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公开(公告)号：US20220403621A1
公开(公告)日：2022-12-22
申请号：US17779242
申请日：2020-11-18
发明人： Takuya KINOSHITA , Toru YAMAMOTO
摘要： A feedback control device determines a first target angular velocity that is a target angular velocity of an output angular velocity of the target device, using a first transfer function, determines a control input to the target device, based on a difference between the first target angular velocity and the output angular velocity, determines, based on the operation input, a second target angular velocity that is the target angular velocity requested by an operator, determines a degree of comfort of the operator, based on a difference between the output angular velocity and the second target angular velocity, sequentially accumulates the first target angular velocity, the degree of comfort, and a target degree of comfort in a database, and adjusts a first moment of inertia in such a way as to reduce a difference between the target degree of comfort and the degree of comfort, using data accumulated in the database.
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公开(公告)号：US20230418241A1
公开(公告)日：2023-12-28
申请号：US18252983
申请日：2021-09-29
发明人： Shin WAKITANI , Toru YAMAMOTO
IPC分类号： G05B13/02
CPC分类号： G05B13/021
摘要： A control device includes: a static compensator that calculates, on the basis of a static parameter, a static compensatory input; a dynamic compensator that calculates, on the basis of a dynamic parameter, a dynamic compensatory input; a subtractor that calculates an actual input by synthesizing the static compensatory input and the dynamic compensatory input; an ideal output calculator that calculates an ideal output responsive to a control input by using an input and output model defining an ideal input and output relation between a control input and a control output; and a parameter adjuster that adjusts the static parameter and the dynamic parameter to minimize a difference between the control output and the ideal output.
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公开(公告)号：US20230257966A1
公开(公告)日：2023-08-17
申请号：US18006220
申请日：2021-07-27
申请人： HIROSHIMA UNIVERSITY , KAWASAKI GAKUEN EDUCATIONAL FOUNDATION , KOBELCO CONSTRUCTION MACHINERY CO., LTD.
摘要： A hydraulic excavator specifies acceleration data being operation data in an acceleration period of a manipulation target and deceleration data being operation data in a deceleration period of the manipulation target among operation data, calculates, on the basis of the acceleration data and acceleration evaluation data, an acceleration evaluation value indicating a skill of an operator in the acceleration period, calculates, on the basis of the deceleration data and deceleration evaluation data, a deceleration evaluation value indicating a skill of the operator in the deceleration period, determines, on the basis of the acceleration evaluation value and the deceleration evaluation value, a manipulation type of the operator, and outputs support information associated with the manipulation type.
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公开(公告)号：US20210395977A1
公开(公告)日：2021-12-23
申请号：US17288757
申请日：2019-10-25
发明人： Toru YAMAMOTO , Takuya KINOSHITA
IPC分类号： E02F9/20 , B60R16/037 , G05B6/02
摘要： A sensibility meter detects biometric information relating to an operator corresponding to an output from a target appliance, and determines a comfort level of the operator based on the biometric information. A first control unit determines a second target value relating to the output based on a difference between a first target value relating to the comfort level and the comfort level. A second control unit determines a control input to the target appliance based on a difference between the second target value and the output. A δ setting unit performs weighting corresponding to an operation level of the operator, for an operation input to the target appliance by the operator, and for the control input. An adder adds the weighted operation input and control input, and inputs the resultant to the target appliance.
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公开(公告)号：US20240110364A1
公开(公告)日：2024-04-04
申请号：US18262645
申请日：2021-12-21
发明人： Kazushige KOIWAI , Yohei ONO , Natsuki YUMOTO , Shin WAKITANI , Toru YAMAMOTO
IPC分类号： E02F9/22
CPC分类号： E02F9/2235 , E02F9/2296
摘要： A pump control device and a valve control device each includes: an instruction calculator that calculates a control instruction of causing a controlled object to operate by using a manipulation amount of a manipulation and at least one control parameter, and inputs the calculated control instruction to the controlled object; and an ideal output calculator that calculates an ideal output of an actuator, the ideal output being associated with the manipulation amount of the manipulation. The pump control device adjusts at least one pump control parameter to reduce a difference between a control output and the ideal output when an operation of a movable part is a power running operation. The valve control device adjusts at least one valve control parameter to reduce a difference between a control output and the ideal output when the operation of the movable part is a non-power running operation.
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公开(公告)号：US20230399812A1
公开(公告)日：2023-12-14
申请号：US18251319
申请日：2021-10-21
CPC分类号： E02F3/437 , E02F9/265 , E02F9/2029
摘要： An automatic operating device includes: a position estimation part that includes an interaction model, and calculates, as estimative position data, actual position data corresponding to force data which is input; a force computation part that includes a force computation model, calculates force data corresponding to a deviation which is input, and inputs the force data to the position estimation part; a database that stores a base parameter that is a parameter having been calculated in past; and a parameter setting part that calculates, on the basis of the base parameter, a target parameter corresponding to each of a norm y(t) of an actual position and a norm u(t) of a force, and sets the target parameter to a parameter of each of the interaction model and the force computation model.
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公开(公告)号：US20210332561A1
公开(公告)日：2021-10-28
申请号：US17270705
申请日：2019-08-29
摘要： A construction machine includes: a flow rate regulating part which regulates a flow rate of hydraulic oil supplied from a hydraulic pump to a hydraulic actuator, and a control device—which controls driving of a work device. The control device includes: an acquiring part for acquiring a motion state amount of a combined center of gravity of a plurality of members which constitute the work device; and a generating part which generates an instruction value for controlling an operation of the flow rate regulating part such that the motion state amount follows a predetermined first target value, the instruction value being used for executing a feedback control based on the first target value and the motion state amount, and inputs the instruction value to the flow rate regulating part.
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公开(公告)号：US20210340736A1
公开(公告)日：2021-11-04
申请号：US17270686
申请日：2019-08-29
发明人： Masatoshi KOZUI , Toru YAMAMOTO , Kazushige KOIWAI
IPC分类号： E02F9/26
摘要： A construction machine includes: a lower travelling body; an upper slewing body attached to the lower travelling body with a structure allowing the upper slewing body to slew with respect to the lower travelling body; a work device attached to the upper slewing body with a structure allowing the work device to swing in a vertical direction with respect to the upper slewing body; a motion state acquisition unit acquiring a motion state amount; an equivalent system forming unit which forms a transfer function which uses a driving force for moving the work device as an input and uses the motion state amount as an output as an equivalent system which equivalently expresses an operation of the work device; and a parameter estimation unit which estimates a system attenuation coefficient and a natural angular frequency of the transfer function as an operation skill evaluation value.
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公开(公告)号：US20180055403A1
公开(公告)日：2018-03-01
申请号：US15690261
申请日：2017-08-29
申请人： HIROSHIMA UNIVERSITY
发明人： Toru YAMAMOTO , Takuya KINOSHITA
IPC分类号： A61B5/0488 , G05B11/42 , G05B13/04
CPC分类号： A61B5/165 , A61B5/024 , A61B5/04012 , A61B5/0476 , A61B5/0488 , A61B5/0533 , A61B5/0816 , A61B5/16 , A61B5/4851 , G05B11/42 , G05B13/041 , G05B2219/40305
摘要： A data-oriented feedback controller disclosed herein allows the user to wear or use a device under control comfortably, and includes: a device under control for determining a controlled variable θ(t) with respect to a human being in accordance with an input manipulated variable u(t); a primary controller for determining the manipulated variable u(t) based on an input difference v(t) between an estimated target value w(t) and the controlled variable θ(t); a psychological evaluator for detecting biometric information bio(t) about the human being corresponding to the controlled variable θ(t), evaluating the human being's psychology based on the biometric information bio(t), and determining a psychological output value y(t) representing the psychology; and a secondary controller for receiving a difference ε(t) between a target value r(t) of the human being's psychology and the psychological output value y(t) and determining the estimated target value w(t) based on the difference ε(t).
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