公开(公告)号：US11946219B2

公开(公告)日：2024-04-02

申请号：US17269116

申请日：2019-08-28

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Takeshi Oi ,  Atsunori Kikuchi

IPC: E02F3/43 ,  E02F3/65

CPC classification number: E02F3/437 ,  E02F3/651

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.

公开(公告)号：US12098515B2

公开(公告)日：2024-09-24

申请号：US17618954

申请日：2020-06-30

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Takeshi Oi ,  Kenjiro Shimada ,  Kenji Ohiwa

IPC: E02F3/43 ,  E02F3/32 ,  E02F3/42 ,  E02F9/22 ,  E02F9/26 ,  F15B13/02 ,  F15B19/00

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/425 ,  E02F9/2203 ,  E02F9/2228 ,  E02F9/2246 ,  E02F9/2267 ,  E02F9/26 ,  F15B13/024 ,  F15B19/00 ,  E02F9/2285

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.

公开(公告)号：US12018452B2

公开(公告)日：2024-06-25

申请号：US17603102

申请日：2020-05-25

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Kenjiro Shimada

IPC: E02F3/43 ,  E02F9/22 ,  E02F9/24 ,  E02F3/32

CPC classification number: E02F3/439 ,  E02F9/24 ,  E02F3/32 ,  E02F9/2228 ,  E02F9/2285 ,  E02F9/2296

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.

公开(公告)号：US12037770B2

公开(公告)日：2024-07-16

申请号：US16975153

申请日：2019-03-15

Applicant: KOMATSU LTD.

Inventor： Masanori Aizawa ,  Kenjiro Shimada ,  Tomoki Konda

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

CPC classification number: E02F9/205 ,  E02F3/439 ,  E02F9/262 ,  E02F3/32 ,  E02F9/2225 ,  E02F9/2296

Abstract: A system controls a work machine that loads materials onto a conveyance vehicle. The system includes a controller and a detection device. The controller controls the work machine in an automatic control mode in which work is performed automatically. The detection device detects an approach of the conveyance vehicle toward the work machine. The automatic control mode includes a loading mode in which the work machine is caused to move to perform loading work for loading onto the conveyance vehicle, and an other mode other than the loading mode. The other mode includes at least one of a mode for gathering fallen materials and a digging mode for further increasing the materials by digging. The controller causes the automatic control mode to transition from the other mode to the loading mode when the approach of the conveyance vehicle is detected.

公开(公告)号：US11976438B2

公开(公告)日：2024-05-07

申请号：US16973585

申请日：2019-07-18

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Kazuhiro Hatake

IPC: E02F3/32 ,  E02F3/43 ,  E02F9/20 ,  B60K35/00 ,  E02F9/26

CPC classification number: E02F3/439 ,  E02F3/32 ,  E02F9/2004 ,  E02F9/2041 ,  B60K35/00 ,  E02F9/26

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.

公开(公告)号：US12037767B2

公开(公告)日：2024-07-16

申请号：US17440922

申请日：2020-05-22

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Kenjiro Shimada ,  Kazuhiro Hatake ,  Yusuke Saigo

IPC: E02F9/10 ,  E02F9/26 ,  E02F3/32

CPC classification number: E02F9/10 ,  E02F9/26 ,  E02F3/32

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.

公开(公告)号：US12024851B2

公开(公告)日：2024-07-02

申请号：US17267061

申请日：2019-08-28

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Kazuhiro Hatake ,  Takeshi Oi ,  Masanori Aizawa

IPC: E02F3/43 ,  E02F3/32 ,  E02F9/20

CPC classification number: E02F3/439 ,  E02F3/32 ,  E02F9/2037 ,  E02F9/2041

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.

公开(公告)号：US11753792B2

公开(公告)日：2023-09-12

申请号：US16644747

申请日：2018-08-13

Applicant: Komatsu Ltd.

Inventor： Tomoki Konda ,  Yusuke Saigo ,  Ryuta Okuwaki ,  Kazuhiro Hatake

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

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/437 ,  E02F3/439 ,  B60Y2200/412 ,  E02F9/2004 ,  E02F9/2296 ,  E02F9/264

Abstract: A movement processing unit is configured to generate operation signals of a work equipment and a swing body for moving a bucket to a loading point based on a start command of an automatic movement of the bucket. A stop processing unit is configured to brake a swing of the swing body based on a stop command of the automatic movement of the bucket, and is further configured to generate an operation signal for retreating the work equipment when a height of the bucket is lower than the loading point.

公开(公告)号：US12091840B2

公开(公告)日：2024-09-17

申请号：US16975163

申请日：2019-03-27

Applicant: KOMATSU LTD.

Inventor： Masanori Aizawa ,  Kenjiro Shimada ,  Tomoki Konda

IPC: E02F9/26 ,  E02F3/30 ,  E02F3/32 ,  E02F3/43 ,  E02F9/08

CPC classification number: E02F9/262 ,  E02F3/301 ,  E02F3/32 ,  E02F3/435 ,  E02F9/08

Abstract: 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.

公开(公告)号：US11661725B2

公开(公告)日：2023-05-30

申请号：US16644265

申请日：2018-10-02

Applicant: Komatsu Ltd.

Inventor： Tomoki Konda ,  Yusuke Saigo ,  Kazuhiro Hatake

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

CPC classification number: E02F9/265 ,  E02F3/32 ,  B60Y2200/412 ,  E02F3/435 ,  E02F9/2004 ,  E02F9/2296

Abstract: A loaded machine information acquisition unit acquires position information and azimuth direction information of a transport vehicle. An earth removal position-specifying unit specifies an earth removal position for loading a load target onto the transport vehicle, based on the position information and the azimuth direction information. A bucket position-specifying unit specifies a position of a bucket. An operation signal generation unit generates an operation signal for moving the bucket from the specified position to the earth removal position.