Control system of work machine and work machine

Patent metadata

Field	Value
Publication number	US-2016348343-A1
Application number	US-201514778724-A
Country	US
Kind code	A1
Filing date	May 29, 2015
Priority date	May 29, 2015
Publication date	Dec 1, 2016
Grant date	—

Abstract

Operation is performed in any one of a first mode that information about the position detected by a position detection apparatus is output as position information related to the position of a work machine, a second mode that information about a position obtained by using both of a particular point as a reference of the work machine obtained before a position determination becomes abnormal and operation information detected by a status detection apparatus is output as the position information, and a third mode that the position information is not output, and when the position determination is normal, operation is performed in the first mode, and when the position determination is abnormal and the work machine is static status, operation is performed in the second mode, and when the position determination is abnormal and the work machine is in a non-static status, operation is performed in the third mode.

First claim

1 . A control system configured to control a work machine including a work device having a work tool and a travelling apparatus,
the control system comprising: a position detection apparatus configured to detect a position of the work machine; a status detection apparatus configured to detect operation information indicating operation of the work machine; a position information generation unit configured to operate in any one of a first mode in which information about the position detected by the position detection apparatus is output as position information related to the position of the work machine, a second mode in which information about a position obtained by using both of a particular point serving as a reference of the work machine obtained before a position determination performed by the position detection apparatus becomes abnormal and the operation information detected by the status detection apparatus is output as the position information, and a third mode in which the position information is not output, wherein when the position determination performed by the position detection apparatus is normal, the position information generation unit operates in the first mode, and when the position determination performed by the position detection apparatus is abnormal and the work machine is static status, the position information generation unit operates in the second mode, and when the position determination performed by the position detection apparatus is abnormal and the work machine is in a non-static status, the position information generation unit operates in the third mode; and a target value generation unit configured to obtain a position of the work device on the basis of the position information obtained from the position information generation unit.

2 . The control system for the work machine according to claim 1 , wherein the position information generation unit operates in the third mode in a case where there is an abnormality in at least one of equipment configured to detect operation of the work machine and equipment configured to obtain the position of the work machine during operation in the second mode.

3 . The control system for the work machine according to claim 1 , wherein the work machine includes a swing body which is attached with the work device, and which is attached to the travelling apparatus, and which is mounted on the travelling apparatus to swing,
the particular point is a cross point of a rotation center axis of the swing body and a surface corresponding to a surface with which the travelling apparatus comes into contact before the position determination performed by the position detection apparatus becomes abnormal, and further, the position information generation unit operates in the first mode in a case where the position determination performed by the position detection apparatus becomes normal during operation of the second mode, and the position information generation unit operates in the third mode on condition that the work machine travels during operation in the second mode.

4 . The control system for the work machine according to claim 3 , wherein instead of the condition, the position information generation unit operates in the third mode on condition that there is an abnormality in at least one of the equipment configured to detect operation of the work machine and the equipment configured to obtain the position of the work machine.

5 . A control system configured to control a work machine including a travelling apparatus, a work device having a work tool, and a swing body which is attached with the work device and which is mounted on the travelling apparatus to swing,
the control system comprising: a position detection apparatus configured to detect a position of the work machine; a status detection apparatus configured to detect operation of the work machine and detect operation information indicating the detected operation; a position information generation unit configured to operate in any one of a first mode in which information about the position detected by the position detection apparatus is output as position information related to the position of the work machine, a second mode in which information about a position obtained by using both of a particular point serving as a reference of the work machine obtained before a position determination performed by the position detection apparatus becomes abnormal and the operation information detected by the status detection apparatus is output as the position information, and a third mode in which the position information is not output, wherein when the position determination performed by the position detection apparatus is normal during operation in the second mode, the position information generation unit operates in the first mode, and the position information generation unit operates in the third mode on condition that the work machine becomes a non-static status during operation in the second mode; a target value generation unit configured to obtain a position of the work device on the basis of the position information obtained from the position information generation unit.

6 . The control system for the work machine according to claim 5 , wherein in a case where the position determination performed by the position detection apparatus becomes normal during operation in the second mode while the swing body is swinging, the position information generation unit continues operation in the second mode until at least swinging of the swing body is finished.

7 . The control system for the work machine according to claim 5 , wherein instead of the condition, the position information generation unit operates in the third mode on condition that there is an abnormality in at least one of the equipment configured to detect operation of the work machine and the equipment configured to obtain the position of the work machine during operation in the second mode.

8 . The control system for the work machine according to claim 5 , wherein instead of the condition, the position information generation unit operates in the third mode on condition that a time of operation in the second mode is more than a threshold value.

9 . The control system for the work machine according to claim 5 , wherein instead of the condition, the position information generation unit does not output the position of the work machine on condition that the swing body swings an angle larger than a particular angle in a same direction during operation in the second mode.

10 . A control system configured to control a work machine including a travelling apparatus, a work device having a work tool, and a swing body which is attached with the work device and which is mounted on the travelling apparatus to swing,
the control system comprising: a position detection apparatus configured to detect a position of the work machine; a status detection apparatus configured to detect operation of the work machine and detect operation information indicating the detected operation; a position information generation unit configured to operate upon selecting from any one of, by using a status of a position determination performed by the position detection apparatus and a status of the work machine, a first mode in which information about the position detected by the position detection apparatus is output as position information related to the position of the work machine, a second mode in which information about a position obtained by using both of a particular point which serves as a reference of the work machine obtained before the position determination performed by the position detection apparatus becomes abnormal and which is a cross point of a rotation center axis of the

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Kanemitsu Yasuo
• Kami Yoshiki

Classifications

• E02F9/2025

  Particular purposes of control systems not otherwise provided for (E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence) · CPC title

• G01S19/14

  specially adapted for specific applications · CPC title

• E02F9/2292

  Systems with two or more pumps · CPC title

• E02F9/2296

  Systems with a variable displacement pump · CPC title

• E02F9/267 Primary

  Diagnosing or detecting failure of vehicles · CPC title