EP3733981A4 - WORK MACHINE CONTROL DEVICE AND WORK MACHINE CONTROL PROCESS - Google Patents

WORK MACHINE CONTROL DEVICE AND WORK MACHINE CONTROL PROCESS Download PDF

Info

Publication number: EP3733981A4
Authority: EP; European Patent Office
Prior art keywords: work machine; machine control; control device; control process; work
Prior art date: 2018-03-30
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

EP3733981A1 (en

EP3733981B1 (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.)

2018-03-30

Filing date

2019-03-11

Publication date

2021-11-03

2019-03-11 Application filed by Komatsu Ltd filed Critical Komatsu Ltd

2020-11-04 Publication of EP3733981A1 publication Critical patent/EP3733981A1/en

2021-11-03 Publication of EP3733981A4 publication Critical patent/EP3733981A4/en

2024-06-05 Application granted granted Critical

2024-06-05 Publication of EP3733981B1 publication Critical patent/EP3733981B1/en

Status Active legal-status Critical Current

2039-03-11 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 (10)

* 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
US11946230B2 (en) *	2020-10-28	2024-04-02	Deere & Company	Container load assist system and method for a work vehicle
JP6996012B1 (en)	2021-01-14	2022-01-17	オリエンタル白石株式会社	3D shape estimation system
EP4301935A4 (en)	2021-03-05	2025-01-08	Topcon Positioning Systems, Inc.	METHOD FOR AUTOMATICALLY CONTROLLING CYCLIC OPERATIONS OF AN EARTH-MOVING MACHINE
JP7739019B2 (en) *	2021-03-19	2025-09-16	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
CN114818899B (en) *	2022-04-19	2025-09-02	上海三一重机股份有限公司	Method, device, equipment for determining working object of working machinery, and working machinery
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
JP2024011049A (en) *	2022-07-13	2024-01-25	株式会社小松製作所	Work machine monitoring system and work machine monitoring method

Citations (4)

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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

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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
AU2002344089B2 (en) *	2001-10-18	2006-06-22	Hitachi Construction Machinery Co., Ltd.	Hydraulic shovel work amount detection apparatus, work amount detection method, work amount detection result display apparatus
EP2758605B1 (en) *	2011-09-23	2016-12-14	Volvo Construction Equipment AB	Method for selecting an attack pose for a working machine having a bucket
US20150376869A1 (en) *	2014-06-25	2015-12-31	Topcon Positioning Systems, Inc.	Method and Apparatus for Machine Synchronization
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
WO2015129932A1 (en) *	2015-03-25	2015-09-03	株式会社小松製作所	Wheel loader
JP6480830B2 (en) *	2015-08-24	2019-03-13	株式会社小松製作所	Wheel loader control system, control method therefor, and wheel loader control method
DE112016000064B4 (en) *	2016-03-29	2020-10-22	Komatsu Ltd.	Control device for work machine, work machine and method for controlling the work machine
US11434621B2 (en) *	2017-03-20	2022-09-06	Volvo Construction Equipment Ab	Method for determining object position information
EP3604689B1 (en) *	2017-03-22	2024-09-25	Sumitomo Heavy Industries, Ltd.	Shovel, and management device and support device for shovels
US10504372B2 (en) *	2017-12-11	2019-12-10	Caterpillar Inc.	System and method for detection of load and dump locations
JP6734485B2 (en) *	2018-03-14	2020-08-05	日立建機株式会社	Work machine

2018
- 2018-03-30 JP JP2018070207A patent/JP7141843B2/en active Active
2019
- 2019-03-11 EP EP19775283.5A patent/EP3733981B1/en active Active
- 2019-03-11 CN CN201980011844.7A patent/CN111684136A/en active Pending
- 2019-03-11 WO PCT/JP2019/009799 patent/WO2019188221A1/en not_active Ceased
- 2019-03-11 US US16/966,590 patent/US20200362530A1/en not_active Abandoned

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

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