# US 10,768,634 B2 · Control system for work machine, work machine, management system for work machine, and management method for work machine

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- Number: US 10,768,634 B2
- Document ID: US10768634B2
- Status: Granted
- Kind: B2
- Application number: 15/762,680
- Filed: 2015-12-25
- Published: 2018-10-11
- Granted: 2020-09-08
- Earliest claimed: 2015-12-25
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Atsushi Sakai
- Web page: https://patentgrep.com/patent/US10768634B2

## CPC

- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence)
- G05D 1/024: {in combination with a laser (lasers per se H01S)}
- G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)}
- G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)}
- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- G05D 1/0282: {generated in a local control room}
- G08G 1/207: {with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A control system includes: a position detector detecting a position of a work machine; a non-contact sensor detecting, in non-contact manner, an object beside a travel route; a map data generator generating management map data based on detection data obtained by the position detector and detection data obtained by the non-contact sensor; a first storage storing divided map data pieces; a second storage different from the first storage; an update unit determining specific map data from among the plurality of divided map data pieces stored in the first storage based on detection data of the position detector, and cause the second storage to read the specific map data; and a position calculator calculating a position of a work machine by matching the specific map data read into the second storage with the detection data obtained by the non-contact sensor.

## Claims

### Claim 1

A control system for a work machine, comprising:
a position detecting device configured to detect a position of a work machine that travels on a travel route;
a non-contact sensor configured to detect, in a non-contact manner, an object beside the travel route on which the work machine travels;
a map data generating unit configured to generate management map data indicating a map of a management area in a mine on the basis of detection data obtained by the position detecting device and detection data obtained by the non-contact sensor;
a first storage unit configured to store divided map data pieces each indicating a map of a divided area set by dividing the management area;
a second storage unit different from the first storage unit;
an update unit configured to determine, on the basis of detection data obtained by the position detecting device, specific map data from among a plurality of divided map data pieces stored in the first storage unit, and cause the second storage unit to read the specific map data; and
a position calculating unit configured to calculate a position of the work machine by matching the specific map data read into the second storage unit with detection data obtained by the non-contact sensor.

### Claim 2 (depends on 1)

The control system for a work machine according to claim 1, wherein
the specific map data read into the second storage unit includes a first divided map data piece indicating a first divided area and a second divided map data piece indicating a second divided area adjacent to the first divided area, and
the update unit updates the specific map data when it is determined that the work machine is moved from the first divided area to the second divided area on the basis of detection data obtained by the position detecting device.

### Claim 3 (depends on 2)

The control system for a work machine according to claim 2, wherein
the divided map data pieces stored in the first storage unit includes a third divided map data piece indicating a third divided area located adjacent to the second divided area in an advancing direction of the work machine, and
when it is determined that the work machine is moved from the first divided area to the second divided area, the update unit causes the second storage unit to read the third divided map data piece stored in the first storage unit.

### Claim 4 (depends on 3)

The control system for a work machine according to claim 3, wherein when it is determined that the work machine is moved from the first divided area to the second divided area, the update unit erases, from the second storage unit, a fourth divided map data piece stored in the second storage unit and indicating a fourth divided area located adjacent to the first divided area in an opposite direction of the advancing direction of the work machine.

### Claim 5 (depends on 1)

The control system for a work machine according to claim 1, wherein the specific map data includes a divided map data piece indicating a divided area where the work machine exists, and a divided map data piece indicating each of a plurality of divided areas located around the divided area where the work machine exists.

### Claim 6 (depends on 5)

The control system for a work machine according to claim 5, wherein the update unit performs, along with change of a position of the work machine: processing to cause the second storage unit to read at least part of the divided map data pieces stored in the first storage unit; and processing to erase at least part of the divided map data pieces stored in the second storage unit, such that a data amount of the specific map data to be stored in the second storage unit is kept at a constant value.

### Claim 7 (depends on 6)

The control system for a work machine according to claim 6, wherein
the management area includes the plurality of divided maps, in which the divided maps corresponding to first number of divisions are arranged in a first direction within a predetermined plane and the divided maps corresponding to second number of divisions are arranged in a second direction orthogonal to the first direction within the predetermined plane, and
the update unit determines the specific map data to be read into the second storage unit on the basis of: a coordinate value of the divided area where the work machine exists within the predetermined plane; and at least one of the first number of divisions and the second number of divisions.

### Claim 8 (depends on 1)

The control system for a work machine according to claim 1, wherein
the divided map data pieces generated on the basis of detection data obtained by the position detecting device and detection data obtained by the non-contact sensor during a first period are stored in the first storage unit, and
at least part of the divided map data pieces stored in the first storage unit are updated with the divided map data pieces generated during a second period after the first period on the basis of detection data obtained by the position detecting device and detection data obtained by the non-contact sensor.

### Claim 9 (depends on 8)

The control system for a work machine according to claim 8, wherein
the update unit calculates a logical sum of: a divided map data piece generated for a predetermined divided area during the first period; and a divided map data piece generated for the predetermined divided area during the second period, and
the position calculating unit calculates a position of the work machine in the predetermined divided area by matching the logical sum with detection data obtained by the non-contact sensor.

### Claim 10 (depends on 1)

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

### Claim 11 (depends on 10)

A management system for a work machine, comprising, in the work machine according to claim 10, a management device configured to output course data to define the travel route.

### Claim 12

A management method for a work machine, comprising:
generating management map data indicating a map of a management area in a mine on the basis of detection data obtained by a position detecting device that detects a position of a work machine traveling on a travel route and detection data obtained by a non-contact sensor that detects, in a non-contact manner, an object beside the travel route on which the work machine travels;
setting a plurality of divided areas by dividing the management area and storing, in a first storage unit, a plurality of divided map data pieces each indicating a map of each of the divided areas;
acquiring positional data of the work machine;
causing a second storage unit different from the first storage unit to read specific map data determined from among the plurality of divided map data pieces stored in the first storage unit on the basis of the positional data of the work machine; and
calculating a position of the work machine by matching the specific map data read into the second storage unit with detection data obtained by the non-contact sensor.