CONTROL SYSTEM FOR WORK MACHINE, WORK MACHINE, MANAGEMENT SYSTEM FOR WORK MACHINE, AND MANAGEMENT METHOD FOR WORK MACHINE

• US 20170174123A1
• Filed: 12/18/2015
• Published: 06/22/2017
• Est. Priority Date: 12/18/2015
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Ogihara, Masanori, Nishijima, Akiharu
• Granted Patent: US 10,343,595 B2
• Time in Patent Office: Days
• CPC Class Codes: B60P 1/04 with a tipping movement of load-transporting element dredgers or soil-shifting machines E02F3/00
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: B60Q 2800/20 Utility vehicles, e.g. for agriculture, construction work
• CPC Class Codes: B60Q 2900/30 Lamps commanded by wireless transmissions
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria

Abstract

A control system for a work machine includes: a turn determination unit configured to determine whether the work machine makes a turn with a predetermined curvature radius or less over a predetermined distance or more, based on running condition data including at least position data and target azimuth data for performing running control of the work machine; and a winkers control unit configured to output a winker control signal based on a determination result of the turn determination unit.

Claims

1. A control system for a work machine comprising:

a turn determination unit configured to determine whether the work machine makes a turn with a predetermined curvature radius or less over a predetermined distance or more, based on running condition data, which is an aggregate of a plurality of course points set at predetermined intervals, including at least position data and target azimuth data for performing running control of the work machine; and

a winkers control unit configured to output a winker control signal based on a determination result of the turn determination unit, wherein

a target running path of the work machine is defined by a track that passes the plurality of course points,

each of the plurality of course points includes the target azimuth data of the work machine,

each a predetermined number of course points which are arranged continuously at predetermined intervals at a forward side in a running direction of the work machine is set as a standard course point,

the turn determination unit calculates an azimuth difference indicating a difference in target azimuth between the standard course point and a reference course point at the forward side in the running direction by a predetermined distance with respect to the standard course point, calculates the azimuth difference for each of the plurality of standard course points, and determines that the work machine is making a turn when it is determined that standard course points each of whose azimuth difference is equal to or more than an angle threshold value exist continuously for a count threshold value or more.

2. The control system for the work machine according to claim 1, wherein the winkers control unit outputs a winker control signal for illuminating when the work machine is determined to make a turn with the predetermined curvature radius or less over the predetermined distance or more, and outputs the winker control signal for turning off when the work machine is determined to run for the predetermined distance or more and thereafter the work machine is determined to run with the predetermined curvature radius or more.

3. The control system for the work machine according to claim 1, wherein

the winkers control unit outputs a winker control signal for illuminating when the work machine is determined to make a turn with the predetermined curvature radius or less over the predetermined distance or more based on the target azimuth data of the work machine.

4. The control system for the work machine according to claim 3, wherein the running condition data includes course type data indicating whether the course point is defined at an intersection of a mine or not, and

the winkers control unit outputs a winker control signal for illuminating when the work machine is determined to make a turn at the intersection based on the course type data.

5. The control system for the work machine according to claim 1, wherein the winkers control unit corrects, based on determination correction data defined based on an area of the mine, illuminate or non-illuminate determination of a direction indicator made by the turn determination unit.

6. A work machine comprising the control system for the work machine according to claim 1.

7. A management system for a work machine comprising a management apparatus configured to output the running condition data to the work machine according to claim 6.

8. A management method for a work machine comprising:

determining whether the work machine makes a turn with a predetermined curvature radius or less over a predetermined distance or more, based on running condition data, which is an aggregate of a plurality of course points set at predetermined intervals, including at least position data and target azimuth data for performing running control of the work machine; and

outputting a winker control signal based on a result of the determination, wherein

a target running path of the work machine is defined by a track that passes the plurality of course points,

each of the plurality of course points includes the target azimuth data of the work machine,

each a predetermined number of course points which are arranged continuously at predetermined intervals at a forward side in a running direction of the work machine is set as a standard course point,

calculating an azimuth difference indicating a difference in target azimuth between the standard course point and a reference course point at the forward side in the running direction by a predetermined distance with respect to the standard course point,

calculating the azimuth difference for each of the plurality of standard course points, and

determining that the work machine is making a turn when it is determined that standard course points each of whose azimuth difference is equal to or more than an angle threshold value exist continuously for a count threshold value or more.

9. (canceled)