公开(公告)号：US20160040398A1

公开(公告)日：2016-02-11

申请号：US14782937

申请日：2015-06-02

Applicant: KOMATSU LTD.

Inventor： Jin Kitajima ,  Yoshiki Kami ,  Takeo Yamada ,  Toru Matsuyama ,  Masashi Ichihara

IPC: E02F9/26 ,  E02F9/22 ,  E02F3/43

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

Abstract: A control method includes: detecting an attitude of a work machine including a boom, an arm, and a bucket; operating an operating device to drive a movable member including the arm and the bucket; detecting an amount of operation of the operating device; generating position data of a cutting edge of the bucket based on the detected attitude; acquiring a target shape of an excavation object to be excavated by the work machine and calculating a distance between the cutting edge and the target shape based on the position data and the target shape; setting a limited amount of operation limiting a speed of the movable member based on the detected amount of operation; and outputting a signal to a valve that adjusts an amount of operating oil supplied to a hydraulic cylinder driving the work machine so that the movable member is driven with the limited amount of operation.

Abstract translation: 控制方法包括：检测包括吊杆，臂和铲斗的作业机械的姿态; 操作操作装置以驱动包括所述臂和所述铲斗的可动构件; 检测操作装置的操作量; 基于检测到的姿态生成铲斗的切削刃的位置数据; 获取由作业机械挖掘的挖掘对象的目标形状，并基于位置数据和目标形状计算切削刃与目标形状之间的距离; 基于检测到的操作量设定限制可动构件的速度的有限量的操作; 并将信号输出到调节向驱动作业机械的液压缸供给的工作油量的阀，使得可动构件以有限的操作量被驱动。

公开(公告)号：US11591768B2

公开(公告)日：2023-02-28

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：US11085169B2

公开(公告)日：2021-08-10

申请号：US16099291

申请日：2017-11-29

Applicant: Komatsu Ltd.

Inventor： Toru Matsuyama ,  Jin Kitajima ,  Yuki Shimano

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

Abstract: A work equipment control device includes a bucket posture-determining unit, a working plane-determining unit, and a bucket control unit. The bucket posture-determining unit determines an angle of a bucket in global coordinates. The working plane-determining unit determines an angle of a working plane in the global coordinates indicating a target shape of an excavation object of work equipment. The bucket control unit controls the bucket such that a difference between the angle of the bucket and the angle of the working plane maintains a uniform angle.

公开(公告)号：US10584463B2

公开(公告)日：2020-03-10

申请号：US15516778

申请日：2016-11-29

Applicant: Komatsu Ltd.

Inventor： Toru Matsuyama ,  Jin Kitajima ,  Yuki Shimano

IPC: E02F3/43 ,  E02F3/42 ,  E02F9/26 ,  E02F9/20

Abstract: A control device for a construction machine includes an operational amount data acquisition unit configured to acquire operational amount data indicating an operational amount of the working unit, an operation determination unit configured to determine a non-operation state of a bucket on the basis of the operational amount data, a bucket control determination unit configured to determine whether bucket control conditions are satisfied, on the basis of determination of the non-operation state, and a working unit control unit configured to output a control signal for controlling the bucket to maintain a state of the working unit, when the bucket control conditions are determined to be satisfied.

公开(公告)号：US10364546B2

公开(公告)日：2019-07-30

申请号：US15118238

申请日：2016-03-17

Applicant: KOMATSU LTD.

Inventor： Yuki Shimano ,  Tomohiro Nakagawa ,  Masashi Ichihara ,  Jin Kitajima

IPC: E02F3/43 ,  E02F3/96 ,  E02F9/22 ,  E02F9/26 ,  E02F9/20 ,  E02F3/32

Abstract: A distance obtaining unit obtains the distance between a work implement and a design terrain. A work aspect determining unit determines a work aspect by the work implement. A limit velocity deciding unit limits the velocity of the work implement when the distance between the work implement and the design terrain becomes smaller. When the work aspect is surface compaction work and the distance between the work implement and the design terrain is within a first range of at least a portion that is equal to or less than a predetermined first distance, the limit velocity deciding unit increases the limit velocity of the work implement in comparison to when the work aspect is an aspect of a work other than surface compaction, or cancels the limiting of the velocity of the work implement.

公开(公告)号：US20190194905A1

公开(公告)日：2019-06-27

申请号：US16099291

申请日：2017-11-29

Applicant: Komatsu Ltd.

Inventor： Toru Matsuyama ,  Jin Kitajima ,  Yuki Shimano

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

CPC classification number: E02F3/439 ,  E02F3/32 ,  E02F3/43 ,  E02F9/20 ,  E02F9/2041 ,  E02F9/265

Abstract: A work equipment control device includes a bucket posture-determining unit, a working plane-determining unit, and a bucket control unit. The bucket posture-determining unit determines an angle of a bucket in global coordinates. The working plane-determining unit determines an angle of a working plane in the global coordinates indicating a target shape of an excavation object of work equipment. The bucket control unit controls the bucket such that a difference between the angle of the bucket and the angle of the working plane maintains a uniform angle.

公开(公告)号：US20180266071A1

公开(公告)日：2018-09-20

申请号：US15534707

申请日：2016-11-29

Applicant: Komatsu Ltd.

Inventor： Toru Matsuyama ,  Jin Kitajima

IPC: E02F3/43 ,  E02F3/32 ,  E02F9/20

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/43 ,  E02F9/2004

Abstract: A control device includes a bucket control unit and a speed restricting unit. The bucket control unit calculates a control speed controlling a bucket so as to maintain an angle of the work equipment at a constant angle. The speed restricting unit reduces the control speed when the bucket is driven at the control speed calculated by the bucket control unit and when a direction in which the bucket is driven and a direction in which the arm is driven coincide with each other.

公开(公告)号：US20180230672A1

公开(公告)日：2018-08-16

申请号：US15516778

申请日：2016-11-29

Applicant: Komatsu Ltd.

Inventor： Toru Matsuyama ,  Jin Kitajima ,  Yuki Shimano

IPC: E02F3/43 ,  E02F3/42

CPC classification number: E02F3/436 ,  E02F3/425 ,  E02F3/437 ,  E02F3/439 ,  E02F9/2012 ,  E02F9/265

Abstract: A control device for a construction machine includes an operational amount data acquisition unit configured to acquire operational amount data indicating an operational amount of the working unit, an operation determination unit configured to determine a non-operation state of a bucket on the basis of the operational amount data, a bucket control determination unit configured to determine whether bucket control conditions are satisfied, on the basis of determination of the non-operation state, and a working unit control unit configured to output a control signal for controlling the bucket to maintain a state of the working unit, when the bucket control conditions are determined to be satisfied.

公开(公告)号：US09481984B2

公开(公告)日：2016-11-01

申请号：US14781649

申请日：2015-03-27

Applicant: KOMATSU LTD.

Inventor： Tsutomu Iwamura ,  Jin Kitajima ,  Masanobu Seki ,  Masashi Ichihara

IPC: E02F9/26 ,  E02F3/32 ,  E02F3/42 ,  G01D5/14 ,  G01D5/34

CPC classification number: E02F9/264 ,  E02F3/32 ,  E02F3/425 ,  E02F9/2271 ,  E02F9/265 ,  G01D5/14 ,  G01D5/145 ,  G01D5/2449 ,  G01D5/34 ,  G01D5/3473

Abstract: A calibration device for a work machine includes: a working equipment parameter acquiring unit acquiring working equipment parameters of members of first and second actuation units; a measurement value acquiring unit acquiring respective measurement values of the work machine body and first and second actuation units measured by an external measurement device; a first calibration unit calibrating the parameter related to the member of the first actuation unit acquired by the acquiring unit based on the measurement value of the first actuation unit acquired by the acquiring unit; and a second calibration unit calibrating the working equipment parameter of the member of the second actuation unit based on the working equipment parameter of the first actuation unit calibrated by the first calibration unit and the respective measurement values of the reference points of the work machine body and first and second actuation units acquired by the acquiring unit.

Abstract translation: 一种用于工作机械的校准装置，包括：工作设备参数获取单元，用于获取第一和第二致动单元的构件的工作设备参数; 测量值获取单元，获取由外部测量装置测量的作业机器主体和第一和第二致动单元的各个测量值; 第一校准单元，基于由所述获取单元获取的所述第一致动单元的测量值，校准与由所述获取单元获取的所述第一致动单元的构件相关的参数; 以及第二校准单元，基于由所述第一校准单元校准的所述第一致动单元的工作设备参数和所述作业机器主体的参考点的相应测量值，校准所述第二致动单元的构件的所述工作设备参数，以及 由所述获取单元获取的第一和第二致动单元。

公开(公告)号：US20160298316A1

公开(公告)日：2016-10-13

申请号：US14786763

申请日：2015-03-27

Applicant: KOMATSU LTD.

Inventor： Tsutomu Iwamura ,  Masanobu Seki ,  Jin Kitajima

IPC: E02F9/26 ,  G01D5/347

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 the first actuation unit and the 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，用于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。