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公开(公告)号：US20190078301A1
公开(公告)日：2019-03-14
申请号：US16084418
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Eiji ISHIBASHI , Akifumi INAMARU , Kenji YAMAMOTO , Yasuhito YONEZAWA , Yosuke KOGAWA
Abstract: A work vehicle control system includes an actual topography acquisition device, a storage device, and a controller. The actual topography acquisition device acquires actual topography information, which indicates an actual topography of a work target. The storage device stores design topography information, which indicates a final design topography that is a target topography of the work target. The controller acquires the actual topography information from the actual topography acquisition device. The controller acquires the design topography information from the storage device. When the actual topography positioned below the final design topography is sloped, the controller generates a command signal to move the work implement along a locus positioned below the final design topography and below the actual topography, and a sloped locus that is positioned below the final design topography and above the actual topography.
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2.发明申请公开(公告)号：US20190078298A1
公开(公告)日：2019-03-14
申请号：US16083054
申请日：2017-07-26
Applicant: KOMATSU LTD.
Inventor： Eiji ISHIBASHI , Kazuhiro HASHIMOTO , Akifumi INAMARU , Yosuke KOGAWA
IPC: E02F9/20
Abstract: A sensor outputs a signal indicating an excavation start position at which a work implement starts excavation. A controller determines an inclination angle of a virtual design surface so that an amount of soil between the virtual design surface extending from the excavation start position and a current landscape matches a predetermined target amount of soil. The controller generates a command signal that causes the work implement to move along the virtual design surface extending from the excavation start position in a direction inclined at the inclination angle.
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公开(公告)号：US20240318408A1
公开(公告)日：2024-09-26
申请号：US18577759
申请日：2022-07-27
Applicant: KOMATSU LTD.
Inventor： Ken NISHIHARA , Eiji ISHIBASHI
CPC classification number: E02F9/26 , E02F9/264 , E02F9/2203
Abstract: The system includes a vehicle body sensor attached to a vehicle body of a work machine, a work implement sensor attached to a work implement of the work machine to detect a roll angle of the work implement, and a controller communicably connected to the sensors. The vehicle body sensor detects roll, pitch, and yaw angles of the vehicle body. The controller acquires the roll and pitch angles of the vehicle body detected by the vehicle body sensor, acquires the roll angle of the work implement detected by the work implement sensor, calculates a yaw angle error of the vehicle body sensor with respect to the vehicle body based on the pitch angle of the vehicle body and a difference between the roll angle of the vehicle body and the roll angle of the work implement, and calibrates the vehicle body sensor using the yaw angle error.
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公开(公告)号：US20200308809A1
公开(公告)日：2020-10-01
申请号：US16083635
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Eiji ISHIBASHI , Akifumi INAMARU , Seiji NAGANO , Kenji YAMAMOTO , Kazuyuki KIRINO , Yasuhito YONEZAWA , Yosuke KOGAWA , Takahiro SHIMOJO
Abstract: A work vehicle control system includes an actual topography acquisition device, a storage device, and a controller. The actual topography acquisition device acquires actual topography information, which indicates an actual topography of a work target. The storage device stores design topography information, which indicates a final design topography that is a target topography of the work target. The controller acquires the actual topography information from the actual topography acquisition device, and the design topography information from the storage device. The controller determines an intermediate design topography positioned above the actual topography and below the final design topography. The controller generates a command signal to move the work implement based on the intermediate design topography. The intermediate design topography includes a plurality of intermediate design surfaces divided in the traveling direction of the work vehicle. Inclination angles of at least two of the intermediate design surfaces differ from each other.
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5.发明申请公开(公告)号：US20190078296A1
公开(公告)日：2019-03-14
申请号：US16083112
申请日：2017-07-26
Applicant: KOMATSU LTD.
Inventor： Eiji ISHIBASHI , Junji HARADA , Akifumi INAMARU , Seiji NAGANO , Yasuhito YONEZAWA
Abstract: A controller acquires an excavation start position at which a work implement starts excavation. When a current landscape includes an upward slope and a downward slope existing ahead of the upward slope and the excavation start position is on the upward slope, the controller determines a first virtual design surface including a first design surface located below the current landscape and inclined at a smaller angle than the upward slope. The controller generates a command signal that causes the work implement to move along the first virtual design surface.
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Patent Agency Ranking
6.发明申请公开(公告)号：US20190071846A1
公开(公告)日：2019-03-07
申请号：US16083674
申请日：2017-07-26
Applicant: KOMATSU LTD.
Inventor： Eiji ISHIBASHI , Akifumi INAMARU , Yosuke KOGAWA
Abstract: A controller calculates a virtual design surface including a first design surface extending from an excavation start position in a traveling direction of a work vehicle and a second design surface further extending from the first design surface in the traveling direction. The controller generates a command signal that causes the work implement to move along the virtual design surface. The controller changes a position of the first design surface so that the first design surface extends along the current landscape or is located below the current landscape when the first design surface is located above the current landscape.
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公开(公告)号：US20230295902A1
公开(公告)日：2023-09-21
申请号：US17909521
申请日：2021-05-25
Applicant: KOMATSU LTD.
Inventor： Kentaro TAKAYAMA , Toru KURAKANE , Eiji ISHIBASHI , Junji HARADA , Yasuo WAKABAYASHI
IPC: E02F9/26
Abstract: A controller calculates a first bearing indicative of the bearing of a work machine based on first positional data and second positional data. The controller calculates the position of the work machine. The controller calculates a second bearing indicative of the bearing of the work machine based on a change in the position of the work machine in a predetermined zone when a determination condition, including a travel condition indicating that the work machine is traveling in a straight line, is satisfied within the predetermined zone. The controller calculates a correction value of the bearing of the work machine based on the difference between the first bearing and the second bearing in the predetermined zone. The controller corrects the first bearing based on the correction value.
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8.发明申请公开(公告)号：US20200071909A1
公开(公告)日：2020-03-05
申请号：US16466416
申请日：2018-02-15
Applicant: KOMATSU LTD.
Inventor： Junji HARADA , Eiji ISHIBASHI , Yasuhito YONEZAWA , Kazuyuki KIRINO
Abstract: A work vehicle includes a work implement. A control system for the work vehicle includes an input device and a controller. The controller is configured to communicate with the input device, receive an input signal indicating an input operation by an operator from the input device, acquire vehicle information including a position of the work vehicle when the input signal is received, and orientation information of the work vehicle when the input signal is received, and determine a target design surface indicating a target trajectory of the work implement based on the vehicle information and the orientation information when the input signal is received.
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公开(公告)号：US20200056353A1
公开(公告)日：2020-02-20
申请号：US16482079
申请日：2018-05-09
Applicant: KOMATSU LTD.
Inventor： Eiji ISHIBASHI , Takahiro SHIMOJO
Abstract: A work vehicle includes a travel device and a work implement. A control system for the work vehicle includes a controller. The controller controls the work implement according to a predetermined target value. The controller determines whether a slip of the travel device has occurred during control of the work implement. The controller changes the target value according to a result of determination of the slip.
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公开(公告)号：US20190194912A1
公开(公告)日：2019-06-27
申请号：US16330971
申请日：2017-10-25
Applicant: KOMATSU LTD.
Inventor： Eiji ISHIBASHI , Takahiro SHIMOJO , Akifumi INAMARU , Toshihiro KAWANO , Yasuhito YONEZAWA , Yosuke KOGAWA
CPC classification number: E02F9/262 , E02F3/7609 , E02F3/84 , E02F3/844 , E02F9/20
Abstract: A control system for a work vehicle includes a controller. The controller receives actual topography information of a work target. The controller determines a design surface that is positioned below the actual topography. The controller generates a command signal to move the work implement along the design surface. The controller determines if slip of the work vehicle has occurred. The controller raises the design surface when the blade tip of the work implement is positioned below an initial target surface when the slip occurs. The initial target surface is the design surface before the occurrence of the slip.
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