EP3733981A4 - Dispositif de commande de machine de travail et procédé de commande de machine de travail - Google Patents

Dispositif de commande de machine de travail et procédé de commande de machine de travail 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)

English (en)

Other versions

EP3733981A1 (fr

EP3733981B1 (fr

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/fr

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

2024-06-05 Application granted granted Critical

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

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 Dispositif de commande de machine de travail et procédé de commande de machine de travail Active EP3733981B1 (fr)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
JP2018070207A JP7141843B2 (ja)	2018-03-30	2018-03-30	作業機械の制御装置及び作業機械の制御方法
PCT/JP2019/009799 WO2019188221A1 (fr)	2018-03-30	2019-03-11	Dispositif de commande de machine de travail et procédé de commande de machine de travail

Publications (3)

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

Family

ID=68061533

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP19775283.5A Active EP3733981B1 (fr)	2018-03-30	2019-03-11	Dispositif de commande de machine de travail et procédé de commande de machine de travail

Country Status (5)

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

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
JP6995687B2 (ja) *	2018-04-27	2022-01-17	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
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 (ja)	2021-01-14	2022-01-17	オリエンタル白石株式会社	三次元形状推定システム
EP4301935A4 (fr)	2021-03-05	2025-01-08	Topcon Positioning Systems, Inc.	Procédé de commande automatique d'opérations cycliques d'un engin de terrassement
JP7739019B2 (ja) *	2021-03-19	2025-09-16	株式会社小松製作所	作業機械の制御システム及び作業機械の制御方法
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 (zh) *	2022-04-19	2025-09-02	上海三一重机股份有限公司	作业机械的作业对象确定方法、装置、设备及作业机械
DE102022203960A1 (de) *	2022-04-25	2023-10-26	Robert Bosch Gesellschaft mit beschränkter Haftung	Verfahren zur Verbesserung der Planierwinkelregelung einer Arbeitsmaschine

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 (fr) *	2015-08-24	2017-03-02	株式会社小松製作所	Chargeuse sur pneus
US20180080193A1 (en) *	2016-09-21	2018-03-22	Deere & Company	System and method for automatic dump control

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* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
JP2711612B2 (ja) *	1992-04-20	1998-02-10	株式会社フジタ	土工事の自動搬送システム
US6363632B1 (en) *	1998-10-09	2002-04-02	Carnegie Mellon University	System for autonomous excavation and truck loading
CN1265065C (zh) *	2001-10-18	2006-07-19	日立建机株式会社	油压挖掘机作业量的检测装置、检测方法和检测结果显示装置
JP5920953B2 (ja) *	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	バケットを備えた作業機械のアタック姿勢を選択する方法
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
CN105143560A (zh) *	2015-03-25	2015-12-09	株式会社小松制作所	轮式装载机
JP6480830B2 (ja) *	2015-08-24	2019-03-13	株式会社小松製作所	ホイールローダの制御システム、その制御方法およびホイールローダの制御方法
US9938694B2 (en) *	2016-03-29	2018-04-10	Komatsu Ltd.	Control device for work machine, work machine, and method of controlling work machine
WO2018171856A1 (fr) *	2017-03-20	2018-09-27	Volvo Construction Equipment Ab	Procédé de détermination d'informations de position d'objet
WO2018174154A1 (fr) *	2017-03-22	2018-09-27	住友重機械工業株式会社	Pelle et dispositif de gestion et dispositif de support pour pelles
US10504372B2 (en) *	2017-12-11	2019-12-10	Caterpillar Inc.	System and method for detection of load and dump locations
EP3572590B1 (fr) *	2018-03-14	2022-02-09	Hitachi Construction Machinery Co., Ltd.	Engin de chantier

2018
- 2018-03-30 JP JP2018070207A patent/JP7141843B2/ja active Active
2019
- 2019-03-11 WO PCT/JP2019/009799 patent/WO2019188221A1/fr not_active Ceased
- 2019-03-11 EP EP19775283.5A patent/EP3733981B1/fr active Active
- 2019-03-11 CN CN201980011844.7A patent/CN111684136A/zh active Pending
- 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 (fr) *	2015-08-24	2017-03-02	株式会社小松製作所	Chargeuse sur pneus
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
JP2019178598A (ja)	2019-10-17
EP3733981A1 (fr)	2020-11-04
US20200362530A1 (en)	2020-11-19
JP7141843B2 (ja)	2022-09-26
EP3733981B1 (fr)	2024-06-05
CN111684136A (zh)	2020-09-18
WO2019188221A1 (fr)	2019-10-03

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