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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
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.
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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
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.
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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
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.
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Patent Agency Ranking
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
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.
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公开(公告)号：US10156061B2
公开(公告)日：2018-12-18
申请号：US15114538
申请日：2016-02-29
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama , Masashi Ichihara
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：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
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.
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27.发明申请公开(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
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.
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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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