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公开(公告)号：US09464406B2
公开(公告)日：2016-10-11
申请号：US14238885
申请日：2013-04-12
Applicant: KOMATSU LTD.
Inventor： Toru Matsuyama , Yoshiki Kami , Masashi Ichihara
CPC classification number: E02F9/2033 , E02F3/28 , E02F3/435 , E02F9/2029 , E02F9/2221 , E02F9/2292 , E02F9/2296 , E02F9/262 , E02F9/265
Abstract: A construction machine has a work implement and a work implement operating device. The work implement has a boom, arm, and bucket. A limit velocity determining unit determines a limit velocity of the boom from the limit velocity of the entire work implement, the arm target velocity, and the bucket target velocity. The distance when the blade tip of the bucket is positioned outside of the design plane is a positive value and the velocity in a direction from inside of the design plane toward outside of the design plane is a positive value. The first limit condition includes a condition that the limit velocity of the boom is greater than the boom target velocity. When the first limit condition is satisfied, a work implement control unit controls the boom to match the limit velocity of the boom and controls the arm to match the arm target velocity.
Abstract translation: 施工机械具有作业工具和作业工具的操作装置。 工作台具有吊臂，手臂和铲斗。 极限速度确定单元根据整个作业工具的极限速度，臂目标速度和铲斗目标速度来确定起重臂的极限速度。 当铲斗的叶片尖端位于设计平面外部时的距离为正值，并且从设计平面内部到设计平面外侧的方向上的速度为正值。 第一极限条件包括起重臂的极限速度大于起重臂目标速度的条件。 当满足第一限制条件时，工作装置控制单元控制动臂以匹配动臂的极限速度并且控制臂以匹配手臂目标速度。
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12.发明申请WORK MACHINE CONTROL SYSTEM, WORK MACHINE, EXCAVATOR CONTROL SYSTEM, AND WORK MACHINE CONTROL METHOD 有权工作机械控制系统，工作机械，挖掘机控制系统和工作机械控制方法公开(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
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。
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公开(公告)号：US09447563B2
公开(公告)日：2016-09-20
申请号：US14350592
申请日：2013-04-12
Applicant: Komatsu Ltd.
Inventor： Katsuhiro Ikegami , Yoshiki Kami , Yuki Shimano , Hayato Matsumoto
CPC classification number: E02F9/264 , E02F3/435 , E02F9/22 , E02F9/2271 , E02F9/2296 , E02F9/267 , F15B15/2807 , F15B15/2815 , F15B19/002 , G01D5/145 , G01D18/00
Abstract: A stroke operation diagnosis supporting device for a hydraulic cylinder includes: movable portions; hydraulic cylinders; a stroke sensor measuring a stroke length of the hydraulic cylinder; a reset sensor measuring a reset reference point at which a measurement value of the stroke length obtained by the stroke sensor is reset; a stroke end detection process unit detecting a stroke end position of the hydraulic cylinder; a calibration process unit calibrating the measurement value of the stroke length upon the detection of the reset reference point and/or the stroke end position; and a monitor displaying on a screen at least the measurement value of the stroke length obtained by the stroke sensor and a calibration state obtained by the calibration process unit, wherein the monitor displays continuous time change of the measurement value of the stroke length obtained by the stroke sensor.
Abstract translation: 一种用于液压缸的冲程操作诊断支撑装置，包括：可移动部分; 液压缸; 测量液压缸的行程长度的行程传感器; 复位传感器，其测量由所述行程传感器获得的行程长度的测量值复位的复位基准点; 行程结束检测处理单元，检测液压缸的行程结束位置; 校准处理单元，在检测到复位基准点和/或行程终点位置时校准行程长度的测量值; 以及监视器，至少显示由所述行程传感器获得的行程长度的测量值和由所述校准处理单元获得的校准状态的显示器，其中所述监视器显示由所述校准处理单元获得的所述行程长度的测量值的连续时间变化， 行程传感器
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公开(公告)号：US20150267382A1
公开(公告)日：2015-09-24
申请号：US14350592
申请日：2013-04-12
Applicant: Komatsu Ltd.
Inventor： Katsuhiro Ikegami , Yoshiki Kami , Yuki Shimano , Hayato Matsumoto
CPC classification number: E02F9/264 , E02F3/435 , E02F9/22 , E02F9/2271 , E02F9/2296 , E02F9/267 , F15B15/2807 , F15B15/2815 , F15B19/002 , G01D5/145 , G01D18/00
Abstract: A stroke operation diagnosis supporting device for a hydraulic cylinder includes: movable portions; hydraulic cylinders; a stroke sensor measuring a stroke length of the hydraulic cylinder; a reset sensor measuring a reset reference point at which a measurement value of the stroke length obtained by the stroke sensor is reset; a stroke end detection process unit detecting a stroke end position of the hydraulic cylinder; a calibration process unit calibrating the measurement value of the stroke length upon the detection of the reset reference point and/or the stroke end position; and a monitor displaying on a screen at least the measurement value of the stroke length obtained by the stroke sensor and a calibration state obtained by the calibration process unit, wherein the monitor displays continuous time change of the measurement value of the stroke length obtained by the stroke sensor.
Abstract translation: 一种用于液压缸的冲程操作诊断支撑装置，包括：可移动部分; 液压缸; 测量液压缸的行程长度的行程传感器; 复位传感器，其测量由所述行程传感器获得的行程长度的测量值复位的复位基准点; 行程结束检测处理单元，检测液压缸的行程结束位置; 校准处理单元，在检测到复位基准点和/或行程终点位置时校准行程长度的测量值; 以及监视器，至少显示由所述行程传感器获得的行程长度的测量值和由所述校准处理单元获得的校准状态的显示器，其中所述监视器显示由所述校准处理单元获得的所述行程长度的测量值的连续时间变化， 行程传感器
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15.发明授权公开(公告)号：US11414839B2
公开(公告)日：2022-08-16
申请号：US16324259
申请日：2017-09-08
Applicant: KOMATSU LTD.
Inventor： Satoru Shintani , Yoshiki Kami , Yoshito Kumakura
Abstract: A control line determinator determines whether or not a work state of a work implement is a predetermined work state. A display controller generates a display signal including a target surface of a construction object or a control line indicating a surface which is different from the target surface and which a bucket is to be prevented from entering. The display controller makes a display form of the control line or the target surface in the display signal different according to whether or not the work state is the predetermined work state.
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Patent Agency Ranking
公开(公告)号：US10145088B2
公开(公告)日：2018-12-04
申请号：US14778724
申请日：2015-05-29
Applicant: Komatsu Ltd.
Inventor： Yasuo Kanemitsu , Yoshiki Kami
Abstract: A control system comprising a position information generation unit configured to operate three modes to output position information: a first mode in which information about the position detected by a position detection apparatus is output as position information related to the position of a work machine, when the position determination is normal, a second mode in which information about a position obtained by using both of a particular point as a reference of the work machine obtained before a position determination becomes abnormal and operation information detected by a status detection apparatus is output as the position information, when the position determination is abnormal and the work machine is a static status, and a third mode in which the position information is not output, when the position determination is abnormal and the work machine is in a non-static status.
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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：US09797111B2
公开(公告)日：2017-10-24
申请号：US14408370
申请日：2014-09-10
Applicant: KOMATSU LTD.
Inventor： Yoshiki Kami , Takeo Yamada
CPC classification number: E02F3/437 , E02F3/32 , E02F3/435 , E02F9/2004 , E02F9/2033 , E02F9/2203 , E02F9/2207 , E02F9/2228 , E02F9/2285 , E02F9/262 , G05B2219/2616
Abstract: A work vehicle includes an arm. An arm cylinder drives the arm. A direction control valve operates the arm cylinder by allowing supply of a hydraulic oil to the arm cylinder as a spool moves. An oil path is connected to the direction control valve. A pilot oil for moving the spool flows through the oil path. A proportional solenoid valve for arm excavation is provided in the oil path. An arm control member is provided for an operator to operate drive of the arm. An amount of operation of the arm control member is equal to or smaller than a prescribed value in a first operation state and greater than the prescribed value in a second operation state. A command current instructing an opening of the proportional solenoid valve for arm excavation is set to a constant value in the first operation state.
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19.发明申请WORK MACHINE CONTROL SYSTEM, WORK MACHINE, AND WORK MACHINE CONTROL METHOD 有权工作机械控制系统，工作机械和工作机器控制方法公开(公告)号：US20160244950A1
公开(公告)日：2016-08-25
申请号：US14386094
申请日：2014-05-30
Applicant: KOMATSU LTD.
Inventor： Yoshiki Kami , Takeshi Takaura
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。
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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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