Work machine control system, work machine, work machine management system, and method for controlling work machine

Patent metadata

Field	Value
Publication number	US-2017192434-A1
Application number	US-201515314214-A
Country	US
Kind code	A1
Filing date	Nov 30, 2015
Priority date	Nov 30, 2015
Publication date	Jul 6, 2017
Grant date	—

Abstract

A method for controlling a work machine, includes: detecting an area present ahead in a traveling direction of a work machine, in which a target traveling speed of the work machine is constant and is lower than a traveling speed at a current point of time; when the area is detected, obtaining a corrected value for correcting the accelerating instruction value; adding the corrected value and an accelerating instruction value for controlling a traveling speed of the work machine obtained based on the target traveling speed to obtain a corrected accelerating instruction value; and outputting the corrected accelerating instruction value to a drive device configured to drive a traveling device in the work machine.

First claim

1 . A work machine control system configured to control a drive device configured to drive a traveling device in a work machine, comprising:
an acceleration change amount calculation unit configured to obtain an accelerating instruction value for controlling a traveling speed of the work machine based on a target traveling speed of the work machine; a detection unit configured to detect an area ahead in a traveling direction of the work machine, in which the target traveling speed is constant and is lower than a traveling speed at a current point of time; a corrected value calculation unit configured to, when the area is detected by the detection unit, obtain a corrected value for correcting the accelerating instruction value; an addition processing unit configured to add the accelerating instruction value and the corrected value to obtain a corrected accelerating instruction value; and an accelerating instruction value output unit configured to output the corrected accelerating instruction value to the drive device.

2 . The work machine control system according to claim 1 ,
wherein traveling condition information for defining a target traveling course of the work machine includes the target traveling speed, and the detection unit is configured to detect the area by using a plurality of the target traveling speeds corresponding to a plurality of points present ahead in a traveling direction of the work machine.

3 . The work machine control system according to claim 2 ,
wherein when a difference between a first target traveling speed at a first point present ahead in a traveling direction of the work machine and a second target traveling speed at a second point present ahead in the traveling direction of the work machine ahead of a first traveling condition information is less than a threshold, the detection unit determines that the area is detected.

4 . The work machine control system according to claim 1 ,
wherein when a deceleration of the work machine is a threshold or more, the detection unit determines that the area is detected.

5 . The work machine control system according to claim 1 ,
wherein the corrected value calculation unit is configured to obtain the corrected value by using an actual deceleration of the work machine.

6 . The work machine control system according to claim 1 ,
wherein the area includes at least one of a speed-limited area in a mine in which the work machine travels, a cross point, and a location in which a carrying route in the mine is narrow.

7 . A work machine control system configured to control a drive device configured to drive a traveling device in a work machine, comprising:
an acceleration change amount calculation unit configured to obtain an accelerating instruction value for controlling a traveling speed of the work machine based on a target traveling speed of the work machine; a detection unit configured to detect that the work machine is present in a deceleration area in which the target traveling speed decreases, and that a constant-acceleration area in which the target traveling speed linearly increases is present ahead in a traveling direction of the work machine; a corrected value calculation unit configured to, when the area is detected by the detection unit, obtain a corrected value for correcting the accelerating instruction value; an addition processing unit configured to add the accelerating instruction value and the corrected value to obtain a corrected accelerating instruction value; and an accelerating instruction value output unit configured to output the corrected accelerating instruction value to the drive device.

8 . The work machine control system according to claim 7 ,
wherein the corrected value calculation unit is configured to obtain the corrected value by using an actual deceleration of the work machine and an acceleration in the constant-acceleration area.

9 . A work machine including the work machine control system according to claim 7 .

10 . A work machine management system comprising:
a management device configured to output traveling condition information including the target traveling speed and a target traveling course of a work machine to the work machine according to claim 9 .

11 . A method for controlling a work machine, comprising:
detecting an area present ahead in a traveling direction of a work machine, in which a target traveling speed of the work machine is constant and is lower than a traveling speed at a current point of time; when the area is detected, obtaining a corrected value for correcting the accelerating instruction value; adding the corrected value and an accelerating instruction value for controlling a traveling speed of the work machine obtained based on the target traveling speed to obtain a corrected accelerating instruction value; and outputting the corrected accelerating instruction value to a drive device configured to drive a traveling device in the work machine.

12 . A work machine including the work machine control system according to claim 1 .

13 . A work machine management system comprising:
a management device configured to output traveling condition information including the target traveling speed and a target traveling course of a work machine to the work machine according to claim 12 .

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Kou Ryuuen
• Nishijima Akiharu

Classifications

• B60W2555/60

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• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• G08G1/202

  Dispatching vehicles on the basis of a location, e.g. taxi dispatching · CPC title

• G01C21/26

  specially adapted for navigation in a road network · CPC title

• B60Y2200/415

  Wheel loaders · CPC title