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公开(公告)号：US20050080559A1
公开(公告)日：2005-04-14
申请号：US10503096
申请日：2003-09-29
申请人： Hideto Ishibashi , Kazuo Fujishima
发明人： Hideto Ishibashi , Kazuo Fujishima
CPC分类号： E02F9/2045 , G01S19/14 , G01S19/23 , G01S19/47 , G01S19/54
摘要： The invention is intended to provide a position measuring system for a working machine, which can accurately measure the position of a monitoring point and can ensure high working efficiency even when measurement accuracy of a machine-equipped GPS has changed. A panel computer (45) computes the position of the monitoring point, which is set on an operating mechanism, in a three-dimensional space based on values measured by GPS receivers (43, 44) and angle sensors (21, 22, 23). When measurement accuracy of at least one of at least two GPS receivers lowers, the panel computer (45) corrects the computation for the position of the monitoring point based on a yaw angle measured by a gyroscope (25) for measuring the yaw angle of a machine body.
摘要翻译： 本发明旨在提供一种用于工作机的位置测量系统，其可以精确地测量监控点的位置，并且即使在机器配备的GPS的测量精度已经改变的情况下也能够确保高的工作效率。 面板计算机（45）基于由GPS接收器（43,44）和角度传感器（21,22,23）测量的值，在三维空间中计算设置在操作机构上的监视点的位置， 。 当至少两个GPS接收器中的至少一个GPS接收机的测量精度降低时，面板计算机（45）基于用于测量a的偏航角的陀螺仪（25）测量的偏航角来校正监视点的位置的计算 机身。
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公开(公告)号：US20050027420A1
公开(公告)日：2005-02-03
申请号：US10498266
申请日：2003-09-09
申请人： Kazuo Fujishima , Hideto Ishibashi
发明人： Kazuo Fujishima , Hideto Ishibashi
CPC分类号： E02F9/205 , E02F9/2045 , E02F9/262 , E02F9/265
摘要： The invention is intended to provide an excavation teaching device for a construction machine which can realize easy confirmation of a proper target excavation surface and increase the working efficiency during excavation even in work of forming the face of slope in complicated three-dimensional landforms. A display unit (46) displays, as an image in a first screen area (46a), a plurality of small plane surfaces G constituting a three-dimensional target landform and illustrations of a body S of the construction machine and a bucket B as an excavating tool at a fore end of an operating mechanism. Also, the display unit discriminatively displays in the first screen area, as a target excavation surface TG defined by a small plane surface along which excavation is feasible, one of the plurality of small plane surfaces constituting the three-dimensional target landform, which satisfies that the direction normal to the one small plane surface is parallel within a range of allowable error to a plane in which the operating mechanism operates. A panel computer (45) displays, on the display unit (46), a line resulting from projecting a line normal to the target excavation surface, selected from among the plurality of, small plane surfaces constituting the three-dimensional target landform, and the direction in which the operating mechanism of the construction machine operates with current orientation thereof, as well as relative positional relationships among the body of the construction machine, the position of the operating mechanism and the target landform.
摘要翻译： 本发明旨在提供一种用于施工机械的挖掘教学装置，即使在复杂的三维地形中形成斜坡面的工作中，也可以实现对挖掘过程中适当的目标挖掘面的容易确认和提高工作效率。 显示单元（46）在第一屏幕区域（46a）中显示构成三维目标地形的多个小平面G以及施工机械的主体S和铲斗B的图示作为图像 挖掘工具在操作机构的前端。 此外，显示单元在第一屏幕区域中区分显示由构成三维目标地形的多个小平面中的一个构成三维目标地形的小平面所定义的目标挖掘面TG，该小平面表示满足该 垂直于一个小平面的方向在允许误差的范围内平行于操作机构操作的平面。 面板计算机（45）在显示单元（46）上显示从构成三维目标地形的多个小平面之中选择的与目标挖掘面垂直的线投影的线，以及 施工机械的操作机构以其当前方向操作的方向以及施工机械的主体，操作机构的位置和目标地形之间的相对位置关系。
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公开(公告)号：US07532967B2
公开(公告)日：2009-05-12
申请号：US10498266
申请日：2003-09-09
申请人： Kazuo Fujishima , Hideto Ishibashi
发明人： Kazuo Fujishima , Hideto Ishibashi
CPC分类号： E02F9/205 , E02F9/2045 , E02F9/262 , E02F9/265
摘要： The invention is intended to provide an excavation teaching device for a construction machine which can realize easy confirmation of a proper target excavation surface and increase the working efficiency during excavation even in work of forming the face of slope in complicated three-dimensional landforms. A display unit (46) displays, as an image in a first screen area (46a), a plurality of small plane surfaces G constituting a three-dimensional target landform and illustrations of a body S of the construction machine and a bucket B as an excavating tool at a fore end of an operating mechanism.
摘要翻译： 本发明旨在提供一种用于施工机械的挖掘教学装置，即使在复杂的三维地形中形成斜坡面的工作中，也可以实现对挖掘过程中适当的目标挖掘面的容易确认和提高工作效率。 显示单元（46）在第一屏幕区域（46a）中显示构成三维目标地形的多个小平面G以及施工机械的主体S和铲斗B的图示作为图像 挖掘工具在操作机构的前端。
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公开(公告)号：US07831362B2
公开(公告)日：2010-11-09
申请号：US10503096
申请日：2003-09-29
申请人： Hideto Ishibashi , Kazuo Fujishima
发明人： Hideto Ishibashi , Kazuo Fujishima
IPC分类号： G06F19/00
CPC分类号： E02F9/2045 , G01S19/14 , G01S19/23 , G01S19/47 , G01S19/54
摘要： The invention is intended to provide a position measuring system for a working machine, which can accurately measure the position of a monitoring point and can ensure high working efficiency even when measurement accuracy of a machine-equipped GPS has changed. A panel computer (45) computes the position of the monitoring point, which is set on an operating mechanism, in a three-dimensional space based on values measured by GPS receivers (43, 44) and angle sensors (21, 22, 23). When measurement accuracy of at least one of at least two GPS receivers lowers, the panel computer (45) corrects the computation for the position of the monitoring point based on a yaw angle measured by a gyroscope (25) for measuring the yaw angle of a machine body.
摘要翻译： 本发明旨在提供一种用于工作机的位置测量系统，其可以精确地测量监控点的位置，并且即使在机器配备的GPS的测量精度已经改变的情况下也能够确保高的工作效率。 面板计算机（45）基于由GPS接收器（43,44）和角度传感器（21,22,23）测量的值，在三维空间中计算设置在操作机构上的监视点的位置， 。 当至少两个GPS接收器中的至少一个GPS接收机的测量精度降低时，面板计算机（45）基于用于测量a的偏航角的陀螺仪（25）测量的偏航角来校正监视点的位置的计算 机身。
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5.发明授权公开(公告)号：US06782644B2
公开(公告)日：2004-08-31
申请号：US10343414
申请日：2003-01-30
IPC分类号： E02F502
CPC分类号： E02F9/2285 , E02F3/435 , E02F3/437 , E02F9/2033 , E02F9/205 , E02F9/2296 , E02F9/261 , E02F9/264 , G08C17/02 , H04Q9/10
摘要： A hydraulic excavator 1 has an area limiting excavation control function for controlling operation of a front working device so as to form a target work plane. A remote control terminal 102 for wirelessly maneuvering the hydraulic excavator 1 is provided in a management office so that entry of setting information of a target excavation plane and remote maneuvering can be performed from the side of the remote control terminal 102. A display unit 71b for displaying a positional relationship between the hydraulic excavator 1 and the target excavation plane is further provided in the remote control terminal. An operator can remotely set the target excavation plane while looking at a screen of the display unit 71b, and also form the target excavation plane by remotely maneuvering the front working device 7 using a joystick 72 with the aid of a control function of an area limiting excavation controller. As a result, the remote setting of the target excavation plane and the remote maneuvering of the hydraulic excavator 1 can be easily performed.
摘要翻译： 液压挖掘机1具有区域限制挖掘控制功能，用于控制前工作装置的操作以形成目标工作平面。 用于无线操纵液压挖掘机1的遥控终端102设置在管理办公室中，使得可以从遥控终端102侧进入目标挖掘平面的设置信息和远程操纵。一个显示单元71b，用于 显示液压挖掘机1与目标挖掘平面之间的位置关系进一步设置在遥控终端中。 操作员可以在观察显示单元71b的屏幕的同时远程设置目标挖掘平面，并且借助于区域限制的控制功能使用操纵杆72远程操纵前作业装置7来形成目标挖掘平面 挖掘控制器。 因此，能够容易地进行目标挖掘机的远程设定和液压挖掘机1的远程操纵。
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公开(公告)号：US09421873B2
公开(公告)日：2016-08-23
申请号：US13879444
申请日：2011-10-12
申请人： Seiji Ishida , Masataka Sasaki , Yusuke Kajita , Hidetoshi Satake , Takako Satake , Manabu Edamura , Kazuo Fujishima , Shiho Izumi
发明人： Seiji Ishida , Masataka Sasaki , Yusuke Kajita , Hidetoshi Satake , Manabu Edamura , Kazuo Fujishima , Shiho Izumi
CPC分类号： B60L11/1809 , B60L1/003 , B60L11/14 , B60L11/1816 , B60L11/1862 , B60L2200/40 , B60L2240/423 , B60L2240/427 , B60L2240/547 , B60L2240/80 , E02F9/2075 , E02F9/2091 , F02D29/02 , Y02T10/642 , Y02T10/70 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/7072 , Y02T10/7077 , Y02T90/14
摘要： Construction machine capable of incorporating an engine and using an external power source. The construction machine includes an electrical storage device performing a charge with the external power source, uses the electrical storage device to provide assist when the power of the engine is insufficient, uses an electrical charge in the electrical storage device systematically in accordance with work time, and efficiently uses the electrical storage device by controlling its discharge amount in accordance with load status. The construction machine includes the engine, accessory loads connected to the engine, an assist electric motor driven by the engine, electrical power converters for converting an AC current, which is the output current of the assist electric motor, to a DC current, and the electrical storage device connected to the DC side of each electrical power converter. The electrical storage device becomes charged through a charging device from the external power source.
摘要翻译： 能够结合发动机并使用外部电源的施工机械。 施工机械包括与外部电源进行充电的蓄电装置，当发动机的功率不足时，使用蓄电装置提供辅助，根据工作时间系统地使用蓄电装置中的电荷， 并且通过根据负载状态控制其排出量来有效地使用蓄电装置。 施工机械包括发动机，与发动机连接的附件负载，由发动机驱动的辅助电动机，将作为辅助电动机的输出电流的交流电转换成直流电的电力转换器， 电气存储装置连接到每个电力转换器的直流侧。 蓄电装置通过充电装置从外部电源充电。
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公开(公告)号：US20110033274A1
公开(公告)日：2011-02-10
申请号：US12907512
申请日：2010-10-19
申请人： Kunitsugu TOMITA , Kazuo Fujishima , Akinori Ishii
发明人： Kunitsugu TOMITA , Kazuo Fujishima , Akinori Ishii
IPC分类号： B66C13/18
CPC分类号： E02F9/2285 , E02F3/404 , E02F3/964 , E02F3/965 , E02F9/2029 , E02F9/2203 , E02F9/2217 , E02F9/2228 , E02F9/2296
摘要： A construction machine includes: a work arm rotatably mounted at a construction machine main body; a work tool mounted at the work arm; an attitude decision device that decides an attitude of the work arm or the work tool relative to the construction machine main body; a follow-up enabling device that allows the work armor the work tool to follow a displacement of a contacting object that comes into contact with the work tool and applies an external force to the work tool, by adjusting the attitude of the work arm or the work tool decided by the attitude decision device; and a switching device that selects whether or not to allow the work arm or the work tool to follow the displacement of the contacting object via the follow-up enabling device.
摘要翻译： 一种建筑机械包括：可旋转地安装在建筑机械主体上的工作臂; 安装在工作臂上的工作工具; 姿态决定装置，其决定所述工作臂或所述作业工具相对于所述施工机械主体的姿势; 后续使能装置，其允许工作装备工作工具跟随与工作工具接触的接触物体的位移，并通过调节工作臂或者工作臂的姿态向工作工具施加外力 工作工具由态度决定装置决定; 以及切换装置，其选择是否允许所述工作臂或所述作业工具经由所述后续使能装置跟随所述接触物体的位移。
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公开(公告)号：US20080097673A1
公开(公告)日：2008-04-24
申请号：US11875037
申请日：2007-10-19
申请人： Kunitsugu TOMITA , Kazuo Fujishima , Akinori Ishii
发明人： Kunitsugu TOMITA , Kazuo Fujishima , Akinori Ishii
IPC分类号： G06F19/00
CPC分类号： E02F9/2285 , E02F3/404 , E02F3/964 , E02F3/965 , E02F9/2029 , E02F9/2203 , E02F9/2217 , E02F9/2228 , E02F9/2296
摘要： A construction machine includes: a work arm rotatably mounted at a construction machine main body; a work tool mounted at the work arm; an attitude decision device that decides an attitude of the work arm or the work tool relative to the construction machine main body; a follow-up enabling device that allows the work armor the work tool to follow a displacement of a contacting object that comes into contact with the work tool and applies an external force to the work tool, by adjusting the attitude of the work arm or the work tool decided by the attitude decision device; and a switching device that selects whether or not to allow the work arm or the work tool to follow the displacement of the contacting object via the follow-up enabling device.
摘要翻译： 一种建筑机械包括：可旋转地安装在建筑机械主体上的工作臂; 安装在工作臂上的工作工具; 姿态决定装置，其决定所述工作臂或所述作业工具相对于所述施工机械主体的姿势; 后续使能装置，其允许工作装备工作工具跟随与工作工具接触的接触物体的位移，并通过调节工作臂或者工作臂的姿态向工作工具施加外力 工作工具由态度决定装置决定; 以及切换装置，其选择是否允许所述工作臂或所述作业工具经由所述后续使能装置跟随所述接触物体的位移。
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公开(公告)号：US06766600B2
公开(公告)日：2004-07-27
申请号：US10169939
申请日：2002-07-11
IPC分类号： G05D102
CPC分类号： E02F9/26 , E02F9/2296
摘要： A display unit for a construction machine is provided which allow for an operator to easily set a target plane or area in works to be performed under automatic control, and to freely change the contents to be displayed regardless of whether the machine is under the automatic control, so that information which the operator wants to see can be promptly displayed.
摘要翻译： 提供了一种用于建筑机械的显示单元，其允许操作者容易地在自动控制下进行的作品中设置目标平面或区域，并且自由地改变要显示的内容，而不管机器是否处于自动控制 ，从而可以及时显示操作者想要看到的信息。
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10.发明授权公开(公告)号：US06275757B1
公开(公告)日：2001-08-14
申请号：US09242633
申请日：1999-02-19
申请人： Hiroshi Watanabe , Kazuo Fujishima , Masakazu Haga
发明人： Hiroshi Watanabe , Kazuo Fujishima , Masakazu Haga
IPC分类号： G06F700
CPC分类号： E02F9/2296 , E02F3/437 , E02F9/2203 , E02F9/2285
摘要： An area limiting excavation control system in an excavation machine having a front device, includes means for setting in advance, an area where the front device is movable. A control unit calculates the position and posture of the front device based on signals from angle sensors. When the front device is inside the set area near the boundary thereof, the control unit calculates a limit value (a) of a bucket tip speed so that a moving speed of the front device in the direction vertical to the boundary of the set area is restricted, and then modifies the limit value (a) depending on a load pressure of an arm cylinder detected by a pressure sensor. It further calculates, from the limit value (a), a limit value of the component of a boom-dependent bucket tip speed vertical to the boundary of the set area, and then modifies a boom operation signal so that the boom-dependent bucket tip speed will not exceed the above limit value. Ground can be excavated to the boundary of the set area without being affected by hardness of the ground to be excavated, while using a simple program.
摘要翻译： 具有前部装置的挖掘机械中的区域限制挖掘控制系统包括用于预先设定前部装置可移动的区域的装置。 控制单元基于来自角度传感器的信号来计算前置装置的位置和姿势。 当前部装置在其边界附近的设定区域内时，控制单元计算铲斗前端速度的极限值（a），使得前部装置沿与设定区域的边界垂直的方向的移动速度为 限制，然后根据由压力传感器检测到的手臂缸的负载压力修改极限值（a）。 另外，从极限值（a）开始，根据与设定区域的边界垂直的动臂依赖铲斗前端速度的分量的极限值，并修正动臂运行信号，使得悬臂依赖铲斗前端 速度不会超过上限值。 在使用简单的程序的同时，可以将地面挖掘到设定区域的边界，而不受地面硬度的影响。
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