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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：US09702119B2
公开(公告)日：2017-07-11
申请号：US14410832
申请日：2014-09-05
Applicant: KOMATSU LTD.
Inventor： Toru Matsuyama , Takeshi Takaura
CPC classification number: E02F9/2228 , E02F3/32 , E02F3/435 , E02F3/437 , E02F9/2207 , E02F9/2267 , E02F9/2285 , E02F9/2292 , E02F9/262 , E02F9/265
Abstract: There is provided a hydraulic excavator in which the highly-accurate land leveling work is possible. A boom-lowering pilot conduit connected to a boom-lowering pilot port is provided with a boom-lowering proportional solenoid valve. When an arm dump signal for performing dump operation of an arm is included in a hydraulic pressure signal, a controller sharply increases a current value outputted to the boom-lowering proportional solenoid valve, as compared with when an arm excavation signal for performing excavation operation of the arm is included in the hydraulic pressure signal.
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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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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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公开(公告)号：US10822769B2
公开(公告)日：2020-11-03
申请号：US15757096
申请日：2017-04-10
Applicant: KOMATSU LTD.
Inventor： Yuki Shimano , Toru Matsuyama , Takuya Sonoda
Abstract: An earthmoving machine includes a work implement, a distance calculation unit, and a hydraulic cylinder control unit. The work implement includes a boom, an arm, and a bucket. The distance calculation unit calculates a distance between a monitoring point in the bucket and design topography representing an aimed shape of a land grading target. The hydraulic cylinder control unit outputs a command signal for lowering the boom when the distance between the monitoring point and the design topography is equal to or smaller than a prescribed value and when the bucket is expected to move in such a direction that the monitoring point moves away from the design topography as a result of an operation of the arm.
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Patent Agency Ranking
公开(公告)号：US20190177948A1
公开(公告)日：2019-06-13
申请号：US16099260
申请日：2017-11-29
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama
Abstract: A control device includes a bucket position-determining unit, a target working line-determining unit, a distance-determining unit, and a bucket control unit. The bucket position-determining unit determines a position of a bucket. The target working line-determining unit determines a target working line indicating a target shape of an object to be excavated by work equipment. The distance-determining unit determines a distance between the bucket and a reference position which is an end of the target working line. The bucket control unit controls the bucket such that an angle of the bucket becomes a uniform angle, when the distance between the bucket and the reference position is equal to or greater than a bucket control-limiting threshold value.
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公开(公告)号：US20170284070A1
公开(公告)日：2017-10-05
申请号：US15301779
申请日：2016-03-29
Applicant: KOMATSU LTD.
Inventor： Toru Matsuyama , Yuki Shimano , Masashi Ichihara , Yoshiki Kami
CPC classification number: E02F9/265 , E02F3/32 , E02F3/435 , E02F9/20 , E02F9/2033 , E02F9/22 , E02F9/2292 , E02F9/2296 , E02F9/262
Abstract: A control device for a work machine is a device for controlling a working unit of a work machine to excavate an object to be excavated. The control device includes a control unit for controlling the working unit to prevent a working implement of the working unit from crossing a predetermined target profile, and a switching unit for defining the target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile.
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公开(公告)号：US20170247861A1
公开(公告)日：2017-08-31
申请号：US15114538
申请日：2016-02-29
Applicant: KOMATSU LTD.
Inventor： Toru Matsuyama , Masashi Ichihara
CPC classification number: E02F9/2025 , E02F3/32 , E02F3/435 , E02F9/2207 , E02F9/2292 , E02F9/2296 , E02F9/262
Abstract: A control device includes a control unit configured to change a change rate of a moving speed of a working unit of a work machine according to the moving speed of the working unit in a timing of switching between intervention control toward the working unit and control of the working unit based on an operation command from an operation device.
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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：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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