CN112384661B - 运输车辆、包括向运输车辆装载原材料的作业机械的系统、方法以及作业机械 - Google Patents

运输车辆、包括向运输车辆装载原材料的作业机械的系统、方法以及作业机械 Download PDF

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Publication number
CN112384661B
CN112384661B CN201980045277.7A CN201980045277A CN112384661B CN 112384661 B CN112384661 B CN 112384661B CN 201980045277 A CN201980045277 A CN 201980045277A CN 112384661 B CN112384661 B CN 112384661B
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China
Prior art keywords
transport vehicle
work machine
distance
target
controller
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CN201980045277.7A
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English (en)
Chinese (zh)
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CN112384661A (zh
Inventor
逢泽正宪
岛田健二郎
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Komatsu Ltd
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Komatsu Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/267—Diagnosing or detecting failure of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
    • B60P1/16—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element actuated by fluid-operated mechanisms
    • B60P1/162—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element actuated by fluid-operated mechanisms the hydraulic system itself
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN201980045277.7A 2018-10-10 2019-09-18 运输车辆、包括向运输车辆装载原材料的作业机械的系统、方法以及作业机械 Active CN112384661B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018-191789 2018-10-10
JP2018191789A JP7156898B2 (ja) 2018-10-10 2018-10-10 運搬車両と運搬車両に素材を積み込む作業機械とを含むシステム、方法、及び作業機械
PCT/JP2019/036532 WO2020075458A1 (ja) 2018-10-10 2019-09-18 運搬車両と運搬車両に素材を積み込む作業機械とを含むシステム、方法、及び作業機械

Publications (2)

Publication Number Publication Date
CN112384661A CN112384661A (zh) 2021-02-19
CN112384661B true CN112384661B (zh) 2023-03-21

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US (1) US11914380B2 (enExample)
JP (1) JP7156898B2 (enExample)
CN (1) CN112384661B (enExample)
DE (1) DE112019003683T5 (enExample)
WO (1) WO2020075458A1 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4190977A4 (en) * 2020-07-31 2024-09-04 Hitachi Construction Machinery Co., Ltd. UNMANNED CONSTRUCTION VEHICLE
JP7450491B2 (ja) * 2020-07-31 2024-03-15 日立建機株式会社 無人作業機械
JP7450492B2 (ja) * 2020-07-31 2024-03-15 日立建機株式会社 無人作業機械
JP7757031B2 (ja) * 2020-09-25 2025-10-21 コベルコ建機株式会社 自動積込システム
JP7484623B2 (ja) * 2020-09-25 2024-05-16 コベルコ建機株式会社 停止指示システム
JP7354975B2 (ja) * 2020-09-25 2023-10-03 コベルコ建機株式会社 停止指示システム
JP7374142B2 (ja) * 2021-03-01 2023-11-06 日立建機株式会社 ホイールローダ
EP4301935A4 (en) * 2021-03-05 2025-01-08 Topcon Positioning Systems, Inc. METHOD FOR AUTOMATIC CONTROL OF CYCLIC PROCESSES OF AN EARTH-MOVING MACHINE
JP7713377B2 (ja) * 2021-12-01 2025-07-25 大成建設株式会社 施工支援システム、施工支援方法、および演算装置
JP2023103810A (ja) * 2022-01-14 2023-07-27 日立建機株式会社 作業機械
US12110660B2 (en) 2022-02-24 2024-10-08 Caterpillar Inc. Work machine 3D exclusion zone
CN115187894A (zh) * 2022-06-14 2022-10-14 国网浙江省电力有限公司 基于传感器和聚类分析模型的机耗量智能计量方法及系统
JP2024085103A (ja) * 2022-12-14 2024-06-26 株式会社小松製作所 作業機械を含むシステム、作業機械の制御方法、および作業機械のコントローラ
CN116479972B (zh) * 2023-04-18 2025-12-02 网易灵动(杭州)科技有限公司 信息控制方法、装置、电子设备和存储介质

Citations (6)

* Cited by examiner, † Cited by third party
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US4027772A (en) * 1975-04-17 1977-06-07 Fulton Industries, Inc. Protective circuit for overload sensor
JPH0986262A (ja) * 1995-09-26 1997-03-31 Komatsu Ltd 上部旋回式クローラダンプの操作レバー及びペダル
JP2000192514A (ja) * 1998-12-28 2000-07-11 Hitachi Constr Mach Co Ltd 自動運転建設機械およびその運転方法
JP2013002161A (ja) * 2011-06-17 2013-01-07 Komatsu Ltd 無人走行車両の走行禁止領域設定システム及び無人走行車両の走行禁止領域設定用コンピュータプログラム
CN104541250A (zh) * 2013-08-20 2015-04-22 株式会社小松制作所 建筑机械用控制器
WO2016167375A1 (ja) * 2016-04-28 2016-10-20 株式会社小松製作所 作業機械の管理装置

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US8930043B2 (en) 2010-11-30 2015-01-06 Caterpillar Inc. Machine control system having autonomous resource queuing
DE112012001508T5 (de) * 2011-03-31 2014-01-23 Hitachi Construction Machinery Co., Ltd. Positionseinstellsystem für eine Beförderungsmaschine
AU2012327156B2 (en) 2011-10-17 2015-03-26 Hitachi Construction Machinery Co., Ltd. System for indicating parking position and direction of dump truck, and transportation system
US8825314B2 (en) * 2012-07-31 2014-09-02 Caterpillar Inc. Work machine drive train torque vectoring
WO2014119711A1 (ja) * 2013-01-31 2014-08-07 日立建機株式会社 運搬機械の位置調整システム
JP6247983B2 (ja) 2014-03-31 2017-12-13 日立建機株式会社 車両走行システム及び管制サーバ
JP7245581B2 (ja) * 2018-10-10 2023-03-24 株式会社小松製作所 運搬車両に素材を積み込む作業機械を制御するためのシステム及び方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4027772A (en) * 1975-04-17 1977-06-07 Fulton Industries, Inc. Protective circuit for overload sensor
JPH0986262A (ja) * 1995-09-26 1997-03-31 Komatsu Ltd 上部旋回式クローラダンプの操作レバー及びペダル
JP2000192514A (ja) * 1998-12-28 2000-07-11 Hitachi Constr Mach Co Ltd 自動運転建設機械およびその運転方法
JP2013002161A (ja) * 2011-06-17 2013-01-07 Komatsu Ltd 無人走行車両の走行禁止領域設定システム及び無人走行車両の走行禁止領域設定用コンピュータプログラム
CN104541250A (zh) * 2013-08-20 2015-04-22 株式会社小松制作所 建筑机械用控制器
WO2016167375A1 (ja) * 2016-04-28 2016-10-20 株式会社小松製作所 作業機械の管理装置

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Publication number Publication date
CN112384661A (zh) 2021-02-19
US11914380B2 (en) 2024-02-27
DE112019003683T5 (de) 2021-06-24
US20210165414A1 (en) 2021-06-03
JP2020060032A (ja) 2020-04-16
JP7156898B2 (ja) 2022-10-19
WO2020075458A1 (ja) 2020-04-16

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