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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
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.
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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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23.发明授权Calibration device for work machine and calibration method of working equipment parameter for work machine 有权作业机床校准装置及工作机械工作设备参数校准方法公开(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
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。
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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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25.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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Patent Agency Ranking
公开(公告)号：US20150330060A1
公开(公告)日：2015-11-19
申请号：US14389571
申请日：2014-05-14
Applicant: Komatsu Ltd.
Inventor： Masanobu Seki , Masashi Ichihara
CPC classification number: E02F9/264 , E02F3/32 , E02F3/435 , G01B21/042 , G01S19/14 , G01S19/40 , G01S19/43
Abstract: A calibration system for an excavator includes the excavator having an upper structure swingably attached to a chassis, a working machine having a boom, an arm, and a working tool, and a current position computation unit configured to compute a current position of a working point of the working tool; a calibration device configured to calibrate parameters based on parameters indicating dimensions and rotation angles of the boom, the arm, and the working tool; an external measurement device that measures a position of the working point; and an inclination information detection device that detects inclination information of the excavator in an anteroposterior direction. The calibration device corrects positions of the working point measured by the external measurement device, based on the inclination information of the excavator in the anteroposterior direction, and computes calibrated values of the parameters based on coordinates of the working point at corrected positions.
Abstract translation: 一种用于挖掘机的校准系统包括具有可摆动地附接到底盘的上部结构的挖掘机，具有起重臂，臂和作业工具的作业机械，以及当前位置计算单元，其被配置为计算工作点的当前位置 的工作工具; 校准装置，被配置为基于指示悬臂，臂和作业工具的尺寸和旋转角度的参数校准参数; 测量工作点位置的外部测量装置; 以及倾斜信息检测装置，其在前后方向上检测挖掘机的倾斜信息。 校准装置基于前后方向的挖掘机的倾斜信息，校正由外部测量装置测量的工作点的位置，并且基于校正位置处的工作点的坐标来计算参数的校准值。
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公开(公告)号：US20140297040A1
公开(公告)日：2014-10-02
申请号：US14355932
申请日：2013-10-18
Applicant: KOMATSU LTD.
Inventor： Akinori Baba , Tetsuya Nakayama , Masashi Ichihara
IPC: G05B13/02
CPC classification number: G05B13/026 , E02F9/2037
Abstract: An excavation control system includes a global coordinate computing device, a prediction correcting part, a cutting edge position data generating part, and a designed terrain data generating part. The global coordinate computing device generates revolving unit orientation data (Q) that indicates an orientation of a revolving unit. The prediction correcting part generates corrected revolving unit orientation data (R) by predictively correcting the revolving unit orientation data (Q) based on a delay time (t) and revolve angle speed data (Dω) that indicates a revolve angle speed (ω) of the revolving unit. The cutting edge position data generating part generates cutting edge position data (S) that indicates a position of a cutting edge based on reference position data (P1), the revolving unit orientation data (Q), and the corrected revolving unit orientation data (R). The designed terrain data generating part generates designed terrain data (U) based on the cutting edge position data (S) and stereoscopic designed terrain data (T).
Abstract translation: 挖掘控制系统包括全局坐标计算装置，预测校正部，切削刃位置数据生成部以及设计的地形数据生成部。 全局坐标计算装置产生指示旋转单元的定向的旋转单元取向数据（Q）。 预测校正部通过基于延迟时间（t）和指示旋转角速度（ω）的旋转角速度数据（Dω）预测性地校正回转单位取向数据（Q）来生成校正旋转单元取向数据（R） 旋转单元。 切削刃位置数据生成部基于基准位置数据（P1），旋转单元取向数据（Q）和修正的旋转单元取向数据（R），生成表示切削刃的位置的切削刃位置数据（S） ）。 设计的地形数据生成部基于切削刃位置数据（S）和立体设计的地形数据（T）生成设计的地形数据（U）。
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28.发明授权公开(公告)号：US10196796B2
公开(公告)日：2019-02-05
申请号：US15322813
申请日：2016-05-31
Applicant: Komatsu Ltd.
Inventor： Tsutomu Iwamura , Yoshiro Iwasaki , Masashi Ichihara
Abstract: A construction machine control system includes: a target construction ground shape generation unit generating a target construction ground shape indicating a target shape of an excavation target; a tilting data calculation unit calculating tilting data of a bucket tilted about a tilting axis; a regulation point position data calculation unit calculating position data of a regulation point set in the bucket based on external shape data of the bucket including at least width data of the bucket; a tilting target ground shape calculation unit calculating a tilting target ground shape extending in a lateral direction of the bucket in the target construction ground shape based on the position data of the regulation point, the target construction ground shape, and the tilting data; and a working device control unit controlling a tilting of the bucket based on a distance between the regulation point and the tilting target ground shape.
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公开(公告)号：US09976286B2
公开(公告)日：2018-05-22
申请号：US15032092
申请日：2015-10-30
Applicant: Komatsu Ltd.
Inventor： Masanobu Seki , Tsutomu Iwamura , Katsuhiro Ikegami , Masashi Ichihara
CPC classification number: E02F9/265 , B60W2050/146 , E02F3/32 , E02F3/401 , E02F3/432 , E02F3/435 , E02F9/2025 , E02F9/2271 , E02F9/26
Abstract: A work machine includes: first working equipment with first working equipment parameter; second working equipment including a parallel link and being attachable to the first working equipment; a swing angle detector that detects swing angle information of the first working equipment; an attitude calculating unit that calculates an attitude of the first working equipment based on the detected swing angle information of the first working equipment; a working equipment parameter storage that stores the first working equipment parameter defined for a component of the first working equipment; a correction information acquiring unit that acquires information on the second working equipment as correction information; and a working equipment parameter correction unit that corrects the first working equipment parameter based on the correction information on the second working equipment acquired by the correction information acquiring unit.
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公开(公告)号：US09938694B2
公开(公告)日：2018-04-10
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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