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1. 发明申请

US20160138240A1 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：US20160138240A1
公开(公告)日：2016-05-19
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： E02F3/43 , E02F9/20 , F15B13/06 , E02F3/42 , E02F9/22 , F15B11/17 , E02F9/26 , E02F3/32
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。

2. 发明申请

US20140297040A1 EXCAVATION CONTROL SYTEM FOR HYDRAULIC EXCAVATOR 有权
标题翻译：液压挖掘机挖掘控制系统
公开(公告)号：US20140297040A1
公开(公告)日：2014-10-02
申请号：US14355932
申请日：2013-10-18
申请人： KOMATSU LTD.
发明人： Akinori Baba , Tetsuya Nakayama , Masashi Ichihara
IPC分类号： G05B13/02
CPC分类号： G05B13/026 , E02F9/2037
摘要： An excavation control system includes a global coordinate computing device, a prediction correcting part, a cutting edge position data generating part, and a designed terrain data generating part. The global coordinate computing device generates revolving unit orientation data (Q) that indicates an orientation of a revolving unit. The prediction correcting part generates corrected revolving unit orientation data (R) by predictively correcting the revolving unit orientation data (Q) based on a delay time (t) and revolve angle speed data (Dω) that indicates a revolve angle speed (ω) of the revolving unit. The cutting edge position data generating part generates cutting edge position data (S) that indicates a position of a cutting edge based on reference position data (P1), the revolving unit orientation data (Q), and the corrected revolving unit orientation data (R). The designed terrain data generating part generates designed terrain data (U) based on the cutting edge position data (S) and stereoscopic designed terrain data (T).
摘要翻译：挖掘控制系统包括全局坐标计算装置，预测校正部，切削刃位置数据生成部以及设计的地形数据生成部。全局坐标计算装置产生指示旋转单元的定向的旋转单元取向数据（Q）。预测校正部通过基于延迟时间（t）和指示旋转角速度（ω）的旋转角速度数据（Dω）预测性地校正回转单位取向数据（Q）来生成校正旋转单元取向数据（R）旋转单元。切削刃位置数据生成部基于基准位置数据（P1），旋转单元取向数据（Q）和修正的旋转单元取向数据（R），生成表示切削刃的位置的切削刃位置数据（S））。设计的地形数据生成部基于切削刃位置数据（S）和立体设计的地形数据（T）生成设计的地形数据（U）。

3. 发明授权

US11433887B2 Unmanned vehicle control system, unmanned vehicle, and unmanned vehicle control method 有权
公开(公告)号：US11433887B2
公开(公告)日：2022-09-06
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： G05D1/00 , B60W30/14 , B60W60/00 , G05D1/02 , 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.

4. 发明申请

US20160281331A1 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：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
IPC分类号： E02F9/22 , E02F3/32 , E02F9/26 , E02F9/20 , E02F3/43
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。

5. 发明授权

US11237566B2 Control device for unmanned vehicle and control method for unmanned vehicle 有权
公开(公告)号：US11237566B2
公开(公告)日：2022-02-01
申请号：US16618502
申请日：2018-10-31
申请人： Komatsu Ltd.
发明人： Masanori Ogihara , Ryuu Yamamura , Akinori Baba
IPC分类号： F01P7/00 , B62D5/06 , F01P5/00 , G05D1/02 , B62D5/065 , B62D5/07 , B62D5/12 , B62D6/00
摘要： A control device for an unmanned vehicle includes a temperature data acquisition unit acquiring temperature data of hydraulic oil supplied to a first hydraulic actuator actuating a steering device of the unmanned vehicle, and a command output unit outputting a change command for changing a travel parameter of the unmanned vehicle based on the temperature data.

6. 发明申请

US20160265187A1 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：US20160265187A1
公开(公告)日：2016-09-15
申请号：US14762960
申请日：2015-03-24
申请人： KOMATSU LTD.
发明人： Akinori Baba , Katsuhiro Ikegami , Takeshi Takaura , Masashi Ichihara , Yuki Shimano
IPC分类号： E02F3/43 , E02F3/96 , E02F3/42 , E02F9/20 , E02F9/22
CPC分类号： E02F3/435 , E02F3/32 , E02F3/425 , E02F3/963 , E02F9/2012 , E02F9/2029 , E02F9/2228 , E02F9/2271 , E02F9/2285 , E02F9/265 , F15B2211/329 , F15B2211/36 , F15B2211/6316 , F15B2211/6336 , F15B2211/634 , F15B2211/6346 , F15B2211/6355 , F15B2211/6653 , F15B2211/67 , F15B2211/7142 , F15B2211/75
摘要： A construction machine control system for a construction machine that includes a work machine including a boom, an arm, and a bucket includes: an adjusting device having a movable spool and being capable of adjusting an amount of operating oil supplied to a hydraulic cylinder that drives the work machine with movement of the spool; an operation command unit adjusting the spool; a storage unit storing a plurality of pieces of correlation data indicating a relation between a cylinder speed of the hydraulic cylinder and an operation command value of operating the hydraulic cylinder according to a type of the bucket; an acquiring unit acquiring type data indicating the type of the bucket; and a control unit selecting one piece of correlation data from the plurality of pieces of correlation data based on the type data and controlling the operation command value based on the selected correlation data.
摘要翻译：一种用于建筑机械的施工机械控制系统，其包括具有起重臂，臂和铲斗的作业机械，包括：具有可动卷轴的调节装置，其能够调节供给到驱动的液压缸的工作油量工作机具有线轴的运动; 操作指令单元，调节所述线轴; 存储单元，根据所述铲斗的种类，存储表示所述液压缸的缸速与所述液压缸的运转指令值的关系的多个相关数据; 获取单元获取指示所述桶的类型的类型数据; 以及控制单元，基于所述类型数据从所述多个相关数据中选择一条相关数据，并且基于所选择的相关数据来控制所述操作命令值。

7. 发明授权

US09411325B2 Excavation control system for hydraulic excavator 有权
标题翻译：液压挖掘机挖掘控制系统
公开(公告)号：US09411325B2
公开(公告)日：2016-08-09
申请号：US14355932
申请日：2013-10-18
申请人： KOMATSU LTD.
发明人： Akinori Baba , Tetsuya Nakayama , Masashi Ichihara
IPC分类号： G06F19/00 , G05B13/02 , E02F9/20
CPC分类号： G05B13/026 , E02F9/2037
摘要： An excavation control system includes a global coordinate computing device, a prediction correcting part, a cutting edge position data generating part, and a designed terrain data generating part. The global coordinate computing device generates revolving unit orientation data (Q) that indicates an orientation of a revolving unit. The prediction correcting part generates corrected revolving unit orientation data (R) by predictively correcting the revolving unit orientation data (Q) based on a delay time (t) and revolve angle speed data (Dω) that indicates a revolve angle speed (ω) of the revolving unit. The cutting edge position data generating part generates cutting edge position data (S) that indicates a position of a cutting edge based on reference position data (P1), the revolving unit orientation data (Q), and the corrected revolving unit orientation data (R). The designed terrain data generating part generates designed terrain data (U) based on the cutting edge position data (S) and stereoscopic designed terrain data (T).
摘要翻译：挖掘控制系统包括全局坐标计算装置，预测校正部，切削刃位置数据生成部以及设计的地形数据生成部。全局坐标计算装置产生指示旋转单元的定向的旋转单元取向数据（Q）。预测校正部通过基于延迟时间（t）和指示旋转角速度（ω）的旋转角速度数据（Dω）预测性地校正回转单位取向数据（Q）来生成校正旋转单元取向数据（R）旋转单元。切削刃位置数据生成部基于基准位置数据（P1），旋转单元取向数据（Q）和修正的旋转单元取向数据（R），生成表示切削刃的位置的切削刃位置数据（S））。设计的地形数据生成部基于切削刃位置数据（S）和立体设计的地形数据（T）生成设计的地形数据（U）。

8. 发明授权

US09739038B2 Posture computing apparatus for work machine, work machine, and posture computation method for work machine 有权
公开(公告)号：US09739038B2
公开(公告)日：2017-08-22
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
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.

9. 发明授权

US09689140B2 Construction machine control system, construction machine, and construction machine control method 有权
公开(公告)号：US09689140B2
公开(公告)日：2017-06-27
申请号：US14762960
申请日：2015-03-24
申请人： Komatsu Ltd.
发明人： Akinori Baba , Katsuhiro Ikegami , Takeshi Takaura , Masashi Ichihara , Yuki Shimano
IPC分类号： E02F3/43 , E02F3/96 , E02F9/20 , E02F9/22 , E02F9/26 , E02F3/42 , E02F3/32
CPC分类号： E02F3/435 , E02F3/32 , E02F3/425 , E02F3/963 , E02F9/2012 , E02F9/2029 , E02F9/2228 , E02F9/2271 , E02F9/2285 , E02F9/265 , F15B2211/329 , F15B2211/36 , F15B2211/6316 , F15B2211/6336 , F15B2211/634 , F15B2211/6346 , F15B2211/6355 , F15B2211/6653 , F15B2211/67 , F15B2211/7142 , F15B2211/75
摘要： A construction machine control system for a construction machine that includes a work machine including a boom, an arm, and a bucket includes: an adjusting device having a movable spool and being capable of adjusting an amount of operating oil supplied to a hydraulic cylinder that drives the work machine with movement of the spool; an operation command unit adjusting the spool; a storage unit storing a plurality of pieces of correlation data indicating a relation between a cylinder speed of the hydraulic cylinder and an operation command value of operating the hydraulic cylinder according to a type of the bucket; an acquiring unit acquiring type data indicating the type of the bucket; and a control unit selecting one piece of correlation data from the plurality of pieces of correlation data based on the type data and controlling the operation command value based on the selected correlation data.

10. 发明授权

US09605412B2 Construction machine control system, construction machine, and construction machine control method 有权
公开(公告)号：US09605412B2
公开(公告)日：2017-03-28
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
IPC分类号： G06F7/70 , E02F9/22 , E02F3/43 , E02F9/26 , E02F9/20 , E02F3/32
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.

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