JP7739019B2 - 作業機械の制御システム及び作業機械の制御方法 - Google Patents

作業機械の制御システム及び作業機械の制御方法

Info

Publication number
JP7739019B2
JP7739019B2 JP2021046512A JP2021046512A JP7739019B2 JP 7739019 B2 JP7739019 B2 JP 7739019B2 JP 2021046512 A JP2021046512 A JP 2021046512A JP 2021046512 A JP2021046512 A JP 2021046512A JP 7739019 B2 JP7739019 B2 JP 7739019B2
Authority
JP
Japan
Prior art keywords
work
data
dimensional
work machine
detection
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
JP2021046512A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022145209A (ja
Inventor
将崇 尾崎
洋平 関
孝二 草香
佑樹 細田
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
Priority to JP2021046512A priority Critical patent/JP7739019B2/ja
Priority to CN202280018575.9A priority patent/CN116964279A/zh
Priority to EP22771387.2A priority patent/EP4283052B1/de
Priority to US18/280,016 priority patent/US20240068201A1/en
Priority to PCT/JP2022/011351 priority patent/WO2022196641A1/ja
Publication of JP2022145209A publication Critical patent/JP2022145209A/ja
Application granted granted Critical
Publication of JP7739019B2 publication Critical patent/JP7739019B2/ja
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
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
    • 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
    • E02F3/431—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
    • E02F9/20—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
    • E02F9/20—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
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function

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)
  • Component Parts Of Construction Machinery (AREA)
JP2021046512A 2021-03-19 2021-03-19 作業機械の制御システム及び作業機械の制御方法 Active JP7739019B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2021046512A JP7739019B2 (ja) 2021-03-19 2021-03-19 作業機械の制御システム及び作業機械の制御方法
CN202280018575.9A CN116964279A (zh) 2021-03-19 2022-03-14 作业机械的控制系统及作业机械的控制方法
EP22771387.2A EP4283052B1 (de) 2021-03-19 2022-03-14 Steuerungssystem für arbeitsmaschine und steuerungsverfahren für arbeitsmaschine
US18/280,016 US20240068201A1 (en) 2021-03-19 2022-03-14 Work machine control system and work machine control method
PCT/JP2022/011351 WO2022196641A1 (ja) 2021-03-19 2022-03-14 作業機械の制御システム及び作業機械の制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2021046512A JP7739019B2 (ja) 2021-03-19 2021-03-19 作業機械の制御システム及び作業機械の制御方法

Publications (2)

Publication Number Publication Date
JP2022145209A JP2022145209A (ja) 2022-10-03
JP7739019B2 true JP7739019B2 (ja) 2025-09-16

Family

ID=83320425

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021046512A Active JP7739019B2 (ja) 2021-03-19 2021-03-19 作業機械の制御システム及び作業機械の制御方法

Country Status (5)

Country Link
US (1) US20240068201A1 (de)
EP (1) EP4283052B1 (de)
JP (1) JP7739019B2 (de)
CN (1) CN116964279A (de)
WO (1) WO2022196641A1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021010489A1 (ja) * 2019-07-17 2021-01-21 住友建機株式会社 作業機械及び作業機械による作業を支援する支援装置
EP4589078A1 (de) * 2024-01-22 2025-07-23 Sandvik Mining and Construction Oy Mobile bergbaumaschine, verfahren zum automatischen deponieren einer last und steuerungssystem

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005043433A1 (ja) 2003-10-31 2005-05-12 Komatsu Ltd. 作業機械の管理システム及び作業機械
JP2016045674A (ja) 2014-08-22 2016-04-04 株式会社Ｉｈｉエアロスペース 作業用車両
JP2018035572A (ja) 2016-08-31 2018-03-08 株式会社小松製作所 ホイールローダおよびホイールローダの制御方法
US20180080193A1 (en) 2016-09-21 2018-03-22 Deere & Company System and method for automatic dump control
JP2019178599A (ja) 2018-03-30 2019-10-17 株式会社小松製作所 作業機械の制御装置、掘削機械の制御装置、及び作業機械の制御方法
JP2019178598A (ja) 2018-03-30 2019-10-17 株式会社小松製作所 作業機械の制御装置及び作業機械の制御方法
JP2019190237A (ja) 2018-04-27 2019-10-31 株式会社小松製作所 積込機械の制御装置及び積込機械の制御方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3643828A (en) * 1969-07-09 1972-02-22 James H Elliott Automatic control system for front end loader
JPH11350534A (ja) * 1997-12-19 1999-12-21 Carnegie Mellon Univ 土工機械のための走査センサ設備
JP6032730B2 (ja) * 2012-06-21 2016-11-30 日立建機株式会社 運搬機械の停止位置判定装置およびこの装置を備えた積込機械
US9523180B2 (en) * 2014-04-28 2016-12-20 Deere & Company Semi-automatic material loading
DE102015207375A1 (de) * 2015-04-22 2016-10-27 Robert Bosch Gmbh Verfahren und Vorrichtung zum Überwachen eines Bereichs vor einem Fahrzeug
US9746852B1 (en) * 2015-08-17 2017-08-29 X Development Llc Using laser sensors to augment stereo sensor readings for robotic devices
JP6674846B2 (ja) * 2016-05-31 2020-04-01 株式会社小松製作所 形状計測システム、作業機械及び形状計測方法
JP7103796B2 (ja) 2018-01-31 2022-07-20 株式会社小松製作所 作業機械
CN110499802A (zh) * 2019-07-17 2019-11-26 爱克斯维智能科技(苏州)有限公司 一种用于挖掘机的图像识别方法和设备
CN110409550A (zh) * 2019-07-29 2019-11-05 湖南大学 一种全自动作业地下采矿铲运机
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

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005043433A1 (ja) 2003-10-31 2005-05-12 Komatsu Ltd. 作業機械の管理システム及び作業機械
JP2016045674A (ja) 2014-08-22 2016-04-04 株式会社Ｉｈｉエアロスペース 作業用車両
JP2018035572A (ja) 2016-08-31 2018-03-08 株式会社小松製作所 ホイールローダおよびホイールローダの制御方法
US20180080193A1 (en) 2016-09-21 2018-03-22 Deere & Company System and method for automatic dump control
JP2019178599A (ja) 2018-03-30 2019-10-17 株式会社小松製作所 作業機械の制御装置、掘削機械の制御装置、及び作業機械の制御方法
JP2019178598A (ja) 2018-03-30 2019-10-17 株式会社小松製作所 作業機械の制御装置及び作業機械の制御方法
JP2019190237A (ja) 2018-04-27 2019-10-31 株式会社小松製作所 積込機械の制御装置及び積込機械の制御方法

Also Published As

Publication number Publication date
EP4283052A4 (de) 2024-12-25
CN116964279A (zh) 2023-10-27
EP4283052A1 (de) 2023-11-29
EP4283052B1 (de) 2026-01-14
WO2022196641A1 (ja) 2022-09-22
US20240068201A1 (en) 2024-02-29
JP2022145209A (ja) 2022-10-03

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