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公开(公告)号：US20160145827A1
公开(公告)日：2016-05-26
申请号：US14419542
申请日：2014-09-10
Applicant: KOMATSU LTD.
Inventor： Yoshiki KAMI , Takeo YAMADA , Yuto FUJII , Takeshi TAKAURA
CPC classification number: E02F3/435 , E02F3/30 , E02F3/437 , E02F9/262 , E02F9/265 , G05B19/416 , G05B2219/40043 , G05B2219/43203 , G05B2219/45012
Abstract: A work vehicle includes a boom, an arm, a bucket, an arm control member, a speed limit determination portion, and a target speed determination portion. The speed limit determination portion determines a speed limit for limiting a speed of a cutting edge of the bucket in accordance with a distance between a cutting edge and a design surface. The target speed determination portion determines a target speed of the boom based on the speed limit. The speed limit determination portion decides on a speed limit calculated based on correlation between the speed limit and the distance between the design surface and the cutting edge when an amount of operation of the arm control member is equal to or greater than a prescribed amount and decides on a speed limit lower than the speed limit calculated based on the correlation when the amount of operation is smaller than the prescribed amount.
Abstract translation: 工作车辆包括吊杆，臂，铲斗，臂控制构件，限速确定部和目标速度确定部。 速度限制判定部根据切削刃和设计面之间的距离，决定限制铲斗的切削刃速度的速度限制。 目标速度确定部分基于速度限制来确定起重臂的目标速度。 速度限制判断部判定在臂控制部件的动作量为规定量以上的情况下，基于速度限制与设计面与切削刃之间的距离的关系而计算出的速度限制，并且决定 在比操作量小于规定量时基于相关性计算的速度限制的速度限制。
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公开(公告)号：US20160265186A1
公开(公告)日：2016-09-15
申请号：US14408370
申请日：2014-09-10
Applicant: KOMATSU LTD.
Inventor： Yoshiki KAMI , Takeo YAMADA
CPC classification number: E02F3/437 , E02F3/32 , E02F3/435 , E02F9/2004 , E02F9/2033 , E02F9/2203 , E02F9/2207 , E02F9/2228 , E02F9/2285 , E02F9/262 , G05B2219/2616
Abstract: A work vehicle includes an arm. An arm cylinder drives the arm. A direction control valve operates the arm cylinder by allowing supply of a hydraulic oil to the arm cylinder as a spool moves. An oil path is connected to the direction control valve. A pilot oil for moving the spool flows through the oil path. A proportional solenoid valve for arm excavation is provided in the oil path. An arm control member is provided for an operator to operate drive of the arm. An amount of operation of the arm control member is equal to or smaller than a prescribed value in a first operation state and greater than the prescribed value in a second operation state. A command current instructing an opening of the proportional solenoid valve for arm excavation is set to a constant value in the first operation state.
Abstract translation: 工作车辆包括一个臂。 手臂缸驱动臂。 方向控制阀通过允许当阀芯移动时向液压缸供应液压油来操作臂缸。 油路连接到方向控制阀。 用于使阀芯移动的先导油流过油路。 在油路中提供了用于臂挖掘的比例电磁阀。 为操作者提供臂控制构件以操作臂的驱动。 在第一操作状态下，臂控制构件的操作量等于或小于规定值，并且在第二操作状态下大于规定值。 在第一操作状态下，指示用于臂开挖的比例电磁阀的打开指令电流被设定为恒定值。
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公开(公告)号：US20160069044A1
公开(公告)日：2016-03-10
申请号：US14423452
申请日：2014-09-10
Applicant: KOMATSU LTD.
Inventor： Takeshi TAKAURA , Yuto FUJII , Yoshiki KAMI
CPC classification number: E02F9/2012 , E02F3/437 , E02F9/2004 , E02F9/2029 , E02F9/2246 , E02F9/226 , E02F9/265
Abstract: A work vehicle includes a boom, an arm, a bucket, an arm cylinder, a direction control valve, a calculation portion, and a speed determination portion. The calculation portion calculates an estimated speed of the arm cylinder based on correlation between an amount of movement of the spool of the direction control valve in accordance with an amount of operation of an arm control lever and a speed of the arm cylinder. The speed determination portion determines a target speed of the boom based on the estimated speed of the arm cylinder. When the amount of operation of the arm control lever is smaller than a prescribed amount, the calculation portion calculates a speed higher than a speed of the arm cylinder in accordance with correlation as the estimated speed of the arm cylinder.
Abstract translation: 工作车辆包括吊杆，臂，铲斗，斗杆缸，方向控制阀，计算部分和速度确定部分。 计算部根据臂控制杆的动作量与斗杆缸的转速的关系，算出方向控制阀的阀芯的移动量之间的相关关系来计算斗杆缸的推定速度。 速度确定部分基于臂缸的估计速度来确定起重臂的目标速度。 当臂控制杆的操作量小于规定量时，计算部根据与手臂缸的推定速度的相关关系来计算高于手臂缸的速度的速度。
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公开(公告)号：US20160312434A1
公开(公告)日：2016-10-27
申请号：US14655130
申请日：2015-02-02
Applicant: KOMATSU LTD.
Inventor： Satoru SHINTANI , Yuto FUJII , Masanobu SEKI , Masashi ICHIHARA , Yoshiki KAMI
CPC classification number: E02F3/435 , B60Y2200/412 , B60Y2400/306 , B60Y2400/406 , B60Y2400/92 , E02F3/32 , E02F3/3677 , E02F3/3681 , E02F3/43 , E02F9/2004 , E02F9/2037 , E02F9/22 , E02F9/26 , E02F9/261 , E02F9/262 , E02F9/264 , E02F9/265
Abstract: A work vehicle includes a vehicular body, a work implement, an angle sensor, and a work implement control unit. A bucket is rotatable with respect to an arm around a bucket axis in parallel to an arm axis and a tilt axis orthogonal to a bucket axis. The angle sensor is provided in the bucket and detects an angle of inclination of the bucket with respect to a horizontal plane. The work implement control unit starts control of the work implement in which an operation of the work implement is controlled at least partially automatically when an angle of inclination of the bucket detected by the angle sensor is smaller than a first threshold value, and does not start control of the work implement when an angle of inclination of the bucket detected by the angle sensor is equal to or greater than the first threshold value.
Abstract translation: 工作车辆包括车身，作业工具，角度传感器和作业工具控制单元。 铲斗相对于围绕斗杆轴线的臂可平行于臂轴线和与铲斗轴线正交的倾斜轴线相对地旋转。 角度传感器设置在铲斗中并且检测铲斗相对于水平面的倾斜角度。 当由角度传感器检测到的铲斗的倾斜角度小于第一阈值时，作业工具控制单元开始对作业工具的操作进行至少一部分自动控制的作业工具的控制，并且不起动 当由角度传感器检测到的铲斗的倾斜角度等于或大于第一阈值时，对作业工具的控制。
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公开(公告)号：US20160097184A1
公开(公告)日：2016-04-07
申请号：US14238885
申请日：2013-04-12
Applicant: KOMATSU LTD.
Inventor： Toru MATSUYAMA , Yoshiki KAMI , Masashi ICHIHARA
CPC classification number: E02F9/2033 , E02F3/28 , E02F3/435 , E02F9/2029 , E02F9/2221 , E02F9/2292 , E02F9/2296 , E02F9/262 , E02F9/265
Abstract: A construction machine has a work implement and a work implement operating device. The work implement has a boom, arm, and bucket. A limit velocity determining unit determines a limit velocity of the boom from the limit velocity of the entire work implement, the arm target velocity, and the bucket target velocity. The distance when the blade tip of the bucket is positioned outside of the design plane is a positive value and the velocity in a direction from inside of the design plane toward outside of the design plane is a positive value. The first limit condition includes a condition that the limit velocity of the boom is greater than the boom target velocity. When the first limit condition is satisfied, a work implement control unit controls the boom to match the limit velocity of the boom and controls the arm to match the arm target velocity.
Abstract translation: 施工机械具有作业工具和作业工具的操作装置。 工作台具有吊臂，手臂和铲斗。 极限速度确定单元根据整个作业工具的极限速度，臂目标速度和铲斗目标速度来确定起重臂的极限速度。 当铲斗的叶片尖端位于设计平面外部时的距离为正值，并且从设计平面内部到设计平面外侧的方向上的速度为正值。 第一极限条件包括起重臂的极限速度大于起重臂目标速度的条件。 当满足第一限制条件时，工作装置控制单元控制动臂以匹配动臂的极限速度并且控制臂以匹配手臂目标速度。
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Patent Agency Ranking
公开(公告)号：US20160069040A1
公开(公告)日：2016-03-10
申请号：US14419507
申请日：2014-09-10
Applicant: KOMATSU LTD.
Inventor： Yoshiki KAMI , Takeo YAMADA , Toru MATSUYAMA , Yuto FUJII , Takeshi TAKAURA
Abstract: A work vehicle includes a speed limit calculation portion, a speed determination portion, an adjustment portion, and a boom speed determination portion. The speed limit calculation portion calculates a speed limit for limiting a speed of a cutting edge of a bucket. The speed determination portion determines whether or not a speed of raising the boom has been lowered when an amount of operation of an arm is smaller than a prescribed amount. The adjustment portion delays speed change to the speed limit. The boom speed determination portion determines a target speed of the boom based on the speed limit after delay by the adjustment portion when it is determined that the speed of raising the boom has been lowered, and determines a target speed of the boom based on the speed limit calculated when it is not determined that the speed of raising the boom has been lowered.
Abstract translation: 工作车辆包括速度限制计算部分，速度确定部分，调节部分和动臂速度确定部分。 速度限制计算部分计算用于限制铲斗的切割刃的速度的速度限制。 当臂的操作量小于规定量时，速度确定部分确定升降臂的升高速度是否已经降低。 调整部分将速度变化延迟到速度限制。 当确定悬臂的升高速度已经降低时，起重臂速度确定部分基于调节部分的延迟之后的速度限制来确定起重臂的目标速度，并且基于速度确定起重臂的目标速度 当没有确定提升吊杆的速度已经降低时计算出的极限。
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7.发明申请公开(公告)号：US20210332566A1
公开(公告)日：2021-10-28
申请号：US16324259
申请日：2017-09-08
Applicant: KOMATSU LTD.
Inventor： Satoru SHINTANI , Yoshiki KAMI , Yoshito KUMAKURA
Abstract: A control line determinator determines whether or not a work state of a work implement is a predetermined work state. A display controller generates a display signal including a target surface of a construction object or a control line indicating a surface which is different from the target surface and which a bucket is to be prevented from entering. The display controller makes a display form of the control line or the target surface in the display signal different according to whether or not the work state is the predetermined work state.
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公开(公告)号：US20180266082A1
公开(公告)日：2018-09-20
申请号：US15540077
申请日：2016-11-09
Applicant: KOMATSU LTD.
Inventor： Akira TANISHIGE , Yoshiki KAMI , Takashi YOKOO , Yuto FUJII , Haruki NISHIGUCHI
CPC classification number: E02F9/264 , E02F3/307 , E02F3/3677 , E02F3/434 , E02F9/2228 , E02F9/2271 , E02F9/2285 , E02F9/2296 , E02F9/267
Abstract: A main controller controlling an operation of a work vehicle includes a determination unit and an abnormal condition determination unit. The determination unit determines whether or not an attachment has a sensor based on information on an attachment. When the determination unit determines that the attachment has the sensor and when the abnormal condition determination unit cannot receive a signal from the sensor, the abnormal condition determination unit determines that an abnormal condition has occurred.
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公开(公告)号：US20180002901A1
公开(公告)日：2018-01-04
申请号：US15704400
申请日：2017-09-14
Applicant: KOMATSU LTD.
Inventor： Yuki SHIMANO , Jin KITAJIMA , Yoshiki KAMI , Masashi ICHIHARA
CPC classification number: E02F9/262 , E02F3/32 , E02F3/435 , E02F9/2025 , E02F9/2292 , E02F9/2296 , E02F9/265
Abstract: A control system for a work vehicle includes at least one sensor, an operating device, and a controller. The operating device includes at least one operating member. The controller is programmed to control a work implement of the work vehicle based on signals from the at least one sensor and the operating device. The controller is further programmed to use the signals to obtain a distance between the work implement and a design terrain which represents a target shape of a work object, and to determine whether a surface compaction determination condition indicating that work performed by the work implement is surface compaction work is satisfied. The controller executes a surface compaction control in which a velocity of the work implement toward the design terrain is limited in response to the distance between the work implement and the design terrain when the surface compaction determination condition is satisfied.
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公开(公告)号：US20150050110A1
公开(公告)日：2015-02-19
申请号：US14526895
申请日：2014-10-29
Applicant: KOMATSU LTD.
Inventor： Toru MATSUYAMA , Yoshiki KAMI , Shin KASHIWABARA , Masashi ICHIHARA
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 position of the bucket. The subordinate designed surface data indicates a first subordinate designed surface linked to the superior designed surface. The designed surface data generation part generates shape data indicating shapes of the superior designed surface and the first subordinate designed surface. The excavation limit control part automatically adjusts a 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。 优良设计的表面数据表示对应于铲斗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第一个从属设计表面。 设计的表面数据生成部生成表示上述设计表面和第一从属设计表面的形状的形状数据。 挖掘限制控制部分自动调整铲斗的位置。
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