公开(公告)号：US20210009155A1

公开(公告)日：2021-01-14

申请号：US16980646

申请日：2019-02-20

申请人： Komatsu Ltd.

发明人： Ryuu Yamamura ,  Akiharu Nishijima

IPC分类号： B60W60/00 ,  B60W30/14 ,  G01C21/34

摘要： An unmanned vehicle control system includes: a travel condition data acquisition unit that acquires travel condition data specifying a travel condition of an unmanned vehicle, the travel condition data including a target travel speed and a target azimuth of the unmanned vehicle at each of a plurality of travel points; a travel condition change unit that outputs a change command to change the travel condition specified by the travel condition data based on a difference in the target azimuth among the plurality of travel points; and a travel control unit that outputs a control command to control traveling of the unmanned vehicle based on the change command.

公开(公告)号：US09869555B2

公开(公告)日：2018-01-16

申请号：US15123039

申请日：2015-10-30

申请人： Komatsu Ltd.

发明人： Atsushi Sakai ,  Mitsuhiro Ryuman ,  Masanori Tojima ,  Akiharu Nishijima

IPC分类号： G01C21/00 ,  G05D1/02 ,  G08G1/16 ,  G01S13/93 ,  G01S19/46 ,  B60P1/04 ,  G01S13/86

CPC分类号： G01C21/005 ,  B60P1/04 ,  G01C21/16 ,  G01S13/86 ,  G01S13/865 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S19/45 ,  G01S19/46 ,  G01S2013/9367 ,  G01S2013/9375 ,  G01S2013/9389 ,  G05D1/024 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0276 ,  G05D2201/0202 ,  G05D2201/021 ,  G08G1/16 ,  G08G1/166

摘要： A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a determination unit that determines whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error; a non-contact sensor that detects a position of an object around the construction machine; and a map information storage unit that extracts a detection result related to a vertical projection that protrudes vertically from a detection result of the non-contact sensor and stores the extracted detection result related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error.

公开(公告)号：US20170151946A1

公开(公告)日：2017-06-01

申请号：US15115782

申请日：2015-11-27

申请人： KOMATSU LTD.

发明人： Tatsuya Shiga ,  Ryuuen Kou ,  Akiharu Nishijima

IPC分类号： B60W30/14 ,  B60W40/076 ,  B60W40/13 ,  E21F13/00

CPC分类号： B60W30/143 ,  B60W40/076 ,  B60W40/1005 ,  B60W40/13 ,  B60W2300/17 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2530/10 ,  B60W2530/16 ,  B60W2550/142 ,  B60W2720/10 ,  B60W2720/106 ,  E21C41/31 ,  E21F13/00

摘要： A control system of a mining machine controls a driving device that drives a traveling device of the mining machine. The control system includes an acceleration command value calculation unit that calculates an acceleration command value for accelerating the mining machine, a correction value calculation unit that calculates a correction value for the acceleration command value based on a first driving force component of the driving device to cause the mining machine to travel at a target traveling speed and a second driving force component of the driving device to offset a resistance component against traveling of the mining machine, an addition processing unit that calculates a correction acceleration command value by adding the acceleration command value and the correction value, and an acceleration command value output unit that outputs the correction acceleration command value to the driving device.

公开(公告)号：US20170122741A1

公开(公告)日：2017-05-04

申请号：US15123039

申请日：2015-10-30

申请人： Komatsu Ltd.

发明人： Atsushi Sakai ,  Mitsuhiro Ryuman ,  Masanori Tojima ,  Akiharu Nishijima

IPC分类号： G01C21/00 ,  G05D1/02 ,  G08G1/16 ,  G01S13/93 ,  G01S19/46 ,  B60P1/04 ,  G01S13/86

CPC分类号： G01C21/005 ,  B60P1/04 ,  G01C21/16 ,  G01S13/86 ,  G01S13/865 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S19/45 ,  G01S19/46 ,  G01S2013/9367 ,  G01S2013/9375 ,  G01S2013/9389 ,  G05D1/024 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0276 ,  G05D2201/0202 ,  G05D2201/021 ,  G08G1/16 ,  G08G1/166

摘要： A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a determination unit that determines whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error; a non-contact sensor that detects a position of an object around the construction machine; and a map information storage unit that extracts a detection result related to a vertical projection that protrudes vertically from a detection result of the non-contact sensor and stores the extracted detection result related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error.

公开(公告)号：US10549681B2

公开(公告)日：2020-02-04

申请号：US16083536

申请日：2016-12-26

申请人： Komatsu Ltd.

发明人： Masanori Ogihara ,  Koji Takeda ,  Tomonori Ozaki ,  Akiharu Nishijima ,  Ryuuen Kou

IPC分类号： B60Q1/34 ,  G05D1/02 ,  G06K9/00

摘要： A work machine management system includes: an obstacle data acquisition unit that acquires position data of an obstacle; a detour course setting unit that sets detour course data that is a detour course of course data along which a work machine travels based on the position data of the obstacle; a turn signal data setting unit that sets turn signal data to control a direction indicator of the work machine in the detour course; and an output unit that outputs the turn signal data to the work machine.

公开(公告)号：US20180354412A1

公开(公告)日：2018-12-13

申请号：US15779998

申请日：2016-11-15

申请人： Komatsu Ltd.

发明人： Masanori Ogihara ,  Koji Takeda ,  Tomonori Ozaki ,  Akiharu Nishijima ,  Ryuuen Kou

IPC分类号： B60Q1/34 ,  G01C21/20 ,  E02F9/26

CPC分类号： B60Q1/346 ,  B60Q1/34 ,  B60Q1/38 ,  E02F9/20 ,  E02F9/205 ,  E02F9/26 ,  G01C21/20 ,  G05D1/02

摘要： A work machine management system includes: an operation range setting unit that sets an operation range in which a direction indicator of a work machine is operated; a traveling condition data generation unit that generates traveling condition data of the work machine; a blinker data setting unit that generates blinker data for controlling the direction indicator on the basis of the operation range and the traveling condition data; and an output device that outputs the blinker data to the work machine.

公开(公告)号：US09891627B2

公开(公告)日：2018-02-13

申请号：US15314214

申请日：2015-11-30

申请人： Komatsu Ltd.

发明人： Ryuuen Kou ,  Akiharu Nishijima

IPC分类号： G06F7/70 ,  G05D1/02 ,  B60T8/1755 ,  G01C21/26 ,  G01C21/20 ,  B60T8/24 ,  B60W40/107 ,  B60W40/109 ,  B60K31/04 ,  B60K31/00

CPC分类号： G05D1/0223 ,  B60K31/04 ,  B60K2031/0033 ,  B60T7/18 ,  B60T8/1755 ,  B60T8/245 ,  B60W30/14 ,  B60W40/107 ,  B60W40/109 ,  G01C21/00 ,  G01C21/20 ,  G01C21/26 ,  G05D1/0212 ,  G05D1/0268 ,  G05D1/028 ,  G05D1/0289 ,  G05D2201/021 ,  G06K9/00791 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/202

摘要： A method for controlling a work machine, includes: detecting an area present ahead in a traveling direction of a work machine, in which a target traveling speed of the work machine is constant and is lower than a traveling speed at a current point of time; when the area is detected, obtaining a corrected value for correcting the accelerating instruction value; adding the corrected value and an accelerating instruction value for controlling a traveling speed of the work machine obtained based on the target traveling speed to obtain a corrected accelerating instruction value; and outputting the corrected accelerating instruction value to a drive device configured to drive a traveling device in the work machine.

公开(公告)号：US20170174123A1

公开(公告)日：2017-06-22

申请号：US15122699

申请日：2015-12-18

申请人： Komatsu Ltd.

发明人： Masanori Ogihara ,  Akiharu Nishijima

IPC分类号： B60Q1/34

CPC分类号： B60Q1/346 ,  B60P1/04 ,  B60Q2400/00 ,  B60Q2900/30 ,  G05D1/021 ,  G05D1/0217 ,  G05D2201/021

摘要： A control system for a work machine includes: a turn determination unit configured to determine whether the work machine makes a turn with a predetermined curvature radius or less over a predetermined distance or more, based on running condition data including at least position data and target azimuth data for performing running control of the work machine; and a winkers control unit configured to output a winker control signal based on a determination result of the turn determination unit.

公开(公告)号：US20170124862A1

公开(公告)日：2017-05-04

申请号：US15122729

申请日：2015-10-30

申请人： Komatsu Ltd.

发明人： Atsushi Sakai ,  Mitsuhiro Ryuman ,  Masanori Tojima ,  Akiharu Nishijima

IPC分类号： G08G1/00 ,  G01S13/86 ,  G01S19/45 ,  G01S13/93 ,  G01S17/89 ,  G01S17/93 ,  G01C21/26 ,  G01S13/89

CPC分类号： G08G1/00 ,  E02F9/205 ,  E02F9/261 ,  G01C21/20 ,  G01C21/26 ,  G01C21/32 ,  G01S13/86 ,  G01S13/865 ,  G01S13/89 ,  G01S13/93 ,  G01S13/931 ,  G01S17/89 ,  G01S17/93 ,  G01S17/936 ,  G01S19/45 ,  G01S2013/9375 ,  G01S2013/9389 ,  G08G1/096827 ,  G08G1/202 ,  G08G1/207

摘要： A construction machine control system (30) includes: a GPS receiver (31) that detects a GPS position of a dump truck; a laser sensor (24B) that detects a position of an object around the dump truck; and a position measurement controller (33) that detects a position of a vertical projection that protrudes vertically from the surface of the travel route from the detection result of the GPS receiver (31) and the detection result of the laser sensor (24B) when the dump truck travels along the travel route and stores the detected position of the vertical projection in a map storage database (36) as map information of the travel route. The position measurement controller (33) determines whether the dump truck is in a state that decreases the accuracy of the map information, continues storing the map information of the travel route in a period in which it is determined that the dump truck is not in the state that decreases the accuracy of the map information, and stops storing the map information of the travel route in a period in which it is determined that the dump truck is in the state that decreases the accuracy of the map information.

公开(公告)号：US11332067B2

公开(公告)日：2022-05-17

申请号：US16317107

申请日：2017-09-21

申请人： Komatsu Ltd.

发明人： Koji Takeda ,  Akiharu Nishijima

IPC分类号： B60W50/14 ,  G05D1/00 ,  B60Q1/34 ,  G05D1/02 ,  B60Q1/26

摘要： A management system for a work vehicle, includes: a traveling condition data generation unit configured to generate traveling condition data of a work vehicle having a notification device configured to notify a moving direction; a notification data generation unit configured to generate notification data for controlling the notification device such that, based on the traveling condition data, the notification device operates in a first state at a time of moving forward of the work vehicle, and the notification device operates in a second state different from the first state at a time of moving backward of the work vehicle; and an output unit configured to output the notification data, to the work vehicle.