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公开(公告)号：US12037767B2
公开(公告)日：2024-07-16
申请号：US17440922
申请日：2020-05-22
申请人： KOMATSU LTD.
发明人： Tomoki Konda , Kenjiro Shimada , Kazuhiro Hatake , Yusuke Saigo
摘要： A work machine comprises: a travel unit; a swing unit provided on the travel unit swingably; an angular velocity sensor that is attached to the swing unit and outputs an azimuthal angular velocity of the swing unit; a measurement device that measures an azimuth of the swing unit; and a controller that corrects the azimuthal angular velocity based on azimuth information measured by the measurement device and controls the swing unit based on the corrected azimuthal angular velocity.
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公开(公告)号：US11933017B2
公开(公告)日：2024-03-19
申请号：US16975196
申请日：2019-03-27
申请人： KOMATSU LTD.
发明人： Masanori Aizawa , Kenjiro Shimada
CPC分类号： E02F3/435 , E02F9/2296 , E02F9/2029 , E02F9/262 , E02F9/265
摘要： A work machine loads materials onto a conveyance vehicle. The work machine includes a work implement having a bucket, a topography sensor configured to measure a topography and a controller. The controller determines a target digging path of the bucket based on topographical data indicative of the topography measured by the topography sensor. The controller acquires an actual digging path based on positions of the bucket during digging. The controller is calculates at least one of a viscosity and a hardness of materials based on a difference between the target digging path and the actual digging path.
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公开(公告)号：US10968607B2
公开(公告)日：2021-04-06
申请号：US15574951
申请日：2015-10-28
申请人： Komatsu Ltd.
发明人： Tsutomu Iwamura , Masanobu Seki , Masashi Ichihara , Kenjiro Shimada , Satoru Shintani , Yuki Shimano , Eiji Ishibashi
摘要： When correcting an error caused by deviation of an attitude detection device with respect to a work machine including a swing body which swings, a working implement being attached to the swing body, the attitude detection device outputting an attitude of the work machine, the error is corrected by using a first position which is a position of a part of the work machine when the work machine is in a first attitude and a second position which is a position of the part when the work machine is in a second attitude.
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公开(公告)号：US09200426B2
公开(公告)日：2015-12-01
申请号：US14176355
申请日：2014-02-10
申请人： KOMATSU LTD.
发明人： Kazuhiko Hayashi , Kenji Okamoto , Kenjiro Shimada
CPC分类号： E02F3/844 , E02F3/7609 , E02F3/7618 , E02F3/845
摘要： A blade control system includes an angle obtaining part, an open ratio setting part and a lift cylinder controlling part. The angle obtaining part is configured to obtain an angle of a lift frame with respect to a designed surface. The open ratio setting part is configured to set an open ratio based on the angle. The lift cylinder controlling part is configured to open a proportional control valve at the open ratio for elevating the blade when a distance between the designed surface and an edge of a blade is determined to be less than or equal to a threshold.
摘要翻译： 叶片控制系统包括角度获得部分，开放比率设定部分和提升缸控制部分。 角度获取部被配置为获得相对于设计表面的提升框架的角度。 打开比率设定部被配置为基于该角度设定开放比率。 提升缸控制部被配置为当设计的表面和叶片的边缘之间的距离被确定为小于或等于阈值时，打开比例控制阀以开放比率升高叶片。
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公开(公告)号：US12091840B2
公开(公告)日：2024-09-17
申请号：US16975163
申请日：2019-03-27
申请人： KOMATSU LTD.
发明人： Masanori Aizawa , Kenjiro Shimada , Tomoki Konda
摘要： A work machine includes a work implement, a rotating body to which the work implement is attached, a topography sensor configured to measure a topography, and a controller. The controller determines a digging start point of the work implement based on topographical data indicative of the topography measured by the topography sensor. The controller moves the work implement from a current position of the work implement to the digging start point.
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6.发明授权公开(公告)号：US11879232B2
公开(公告)日：2024-01-23
申请号：US17264172
申请日：2019-09-18
申请人： KOMATSU LTD.
发明人： Masanori Aizawa , Kenjiro Shimada
IPC分类号： E02F9/20
CPC分类号： E02F9/2029 , E02F9/2004
摘要： A system controls a work machine including a work implement, a rotating body, and a support body to load materials onto a conveyance vehicle. The system includes a first processor. The first processor acquires data indicative of a position of a predetermined reference point included in the conveyance vehicle. The first processor acquires data indicative of a position of a rotation center of the rotating body. The first processor acquires data indicative of a position of a blade tip of the work implement. The first processor determines a target rotation angle of the rotating body from a straight line connecting the position of the rotation center of the rotating body and the position of the reference point of the conveyance vehicle, and a current position of the blade tip of the work implement. The first processor controls the rotating body to rotate according to the target rotation angle.
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公开(公告)号：US20230143733A1
公开(公告)日：2023-05-11
申请号：US17918372
申请日：2021-04-02
申请人： Komatsu Ltd.
摘要： In a construction method using an excavator that is controlled by manual operation, and an excavator that includes an automatic working-equipment control unit automatically controlling second working equipment on the basis of at least one of a current terrain and a designed terrain of a construction range in a construction site, and a tooth-edge position of the second working equipment, a progress rate that indicates a volume of soil having been excavated by the excavator to a target volume of soil to be excavated by the excavator in the construction range is calculated, and when the progress rate is equal to or larger than a threshold, the excavator stops construction of the construction range, and the excavator takes over the construction of the construction range, from the excavator.
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公开(公告)号：US11459733B2
公开(公告)日：2022-10-04
申请号：US16613302
申请日：2017-08-29
申请人： KOMATSU LTD.
摘要： A control system for a work includes an operating device and a controller. The operating device outputs an operation signal indicative of an operation by an operator. The controller is in communication with the operating device. The controller determines a target profile of a terrain to be worked on. The controller generates a command signal to operate the work implement according to the target profile. The controller receives the operation signal from the operating device. The controller determines an operation of the work implement based on the operation signal. The controller corrects the target profile according to the operation by the operator when the operation of the work implement by the operator is performed.
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公开(公告)号：US10671074B2
公开(公告)日：2020-06-02
申请号：US15754435
申请日：2017-08-08
申请人： KOMATSU LTD.
摘要： A control system for a work vehicle includes a sensor and a controller. The sensor outputs a signal indicating an actual traveling direction of the work vehicle. The controller communicates with the sensor. The controller is programmed so as to execute the following processing. The controller acquires the actual traveling direction of the work vehicle. The controller sets the actual traveling direction as a target traveling direction when a condition that indicates that the work vehicle has started straight travel has been met. The controller calculates a bearing difference between the target traveling direction and the actual traveling direction. The controller moves the work implement at a target tilt angle corresponding to the bearing difference so as to reduce the bearing difference.
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公开(公告)号：US10563374B2
公开(公告)日：2020-02-18
申请号：US15658867
申请日：2017-07-25
申请人： KOMATSU LTD.
摘要： A current terrain acquisition device acquires current terrain information indicating the current terrain to be worked. A controller is configured to decide a virtual design surface that is located below the current terrain and has an inclination angle. The controller is configured to generate a command signal to the work implement of the work vehicle to move the work implement along the virtual design surface. The controller is configured to update the current terrain information with the current terrain acquisition device as the movement proceeds, and change the inclination angle with the updated current terrain information.
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