pass. The controller is configured to modify the target soil amount based on the actual soil amount. The controller is configured to determine the target excavation depth of a second pass based on the modified target soil amount. The controller is configured to move the work implement to the target excavation depth of the second pass to execute the excavation of the second pass.
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