Work machine control system, work machine, and work machine management system

Patent metadata

Field	Value
Publication number	US-10019007-B2
Application number	US-201615124890-A
Country	US
Kind code	B2
Filing date	Feb 1, 2016
Priority date	Feb 1, 2016
Publication date	Jul 10, 2018
Grant date	Jul 10, 2018

Abstract

A work machine control system is configured to control a work machine that travels in an operation region and includes a position detection unit, a non-contact sensor, and a control unit. The position detection unit detects a position of the work machine. The non-contact sensor detects a position of an object around the work machine. The control unit extracts information on an object to be detected from a detection result of the position detection unit and a detection result of the non-contact sensor, and excludes moving object information that is information on an object to be detected regarding a moving object that moves in the operation region.

First claim

The invention claimed is:

1. A work machine control system configured to control a work machine that travels in an operation region, the work machine control system comprising:
a position detection unit configured to detect a position of the work machine;
a non-contact sensor configured to detect a position of an object around the work machine; and
a control unit configured to extract information on an object to be detected from a detection result of the position detection unit and a detection result of the non-contact sensor and configured to exclude moving object information that is information on an object to be detected regarding a moving object that moves in the operation region, from the information on an object to be detected.

2. The work machine control system according to claim 1 ,
wherein the information on an object to be detected includes at least one of the detection result of the non-contact sensor and map information generated from a position of an upwardly protruding object that protrudes upwardly, among the detection result.

3. The work machine control system according to claim 2 ,
wherein the control unit includes a measurement output unit configured to detect the position of the upwardly protruding object from the detection result of the non-contact sensor, and configured to execute at least one operation of generation operation that generates the detected position of the upwardly protruding object as the map information and identification operation that identifies the position of the work machine by matching the detection result of the non-contact sensor against the map information.

4. The work machine control system according to claim 3 ,
wherein the measurement output unit, when executing the operation, excludes the detection result of the non-contact sensor from the information on an object to be detected or removes the moving object information from the map information.

5. The work machine control system according to claim 3 ,
wherein the control unit discriminates presence/absence of the moving object information from among the detection result of the non-contact sensor or the map information, and in a case where the moving object information exists, the control unit deletes the moving object information and thereafter executes the generation operation or the identification operation.

6. The work machine control system according to claim 1 , comprising a reception unit configured to receive moving object position information related to the position of the moving object, transmitted from a management facility of a mine,
wherein the control unit estimates the position of the moving object based on the moving object position information received by the reception unit, sets a mask region including the moving object at an estimated position, and determines the information on an object to be detected within the mask region as the moving object information.

7. The work machine control system according to claim 6 ,
wherein the control unit sets dimensions of the mask region according to magnitude of an error included in an estimation result of a travel position of the moving object.

8. The work machine control system according to claim 1 , wherein the moving object includes other work machine that travels in the operation region.

9. A work machine comprising:
a work machine main body that travels in an operation region in a mine; and
the work machine control system according to claim 1 .

10. A work machine management system comprising:
the work machine according to claim 9 ; and
a management facility provided in a mine and configured to transmit moving object position information regarding a position of the moving object,
wherein the work machine control system receives the moving object position information, estimates a travel position of the moving object based on the received moving object position information, sets a mask region including the moving object at an estimated position, and determines the information on an object to be detected within the mask region as the moving object information.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Sakai Atsushi
• Minagawa Masanori
• Tanaka Daisuke
• Ryuman Mitsuhiro
• Kadono Yosuke

Classifications

• G05D1/0212 Primary

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• G05D2201/021

  Physics · mapped topic

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• E21F13/00

  Transport specially adapted to underground conditions (mine cars B61D; transport in general, loading {unless specially adapted to underground conditions} B65G) · CPC title

• G05D1/0231

  using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16) · CPC title