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公开(公告)号：US20220186461A1
公开(公告)日：2022-06-16
申请号：US17603102
申请日：2020-05-25
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Kenjiro SHIMADA
Abstract: A hydraulic excavator loads a load onto a loaded machine. The hydraulic excavator includes a work implement and a controller. The work implement includes a bucket. The controller senses an amount of natural lowering of the bucket in a stand-by state in which the hydraulic excavator waits for entry of the loaded machine and controls the work implement to raise the bucket based on the amount of natural lowering.
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公开(公告)号：US20220412041A1
公开(公告)日：2022-12-29
申请号：US17778074
申请日：2020-11-26
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Koji KUSAKA
Abstract: A work machine includes a work implement including a bucket and a boom, a revolving body on which the work implement is mounted and that executes a revolving operation, a first operation setting unit that sets a first operation in which movement of the boom in a vertical direction is large and a second operation in which the movement of the boom in the vertical direction is small, the first operation and the second operation being executed in a period from the end of excavation to the start of unloading, a first operation control unit that controls at least one of the work implement or the revolving body to execute the first operation and the second operation, and a load measurement processing unit that measures a load inside the bucket in a period of the second operation.
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公开(公告)号：US20210164192A1
公开(公告)日：2021-06-03
申请号：US17267061
申请日：2019-08-28
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Kazuhiro HATAKE , Takeshi OI , Masanori AIZAWA
Abstract: A loading machine includes a swing body and work equipment with a bucket. A control device of the loading machine includes a loading target specifying unit that specifies a position and shape of a loading target, an avoidance position specifying unit, and a movement processing unit. The avoidance position specifying unit specifies an interference avoidance position based on the position and shape of the loading target. The movement processing unit outputs an operation signal to drive only the swing body until the bucket reaches the interference avoidance position from a loading position above the loading target, to cause the bucket to move to the interference avoidance position. The movement processing unit outputs an operation signal to drive the swing body and the work equipment after the bucket has reached the interference avoidance position, to cause the bucket to move to an excavation position above an excavation target.
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公开(公告)号：US20220251802A1
公开(公告)日：2022-08-11
申请号：US17616263
申请日：2020-06-30
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Kenjiro SHIMADA , Kazuhiro HATAKE , Yusuke SAIGO
Abstract: Occurrence of a skid due to revolution of a revolving unit is suppressed. A work machine includes a traveling unit, a revolving unit revolvably mounted on the traveling unit, and a controller that controls operations of the work machine. The controller determines whether or not a skid of the traveling unit has occurred in a revolving operation of the revolving unit during an automatic operation of the work machine. When the controller determines that the skid has occurred, it performs processing for weakening rotational inertial force generated in the revolving operation.
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公开(公告)号：US20210246627A1
公开(公告)日：2021-08-12
申请号：US17269116
申请日：2019-08-28
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Takeshi OI , Atsunori KIKUCHI
Abstract: A work machine includes work equipment. A control device of the work machine includes a trajectory generation unit, and an operation signal output unit. The trajectory generation unit generates a target trajectory of the work equipment according to an excavation curve ratio determined in advance. The excavation curve ratio is expressed as a ratio of an excavation depth to an excavation length. The operation signal output unit outputs an operation signal for the work equipment according to the target trajectory.
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Patent Agency Ranking
公开(公告)号：US20230250617A1
公开(公告)日：2023-08-10
申请号：US18001330
申请日：2021-06-17
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Ryuta OKUWAKI
IPC: E02F9/26
CPC classification number: E02F9/264
Abstract: A distance acquisition unit acquires first distance data that is distance data in an area in which a first reference object installed at an arbitrary position outside a work machine is present. The distance data measured by an in-vehicle distance sensor. A position calculation unit calculates a position of the first reference object in a predetermined coordinate system based on the first distance data. A relationship acquisition unit acquires a positional relationship between the first reference object, and a second reference object of which a position in the coordinate system is known. A calibration unit calibrates, based on the first distance data and the positional relationship, a parameter to be used to measure a position in the coordinate system from the distance data of the in-vehicle distance sensor.
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公开(公告)号：US20210254304A1
公开(公告)日：2021-08-19
申请号：US16973585
申请日：2019-07-18
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Kazuhiro HATAKE
Abstract: A loading machine includes a swing body and work equipment attached to the swing body. The work equipment has a bucket. A control device of the loading machine includes an operation signal input unit that receives an input of a loading command signal from an operator, and an operation signal output unit. The operation signal output unit outputs operation signals of the work equipment and the swing body to move the bucket to a loading position above a loading target in a case in which the loading command signal is received. The operation signal output unit outputs a dumping operation signal to perform dumping to the bucket when the swing body faces a dump start azimuth direction that is closer to the swing body in a swing direction than an end point azimuth direction in which the swing body faces when the work equipment is positioned at the loading position.
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公开(公告)号：US20200248434A1
公开(公告)日：2020-08-06
申请号：US16652773
申请日：2019-02-27
Applicant: Komatsu Ltd.
Inventor： Tomoki KONDA , Yusuke SAIGO , Ryuta OKUWAKI , Kazuhiro HATAKE
Abstract: A control device outputs an operation signal of a work equipment and a swing body for moving a work equipment to a loading point when receiving a loading command signal. The control device does not output a dumping operation signal for causing the bucket to dump earth in a case where an azimuth direction in which the swing body faces is within a first region from a starting point azimuth direction to a predetermined reference azimuth direction, the starting point azimuth direction being an azimuth direction in which the swing body faces when the loading command signal is received. The control device outputs the dumping operation signal in a case where the azimuth direction is within a second region from the reference azimuth direction to an end point azimuth direction in which the swing body faces when the work equipment is positioned at the loading point.
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公开(公告)号：US20220316174A1
公开(公告)日：2022-10-06
申请号：US17618954
申请日：2020-06-30
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Takeshi OI , Kenjiro SHIMADA , Kenji OHIWA
Abstract: A work machine comprises: a work implement; a hydraulic cylinder; a hydraulic pump that supplies the hydraulic oil to the hydraulic cylinder via a hydraulic circuit; a relief valve that can set a relief pressure of the hydraulic circuit to either a first set pressure or a second set pressure higher than the first set pressure; a detection unit that detects at least one of a pressure of the hydraulic oil in the hydraulic circuit and a speed of the work implement; and a relief pressure changing unit that changes a relief pressure of the relief valve from the first set pressure to the second set pressure based on a detection value of at least one of the pressure of the hydraulic oil in the hydraulic circuit and the speed of the work implement when the controlled state of the work implement is the excavation state.
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公开(公告)号：US20220162832A1
公开(公告)日：2022-05-26
申请号：US17440922
申请日：2020-05-22
Applicant: KOMATSU LTD.
Inventor： Tomoki KONDA , Kenjiro SHIMADA , Kazuhiro HATAKE , Yusuke SAIGO
Abstract: 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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