公开(公告)号：US20170121930A1

公开(公告)日：2017-05-04

申请号：US14391567

申请日：2014-06-02

Applicant: Komatsu Ltd.

Inventor： Jin Kitajima ,  Yoshiki Kami ,  Takeo Yamada

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

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F9/22 ,  E02F9/2228 ,  E02F9/2285 ,  E02F9/2296 ,  E02F9/262 ,  E02F9/265

Abstract: A method of controlling a construction machine including a work machine including a boom, an arm, and a bucket, the method comprising: determining a speed limit according to a distance between the bucket and a target excavation landform based on the target excavation landform and bucket position data and limiting a speed of the boom so that a speed at which the work machine approaches the target excavation landform is equal to or smaller than the speed limit; operating an operating device in order to drive a movable member including at least one of the arm and the bucket; detecting an amount of operation of the operating device; setting a limited amount of operation for limiting a speed of the movable member based on a detection result of the detection device; and outputting a control signal so that the movable member is driven with the limited amount of operation.

公开(公告)号：US20160289928A1

公开(公告)日：2016-10-06

申请号：US14396213

申请日：2014-06-02

Applicant: KOMATSU LTD

Inventor： Jin Kitajima

IPC: E02F9/26 ,  E02F3/43 ,  E02F3/32 ,  E02F9/02

CPC classification number: E02F9/264 ,  B60W10/06 ,  B60Y2200/412 ,  B60Y2400/92 ,  E02F3/32 ,  E02F3/3677 ,  E02F3/3681 ,  E02F3/435 ,  E02F3/439 ,  E02F9/02 ,  E02F9/2012 ,  E02F9/2033 ,  E02F9/2037 ,  E02F9/22 ,  E02F9/262 ,  E02F9/265 ,  F04B17/05 ,  F16H61/02

Abstract: A control system controls a construction machine that includes a work machine including a bucket having a plurality of tilting mechanisms. The control system includes: a tilt angle sensor that is provided in the bucket so as to detect tilt angle data including a rotation angle of the bucket about the tilt shaft, the tilt angle sensor being capable of detecting an inclination angle with respect to a horizontal plane; a data acquisition unit to which the tilt angle data is output from the tilt angle sensor; a data fixing unit that fixes the tilt angle data output to the data acquisition unit based on a fixing command to generate fixed data; and a work machine control unit that controls the work machine based on the fixed data until the fixing command is disabled.

Abstract translation: 控制系统控制包括具有多个倾斜机构的铲斗的作业机械的施工机械。 控制系统包括：倾斜角度传感器，其设置在铲斗中，以便检测包括围绕倾斜轴的铲斗的旋转角度的倾斜角度数据，倾斜角度传感器能够检测相对于水平面的倾斜角度 飞机 从倾斜角传感器输出倾斜角数据的数据获取单元; 数据固定单元，其基于固定命令将输出的倾斜角度数据固定到数据获取单元以产生固定数据; 以及工作机械控制单元，其在固定命令被禁用之前基于固定数据来控制作业机器。

公开(公告)号：US20160251835A1

公开(公告)日：2016-09-01

申请号：US14388666

申请日：2014-06-02

Applicant: KOMATSU LTD.

Inventor： Jin Kitajima ,  Kazuki Takehara

IPC: E02F9/26 ,  E02F3/32 ,  E02F3/43

CPC classification number: E02F9/265 ,  E02F3/32 ,  E02F3/3663 ,  E02F3/3677 ,  E02F3/435 ,  E02F3/439 ,  E02F9/2285 ,  E02F9/2296 ,  E02F9/262

Abstract: A control system controls a construction machine having a work machine including a tilting bucket. The control system includes: a first acquisition unit configured to acquire dimension data; a second acquisition unit configured to acquire external shape data of the bucket; a third acquisition unit configured to acquire target excavation landform data indicating a target excavation landform that is a two-dimensional target shape of an excavation object on a work machine operation plane perpendicular to a bucket axis; a fourth acquisition unit configured to acquire work machine angle data; a fifth acquisition unit configured to acquire tilt angle data indicating a turning angle of the bucket; and a calculation unit configured to obtain two-dimensional bucket data indicating an external shape of the bucket on the work machine operation plane on the basis of the dimension data, the external shape data, the work machine angle data, and the tilt angle data.

Abstract translation: 控制系统控制具有包括倾翻桶的作业机械的施工机械。 控制系统包括：第一获取单元，被配置为获取维度数据; 第二获取单元，被配置为获取所述桶的外部形状数据; 第三获取单元，被配置为获取表示作为挖掘对象的二维目标形状的目标挖掘地形的目标挖掘地形数据在与铲斗轴线垂直的作业机操作面上; 第四采集单元，被配置为获取作业机角度数据; 第五获取单元，被配置为获取指示所述铲斗的转向角度的倾斜角数据; 以及计算单元，被配置为基于尺寸数据，外部形状数据，作业机器角度数据和倾斜角度数据获得指示作业机械操作平面上的铲斗的外部形状的二维铲斗数据。

公开(公告)号：US09322149B2

公开(公告)日：2016-04-26

申请号：US14372475

申请日：2014-04-24

Applicant: KOMATSU LTD.

Inventor： Takeshi Takaura ,  Yoshiki Kami ,  Jin Kitajima

IPC: G06F7/70 ,  E02F9/26 ,  E02F9/20 ,  E02F3/32 ,  E02F3/43

CPC classification number: E02F9/262 ,  E02F3/32 ,  E02F3/43 ,  E02F3/435 ,  E02F3/439 ,  E02F9/20 ,  E02F9/2029 ,  E02F9/2033 ,  E02F9/265

Abstract: There is provided a work vehicle in which a work implement can be freely operated. 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, when the cutting edge of the bucket comes closer to the design surface, operation of the work implement is stopped before the cutting edge of the bucket reaches the design surface. In a case 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: 提供了可以自由操作工作装置的作业车辆。 工作车辆包括：设计表面信息获取单元，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，用于执行操作限制控制，当铲斗的切割边缘靠近设计表面时，在铲斗的切割边缘到达设计表面之前停止作业工具的操作。 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情况下，操作限制单元不执行操作限制控制。

公开(公告)号：US20210222395A1

公开(公告)日：2021-07-22

申请号：US16309123

申请日：2017-08-31

Applicant: Komatsu Ltd.

Inventor： Toru Matsuyama ,  Hikaru Suzuki ,  Jin Kitajima

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

Abstract: A control method of a work machine includes: calculating a maximum flow rate of hydraulic oil discharged from a hydraulic pump; calculating a first target speed of working equipment including a bucket based on an operation amount of an operation device operated for driving a plurality of hydraulic actuators to which the hydraulic oil discharged from the hydraulic pump is supplied to drive the working equipment and a distance between the bucket and a target excavation landform; calculating a second target speed of the working equipment based on the maximum flow rate, and the operation amount of the operation device and the distance between the bucket and the target excavation landform; and outputting a control signal for controlling the hydraulic actuators based on a smaller one of the first target speed and the second target speed.

公开(公告)号：US10006189B2

公开(公告)日：2018-06-26

申请号：US15590759

申请日：2017-05-09

Applicant: Komatsu Ltd.

Inventor： Jin Kitajima

IPC: E02F3/32 ,  E02F9/26 ,  E02F3/36 ,  E02F3/43 ,  E02F9/20 ,  E02F9/02 ,  B60W10/06 ,  E02F9/22 ,  F04B17/05 ,  F16H61/02

CPC classification number: E02F9/264 ,  B60W10/06 ,  B60Y2200/412 ,  B60Y2400/92 ,  E02F3/32 ,  E02F3/3677 ,  E02F3/3681 ,  E02F3/435 ,  E02F3/439 ,  E02F9/02 ,  E02F9/2012 ,  E02F9/2033 ,  E02F9/2037 ,  E02F9/22 ,  E02F9/262 ,  E02F9/265 ,  F04B17/05 ,  F16H61/02

Abstract: A control system controls a construction machine that includes a work machine including a bucket having a plurality of tilting mechanisms. The control system includes: a tilt angle sensor that is provided in the bucket so as to detect tilt angle data including a rotation angle of the bucket about the tilt shaft, the tilt angle sensor being capable of detecting an inclination angle with respect to a horizontal plane; a data acquisition unit to which the tilt angle data is output from the tilt angle sensor; a data fixing unit that fixes the tilt angle data output to the data acquisition unit based on a fixing command to generate fixed data; and a work machine control unit that controls the work machine based on the fixed data until the fixing command is disabled.

公开(公告)号：US09856628B2

公开(公告)日：2018-01-02

申请号：US14388666

申请日：2014-06-02

Applicant: Komatsu Ltd.

Inventor： Jin Kitajima ,  Kazuki Takehara

IPC: E02F9/26 ,  E02F3/32 ,  E02F3/43 ,  E02F3/36 ,  E02F9/22

CPC classification number: E02F9/265 ,  E02F3/32 ,  E02F3/3663 ,  E02F3/3677 ,  E02F3/435 ,  E02F3/439 ,  E02F9/2285 ,  E02F9/2296 ,  E02F9/262

Abstract: A control system controls a construction machine having a work machine including a tilting bucket. The control system includes: a first acquisition unit configured to acquire dimension data; a second acquisition unit configured to acquire external shape data of the bucket; a third acquisition unit configured to acquire target excavation landform data indicating a target excavation landform that is a two-dimensional target shape of an excavation object on a work machine operation plane perpendicular to a bucket axis; a fourth acquisition unit configured to acquire work machine angle data; a fifth acquisition unit configured to acquire tilt angle data indicating a turning angle of the bucket; and a calculation unit configured to obtain two-dimensional bucket data indicating an external shape of the bucket on the work machine operation plane on the basis of the dimension data, the external shape data, the work machine angle data, and the tilt angle data.

公开(公告)号：US20170342679A1

公开(公告)日：2017-11-30

申请号：US15326700

申请日：2016-05-31

Applicant: Komatsu Ltd.

Inventor： Tsutomu Iwamura ,  Jin Kitajima ,  Yoshiro Iwasaki ,  Yuto Fujii ,  Takashi Yokoo

IPC: E02F3/43 ,  E02F3/32 ,  E02F3/36 ,  E02F9/22 ,  G05D1/02 ,  E02F9/16 ,  E02F9/20

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.

公开(公告)号：US09540794B2

公开(公告)日：2017-01-10

申请号：US14786763

申请日：2015-03-27

Applicant: KOMATSU LTD.

Inventor： Tsutomu Iwamura ,  Masanobu Seki ,  Jin Kitajima

IPC: E02F9/26 ,  E02F3/43 ,  G01D5/347 ,  E02F3/32 ,  E02F9/20

CPC classification number: E02F9/265 ,  E02F3/32 ,  E02F3/435 ,  E02F9/2004 ,  E02F9/2025 ,  E02F9/2285 ,  E02F9/267 ,  G01D5/2449 ,  G01D5/3473 ,  G01D18/008 ,  G05B2219/45012

Abstract: A calibration device for a work machine includes: a measurement value acquiring unit acquiring respective measurement values of a first actuation unit and a bucket measured using an external measurement device; a working equipment parameter acquiring unit acquiring working equipment parameters of the member of the first actuation unit and the bucket; a calibration unit calibrating the working equipment parameters of the member of the first actuation unit and the bucket based on the measurement value of a reference point of the bucket acquired by the measurement value acquiring unit; and a calibration range selecting unit selecting, from among a first range where a variation in a swing angle of the bucket has a predetermined relationship with a change in swing angle information of the bucket and a second range where a variation in the swing angle increases as compared with the variation in the first range.

Abstract translation: 一种用于工作机械的校准装置包括：测量值获取单元，获取使用外部测量装置测量的第一致动单元和铲斗的各个测量值; 工作设备参数获取单元获取第一致动单元和桶的构件的工作设备参数; 校准单元，基于由所述测量值获取单元获取的所述桶的参考点的测量值，校准所述第一致动单元和所述桶的构件的所述工作设备参数; 以及校准范围选择单元，其从所述铲斗的摆动角度的变化与所述铲斗的摆动角度信息的变化具有预定关系的第一范围以及所述铲斗的摆动角度变化的第二范围， 与第一范围的变化相比。

公开(公告)号：US09458598B2

公开(公告)日：2016-10-04

申请号：US14372472

申请日：2014-04-24

Applicant: KOMATSU LTD.

Inventor： Takeshi Takaura ,  Yoshiki Kami ,  Jin Kitajima

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

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。