Construction machine control system and construction machine control method
US-9617717-B2 · Apr 11, 2017 · US
Work machine and method for controlling work machine
US10745889B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10745889-B2 |
| Application number | US-201615540596-A |
| Country | US |
| Kind code | B2 |
| Filing date | Nov 9, 2016 |
| Priority date | Nov 9, 2016 |
| Publication date | Aug 18, 2020 |
| Grant date | Aug 18, 2020 |
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- Title
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Abstract
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A hydraulic excavator has a boom, an arm, a bucket, and a boom cylinder which drives the boom. A load value within the bucket is computed based on a load of the boom cylinder, and the load value obtained by computing is corrected based on an acceleration of extension/retraction of the boom cylinder.
First claim
Opening claim text (preview).
The invention claimed is: 1. A work machine, comprising: a boom; an arm attached to a leading end of the boom; a bucket attached to a leading end of the arm; a boom cylinder which drives the boom and has a cylinder rod; a stroke sensor which detects a displacement amount of the cylinder rod in the boom cylinder; a pressure sensor which senses at least one pressure, the at least one pressure being at least one of a head pressure of the boom cylinder and a bottom pressure of the boom cylinder; and a controller configured to: calculate an acceleration of extension/retraction of the boom cylinder based on the detected displacement amount of the cylinder rod in the boom cylinder, compute a load value within the bucket based on a load of the boom cylinder as determined by the at least one pressure, and correct the computed load value based on the calculated acceleration of extension/retraction of the boom cylinder. 2. The work machine according to claim 1 , wherein, in addition to correcting the computed load value based on the calculated acceleration of extension/retraction of the boom cylinder, the controller corrects the computed load value based on relational data indicative of a magnitude of an error of a load value in the bucket with respect to a load value in the bucket. 3. The work machine according to claim 2 , wherein the relational data has a relation that the error of the load value in the bucket is decreased with an increase in the load value in the bucket. 4. The work machine according to claim 3 , wherein the error of the load value in the bucket is decreased quadratically. 5. A method for controlling a work machine including a boom, an arm, a bucket, and a boom cylinder which has a cylinder rod and drives the boom, comprising: detecting a displacement amount of the cylinder rod in the boom cylinder with a stroke sensor; sensing at least one pressure with a pressure sensor, the at least one pressure being at least one of a head pressure of the boom cylinder and a bottom pressure of the boom cylinder; calculating an acceleration of extension/retraction of the boom cylinder based on the detected displacement amount of the cylinder rod in the boom cylinder; computing a load value within the bucket based on a load of the boom cylinder as determined by the at least one pressure; and correcting the computed load value based on the calculated acceleration of extension/retraction of the boom cylinder. 6. The method for controlling the work machine according to claim 5 , further comprising, in addition to correcting the computed load value based on the calculated acceleration of extension/retraction of the boom cylinder, correcting the computed load value based on relational data indicative of a magnitude of an error of a load value in the bucket with respect to a load value in the bucket.
Assignees
Inventors
Classifications
- E02F3/32Primary
working downwardly and towards the machine, e.g. with backhoes · CPC title
Actuators and supports therefor and protection therefor · CPC title
delivered by rotating magnets · CPC title
lift truck scale · CPC title
Sensors and their calibration for indicating the position of the work tool · CPC title
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Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US10745889B2 cover?
- A hydraulic excavator has a boom, an arm, a bucket, and a boom cylinder which drives the boom. A load value within the bucket is computed based on a load of the boom cylinder, and the load value obtained by computing is corrected based on an acceleration of extension/retraction of the boom cylinder.
- Who is the assignee on this patent?
- Komatsu Mfg Co Ltd
- What technology area does this patent fall under?
- Primary CPC classification E02F3/32. Mapped technology areas include Fixed Constructions.
- When was this patent published?
- Publication date Tue Aug 18 2020 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 4 related publications on this page (citations in our corpus or others sharing the same primary CPC).