Control system for work machine, work machine, and control method for work machine

Patent metadata

Field	Value
Publication number	US-10120388-B2
Application number	US-201615316247-A
Country	US
Kind code	B2
Filing date	Mar 31, 2016
Priority date	Mar 31, 2016
Publication date	Nov 6, 2018
Grant date	Nov 6, 2018

Abstract

A control system for a work machine includes a non-contact sensor, a position output device, a correction position calculation unit, and a control device. The non-contact sensor detects a periphery of a work machine. The position output device determines a position of the work machine based on at least a detection result of the non-contact sensor, and outputs information of the position. The correction position calculation unit corrects the position determined by the position output device based on delay time including at least a delay in communication with the position output device. The control device generates a command for controlling the work machine using the corrected position corrected by the correction position calculation unit.

First claim

The invention claimed is:

1. A control system for a work machine, comprising:
a non-contact sensor configured to detect a periphery of a work machine;
a gyro sensor configured to detect an orientation or an orientation change amount of the work machine;
a speed sensor configured to detect a traveling speed of the work machine;
a control device mounted on the work machine, and configured to receive detection results of the gyro sensor and the speed sensor; and
a position output device mounted on the work machine, and configured to receive the detection results of the gyro sensor and the speed sensor from the control device, determine a position of the work machine based on a detection result of the non-contact sensor, map information including the position of an object existing in a mine in advance, the detection results of the gyro sensor and the speed sensor from the control device, and output information of the position to the control device; wherein
the control device and the position output device exchange information by communicating with one another via a signal line,
the control device defines time when the control device transmits the detection results of the gyro sensor and the speed sensor to the position output device as first time,
the control device defines time when the control device starts to control the traveling of the work machine based on the position of the work machine as second time,
the control device defines a difference between the first time and the second time as delay time,
the control device includes:
a correction position calculation unit that corrects the position determined by the position output device, based on the delay time; and
a traveling control unit that generates a command for controlling the work machine based on a corrected position corrected by the correction position calculation unit.

2. The control system for a work machine according to claim 1 , wherein
the position output device determines the position of the work machine based on the detection result of the non-contact sensor, the map information including the position of the object existing in the mine in advance, the detection results of the gyro sensor and the speed sensor from the control device, by using scan matching navigation, and outputs information of the position to the control device, and
the control device determines a position to which the work machine has moved, during the delay time, based on the position from the position output device and corresponding to the first time, the detection results of the gyro sensor and the speed sensor, and the delay time, by using dead reckoning navigation, and defines the determined position as the corrected position.

3. The control system for a work machine according to claim 1 , wherein
the control device reduces an influence of at least one of
the delay caused by the communication between the control device and the position output device,
the delay caused by instantaneous interruption of the communication between the control device and the position output device,
the delay caused by a difference in the control cycles between the control device and the position output device, and
the delay caused by the processing in the position output device,

by controlling the work machine based on the corrected position.

4. A work machine comprising:
the control system for a work machine according to claim 1 ; and
a traveling device controlled by the control device included in the control system for the work machine.

5. A control method for a work machine, comprising:
detecting a periphery of a work machine by a non-contact sensor;
detecting an orientation or an orientation change amount of the work machine by a gyro sensor;
detecting a traveling speed of the work machine by a speed sensor;
defining time when detection results of the gyro sensor and the speed sensor are transmitted from an on-board control device to an on-board position output device via a signal line as first time;
determining a position of the work machine based on a detected result of the non-contact sensor, map information including the position of an object existing in a mine in advance, and the detection results of the gyro sensor and the speed sensor, and outputting information of the position from the on-board position output device to the on-board control device via the signal line;
defining time when controlling the traveling of the work machine based on the position of the work machine is started as second time;
defining a difference between the first time and the second time as delay time;
correcting the position of the work machine based on the output information of the position and the delay time; and
generating a command for controlling the work machine based on a corrected position of the work machine.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Sakai Atsushi
• Ryuman Mitsuhiro

Classifications

• G05D2201/0202

  Physics · mapped topic

• E02F9/2045

  Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004) · CPC title

• G05D1/0276 Primary

  using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058) · CPC title

• E02F3/32

  working downwardly and towards the machine, e.g. with backhoes · CPC title

• G05D1/0212

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