US20180171582A1 - Working Machine Operation System and Working Machine with Working Machine Operation System - Google Patents

Working Machine Operation System and Working Machine with Working Machine Operation System Download PDF

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Publication number
US20180171582A1
US20180171582A1 US15/577,202 US201615577202A US2018171582A1 US 20180171582 A1 US20180171582 A1 US 20180171582A1 US 201615577202 A US201615577202 A US 201615577202A US 2018171582 A1 US2018171582 A1 US 2018171582A1
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United States
Prior art keywords
load
bucket
loading operation
shape
working machine
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Abandoned
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US15/577,202
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English (en)
Inventor
Hiroyuki Yamada
Saku Egawa
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Hitachi Ltd
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Hitachi 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
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Assigned to HITACHI, LTD. reassignment HITACHI, LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: EGAWA, SAKU, YAMADA, HIROYUKI
Publication of US20180171582A1 publication Critical patent/US20180171582A1/en
Abandoned legal-status Critical Current

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    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • 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
    • 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
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • 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)
    • 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
    • E02F9/2045—Guiding machines along a predetermined path

Definitions

  • the present invention relates to a working machine operation system and a working machine with the working machine operation system.
  • PTL 1 discloses an example of a technique for estimating a shape of a load in a container as below.
  • a load map indicating an ideal loading configuration inside the container is divided into grid-shaped parts and a value indicating an ideal level height of a substance inside the grid-shaped parts is calculated.
  • a shape or a gravity center position of the load loaded thereon may cause the overloading of the transportation machine and decrease the durability thereof. For this reason, there is a need to keep an ideal gravity center position or an ideal load shape on the loading object in the loading operation of the working machine. In order to realize this, an operation system automatically performing the loading operation by the working machine with high accuracy is considered.
  • An object of the invention is to highly accurately plan the load loading operation by the working machine so that the load after the load loading operation has the target shape.
  • One of features of the invention for solving the aforementioned problems is, for example, as follows.
  • a working machine operation system 100 is a working machine operation system 100 with a bucket 15 , including: an operation recording unit 51 which records a loading operation of a hydraulic excavator 1 when a load 42 is loaded from the bucket 15 onto a carrier 41 ; a shape acquiring unit 52 which acquires a shape of the load 42 loaded on the carrier 41 after the loading operation; a correlation calculation unit 53 which calculates a correlation of the loading operation and the shape of the load; and a loading operation calculation unit 54 which calculates the loading operation based on the correlation and the target shape of the load 42 .
  • FIG. 1 is a side view illustrating a hydraulic excavator and a dump truck according to an embodiment of the invention.
  • FIG. 2 is a block diagram illustrating a configuration in the vicinity of a calculation device according to the embodiment of the invention.
  • FIG. 3 is a block diagram illustrating a configuration of the calculation device according to the embodiment of the invention.
  • FIG. 4 is a side view illustrating a loading operation of a hydraulic excavator according to the embodiment of the invention.
  • FIG. 5 is a diagram illustrating a parameter for defining a loading operation according to the embodiment of the invention.
  • FIG. 6 illustrates a method of learning a correlation of parameters according to the embodiment of the invention.
  • An operation system of the invention is described according to a plurality of steps.
  • the order of description does not limit the order in which a plurality of steps are performed.
  • the order of the plurality of steps can be modified within a range that does not hinder the contents at the time of operating the operation system of the invention.
  • the plurality of steps of the operation system of the invention are not limited to being performed at individually different timings. For this reason, another step may be performed during a certain step or a certain step performing timing and another step performing timing may partially or entirely overlap.
  • FIG. 1 is a side view illustrating a dump truck and a hydraulic excavator including an operation system according to the embodiment of the invention.
  • the operation system will be described by exemplifying a hydraulic excavator having a bucket as a working machine having a container with reference to FIGS. 1 to 6 .
  • the working machine of the invention is not limited to the hydraulic excavator and may be also applied to, for example, other working machines such as a wheel loader.
  • a hydraulic excavator 1 includes an upper turning body 11 , a lower traveling body 12 which includes a crawler, a boom 13 , an arm 14 , and a bucket 15 which constitute a front part used for a work such as an excavation operation, a boom cylinder 16 which drives the boom 13 , an arm cylinder 17 which drives the arm 14 , a bucket cylinder 18 which drives the bucket 15 , and the like.
  • the upper turning body 11 is rotatably supported by the lower traveling body 12 and the upper turning body 11 is driven relative to the lower traveling body 12 by a turning motor (not illustrated).
  • One end of the boom 13 is rotatably supported by the upper turning body 11 and the boom 13 is rotatably driven relative to the upper turning body 11 in response to the telescopic movement of the boom cylinder 16 .
  • One end of the arm 14 is rotatably supported by the boom 13 and the arm 14 is driven relative to the boom 13 in response to the telescopic movement of the arm cylinder 17 .
  • the bucket 15 is rotatably supported by the arm 14 and the bucket 15 is rotatably driven relative to the arm 14 in response to the telescopic movement of the bucket cylinder 18 .
  • the hydraulic excavator 1 with such a configuration can perform a desired work by controlling the bucket 15 at an arbitrary position and in an arbitrary posture while appropriately driving the boom cylinder 16 , the arm cylinder 17 , and the bucket cylinder 18 .
  • the hydraulic excavator 1 includes a boom inclination sensor 21 which acquires a rotation posture of the boom 13 , an arm inclination sensor 22 which acquires a rotation posture of the arm 14 , a bucket inclination sensor 23 which acquires a rotation posture of the bucket 15 , a stereo camera 25 which acquires shapes of a loading object disposed in the upper turning body 11 and a load 42 loaded on the loading object, and a calculation device 26 .
  • the boom cylinder 16 , the arm cylinder 17 , and the bucket cylinder 18 are controlled by the calculation device 26 .
  • the stereo camera 25 is a device which includes two or more cameras and measures a distance from a subject to the stereo camera 25 based on an image captured by the plurality of cameras. Instead of the stereo camera 25 , one or more sensors exhibiting the same effect as the stereo camera 25 may be provided.
  • the stereo camera 25 may be replaced by a laser sensor or a time of flight (TOF) type distance image camera.
  • TOF time of flight
  • the loading object is set as a carrier 41 of the dump truck 4 and the load 42 is set as an excavated substance loaded on the carrier 41 .
  • the loading object is not limited to the carrier 41 of the dump truck 4 and may be, for example, a ground or the like. In this case, the load 42 is the excavated substance loaded on the ground.
  • FIG. 2 is a block diagram illustrating a configuration in the periphery of the calculation device.
  • the calculation device 26 acquires the rotation postures of the boom 13 , the arm 14 , and the bucket 15 from the boom inclination sensor 21 , the arm inclination sensor 22 , and the bucket inclination sensor 23 .
  • the calculation device 26 acquires a shape of the carrier 41 or the load 42 from the stereo camera 25 .
  • the calculation device 26 performs a calculation for obtaining a correlation of the acquired rotation posture or shape, plans an excavated substance loading operation based on the correlation, and generates an instruction for each cylinder 20 .
  • FIG. 3 is a block diagram illustrating a configuration of the calculation device 26 .
  • the calculation device 26 includes a vehicle body controller 19 and an automatic control controller 24 generating operation signals for automatically operating the hydraulic excavator 1 .
  • the automatic control controller 24 includes an operation system 100 and a loading operation instruction unit 55 .
  • the operation system 100 includes an operation recording unit 51 , a shape acquiring unit 52 , a correlation calculation unit 53 , and a loading operation calculation unit 54 . Referring to FIG. 3 , a process of the calculation device 26 in the case where the carrier 41 is a plane, that is, the load 42 is not loaded on the carrier 41 will be described.
  • the operation recording unit 51 acquires the above-described rotation posture. Then, a horizontal position of a bucket claw, a horizontal speed of the bucket claw, and a bucket rotation posture corresponding to a rotation posture of the bucket 15 are obtained based on the acquired rotation posture and are recorded. That is, the operation recording unit 51 records the loading operation of the hydraulic excavator 1 at the time of loading the excavated substance from the bucket 15 to the carrier 41 .
  • the shape acquiring unit 52 acquires a shape of the load 42 loaded on the carrier 41 after the loading operation.
  • the correlation calculation unit 53 calculates a correlation of the loading operation and the load shape based on the horizontal position of the bucket claw, the horizontal speed of the bucket claw, and the bucket rotation posture during the loading operation along with the shape of the load 42 acquired by the shape acquiring unit 52 .
  • two load shapes including the load shape before the loading operation and the load shape after the loading operation may be acquired by the shape acquiring unit 52 and the correlation may be obtained based on the load shape.
  • the shape acquiring unit 52 a case in which two load shapes including the load shape before the loading operation and the load shape after the loading operation are obtained by the shape acquiring unit 52 will be described.
  • the loading operation calculation unit 54 calculates the loading operation of the hydraulic excavator 1 based on the correlation calculated by the correlation calculation unit 53 and the target shape of the load 42 loaded on the carrier 41 . Based on the target shape in addition to the correlation calculated by the correlation calculation unit 53 , the loading operation for the target shape can be calculated. Then, the loading operation instruction unit 55 transmits an operation signal for the loading operation calculated by the loading operation calculation unit 54 to the vehicle body controller 19 .
  • the vehicle body controller 19 generates an instruction for the boom cylinder 16 , the arm cylinder 17 , and the bucket cylinder 18 based on the operation signal transmitted from the loading operation instruction unit 55 . Accordingly, the boom 13 , the arm 14 , and the bucket 15 can be controlled at arbitrary rotation postures. Further, the boom 13 , the arm 14 , and the bucket 15 can perform arbitrary operations changing with time by sequentially changing the rotation postures of the boom 13 , the arm 14 , and the bucket 15 .
  • the excavated substance is discharged to the carrier 41 by the same path, that is, the same loading operation, there is a possibility that the load 42 is loaded only on a part in the carrier 41 and the gravity center balance of the dump truck 4 is deteriorated.
  • it is desirable to plan a loading operation having a uniform load shape by controlling the rotation posture of the bucket 15 while depicting a path in which the bucket 15 follows the carrier 41 .
  • the calculation device 26 includes a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), and other peripheral circuits.
  • CPU central processing unit
  • RAM random access memory
  • ROM read only memory
  • a method is considered in which respective units including the operation recording unit 51 or the correlation calculation unit 54 are stored in the ROM and are performed by the CPU using the RAM.
  • FIG. 4 is a side view illustrating the bucket 15 by focusing on the operation of the bucket 15 in the loading operation of the hydraulic excavator 1 . Only the outline of the carrier 41 of the dump truck 4 is illustrated. Further, the bucket 15 during the loading operation is illustrated as a bucket posture 15 a , a bucket posture 15 b , a bucket posture 15 c , and a bucket posture 15 d in time series order.
  • the bucket claw moves along the bucket claw movement path 31 and discharges the excavated substance to the carrier 41 .
  • a plane in which the boom 13 , the arm 14 , and the bucket 15 of the hydraulic excavator 1 can be operated is set as an XZ plane
  • a horizontal direction illustrated in FIG. 4 is set as an X axis
  • a vertical direction in the drawing is set as a Z axis.
  • the hydraulic excavator 1 performs a loading operation of sequentially changing the bucket rotation posture while the bucket 15 advances on the carrier 41 in the X-axis direction as illustrated from the bucket posture 15 a to the bucket posture 15 d . That is, an operation of sequentially changing the bucket rotation posture is performed while sequentially changing the rotation posture of the boom 13 or the arm 14 .
  • the bucket rotation postures from the bucket posture 15 a to the bucket posture 15 d acquired by the operation recording unit 51 are respectively set as a bucket rotation posture 33 a to a bucket rotation posture 33 d .
  • the bucket rotation posture when the opening surface of the bucket 15 is parallel to the X axis is set to 0°.
  • the bucket rotation posture 33 a is set to 0°.
  • the clockwise rotation in FIG. 4 is defined as a positive direction, the bucket rotation posture changes in the positive direction from the vicinity of 0° during the loading operation and the excavated substance inside the bucket 15 is discharged into the carrier 41 .
  • An outline 42 a and an outline 42 b of the load 42 loaded on the carrier 41 are depicted inside the carrier 41 .
  • the outline 42 a is a load shape on the XZ plane of the load 42 during a certain loading operation and the outline 42 b is a load shape on the XZ plane of the load 42 during the next loading operation.
  • the outline on the XZ plane of the load 42 may be an average of those obtained by projecting a three-dimensional shape onto the XZ plane or an outline on an arbitrary plane parallel to the XZ plane.
  • the loading operation of the hydraulic excavator 1 is performed a plurality of times for the same dump truck 4 , there are a plurality of load shapes of the load 42 .
  • the operation recording unit 51 acquires the three-dimensional shape of the load 42 loaded on the carrier 41 before the loading operation from the stereo camera 25 .
  • the outline (for example, 42 a ) on the XZ plane of the load 42 is extracted from the acquired three-dimensional shape.
  • the three-dimensional shape of the load 42 is acquired by the stereo camera 25 similarly to the case before the loading operation after the loading operation and the outline (for example, 42 b ) on the XZ plane is extracted.
  • a speed vector of the bucket claw from the bucket posture 15 a to the bucket posture 15 d is set as a speed vector 32 a to a speed vector 32 d .
  • the shape acquiring unit 52 records the rotation posture (for example, the bucket rotation posture 33 b ) of the bucket 15 during the loading operation, the horizontal speed (for example, the X-axis direction element of the speed vector 32 b ) of the bucket claw, and the horizontal position of the bucket claw.
  • the bucket rotation posture can be obtained from the bucket inclination sensor 23 .
  • the horizontal position of the bucket claw can be obtained by the rotation postures of the boom 13 , the arm 14 , and the bucket 15 obtained from the boom inclination sensor 21 , the arm inclination sensor 22 , and the bucket inclination sensor 23 and the geometric relation among the boom 13 , the arm 14 , and the bucket 15 stored in advance.
  • the horizontal speed of the bucket claw can be obtained based on the horizontal position of the bucket claw at different timings.
  • the automatic control controller 24 acquires five information items including the load shape before the loading operation, the time-series bucket rotation posture, the time-series horizontal position of the bucket claw, the time-series horizontal speed of the bucket claw, and the load shape after the loading operation every loading operation.
  • the correlation between the loading operation and the load shape is calculated based on the information, it is possible to plan the optimal loading operation in consideration of the environment of the load obtaining the target load shape.
  • the environment of the load for example, the type or viscosity of the load can be exemplified.
  • the target shape can be realized with high accuracy.
  • the bucket rotation posture for the horizontal position is calculated from the time-series bucket rotation posture and the time-series horizontal position of the bucket claw and the bucket rotation posture is approximated as the cubic function of the horizontal position.
  • the horizontal position of the bucket claw is set as X and the bucket rotation posture is set as ⁇ k .
  • the horizontal speed of the bucket claw is approximated as the cubic function of the horizontal position X. In this case, the horizontal speed of the bucket claw is set as V k .
  • the load shape is approximated as the cubic function of the horizontal position X, the load shape by the K-th loading operation is set as Z k , and the load shape by the K+1-th loading operation is set as Z k+1 .
  • These four cubic functions are expressed by the following equation (1).
  • a 11 to a 14 are parameters indicating the bucket rotation posture ⁇ k
  • a 21 to a 24 are parameters indicating the horizontal speed V k of the bucket claw
  • a 31 to a 34 are parameters indicating the load shape Z k+1
  • a 41 to a 44 are parameters indicating the load shape Z k .
  • each neuron has weight and threshold and performs learning by the following calculation.
  • Step 1 Twelve parameters of the parameter a 21 to the parameter a 44 are input to the input signal i 1 to the input signal i 12 .
  • Step 2 An output of each neuron is calculated from an input layer toward an output layer.
  • the parameter a 11 to the parameter a 14 are given to the teaching signal t 1 to the teaching signal t 4 and an error signal of each neuron is calculated a difference of the output signals o 1 to o 4 and the teaching signals t 1 to t 4 .
  • Step 4 The weight and the threshold of each neuron are updated by using the error signal.
  • Steps 2 to 4 are repeated until a difference of the output signals o 1 to o 4 and the teaching signals t 1 to t 4 decreases enough.
  • the bucket rotation posture ⁇ k can be obtained by the input of the load shape Z k before the loading operation, the target load shape Z k+1 , and the horizontal speed V k of the bucket claw. That is, when the horizontal speed of the bucket claw is determined at the time of determining the load shape before the loading operation and the target shape, it is possible to obtain the bucket rotation posture having the target load shape. Additionally, when the initial position of the loading operation is given at the time of determining the horizontal speed of the bucket claw and the bucket rotation posture, the loading operations of the boom 13 , the arm 14 , and the bucket 15 are determined at the same time.
  • the operation system 100 can highly accurately plan the loading operation having the target load shape even in a different environment by learning the environment while repeating the loading operation.
  • control lines and information lines are those which are considered to be desirable in the description and all control lines and information lines are not necessarily illustrated in the drawings.
  • the operation recording unit 51 , the shape acquiring unit 52 , the correlation calculation unit 53 , and the loading operation calculation unit 54 have been described as a part of the operation system 100 .
  • a position provided with respective components or a position for performing the processes of the respective components is not limited to one and, for example, the process of the correlation calculation unit 53 may be performed outside the calculation device 26 .
  • an apparatus for centrally managing the working machine may be provided separately from the working machine and the apparatus may be provided with the operation system 100 .

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
US15/577,202 2015-07-15 2016-06-15 Working Machine Operation System and Working Machine with Working Machine Operation System Abandoned US20180171582A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015140950 2015-07-15
JP2015-140950 2015-07-15
PCT/JP2016/067717 WO2017010212A1 (fr) 2015-07-15 2016-06-15 Système de manipulation d'engin de chantier, et engin de chantier équipé dudit système de manipulation d'engin de chantier

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CN113646487A (zh) * 2019-04-04 2021-11-12 株式会社小松制作所 包含作业机械的系统、由计算机执行的方法、学习完成的姿态推断模型的制造方法、以及学习用数据
US11814817B2 (en) 2018-06-11 2023-11-14 Komatsu Ltd. System including work machine, computer implemented method, method for producing trained position estimation model, and training data
EP4079971A4 (fr) * 2020-03-13 2024-06-19 Komatsu Ltd. Système de travail, procédé exécuté par ordinateur, procédé de production de modèles d'estimation d'orientation entraînés, et données d'apprentissage
US12024863B2 (en) 2019-01-29 2024-07-02 Komatsu Ltd. System including work machine, computer implemented method, method for producing trained position estimation model, and training data

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WO2018203089A1 (fr) * 2017-05-05 2018-11-08 J.C. Bamford Excavators Ltd Machine d'apprentissage
JPWO2019151335A1 (ja) * 2018-01-30 2021-01-14 住友建機株式会社 ショベル及びショベルの管理システム
JP7236691B2 (ja) * 2019-03-27 2023-03-10 株式会社フジタ 自動操縦システム
JP7372609B2 (ja) * 2019-07-17 2023-11-01 日本電気株式会社 制御システム、操作制御装置、操作制御方法
JP7469127B2 (ja) * 2020-04-17 2024-04-16 株式会社小松製作所 制御システムおよび制御方法
DE102020206371A1 (de) 2020-05-20 2021-11-25 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Steuerung eines Entladevorgangs von Schüttgut auf eine Ladefläche mittels eines Baggers
JP7533081B2 (ja) * 2020-09-29 2024-08-14 コベルコ建機株式会社 自動均しシステム
JP2022160163A (ja) * 2021-04-06 2022-10-19 コベルコ建機株式会社 作業機械
JP2024065639A (ja) * 2022-10-31 2024-05-15 株式会社小松製作所 積載状況推定装置および積載状況推定方法

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DE19858401A1 (de) * 1997-12-19 1999-09-09 Univ Carnegie Mellon Schematisierte Ladestrategie unter Verwendung von Sicht-Feedback
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11814817B2 (en) 2018-06-11 2023-11-14 Komatsu Ltd. System including work machine, computer implemented method, method for producing trained position estimation model, and training data
US12024863B2 (en) 2019-01-29 2024-07-02 Komatsu Ltd. System including work machine, computer implemented method, method for producing trained position estimation model, and training data
CN113646487A (zh) * 2019-04-04 2021-11-12 株式会社小松制作所 包含作业机械的系统、由计算机执行的方法、学习完成的姿态推断模型的制造方法、以及学习用数据
US20220195704A1 (en) * 2019-04-04 2022-06-23 Komatsu Ltd. System including work machine, computer implemented method, method for producing trained posture estimation model, and training data
EP4079971A4 (fr) * 2020-03-13 2024-06-19 Komatsu Ltd. Système de travail, procédé exécuté par ordinateur, procédé de production de modèles d'estimation d'orientation entraînés, et données d'apprentissage

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