公开(公告)号：US20140107841A1

公开(公告)日：2014-04-17

申请号：US14109825

申请日：2013-12-17

Applicant: George L. Danko

Inventor： George L. Danko

IPC: B25J9/16

CPC classification number: B25J9/1651 ,  B25J9/1607 ,  E02F3/437 ,  E02F3/438 ,  E02F3/439 ,  E02F9/2037 ,  E02F9/2041 ,  G05B2219/39062 ,  G05B2219/39224 ,  G05B2219/40495

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g. an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The disclosure includes image generation and matching systems.

Abstract translation: 用于控制协调关节运动系统的协调联合控制系统，例如， 液压挖掘机的铰接臂将日常任务的自动化与实时人力监督轨迹校正和选择相结合。 一个实施例采用利用逆雅可比的差分控制架构。 可以避免系统空间中末端执行器的期望轨迹的建模。 本公开包括图像生成和匹配系统。

公开(公告)号：US20120263566A1

公开(公告)日：2012-10-18

申请号：US13446817

申请日：2012-04-13

Applicant: Wesley P. Taylor ,  Michael J. Linstroth

Inventor： Wesley P. Taylor ,  Michael J. Linstroth

IPC: E02F3/43

CPC classification number: E02F9/264 ,  E02F3/308 ,  E02F3/435 ,  E02F3/437 ,  E02F3/439 ,  E02F3/46 ,  E02F3/54 ,  E02F7/026 ,  E02F7/04 ,  E02F7/06 ,  E02F9/2033 ,  E02F9/2045

Abstract: A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

Abstract translation: 用于钢丝绳铲的各种水平的摆动到料斗运动的系统和方法。 在挖掘操作期间，操作者控制绳铲，以装载用料的铲斗。 控制器通过操作员输入或传感器数据接收位置数据，用于铲斗和物料将要倾倒的料斗。 然后，控制器计算出一个理想的路径，以便铲斗移动到位于料斗上方以倾倒铲斗的内容物。 在一些实施例中，控制器输出操作者反馈以帮助操作者沿着理想路径行进到料斗。 在一些实施例中，控制器限制铲斗运动，使得操作者不能偏离超过理想路径的某些限制。 在一些实施例中，控制器自动控制铲斗到达料斗的运动。

公开(公告)号：US20100106381A1

公开(公告)日：2010-04-29

申请号：US12257632

申请日：2008-10-24

Applicant: Jason Michael Pline

Inventor： Jason Michael Pline

IPC: G06G7/70

CPC classification number: E02F9/2041 ,  E02F3/439 ,  E02F3/844

Abstract: A construction vehicle is provided having a manual mode in which an operator provides manual inputs to control the movement of a blade to a location and an automatic mode in which a control moves the blade to a predetermined location. The speed of the movement of the blade in the automatic mode is scaled down from the speed of the blade in the manual mode.

Abstract translation: 提供了具有手动模式的施工车辆，其中操作者提供手动输入以控制刀片到位置的移动以及控制器将刀片移动到预定位置的自动模式。 在自动模式下刀片运动的速度从手动模式下的刀片速度缩小。

公开(公告)号：US20040267404A1

公开(公告)日：2004-12-30

申请号：US10488011

申请日：2004-08-26

Inventor： George Danko

IPC: G06F019/00

CPC classification number: B25J9/1651 ,  B25J9/1607 ,  E02F3/437 ,  E02F3/438 ,  E02F3/439 ,  E02F9/2037 ,  E02F9/2041 ,  G05B2219/39062 ,  G05B2219/39224 ,  G05B2219/40495

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

Abstract translation: 用于控制协调关节运动系统的协调联合控制系统，例如液压挖掘机的铰接臂，将日常任务的自动化与实时人力监督轨迹校正和选择相结合。 一个实施例采用利用逆雅可比的差分控制架构。 可以避免系统空间中末端执行器的期望轨迹的建模。 本发明包括图像生成和匹配系统。

公开(公告)号：US5477770A

公开(公告)日：1995-12-26

申请号：US313838

申请日：1994-09-28

Applicant: Tomoaki Ono ,  Shoji Tozawa ,  Satoshi Fujii ,  Koichi Harada ,  Makoto Sakai

Inventor： Tomoaki Ono ,  Shoji Tozawa ,  Satoshi Fujii ,  Koichi Harada ,  Makoto Sakai

IPC: E02F9/22 ,  E02F3/43 ,  F15B11/08 ,  F15B13/044

CPC classification number: E02F9/2285 ,  E02F3/437 ,  E02F3/439

Abstract: A valve control unit includes a main hydraulic oil circuit and a pilot oil circuit. The main circuit includes a main pump, a main valve downstream from the main pump, and a hydraulic actuator downstream from the main valve. The pilot oil circuit circulates pressurized pilot oil to control the main valve and includes a pilot oil pump, an automatic control switching valve downstream from the pilot oil pump, a manual limit switching valve downstream from the pilot oil pump, a manual control switching valve downstream from the manual limit switching valve, and a pilot oil chamber downstream from the manual control switching valve. The pilot oil chamber is located near the main valve such that the flow of pressurized pilot oil moves the main valve.

Abstract translation: 阀控制单元包括主液压油回路和先导油回路。 主回路包括主泵，主泵下游的主阀和主阀下游的液压致动器。 先导油循环循环加压先导油以控制主阀，包括先导油泵，先导油泵下游的自动控制切换阀，先导油泵下游的手动限位切换阀，下游的手动控制切换阀 来自手动限位切换阀，以及手动控制切换阀下游的先导油室。 先导油室位于主阀附近，使得加压先导油的流动使主阀移动。

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

IPC: E02F3/43 ,  E02F3/30 ,  E02F9/22

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.

公开(公告)号：US12116751B2

公开(公告)日：2024-10-15

申请号：US17448910

申请日：2021-09-27

Applicant: SUMITOMO CONSTRUCTION MACHINERY CO., LTD.

Inventor： Ryuji Shiratani ,  Tomoki Kurokawa

IPC: E02F3/43 ,  B60Q9/00 ,  E02F3/32 ,  E02F9/22 ,  E02F9/26

CPC classification number: E02F3/439 ,  B60Q9/00 ,  E02F3/32 ,  E02F9/262 ,  E02F9/2235 ,  E02F9/2285 ,  E02F9/2292 ,  E02F9/2296

Abstract: A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an attachment attached to the upper turning body, an attachment actuator configured to move the attachment, and processing circuitry configured to assist an operator so that a level difference between two adjacent finished surfaces becomes equal to or less than a predetermined value.

公开(公告)号：US12018452B2

公开(公告)日：2024-06-25

申请号：US17603102

申请日：2020-05-25

Applicant: KOMATSU LTD.

Inventor： Tomoki Konda ,  Kenjiro Shimada

IPC: E02F3/43 ,  E02F9/22 ,  E02F9/24 ,  E02F3/32

CPC classification number: E02F3/439 ,  E02F9/24 ,  E02F3/32 ,  E02F9/2228 ,  E02F9/2285 ,  E02F9/2296

Abstract: A hydraulic excavator loads a load onto a loaded machine. The hydraulic excavator includes a work implement and a controller. The work implement includes a bucket. The controller senses an amount of natural lowering of the bucket in a stand-by state in which the hydraulic excavator waits for entry of the loaded machine and controls the work implement to raise the bucket based on the amount of natural lowering.

公开(公告)号：US20240167245A1

公开(公告)日：2024-05-23

申请号：US18509816

申请日：2023-11-15

Applicant: SUMITOMO HEAVY INDUSTRIES, LTD.

Inventor： Yusuke SANO

IPC: E02F3/43 ,  E02F9/26

CPC classification number: E02F3/439 ,  E02F3/437 ,  E02F9/262

Abstract: A shovel control device includes a processor and a memory storing one or more programs, which when executed, cause the processor to execute: determining a target releasing position based on a feature of a ground recognized by a space recognition device; and controlling a swiveling movement of an upper swiveling body of a shovel so that the upper swiveling body is oriented toward the target releasing position. The shovel includes a lower traveling body, the upper swiveling body swivelably mounted on the lower traveling body, attachments attached to the upper swiveling body and including a boom, an arm, and an end attachment, and the space recognition device configured to recognize the feature of the ground.

公开(公告)号：US11965308B2

公开(公告)日：2024-04-23

申请号：US17405314

申请日：2021-08-18

Applicant: Deere & Company

Inventor： Jon C. Gilbeck ,  Jonathan Spendlove ,  Zimin Vilar

IPC: E02F3/43 ,  B65G67/04 ,  E02F3/32 ,  E02F3/348

CPC classification number: E02F3/439 ,  B65G67/04 ,  E02F3/32 ,  E02F3/348

Abstract: A system and method are provided for evenly distributing the loading of material in a loading container of a transport vehicle (e.g., articulated dump truck) by a work machine (e.g., excavator). At least one sensor mounted on the work machine generates data corresponding to at least a portion of the loading container. The captured data is processed to determine a current profile of material loaded in the loading container, wherein output signals are generated corresponding to a difference between the current profile and a predetermined target profile for the material loaded in the loading container. In certain embodiments, the output signals are used to assist an operator of the work machine with manual loading via an onboard display unit and superposed images associated with the current and/or target profiles. In other embodiments, the output signals automatically control at least part of the loading process.