公开(公告)号：US09834908B2

公开(公告)日：2017-12-05

申请号：US15102648

申请日：2015-11-19

Applicant: Komatsu Ltd.

Inventor： Yoshiro Iwasaki ,  Masashi Ichihara

IPC: G06F7/70 ,  G06F19/00 ,  G06G7/00 ,  G06G7/76 ,  E02F9/22 ,  E02F9/26 ,  E02F9/18 ,  E02F3/32

CPC classification number: E02F9/2267 ,  E02F3/32 ,  E02F9/18 ,  E02F9/2214 ,  E02F9/265 ,  G05B2219/45012

Abstract: A control method for a work machine, includes: detecting a posture of a working unit driven by a hydraulic cylinder in a movable range; determining whether the working unit at a stop position of the movable range has started moving based on an operation of the working unit; setting a deceleration section including an end position of the movable range and a deceleration ratio of the working unit in the deceleration section, based on the posture of the working unit in a stopped state at the stop position, and a threshold determined in advance; and outputting a command signal to a control valve, which is capable of adjusting an amount of a working oil supplied to the hydraulic cylinder, such that the working unit moves from the stop position to the end position based on the deceleration section and the deceleration ratio.

公开(公告)号：US09702120B2

公开(公告)日：2017-07-11

申请号：US14390157

申请日：2014-06-04

Applicant: Komatsu Ltd.

Inventor： Akinori Baba ,  Masashi Ichihara

IPC: G06F3/048 ,  E02F9/26 ,  E02F3/43 ,  E02F9/12 ,  E02F3/32 ,  E02F9/22 ,  G01C21/16

Abstract: A posture computing apparatus for a work machine includes a detection apparatus that is provided to the work machine and detects angular velocity and acceleration; a first posture angle computing unit that is provided to the detection apparatus and obtains a posture angle of the work machine from the angular velocity and the acceleration detected by the detection apparatus; a low-pass filter that allows the posture angle obtained by the first posture angle computing unit to pass therethrough to output the posture angle as a first posture angle; a second posture angle computing unit that outputs, as a second posture angle, a posture angle obtained from the angular velocity and the acceleration detected by the detection apparatus; and a selecting unit that outputs the first posture angle and the second posture angle in a switching manner, based on information about a change in an angle of the work machine.

公开(公告)号：US09644346B2

公开(公告)日：2017-05-09

申请号：US14389571

申请日：2014-05-14

Applicant: Komatsu Ltd.

Inventor： Masanobu Seki ,  Masashi Ichihara

IPC: E02F9/26 ,  G01B21/04 ,  E02F3/32 ,  E02F3/43 ,  G01S19/14 ,  G01S19/40 ,  G01S19/43

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.

公开(公告)号：US09551129B2

公开(公告)日：2017-01-24

申请号：US14390590

申请日：2014-05-30

Applicant: Komatsu Ltd.

Inventor： Yoshiki Kami ,  Masashi Ichihara ,  Takeshi Takaura

IPC: G06F7/70 ,  G06F19/00 ,  G06G7/00 ,  G06G7/76 ,  E02F3/43 ,  E02F9/26 ,  E02F3/32

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。

公开(公告)号：US20160251836A1

公开(公告)日：2016-09-01

申请号：US14390157

申请日：2014-06-04

Applicant: KOMATSU LTD.

Inventor： Akinori Baba ,  Masashi Ichihara

IPC: E02F9/26 ,  E02F3/43

CPC classification number: E02F9/265 ,  E02F3/32 ,  E02F3/435 ,  E02F9/123 ,  E02F9/2285 ,  E02F9/262 ,  G01C21/16

Abstract: A posture computing apparatus for a work machine includes a detection apparatus that is provided to the work machine and detects angular velocity and acceleration; a first posture angle computing unit that is provided to the detection apparatus and obtains a posture angle of the work machine from the angular velocity and the acceleration detected by the detection apparatus; a low-pass filter that allows the posture angle obtained by the first posture angle computing unit to pass therethrough to output the posture angle as a first posture angle; a second posture angle computing unit that outputs, as a second posture angle, a posture angle obtained from the angular velocity and the acceleration detected by the detection apparatus; and a selecting unit that outputs the first posture angle and the second posture angle in a switching manner, based on information about a change in an angle of the work machine.

Abstract translation: 一种用于作业机械的姿势计算装置，包括：检测装置，其设置在作业机器上，检测角速度和加速度; 第一姿势角计算单元，其被提供给所述检测装置，并且根据所述检测装置检测到的角速度和加速度获得作业机械的姿势角; 低通滤波器，其允许由所述第一姿势角计算单元获得的姿态角度通过，以将所述姿势角输出为第一姿势角; 作为第二姿势角输出从检测装置检测出的角速度和加速度得到的姿势角的第二姿势角计算部; 以及选择单元，其基于关于作业机器的角度的变化的信息，以切换的方式输出第一姿态角度和第二姿势角度。

公开(公告)号：US20160237655A1

公开(公告)日：2016-08-18

申请号：US14386076

申请日：2014-06-04

Applicant: KOMATSU LTD.

Inventor： Akinori Baba ,  Masashi Ichihara

IPC: E02F9/26 ,  E02F9/20 ,  E02F3/43

CPC classification number: E02F9/264 ,  E02F3/32 ,  E02F3/437 ,  E02F9/2033 ,  E02F9/2037 ,  E02F9/262

Abstract: A posture computing apparatus for a work machine is an apparatus that obtains a posture angle of a work machine including a traveling body and a swing body that is mounted on the traveling body and that rotates relative to the traveling body. The posture computing apparatus includes a detection apparatus that is provided to the swing body and detects angular velocity and acceleration; an acceleration correcting unit that corrects the acceleration detected by the detection apparatus, based on a position where the detection apparatus is placed and information on the detection apparatus; and a posture angle computing unit that obtains a posture angle of the work machine from the acceleration corrected by the acceleration correcting unit and the angular velocity detected by the detection apparatus.

Abstract translation: 作业机械的姿势计算装置是获得包括行进体和摆动体的作业机械的姿势角的装置，其安装在行驶体上并相对于行驶体旋转。 姿势计算装置包括：检测装置，其设置在所述摆动体上，检测角速度和加速度; 加速度校正单元，其基于检测装置的位置和关于检测装置的信息来校正由检测装置检测到的加速度; 以及姿势角计算单元，其根据由加速度校正单元校正的加速度和由检测装置检测的角速度获得作业机械的姿势角。

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：US20140200776A1

公开(公告)日：2014-07-17

申请号：US14238059

申请日：2013-03-14

Applicant: KOMATSU LTD.

Inventor： Toru Matsuyama ,  Yoshiki Kami ,  Shin Kashiwabara ,  Masashi Ichihara

IPC: E02F3/43

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/43 ,  E02F9/2033 ,  E02F9/262 ,  E02F9/264

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 prescribed position on the bucket. The subordinate designed surface data indicates a plurality of subordinate designed surfaces linked to the superior designed surface. The designed surface data generation part generates shape data based on the superior and subordinate designed surface data. The shape data indicates shapes of the superior designed surface and the plurality of subordinate designed surfaces. The excavation limit control part automatically adjusts 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。 优越设计的表面数据表示对应于铲斗上的规定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多个从属设计表面。 设计的表面数据生成部基于上下设计的表面数据生成形状数据。 形状数据表示优选设计表面和多个从属设计表面的形状。 挖掘限位控制部分自动调节铲斗的位置。