Patent AU-2016210131-B2 (AU)
Title: Control system for work machine, work machine, and management system for work machine
Inventor: SAKAI ATSUSHI
IPC: G01C21/00
Filed: 2016-02-29
Granted: 2017-04-27
Abstract: (12) Si tIIIII Iafj:W I II - I I' C V IM tI: M W- III II (10) 0 (43) 9AR 2016 * 7 f 28 H (28.07.2016) W O 2016/117713 Al WIPO I PCT (51) MR$$$$92: * ' /J\Vit1F P I C T ' ' a - '. G01C 21/00 (2006.01) G09B 29/10 (2006.01) INA Kanagawa (JP). G05D 1/02 (2006.01) (74) ItITX: A (21) t2 : PCT/JP2016/056121 (SAKAI INTERNATIONAL PATENT OFFICE); T (22) M E E : 2016 Pl 2 J 29 8 (29.02.2016) 10000E13 #_'-, F r E E O fJ N 3 T Ty 8o1 JL OP _= # )I--r 4' Tokyo (JP). (25) M W8E0)11 = M1 (81) IQ 0) ±rStL®ICl)]{) (26) M [P, N : )-=1 i& TfJ RI): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, (71) t WA A :_d tK At *i /± $' *4 fgR (KOMATSU LTD.) CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, [JP/JP]; T 1078414 3 STI3 01 EFx t&A 2 - 3 - 6 Fl, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, Tokyo (JP). IR, IS, JP, KE, KG, KN, KP, KR, KZ, LA, LC, LK, LR, (72) 5BAt: ilt ft M(SAKAI, Atsushi); T 2548555 g LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, J I I I W±$2RL 3 - 2 5 - 1 tRE"I/J\* MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, WI{ PRf I C T 'V '1) a- / > A Kanagawa PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, (JP). E- t M(TANAKA, Daisuke); T 2548555 $ SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, SJIl 23 - 2 5 - 1 i/J\ UG, US, UZ, VC, VN, ZA, ZM, ZW. $,% 1f PT I C T ') - > ' *31- (84) $ ( Sc L\5Y r , 6Dox ij O {% Kanagawa (JP). 3Ail 96J(RYUMAN, Mitsuhiro); T g fJ i flR): ARIPO (BW, GH, GM, KE, LR, LS, MW, 2548555 J II M- 1W $ 2;L 3 - 2 5 - 1 MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), .-L (54) Title: CONTROL SYSTEM FOR WORK MACHINE, WORK MACHINE, AND MANAGEMENT SYSTEM FOR WORK (57) Abstract: Provided is a control system for a work ma chine, comprising: a position detection device for detecting the position of a work machine; a non-contact sensor for non - 2 22 contact detection of an object; a map data creation unit for creating map data on the basis of detection data from the pos 31B 31A 336 26 ition detection device and detection data from the non-contact 34A 35 sgtg 27 sensor; a first storage unit for storing past map data created by the map data creation unit for creating map data on the basis 2 40 of detection data from the position detection device and de 31 3'- (a- 5 n-D-5 tection data from the non-contact sensor acquired during a 32 prescribed time period in the past; a second storage unit for 37A storing current map data created by the map data creation unit 24A for creating map data on the basis of detection data from the 424B-1 position detection device and detection data from the non 2B3 ~21 contact sensor; an integrated map data calculation unit for in rxem tegrating past map data stored in the first storage unit and cur 2E 2G rent map data stored in the second storage unit, and calculat 23(23F) 23(23R) ing integrated map data; and a position computing unit for 23M cross-checking integrated map data calculated by the integ rated map data calculation unit and detection data from the non-contact sensor, and computing the position of a work ma FIG. 3: chine. 2B Braking device 2E Engine (57) -ffe: __ ~2S Steering device [Y~~ 2G Generator 20Driving controller 26 Gyro sensor 27 Speed sensor 33Position measurement controller 40 Safety controller W O 2016/117713 A 1l II |III ||VIIIII ||I|||||||||||V|I||V||I||lID||||||II||||I|||||||||||||I| 5 $ ~7 (AM, AZ, BY, KG, KZ, RU, TJ, TM), E - __ 1- y/S (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, Fl, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, 48.2(h)) MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, -p ]X X I A < K 2 1 $(2)(a)IZ 6 A GW, KM, ML, MR, NE, SN, TD, TG). N 0 4 o -~lk -4iftoft (Cfit 1 7(3) ft#W 2>- Zt t(tfL&t T-9 t fW >7@ oU- r-v t ic d' t, R Ay - ' -y tz t 47-®t-t-9 5% t t rcN)5L CV 'V 1T-W e t:zi&tV 'y 1T- f -9'L S f1 t vf 2 ef- 2 :di7y-994m 4m tE y-99eat4 -R L 1Aa f A IN {--9t L. t -6 f A IN H -