Patent AU-2016204168-B2 (AU)
Title: Work machine control system, work machine, and work machine management system
Inventor: SAKAI ATSUSHI
IPC: G05D1/02
Filed: 2016-02-01
Granted: 2017-11-09
Abstract: (12) Si tIIIII Iafj:DIDDI - I I' V IM I I tI: M W- III II (10) 0 h f (43) M W N 2016 * 6 f 16 H (16.06.2016) W O 2016/093374 Al WIPO I PCT (51) MRitF30: 3 - 2 5 - 1 t±/'J*'%Q1tFPt I C T G05D 1/02 (2006.01) 'J ) a -a 4Z9 3 i Kanagawa (JP). AM ;-$$ (KADONO, Yosuke); T2548555 f (21) % 9 3:PCT/JP2016/052940 223-25-1 W nI/ *%tP ;L- 3 - 2 5 - 1 _ =t\* 11fi C (22) [tJ%89 E: 2016 Pl 2 J 1 E (01.02.2016) T 'V ') a -9 > '../ A Kanagawa (JP). (25) [P 8t J 0 F- 3ME (74) It X IT J ,I __{> : _(SAKAI INTERNATIONAL PATENT OFFICE); T (26) 3 9 0i 6 3 10000 13 #-T-FIt EM FX OF fJi N 3 ] Hl 8 1 (71) t T A: t ='it± /J$'2%Q fit (KOMATSU LTD.) J®fEtO t E4 )|7 - >../ Tokyo(JP). [JP/JP]; T 1078414 FX$$ _ it iA 2 - 3 -6 (81) IQ Z Mgg (A _ )t L_ ) 6 Tokyo (JP). f &T -I): AE, AG, AL, AM, AO, AT, AU, AZ, BA, (72) Bt: ttA ft M(SAKAI, Atsushi); T 2548555 $ BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, JI IWi $ R;2RZ' 3 - 2 5 - 1 * n -±/J\tVi CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, WIPfi I C T ') a -. 9 > '.. SfA Kanagawa Fl, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, (JP). 9 I N & (MINAGAWA, Masanori); T IR, IS, JP, KE, KG, KN, KP, KR, KZ, LA, LC, LK, LR, 2548555 $$ li5 2Z 3-2 5- 1 LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, *T :t/J'* F tPR I C T '} I) a - a MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, A i Kanagawa (JP). E - t $ (TANAKA, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, Daisuke); T2548555 $i 3 - 2 SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, S 5 - 1 t)/J'*485t 5I C T 3') a _ UG, US, UZ, VC, VN, ZA, ZM, ZW. .- A5 >tr Kanagawa (JP). fillA Y6 M (RYU MAN, Mitsuhiro); T 2548555 $Li (54) Title: CONTROL SYSTEM FOR WORK MACHINES, WORK MACHINE, AND MANAGEMENT SYSTEM FOR WORK = (5 4) 59O> B) ) ' pT : 11 Af 4jR 0 M 10 , -$ JX\, I &F®'fl$'7c (57) Abstract: A control system for work machines traveling along travel routes, said control system comprising: position detec 32 tion means that detect the positions of the work machines; a non 3A j4 contact sensor that detects the positions of objects in the vicinity of 31B 31 3 the work machines; and a control unit that extracts detected object _ information from the detection results of the position detection 20 means and the detection results of the non-contact sensor, and ex cludes the detected object information within mask areas which are set so as to include changed terrain portions in which the terrain has 38 39 ;33C changed due to the use of machines in the vicinity of the travel K- R;II P routes. 4a ~~~~(57) -5,t i :T et A 4- t T*461&®$f{4I ) M $'X7r lc2tcC 4.tt 2f~~ 20 TRAVEL CONTROLLER \) -Ic z 24B LASER SENSOR 26 GYRO SENSOR 27 SPEED SENSOR A 3GPS RECEIVER iA5 32... TRAVEL ROUTE CREATION DEVICE 32A... ROUTE POSITION STORAGE UNIT 33 POSITION MEASUREMENT CONTROLLER 33A. ASSESSMENT UNIT 33B... COLLATED NAVIGATION CALCULATION UNIT 33C... GRID MAP CREATION UNIT 34... WIRELESS COMMUNICATION DEVICE 36... DATABASE FOR STORING MAPS 38... OBSERVATION POINT COORDINATE CONVERSION UNIT 39... DETERMINATION UNIT CAPABLE OF UTILIZING OBSERVATION POINTS 40 SAFETY CONTROLLER W O 20 16/0933 74 A 1l II ||II ||VIlIllllI |||||I |||||||||||||I||I||II|||||ID||||||||||||||||||||I| (84) I'M (A 7®,0tSit[FP L) , T ®Z± Of 9 , hI 1 t: 3 f.): ARIPO (BW, GH, GM, KE, LR, LS, MW, - 21 (3)) MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), .-L 5 /~7 (AM, AZ, BY, KG, KZ, RU, TJ, TM), E - --) L 1- / (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, -tzWIzIt &PTh*1. W 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, - |-B g A) 1 Z < 2 1 *(2)(a)I Z J ) SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, fieAgg) GW, KM, ML, MR, NE, SN, TD, TG).