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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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公开(公告)号：US20170284070A1
公开(公告)日：2017-10-05
申请号：US15301779
申请日：2016-03-29
申请人： KOMATSU LTD.
发明人： Toru Matsuyama , Yuki Shimano , Masashi Ichihara , Yoshiki Kami
CPC分类号： E02F9/265 , E02F3/32 , E02F3/435 , E02F9/20 , E02F9/2033 , E02F9/22 , E02F9/2292 , E02F9/2296 , E02F9/262
摘要： A control device for a work machine is a device for controlling a working unit of a work machine to excavate an object to be excavated. The control device includes a control unit for controlling the working unit to prevent a working implement of the working unit from crossing a predetermined target profile, and a switching unit for defining the target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile.
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3.发明申请CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD 有权建筑机械控制系统，建筑机械和施工机械控制方法公开(公告)号：US20160281331A1
公开(公告)日：2016-09-29
申请号：US14760876
申请日：2015-03-24
申请人： KOMATSU LTD.
发明人： Katsuhiro Ikegami , Yoshiki Kami , Akinori Baba , Takeshi Takaura
CPC分类号： E02F9/2228 , E02F3/32 , E02F3/435 , E02F3/438 , E02F9/2004 , E02F9/2029 , E02F9/2033 , E02F9/2041 , E02F9/2203 , E02F9/2271 , E02F9/2285 , E02F9/26 , E02F9/264
摘要： A control system includes: a data acquisition unit that acquires an operation command value and data on a cylinder speed in a state where an operation command of operating a hydraulic cylinder is output; a deriving unit that derives an operation start operation command value when the hydraulic cylinder in a stopped state starts operating and slow-speed operation characteristics indicating a relation between the operation command value and the cylinder speed in a slow-speed area based on the data acquired by the data acquisition unit; a storage unit that stores the operation start operation command value and the slow-speed operation characteristics derived by the deriving unit; and a work machine control unit that controls a work machine based on information stored in the storage unit.
摘要翻译： 控制系统包括：数据获取单元，其在输出操作液压缸的操作命令的状态下获取操作指令值和关于气缸速度的数据; 基于获取的数据，当停止状态下的液压缸开始运转时，导出运转开始运转指令值的导出单元和表示低速区域中的运转指令值与气缸速度的关系的低速运转特性 由数据采集单元; 存储单元，存储由导出单元导出的操作开始操作命令值和慢速操作特性; 以及作业机控制单元，其基于存储在存储单元中的信息来控制作业机。
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公开(公告)号：US09371626B2
公开(公告)日：2016-06-21
申请号：US14419507
申请日：2014-09-10
申请人： KOMATSU LTD.
发明人： Yoshiki Kami , Takeo Yamada , Toru Matsuyama , Yuto Fujii , Takeshi Takaura
摘要： A work vehicle includes a speed limit calculation portion, a speed determination portion, an adjustment portion, and a boom speed determination portion. The speed limit calculation portion calculates a speed limit for limiting a speed of a cutting edge of a bucket. The speed determination portion determines whether or not a speed of raising the boom has been lowered when an amount of operation of an arm is smaller than a prescribed amount. The adjustment portion delays speed change to the speed limit. The boom speed determination portion determines a target speed of the boom based on the speed limit after delay by the adjustment portion when it is determined that the speed of raising the boom has been lowered, and determines a target speed of the boom based on the speed limit calculated when it is not determined that the speed of raising the boom has been lowered.
摘要翻译： 工作车辆包括速度限制计算部分，速度确定部分，调节部分和动臂速度确定部分。 速度限制计算部分计算用于限制铲斗的切割刃的速度的速度限制。 当臂的操作量小于规定量时，速度确定部分确定升降臂的升高速度是否已经降低。 调整部分将速度变化延迟到速度限制。 当确定悬臂的升高速度已经降低时，起重臂速度确定部分基于调节部分的延迟之后的速度限制来确定起重臂的目标速度，并且基于速度确定起重臂的目标速度 当没有确定提升吊杆的速度已经降低时计算出的极限。
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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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公开(公告)号：US08909439B2
公开(公告)日：2014-12-09
申请号：US14238059
申请日：2013-03-14
申请人： Komatsu Ltd.
摘要： An excavation control system includes a working unit having a bucket, a designed landform data storage part storing designed landform data, a bucket position data generation part that generates bucket position data, a designed surface data generation part, and an excavation limit control part. The designed surface data generation part generates superior and subordinate designed surface data based on the designed landform and bucket position data. The superior designed surface data indicates a superior designed surface corresponding to a prescribed position on the bucket. The subordinate designed surface data indicates a plurality of subordinate designed surfaces linked to the superior designed surface. The designed surface data generation part generates shape data based on the superior and subordinate designed surface data. The shape data indicates shapes of the superior designed surface and the plurality of subordinate designed surfaces. The excavation limit control part automatically adjusts position of the bucket.
摘要翻译： 挖掘控制系统包括具有铲斗的作业单元，存储设计地形数据的设计地形数据存储部，产生铲斗位置数据的铲斗位置数据生成部，设计面数据生成部以及挖掘极限控制部。 设计的表面数据生成部分基于设计的地形和铲斗位置数据，生成优越的从属设计的表面数据。 优越设计的表面数据表示对应于铲斗上的规定位置的优良设计表面。 从属设计的表面数据表示连接到上级设计表面的多个从属设计表面。 设计的表面数据生成部基于上下设计的表面数据生成形状数据。 形状数据表示优选设计表面和多个从属设计表面的形状。 挖掘限位控制部分自动调节铲斗的位置。
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7.发明申请APPARATUS AND METHOD FOR ASSISTING HYDRAULIC CYLINDER STROKE INITIAL CALIBRATION WORK 有权用于辅助液压缸冲击初始校准工作的装置和方法公开(公告)号：US20140326039A1
公开(公告)日：2014-11-06
申请号：US14127263
申请日：2013-04-12
申请人： Komatsu Ltd.
IPC分类号： E02F9/26
CPC分类号： E02F9/264 , E02F9/2271 , E02F9/267 , F15B15/2815 , F15B19/002
摘要： The present invention includes a stroke sensor which is arranged on a hydraulic cylinder and measures a stroke length of the hydraulic cylinder; a rotary encoder and a magnetic force sensor which measure a reset reference point to reset a value of the stroke length measured by the stroke sensor; a stroke end detection processing unit which detects a stroke end position of the hydraulic cylinder; a calibration processing unit which calibrates the measured value of the stroke length when the reset reference point and/or the stroke end position is detected; an HMI monitor which displays an entire work machine mounted with the hydraulic cylinder when an initial calibration work for the hydraulic cylinder is carried out; and a highlight display processing unit that highlights a moving portion to drive a hydraulic cylinder to be calibrated along with an indication of a driving direction.
摘要翻译： 本发明包括一个行程传感器，其布置在液压缸上并测量液压缸的行程长度; 旋转编码器和磁力传感器，其测量复位参考点以重置由行程传感器测量的行程长度的值; 行程结束检测处理单元，其检测液压缸的行程结束位置; 校准处理单元，其在检测到复位参考点和/或行程结束位置时校准行程长度的测量值; 在进行液压缸的初始校准工作时，显示安装有液压缸的整个作业机的HMI监视器; 以及高亮显示处理单元，其突出显示驱动被校准的液压缸的运动部分以及驱动方向的指示。
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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：US09481976B2
公开(公告)日：2016-11-01
申请号：US14419542
申请日：2014-09-10
申请人： KOMATSU LTD.
发明人： Yoshiki Kami , Takeo Yamada , Yuto Fujii , Takeshi Takaura
IPC分类号： E02F3/43 , E02F3/30 , G05B19/41 , E02F9/26 , G05B19/416
CPC分类号： E02F3/435 , E02F3/30 , E02F3/437 , E02F9/262 , E02F9/265 , G05B19/416 , G05B2219/40043 , G05B2219/43203 , G05B2219/45012
摘要： A work vehicle includes a boom, an arm, a bucket, an arm control member, a speed limit determination portion, and a target speed determination portion. The speed limit determination portion determines a speed limit for limiting a speed of a cutting edge of the bucket in accordance with a distance between a cutting edge and a design surface. The target speed determination portion determines a target speed of the boom based on the speed limit. The speed limit determination portion decides on a speed limit calculated based on correlation between the speed limit and the distance between the design surface and the cutting edge when an amount of operation of the arm control member is equal to or greater than a prescribed amount and decides on a speed limit lower than the speed limit calculated based on the correlation when the amount of operation is smaller than the prescribed amount.
摘要翻译： 工作车辆包括吊杆，臂，铲斗，臂控制构件，限速确定部和目标速度确定部。 速度限制判定部根据切削刃和设计面之间的距离，决定限制铲斗的切削刃速度的速度限制。 目标速度确定部分基于速度限制来确定起重臂的目标速度。 速度限制判断部判定在臂控制部件的动作量为规定量以上的情况下，基于速度限制与设计面与切削刃之间的距离的关系而计算出的速度限制，并且决定 在比操作量小于规定量时基于相关性计算的速度限制的速度限制。
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