Komatsu Corporation

Other

Masanobu Seki

Tsutomu Iwamura

Masashi Ichihara

Yuto Fujii

Katsuhiro Ikegami

Jin Kitajima

Satoru Shintani

Mineo Tokuda

Jun Sasaki

Eiji Ishibashi

Kenjiro Shimada

Shunsuke Miyamoto

Yoshiki Kami

Yuki Shimano

Daiki Arimatsu

Itaru Yokoyama

Kaoru Yasuda

Hideaki Ohkubo

Yoshiaki Ishibashi

A vehicle recognition unit of an information presenting device specifies a position of each of a plurality of vehicles, based on images captured by a plurality of imaging devices installed at a construction site. A vehicle designating unit receives designation of a designated vehicle, among the plurality of specified vehicles. A display control unit outputs a signal for displaying in an overlapping manner a proximity plot representing a position of another vehicle whose distance from the designated vehicle is less than a threshold on an overhead image of the construction site.

Information presenting device and information presenting method

When correcting an error caused by deviation of an attitude detection device with respect to a work machine including a swing body which swings, a working implement being attached to the swing body, the attitude detection device outputting an attitude of the work machine, the error is corrected by using a first position which is a position of a part of the work machine when the work machine is in a first attitude and a second position which is a position of the part when the work machine is in a second attitude.

Calibration device of work machine, work machine, and calibration method of work machine

A work machine includes: first working equipment with first working equipment parameter; second working equipment including a parallel link and being attachable to the first working equipment; a swing angle detector that detects swing angle information of the first working equipment; an attitude calculating unit that calculates an attitude of the first working equipment based on the detected swing angle information of the first working equipment; a working equipment parameter storage that stores the first working equipment parameter defined for a component of the first working equipment; a correction information acquiring unit that acquires information on the second working equipment as correction information; and a working equipment parameter correction unit that corrects the first working equipment parameter based on the correction information on the second working equipment acquired by the correction information acquiring unit.

Work machine and correction method of working equipment parameter for work machine

A hydraulic excavator is provided with a tilt cylinder disposition data creating unit and a bucket information computing unit. The tilt cylinder disposition data creating unit creates tilt cylinder disposition data which indicates that a disposition of a tilt cylinder is either a first disposition in which a bucket is rotated in the clockwise direction due to extension or a second disposition in which the bucket is rotated in the clockwise direction due to contraction, when viewing the bucket from a vehicle body side. The bucket information computing unit obtains a tilt angle of the bucket based on the stroke length on the basis of the tilt cylinder disposition data.

Work vehicle and method for obtaining tilt angle

A hydraulic excavator is equipped with a bucket, a tilt cylinder, a fourth stroke sensor, and a bucket information computing unit. The bucket is able to rotate about the center of a tilt axis. The tilt cylinder causes the bucket to rotate about the center of the tilt axis. The fourth stroke sensor detects a stroke length of the tilt cylinder. The bucket information computing unit obtains a tilt angle of the bucket on the basis of the stroke length detected by the fourth stroke sensor.

Work vehicle, bucket device, and method for obtaining tilt angle

A calibration system for an excavator includes the excavator having an upper structure swingably attached to a chassis, a working machine having a boom, an arm, and a working tool, and a current position computation unit configured to compute a current position of a working point of the working tool; a calibration device configured to calibrate parameters based on parameters indicating dimensions and rotation angles of the boom, the arm, and the working tool; an external measurement device that measures a position of the working point; and an inclination information detection device that detects inclination information of the excavator in an anteroposterior direction. The calibration device corrects positions of the working point measured by the external measurement device, based on the inclination information of the excavator in the anteroposterior direction, and computes calibrated values of the parameters based on coordinates of the working point at corrected positions.

Calibration system and calibration method for excavator

A work vehicle includes a vehicular body, a work implement, an angle sensor, and a work implement control unit. A bucket is rotatable with respect to an arm around a bucket axis in parallel to an arm axis and a tilt axis orthogonal to a bucket axis. The angle sensor is provided in the bucket and detects an angle of inclination of the bucket with respect to a horizontal plane. The work implement control unit starts control of the work implement in which an operation of the work implement is controlled at least partially automatically when an angle of inclination of the bucket detected by the angle sensor is smaller than a first threshold value, and does not start control of the work implement when an angle of inclination of the bucket detected by the angle sensor is equal to or greater than the first threshold value.

Work vehicle and method of controlling work vehicle

A calibration device for a work machine includes: a measurement value acquiring unit acquiring respective measurement values of a first actuation unit and a bucket measured using an external measurement device; a working equipment parameter acquiring unit acquiring working equipment parameters of the member of the first actuation unit and the bucket; a calibration unit calibrating the working equipment parameters of the member of the first actuation unit and the bucket based on the measurement value of a reference point of the bucket acquired by the measurement value acquiring unit; and a calibration range selecting unit selecting, from among a first range where a variation in a swing angle of the bucket has a predetermined relationship with a change in swing angle information of the bucket and a second range where a variation in the swing angle increases as compared with the variation in the first range.

Calibration device for work machine and calibration method of working equipment parameter for work machine

A calibration device for a work machine includes: a working equipment parameter acquiring unit acquiring working equipment parameters of members of first and second actuation units; a measurement value acquiring unit acquiring respective measurement values of the work machine body and first and second actuation units measured by an external measurement device; a first calibration unit calibrating the parameter related to the member of the first actuation unit acquired by the acquiring unit based on the measurement value of the first actuation unit acquired by the acquiring unit; and a second calibration unit calibrating the working equipment parameter of the member of the second actuation unit based on the working equipment parameter of the first actuation unit calibrated by the first calibration unit and the respective measurement values of the reference points of the work machine body and first and second actuation units acquired by the acquiring unit.

A measurement jig is attached to a target member in a form of a blade edge and is used for measuring a position of the target point in combination with a total station. The measurement jig includes a prism mirror that reflects a projected light from the total station, and an attachment member for attaching the prism mirror to the blade edge, in which a mirror center of the prism mirror is aligned with the target point.

Measurement jig

A hydraulic shovel calibration device is adapted to calibrate parameters in a hydraulic shovel including a current position computation unit configured to compute a current position of a working point included in a work tool of a hydraulic shovel based on a plurality of parameters that indicate dimensions and swing angles of a boom, an arm, and the work tool. The hydraulic shovel calibration device includes an input unit and a calibration computation unit. The input unit is configured and arranged to input working point position information indicating coordinates of a working point included in a work tool of the hydraulic shovel at a plurality of positions which are measured by an external measurement device. The calibration computation unit is configured to compute calibration values of the parameters based on the working point position information input into the input unit.

Hydraulic shovel calibration device and hydraulic shovel calibration method

A hydraulic shovel calibration device includes an input unit, a first calibration computation unit, and a second calibration computation unit. The input unit is a unit where working point position information and antenna position information are input. The working point position information indicates coordinates of the working point at a plurality of positions which are measured by an external measurement device. The antenna position information indicates coordinates of the position of the antenna which are measured by the external measurement device. The first calibration computation unit computes calibration values of the work implement parameters by numerical analysis based on the working point position information input into the input unit. The second calibration computation unit calibrates the antenna parameters based on the antenna position information input into the input unit.

A current position computation unit of a hydraulic shovel computes a current position of a working point included in a work tool based on a plurality of parameters that indicate the dimensions and swing angles of a boom, an arm, and the work tool. A vehicle body coordinate system computation unit of a calibration device computes coordinate conversion information based on first and second working point position information measured by an external measurement device. A coordinate conversion unit converts coordinates at a plurality of positions of the working point measured by the external measurement device in a coordinate system of the external measurement device to those in a vehicle body coordinate system using the coordinate conversion information. A calibration computation unit computes calibration values of the parameters based on the converted coordinates at the plurality of positions of the working point in the vehicle body coordinate system.

Hydraulic shovel calibration system and hydraulic shovel calibration method

An object of the present invention is to suppress to a sufficiently small level variation in the temperature of an object in a case where the temperature of an object is controlled to a desired value using heat transfer fluid. A controller () controls the power of a thermoelectric conversion device () which is used for cooling or heating heat transfer fluid supplied to an object (). The controller () performs a feedback control operation using the temperature (T) of the heat transfer fluid emitted from the thermoelectric conversion device () and the temperature (Ts) of the object. In this feedback control operation, the difference between the object temperature (Ts) and the heating medium temperature (T) is added to a set temperature (SV), whereby a target temperature of the heating medium temperature (T) is calculated. By means of an I-PD calculation with respect to the deviation between this target temperature and the heating medium temperature (T), a manipulated variable to be applied to the cooler/heater () is calculated. Prior to the beginning of this feedback control operation, an initial value of the aforementioned manipulated variable is calculated in accordance with the magnitude of a thermal load to be applied to the object () from outside during the control operation and the set temperature (SV). The feedback control operation begins upon the output of this initial value.

Method and device for controlling the temperature of an object using heat transfer fluid

A temperature control apparatus where it is easy to replace a heat exchange unit to enhance the maintainability and the space efficiency and which can absorb the thermal expansion/shrinkage of a heat exchanger is provided. The temperature control apparatus has a heat exchangerwith a passagefor passing a fluid; a connecting pipeconnected to the passage of the heat exchanger; a passage blockwith a passage for passing the fluid to the heat exchanger; a relay blockfor forming a passage between the passage of the passage block and the connecting pipe; and sealing meansfor connecting the connecting pipe movably to the passage of the relay block. In the temperature control apparatus, the length of the connecting pipeis made substantially equal to or slightly shorter than the spacing between the heat exchangerand the passage block

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Fujisawa, Japan

Masanobu Seki