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11. 发明授权

US09598845B2 Posture computing apparatus for work machine, work machine, and posture computation method for work machine 有权
公开(公告)号：US09598845B2
公开(公告)日：2017-03-21
申请号：US14386076
申请日：2014-06-04
申请人： Komatsu Ltd.
发明人： Akinori Baba , Masashi Ichihara
IPC分类号： E02F9/20 , E02F9/26 , E02F3/43 , E02F3/32
CPC分类号： E02F9/264 , E02F3/32 , E02F3/437 , E02F9/2033 , E02F9/2037 , E02F9/262
摘要： A posture computing apparatus for a work machine is an apparatus that obtains a posture angle of a work machine including a traveling body and a swing body that is mounted on the traveling body and that rotates relative to the traveling body. The posture computing apparatus includes a detection apparatus that is provided to the swing body and detects angular velocity and acceleration; an acceleration correcting unit that corrects the acceleration detected by the detection apparatus, based on a position where the detection apparatus is placed and information on the detection apparatus; and a posture angle computing unit that obtains a posture angle of the work machine from the acceleration corrected by the acceleration correcting unit and the angular velocity detected by the detection apparatus.

12. 发明申请

US20210001847A1 UNMANNED VEHICLE CONTROL SYSTEM, UNMANNED VEHICLE, AND UNMANNED VEHICLE CONTROL METHOD 有权
公开(公告)号：US20210001847A1
公开(公告)日：2021-01-07
申请号：US16980532
申请日：2019-02-20
申请人： Komatsu Ltd.
发明人： Akinori Baba , Ryuu Yamamura
IPC分类号： B60W30/14 , G05D1/02 , B60W60/00 , G08G1/052
摘要： An unmanned vehicle control system includes: a specified command value calculation unit that calculates a specified command value for start of an unmanned vehicle; a corrected command value calculation unit that, when request data requesting a limitation of a travel speed of the unmanned vehicle is acquired, corrects the specified command value based on the request data to calculate a corrected command value; and a travel control unit that, when the request data is acquired, controls the start of the unmanned vehicle based on the corrected command value.

13. 发明授权

US09702120B2 Posture computing apparatus for work machine, work machine, and posture computation method for work machine 有权
公开(公告)号：US09702120B2
公开(公告)日：2017-07-11
申请号：US14390157
申请日：2014-06-04
申请人： Komatsu Ltd.
发明人： Akinori Baba , Masashi Ichihara
IPC分类号： G06F3/048 , E02F9/26 , E02F3/43 , E02F9/12 , E02F3/32 , E02F9/22 , G01C21/16
摘要： A posture computing apparatus for a work machine includes a detection apparatus that is provided to the work machine and detects angular velocity and acceleration; a first posture angle computing unit that is provided to the detection apparatus and obtains a posture angle of the work machine from the angular velocity and the acceleration detected by the detection apparatus; a low-pass filter that allows the posture angle obtained by the first posture angle computing unit to pass therethrough to output the posture angle as a first posture angle; a second posture angle computing unit that outputs, as a second posture angle, a posture angle obtained from the angular velocity and the acceleration detected by the detection apparatus; and a selecting unit that outputs the first posture angle and the second posture angle in a switching manner, based on information about a change in an angle of the work machine.

14. 发明授权

US09598841B2 Construction machine control system, construction machine, and construction machine control method 有权
公开(公告)号：US09598841B2
公开(公告)日：2017-03-21
申请号：US14760854
申请日：2015-03-24
申请人： Komatsu Ltd.
发明人： Katsuhiro Ikegami , Akinori Baba , Yoshiki Kami
IPC分类号： G06F7/70 , G06F19/00 , G06G7/00 , G06G7/76 , E02F9/22 , E02F3/43 , E02F3/32
CPC分类号： E02F9/2228 , E02F3/32 , E02F3/435 , E02F9/2267 , E02F9/2271 , E02F9/2285 , E02F9/264 , F15B19/002 , F15B2211/329 , F15B2211/6316 , F15B2211/6355 , F15B2211/67
摘要： A control system includes: a first pressure sensor disposed in a pilot oil passage between an operating device and a control valve and detecting pressure of pilot oil; a second pressure sensor disposed in the pilot oil passage between the control valve and a direction control valve and detecting the pressure of the pilot oil; a control valve controller controlling the control valve; a data acquisition unit acquiring data on a detection value of the first pressure sensor and a detection value of the second pressure sensor in a state where the pilot oil passage is opened by the control valve; and a correction unit correcting the detection value of the first pressure sensor or the second pressure sensor based on the data acquired by the data acquisition unit so that the detection value of the first pressure sensor is identical to the detection value of the second pressure sensor.

15. 发明授权

US09458597B2 Construction machine control system, construction machine, and construction machine control method 有权
标题翻译：施工机械控制系统，施工机械和施工机械控制方法
公开(公告)号：US09458597B2
公开(公告)日：2016-10-04
申请号：US14761078
申请日：2015-03-24
申请人： Komatsu Ltd.
发明人： Katsuhiro Ikegami , Satoshi Ito , Akinori Baba
IPC分类号： G06F7/70 , E02F3/43 , E02F9/26 , E02F9/20 , E02F3/32 , E02F3/42 , E02F9/22 , F15B11/17 , F15B13/06
CPC分类号： E02F3/435 , E02F3/32 , E02F3/425 , E02F9/2004 , E02F9/2225 , E02F9/2267 , E02F9/2271 , E02F9/2285 , E02F9/26 , E02F9/262 , E02F9/265 , F15B11/17 , F15B13/06 , F15B2211/20576 , F15B2211/255 , F15B2211/30525 , F15B2211/405 , F15B2211/71
摘要： A control system includes: a control valve control unit that controls a control valve; a data acquisition unit that acquires data on an operation command value and a cylinder speed in a state where an operation command for operating a hydraulic cylinder is output; and a deriving unit that derives operation characteristics in an operation direction of each of a plurality of hydraulic cylinders in relation to the operation command value based on the data acquired by the data acquisition unit. In acquisition of the data by the data acquisition unit, the control valve control unit controls a control valve of one pilot oil passage that is an acquisition object where the data is acquired among the plurality of pilot oil passages to open one pilot oil passage and controls control valves of the other pilot oil passages to close the other pilot oil passages.
摘要翻译：控制系统包括：控制阀控制单元，其控制控制阀; 在输出用于操作液压缸的操作命令的状态下获取关于操作命令值和气缸速度的数据的数据获取单元; 以及导出单元，其基于由数据获取单元获取的数据，相对于操作命令值导出多个液压缸中的每一个的操作方向上的操作特性。在数据采集单元采集数据时，控制阀控制单元控制作为在多个先导油路中获取数据的采集对象的一个先导油路的控制阀，以打开一个先导油通道并控制其他先导油路的控制阀关闭其他先导油路。

16. 发明申请

US20160273194A1 CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD 有权
标题翻译：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：US20160273194A1
公开(公告)日：2016-09-22
申请号：US14760854
申请日：2015-03-24
申请人： KOMATSU LTD.
发明人： Katsuhiro Ikegami , Akinori Baba , Yoshiki Kami
IPC分类号： E02F9/22 , E02F3/43
CPC分类号： E02F9/2228 , E02F3/32 , E02F3/435 , E02F9/2267 , E02F9/2271 , E02F9/2285 , E02F9/264 , F15B19/002 , F15B2211/329 , F15B2211/6316 , F15B2211/6355 , F15B2211/67
摘要： A control system includes: a first pressure sensor disposed in a pilot oil passage between an operating device and a control valve and detecting pressure of pilot oil; a second pressure sensor disposed in the pilot oil passage between the control valve and a direction control valve and detecting the pressure of the pilot oil; a control valve controller controlling the control valve; a data acquisition unit acquiring data on a detection value of the first pressure sensor and a detection value of the second pressure sensor in a state where the pilot oil passage is opened by the control valve; and a correction unit correcting the detection value of the first pressure sensor or the second pressure sensor based on the data acquired by the data acquisition unit so that the detection value of the first pressure sensor is identical to the detection value of the second pressure sensor.
摘要翻译：控制系统包括：第一压力传感器，设置在操作装置和控制阀之间的先导油通道中并检测先导油的压力; 第二压力传感器，设置在控制阀和方向控制阀之间的先导油路中，并检测先导油的压力; 控制阀控制器控制控制阀; 数据获取单元，在由所述控制阀打开所述先导油路的状态下，获取关于所述第一压力传感器的检测值的数据和所述第二压力传感器的检测值; 以及校正单元，基于由数据获取单元获取的数据，校正第一压力传感器或第二压力传感器的检测值，使得第一压力传感器的检测值与第二压力传感器的检测值相同。

17. 发明申请

US20160251836A1 POSTURE COMPUTING APPARATUS FOR WORK MACHINE, WORK MACHINE, AND POSTURE COMPUTATION METHOD FOR WORK MACHINE 有权
标题翻译：工作机械，工作机械和姿势计算方法的工作机器的计算机设备
公开(公告)号：US20160251836A1
公开(公告)日：2016-09-01
申请号：US14390157
申请日：2014-06-04
申请人： KOMATSU LTD.
发明人： Akinori Baba , Masashi Ichihara
IPC分类号： E02F9/26 , E02F3/43
CPC分类号： E02F9/265 , E02F3/32 , E02F3/435 , E02F9/123 , E02F9/2285 , E02F9/262 , G01C21/16
摘要： A posture computing apparatus for a work machine includes a detection apparatus that is provided to the work machine and detects angular velocity and acceleration; a first posture angle computing unit that is provided to the detection apparatus and obtains a posture angle of the work machine from the angular velocity and the acceleration detected by the detection apparatus; a low-pass filter that allows the posture angle obtained by the first posture angle computing unit to pass therethrough to output the posture angle as a first posture angle; a second posture angle computing unit that outputs, as a second posture angle, a posture angle obtained from the angular velocity and the acceleration detected by the detection apparatus; and a selecting unit that outputs the first posture angle and the second posture angle in a switching manner, based on information about a change in an angle of the work machine.
摘要翻译：一种用于作业机械的姿势计算装置，包括：检测装置，其设置在作业机器上，检测角速度和加速度; 第一姿势角计算单元，其被提供给所述检测装置，并且根据所述检测装置检测到的角速度和加速度获得作业机械的姿势角; 低通滤波器，其允许由所述第一姿势角计算单元获得的姿态角度通过，以将所述姿势角输出为第一姿势角; 作为第二姿势角输出从检测装置检测出的角速度和加速度得到的姿势角的第二姿势角计算部; 以及选择单元，其基于关于作业机器的角度的变化的信息，以切换的方式输出第一姿态角度和第二姿势角度。

18. 发明申请

US20160237655A1 POSTURE COMPUTING APPARATUS FOR WORK MACHINE, WORK MACHINE, AND POSTURE COMPUTATION METHOD FOR WORK MACHINE 有权
标题翻译：工作机械，工作机械和姿势计算方法的工作机器的计算机设备
公开(公告)号：US20160237655A1
公开(公告)日：2016-08-18
申请号：US14386076
申请日：2014-06-04
申请人： KOMATSU LTD.
发明人： Akinori Baba , Masashi Ichihara
IPC分类号： E02F9/26 , E02F9/20 , E02F3/43
CPC分类号： E02F9/264 , E02F3/32 , E02F3/437 , E02F9/2033 , E02F9/2037 , E02F9/262
摘要： A posture computing apparatus for a work machine is an apparatus that obtains a posture angle of a work machine including a traveling body and a swing body that is mounted on the traveling body and that rotates relative to the traveling body. The posture computing apparatus includes a detection apparatus that is provided to the swing body and detects angular velocity and acceleration; an acceleration correcting unit that corrects the acceleration detected by the detection apparatus, based on a position where the detection apparatus is placed and information on the detection apparatus; and a posture angle computing unit that obtains a posture angle of the work machine from the acceleration corrected by the acceleration correcting unit and the angular velocity detected by the detection apparatus.
摘要翻译：作业机械的姿势计算装置是获得包括行进体和摆动体的作业机械的姿势角的装置，其安装在行驶体上并相对于行驶体旋转。姿势计算装置包括：检测装置，其设置在所述摆动体上，检测角速度和加速度; 加速度校正单元，其基于检测装置的位置和关于检测装置的信息来校正由检测装置检测到的加速度; 以及姿势角计算单元，其根据由加速度校正单元校正的加速度和由检测装置检测的角速度获得作业机械的姿势角。

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