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1. 发明授权

US10968607B2 Calibration device of work machine, work machine, and calibration method of work machine 有权
公开(公告)号：US10968607B2
公开(公告)日：2021-04-06
申请号：US15574951
申请日：2015-10-28
申请人： Komatsu Ltd.
发明人： Tsutomu Iwamura , Masanobu Seki , Masashi Ichihara , Kenjiro Shimada , Satoru Shintani , Yuki Shimano , Eiji Ishibashi
IPC分类号： E02F3/04 , E02F3/28 , E02F9/24 , E02F9/26 , E02F3/43 , E02F9/20 , E02F3/84 , E02F9/22
摘要： When correcting an error caused by deviation of an attitude detection device with respect to a work machine including a swing body which swings, a working implement being attached to the swing body, the attitude detection device outputting an attitude of the work machine, the error is corrected by using a first position which is a position of a part of the work machine when the work machine is in a first attitude and a second position which is a position of the part when the work machine is in a second attitude.

2. 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.

3. 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.

4. 发明授权

US09617709B2 Work vehicle and method of controlling work vehicle 有权
公开(公告)号：US09617709B2
公开(公告)日：2017-04-11
申请号：US14655130
申请日：2015-02-02
申请人： KOMATSU LTD.
发明人： Satoru Shintani , Yuto Fujii , Masanobu Seki , Masashi Ichihara , Yoshiki Kami
IPC分类号： G06F7/70 , G06F19/00 , G06G7/00 , G06G7/76 , E02F3/43 , E02F9/22 , E02F9/26 , E02F3/36 , E02F9/20 , E02F3/32
CPC分类号： E02F3/435 , B60Y2200/412 , B60Y2400/306 , B60Y2400/406 , B60Y2400/92 , E02F3/32 , E02F3/3677 , E02F3/3681 , E02F3/43 , E02F9/2004 , E02F9/2037 , E02F9/22 , E02F9/26 , E02F9/261 , E02F9/262 , E02F9/264 , E02F9/265
摘要： A work vehicle includes a vehicular body, a work implement, an angle sensor, and a work implement control unit. A bucket is rotatable with respect to an arm around a bucket axis in parallel to an arm axis and a tilt axis orthogonal to a bucket axis. The angle sensor is provided in the bucket and detects an angle of inclination of the bucket with respect to a horizontal plane. The work implement control unit starts control of the work implement in which an operation of the work implement is controlled at least partially automatically when an angle of inclination of the bucket detected by the angle sensor is smaller than a first threshold value, and does not start control of the work implement when an angle of inclination of the bucket detected by the angle sensor is equal to or greater than the first threshold value.

5. 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.

6. 发明授权

US10443214B2 Control system for work vehicle, control method, and work vehicle 有权
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
IPC分类号： E02F9/26 , E02F3/43 , E02F9/22 , E02F3/32 , E02F9/20
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.

7. 发明申请

US20170342678A1 CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD 审中-公开
公开(公告)号：US20170342678A1
公开(公告)日：2017-11-30
申请号：US15322813
申请日：2016-05-31
申请人： Komatsu Ltd.
发明人： Tsutomu Iwamura , Yoshiro Iwasaki , Masashi Ichihara
IPC分类号： E02F3/43 , E02F3/32 , E02F9/20 , E02F9/26
CPC分类号： E02F3/435 , E02F3/32 , E02F3/3677 , E02F9/20 , E02F9/2033 , E02F9/2296 , E02F9/262 , E02F9/265
摘要： A construction machine control system includes: a target construction ground shape generation unit generating a target construction ground shape indicating a target shape of an excavation target; a tilting data calculation unit calculating tilting data of a bucket tilted about a tilting axis; a regulation point position data calculation unit calculating position data of a regulation point set in the bucket based on external shape data of the bucket including at least width data of the bucket; a tilting target ground shape calculation unit calculating a tilting target ground shape extending in a lateral direction of the bucket in the target construction ground shape based on the position data of the regulation point, the target construction ground shape, and the tilting data; and a working device control unit controlling a tilting of the bucket based on a distance between the regulation point and the tilting target ground shape.

8. 发明申请

US20170284070A1 CONTROL DEVICE FOR WORK MACHINE, WORK MACHINE, AND METHOD OF CONTROLLING WORK MACHINE 有权
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
IPC分类号： E02F9/26 , E02F3/32 , E02F3/43 , E02F9/20
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.

9. 发明申请

US20170247861A1 WORK MACHINE CONTROL DEVICE, WORK MACHINE, AND WORK MACHINE CONTROL METHOD 审中-公开
公开(公告)号：US20170247861A1
公开(公告)日：2017-08-31
申请号：US15114538
申请日：2016-02-29
申请人： KOMATSU LTD.
发明人： Toru Matsuyama , Masashi Ichihara
IPC分类号： E02F9/20 , E02F3/43
CPC分类号： E02F9/2025 , E02F3/32 , E02F3/435 , E02F9/2207 , E02F9/2292 , E02F9/2296 , E02F9/262
摘要： A control device includes a control unit configured to change a change rate of a moving speed of a working unit of a work machine according to the moving speed of the working unit in a timing of switching between intervention control toward the working unit and control of the working unit based on an operation command from an operation device.

10. 发明申请

US20160281334A1 CALIBRATION DEVICE FOR WORK MACHINE AND CALIBRATION METHOD OF WORKING EQUIPMENT PARAMETER FOR WORK MACHINE 有权
标题翻译：工作机械校准装置及工作机械设备参数校准方法
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
IPC分类号： E02F9/26 , G01D5/34 , G01D5/14 , E02F3/32 , E02F3/42
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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