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公开(公告)号：US10352021B2
公开(公告)日：2019-07-16
申请号：US15534737
申请日：2016-11-29
申请人： Komatsu Ltd.
发明人： Toru Matsuyama , Jin Kitajima
摘要： A work equipment control device includes a work equipment state specifying unit, a control reference specifying unit, a distance specifying unit, and a bucket control unit. The work equipment state specifying unit specifies a state of work equipment. The control reference specifying unit specifies a control reference of the work equipment. The distance specifying unit specifies a distance between the work equipment and the control reference. The bucket control unit generates a control command to drive a bucket such that the state of the work equipment is maintained when the distance between the work equipment and the control reference is less than a bucket control start threshold.
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公开(公告)号：US20180148905A1
公开(公告)日：2018-05-31
申请号：US15534737
申请日：2016-11-29
申请人： Komatsu Ltd.
发明人： Toru Matsuyama , Jin Kitajima
摘要： A work equipment control device includes a work equipment state specifying unit, a control reference specifying unit, a distance specifying unit, and a bucket control unit. The work equipment state specifying unit specifies a state of work equipment. The control reference specifying unit specifies a control reference of the work equipment. The distance specifying unit specifies a distance between the work equipment and the control reference. The bucket control unit generates a control command to drive a bucket such that the state of the work equipment is maintained when the distance between the work equipment and the control reference is less than a bucket control start threshold.
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公开(公告)号：US09803340B2
公开(公告)日：2017-10-31
申请号：US15118321
申请日：2016-03-17
申请人： KOMATSU LTD.
发明人： Yuki Shimano , Jin Kitajima , Yoshiki Kami , Masashi Ichihara
CPC分类号： E02F9/262 , E02F3/32 , E02F3/435 , E02F9/2025 , E02F9/2292 , E02F9/2296 , E02F9/265
摘要： A control deciding unit for deciding to execute a leveling control for controlling a work implement so that the work implement moves along a design terrain when a leveling determination condition is satisfied. The control deciding unit decides to execute a surface compaction control for limiting the velocity of the work implement toward the design terrain in response to the distance between the work implement and the design terrain when a surface compaction determination condition is satisfied. The control deciding unit maintains the surface compaction control when the leveling determination condition is satisfied while the surface compaction control is being executed.
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公开(公告)号：US20150308082A1
公开(公告)日：2015-10-29
申请号：US14372475
申请日：2014-04-24
申请人： KOMATSU LTD.
发明人： Takeshi Takaura , Yoshiki Kami , Jin Kitajima
CPC分类号： E02F9/262 , E02F3/32 , E02F3/43 , E02F3/435 , E02F3/439 , E02F9/20 , E02F9/2029 , E02F9/2033 , E02F9/265
摘要： There is provided a work vehicle in which a work implement can be freely operated. The work vehicle includes: a design surface information acquiring unit for acquiring data of a design surface indicative of a target shape of a work object by the work implement; a cutting edge position computing unit for computing a position of a cutting edge of a bucket; and an operation restricting unit for executing operation restriction control by which, when the cutting edge of the bucket comes closer to the design surface, operation of the work implement is stopped before the cutting edge of the bucket reaches the design surface. In a case where the cutting edge is located away from the design surface in a downward perpendicular direction by a prescribed distance or longer, the operation restricting unit does not execute the operation restriction control.
摘要翻译： 提供了可以自由操作工作装置的作业车辆。 工作车辆包括：设计表面信息获取单元，用于通过工作工具获取指示工作对象的目标形状的设计表面的数据; 用于计算铲斗的切削刃的位置的切削刃位置计算单元; 以及操作限制单元，用于执行操作限制控制，当铲斗的切割边缘靠近设计表面时，在铲斗的切割边缘到达设计表面之前停止作业工具的操作。 在切削刃沿向下垂直方向远离设计表面一定距离或更长的情况下，操作限制单元不执行操作限制控制。
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公开(公告)号：US10443214B2
公开(公告)日：2019-10-15
申请号：US15704400
申请日：2017-09-14
申请人： KOMATSU LTD.
发明人： Yuki Shimano , Jin Kitajima , Yoshiki Kami , Masashi Ichihara
摘要： A control system for a work vehicle includes at least one sensor, an operating device, and a controller. The operating device includes at least one operating member. The controller is programmed to control a work implement of the work vehicle based on signals from the at least one sensor and the operating device. The controller is further programmed to use the signals to obtain a distance between the work implement and a design terrain which represents a target shape of a work object, and to determine whether a surface compaction determination condition indicating that work performed by the work implement is surface compaction work is satisfied. The controller executes a surface compaction control in which a velocity of the work implement toward the design terrain is limited in response to the distance between the work implement and the design terrain when the surface compaction determination condition is satisfied.
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6.发明授权公开(公告)号：US10017913B2
公开(公告)日：2018-07-10
申请号：US15326700
申请日：2016-05-31
申请人： Komatsu Ltd.
发明人： Tsutomu Iwamura , Jin Kitajima , Yoshiro Iwasaki , Yuto Fujii , Takashi Yokoo
CPC分类号： E02F3/435 , E02F3/32 , E02F3/3677 , E02F9/16 , E02F9/2004 , E02F9/2033 , E02F9/2267 , E02F9/2271 , E02F9/2285 , E02F9/2296 , E02F9/262 , G05D1/0278
摘要： A construction machine control system includes: a target construction ground shape generation unit which generates a target construction ground shape indicating a target shape of an excavation target; a working device control instruction determination unit which outputs an instruction for driving the working device in a working device operation plane orthogonal to at least one of a boom axis, an arm axis, and a bucket axis based on an operation state of at least one of an arm and a bucket and a distance between the bucket and the target construction ground shape; and a tilting control instruction determination unit which outputs an instruction for performing a tilting control of the bucket about a tilting axis based on a tilting state of the bucket and the distance between the bucket and the target construction ground shape.
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7.发明申请公开(公告)号：US20160281334A1
公开(公告)日：2016-09-29
申请号：US14781649
申请日：2015-03-27
申请人： KOMATSU LTD.
发明人： Tsutomu Iwamura , Jin Kitajima , Masanobu Seki , Masashi Ichihara
CPC分类号： E02F9/264 , E02F3/32 , E02F3/425 , E02F9/2271 , E02F9/265 , G01D5/14 , G01D5/145 , G01D5/2449 , G01D5/34 , G01D5/3473
摘要： A calibration device for a work machine includes: a working equipment parameter acquiring unit acquiring working equipment parameters of members of first and second actuation units; a measurement value acquiring unit acquiring respective measurement values of the work machine body and first and second actuation units measured by an external measurement device; a first calibration unit calibrating the parameter related to the member of the first actuation unit acquired by the acquiring unit based on the measurement value of the first actuation unit acquired by the acquiring unit; and a second calibration unit calibrating the working equipment parameter of the member of the second actuation unit based on the working equipment parameter of the first actuation unit calibrated by the first calibration unit and the respective measurement values of the reference points of the work machine body and first and second actuation units acquired by the acquiring unit.
摘要翻译： 一种用于工作机械的校准装置，包括：工作设备参数获取单元，用于获取第一和第二致动单元的构件的工作设备参数; 测量值获取单元，获取由外部测量装置测量的作业机器主体和第一和第二致动单元的各个测量值; 第一校准单元，基于由所述获取单元获取的所述第一致动单元的测量值，校准与由所述获取单元获取的所述第一致动单元的构件相关的参数; 以及第二校准单元，基于由所述第一校准单元校准的所述第一致动单元的工作设备参数和所述作业机器主体的参考点的相应测量值，校准所述第二致动单元的构件的所述工作设备参数，以及 由所述获取单元获取的第一和第二致动单元。
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公开(公告)号：US20150308081A1
公开(公告)日：2015-10-29
申请号：US14372472
申请日：2014-04-24
申请人： KOMATSU LTD.
发明人： Takeshi Takaura , Yoshiki Kami , Jin Kitajima
摘要： There is provided a work vehicle in which sudden operation of a work implement can be suppressed. The work vehicle includes a design surface information acquiring unit for acquiring data of a design surface indicative of a target shape of a work object by the work implement; a cutting edge position computing unit for computing a position of a cutting edge of a bucket; and an operation restricting unit for executing operation restriction control by which a boom is forcibly raised in accordance with a relative position of the cutting edge to the design surface, and the position of the cutting edge is restricted to an upper part of the design surface. In a state where the cutting edge is located away from the design surface in a downward perpendicular direction by a prescribed distance or longer, the operation restricting unit does not execute the operation restriction control.
摘要翻译： 提供了能够抑制作业装置的突然动作的作业车辆。 工作车辆包括：设计面信息获取单元，用于通过工作工具获取指示工作对象的目标形状的设计表面的数据; 用于计算铲斗的切削刃的位置的切削刃位置计算单元; 以及操作限制单元，用于根据切割边缘相对于设计表面的相对位置执行动臂被强制升高的操作限制控制，并且切割边缘的位置限制在设计表面的上部。 在切削刃沿向下垂直方向远离设计表面一定距离或更长的状态下，操作限制单元不执行操作限制控制。
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9.发明申请公开(公告)号：US20170241106A1
公开(公告)日：2017-08-24
申请号：US15590759
申请日：2017-05-09
申请人： Komatsu Ltd.
发明人： Jin Kitajima
CPC分类号： E02F9/264 , B60W10/06 , B60Y2200/412 , B60Y2400/92 , E02F3/32 , E02F3/3677 , E02F3/3681 , E02F3/435 , E02F3/439 , E02F9/02 , E02F9/2012 , E02F9/2033 , E02F9/2037 , E02F9/22 , E02F9/262 , E02F9/265 , F04B17/05 , F16H61/02
摘要： A control system controls a construction machine that includes a work machine including a bucket having a plurality of tilting mechanisms. The control system includes: a tilt angle sensor that is provided in the bucket so as to detect tilt angle data including a rotation angle of the bucket about the tilt shaft, the tilt angle sensor being capable of detecting an inclination angle with respect to a horizontal plane; a data acquisition unit to which the tilt angle data is output from the tilt angle sensor; a data fixing unit that fixes the tilt angle data output to the data acquisition unit based on a fixing command to generate fixed data; and a work machine control unit that controls the work machine based on the fixed data until the fixing command is disabled.
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10.发明授权公开(公告)号：US09677251B2
公开(公告)日：2017-06-13
申请号：US14396213
申请日：2014-06-02
申请人： Komatsu Ltd.
发明人： Jin Kitajima
CPC分类号： E02F9/264 , B60W10/06 , B60Y2200/412 , B60Y2400/92 , E02F3/32 , E02F3/3677 , E02F3/3681 , E02F3/435 , E02F3/439 , E02F9/02 , E02F9/2012 , E02F9/2033 , E02F9/2037 , E02F9/22 , E02F9/262 , E02F9/265 , F04B17/05 , F16H61/02
摘要： A control system controls a construction machine that includes a work machine including a bucket having a plurality of tilting mechanisms. The control system includes: a tilt angle sensor that is provided in the bucket so as to detect tilt angle data including a rotation angle of the bucket about the tilt shaft, the tilt angle sensor being capable of detecting an inclination angle with respect to a horizontal plane; a data acquisition unit to which the tilt angle data is output from the tilt angle sensor; a data fixing unit that fixes the tilt angle data output to the data acquisition unit based on a fixing command to generate fixed data; and a work machine control unit that controls the work machine based on the fixed data until the fixing command is disabled.
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