公开(公告)号：US5968104A

公开(公告)日：1999-10-19

申请号：US880506

申请日：1997-06-23

申请人： Eiji Egawa ,  Kazuo Fujishima ,  Masakazu Haga ,  Hiroshi Watanabe

发明人： Eiji Egawa ,  Kazuo Fujishima ,  Masakazu Haga ,  Hiroshi Watanabe

IPC分类号： E02F3/43 ,  E02F9/20 ,  E02F9/22 ,  E02F9/24 ,  E02F9/26

CPC分类号： E02F3/435 ,  E02F3/437 ,  E02F9/2285 ,  E02F9/2296 ,  E02F9/26

摘要： An area where a front device (1A) is allowed to move is set beforehand and the operation of the front device is controlled so that the front device will not go out of the set area. For this control process, an arm cylinder speed calculating portion (9d) of a control unit (9) estimates an arm cylinder speed for use in control by taking the sum of a low-frequency component of an arm cylinder speed which is derived through coordinate transformation and differentiation of an arm rotational angle detected by an angle sensor (8b), and a high-frequency component of an arm cylinder speed which is derived from a command value applied from a control lever unit (14b) to a flow control valve (15b) for an arm and a flow rate characteristic of the flow control valve (15b). The control unit controls the operation of the front device with the estimated operating speed. The operation of the front device is thereby controlled smoothly and accurately regardless of change in any parameters, such as load and fluid temperature, affecting the flow rate characteristic of the flow control valve.

摘要翻译： 事先设定允许前方装置（1A）移动的区域，并且控制前方装置的动作，使得前装置不会离开设定区域。 对于该控制处理，控制单元（9）的斗杆缸速度计算部（9d）通过将通过坐标导出的臂缸速度的低频分量的和来估计用于控制的臂缸速度 由角度传感器（8b）检测到的臂旋转角度的变换和微分，以及从控制杆单元（14b）施加到流量控制阀的指令值导出的臂缸速度的高频分量 15b）和流量控制阀（15b）的流量特性。 控制单元以估计的运行速度来控制前置装置的操作。 无论诸如负载和流体温度的任何参数的变化影响流量控制阀的流量特性，前置装置的操作都能平稳而准确地进行控制。

公开(公告)号：US5752333A

公开(公告)日：1998-05-19

申请号：US817349

申请日：1997-04-09

申请人： Takashi Nakagawa ,  Hiroshi Watanabe ,  Masakazu Haga ,  Kazuo Fujishima ,  Eiji Egawa

发明人： Takashi Nakagawa ,  Hiroshi Watanabe ,  Masakazu Haga ,  Kazuo Fujishima ,  Eiji Egawa

IPC分类号： E02F3/43 ,  E02F9/20

CPC分类号： E02F3/437

摘要： An area where a front device 1A is movable is set in advance. A target speed vector of the front device is modified such that its component in the direction toward a boundary of the set area is reduced, by using signals obtained by reducing operation signals input from control lever units 4a-4c when a mode switch 20 is turned on and the front device is within and near the boundary of the set area, and by using the operation signals as they are when the mode switch 20 is turned off. When the front device is outside the set area, the target speed vector is modified so that the front device is returned to the set area. Thus, excavation within a limited area can be performed efficiently and smoothly, and an operator can select one of an accuracy precedence work mode and a speed precedence work mode at his own discretion.

摘要翻译： PCT No.PCT / JP96 / 02252 Sec。 371日期1997年04月9日 102（e）1997年4月9日PCT PCT 1996年8月8日PCT公布。 公开号WO97 / 07297 日期1997年2月27日预先设置前置装置1A可移动的区域。 改变前置装置的目标速度向量，使得其在朝向设定区域的边界的方向上的分量减小时，通过使用当模式切换器20转动时通过减少从控制杆单元4a-4c输入的操作信号而获得的信号 并且前置装置在设定区域的边界内和附近，并且在模式切换器20被关闭时使用操作信号。 前置装置在设定区域外时，对目标速度矢量进行修正，使前置装置返回到设定区域。 因此，可以有效地平稳地执行有限区域内的挖掘，并且操作者可以自己选择精确优先工作模式和速度优先工作模式之一。

公开(公告)号：US06275757B1

公开(公告)日：2001-08-14

申请号：US09242633

申请日：1999-02-19

申请人： Hiroshi Watanabe ,  Kazuo Fujishima ,  Masakazu Haga

发明人： Hiroshi Watanabe ,  Kazuo Fujishima ,  Masakazu Haga

IPC分类号： G06F700

CPC分类号： E02F9/2296 ,  E02F3/437 ,  E02F9/2203 ,  E02F9/2285

摘要： An area limiting excavation control system in an excavation machine having a front device, includes means for setting in advance, an area where the front device is movable. A control unit calculates the position and posture of the front device based on signals from angle sensors. When the front device is inside the set area near the boundary thereof, the control unit calculates a limit value (a) of a bucket tip speed so that a moving speed of the front device in the direction vertical to the boundary of the set area is restricted, and then modifies the limit value (a) depending on a load pressure of an arm cylinder detected by a pressure sensor. It further calculates, from the limit value (a), a limit value of the component of a boom-dependent bucket tip speed vertical to the boundary of the set area, and then modifies a boom operation signal so that the boom-dependent bucket tip speed will not exceed the above limit value. Ground can be excavated to the boundary of the set area without being affected by hardness of the ground to be excavated, while using a simple program.

摘要翻译： 具有前部装置的挖掘机械中的区域限制挖掘控制系统包括用于预先设定前部装置可移动的区域的装置。 控制单元基于来自角度传感器的信号来计算前置装置的位置和姿势。 当前部装置在其边界附近的设定区域内时，控制单元计算铲斗前端速度的极限值（a），使得前部装置沿与设定区域的边界垂直的方向的移动速度为 限制，然后根据由压力传感器检测到的手臂缸的负载压力修改极限值（a）。 另外，从极限值（a）开始，根据与设定区域的边界垂直的动臂依赖铲斗前端速度的分量的极限值，并修正动臂运行信号，使得悬臂依赖铲斗前端 速度不会超过上限值。 在使用简单的程序的同时，可以将地面挖掘到设定区域的边界，而不受地面硬度的影响。

公开(公告)号：US06076029A

公开(公告)日：2000-06-13

申请号：US155887

申请日：1998-10-08

申请人： Hiroshi Watanabe ,  Kazuo Fujishima ,  Masakazu Haga

发明人： Hiroshi Watanabe ,  Kazuo Fujishima ,  Masakazu Haga

IPC分类号： E02F3/43 ,  E02F9/22 ,  E02F9/26 ,  E02F5/00 ,  E02F3/00 ,  G06F7/00

CPC分类号： E02F9/2285 ,  E02F3/437 ,  E02F9/2296 ,  E02F9/265

摘要： A slope excavation control system for a hydraulic excavator and a slope excavation method using a hydraulic excavator include an external reference 80 which extends horizontally in the direction of advance of a target slope face. A vertical distance hry and a horizontal distance hrx from the external reference to a reference point on a target slope face, and an angle of the target slope face are set by using a setting device. When a front reference provided at a bucket end is aligned with the external reference and an external reference setting switch is depressed, a control unit calculates a vertical distance hfy and a horizontal distance hfx from a body center of the excavator to the external reference, then calculates a vertical distance hsy and a horizontal distance hsx from the body center to the reference point of the target slope face by using the distances hsy and hsx as modification values. The control unit then sets the target slope face on the basis of a body of the excavator from the distances hsy and hsx and the angle input by the setting device, thereby carrying out area limiting excavation control.

摘要翻译： PCT No.PCT / JP98 / 00559 Sec。 371日期：1998年10月8日 102（e）1998年10月8日日期PCT提交1998年2月12日PCT公布。 第WO95 / 30059号公报 日期1995年9月11日一种液压挖掘机的斜坡挖掘控制系统和使用液压挖掘机的斜坡挖掘方法包括：在目标斜面前进方向上水平延伸的外部基准80。 通过使用设定装置来设定从外部基准点到目标斜面上的基准点的垂直距离hry和水平距离hrx，以及目标斜面的角度。 当设置在铲斗前端的前部基准与外部基准对准并且外部基准设定开关被按下时，控制单元计算从挖掘机的车身中心到外部基准的垂直距离hfy和水平距离hfx，则 通过使用距离hsy和hsx作为修改值，计算垂直距离hsy和从身体中心到目标斜面的参考点的水平距离hsx。 然后，控制单元基于距离hsy，hsx和由设定装置输入的角度，基于挖掘机的主体设定目标坡面，从而进行区域限制挖掘控制。

公开(公告)号：US5918527A

公开(公告)日：1999-07-06

申请号：US842042

申请日：1997-04-23

申请人： Masakazu Haga ,  Hiroshi Watanabe ,  Kazuo Fujishima

发明人： Masakazu Haga ,  Hiroshi Watanabe ,  Kazuo Fujishima

IPC分类号： E02F3/43 ,  E02F9/20 ,  E02F9/24 ,  F15B9/03

CPC分类号： E02F3/437 ,  E02F9/2025

摘要： A locus control system of hydraulic excavators whereby a target locus for a front device is set beforehand. A control unit calculates a position and posture of the front device based on signals from angle sensors, and calculates a target speed vector of the front device based on signals from control lever devices. Through this calculation process, the control unit maintains the target speed vector as it is when the front device is not near the target locus, and modifies the target speed vector to a vector pointing to a second point on the target locus advanced in the excavating direction by a second distance from a first point located on the target locus at a minimum distance from a tip of the front device, when the front device is near the target locus.

摘要翻译： 预先设定了前置装置的目标轨迹的液压挖掘机的轨迹控制系统。 控制单元基于来自角度传感器的信号来计算前置装置的位置和姿势，并且基于来自控制杆装置的信号来计算前方装置的目标速度矢量。 通过该计算处理，控制单元在前方装置不靠近目标轨迹的状态下保持目标速度矢量，并将目标速度矢量修正为指向目标轨迹上在挖掘方向前进的第二点的矢量 距离位于目标轨迹上的第一点距离前部装置的尖端的最小距离处，当前部装置靠近目标轨迹时。

公开(公告)号：US5822891A

公开(公告)日：1998-10-20

申请号：US768471

申请日：1996-12-18

申请人： Kazuo Fujishima ,  Hiroshi Watanabe ,  Masakazu Haga

发明人： Kazuo Fujishima ,  Hiroshi Watanabe ,  Masakazu Haga

IPC分类号： E02F3/43 ,  E02F9/20 ,  E02F9/22 ,  E02F5/02

CPC分类号： E02F9/2033

摘要： A work area limitation control system for a construction machine which includes a second entrance forbidden area calculating portion which sets a second entrance forbidden area positioned closer to a front device than a first entrance forbidden area. A slowdown control calculating portion calculates distances between two monitoring points and the second and first entrance forbidden areas and modifies operation signals (pilot pressures) depending on the relation of the calculated distances with respect to a slowdown distance.

摘要翻译： 一种用于建筑机械的工作区域限制控制系统，包括：第二禁止进入区域计算部分，设置比第一禁止禁止区域更靠近前方装置的第二禁止入口区域。 减速控制计算部分计算两个监测点与第二和第一禁止入侵区域之间的距离，并且根据所计算的距离相对于减速距离的关系修改操作信号（先导压力）。

公开(公告)号：US5957989A

公开(公告)日：1999-09-28

申请号：US760572

申请日：1996-12-04

申请人： Eiji Egawa ,  Hiroshi Watanabe ,  Hiroyuki Adachi ,  Junichi Hosono ,  Toshiaki Nishida ,  Mitsuo Kihara ,  Masakazu Haga

发明人： Eiji Egawa ,  Hiroshi Watanabe ,  Hiroyuki Adachi ,  Junichi Hosono ,  Toshiaki Nishida ,  Mitsuo Kihara ,  Masakazu Haga

IPC分类号： E02F9/20 ,  E02F9/24 ,  E02F3/43 ,  E02F9/22

CPC分类号： E02F9/2033

摘要： A calculating portion 7a calculates a distance from the tip end of a front device to an interference prevention area, and a detection line 7m detects a moving speed of a boom 1. If the tip end of the front device comes close to the interference prevention area when the boom 1 is moving upward, control is made such that, while continuing to move the boom 1 upward, a control gain calculating portion 7h and a multiplier 7i cooperatively calculate a target speed of an arm in the arm dumping direction (interference avoiding direction) corresponding to the boom-up speed, and an input limit value calculating portion 7c, an adder 7j and a minimum value selecting portion 7f cooperatively control the arm to move in the interference avoiding direction relative to a vehicle body. Interference avoidance control enabling the tip end of the front device to be moved smoothly along the vicinity of a boundary of the interference prevention area is thereby effected and the front device can be prevented from interfering with the vehicle body without reducing the maneuverability and the working efficiency.

摘要翻译： 计算部7a计算从前部装置的前端到防干扰区域的距离，检测线7m检测吊杆1的移动速度。如果前部装置的前端靠近防干扰区域 当吊杆1向上移动时，进行控制，使得在继续向上移动吊杆1的同时，控制增益计算部分7h和乘法器7i协同地计算臂倾倒方向上的臂的目标速度（干扰避免方向 ），并且输入限制值计算部分7c，加法器7j和最小值选择部分7f协调地控制臂相对于车身在干扰避免方向上移动。 从而能够使前端装置的前端能够沿着防干扰区域的边界附近平滑移动的干扰避免控制，并且可以防止前部装置与车身干涉而不会降低机动性和工作效率 。

公开(公告)号：US06430490B1

公开(公告)日：2002-08-06

申请号：US09806200

申请日：2001-03-27

申请人： Hiroshi Watanabe ,  Shuji Ohira ,  Kazuo Fujishima ,  Hiroshi Ogura ,  Masakazu Haga ,  Sadahisa Tomita

发明人： Hiroshi Watanabe ,  Shuji Ohira ,  Kazuo Fujishima ,  Hiroshi Ogura ,  Masakazu Haga ,  Sadahisa Tomita

IPC分类号： G01B300

CPC分类号： E02F9/2296 ,  E02F9/2203 ,  E02F9/2228 ,  F15B21/087

摘要： Whether a previously computed valve command value Y−1 is within a neutral zone ±&agr; is determine. If the determination result is “Yes”, processing to compute a valve command value for a neutral dead zone is executed. If the determination result is “No”, processing to compute a valve command value for a driving zone is executed. In the latter case, by using a valve command value X and the previously computed valve command value Y−1, it is determined in which one of acceleration, deceleration/stop, and lever-reversed condition is the operating status, and a maximum setting rate in one of acceleration, deceleration/stop, and lever-reversed condition is computed from a corresponding function &Dgr;Y=fmax1(X), etc. Then, a control signal is computed while restraining a change rate of the operational signal to be kept not more than the computed maximum change rate, and a flow control valve 3 is controlled in accordance with the computed control signal. As a result, in a hydraulic drive system for controlling a flow control valve with an electrical operational signal to control the operation of an actuator, the flow control valve can be controlled at an optimum maximum change rate in any operating status of acceleration, deceleration/stop, and lever-reversed condition.

摘要翻译： 确定先前计算的阀门命令值Y-1是否在中性区域±α内。 如果确定结果为“是”，则执行用于计算中断死区的阀命令值的处理。 如果确定结果为“否”，则执行用于计算驾驶区的阀命令值的处理。 在后一种情况下，通过使用阀指令值X和先前计算的阀指令值Y-1，确定加速度，减速/停止和杠杆反转状态中的哪一个是运行状态，最大设定 从相应的功能DELTAY = fmax1（X）等计算加速度，减速/停止和杠杆反转状态之一的速率。然后，计算控制信号，同时抑制操作信号的变化率不被保持 大于所计算的最大变化率，并且根据所计算的控制信号来控制流量控制阀3。 结果，在用于控制具有电气操作信号的流量控制阀以控制致动器的操作的液压驱动系统中，可以在加速，减速/减速的任何运行状态下将流量控制阀控制在最佳最大变化率， 停止和杠杆反转条件。

公开(公告)号：US06169948A

公开(公告)日：2001-01-02

申请号：US08879927

申请日：1997-06-20

申请人： Kazuo Fujishima ,  Hiroshi Watanabe ,  Masakazu Haga ,  Takashi Nakagawa

发明人： Kazuo Fujishima ,  Hiroshi Watanabe ,  Masakazu Haga ,  Takashi Nakagawa

IPC分类号： E02F300

CPC分类号： E02F9/26 ,  E02F3/435 ,  E02F9/2033 ,  Y10T477/69387

摘要： A setting device for a front control system for a construction machine includes a direct setting switch for instructing a direct teaching setting, a numeral input key consisting of up- and down-keys for instructing a numeral input setting, a setting changeover switch for changing over a setting mode from the direct teaching setting to the numeral input setting, an LED lighting up when the setting changeover switch is pushed, an area limiting switch for starting an area limiting excavation control, an LED lighting up when the area limiting switch is pushed, and a display screen for indicating the position of a bucket end of a front device in terms of a numeral value when the setting changeover switch is not pushed, and indicating the numeral value input with the numeral input with the numeral input setting when the setting changeover switch is pushed.

摘要翻译： 用于建筑机械的前控制系统的设置装置包括用于指示直接教学设置的直接设置开关，由用于指示数字输入设置的上下键组成的数字输入键，用于切换的设置切换开关 从直接教学设置到数字输入设置的设置模式，按下设置切换开关时的LED点亮，用于开始区域限制挖掘控制的区域限制开关，当按压区域限制开关时的LED点亮， 以及显示屏，用于当设置转换开关未被按下时以数值表示前置装置的铲斗前端的位置，并且当设定切换时用数字输入设定输入的数字值 开关被推。

公开(公告)号：US5735065A

公开(公告)日：1998-04-07

申请号：US658545

申请日：1996-06-05

申请人： Eiji Yamagata ,  Kazuo Fujishima ,  Hiroyuki Adachi ,  Hiroshi Watanabe ,  Masakazu Haga

发明人： Eiji Yamagata ,  Kazuo Fujishima ,  Hiroyuki Adachi ,  Hiroshi Watanabe ,  Masakazu Haga

IPC分类号： E02F3/43 ,  E02F9/20 ,  E02F9/22 ,  E02F9/24 ,  F15B11/04 ,  F15B11/16 ,  E02F5/02

CPC分类号： E02F3/437 ,  E02F9/2033

摘要： In an area limiting excavation control system for construction machines such as hydraulic excavators, excavation is smoothly and efficiently carried out within a limited area by setting an area beforehand where a front attachment (1A) is movable, calculating the position and posture of the front-attachment (1A) by a control unit (9) based on signals from angle sensors (8a) to (8c), calculating a limit value of the component of the boom-dependent bucket tip speed vertical to the boundary of the set area so that when the front attachment is inside the set area near the boundary thereof, the moving speed of the front attachment in the direction vertical to the boundary of the set area is restricted, and when the front attachment is outside the set area, it is returned to the set area, and modifying a boom operation signal so as to prevent the boom-dependent bucket tip speed from exceeding the limit value.

摘要翻译： 在液压挖掘机等施工机械挖掘控制系统的区域中，通过预先设置前部附件（1A）可移动的区域，在有限的区域内平稳有效地进行挖掘，计算出前方的位置和姿势， 根据来自角度传感器（8a）到（8c）的信号，通过控制单元（9）连接（1A），计算垂直于设定区域的边界的悬臂相关铲斗前端速度的分量的极限值， 当前附件位于靠近其边界的设定区域内时，前附件在与设定区域的边界垂直的方向上的移动速度受到限制，并且当前附件在设定区域外时，返回到 设定区域，并且修改吊杆操作信号，以防止悬臂相关挖斗前端速度超过限制值。