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1. 发明申请

WO1991004378A1 BLADE CONTROLLER OF BULLDOZER 审中-公开
标题翻译： BULDOZER刀片控制器
公开(公告)号：WO1991004378A1
公开(公告)日：1991-04-04
申请号：PCT/JP1989000943
申请日：1989-09-14
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , SHINBO, Tetsuya , ONO, Toyoichi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E02F03/85
CPC分类号： E02F3/842 , E02F3/847 , Y10S37/907
摘要： This invention relates to a blade controller of a bulldozer which can level or grade the ground smoothly, highly accurately, efficiently and quickly without being affected by pitching of the tractor main body of a bulldozer and by a soil moving quantity of the blade. The controller includes at least two light receptors (2, 3) disposed in a longitudinal direction of the tractor main body (1) in the spaced-apart relation, detecting the optical reference surface (6) formed by a projector (4) and outputting the respective level signals, and a blade controller (13) for controlling a hydraulic valve actuator (14) operating the blade (8) of the bulldozer in accordance with the level signals. Each light receptor (2, 3) can have a three-dimensional position detection function for detecting a three-dimensional position of the tractor main body (1) and in this case, the blade controller (13) controls the hydraulic valve actuator on the basis of an output signal from a position measuring controller (23) for determining the work-done data of the work upon receiving the level signal outputted from each light receptor.

2. 发明申请

WO1993007343A1 DEVICE FOR CONTROLLING WORKING VEHICLE IN MATERIAL TRANSFER SYSTEM 审中-公开
标题翻译：用于控制材料转运系统中工作车辆的装置
公开(公告)号：WO1993007343A1
公开(公告)日：1993-04-15
申请号：PCT/JP1992001308
申请日：1992-10-08
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , GOCHO, Tomohiro , YAMABE, Narimasa , OMIYA, Kazutaka , HAMAGUCHI, Takehisa , KAMIKAWA, Katsuhiro , ONO, Toyoichi , TANABE, Kenji , HITOMI, Shin-ichi , MORI, Masaki
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E02F03/43
CPC分类号： G06Q10/08 , E02F3/434 , E02F9/2045
摘要： A material transfer system provided with a command station and used for transferring materials stocked at a material stock yard to a hopper by means of an automatically travellable working vehicle that communicates with said command station, in which: a plurality of different tasks to be done by the working vehicle are divided into fundamental work patterns each not common to the others; work patterns thus divided are taken out one by one from a plurality of said tasks so as not to be common to each other and a plurality of fundamental work pattern programs respectively corresponding to a plurality of taken-out fundamental work patterns are stored in memory; when a work instruction from said command station is inputted, a combination of a plurality of said fundamental work pattern programs corresponding to said work instruction is prepared by reading out data stored in said memory, whereby tasks are automatically conducted on the basis of said combination of programs and memory efficiently is improved preparing a redundancy-free and efficient work program to be performed by the working vehicle so that flexible programs can be prepared when a new task is required.

3. 发明申请

WO1989003077A1 AUTOMATIC TRAVELLING SYSTEM OF CONSTRUCTION VEHICLE 审中-公开
标题翻译：建筑车辆自动行驶系统
公开(公告)号：WO1989003077A1
公开(公告)日：1989-04-06
申请号：PCT/JP1988000994
申请日：1988-09-29
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , ONO, Toyoichi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： G05D01/12
CPC分类号： G05D1/024 , G05D1/0236 , G05D1/0265 , G05D2201/0202
摘要： This invention relates to an automatic travelling system of a construction vehicle which reduces remarkably the number of guide lines to be laid down in order to reduce the installation cost and to make the guiding operation of the vehicle accurate and easy. The automatic travelling system in accordance with the present invention is installed on a travelling road surface for a vehicle (V or 22) disposed between a raw material site (1) storing sand and gravel, ore, etc. and raw material depots (6a - 6e) of a plant (5), and includes a plurality of guide lines (L, 9 or l) as main travelling path means of the vehicle and a plurality of detectors (D, 23 or 34) mounted on the vehicle in such a manner as to detect the guide lines. The guide lines are guide cables or laser beams.
摘要翻译：本发明涉及一种施工车辆的自动行驶系统，其显着减少了要放下的导向线的数量，以便降低安装成本并使车辆的引导操作准确和容易。根据本发明的自动行驶系统安装在设置在存储砂和砾石，矿石等的原料部位（1）和原料贮存库（6a-1）之间的车辆行驶路面（V或22） 6），并且包括作为车辆的主行进路径装置的多条引导线（L，9或1）和安装在车辆上的多个检测器（D，23或34）以检测引导线。引导线是导向电缆或激光束。

4. 发明申请

WO1990013856A1 TRAVELLING CONTROL APPARATUS FOR VEHICULES 审中-公开
标题翻译：车辆行驶控制装置
公开(公告)号：WO1990013856A1
公开(公告)日：1990-11-15
申请号：PCT/JP1989000459
申请日：1989-05-01
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , ONO, Toyoichi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： G05D01/02
CPC分类号： G01S5/0247 , G01S5/08 , G05D1/028 , G05D1/0282
摘要： A travelling control apparatus used for the guided travelling of a vehicle, such as a dump truck. According to this apparatus, first, second and third synchronized radio waves (m1), (m2), (m3) are transmitted from different predetermined positions on the ground. These radio waves (m1), (m2), (m3) are received by a vehicle (20), and the position and attitude angle of the vehicle are detected on the basis of differences in the time of reception between the radio waves. A steering command for moving the vehicle along a preset travelling path is determined on the basis of the preset travelling path and the position and attitude angle of the vehicle, and a vehicle steering angle is controlled to a level which is in conformity with this steering command.
摘要翻译：用于诸如自卸车的车辆的导向行驶的行驶控制装置。根据该装置，从地面上的不同的预定位置发送第一，第二和第三同步无线电波（m1），（m2），（m3）。这些无线电波（m1），（m2），（m3）由车辆（20）接收，并且基于无线电波之间的接收时间的差异来检测车辆的位置和姿态角。基于预设的行驶路径和车辆的位置和姿态角度来确定用于沿着预设行驶路径移动车辆的转向命令，并且将车辆转向角控制到与该转向命令一致的水平。

5. 发明申请

WO1987007368A1 APPARATUS FOR MEASURING POSITION OF MOVING BODY 审中-公开
标题翻译：用于测量移动体的位置的装置
公开(公告)号：WO1987007368A1
公开(公告)日：1987-12-03
申请号：PCT/JP1987000325
申请日：1987-05-21
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , ONO, Toyoichi , ONO, Yoshihisa , ICHIMURA, Yasuhiko , SAKANISHI, Shoichi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： G01C15/00
CPC分类号： G01S5/16 , E02F3/847 , G01C15/004
摘要： First and second flood lamp means, which are adapted to project rotary laser beams turning at a predetermined cycle, are provided at two predetermined fixed points, and first, second and third light-receiving means, which are adapted to detect the timing and height of the reception of rotary laser beams, on a moving body. The angles of rotation of these two rotary laser beams with respect to a reference direction are determined on the basis of the outputs from the first, second and third light-receiving means, and the position and height of each light-receiving means are calculated from the resultant angles of rotation. As a result, the position and angle of posture of the moving body can be determined with a high accuracy, and these data can be displayed realtime. In order to accurately measure the angles of rotation of the two rotary laser beams with respect to the reference direction, two light-receiving means are provided on the straight line connecting the first and second flood lamp means. This enables the reference direction of each rotary laser beam to be detected accurately, and the position-measurement accuracy to be improved.
摘要翻译：第一和第二泛光灯装置，其适于投影以预定周期转动的旋转激光束，设置在两个预定的固定点处，第一和第二光接收装置适于检测时间和高度在移动体上接收旋转激光束。基于来自第一，第二和第三光接收装置的输出确定这两个旋转激光束相对于参考方向的旋转角度，并且每个光接收装置的位置和高度由产生的旋转角度。结果，可以高精度地确定移动体的位置和姿势，并且可以实时地显示这些数据。为了精确地测量两个旋转激光束相对于基准方向的旋转角度，在连接第一和第二泛光灯装置的直线上设置两个光接收装置。这使得能够精确地检测每个旋转激光束的参考方向，并且提高位置测量精度。

6. 发明申请

WO1989003049A1 POSITION METER USING LASER BEAM 审中-公开
标题翻译：使用激光束的位置计
公开(公告)号：WO1989003049A1
公开(公告)日：1989-04-06
申请号：PCT/JP1988001008
申请日：1988-09-30
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , ONO, Toyoichi , TANABE, Kenji , ASAYAMA, Yoshio
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： G01S05/16
CPC分类号： G01C15/002 , G01S5/16
摘要： The present invention provides a position meter which can be used by installing only one laser receiver and can reliably measure the position of a point to be measured even if there is a great difference in level between the position of installation of a laser projector and that of the laser receiver on rugged outdoor construction sites. The position meter of the invention includes laser projectors (10, 13) disposed at two specified points spaced apart from each other, one laser receiver (16) disposed at the point of measurement, reference direction finders (11, 14) and reference direction signal transmitters (12, 15) disposed on the side of the laser projectors and a reference direction receiver (17) and an operational unit (18) disposed on the side of the laser receiver. Furthermore, the laser projector of the invention includes projection angle changing means for changing the elevation angle or depression angle of the laser beam while the laser receiver includes position correction means for correcting the laser beam reception height on the basis of the output from the projection angle changing means.
摘要翻译：本发明提供了一种位置计，其仅通过安装一个激光接收器可以使用，并且即使在激光投影机的安装位置与激光投影仪的安装位置之间的水平差很大的情况下也可以可靠地测量被测点的位置激光接收器在坚固的户外施工现场。本发明的位置计包括设置在彼此间隔开的两个特定点处的激光投射器（10,13），设置在测量点处的一个激光接收器（16），参考取向器（11,14）和参考方向信号设置在激光投射器侧的发射器（12,15）和设置在激光接收器一侧的参考方向接收器（17）和操作单元（18）。此外，本发明的激光投影仪具有用于改变激光束的仰角或仰角的投影角度改变装置，同时激光接收机包括基于投影角度的输出校正激光束接收高度的位置校正装置改变手段

7. 发明申请

WO1988005938A1 VEHICLE NAVIGATOR 审中-公开
标题翻译：车辆导航
公开(公告)号：WO1988005938A1
公开(公告)日：1988-08-11
申请号：PCT/JP1988000112
申请日：1988-02-05
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , ONO, Toyoichi , OKAMOTO, Akira , ICHIMURA, Yasuhiko
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： G05D01/02
CPC分类号： G05D1/0011 , G05D1/0282
摘要： Electromagnetic waves (m1, m2, m3) for measurement sent from a main station (3) and two sub-stations (4, 5) installed on the site of work are received by a mobile station (9) mounted on a vehicle. A mobile processing means (10) detects the position of the vehicle based upon a difference in the time of receiving between the electromagnetic waves (m1, m2, m3) for measurement. A vehicle guiding unit (12) works to guide the vehicle along a predetermined running path based upon the detected position of the vehicle. The control data and the vehicle data are transmitted and received between the main station (3) and the mobile station (9), and are displayed on a mobile display means (11) and on a control display means (7). These data are used for supporting the vehicle operation. The mobile processing means (10) further has a function of automatically calculating the running path based upon the points of departure and destination.
摘要翻译：由安装在工作现场的主站（3）和两个子站（4,5）发送的用于测量的电磁波（m1，m2，m3）由安装在车辆上的移动台（9）接收。移动处理装置（10）基于用于测量的电磁波（m1，m2，m3）之间的接收时间差来检测车辆的位置。基于检测到的车辆位置，车辆引导单元（12）用于沿着预定行驶路径引导车辆。控制数据和车辆数据在主站（3）和移动站（9）之间发送和接收，并被显示在移动显示装置（11）和控制显示装置（7）上。这些数据用于支持车辆操作。移动处理装置（10）还具有基于出发点和目的地自动计算行驶路径的功能。

8. 发明申请

WO1988003674A1 COMPOSITE METHOD AND APPARATUS FOR GUIDING VEHICLES 审中-公开
标题翻译：用于引导车辆的复合方法和装置
公开(公告)号：WO1988003674A1
公开(公告)日：1988-05-19
申请号：PCT/JP1986000567
申请日：1986-11-07
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , HASHIMOTO, Haruo , ONO, Toyoichi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： G05D01/02
CPC分类号： G05D1/028 , G05D1/0265 , G05D2201/0202
摘要： A vehicle is guided in a fixed destination region where a high guiding precision is required and in variable destination region where it is required to vary the path leading to a destination. In the fixed destination region, the vehicle is guided by the method which employs a guide line. In the variable destination region, the vehicle is guided by a guide method which measures the electromagnetic waves from a point when the vehicle goes out of the guide line until a point when it returns to the guide line.
摘要翻译：在需要高导向精度的固定目的地区域和需要改变通往目的地的路径的可变目的地区域中引导车辆。在固定目的地区域中，车辆由采用引导线的方法引导。在可变目的地区域中，通过导引方法来引导车辆，该引导方法从车辆从引导线出来的点直到返回到引导线的点为止测量电磁波。

9. 发明申请

WO1991014078A1 METHOD AND SYSTEM FOR DETECTING COLLAPSE OF NATURAL GROUND IN SHIELD DRIVING METHOD 审中-公开
标题翻译：用于检测盾构驱动方法中自然接地褶皱的方法和系统
公开(公告)号：WO1991014078A1
公开(公告)日：1991-09-19
申请号：PCT/JP1991000317
申请日：1991-03-08
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , YAMAMOTO, Masahiko , SHIBATANI, Kanji , YAMAGUCHI, Hiroaki , KANEMITSU, Yasuo , SHINBO, Tetsuya , ABE, Tomoyuki , ICHIMURA, Yasuhiko , SAKANISHI, Shoichi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E21D09/06
CPC分类号： E21D9/093
摘要： A method and a system for performing measurement by the resistivity method in order to detect the thickness of a sludge layer on the outer periphery of a shield machine. A reference resistivity on the outer periphery of the machine is measured by a row of the Wenner electrodes (14) to thereby detect the resistivity in the direction of the depth of the natural ground and the thickness of the sludge layer. At the same time, voltage distributions in the direction of the depth of the natural ground and in the direction of the arrangement of the electrodes are measured by a row of the dipole electrodes (16). Ratios of measured values by the dipole electrodes to those by the reference Wenner electrode row are obtained, to thereby form a distribution. Values equal to one another on a chart of this distribution are plotted by a continuous curve to obtain a contour line-shaped picture image, so that a shape of collapse of the natural ground can be recognized. This may be displayed two-dimensionally or three-dimensionally through image processing. Furthermore, a plurality of sets of the electrode rows (14, 16) are provided in the circumferential direction of the shield machine, whereby a resistivity is detected while electric currents different in frequencies are supplied, so that a collapse of the natural ground can be quickly measured.

10. 发明申请

WO1991014077A1 SYSTEM AND METHOD FOR TRANSMITTING AND CALCULATING DATA IN SHIELD MACHINE 审中-公开
标题翻译：用于传输和计算屏蔽机器数据的系统和方法
公开(公告)号：WO1991014077A1
公开(公告)日：1991-09-19
申请号：PCT/JP1991000316
申请日：1991-03-08
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , SAKANISHI, Shoichi , SHINBO, Tetsuya , ABE, Tomoyuki , ICHIMURA, Yasuhiko , KANEMITSU, Yasuo , SHIBATANI, Kanji , YAMAMOTO, Masahiko , YAMAGUCHI, Hiroaki
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： E21D09/06
CPC分类号： G08C23/00 , E21D9/093
摘要： A system and a method for transmitting data and for detecting a distance to the natural ground to calculate a void filling amount, in a shield machine. The system and method are characterized in that, even analogue signals and signals of relatively high frequencies can be transmitted with reliability, even an unskilled operator can accurately detect buried articles, the back-filling work can be carried out accurately, for these purposes, an optical rotary joint (100) is interposed between a rotatable cutter head (10) and a non-rotatable shield body (20), whereby a time up to detecting a peak value of a reflection signal higher than a reference value or a time up to detecting a zero-cross position therebefore is measured, from this time the distance between an antenna and the natural ground can be computed and displayed, and subsequently, a void volume is computed from this distance and further a target back-filling amount can be set.
摘要翻译：一种用于在屏蔽机器中传输数据并用于检测到自然地面的距离以计算空隙填充量的系统和方法。该系统和方法的特征在于，即使模拟信号和相对较高频率的信号也可以可靠地传输，即使不熟练的操作者也可以准确地检测埋置的物品，因此可以准确地执行回填工作，为此，为了这些目的，光学旋转接头（100）插入在可旋转的刀头（10）和不可旋转的屏蔽体（20）之间，由此直到检测到高于参考值的反射信号的峰值的时间或直到测量其前的零交叉位置，从此可以计算和显示天线与自然地面之间的距离，随后从该距离计算空隙体积，并且还可以设定目标后备量。

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