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公开(公告)号：US20220120059A1
公开(公告)日：2022-04-21
申请号：US17421086
申请日：2020-01-09
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama
Abstract: A control system of a construction machine comprises: a determination unit that determines a control object surface from a first design surface and a second design surface adjacent to the first design surface on the basis of a distance between a tilt bucket and the first design surface and a distance between the tilt bucket and the second design surface; a working equipment control unit that controls a tilt axis of the tilt bucket on the basis of the control object surface determined by the determination unit; and a display control unit that causes a display device to use different display modes to display the control object surface and a surface other than the control object surface.
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公开(公告)号：US20210222395A1
公开(公告)日：2021-07-22
申请号：US16309123
申请日：2017-08-31
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama , Hikaru Suzuki , Jin Kitajima
Abstract: A control method of a work machine includes: calculating a maximum flow rate of hydraulic oil discharged from a hydraulic pump; calculating a first target speed of working equipment including a bucket based on an operation amount of an operation device operated for driving a plurality of hydraulic actuators to which the hydraulic oil discharged from the hydraulic pump is supplied to drive the working equipment and a distance between the bucket and a target excavation landform; calculating a second target speed of the working equipment based on the maximum flow rate, and the operation amount of the operation device and the distance between the bucket and the target excavation landform; and outputting a control signal for controlling the hydraulic actuators based on a smaller one of the first target speed and the second target speed.
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公开(公告)号：US10975545B2
公开(公告)日：2021-04-13
申请号：US16099260
申请日：2017-11-29
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama
Abstract: A control device includes a bucket position-determining unit, a target working line-determining unit, a distance-determining unit, and a bucket control unit. The bucket position-determining unit determines a position of a bucket. The target working line-determining unit determines a target working line indicating a target shape of an object to be excavated by work equipment. The distance-determining unit determines a distance between the bucket and a reference position which is an end of the target working line. The bucket control unit controls the bucket such that an angle of the bucket becomes a uniform angle, when the distance between the bucket and the reference position is equal to or greater than a bucket control-limiting threshold value.
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公开(公告)号：US10787788B2
公开(公告)日：2020-09-29
申请号：US15757084
申请日：2017-07-14
Applicant: KOMATSU LTD.
Inventor： Takeo Yamada , Ayumi Ohkuma , Toru Matsuyama
Abstract: A work machine according to an aspect includes: a dipper stick; a boom; a cylinder for driving the boom; an operation apparatus for operating the dipper stick; and a controller for performing intervention control by using the boom in accordance with an operation command issued from the operation apparatus to achieve land grading. The controller determines whether or not the operation command from the operation apparatus indicates an amount greater than or equal to a predetermined amount, and corrects a speed of the cylinder when the operation command from the operation apparatus indicates an amount greater than or equal to the predetermined amount.
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公开(公告)号：US09938694B2
公开(公告)日：2018-04-10
申请号：US15301779
申请日：2016-03-29
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama , Yuki Shimano , Masashi Ichihara , Yoshiki Kami
CPC classification number: E02F9/265 , E02F3/32 , E02F3/435 , E02F9/20 , E02F9/2033 , E02F9/22 , E02F9/2292 , E02F9/2296 , E02F9/262
Abstract: A control device for a work machine is a device for controlling a working unit of a work machine to excavate an object to be excavated. The control device includes a control unit for controlling the working unit to prevent a working implement of the working unit from crossing a predetermined target profile, and a switching unit for defining the target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile.
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Patent Agency Ranking
6.发明申请CONSTRUCTION MACHINE CONTROL SYSTEM AND METHOD OF CONTROLLING CONSTRUCTION MACHINE 审中-公开施工机械控制系统及其控制方法公开(公告)号：US20160040398A1
公开(公告)日：2016-02-11
申请号：US14782937
申请日：2015-06-02
Applicant: KOMATSU LTD.
Inventor： Jin Kitajima , Yoshiki Kami , Takeo Yamada , Toru Matsuyama , Masashi Ichihara
CPC classification number: E02F3/435 , E02F3/32 , E02F9/22 , E02F9/2228 , E02F9/2285 , E02F9/2296 , E02F9/262 , E02F9/265
Abstract: A control method includes: detecting an attitude of a work machine including a boom, an arm, and a bucket; operating an operating device to drive a movable member including the arm and the bucket; detecting an amount of operation of the operating device; generating position data of a cutting edge of the bucket based on the detected attitude; acquiring a target shape of an excavation object to be excavated by the work machine and calculating a distance between the cutting edge and the target shape based on the position data and the target shape; setting a limited amount of operation limiting a speed of the movable member based on the detected amount of operation; and outputting a signal to a valve that adjusts an amount of operating oil supplied to a hydraulic cylinder driving the work machine so that the movable member is driven with the limited amount of operation.
Abstract translation: 控制方法包括：检测包括吊杆，臂和铲斗的作业机械的姿态; 操作操作装置以驱动包括所述臂和所述铲斗的可动构件; 检测操作装置的操作量; 基于检测到的姿态生成铲斗的切削刃的位置数据; 获取由作业机械挖掘的挖掘对象的目标形状，并基于位置数据和目标形状计算切削刃与目标形状之间的距离; 基于检测到的操作量设定限制可动构件的速度的有限量的操作; 并将信号输出到调节向驱动作业机械的液压缸供给的工作油量的阀，使得可动构件以有限的操作量被驱动。
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公开(公告)号：US20140200776A1
公开(公告)日：2014-07-17
申请号：US14238059
申请日：2013-03-14
Applicant: KOMATSU LTD.
Inventor： Toru Matsuyama , Yoshiki Kami , Shin Kashiwabara , Masashi Ichihara
IPC: E02F3/43
Abstract: An excavation control system includes a working unit having a bucket, a designed landform data storage part storing designed landform data, a bucket position data generation part that generates bucket position data, a designed surface data generation part, and an excavation limit control part. The designed surface data generation part generates superior and subordinate designed surface data based on the designed landform and bucket position data. The superior designed surface data indicates a superior designed surface corresponding to a prescribed position on the bucket. The subordinate designed surface data indicates a plurality of subordinate designed surfaces linked to the superior designed surface. The designed surface data generation part generates shape data based on the superior and subordinate designed surface data. The shape data indicates shapes of the superior designed surface and the plurality of subordinate designed surfaces. The excavation limit control part automatically adjusts position of the bucket.
Abstract translation: 挖掘控制系统包括具有铲斗的作业单元，存储设计地形数据的设计地形数据存储部，产生铲斗位置数据的铲斗位置数据生成部，设计面数据生成部以及挖掘极限控制部。 设计的表面数据生成部分基于设计的地形和铲斗位置数据，生成优越的从属设计的表面数据。 优越设计的表面数据表示对应于铲斗上的规定位置的优良设计表面。 从属设计的表面数据表示连接到上级设计表面的多个从属设计表面。 设计的表面数据生成部基于上下设计的表面数据生成形状数据。 形状数据表示优选设计表面和多个从属设计表面的形状。 挖掘限位控制部分自动调节铲斗的位置。
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公开(公告)号：US12139881B2
公开(公告)日：2024-11-12
申请号：US17779453
申请日：2020-11-25
Applicant: KOMATSU LTD.
Inventor： Toru Matsuyama
Abstract: A distance calculation unit calculates a bucket distance that is a distance between a point on a bucket and a target design surface representing a target shape of an excavation target. An intervention control unit calculates an intervention control amount to suppress a speed of work equipment such that the bucket does not intrude on the target design surface based on the bucket distance. An attachment control unit calculates an attachment control amount to rotate the bucket around an attachment axis such that an edge of the bucket and the target design surface approach each other in a parallel state. An attachment limiting unit limits rotation of the bucket around the attachment axis such that the bucket distance is not increased by a movement of the work equipment based on the intervention control amount and the attachment control amount.
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公开(公告)号：US10352021B2
公开(公告)日：2019-07-16
申请号：US15534737
申请日：2016-11-29
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama , Jin Kitajima
Abstract: A work equipment control device includes a work equipment state specifying unit, a control reference specifying unit, a distance specifying unit, and a bucket control unit. The work equipment state specifying unit specifies a state of work equipment. The control reference specifying unit specifies a control reference of the work equipment. The distance specifying unit specifies a distance between the work equipment and the control reference. The bucket control unit generates a control command to drive a bucket such that the state of the work equipment is maintained when the distance between the work equipment and the control reference is less than a bucket control start threshold.
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公开(公告)号：US20180148905A1
公开(公告)日：2018-05-31
申请号：US15534737
申请日：2016-11-29
Applicant: Komatsu Ltd.
Inventor： Toru Matsuyama , Jin Kitajima
Abstract: A work equipment control device includes a work equipment state specifying unit, a control reference specifying unit, a distance specifying unit, and a bucket control unit. The work equipment state specifying unit specifies a state of work equipment. The control reference specifying unit specifies a control reference of the work equipment. The distance specifying unit specifies a distance between the work equipment and the control reference. The bucket control unit generates a control command to drive a bucket such that the state of the work equipment is maintained when the distance between the work equipment and the control reference is less than a bucket control start threshold.
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