Work machine control device, excavating machine control device, and work machine control method
AssigneeKomatsu Ltd.
InventorsYohei Seki, Masataka Ozaki
Life of this patent
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Abstract
A work machine control device includes a measurement-data acquisition unit that acquires measurement data of a three-dimensional measurement device that is mounted on a work machine including work equipment and measures a three-dimensional shape including a ridgeline of a work target on which the working equipment performs work, and a target calculation unit that calculates and outputs, based on the measurement data regarding the ridgeline of the work target, a distance from the work machine to the work target or an angle of repose of the work target.
Claims7
A work machine control device comprising:
- a measurement-data acquisition processor unit configured to acquire measurement data of a three-dimensional measurement device configured to measure a three-dimensional shape including a ridgeline of a work target on which work equipment performs work, the three-dimensional measurement device being mounted on a work machine including the working equipment;
- and
- a target calculation processor unit configured to determine the measurement data regarding the ridgeline of the work target in the acquired measurement data, and calculate and output, based on the determined measurement data, a distance from the work machine to the work target or an angle of repose of the work target,
- wherein a position of a slope of the work target is defined in a work machine vehicle body coordinate system and the target calculation processor unit calculates the position of the ground based on ground contact surfaces of the work machine.
An excavating machine control device comprising:
- a measurement-data acquisition processor unit configured to acquire measurement data of a measurement device configured to measure a natural ground to be excavated by work equipment, the measurement device being mounted on an excavating machine including the working equipment;
- a target calculation processor unit configured to calculate, based on the measurement data, a distance from the excavating machine to a boundary between the natural ground and a ground;
- and
- a working-equipment control processor unit configured to control the working equipment based on the distance,
- wherein a position of a slope of the natural ground is defined in a work machine vehicle body coordinate system and the target calculation processor unit calculates the position of the ground based on ground contact surfaces of the work machine.
A work machine control method comprising:
- acquiring measurement data of a three-dimensional measurement device configured to measure a three-dimensional shape including a ridgeline of a work target on which work equipment of a work machine performs work;
- and
- determining the measurement data regarding the ridgeline of the work target in the acquired measurement data, and calculating and outputting, based on the determined measurement data, a distance from the work machine to the work target or an angle of repose of the work target,
- wherein a position of a slope of the work target is defined in a work machine vehicle body coordinate system and a position of a ground is calculated based on ground contact surfaces of the work machine.
Dependencies are inferred from the claim text.