Construction machine control system, construction machine, construction machine management system, and construction machine control method and program

Patent metadata

Field	Value
Publication number	US-9869555-B2
Application number	US-201515123039-A
Country	US
Kind code	B2
Filing date	Oct 30, 2015
Priority date	Oct 30, 2015
Publication date	Jan 16, 2018
Grant date	Jan 16, 2018

Abstract

A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a determination unit that determines whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error; a non-contact sensor that detects a position of an object around the construction machine; and a map information storage unit that extracts a detection result related to a vertical projection that protrudes vertically from a detection result of the non-contact sensor and stores the extracted detection result related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error.

First claim

The invention claimed is:

1. A construction machine control system for a construction machine that travels along a travel route, comprising:
a position detection unit including an antenna and configured to detect a position of the construction machine in communication with outside;
a determination unit implemented in a controller and configured to determine whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error;
a non-contact sensor configured to detect a position of an object around the construction machine; and
a map information storage unit including a map database and configured to extract data related to a vertical projection that protrudes vertically from the surface of the travel route, from a detection result of the non-contact sensor, store the extracted data related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error, and never store data from a detection result of the non-contact sensor when the determination unit determines that the error in the position detected by the position detection unit exceeds the predetermined error.

2. The construction machine control system according to claim 1 , further comprising:
a position measurement unit implemented in a controller and configured to specify the position of the construction machine by comparing the detection result of the non-contact sensor and the map information stored by the map information storage unit when the determination unit determines that the error in the position detected by the position detection unit exceeds the predetermined error.

3. The construction machine control system according to claim 2 , wherein
the position measurement unit stops specifying the position of the construction machine by comparing the detection result of the non-contact sensor and the map information stored by the map information storage unit when a stopped state of the construction machine is detected.

4. The construction machine control system according to claim 2 , wherein
when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error, the position measurement unit compares the detection result of the non-contact sensor and the map information stored by the map information storage unit to specify the position of the construction machine and determines whether it is appropriate to allow the construction machine to travel along the travel route based on the position of the construction machine specified by the position measurement unit.

5. The construction machine control system according to claim 4 , wherein
when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error, the position measurement unit detects and stores a distance between the position detected by the position detection unit and the position of the construction machine obtained by comparing the detection result of the non-contact sensor and the map information of the travel route stored by the map information storage unit.

6. A construction machine comprising:
the construction machine control system according to claim 1 ; and
a vehicle body that travels along a travel route provided in a mine.

7. A construction machine management system comprising:
the construction machine according to claim 6 ; and
a management device implemented in a computer disposed in a control facility provided in a mine, and configured to transmit information on a travel route provided in the mine to a construction machine control system of the construction machine.

8. A construction machine control system for a construction machine that travels along a travel route, comprising:
a position detection unit including an antenna and configured to detect a position of the construction machine in communication with outside;
a determination unit implemented in a controller and configured to determine whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error;
a non-contact sensor configured to detect a position of an object around the construction machine; and
a map information storage unit including a map database and configured to extract data related to a vertical projection that protrudes vertically from the surface of the travel route, from a detection result of the non-contact sensor, and store the extracted data related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error, wherein
the map information storage unit stops storing the map information when a stopped state of the construction machine is detected.

9. A construction machine control method for controlling a construction machine that travels along a travel route, comprising:
allowing the construction machine to travel along the travel route based on a position of the construction machine detected by a position detection unit communicated with outside;
extracting data related to a vertical projection that protrudes vertically from the surface of the travel route, from a detection result of the non-contact sensor that detects a position of an object around the construction machine when an error in the detected position of the construction machine is equal to or smaller than a predetermined error;
storing the extracted data related to the vertical projection as map information of the travel route; and
never storing data from a detection result of the non-contact sensor when the error in the detected position of the construction machine exceeds the predetermined error.

10. A computer program product having a non-transitory computer readable medium including programmed instructions,
wherein when the instructions are executed by a computer provided in a construction machine that travels along a travel route provided in a mine based on a position detected by a position detection unit communicated with outside, the instructions cause the computer to perform:
determining whether an error in the position of the construction machine detected using the position detection unit is equal to or smaller than a predetermined error;
extracting data related to a vertical projection that protrudes vertically from the surface of the travel route, from a detection result of the non-contact sensor that detects a position of an object around the construction machine when it is determined that the error in the detected position is equal to or smaller than the predetermined error;
storing the extracted data related to the vertical projection in a map information storage unit including a map database as map information of the travel route; and
never storing data from a detection result of the non-contact sensor when it is determined that the error in the position detected by the position detection unit exceeds the predetermined error.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Sakai Atsushi
• Ryuman Mitsuhiro
• Tojima Masanori
• Nishijima Akiharu

Classifications

• G01S19/396

  Determining accuracy or reliability of position or pseudorange measurements · CPC title

• G01C21/005 Primary

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title

• G01S13/865

  Combination of radar systems with lidar systems · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S2013/93275

  in the bumper area · CPC title