CONTROL SYSTEM OF WORK MACHINE AND WORK MACHINE

• US 20160348343A1
• Filed: 05/29/2015
• Published: 12/01/2016
• Est. Priority Date: 05/29/2015
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Kanemitsu, Yasuo, Kami, Yoshiki
• Granted Patent: US 10,145,088 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: E02F 9/123 Drives or control devices specially adapted therefor E02F9/125 and E02F9/128 take precedence
• CPC Class Codes: E02F 9/2025 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 Class Codes: E02F 9/2292 Systems with two or more pumps
• CPC Class Codes: E02F 9/2296 Systems with a variable displacement pump
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool
• CPC Class Codes: E02F 9/267 Diagnosing or detecting failure of vehicles
• CPC Class Codes: G01S 19/14 specially adapted for specific applications

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.

Claims

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.

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

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.

15. A work machine including the control system for the work machine according to claim 5.

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 swing body and a surface corresponding to a surface with which the travelling apparatus comes into contact 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,

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.

11. The control system for the work machine according to claim 10, wherein in a case where the work machine is in a static status and the position determination performed by the position detection apparatus is normal, the position information generation unit operates in the first mode, and obtains the particular point, and

when the work machine becomes a non-static status or the position determination performed by the position detection apparatus becomes abnormal, the position information generation unit operates in the second mode by using the particular point.

12. The control system for the work machine according to claim 11, wherein the position information generation unit determines the non-static status in a case where an operation device configured to operate the swing body is ON or in a case where an operation device configured to operate the travelling apparatus is ON or in a case where a status continues for a first period of time in which a speed at which the swing body swings is equal to or more than a threshold value, and

the position information generation unit determines the static status in a case where an operation device configured to operate the swing body is OFF or in a case where an operation device configured to operate the travelling apparatus is OFF or in a case where a status continues for a second period of time in which a speed at which the swing body swings is less than a threshold value.

13. A work machine including the control system for the work machine according to claim 10.