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

• US 10,031,528 B2
• Filed: 02/01/2016
• Issued: 07/24/2018
• Est. Priority Date: 02/01/2016
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Sakai, Atsushi, Minagawa, Masanori, Tanaka, Daisuke, Ryuman, Mitsuhiro, Kadono, Yosuke
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/126,446
• Publication Number:
  US 20170220044A1
• Time in Patent Office: 904 Days
• Field of Search: 701 50
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A work machine control system is configured to control a work machine that travels on a travel route 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 the information on an object to be detected inside a mask region that is set so as to include a terrain change portion that is a portion in which a terrain changes by use of a machine among portions around the travel route.

Claims

1. A work machine control system configured to control a work machine that travels on a travel route, 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 the information on an object to be detected inside a mask region that is set so as to include a terrain change portion that is a portion in which a terrain changes by use of a machine among portions around the travel route.

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 1,

wherein the control system includes a measurement output unit configured to execute:

extraction operation that extracts a position of an upwardly protruding object that protrudes upwardly;

generation operation that generates, as map information, the position of the upwardly protruding object extracted by the extraction operation; 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, and

the measurement output unit uses information excluding a position within the mask region when the measurement output unit executes at least one of the extraction operation, the generation operation, and the identification operation.

4. The work machine control system according to claim 3,

wherein the measurement output unit executes at least one of the extraction operation, the generation operation, and the identification operation after the measurement output unit deletes information on an object to be detected within the mask region.

5. The work machine control system according to claim 1, comprising a reception unit configured to receive position-related information regarding the terrain change portion and a position of the machine, transmitted from a management facility a mine,

wherein the control unit sets the mask region based on the position-related information received by the reception unit.

6. The work machine control system according to claim 1,

wherein, in a case where a predetermined target portion is set within the mask region,

the control unit uses position information on the target portion when the control unit executes the extraction operation, the generation operation, and the calculation operation.

7. The work machine control system according to claim 1,

wherein the mask region includes a plurality of unit regions segmented into a latticed pattern.

8. A work machine comprising:

a work machine main body that travels on a travel route in a mine; and

the work machine control system according to claim 1.

9. A work machine management system, comprising:

the work machine according to claim 8; and

a management facility that is provided in a mine and transmits position-related information regarding at least one of a position of a terrain change portion that is a portion in which a terrain changes by use of a machine among portions around the travel route, and a position of the machine,

wherein the work machine control system receives the position-related information and sets the mask region based on the received position-related information.

10. A work machine control system configured to control a work machine that travels on a travel route, 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 measurement output unit configured to execute identification operation that identifies the position of the work machine by matching map information against a detection result of the non-contact sensor, the map information being generated based on a detection result of the position detection unit and the detection result of the non-contact sensor,

wherein when the measurement output unit executes the identification operation, the measurement output unit uses the map information from which a position within a predetermined mask region has been excluded.

11. A work machine comprising:

a work machine main body that travels on a travel route in a mine; and

the work machine control system according to claim 10.

12. A work machine management system, comprising:

the work machine according to claim 11; and

a management facility that is provided in a mine and transmits position-related information regarding at least one of a position of a terrain change portion that is a portion in which a terrain changes by use of a machine among portions around the travel route, and a position of the machine,

wherein the work machine control system receives the position-related information and sets the mask region based on the received position-related information.