Control system for work machine, work machine, and management system for work machine
First Claim
1. A control system for a work machine, comprising:
- a position detecting device that detects a position of a work machine that runs on a running path of a work site of a mine of which a current landform changes day by day;
a non-contact sensor that detects, in a non-contact manner, an object at a side of the running path on which the work machine runs;
a map data generating unit that generates map data that indicates a map of a work site based on detection data from the position detecting device and detection data from the non-contact sensor;
a first storage unit that stores a plurality of past map data generated by the map data generating unit based on the detection data from the position detecting device and the detection data from the non-contact sensor acquired at different predetermined periods in a past, each of the plurality of past map data being generated at a different predetermined period;
a second storage unit that stores current map data generated in the map data generating unit based on the detection data from the position detecting device and the detection data from the non-contact sensor;
an integrated map data calculation unit that calculates integrated map data by integrating a predetermined number of past map data from the plurality of the past map data stored in the first storage unit and the current map data stored in the second storage unit, the predetermined number being greater than one; and
a position calculation unit that by matching the integrated map data calculated by the integrated map data calculation unit and the detection data from the non-contact sensor, calculates the position of the work machine.
1 Assignment
0 Petitions
Accused Products
Abstract
A control system includes: a detector detecting a position of a work machine running on a running path; a non-contact sensor detecting an object at a side of the running path; a generator generating map data of a work site based on detection data from the detector and the non-contact sensor; a first storage storing past map data generated in the generator based on the detection data from the detector and the non-contact sensor acquired in a predetermined period in a past; a second storage storing current map data generated in the generator based on the detection data from the detector and the non-contact sensor; a first calculator calculating integrated map data by integrating the past map data and the current map data; and a second calculator by matching the integrated map data and the detection data from the non-contact sensor, calculates the position of the work machine.
40 Citations
6 Claims
-
1. A control system for a work machine, comprising:
-
a position detecting device that detects a position of a work machine that runs on a running path of a work site of a mine of which a current landform changes day by day; a non-contact sensor that detects, in a non-contact manner, an object at a side of the running path on which the work machine runs; a map data generating unit that generates map data that indicates a map of a work site based on detection data from the position detecting device and detection data from the non-contact sensor; a first storage unit that stores a plurality of past map data generated by the map data generating unit based on the detection data from the position detecting device and the detection data from the non-contact sensor acquired at different predetermined periods in a past, each of the plurality of past map data being generated at a different predetermined period; a second storage unit that stores current map data generated in the map data generating unit based on the detection data from the position detecting device and the detection data from the non-contact sensor; an integrated map data calculation unit that calculates integrated map data by integrating a predetermined number of past map data from the plurality of the past map data stored in the first storage unit and the current map data stored in the second storage unit, the predetermined number being greater than one; and a position calculation unit that by matching the integrated map data calculated by the integrated map data calculation unit and the detection data from the non-contact sensor, calculates the position of the work machine. - View Dependent Claims (2, 3, 4)
-
-
5. A work machine comprising a control system, the control system including:
-
a position detecting device that detects a position of a work machine that runs on a running path of a work site of a mine of which a current landform changes day by day; a non-contact sensor that detects, in a non-contact manner, an object at a side of the running path on which the work machine runs; a map data generating unit that generates map data that indicates a map of a work site based on detection data from the position detecting device and detection data from the non-contact sensor; a first storage unit that stores a plurality of past map data generated by the map data generating unit based on the detection data from the position detecting device and the detection data from the non-contact sensor acquired at different predetermined periods in a past, each of the plurality of past map data being generated at a different predetermined period; a second storage unit that stores current map data generated in the map data generating unit based on the detection data from the position detecting device and the detection data from the non-contact sensor; an integrated map data calculation unit that calculates integrated map data by integrating a predetermined number of past map data from the plurality of the past map data stored in the first storage unit and the current map data stored in the second storage unit, the predetermined number being greater than one; and a position calculation unit that by matching the integrated map data calculated by the integrated map data calculation unit and the detection data from the non-contact sensor, calculates the position of the work machine.
-
-
6. A management system for a work machine, comprising:
-
a work machine comprising a control system that includes; a position detecting device that detects a position of a work machine that runs on a running path of a work site of a mine of which a current landform changes day by day, a non-contact sensor that detects, in a non-contact manner, an object at a side of the running path on which the work machine runs, a map data generating unit that generates map data that indicates a map of a work site based on detection data from the position detecting device and detection data from the non-contact sensor, a first storage unit that stores a plurality of past map data generated by the map data generating unit based on the detection data from the position detecting device and the detection data from the non-contact sensor acquired at different predetermined periods in a past, each of the plurality of past map data being generated at a different predetermined period, a second storage unit that stores current map data generated in the map data generating unit based on the detection data from the position detecting device and the detection data from the non-contact sensor, an integrated map data calculation unit that calculates integrated map data by integrating a predetermined number of past map data from the plurality of the past map data stored in the first storage unit and the current map data stored in the second storage unit, the predetermined number being greater than one, and a position calculation unit that by matching the integrated map data calculated by the integrated map data calculation unit and the detection data from the non-contact sensor, calculates the position of the work machine; and a management device that outputs course data that defines the running path to the work machine.
-
Specification