EP3733981A4 - Control device of working machine and control method of working machine - Google Patents

Control device of working machine and control method of working machine Download PDF

Info

Publication number
EP3733981A4
EP3733981A4 EP19775283.5A EP19775283A EP3733981A4 EP 3733981 A4 EP3733981 A4 EP 3733981A4 EP 19775283 A EP19775283 A EP 19775283A EP 3733981 A4 EP3733981 A4 EP 3733981A4
Authority
EP
European Patent Office
Prior art keywords
working machine
control device
control method
control
working
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19775283.5A
Other languages
German (de)
French (fr)
Other versions
EP3733981B1 (en
EP3733981A1 (en
Inventor
Yohei Seki
Masataka OZAKI
Kota IMANISHI
Koji Aoshima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP3733981A1 publication Critical patent/EP3733981A1/en
Publication of EP3733981A4 publication Critical patent/EP3733981A4/en
Application granted granted Critical
Publication of EP3733981B1 publication Critical patent/EP3733981B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • 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
    • E02F3/283—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 single arm pivoted directly on the chassis
    • 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
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • 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
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
EP19775283.5A 2018-03-30 2019-03-11 Control device of working machine and control method of working machine Active EP3733981B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018070207A JP7141843B2 (en) 2018-03-30 2018-03-30 WORKING MACHINE CONTROL DEVICE AND WORKING MACHINE CONTROL METHOD
PCT/JP2019/009799 WO2019188221A1 (en) 2018-03-30 2019-03-11 Control device of working machine and control method of working machine

Publications (3)

Publication Number Publication Date
EP3733981A1 EP3733981A1 (en) 2020-11-04
EP3733981A4 true EP3733981A4 (en) 2021-11-03
EP3733981B1 EP3733981B1 (en) 2024-06-05

Family

ID=68061533

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19775283.5A Active EP3733981B1 (en) 2018-03-30 2019-03-11 Control device of working machine and control method of working machine

Country Status (5)

Country Link
US (1) US20200362530A1 (en)
EP (1) EP3733981B1 (en)
JP (1) JP7141843B2 (en)
CN (1) CN111684136A (en)
WO (1) WO2019188221A1 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6995687B2 (en) * 2018-04-27 2022-01-17 株式会社小松製作所 Loading machine control device and loading machine control method
US11624171B2 (en) 2020-07-31 2023-04-11 Baidu Usa Llc Engineering machinery equipment, and method, system, and storage medium for operation trajectory planning thereof
JP6996012B1 (en) * 2021-01-14 2022-01-17 オリエンタル白石株式会社 3D shape estimation system
JP2022145209A (en) * 2021-03-19 2022-10-03 株式会社小松製作所 Work machine control system and work machine control method
US20220403622A1 (en) * 2021-06-22 2022-12-22 Cnh Industrial America Llc System and method for automatically controlling a work vehicle during the performance of an earthmoving operation
DE102022203960A1 (en) * 2022-04-25 2023-10-26 Robert Bosch Gesellschaft mit beschränkter Haftung Method for improving the leveling angle control of a work machine

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6247538B1 (en) * 1996-09-13 2001-06-19 Komatsu Ltd. Automatic excavator, automatic excavation method and automatic loading method
US20170002541A1 (en) * 2015-07-02 2017-01-05 Caterpillar Inc. Excavation system providing impact detection
WO2017033623A1 (en) * 2015-08-24 2017-03-02 株式会社小松製作所 Wheel loader
US20180080193A1 (en) * 2016-09-21 2018-03-22 Deere & Company System and method for automatic dump control

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2711612B2 (en) * 1992-04-20 1998-02-10 株式会社フジタ Automatic transport system for earthworks
US6363632B1 (en) 1998-10-09 2002-04-02 Carnegie Mellon University System for autonomous excavation and truck loading
US6931772B2 (en) * 2001-10-18 2005-08-23 Hitachi Construction Machinery Co., Ltd. Hydraulic shovel work amount detection apparatus, work amount detection method, work amount detection result display apparatus
JP5920953B2 (en) * 2011-09-23 2016-05-24 ボルボ コンストラクション イクイップメント アーベー Method for selecting attack posture of work machine with bucket
US10017912B2 (en) * 2014-10-21 2018-07-10 Cnh Industrial America Llc Work vehicle with improved loader/implement position control and return-to-position functionality
JPWO2015129932A1 (en) 2015-03-25 2018-01-11 株式会社小松製作所 Wheel loader
US9938694B2 (en) * 2016-03-29 2018-04-10 Komatsu Ltd. Control device for work machine, work machine, and method of controlling work machine
US11434621B2 (en) * 2017-03-20 2022-09-06 Volvo Construction Equipment Ab Method for determining object position information
US10504372B2 (en) * 2017-12-11 2019-12-10 Caterpillar Inc. System and method for detection of load and dump locations
US11225777B2 (en) * 2018-03-14 2022-01-18 Hitachi Construction Machinery Co., Ltd. Work machine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6247538B1 (en) * 1996-09-13 2001-06-19 Komatsu Ltd. Automatic excavator, automatic excavation method and automatic loading method
US20170002541A1 (en) * 2015-07-02 2017-01-05 Caterpillar Inc. Excavation system providing impact detection
WO2017033623A1 (en) * 2015-08-24 2017-03-02 株式会社小松製作所 Wheel loader
US20180080193A1 (en) * 2016-09-21 2018-03-22 Deere & Company System and method for automatic dump control

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2019188221A1 *

Also Published As

Publication number Publication date
US20200362530A1 (en) 2020-11-19
EP3733981B1 (en) 2024-06-05
CN111684136A (en) 2020-09-18
EP3733981A1 (en) 2020-11-04
WO2019188221A1 (en) 2019-10-03
JP2019178598A (en) 2019-10-17
JP7141843B2 (en) 2022-09-26

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