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1.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：US06317669B1
公开(公告)日：2001-11-13
申请号：US09697423
申请日：2000-10-27
IPC分类号： E02F920
CPC分类号： E02F9/2041 , E02F3/434 , E02F3/438 , E02F9/2029
摘要： An automatically operated shovel has a shovel and an automatic operation controller arranged on the shovel to store by a teaching operation plural working positions of the shovel, which comprises at least a digging position, and also to cause by a reproduction operation the shovel to repeatedly perform a series of reproduction operations on the basis of the stored plural working positions. The automatic operation controller is provided with servo control means for outputting, as a servo control quantity, a sum of a compliance control quantity and a pressure control quantity. The compliance control quantity is obtained by multiplying with a stiffness gain a difference between a target position of each operational element of the shovel, the target position comprising angle information indicative of an operational target of the operational element, and a current position of the operational element, the current position comprising current angle information on the operational element. The pressure control quantity is obtained by multiplying with a pressure gain a difference between a target pressure, which serves as a target when the operational element of the shovel is in contact with an object under digging, and a current pressure of the operational element. The stiffness gain and the pressure gain are settable at varied values depending on the working positions.
摘要翻译： 自动操作的铲铲具有铲子和自动操作控制器，其布置在挖掘机上以通过教学操作存储铲斗的多个工作位置，其至少包括挖掘位置，并且还通过铲斗重复执行的再现操作 基于存储的多个工作位置进行一系列再现操作。 自动操作控制器设置有用于作为伺服控制量输出合规控制量和压力控制量的总和的伺服控制装置。 通过将刚度增益与挖掘机的每个操作元件的目标位置之差（包括指示操作元件的操作目标的角度信息的目标位置）与操作元件的当前位置 当前位置包括关于操作元件的当前角度信息。 压力控制量通过将当铲斗的操作元件与挖掘物体接触的目标压力作为目标压力与作业元件的当前压力之间的压力乘以压力增益而获得。 刚度增益和压力增益可根据工作位置设定在不同的值。
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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：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：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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公开(公告)号：US07513070B2
公开(公告)日：2009-04-07
申请号：US10533184
申请日：2004-06-17
摘要： An excavation support database 40 includes a display table 47 and a display specifics table 48, which serve as storage means dedicated for display. The state of a working region per mesh is stored in the display table 47, and a discriminative display method (display color) is stored in the display specifics table 48 corresponding to the state per mesh. Reference is made to the display specifics table 48 on the basis of the state (height) per mesh, which is stored in the display table 47, to read the corresponding display color from the display specifics table 48, thereby displaying the state of the working region in a color-coded manner. Operation support and management realized with this system can easily be employed in different types of working machines in common and can inexpensively be performed with ease.
摘要翻译： 挖掘支援数据库40包括作为专用于显示的存储装置的显示表47和显示细节表48。 每个网格的工作区域的状态被存储在显示表47中，并且将辨别性显示方法（显示颜色）存储在与每个网格状态对应的显示细节表48中。 基于存储在显示表47中的每个网格的状态（高度），向显示细节表48提供从显示细节表48读取相应的显示颜色，从而显示工作的状态 区域以颜色编码的方式。 通过该系统实现的操作支持和管理可以容易地用于不同类型的工作机器中，并且可以方便地执行。
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公开(公告)号：US20080091520A1
公开(公告)日：2008-04-17
申请号：US11662293
申请日：2005-10-11
CPC分类号： E02F9/205 , E02F9/2045 , E02F9/26 , G01S19/14 , G01S19/35 , G01S19/41 , G01S19/42 , G06Q10/06 , G06Q10/0631 , G09B29/10
摘要： A work management system which is adaptable for various display modes demanded by an operator and which can increase working efficiency, and a working machine which is equipped with the work management system. In a work management system for managing work situations of a working machine, the system comprises a focus selection button 110 for selectively changing over a working machine subject-display mode in which a working machine symbol 100 is displayed as a subject on a display screen 101 of a display unit and a large block 102 displayed as a work target area is moved corresponding to movement of the working machine, and a topography subject-display mode in which an optionally selected position of topography is fixedly displayed at a center of the screen and the working machine symbol 100 is moved with respect to the fixedly displayed large block 102.
摘要翻译： 适用于操作者要求的各种显示模式，可以提高工作效率的工作管理系统，以及配有工作管理系统的工作机。 在用于管理作业机器的工作状态的工作管理系统中，该系统包括焦点选择按钮110，用于在显示屏幕101上选择性地切换作业机器符号100作为被摄体的作业机器对象显示模式 显示单元和作为工作目标区域显示的大块102相应于作业机器的移动而移动，以及地形学主题显示模式，其中可选择地选择的地形位置被固定地显示在屏幕的中心，以及 工作机器符号100相对于固定地显示的大块102移动。
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公开(公告)号：US20060026101A1
公开(公告)日：2006-02-02
申请号：US10533184
申请日：2004-06-17
IPC分类号： G06Q99/00
摘要： An excavation support database 40 includes a display table 47 and a display specifics table 48, which serve as storage means dedicated for display. The state of a working region per mesh is stored in the display table 47, and a discriminative display method (display color) is stored in the display specifics table 48 corresponding to the state per mesh. Reference is made to the display specifics table 48 on the basis of the state (height) per mesh, which is stored in the display table 47, to read the corresponding display color from the display specifics table 48, thereby displaying the state of the working region in a color-coded manner. Operation support and management realized with this system can easily be employed in different types of working machines in common and can inexpensively be performed with ease.
摘要翻译： 挖掘支援数据库40包括作为专用于显示的存储装置的显示表47和显示细节表48。 每个网格的工作区域的状态被存储在显示表47中，并且将辨别性显示方法（显示颜色）存储在与每个网格状态对应的显示细节表48中。 基于存储在显示表47中的每个网格的状态（高度），向显示细节表48提供从显示细节表48读取相应的显示颜色，从而显示工作的状态 区域以颜色编码的方式。 通过该系统实现的操作支持和管理可以容易地用于不同类型的工作机器中，并且可以方便地执行。
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公开(公告)号：US20070195011A1
公开(公告)日：2007-08-23
申请号：US10592468
申请日：2005-03-11
IPC分类号： G09G5/00
摘要： A work area setting and managing system which enables a operator to plan and manage work in a work area and set and store the work area at just the mobile work machine side at the work site is provided. The system is applied to a mobile work machine 11 performing land mine disposal work in the work area and provided with a GPS 3D position finding system and a tablet computer 62 having a display unit 63, input unit 64, and memory 65. This system is provided with a first means for displaying a work monitor screen 90 on a screen of the display unit, a second means for displaying a symbol of the mobile work machine on the work monitor screen based on positional coordinates of an attachment of the mobile work machine obtained by the GPS 3D position finding system, and a third means for preparing a work area based on an input operation of a operator using as the origin the symbol displayed on the work monitor screen and displaying a work area block model showing the work area.
摘要翻译： 提供了一个工作区设置和管理系统，使操作员能够在工作区域内进行计划和管理工作，并在工作场所的移动工作机器侧设置和存储工作区域。 将该系统应用于在工作区域进行地雷处理工作的移动式作业机械11，并具备GPS 3D定位系统以及具有显示部63，输入部64和存储器65的平板电脑62。 该系统设置有用于在显示单元的屏幕上显示工作监视器屏幕90的第一装置，用于基于移动装置的附件的位置坐标在工作监视器屏幕上显示移动作业机器的符号的第二装置 通过GPS 3D定位系统获得的作业机器，以及第三装置，用于基于在工作监视器屏幕上显示的符号作为原点的操作者的输入操作来准备工作区域，并显示显示工作的工作区块模型 区。
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