Komatsu Corporation

Yusuke Saigo

Kazuhiro Hatake

Tomoki Konda

Ryuta Okuwaki

Kenjiro Shimada

A work machine comprises: a travel unit; a swing unit provided on the travel unit swingably; an angular velocity sensor that is attached to the swing unit and outputs an azimuthal angular velocity of the swing unit; a measurement device that measures an azimuth of the swing unit; and a controller that corrects the azimuthal angular velocity based on azimuth information measured by the measurement device and controls the swing unit based on the corrected azimuthal angular velocity.

Work machine and method for controlling the same

A movement processing unit generates a work equipment operation signal for moving a bucket to a loading point and a swing operation signal related to a target swing speed, based on a command for starting an automatic movement of the bucket. A target speed changing unit changes the target swing speed so that the work equipment does not interfere with the loading target during a swing of a swing body.

Control device and control method for loading machine

A movement processing unit is configured to generate operation signals of a work equipment and a swing body for moving a bucket to a loading point based on a start command of an automatic movement of the bucket. A stop processing unit is configured to brake a swing of the swing body based on a stop command of the automatic movement of the bucket, and is further configured to generate an operation signal for retreating the work equipment when a height of the bucket is lower than the loading point.

Loading machine control device and control method

A loaded machine information acquisition unit acquires position information and azimuth direction information of a transport vehicle. An earth removal position-specifying unit specifies an earth removal position for loading a load target onto the transport vehicle, based on the position information and the azimuth direction information. A bucket position-specifying unit specifies a position of a bucket. An operation signal generation unit generates an operation signal for moving the bucket from the specified position to the earth removal position.

A control device outputs an operation signal of a work equipment and a swing body for moving a work equipment to a loading point when receiving a loading command signal. The control device does not output a dumping operation signal for causing the bucket to dump earth in a case where an azimuth direction in which the swing body faces is within a first region from a starting point azimuth direction to a predetermined reference azimuth direction, the starting point azimuth direction being an azimuth direction in which the swing body faces when the loading command signal is received. The control device outputs the dumping operation signal in a case where the azimuth direction is within a second region from the reference azimuth direction to an end point azimuth direction in which the swing body faces when the work equipment is positioned at the loading point.

A control device of a loading machine includes an adjustment determination unit and an operation signal output unit. The loading machine includes a swing motor and a swing body. The adjustment determination unit determines whether or not an angle formed by an azimuth direction of a swing body when the swing body stops and a target stop azimuth direction is less than an allowable angle based on an azimuth direction, a swing speed, and the target stop azimuth direction of the swing body during braking of the swing motor. The operation signal output unit outputs a swing control signal for driving the swing motor in a case in which it is determined that the angle formed by the azimuth direction of the swing body when the swing body stops and the target stop azimuth direction is equal to or greater than the allowable angle.

An avoidance position specification unit specifies an interference avoidance position that is higher than a loading object and has no loading object therebelow. A timing determination unit determines a swing start timing based on a remaining swing angle formed by a straight line that extends from a center of swing to a work equipment and a straight line that extends from the center of swing to an interference avoidance position, and a height of the interference avoidance position. An operation signal output unit outputs an operation signal of the work equipment in a case of not reaching the swing start timing and outputs an operation signal for swinging a swing body at swing speed higher than that when not reaching the swing start timing and an operation signal of the work equipment, in a case of reaching the swing start timing.

A control device generates an operation signal for controlling a pressure of hydraulic oil on a downstream side of the swing motor in a hydraulic device based on an azimuth direction, a swing speed, and a target stopping azimuth direction of a swing body during braking of a swing motor.

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Tokyo, Japan

Yusuke Saigo