Patents by Inventor Tomoki Konda
Tomoki Konda has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11976438Abstract: A loading machine includes a swing body and work equipment attached to the swing body. The work equipment has a bucket. A control device of the loading machine includes an operation signal input unit that receives an input of a loading command signal from an operator, and an operation signal output unit. The operation signal output unit outputs operation signals of the work equipment and the swing body to move the bucket to a loading position above a loading target in a case in which the loading command signal is received. The operation signal output unit outputs a dumping operation signal to perform dumping to the bucket when the swing body faces a dump start azimuth direction that is closer to the swing body in a swing direction than an end point azimuth direction in which the swing body faces when the work equipment is positioned at the loading position.Type: GrantFiled: July 18, 2019Date of Patent: May 7, 2024Assignee: KOMATSU LTD.Inventors: Tomoki Konda, Kazuhiro Hatake
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Patent number: 11946219Abstract: A work machine includes work equipment. A control device of the work machine includes a trajectory generation unit, and an operation signal output unit. The trajectory generation unit generates a target trajectory of the work equipment according to an excavation curve ratio determined in advance. The excavation curve ratio is expressed as a ratio of an excavation depth to an excavation length. The operation signal output unit outputs an operation signal for the work equipment according to the target trajectory.Type: GrantFiled: August 28, 2019Date of Patent: April 2, 2024Assignee: KOMATSU LTD.Inventors: Tomoki Konda, Takeshi Oi, Atsunori Kikuchi
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Patent number: 11753792Abstract: 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.Type: GrantFiled: August 13, 2018Date of Patent: September 12, 2023Assignee: Komatsu Ltd.Inventors: Tomoki Konda, Yusuke Saigo, Ryuta Okuwaki, Kazuhiro Hatake
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Publication number: 20230250617Abstract: A distance acquisition unit acquires first distance data that is distance data in an area in which a first reference object installed at an arbitrary position outside a work machine is present. The distance data measured by an in-vehicle distance sensor. A position calculation unit calculates a position of the first reference object in a predetermined coordinate system based on the first distance data. A relationship acquisition unit acquires a positional relationship between the first reference object, and a second reference object of which a position in the coordinate system is known. A calibration unit calibrates, based on the first distance data and the positional relationship, a parameter to be used to measure a position in the coordinate system from the distance data of the in-vehicle distance sensor.Type: ApplicationFiled: June 17, 2021Publication date: August 10, 2023Inventors: Tomoki KONDA, Ryuta OKUWAKI
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Patent number: 11661725Abstract: 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.Type: GrantFiled: October 2, 2018Date of Patent: May 30, 2023Assignee: Komatsu Ltd.Inventors: Tomoki Konda, Yusuke Saigo, Kazuhiro Hatake
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Patent number: 11619025Abstract: 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.Type: GrantFiled: February 27, 2019Date of Patent: April 4, 2023Assignee: Komatsu Ltd.Inventors: Tomoki Konda, Yusuke Saigo, Ryuta Okuwaki, Kazuhiro Hatake
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Publication number: 20220412041Abstract: A work machine includes a work implement including a bucket and a boom, a revolving body on which the work implement is mounted and that executes a revolving operation, a first operation setting unit that sets a first operation in which movement of the boom in a vertical direction is large and a second operation in which the movement of the boom in the vertical direction is small, the first operation and the second operation being executed in a period from the end of excavation to the start of unloading, a first operation control unit that controls at least one of the work implement or the revolving body to execute the first operation and the second operation, and a load measurement processing unit that measures a load inside the bucket in a period of the second operation.Type: ApplicationFiled: November 26, 2020Publication date: December 29, 2022Applicant: KOMATSU LTD.Inventors: Tomoki KONDA, Koji KUSAKA
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Publication number: 20220316174Abstract: A work machine comprises: a work implement; a hydraulic cylinder; a hydraulic pump that supplies the hydraulic oil to the hydraulic cylinder via a hydraulic circuit; a relief valve that can set a relief pressure of the hydraulic circuit to either a first set pressure or a second set pressure higher than the first set pressure; a detection unit that detects at least one of a pressure of the hydraulic oil in the hydraulic circuit and a speed of the work implement; and a relief pressure changing unit that changes a relief pressure of the relief valve from the first set pressure to the second set pressure based on a detection value of at least one of the pressure of the hydraulic oil in the hydraulic circuit and the speed of the work implement when the controlled state of the work implement is the excavation state.Type: ApplicationFiled: June 30, 2020Publication date: October 6, 2022Applicant: KOMATSU LTD.Inventors: Tomoki KONDA, Takeshi OI, Kenjiro SHIMADA, Kenji OHIWA
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Publication number: 20220251802Abstract: Occurrence of a skid due to revolution of a revolving unit is suppressed. A work machine includes a traveling unit, a revolving unit revolvably mounted on the traveling unit, and a controller that controls operations of the work machine. The controller determines whether or not a skid of the traveling unit has occurred in a revolving operation of the revolving unit during an automatic operation of the work machine. When the controller determines that the skid has occurred, it performs processing for weakening rotational inertial force generated in the revolving operation.Type: ApplicationFiled: June 30, 2020Publication date: August 11, 2022Applicant: KOMATSU LTD.Inventors: Tomoki KONDA, Kenjiro SHIMADA, Kazuhiro HATAKE, Yusuke SAIGO
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Publication number: 20220186461Abstract: A hydraulic excavator loads a load onto a loaded machine. The hydraulic excavator includes a work implement and a controller. The work implement includes a bucket. The controller senses an amount of natural lowering of the bucket in a stand-by state in which the hydraulic excavator waits for entry of the loaded machine and controls the work implement to raise the bucket based on the amount of natural lowering.Type: ApplicationFiled: May 25, 2020Publication date: June 16, 2022Applicant: KOMATSU LTD.Inventors: Tomoki KONDA, Kenjiro SHIMADA
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Publication number: 20220162832Abstract: 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.Type: ApplicationFiled: May 22, 2020Publication date: May 26, 2022Applicant: KOMATSU LTD.Inventors: Tomoki KONDA, Kenjiro SHIMADA, Kazuhiro HATAKE, Yusuke SAIGO
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Publication number: 20210372086Abstract: A system controls a work machine that loads materials onto a conveyance vehicle. The system includes a controller and a detection device. The controller controls the work machine in an automatic control mode in which work is performed automatically. The detection device detects an approach of the conveyance vehicle toward the work machine. The automatic control mode includes a loading mode in which the work machine is caused to move to perform loading work for loading onto the conveyance vehicle, and an other mode other than the loading mode. The other mode includes at least one of a mode for gathering fallen materials and a digging mode for further increasing the materials by digging. The controller causes the automatic control mode to transition from the other mode to the loading mode when the approach of the conveyance vehicle is detected.Type: ApplicationFiled: March 15, 2019Publication date: December 2, 2021Inventors: Masanori AIZAWA, Kenjiro SHIMADA, Tomoki KONDA
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Publication number: 20210254304Abstract: A loading machine includes a swing body and work equipment attached to the swing body. The work equipment has a bucket. A control device of the loading machine includes an operation signal input unit that receives an input of a loading command signal from an operator, and an operation signal output unit. The operation signal output unit outputs operation signals of the work equipment and the swing body to move the bucket to a loading position above a loading target in a case in which the loading command signal is received. The operation signal output unit outputs a dumping operation signal to perform dumping to the bucket when the swing body faces a dump start azimuth direction that is closer to the swing body in a swing direction than an end point azimuth direction in which the swing body faces when the work equipment is positioned at the loading position.Type: ApplicationFiled: July 18, 2019Publication date: August 19, 2021Inventors: Tomoki KONDA, Kazuhiro HATAKE
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Publication number: 20210254312Abstract: A control device for a work machine includes a three-dimensional map acquisition unit, a boundary specification unit, and an excavation start point determination unit. The work machine includes a travel body, a swing body supported by the travel body, and work equipment provided to the swing body and having a bucket. The three-dimensional map acquisition unit acquires a three-dimensional map indicating a shape around the work machine. The boundary specification unit specifies a traveling road boundary line in terrain shown by the three-dimensional map. The traveling road boundary line is a boundary line between a traveling road surface on which a transport vehicle is capable of traveling, and an excavation target by the work equipment. The excavation start point determination unit determines a point on the traveling road boundary line or a point above the traveling road boundary line as an excavation start point by the work equipment.Type: ApplicationFiled: July 19, 2019Publication date: August 19, 2021Inventors: Takeshi OI, Tomoki KONDA
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Publication number: 20210246627Abstract: A work machine includes work equipment. A control device of the work machine includes a trajectory generation unit, and an operation signal output unit. The trajectory generation unit generates a target trajectory of the work equipment according to an excavation curve ratio determined in advance. The excavation curve ratio is expressed as a ratio of an excavation depth to an excavation length. The operation signal output unit outputs an operation signal for the work equipment according to the target trajectory.Type: ApplicationFiled: August 28, 2019Publication date: August 12, 2021Inventors: Tomoki KONDA, Takeshi OI, Atsunori KIKUCHI
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Publication number: 20210164192Abstract: A loading machine includes a swing body and work equipment with a bucket. A control device of the loading machine includes a loading target specifying unit that specifies a position and shape of a loading target, an avoidance position specifying unit, and a movement processing unit. The avoidance position specifying unit specifies an interference avoidance position based on the position and shape of the loading target. The movement processing unit outputs an operation signal to drive only the swing body until the bucket reaches the interference avoidance position from a loading position above the loading target, to cause the bucket to move to the interference avoidance position. The movement processing unit outputs an operation signal to drive the swing body and the work equipment after the bucket has reached the interference avoidance position, to cause the bucket to move to an excavation position above an excavation target.Type: ApplicationFiled: August 28, 2019Publication date: June 3, 2021Inventors: Tomoki KONDA, Kazuhiro HATAKE, Takeshi OI, Masanori AIZAWA
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Publication number: 20200407949Abstract: A work machine includes a work implement, a rotating body to which the work implement is attached; a topography sensor configured to measure a topography, and a controller. The controller determines a digging start point of the work implement based on topographical data indicative of the topography measured by the topography sensor. The controller moves the work implement from a current position of the work implement to the digging start point.Type: ApplicationFiled: March 27, 2019Publication date: December 31, 2020Inventors: Masanori AIZAWA, Kenjiro SHIMADA, Tomoki KONDA
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Publication number: 20200263385Abstract: 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.Type: ApplicationFiled: August 13, 2018Publication date: August 20, 2020Inventors: Tomoki KONDA, Yusuke SAIGO, Ryuta OKUWAKI, Kazuhiro HATAKE
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Publication number: 20200248434Abstract: 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.Type: ApplicationFiled: February 27, 2019Publication date: August 6, 2020Inventors: Tomoki KONDA, Yusuke SAIGO, Ryuta OKUWAKI, Kazuhiro HATAKE
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Publication number: 20200199853Abstract: 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.Type: ApplicationFiled: October 2, 2018Publication date: June 25, 2020Inventors: Tomoki KONDA, Yusuke SAIGO, Kazuhiro HATAKE