Systems and methods for tracking a heading of an excavator are provided. An initial heading of the excavator platform is obtained and a current azimuthal orientation of the excavator platform is associated with the initial heading. Coordinates of a measurement center of the GNSS device are obtained. Coordinates of a center of rotation of the excavator platform are determined using the initial heading of the excavator platform, the coordinates of the measurement center, and a known spatial relationship between the measurement center of the GNSS device and the center of rotation of the excavator platform. Rotation of the excavator platform is tracked from the initial heading to a first heading using rotation measurements from a swing sensor.

An excavator includes a traveling body, an upper turning body rotatably provided on the traveling body, an attachment which has a boom, an arm, and a bucket and is attached to the upper turning body, and a controller configured to perform a control of a cylinder of at least one shaft of the attachment so as to suppress a vibration of the traveling body or the upper turning body, which is caused by an aerial operation of the attachment.

A movable structure includes: a moving part pivoting about a predetermined axis; a sensor module provided at the moving part or at a site interlocked with the moving part; and a control device controlling the moving part and the sensor module. The control device controls the moving part in such a way that the sensor module takes a first attitude, and gives a calibration instruction to the sensor module. The sensor module includes: an inertial sensor; a calibration unit calculating an attitude of the sensor module based on an output signal from the inertial sensor in response to the calibration instruction and generating correction information based on a difference between the calculated attitude and the first attitude; and a correction unit correcting the output signal from the inertial sensor, based on the correction information.

A proximity warning system including cameras positioned on a machine, processors, and one or more memory devices including instructions for execution by the processors. The system includes instructions to receive, from the cameras, image data depicting an object within a field of view of the cameras. The system includes instructions to derive a first distance between the object and the machine based on the image data and an alarm is triggered when the first distance is less than a first threshold distance. The system can include instructions to receive a request to snooze the alarm and discontinue the alarm. Additional image data can be received from the cameras and a second distance between the object and the machine is derived based on the additional image data. The system includes instructions to cancel the snooze and retrigger the alarm when the second distance is less than a second threshold distance.

A purpose of the present invention is to provide a remote operation assistance system used for assisting an operator OP in remotely operating a work machine. In order to achieve this purpose, the remote operation assistance system of the present invention includes: a distance acquisition unit 201 that obtains information on a distance from the operator OP to a moving body M; an attribute acquisition unit 202 that obtains an attribute to which the moving body M belongs; an interference determination unit 203 that determines a level of likelihood of interference occurring with the remote operation, based on the distance obtained by the distance acquisition unit 201 and the attribute obtained by the attribute acquisition unit 202; and an assistance control unit 204 that performs control to assist in the remote operation according to a result of the determination by the interference determination unit 203.

A work assisting server 10 includes a first assisting process element 121 and a second assisting process element 122 and communicates with a plurality of facility cameras 30 when an operator OP remotely operates a work machine 40 while viewing a captured image displayed on an image output device 221. The first assisting process element 121 extracts, as candidates, the facility cameras 30 including the work machine 40 in imaging ranges. The second assisting process element 122 selects the facility camera 30 that is able to obtain the imaging range including an optimal direction or size on the basis of movement of the work machine 40 and causes the selected facility camera 30 to output a captured image to the image output device 221.

A power machine can include operator input devices and a control system configured to command movement of actuators based on operator inputs received from the operator input devices. Movement of one or more of the actuators can be commanded based on input at one or more of the operator input devices and a response curve selected from a plurality of different response curves. Movement of one or more of the actuators can be based on a selected control mode for the power machine that corresponds to a selected control-function mapping of the operator input devices to the one or more actuators. A lift arm can be variously controlled to execute automatic or other operations. An excavator can be operated in a sustained-speed travel mode.

An excavator includes a lower traveling body; an upper turning body mounted on the lower traveling body; an attachment attached to the upper turning body; an attitude detecting device configured to detect an attitude of the attachment including a bucket; and a control device configured to control a toe angle of a toe of the bucket with respect to an excavation ground, based on a transition of the attitude of the attachment, information relating to a present shape of the excavation ground, and an operation content of an operation device relating to the attachment.

A distance calculation unit calculates a bucket distance that is a distance between a point on a bucket and a target design surface representing a target shape of an excavation target. An intervention control unit calculates an intervention control amount to suppress a speed of work equipment such that the bucket does not intrude on the target design surface based on the bucket distance. An attachment control unit calculates an attachment control amount to rotate the bucket around an attachment axis such that an edge of the bucket and the target design surface approach each other in a parallel state. An attachment limiting unit limits rotation of the bucket around the attachment axis such that the bucket distance is not increased by a movement of the work equipment based on the intervention control amount and the attachment control amount.

A feedback control device determines a first target angular velocity that is a target angular velocity of an output angular velocity of the target device, using a first transfer function, determines a control input to the target device, based on a difference between the first target angular velocity and the output angular velocity, determines, based on the operation input, a second target angular velocity that is the target angular velocity requested by an operator, determines a degree of comfort of the operator, based on a difference between the output angular velocity and the second target angular velocity, sequentially accumulates the first target angular velocity, the degree of comfort, and a target degree of comfort in a database, and adjusts a first moment of inertia in such a way as to reduce a difference between the target degree of comfort and the degree of comfort, using data accumulated in the database.