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公开(公告)号：US08909439B2
公开(公告)日：2014-12-09
申请号：US14238059
申请日：2013-03-14
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama , Yoshiki Kami , Shin Kashiwabara , Masashi Ichihara
Abstract: An excavation control system includes a working unit having a bucket, a designed landform data storage part storing designed landform data, a bucket position data generation part that generates bucket position data, a designed surface data generation part, and an excavation limit control part. The designed surface data generation part generates superior and subordinate designed surface data based on the designed landform and bucket position data. The superior designed surface data indicates a superior designed surface corresponding to a prescribed position on the bucket. The subordinate designed surface data indicates a plurality of subordinate designed surfaces linked to the superior designed surface. The designed surface data generation part generates shape data based on the superior and subordinate designed surface data. The shape data indicates shapes of the superior designed surface and the plurality of subordinate designed surfaces. The excavation limit control part automatically adjusts position of the bucket.
Abstract translation: 挖掘控制系统包括具有铲斗的作业单元，存储设计地形数据的设计地形数据存储部，产生铲斗位置数据的铲斗位置数据生成部，设计面数据生成部以及挖掘极限控制部。 设计的表面数据生成部分基于设计的地形和铲斗位置数据，生成优越的从属设计的表面数据。 优越设计的表面数据表示对应于铲斗上的规定位置的优良设计表面。 从属设计的表面数据表示连接到上级设计表面的多个从属设计表面。 设计的表面数据生成部基于上下设计的表面数据生成形状数据。 形状数据表示优选设计表面和多个从属设计表面的形状。 挖掘限位控制部分自动调节铲斗的位置。
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公开(公告)号：US09834905B2
公开(公告)日：2017-12-05
申请号：US14905112
申请日：2015-09-25
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama , Masashi Ichihara
CPC classification number: E02F3/435 , E02F3/32 , E02F3/437 , E02F9/2025 , E02F9/2203 , E02F9/2285 , E02F9/2296 , E02F9/262 , E02F9/265
Abstract: A method of controlling a work machine including a working implement with a boom, an arm, and a bucket, includes: acquiring distance data between the bucket and a target excavating topography; determining a target blade tip speed of the bucket based on the distance data; calculating a target boom speed based on the target blade tip speed and at least one of an arm operation amount and a bucket operation amount; calculating a correction amount of the target boom speed based on an integration in time of a distance between the bucket and the target excavating topography; limiting the correction amount based on the distance between the bucket and the target excavating topography; and outputting an instruction for driving a boom cylinder driving the boom based on the target boom speed corrected by the correction amount.
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公开(公告)号：US09803340B2
公开(公告)日：2017-10-31
申请号：US15118321
申请日：2016-03-17
Applicant: KOMATSU LTD.
Inventor： Yuki Shimano , Jin Kitajima , Yoshiki Kami , Masashi Ichihara
CPC classification number: E02F9/262 , E02F3/32 , E02F3/435 , E02F9/2025 , E02F9/2292 , E02F9/2296 , E02F9/265
Abstract: A control deciding unit for deciding to execute a leveling control for controlling a work implement so that the work implement moves along a design terrain when a leveling determination condition is satisfied. The control deciding unit decides to execute a surface compaction control for limiting the velocity of the work implement toward the design terrain in response to the distance between the work implement and the design terrain when a surface compaction determination condition is satisfied. The control deciding unit maintains the surface compaction control when the leveling determination condition is satisfied while the surface compaction control is being executed.
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公开(公告)号：US20170260717A1
公开(公告)日：2017-09-14
申请号：US15032092
申请日：2015-10-30
Applicant: KOMATSU LTD.
Inventor： Masanobu Seki , Tsutomu Iwamura , Katsuhiro Ikegami , Masashi Ichihara
CPC classification number: E02F9/265 , B60W2050/146 , E02F3/32 , E02F3/401 , E02F3/432 , E02F3/435 , E02F9/2025 , E02F9/2271 , E02F9/26
Abstract: A work machine includes: first working equipment with first working equipment parameter; second working equipment including a parallel link and being attachable to the first working equipment; a swing angle detector that detects swing angle information of the first working equipment; an attitude calculating unit that calculates an attitude of the first working equipment based on the detected swing angle information of the first working equipment; a working equipment parameter storage that stores the first working equipment parameter defined for a component of the first working equipment; a correction information acquiring unit that acquires information on the second working equipment as correction information; and a working equipment parameter correction unit that corrects the first working equipment parameter based on the correction information on the second working equipment acquired by the correction information acquiring unit.
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公开(公告)号：US20170145662A1
公开(公告)日：2017-05-25
申请号：US15102648
申请日：2015-11-19
Applicant: KOMATSU LTD.
Inventor： Yoshiro Iwasaki , Masashi Ichihara
CPC classification number: E02F9/2267 , E02F3/32 , E02F9/18 , E02F9/2214 , E02F9/265 , G05B2219/45012
Abstract: A control method for a work machine, includes: detecting a posture of a working unit driven by a hydraulic cylinder in a movable range; determining whether the working unit at a stop position of the movable range has started moving based on an operation of the working unit; setting a deceleration section including an end position of the movable range and a deceleration ratio of the working unit in the deceleration section, based on the posture of the working unit in a stopped state at the stop position, and a threshold determined in advance; and outputting a command signal to a control valve, which is capable of adjusting an amount of a working oil supplied to the hydraulic cylinder, such that the working unit moves from the stop position to the end position based on the deceleration section and the deceleration ratio.
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Patent Agency Ranking
公开(公告)号：US20170089033A1
公开(公告)日：2017-03-30
申请号：US14905112
申请日：2015-09-25
Applicant: KOMATSU LTD.
Inventor： Toru Matsuyama , Masashi Ichihara
CPC classification number: E02F3/435 , E02F3/32 , E02F3/437 , E02F9/2025 , E02F9/2203 , E02F9/2285 , E02F9/2296 , E02F9/262 , E02F9/265
Abstract: A method of controlling a work machine including a working implement with a boom, an arm, and a bucket, includes: acquiring distance data between the bucket and a target excavating topography; determining a target blade tip speed of the bucket based on the distance data; calculating a target boom speed based on the target blade tip speed and at least one of an arm operation amount and a bucket operation amount; calculating a correction amount of the target boom speed based on an integration in time of a distance between the bucket and the target excavating topography; limiting the correction amount based on the distance between the bucket and the target excavating topography; and outputting an instruction for driving a boom cylinder driving the boom based on the target boom speed corrected by the correction amount.
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17.发明申请CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD 有权建筑机械控制系统，建筑机械和施工机械控制方法公开(公告)号：US20160265187A1
公开(公告)日：2016-09-15
申请号：US14762960
申请日：2015-03-24
Applicant: KOMATSU LTD.
Inventor： Akinori Baba , Katsuhiro Ikegami , Takeshi Takaura , Masashi Ichihara , Yuki Shimano
CPC classification number: E02F3/435 , E02F3/32 , E02F3/425 , E02F3/963 , E02F9/2012 , E02F9/2029 , E02F9/2228 , E02F9/2271 , E02F9/2285 , E02F9/265 , F15B2211/329 , F15B2211/36 , F15B2211/6316 , F15B2211/6336 , F15B2211/634 , F15B2211/6346 , F15B2211/6355 , F15B2211/6653 , F15B2211/67 , F15B2211/7142 , F15B2211/75
Abstract: A construction machine control system for a construction machine that includes a work machine including a boom, an arm, and a bucket includes: an adjusting device having a movable spool and being capable of adjusting an amount of operating oil supplied to a hydraulic cylinder that drives the work machine with movement of the spool; an operation command unit adjusting the spool; a storage unit storing a plurality of pieces of correlation data indicating a relation between a cylinder speed of the hydraulic cylinder and an operation command value of operating the hydraulic cylinder according to a type of the bucket; an acquiring unit acquiring type data indicating the type of the bucket; and a control unit selecting one piece of correlation data from the plurality of pieces of correlation data based on the type data and controlling the operation command value based on the selected correlation data.
Abstract translation: 一种用于建筑机械的施工机械控制系统，其包括具有起重臂，臂和铲斗的作业机械，包括：具有可动卷轴的调节装置，其能够调节供给到驱动的液压缸的工作油量 工作机具有线轴的运动; 操作指令单元，调节所述线轴; 存储单元，根据所述铲斗的种类，存储表示所述液压缸的缸速与所述液压缸的运转指令值的关系的多个相关数据; 获取单元获取指示所述桶的类型的类型数据; 以及控制单元，基于所述类型数据从所述多个相关数据中选择一条相关数据，并且基于所选择的相关数据来控制所述操作命令值。
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公开(公告)号：US09411325B2
公开(公告)日：2016-08-09
申请号：US14355932
申请日：2013-10-18
Applicant: KOMATSU LTD.
Inventor： Akinori Baba , Tetsuya Nakayama , Masashi Ichihara
CPC classification number: G05B13/026 , E02F9/2037
Abstract: An excavation control system includes a global coordinate computing device, a prediction correcting part, a cutting edge position data generating part, and a designed terrain data generating part. The global coordinate computing device generates revolving unit orientation data (Q) that indicates an orientation of a revolving unit. The prediction correcting part generates corrected revolving unit orientation data (R) by predictively correcting the revolving unit orientation data (Q) based on a delay time (t) and revolve angle speed data (Dω) that indicates a revolve angle speed (ω) of the revolving unit. The cutting edge position data generating part generates cutting edge position data (S) that indicates a position of a cutting edge based on reference position data (P1), the revolving unit orientation data (Q), and the corrected revolving unit orientation data (R). The designed terrain data generating part generates designed terrain data (U) based on the cutting edge position data (S) and stereoscopic designed terrain data (T).
Abstract translation: 挖掘控制系统包括全局坐标计算装置，预测校正部，切削刃位置数据生成部以及设计的地形数据生成部。 全局坐标计算装置产生指示旋转单元的定向的旋转单元取向数据（Q）。 预测校正部通过基于延迟时间（t）和指示旋转角速度（ω）的旋转角速度数据（Dω）预测性地校正回转单位取向数据（Q）来生成校正旋转单元取向数据（R） 旋转单元。 切削刃位置数据生成部基于基准位置数据（P1），旋转单元取向数据（Q）和修正的旋转单元取向数据（R），生成表示切削刃的位置的切削刃位置数据（S） ）。 设计的地形数据生成部基于切削刃位置数据（S）和立体设计的地形数据（T）生成设计的地形数据（U）。
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公开(公告)号：US09410305B2
公开(公告)日：2016-08-09
申请号：US14526895
申请日：2014-10-29
Applicant: KOMATSU LTD.
Inventor： Toru Matsuyama , Yoshiki Kami , Shin Kashiwabara , Masashi Ichihara
Abstract: An excavation control system includes a working unit having a bucket, a designed landform data storage part storing designed landform data, a bucket position data generation part that generates bucket position data, a designed surface data generation part, and an excavation limit control part. The designed surface data generation part generates superior and subordinate designed surface data based on the designed landform and bucket position data. The superior designed surface data indicates a superior designed surface corresponding to a position of the bucket. The subordinate designed surface data indicates a first subordinate designed surface linked to the superior designed surface. The designed surface data generation part generates shape data indicating shapes of the superior designed surface and the first subordinate designed surface. The excavation limit control part automatically adjusts a position of the bucket.
Abstract translation: 挖掘控制系统包括具有铲斗的作业单元，存储设计地形数据的设计地形数据存储部，产生铲斗位置数据的铲斗位置数据生成部，设计面数据生成部以及挖掘极限控制部。 设计的表面数据生成部分基于设计的地形和铲斗位置数据，生成优越的从属设计的表面数据。 优良设计的表面数据表示对应于铲斗位置的优良设计表面。 从属设计的表面数据表示连接到上级设计表面的第一个从属设计表面。 设计的表面数据生成部生成表示上述设计表面和第一从属设计表面的形状的形状数据。 挖掘限制控制部分自动调整铲斗的位置。
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20.发明申请公开(公告)号：US20190292747A1
公开(公告)日：2019-09-26
申请号：US16301503
申请日：2017-08-01
Applicant: Komatsu Ltd.
Inventor： Kazuki Takehara , Masashi Ichihara , Yoshiro Iwasaki
Abstract: Provided is a control system of a construction machine provided with working equipment including an arm and a bucket configured to rotate around each of a bucket axis and a tilt axis orthogonal to the bucket axis with respect to the arm. The control system includes: an angle determination unit configured to determine a tilt angle indicating an angle of a specific portion of the bucket around the tilt axis so that a target construction topography indicating a target shape of an excavation object and the specific portion of the bucket become parallel to each other; and a working equipment control unit configured to control a tilt cylinder configured to rotate the bucket around the tilt axis on the basis of the tilt angle determined by the angle determination unit.
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