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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：US20200224385A1
公开(公告)日：2020-07-16
申请号：US16647723
申请日：2018-08-13
Applicant: Komatsu Ltd.
Inventor： Yusuke SAIGO , Kazuhiro HATAKE
Abstract: An avoidance position specification unit specifies an interference avoidance position that is higher than a loading object and has no loading object therebelow. A timing determination unit determines a swing start timing based on a remaining swing angle formed by a straight line that extends from a center of swing to a work equipment and a straight line that extends from the center of swing to an interference avoidance position, and a height of the interference avoidance position. An operation signal output unit outputs an operation signal of the work equipment in a case of not reaching the swing start timing and outputs an operation signal for swinging a swing body at swing speed higher than that when not reaching the swing start timing and an operation signal of the work equipment, in a case of reaching the swing start timing.
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公开(公告)号：US20240254722A1
公开(公告)日：2024-08-01
申请号：US18289617
申请日：2022-05-19
Applicant: Komatsu Ltd.
Inventor： Kazuhiro HATAKE , Yusuke SAIGO
Abstract: An operation signal input unit (613) receives an input of a manual operation signal for a swing body (120) and work equipment (130) on the basis of an operation of an operation device (143). A movement control unit (619) generates an automatic operation signal for driving the swing body and the work equipment. An output determination unit (621) performs a determination of which of the manual operation signal and the automatic operation signal is to be output on the basis of the manual operation signal. Particularly, the output determination unit determines to output the manual operation signal when the manual operation signal indicates an operation resisting the automatic operation signal. An operation signal output unit (622) outputs the manual operation signal or the automatic operation signal on the basis of a result of the determination.
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公开(公告)号：US20240191458A1
公开(公告)日：2024-06-13
申请号：US18285338
申请日：2022-04-28
Applicant: KOMATSU LTD.
Inventor： Kazuhiro HATAKE , Yusuke SAIGO
Abstract: A start angle determination unit determines a start angle which is an angle of a swing body at the start of loading of a loading machine. The movement control unit outputs an operation signal for driving the swing body until the angle of the swing body reaches the start angle after a bucket has reached a loading point above a loading target, and outputs an operation signal for driving the work equipment until a posture of the bucket with respect to the swing body reaches a preset target posture different from a posture of the bucket at the start of loading.
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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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Patent Agency Ranking
公开(公告)号：US20240352705A1
公开(公告)日：2024-10-24
申请号：US18683003
申请日：2022-09-05
Applicant: Komatsu Ltd.
Inventor： Kazuhiro HATAKE , Yusuke SAIGO
CPC classification number: E02F3/439 , E02F3/308 , E02F3/437 , E02F9/2203
Abstract: A control device of a work machine includes work equipment including a work tool and is configured to perform an automatic loading control of holding a posture of the work tool in a target posture and moving a position of the work tool up to a target position, in which in the automatic loading control, when the posture of the work tool is out of a predetermined range from the target posture, the control device is configured to prioritize a control of the posture of the work tool over a control of the position of the work tool until the posture of the work tool falls within the predetermined range.
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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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公开(公告)号：US20210156114A1
公开(公告)日：2021-05-27
申请号：US17045858
申请日：2019-03-12
Applicant: KOMATSU LTD.
Inventor： Yusuke SAIGO , Kazuhiro HATAKE
Abstract: A movement processing unit generates a work equipment operation signal for moving a bucket to a loading point and a swing operation signal related to a target swing speed, based on a command for starting an automatic movement of the bucket. A target speed changing unit changes the target swing speed so that the work equipment does not interfere with the loading target during a swing of a swing body.
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公开(公告)号：US20210102357A1
公开(公告)日：2021-04-08
申请号：US17045812
申请日：2019-03-12
Applicant: KOMATSU LTD.
Inventor： Ryuta OKUWAKI , Yusuke SAIGO
Abstract: A control device of a loading machine includes an adjustment determination unit and an operation signal output unit. The loading machine includes a swing motor and a swing body. The adjustment determination unit determines whether or not an angle formed by an azimuth direction of a swing body when the swing body stops and a target stop azimuth direction is less than an allowable angle based on an azimuth direction, a swing speed, and the target stop azimuth direction of the swing body during braking of the swing motor. The operation signal output unit outputs a swing control signal for driving the swing motor in a case in which it is determined that the angle formed by the azimuth direction of the swing body when the swing body stops and the target stop azimuth direction is equal to or greater than the allowable angle.
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公开(公告)号：US20200263385A1
公开(公告)日：2020-08-20
申请号：US16644747
申请日：2018-08-13
Applicant: Komatsu Ltd.
Inventor： Tomoki KONDA , Yusuke SAIGO , Ryuta OKUWAKI , Kazuhiro HATAKE
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.
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