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公开(公告)号：US09637126B2
公开(公告)日：2017-05-02
申请号：US14126893
申请日：2013-02-28
Applicant: Komatsu Ltd.
Inventor： Yuji Kikuyama , Yoshitaka Onodera
CPC classification number: B60W30/18 , B60L7/14 , B60L15/20 , B60L15/2009 , B60L2200/42 , B60L2220/12 , B60L2220/44 , B60L2240/12 , B60L2240/14 , B60L2240/423 , B60L2240/642 , B60L2250/28 , B60L2270/145 , B66F9/07572 , B66F9/24 , Y02T10/645 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/16
Abstract: A work vehicle has a running motor and includes a first controller generating a speed command value to control the motor and adding an actual running speed of the work vehicle to a relationship between a torque command value for a torque in the motor and a running speed of the work vehicle to generate a first torque command value and a second controller generating a second torque command value based on the speed command value and the actual running speed, controls the motor using a smaller one of the first and second torque command values when the work vehicle moves forward, and controls the motor using a greater one of them when the work vehicle moves backward. The first controller determines the speed command value based on an accelerator opening used to regulate the running speed, the actual running speed, and an actual movement direction of the work vehicle.
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公开(公告)号：US09593002B2
公开(公告)日：2017-03-14
申请号：US14425919
申请日：2014-09-19
Applicant: Komatsu Ltd.
Inventor： Shinji Kaneko , Yoshitaka Onodera , Yoshifumi Shitara , Taishi Oiwa , Jun Hashimoto
IPC: B66F9/075 , B60K17/10 , F02D41/02 , F02D11/10 , F16H61/42 , F16H61/431 , B66F9/22 , F02D41/10 , F02D29/04 , B66F9/07
CPC classification number: B66F9/07572 , B60K17/10 , B60Y2200/15 , B66F9/07 , B66F9/22 , F02D11/105 , F02D29/04 , F02D41/021 , F02D41/10 , F02D2200/501 , F02D2200/602 , F16H61/42 , F16H61/431
Abstract: A work vehicle includes an accelerator operation amount generator receiving an actual accelerator operation amount of an accelerator operator to generate a control accelerator operation amount; an engine controller controlling the engine according to the control accelerator operation amount; and a storage storing a table in which an increasing speed for the control accelerator operation amount is set, wherein the accelerator operation amount generator obtains a difference between a converted accelerator operation amount of the accelerator operator converted from a rotating speed of the engine in a current control cycle and a control accelerator operation amount obtained in the last control cycle, determines an increasing speed of the control accelerator operation amount from the difference by referring to the table, and changes the control accelerator operation amount to an actual operation amount in the current control cycle with the determined increasing speed.
Abstract translation: 工作车辆包括加速器操作量发生器，其接收加速器操作器的实际加速器操作量，以产生控制加速器操作量; 发动机控制器，其根据所述控制加速器操作量控制所述发动机; 以及存储装置，其中设置有用于控制加速器操作量的增加速度的表，其中，所述加速器操作量发生器获得从当前的发动机的转速转换的加速器操作器的转换的加速器操作量之间的差 控制循环和控制加速器操作量，通过参照该表从该差确定控制加速器操作量的增加速度，并将控制加速器操作量改变为当前控制中的实际操作量 以确定的增加速度循环。
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3.发明公开公开(公告)号：US20230304255A1
公开(公告)日：2023-09-28
申请号：US18020465
申请日：2021-09-10
Applicant: Komatsu Ltd.
Inventor： Takahisa Oasa , Koji Aoshima , Yasuhiro Igarashi , Yoshitaka Onodera , Takehiro Komatsu , Shozo Kikuchi
CPC classification number: E02F3/431 , E02F9/265 , E02F9/261 , G01G19/083
Abstract: A control system of a loading machine, having working equipment including a bucket, includes a control device. The control device detects a first surface of an excavated object excavated by the bucket during excavation work, calculates an under-excavation load angle indicating an angle of the first surface with respect to the horizontal plane on the basis of detection data of the first surface, and estimates the weight of the excavated object on the basis of the under-excavation load angle.
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公开(公告)号：US09540011B2
公开(公告)日：2017-01-10
申请号：US14419337
申请日：2014-09-18
Applicant: Komatsu Ltd.
Inventor： Shinji Kaneko , Yoshitaka Onodera , Yoshifumi Shitara , Taishi Oiwa , Jun Hashimoto
IPC: B60W30/188 , B60W30/18
CPC classification number: B60W30/188 , B60W30/18045 , B60W2300/121 , B60W2520/04 , B60W2520/06 , B60W2720/30
Abstract: A work vehicle includes a variable displacement hydraulic pump driven by an engine, a hydraulic motor forming a closed circuit with the pump and driven by hydraulic fluid discharged from the pump, wheels driven by the motor to allow the work vehicle to travel, a selector detecting an operating state of a switch switching the traveling of the work vehicle between forward and backward, and a controller. When the selector detects a reversal operation of the switch to reverse the traveling direction when the work vehicle travels, the controller sets relationship between the vehicle speed of the work vehicle and the upper limit of the rotational speed of the engine such that the upper limit increases as the absolute value of the vehicle speed approaches zero. The controller obtains an upper limit of the rotational speed from the relationship and a vehicle speed of the work vehicle.
Abstract translation: 工作车辆包括由发动机驱动的可变排量液压泵，液压马达与泵形成闭合回路并由泵排出的液压流体驱动，由电动机驱动的车轮以允许作业车辆行驶，选择器检测 开关将工作车辆的前进和后退的行驶切换到开关的操作状态和控制器。 当工作车辆行驶时，当选择器检测到反转操作以使行进方向反转时，控制器设定作业车辆的车速与发动机的转速的上限之间的关系，使得上限增加 因为车速的绝对值接近零。 控制器根据作业车辆的关系和车速获得转速的上限。
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公开(公告)号：US20160084275A1
公开(公告)日：2016-03-24
申请号：US14416807
申请日：2014-09-18
Applicant: Komatsu Ltd.
Inventor： Shinji Kaneko , Yoshitaka Onodera , Yoshifumi Shitara , Taishi Oiwa , Jun Hashimoto
IPC: F15B11/042
CPC classification number: B66F9/07572 , B60Y2200/15 , B66F9/22 , F16H59/44 , F16H59/48 , F16H61/431 , F16H61/462
Abstract: A work vehicle including: a traveling hydraulic pump of a variable displacement type driven by engine; a hydraulic motor forming a closed circuit with the traveling hydraulic pump and driven by operating oil discharged from the traveling hydraulic pump; a drive wheel driven by the hydraulic motor; and a control device determining whether an operator of the work vehicle has an intention of decelerating the work vehicle, and when the operator has an intention of decelerating the work vehicle and when the work vehicle starts to increase its speed, the control device causes a capacity ratio obtained by dividing a capacity of the hydraulic motor by a capacity of the traveling hydraulic pump, to be equal to or larger than a value when the work vehicle starts to increase its speed, according to an increasing amount in the speed of the work vehicle.
Abstract translation: 一种工作车辆，包括：由发动机驱动的可变排量型行驶液压泵; 液压马达与行驶液压泵形成闭合回路，并由从行驶液压泵排出的工作油驱动; 由液压马达驱动的驱动轮; 以及控制装置，确定作业车辆的操作者是否具有使作业车辆减速的意图，并且当操作者意图使作业车辆减速时，以及当工作车辆开始增加速度时，控制装置产生容量 根据行驶液压泵的容量将液压马达的容量除以工作车辆开始增加速度的值而得到的比例，根据作业车辆的速度的增加量 。
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Patent Agency Ranking
公开(公告)号：US09045045B2
公开(公告)日：2015-06-02
申请号：US14232742
申请日：2013-02-28
Applicant: Komatsu Ltd.
Inventor： Yoshitaka Onodera , Yuji Kikuyama , Yoshiaki Nagashima , Hiroyuki Kijima
CPC classification number: B60L15/10 , B60L1/003 , B60L11/1803 , B60L15/20 , B60L15/2072 , B60L2200/42 , B60L2210/10 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2250/16 , B60L2250/24 , B60L2250/26 , B60W50/0098 , B60W2510/0657 , B60W2540/10 , B60W2710/083 , B66F9/07572 , B66F9/24 , Y02T10/6252 , Y02T10/642 , Y02T10/645 , Y02T10/7005 , Y02T10/7077 , Y02T10/7216 , Y02T10/7275
Abstract: A work vehicle is provided with a traveling motor, and includes a first control unit generating a speed command value for controlling the motor and changing the speed command value according to passage of time when an opening of an accelerator that adjusts a traveling speed is larger than 0, and assigning an actual traveling speed of the work vehicle to a relationship between a torque command value that is a command value of torque to be generated by the motor and the traveling speed of the work vehicle to generate a first torque command value; and a second control unit generating a second torque command value based on the speed command value generated by the first control unit and the actual traveling speed, and controlling the motor based on the first torque command value or the second torque command value.
Abstract translation: 工作车辆设置有行驶电动机，并且包括：第一控制单元，其产生用于控制电动机的速度指令值，并且当调节行驶速度的加速器的开度大于时间时根据时间的变化来改变速度指令值 0，并且将作业车辆的实际行驶速度分配为作为马达产生的转矩的指令值的转矩指令值与作业车辆的行驶速度之间的关系，生成第一转矩指令值; 以及第二控制单元，基于由第一控制单元产生的速度指令值和实际行驶速度产生第二转矩指令值，并且基于第一转矩指令值或第二转矩指令值来控制电动机。
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公开(公告)号：US20160257539A1
公开(公告)日：2016-09-08
申请号：US14425919
申请日：2014-09-19
Applicant: KOMATSU LTD.
Inventor： Shinji Kaneko , Yoshitaka Onodera , Yoshifumi Shitara , Taishi Oiwa , Jun Hashimoto
CPC classification number: B66F9/07572 , B60K17/10 , B60Y2200/15 , B66F9/07 , B66F9/22 , F02D11/105 , F02D29/04 , F02D41/021 , F02D41/10 , F02D2200/501 , F02D2200/602 , F16H61/42 , F16H61/431
Abstract: A work vehicle includes an accelerator operation amount generator receiving an actual accelerator operation amount of an accelerator operator to generate a control accelerator operation amount; an engine controller controlling the engine according to the control accelerator operation amount; and a storage storing a table in which an increasing speed for the control accelerator operation amount is set, wherein the accelerator operation amount generator obtains a difference between a converted accelerator operation amount of the accelerator operator converted from a rotating speed of the engine in a current control cycle and a control accelerator operation amount obtained in the last control cycle, determines an increasing speed of the control accelerator operation amount from the difference by referring to the table, and changes the control accelerator operation amount to an actual operation amount in the current control cycle with the determined increasing speed.
Abstract translation: 工作车辆包括加速器操作量发生器，其接收加速器操作器的实际加速器操作量，以产生控制加速器操作量; 发动机控制器，其根据所述控制加速器操作量控制所述发动机; 以及存储装置，其中设置有用于控制加速器操作量的增加速度的表，其中，所述加速器操作量发生器获得从当前的发动机的转速转换的加速器操作器的转换加速器操作量之间的差 控制循环和控制加速器操作量，通过参照该表从该差确定控制加速器操作量的增加速度，并将控制加速器操作量改变为当前控制中的实际操作量 以确定的增加速度循环。
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公开(公告)号：US20160082966A1
公开(公告)日：2016-03-24
申请号：US14419337
申请日：2014-09-18
Applicant: Komatsu Ltd.
Inventor： Shinji Kaneko , Yoshitaka Onodera , Yoshifumi Shitara , Taishi Oiwa , Jun Hashimoto
IPC: B60W30/188 , B60W30/18
CPC classification number: B60W30/188 , B60W30/18045 , B60W2300/121 , B60W2520/04 , B60W2520/06 , B60W2720/30
Abstract: A work vehicle includes a variable displacement hydraulic pump driven by an engine, a hydraulic motor forming a closed circuit with the pump and driven by hydraulic fluid discharged from the pump, wheels driven by the motor to allow the work vehicle to travel, a selector detecting an operating state of a switch switching the traveling of the work vehicle between forward and backward, and a controller. When the selector detects a reversal operation of the switch to reverse the traveling direction when the work vehicle travels, the controller sets relationship between the vehicle speed of the work vehicle and the upper limit of the rotational speed of the engine such that the upper limit increases as the absolute value of the vehicle speed approaches zero. The controller obtains an upper limit of the rotational speed from the relationship and a vehicle speed of the work vehicle.
Abstract translation: 工作车辆包括由发动机驱动的可变排量液压泵，液压马达与泵形成闭合回路并由泵排出的液压流体驱动，由电动机驱动的车轮以允许作业车辆行驶，选择器检测 开关将工作车辆的前进和后退的行驶切换到开关的操作状态和控制器。 当工作车辆行驶时，当选择器检测到反转操作以使行进方向反转时，控制器设定作业车辆的车速与发动机的转速的上限之间的关系，使得上限增加 因为车速的绝对值接近零。 控制器根据作业车辆的关系和车速获得转速的上限。
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公开(公告)号：US09091342B2
公开(公告)日：2015-07-28
申请号：US14211340
申请日：2014-03-14
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Masayuki Mukaino , Shigeru Yamamoto , Yoshitaka Onodera , Takao Ishihara
IPC: G06F7/00 , F16H61/4008 , E02F9/20 , E02F9/22 , F16H61/421 , F16H61/431 , F16H61/47 , F16H61/02 , F16H61/40 , F04B49/24 , F17D1/08 , F04B27/08 , F16H59/06 , F16H59/44 , F16H59/68 , F16H59/36 , B60W10/06 , B60W10/11 , F16H59/46 , F16H61/06
CPC classification number: F16H61/4008 , B60W10/06 , B60W10/11 , E02F9/202 , E02F9/2253 , F04B27/08 , F04B49/24 , F16H59/06 , F16H59/44 , F16H59/46 , F16H61/0213 , F16H61/061 , F16H61/40 , F16H61/421 , F16H61/431 , F16H61/47 , F16H2059/366 , F16H2059/6861 , F17D1/08 , Y10T477/679 , Y10T477/68
Abstract: A control device controls a hydrostatic transmission vehicle having a hydrostatic transmission including a variable displacement pump and a variable displacement hydraulic motor. The control device is configured to set a set vehicle speed based on a forward/rearward travel command and a gear stage command instructed by an operator, to set a torque limit usable for the hydrostatic transmission based on an engine speed, to set a vehicle speed limit based on a pressure in the hydraulic circuit and the torque limit, to select a lower one of the set vehicle speed and the vehicle speed limit, and to control respective displacements of the variable displacement pump and the variable displacement hydraulic motor based on the selected vehicle speed.
Abstract translation: 控制装置控制具有包括可变排量泵和可变排量液压马达的静液压传动装置的液压传动车辆。 控制装置被配置为基于前进/后退行驶指令和操作者指示的档位指令来设定设定的车速，以基于发动机转速设定可用于静液压变速器的转矩限制，以设定车速 基于液压回路中的压力和转矩极限的极限，选择设定车速和车速极限中的较低的一个，并且基于所选择的控制来控制可变排量泵和可变排量液压马达的各个位移 车速。
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公开(公告)号：US20150039164A1
公开(公告)日：2015-02-05
申请号：US14232742
申请日：2013-02-28
Applicant: Komatsu Ltd.
Inventor： Yoshitaka Onodera , Yuji Kikuyama , Yoshiaki Nagashima , Hiroyuki Kijima
CPC classification number: B60L15/10 , B60L1/003 , B60L11/1803 , B60L15/20 , B60L15/2072 , B60L2200/42 , B60L2210/10 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2250/16 , B60L2250/24 , B60L2250/26 , B60W50/0098 , B60W2510/0657 , B60W2540/10 , B60W2710/083 , B66F9/07572 , B66F9/24 , Y02T10/6252 , Y02T10/642 , Y02T10/645 , Y02T10/7005 , Y02T10/7077 , Y02T10/7216 , Y02T10/7275
Abstract: A work vehicle is provided with a traveling motor, and includes a first control unit generating a speed command value for controlling the motor and changing the speed command value according to passage of time when an opening of an accelerator that adjusts a traveling speed is larger than 0, and assigning an actual traveling speed of the work vehicle to a relationship between a torque command value that is a command value of torque to be generated by the motor and the traveling speed of the work vehicle to generate a first torque command value; and a second control unit generating a second torque command value based on the speed command value generated by the first control unit and the actual traveling speed, and controlling the motor based on the first torque command value or the second torque command value.
Abstract translation: 工作车辆设置有行驶电动机，并且包括：第一控制单元，其产生用于控制电动机的速度指令值，并且当调节行驶速度的加速器的开度大于时间时根据时间的变化来改变速度指令值 0，并且将作业车辆的实际行驶速度分配为作为马达产生的转矩的指令值的转矩指令值与作业车辆的行驶速度之间的关系，生成第一转矩指令值; 以及第二控制单元，基于由第一控制单元产生的速度指令值和实际行驶速度产生第二转矩指令值，并且基于第一转矩指令值或第二转矩指令值来控制电动机。
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