公开(公告)号：US12098515B2

公开(公告)日：2024-09-24

申请号：US17618954

申请日：2020-06-30

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Takeshi Oi ,  Kenjiro Shimada ,  Kenji Ohiwa

IPC: E02F3/43 ,  E02F3/32 ,  E02F3/42 ,  E02F9/22 ,  E02F9/26 ,  F15B13/02 ,  F15B19/00

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/425 ,  E02F9/2203 ,  E02F9/2228 ,  E02F9/2246 ,  E02F9/2267 ,  E02F9/26 ,  F15B13/024 ,  F15B19/00 ,  E02F9/2285

Abstract: A work machine comprises: a work implement; a hydraulic cylinder; a hydraulic pump that supplies the hydraulic oil to the hydraulic cylinder via a hydraulic circuit; a relief valve that can set a relief pressure of the hydraulic circuit to either a first set pressure or a second set pressure higher than the first set pressure; a detection unit that detects at least one of a pressure of the hydraulic oil in the hydraulic circuit and a speed of the work implement; and a relief pressure changing unit that changes a relief pressure of the relief valve from the first set pressure to the second set pressure based on a detection value of at least one of the pressure of the hydraulic oil in the hydraulic circuit and the speed of the work implement when the controlled state of the work implement is the excavation state.

公开(公告)号：US12018452B2

公开(公告)日：2024-06-25

申请号：US17603102

申请日：2020-05-25

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Kenjiro Shimada

IPC: E02F3/43 ,  E02F9/22 ,  E02F9/24 ,  E02F3/32

CPC classification number: E02F3/439 ,  E02F9/24 ,  E02F3/32 ,  E02F9/2228 ,  E02F9/2285 ,  E02F9/2296

Abstract: A hydraulic excavator loads a load onto a loaded machine. The hydraulic excavator includes a work implement and a controller. The work implement includes a bucket. The controller senses an amount of natural lowering of the bucket in a stand-by state in which the hydraulic excavator waits for entry of the loaded machine and controls the work implement to raise the bucket based on the amount of natural lowering.

公开(公告)号：US10954651B2

公开(公告)日：2021-03-23

申请号：US15658811

申请日：2017-07-25

Applicant: KOMATSU LTD.

Inventor： Kazuhiro Hashimoto ,  Kenjiro Shimada

IPC: E02F3/84 ,  G01C15/00 ,  G05D3/12

Abstract: A terrain information acquisition device acquires terrain information about a work site. A controller is configured to decide an inclination angle of the current terrain along a travel direction of the work vehicle from the terrain information. The controller is configured to decide a virtual design surface that is inclined at an inclination angle smaller than the inclination angle of the current terrain. The controller is configured to generate a command signal to a work implement of the work vehicle to move the work implement along the inclined virtual design surface.

公开(公告)号：US12110665B2

公开(公告)日：2024-10-08

申请号：US17056136

申请日：2019-08-26

Applicant: KOMATSU LTD.

Inventor： Masanori Aizawa ,  Kenjiro Shimada ,  Yuki Tsuzuki

IPC: E02F9/26 ,  E02F3/43 ,  G06N3/04 ,  G06T7/70

CPC classification number: E02F9/262 ,  E02F3/434 ,  E02F3/437 ,  G06N3/04 ,  G06T7/70 ,  G06T2207/20081 ,  G06T2207/30196

Abstract: A system includes a work machine, a camera, and a processor. The camera captures an image including a periphery of the work machine. A processor acquires image data indicative of a captured image captured by a camera. The processor acquires, from image data, a specific object present within the captured image and a distance from the work machine to the specific object by performing image analysis using an object detection model. The object detection model is trained an image of the specific object and the distance to the specific object. The processor controls the work machine based on the distance from the work machine to the specific object when the specific object is detected in the captured image.

公开(公告)号：US12037770B2

公开(公告)日：2024-07-16

申请号：US16975153

申请日：2019-03-15

Applicant: KOMATSU LTD.

Inventor： Masanori Aizawa ,  Kenjiro Shimada ,  Tomoki Konda

IPC: E02F9/20 ,  E02F3/43 ,  E02F9/26 ,  E02F3/32 ,  E02F9/22

CPC classification number: E02F9/205 ,  E02F3/439 ,  E02F9/262 ,  E02F3/32 ,  E02F9/2225 ,  E02F9/2296

Abstract: A system controls a work machine that loads materials onto a conveyance vehicle. The system includes a controller and a detection device. The controller controls the work machine in an automatic control mode in which work is performed automatically. The detection device detects an approach of the conveyance vehicle toward the work machine. The automatic control mode includes a loading mode in which the work machine is caused to move to perform loading work for loading onto the conveyance vehicle, and an other mode other than the loading mode. The other mode includes at least one of a mode for gathering fallen materials and a digging mode for further increasing the materials by digging. The controller causes the automatic control mode to transition from the other mode to the loading mode when the approach of the conveyance vehicle is detected.

公开(公告)号：US11788254B2

公开(公告)日：2023-10-17

申请号：US16971790

申请日：2019-03-15

Applicant: KOMATSU LTD.

Inventor： Masanori Aizawa ,  Kenjiro Shimada

IPC: E02F9/20 ,  E02F9/24 ,  E02F9/22

CPC classification number: E02F9/2033 ,  E02F9/24 ,  E02F9/22

Abstract: A system controls a work machine that loads materials onto a conveyance vehicle. The system includes a controller and a detection device. The controller controls the work machine in an automatic control mode in which work is performed automatically. The detection device detects a presence of a person in a peripheral region of the work machine. The automatic control mode includes a loading mode in which the work machine is caused to move to perform loading work for loading onto the conveyance vehicle, and an other mode other than the loading mode. The controller causes the automatic control mode to transition from the other mode to the loading mode when a predetermined transition condition is satisfied. The predetermined transition condition includes non-detection of a person by the detection device.

公开(公告)号：US10968598B2

公开(公告)日：2021-04-06

申请号：US15658769

申请日：2017-07-25

Applicant: KOMATSU LTD.

Inventor： Kazuhiro Hashimoto ,  Kenjiro Shimada

IPC: E02F3/84

Abstract: A controller is configured to acquire current terrain information indicating the current terrain in the travel direction of a work vehicle. The controller is configured to generate an inclined virtual surface extending from the current position of the work vehicle. The controller is configured to decide the soil volume of the current terrain located above the virtual surface. The controller is configured to set the virtual surface in which the soil volume of the current terrain becomes a predetermined target soil volume to be a virtual design surface. The controller is configured to generate a command signal to a work implement of the work vehicle to move the work implement along the virtual design surface.

公开(公告)号：US10604912B2

公开(公告)日：2020-03-31

申请号：US15658922

申请日：2017-07-25

Applicant: KOMATSU LTD.

Inventor： Kazuhiro Hashimoto ,  Kenjiro Shimada ,  Kota Beppu

IPC: E02F9/20 ,  G05D1/02 ,  E02F9/26 ,  E02F3/84 ,  G01C15/00 ,  G05D3/12

Abstract: A current terrain acquisition device acquires current terrain information indicating a current terrain to be worked. A controller is configured to generate an inclined virtual surface extending from a current position of the work vehicle. The controller is configured to decide an estimated held soil volume of a work implement of the work vehicle when the work implement is moved along the virtual surface in the current terrain. The controller is configured to decide whether the estimated held soil volume has reached a predetermined held soil volume threshold. The controller is configured to set the virtual surface extending from the current position of the work vehicle when the estimated held soil volume has reached the held soil volume threshold as a first virtual design surface, and generate a command signal to the work implement to move the work implement along the virtual design surface.

公开(公告)号：US09617710B2

公开(公告)日：2017-04-11

申请号：US14379000

申请日：2014-06-18

Applicant: KOMATSU LTD.

Inventor： Kenjiro Shimada

IPC: E02F3/84 ,  E02F3/85 ,  E02F3/76 ,  E02F9/22 ,  E02F5/32

CPC classification number: E02F3/844 ,  E02F3/7604 ,  E02F3/7613 ,  E02F3/7618 ,  E02F5/32 ,  E02F9/2296

Abstract: A work vehicle includes a vehicle body, a blade supported on the vehicle body, a pair of first hydraulic cylinders for moving the blade upward and downward, a pair of second hydraulic cylinders for tilting the blade forward, backward, leftward, and rightward, a pair of stroke sensors for detecting stroke amounts of the pair of first hydraulic cylinders, and a controller for controlling a position of the blade based on a difference in the stroke amounts of the pair of first hydraulic cylinders when, in a state where one second hydraulic cylinder is at the one stroke end or the other stroke end, the other second hydraulic cylinder is driven from one stroke end to the other stroke end.

公开(公告)号：US11914380B2

公开(公告)日：2024-02-27

申请号：US17264116

申请日：2019-09-18

Applicant: KOMATSU LTD.

Inventor： Masanori Aizawa ,  Kenjiro Shimada

IPC: G05D1/02 ,  E02F9/20 ,  E02F9/26 ,  B60P1/16 ,  E02F3/32 ,  E02F9/22 ,  G05D1/00

CPC classification number: G05D1/0214 ,  E02F9/205 ,  E02F9/26 ,  E02F9/261 ,  B60P1/162 ,  E02F3/32 ,  E02F9/2235 ,  E02F9/2296 ,  G05D2201/0202

Abstract: A system includes a conveyance vehicle, and a work machine that loads materials onto the conveyance vehicle. A first processor of a work machine determines a target stop position of a conveyance vehicle based on a position of the work machine, a target offset distance, and the direction of the loading position. A second processor of the conveyance vehicle acquires data indicative of the target stop position of the conveyance vehicle from the work machine. The second processor controls the conveyance vehicle to move the conveyance vehicle to the target stop position.