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1.发明申请公开(公告)号：US20160376772A1
公开(公告)日：2016-12-29
申请号：US14890500
申请日：2015-06-29
申请人： KOMATSU LTD.
发明人： Shunichiro Kondo , Daiki Arimatsu , Yoshiki Kami , Yasuo Kanemitsu , Yuki Shimano , Yuto Fujii
IPC分类号： E02F9/26
摘要： A construction machine control system controls a construction machine including a traveling device, a work machine having a working tool, and a swing structure to which the work machine is attached and which is attached to the traveling device to swing with respect to the traveling device. The construction machine control system includes a position detection device that detects a first position which is a position of a partial portion of the construction machine and outputs the first position as first position information; a state detection device that detects and outputs operation information indicating an operation of the construction machine; and a processing device that calculates a second position corresponding to the position of the partial portion using the first position information and the operation information and calculates a position of at least a partial portion of the work machine using second position information.
摘要翻译： 施工机械控制系统控制包括行走装置，具有加工工具的作业机械和作业机械安装的摆动结构体，并且安装在行进装置上的行走装置相对于行驶装置摆动的施工机械。 施工机械控制系统包括位置检测装置，其检测作为施工机械的一部分的位置的第一位置，并输出第一位置作为第一位置信息; 状态检测装置，其检测并输出表示施工机械的动作的动作信息; 以及处理装置，其使用所述第一位置信息和所述操作信息来计算与所述部分部分的位置对应的第二位置，并使用所述第二位置信息计算所述作业机械的至少部分部分的位置。
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公开(公告)号：US10519630B2
公开(公告)日：2019-12-31
申请号：US15657483
申请日：2017-07-24
申请人： Komatsu Ltd.
发明人： Yasuo Kanemitsu
摘要： A posture calculation device of working machinery includes: a measuring device configured to detect an angle speed and acceleration; a posture angle calculation unit configured to obtain a posture angle of the working machinery from the detected angle speed and the detected acceleration; a first complementary filter to which a first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a first posture angle; a second complementary filter to which a second cutoff frequency different from the first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a second posture angle; and a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle according to a state of the measuring device.
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3.发明申请POSTURE CALCULATION DEVICE OF WORKING MACHINERY, POSTURE CALCULATION DEVICE OF EXCAVATOR, AND WORKING MACHINERY 有权工作机械的自动计算装置，挖掘机的姿势计算装置和工作机械公开(公告)号：US20160244949A1
公开(公告)日：2016-08-25
申请号：US14385260
申请日：2014-05-19
申请人： KOMATSU LTD.
发明人： Yasuo Kanemitsu
IPC分类号： E02F9/26
摘要： A posture calculation device of working machinery includes: a measuring device configured to detect an angle speed and acceleration; a posture angle calculation unit configured to obtain a posture angle of the working machinery from the detected angle speed and the detected acceleration; a first complementary filter to which a first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a first posture angle; a second complementary filter to which a second cutoff frequency different from the first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a second posture angle; and a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle according to a state of the measuring device.
摘要翻译： 工作机械的姿势计算装置包括：测量装置，其被配置为检测角速度和加速度; 姿态角计算单元，被配置为从所检测的角速度和所检测的加速度获得所述作业机械的姿势角; 第一补偿滤波器，其被设置为第一截止频率并且被配置为降低包含在所获得的姿态角度中的噪声，以输出第一姿势角; 设置与第一截止频率不同的第二截止频率的第二补偿滤波器，并且被配置为降低包含在所获得的姿势角中的噪声，以输出第二姿势角; 以及切换单元，被配置为根据测量装置的状态在第一姿势角和第二姿势角之间切换，以输出第一姿势角或第二姿势角。
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公开(公告)号：US11120577B2
公开(公告)日：2021-09-14
申请号：US16069560
申请日：2018-02-07
申请人： Komatsu Ltd.
IPC分类号： H04N13/243 , G06T7/80 , H04N13/128 , H04N13/246 , H04N13/00
摘要： A position measurement system includes: an image data acquisition unit that acquires first image data photographed by a first camera of a first stereo camera provided at a work machine and second image data photographed by a second camera of the first stereo camera; a stereo measurement unit that executes stereo measurement on the basis of the first image data, the second image data, and parameters related to the first camera and the second camera; a first adjustment unit that changes at least a part of the parameters to adjust a stereo ratio of first disparity image data subjected to stereo measurement; and a second adjustment unit that changes at least a part of the parameters to adjust a scale of first three-dimensional data obtained from the first disparity image data.
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公开(公告)号：US20210209799A1
公开(公告)日：2021-07-08
申请号：US16069560
申请日：2018-02-07
申请人： Komatsu Ltd.
IPC分类号： G06T7/80 , H04N13/243 , H04N13/246 , H04N13/128
摘要： A position measurement system includes: an image data acquisition unit that acquires first image data photographed by a first camera of a first stereo camera provided at a work machine and second image data photographed by a second camera of the first stereo camera; a stereo measurement unit that executes stereo measurement on the basis of the first image data, the second image data, and parameters related to the first camera and the second camera; a first adjustment unit that changes at least a part of the parameters to adjust a stereo ratio of first disparity image data subjected to stereo measurement; and a second adjustment unit that changes at least a part of the parameters to adjust a scale of first three-dimensional data obtained from the first disparity image data.
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6.发明申请公开(公告)号：US20170321395A1
公开(公告)日：2017-11-09
申请号：US15657483
申请日：2017-07-24
申请人： Komatsu Ltd.
发明人： Yasuo Kanemitsu
摘要： A posture calculation device of working machinery includes: a measuring device configured to detect an angle speed and acceleration; a posture angle calculation unit configured to obtain a posture angle of the working machinery from the detected angle speed and the detected acceleration; a first complementary filter to which a first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a first posture angle; a second complementary filter to which a second cutoff frequency different from the first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a second posture angle; and a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle according to a state of the measuring device.
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公开(公告)号：US09617717B2
公开(公告)日：2017-04-11
申请号：US14890500
申请日：2015-06-29
申请人： Komatsu Ltd.
发明人： Shunichiro Kondo , Daiki Arimatsu , Yoshiki Kami , Yasuo Kanemitsu , Yuki Shimano , Yuto Fujii
摘要： A construction machine control system controls a construction machine including a traveling device, a work machine having a working tool, and a swing structure to which the work machine is attached and which is attached to the traveling device to swing with respect to the traveling device. The construction machine control system includes a position detection device that detects a first position which is a position of a partial portion of the construction machine and outputs the first position as first position information; a state detection device that detects and outputs operation information indicating an operation of the construction machine; and a processing device that calculates a second position corresponding to the position of the partial portion using the first position information and the operation information and calculates a position of at least a partial portion of the work machine using second position information.
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公开(公告)号：US20160348343A1
公开(公告)日：2016-12-01
申请号：US14778724
申请日：2015-05-29
申请人： KOMATSU LTD.
发明人： Yasuo Kanemitsu , Yoshiki Kami
CPC分类号： E02F9/267 , E02F9/123 , E02F9/2025 , E02F9/2292 , E02F9/2296 , E02F9/264 , G01S19/14
摘要： Operation is performed in any one of a first mode that information about the position detected by a position detection apparatus is output as position information related to the position of a work machine, a second mode that information about a position obtained by using both of a particular point as a reference of the work machine obtained before a position determination becomes abnormal and operation information detected by a status detection apparatus is output as the position information, and a third mode that the position information is not output, and when the position determination is normal, operation is performed in the first mode, and when the position determination is abnormal and the work machine is static status, operation is performed in the second mode, and when the position determination is abnormal and the work machine is in a non-static status, operation is performed in the third mode.
摘要翻译： 以第一模式中的任何一个执行操作，其中输出关于由位置检测装置检测到的位置的信息作为与作业机器的位置相关的位置信息，第二模式，关于通过使用特定的 作为在位置确定变得异常之前获得的作业机器的参考，并且输出由状态检测装置检测到的操作信息作为位置信息，以及不输出位置信息的第三模式，以及当位置确定正常时 在第一模式下进行动作，当位置判定异常，作业机械处于静止状态时，在第二模式下进行操作，当位置判定异常，作业机械处于非静止状态时 ，在第三模式中执行操作。
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公开(公告)号：US10145088B2
公开(公告)日：2018-12-04
申请号：US14778724
申请日：2015-05-29
申请人： Komatsu Ltd.
发明人： Yasuo Kanemitsu , Yoshiki Kami
摘要： A control system comprising a position information generation unit configured to operate three modes to output position information: a first mode in which information about the position detected by a position detection apparatus is output as position information related to the position of a work machine, when the position determination is normal, a second mode in which information about a position obtained by using both of a particular point as a reference of the work machine obtained before a position determination becomes abnormal and operation information detected by a status detection apparatus is output as the position information, when the position determination is abnormal and the work machine is a static status, and a third mode in which the position information is not output, when the position determination is abnormal and the work machine is in a non-static status.
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公开(公告)号：US09745726B2
公开(公告)日：2017-08-29
申请号：US14385260
申请日：2014-05-19
申请人： Komatsu Ltd.
发明人： Yasuo Kanemitsu
摘要： A posture calculation device of working machinery includes: a measuring device configured to detect an angle speed and acceleration; a posture angle calculation unit configured to obtain a posture angle of the working machinery from the detected angle speed and the detected acceleration; a first complementary filter to which a first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a first posture angle; a second complementary filter to which a second cutoff frequency different from the first cutoff frequency is set and configured to decrease a noise included in the obtained posture angle to output a second posture angle; and a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle according to a state of the measuring device.
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