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    CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD
    1.
    发明申请
    CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD 有权
    建筑机械控制系统，建筑机械和施工机械控制方法

    公开(公告)号：US20160138240A1

    公开(公告)日：2016-05-19

    申请号：US14761078

    申请日：2015-03-24

    Applicant: Komatsu Ltd.

    Inventor： Katsuhiro Ikegami ,  Satoshi Ito ,  Akinori Baba

    IPC: E02F3/43 ,  E02F9/20 ,  F15B13/06 ,  E02F3/42 ,  E02F9/22 ,  F15B11/17 ,  E02F9/26 ,  E02F3/32

    CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/425 ,  E02F9/2004 ,  E02F9/2225 ,  E02F9/2267 ,  E02F9/2271 ,  E02F9/2285 ,  E02F9/26 ,  E02F9/262 ,  E02F9/265 ,  F15B11/17 ,  F15B13/06 ,  F15B2211/20576 ,  F15B2211/255 ,  F15B2211/30525 ,  F15B2211/405 ,  F15B2211/71

    Abstract: A control system includes: a control valve control unit that controls a control valve; a data acquisition unit that acquires data on an operation command value and a cylinder speed in a state where an operation command for operating a hydraulic cylinder is output; and a deriving unit that derives operation characteristics in an operation direction of each of a plurality of hydraulic cylinders in relation to the operation command value based on the data acquired by the data acquisition unit. In acquisition of the data by the data acquisition unit, the control valve control unit controls a control valve of one pilot oil passage that is an acquisition object where the data is acquired among the plurality of pilot oil passages to open one pilot oil passage and controls control valves of the other pilot oil passages to close the other pilot oil passages.

    Abstract translation: 控制系统包括：控制阀控制单元，其控制控制阀; 在输出用于操作液压缸的操作命令的状态下获取关于操作命令值和气缸速度的数据的数据获取单元; 以及导出单元，其基于由数据获取单元获取的数据，相对于操作命令值导出多个液压缸中的每一个的操作方向上的操作特性。 在数据采集单元采集数据时，控制阀控制单元控制作为在多个先导油路中获取数据的采集对象的一个​​先导油路的控制阀，以打开一个先导油通道并控制 其他先导油路的控制阀关闭其他先导油路。

    EXCAVATION CONTROL SYTEM FOR HYDRAULIC EXCAVATOR
    2.
    发明申请
    EXCAVATION CONTROL SYTEM FOR HYDRAULIC EXCAVATOR 有权
    液压挖掘机挖掘控制系统

    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）。

    Unmanned vehicle control system, unmanned vehicle, and unmanned vehicle control method
    3.
    发明授权
    Unmanned vehicle control system, unmanned vehicle, and unmanned vehicle control method 有权

    公开(公告)号：US11433887B2

    公开(公告)日：2022-09-06

    申请号：US16980532

    申请日：2019-02-20

    Applicant: Komatsu Ltd.

    Inventor： Akinori Baba ,  Ryuu Yamamura

    IPC: G05D1/00 ,  B60W30/14 ,  B60W60/00 ,  G05D1/02 ,  G08G1/052

    Abstract: An unmanned vehicle control system includes: a specified command value calculation unit that calculates a specified command value for start of an unmanned vehicle; a corrected command value calculation unit that, when request data requesting a limitation of a travel speed of the unmanned vehicle is acquired, corrects the specified command value based on the request data to calculate a corrected command value; and a travel control unit that, when the request data is acquired, controls the start of the unmanned vehicle based on the corrected command value.

    CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD
    4.
    发明申请
    CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD 有权
    建筑机械控制系统，建筑机械和施工机械控制方法

    公开(公告)号：US20160281331A1

    公开(公告)日：2016-09-29

    申请号：US14760876

    申请日：2015-03-24

    Applicant: KOMATSU LTD.

    Inventor： Katsuhiro Ikegami ,  Yoshiki Kami ,  Akinori Baba ,  Takeshi Takaura

    IPC: E02F9/22 ,  E02F3/32 ,  E02F9/26 ,  E02F9/20 ,  E02F3/43

    CPC classification number: E02F9/2228 ,  E02F3/32 ,  E02F3/435 ,  E02F3/438 ,  E02F9/2004 ,  E02F9/2029 ,  E02F9/2033 ,  E02F9/2041 ,  E02F9/2203 ,  E02F9/2271 ,  E02F9/2285 ,  E02F9/26 ,  E02F9/264

    Abstract: A control system includes: a data acquisition unit that acquires an operation command value and data on a cylinder speed in a state where an operation command of operating a hydraulic cylinder is output; a deriving unit that derives an operation start operation command value when the hydraulic cylinder in a stopped state starts operating and slow-speed operation characteristics indicating a relation between the operation command value and the cylinder speed in a slow-speed area based on the data acquired by the data acquisition unit; a storage unit that stores the operation start operation command value and the slow-speed operation characteristics derived by the deriving unit; and a work machine control unit that controls a work machine based on information stored in the storage unit.

    Abstract translation: 控制系统包括：数据获取单元，其在输出操作液压缸的操作命令的状态下获取操作指令值和关于气缸速度的数据; 基于获取的数据，当停止状态下的液压缸开始运转时，导出运转开始运转指令值的导出单元和表示低速区域中的运转指令值与气缸速度的关系的低速运转特性 由数据采集单元; 存储单元，存储由导出单元导出的操作开始操作命令值和慢速操作特性; 以及作业机控制单元，其基于存储在存储单元中的信息来控制作业机。

    Excavation control system for hydraulic excavator
    7.
    发明授权
    Excavation control system for hydraulic excavator 有权
    液压挖掘机挖掘控制系统

    公开(公告)号：US09411325B2

    公开(公告)日：2016-08-09

    申请号：US14355932

    申请日：2013-10-18

    Applicant: KOMATSU LTD.

    Inventor： Akinori Baba ,  Tetsuya Nakayama ,  Masashi Ichihara

    IPC: G06F19/00 ,  G05B13/02 ,  E02F9/20

    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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