JP7141894B2 - 作業機械 - Google Patents

作業機械 Download PDF

Info

Publication number
JP7141894B2
JP7141894B2 JP2018166397A JP2018166397A JP7141894B2 JP 7141894 B2 JP7141894 B2 JP 7141894B2 JP 2018166397 A JP2018166397 A JP 2018166397A JP 2018166397 A JP2018166397 A JP 2018166397A JP 7141894 B2 JP7141894 B2 JP 7141894B2
Authority
JP
Japan
Prior art keywords
bucket
load
map
unit
toe
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.)
Active
Application number
JP2018166397A
Other languages
English (en)
Japanese (ja)
Other versions
JP2020037837A5 (enExample
JP2020037837A (ja
Inventor
宏明 田中
寿身 中野
悠介 鈴木
博史 坂本
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.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co 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
Priority to JP2018166397A priority Critical patent/JP7141894B2/ja
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Priority to CN201980015621.8A priority patent/CN111771029B/zh
Priority to KR1020207024447A priority patent/KR102444578B1/ko
Priority to PCT/JP2019/023409 priority patent/WO2020049821A1/ja
Priority to US16/981,508 priority patent/US11655612B2/en
Priority to EP19857161.4A priority patent/EP3848514B1/en
Publication of JP2020037837A publication Critical patent/JP2020037837A/ja
Publication of JP2020037837A5 publication Critical patent/JP2020037837A5/ja
Application granted granted Critical
Publication of JP7141894B2 publication Critical patent/JP7141894B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • 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
    • 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
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • 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
    • E02F9/264—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)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/162—Visual feedback on control action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/411—Bulldozers, Graders
    • 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
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Operation Control Of Excavators (AREA)
  • Soil Working Implements (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
JP2018166397A 2018-09-05 2018-09-05 作業機械 Active JP7141894B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2018166397A JP7141894B2 (ja) 2018-09-05 2018-09-05 作業機械
KR1020207024447A KR102444578B1 (ko) 2018-09-05 2019-06-13 작업 기계
PCT/JP2019/023409 WO2020049821A1 (ja) 2018-09-05 2019-06-13 作業機械
US16/981,508 US11655612B2 (en) 2018-09-05 2019-06-13 Work machine
CN201980015621.8A CN111771029B (zh) 2018-09-05 2019-06-13 作业机械
EP19857161.4A EP3848514B1 (en) 2019-06-13 Work machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018166397A JP7141894B2 (ja) 2018-09-05 2018-09-05 作業機械

Publications (3)

Publication Number Publication Date
JP2020037837A JP2020037837A (ja) 2020-03-12
JP2020037837A5 JP2020037837A5 (enExample) 2021-10-14
JP7141894B2 true JP7141894B2 (ja) 2022-09-26

Family

ID=69723122

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018166397A Active JP7141894B2 (ja) 2018-09-05 2018-09-05 作業機械

Country Status (5)

Country Link
US (1) US11655612B2 (enExample)
JP (1) JP7141894B2 (enExample)
KR (1) KR102444578B1 (enExample)
CN (1) CN111771029B (enExample)
WO (1) WO2020049821A1 (enExample)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190039709A (ko) * 2016-08-30 2019-04-15 클라크 이큅먼트 컴파니 파워 리프트
JP7236826B2 (ja) 2018-07-31 2023-03-10 株式会社小松製作所 作業機械
JP7481908B2 (ja) * 2020-05-29 2024-05-13 株式会社小松製作所 掘削計画作成装置、作業機械および掘削計画作成方法
US20230399812A1 (en) * 2020-11-09 2023-12-14 Hiroshima University Autonomous driving device for work machine
CN117083434A (zh) * 2021-03-25 2023-11-17 住友重机械工业株式会社 挖土机及施工管理系统
JP7608971B2 (ja) * 2021-06-03 2025-01-07 コベルコ建機株式会社 土質情報取得システムおよびこれを備える作業機械
WO2022270392A1 (ja) * 2021-06-25 2022-12-29 国立大学法人広島大学 建設機械および建設機械管理システム
EP4497875A1 (en) * 2022-03-22 2025-01-29 Hitachi Construction Machinery Co., Ltd. Work machine
DE102022203960A1 (de) 2022-04-25 2023-10-26 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Verbesserung der Planierwinkelregelung einer Arbeitsmaschine
JP2025033951A (ja) * 2023-08-30 2025-03-13 株式会社小松製作所 土質判別システムおよび土質判別方法
JP2025041473A (ja) * 2023-09-13 2025-03-26 株式会社クボタ 作業車両、作業車両の制御方法、及び、作業車両のコントローラ
EP4640953A1 (de) * 2024-04-25 2025-10-29 Deere & Company Verfahren zur anpassung der bedien- und/oder betätigungscha-rakteristik einer frontladersteuerung

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001123478A (ja) 1999-10-28 2001-05-08 Hitachi Constr Mach Co Ltd 自動運転ショベル
JP3704092B2 (ja) 2000-03-31 2005-10-05 日立建機株式会社 作業現場に基づいた作業管理方法、管理システムおよび管理装置
JP2011252338A (ja) 2010-06-03 2011-12-15 Sumitomo Heavy Ind Ltd 建設機械
US20120130599A1 (en) 2010-11-18 2012-05-24 Caterpillar Inc. Control system for a machine
JP2016160718A (ja) 2015-03-05 2016-09-05 株式会社日立製作所 軌道生成装置および作業機械
JP2016169572A (ja) 2015-03-13 2016-09-23 住友重機械工業株式会社 ショベル
WO2017047695A1 (ja) 2015-09-16 2017-03-23 住友重機械工業株式会社 ショベル
JP2017180712A (ja) 2016-03-31 2017-10-05 日立建機株式会社 建設機械
JP2018135681A (ja) 2017-02-21 2018-08-30 日立建機株式会社 作業機械

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0788673B2 (ja) * 1987-02-04 1995-09-27 株式会社小松製作所 パワ−シヨベルの作業機制御装置
JPH07158105A (ja) * 1993-12-09 1995-06-20 Shin Caterpillar Mitsubishi Ltd ショベル系建設機械の掘削制御装置
JPH08151657A (ja) * 1994-11-29 1996-06-11 Shin Caterpillar Mitsubishi Ltd 油圧ショベルのバケット角制御方法
CN1137417C (zh) * 1995-12-19 2004-02-04 日立建机株式会社 控制系统中修正输出的方法、控制系统和液压泵控制系统
JPH10159123A (ja) * 1996-12-03 1998-06-16 Shin Caterpillar Mitsubishi Ltd 建設機械の制御装置
US9221659B2 (en) * 2011-11-04 2015-12-29 Komatsu Ltd. Loading system and transporter
US9043098B2 (en) * 2012-10-05 2015-05-26 Komatsu Ltd. Display system of excavating machine and excavating machine
US8914199B2 (en) * 2012-10-05 2014-12-16 Komatsu Ltd. Excavating machine display system and excavating machine
WO2015025989A1 (ja) * 2014-09-10 2015-02-26 株式会社小松製作所 作業車両
JP6542550B2 (ja) 2015-03-13 2019-07-10 住友重機械工業株式会社 ショベル
JP6274671B2 (ja) 2015-07-15 2018-02-07 アース環境サービス株式会社 誘引用エッジ作出方法及びその方法を用いた捕虫器
JP6373812B2 (ja) * 2015-09-10 2018-08-15 日立建機株式会社 建設機械
KR101862735B1 (ko) 2016-03-29 2018-07-04 가부시키가이샤 고마쓰 세이사쿠쇼 작업 기계의 제어 장치, 작업 기계 및 작업 기계의 제어 방법
US10106951B2 (en) * 2016-09-21 2018-10-23 Deere & Company System and method for automatic dump control
WO2019012651A1 (ja) * 2017-07-13 2019-01-17 株式会社小松製作所 油圧ショベルおよび油圧ショベルの較正方法
JP6878226B2 (ja) * 2017-09-19 2021-05-26 日立建機株式会社 作業機械

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001123478A (ja) 1999-10-28 2001-05-08 Hitachi Constr Mach Co Ltd 自動運転ショベル
JP3704092B2 (ja) 2000-03-31 2005-10-05 日立建機株式会社 作業現場に基づいた作業管理方法、管理システムおよび管理装置
JP2011252338A (ja) 2010-06-03 2011-12-15 Sumitomo Heavy Ind Ltd 建設機械
US20120130599A1 (en) 2010-11-18 2012-05-24 Caterpillar Inc. Control system for a machine
JP2016160718A (ja) 2015-03-05 2016-09-05 株式会社日立製作所 軌道生成装置および作業機械
JP2016169572A (ja) 2015-03-13 2016-09-23 住友重機械工業株式会社 ショベル
WO2017047695A1 (ja) 2015-09-16 2017-03-23 住友重機械工業株式会社 ショベル
JP2017180712A (ja) 2016-03-31 2017-10-05 日立建機株式会社 建設機械
JP2018135681A (ja) 2017-02-21 2018-08-30 日立建機株式会社 作業機械

Also Published As

Publication number Publication date
EP3848514A4 (en) 2022-06-15
KR20200110433A (ko) 2020-09-23
CN111771029B (zh) 2022-08-16
EP3848514A1 (en) 2021-07-14
WO2020049821A1 (ja) 2020-03-12
KR102444578B1 (ko) 2022-09-20
US11655612B2 (en) 2023-05-23
JP2020037837A (ja) 2020-03-12
CN111771029A (zh) 2020-10-13
US20210115643A1 (en) 2021-04-22

Similar Documents

Publication Publication Date Title
JP7141894B2 (ja) 作業機械
CN109757113B (zh) 作业机械
JP6633464B2 (ja) 作業機械
US9689140B2 (en) Construction machine control system, construction machine, and construction machine control method
CN104619921B (zh) 作业车辆及作业车辆的控制方法
CN106460360B (zh) 工程机械的控制系统、工程机械、以及工程机械的控制方法
CN110799708B (zh) 作业机械
JP6450008B2 (ja) 作業機制御装置および作業機械
JP6259170B2 (ja) 作業機制御装置および作業機械
JPWO2018051511A1 (ja) 作業機械
JP7171317B2 (ja) 作業機械
KR20190112057A (ko) 건설 기계
KR20180136518A (ko) 작업기 제어 장치 및 작업 기계
EP3730698B1 (en) Work machine
US11970840B2 (en) Work machine
KR102816380B1 (ko) 작업 기계
EP3848514B1 (en) Work machine
JP7024139B2 (ja) 作業機械
JP7488962B2 (ja) 作業機械

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210902

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210902

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220412

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220530

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20220906

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20220912

R150 Certificate of patent or registration of utility model

Ref document number: 7141894

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150