# US 12,181,882 B2 · Work machine control system, work machine, and work machine control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,181,882 B2 - Document ID: US12181882B2 - Status: Granted - Kind: B2 - Application number: 16/982,077 - Filed: 2019-02-27 - Published: 2021-04-01 - Granted: 2024-12-31 - Earliest claimed: 2018-07-31 - Assignees: Komatsu Ltd. - Applicants: Komatsu Ltd. - Inventors: Daisuke Tanaka; Tatsuya Shiga; Mitsuhiro Ryuman; Atsushi Sakai - Web page: https://patentgrep.com/patent/US12181882B2 ## CPC - G01S 5/01: {Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G01C 21/26: specially adapted for navigation in a road network - G01P 3/00: Measuring linear or angular speed; Measuring differences of linear or angular speeds (G01P5/00 - G01P11/00 take precedence; {direction and speed indication G01P13/045}; counting mechanisms G06M) - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 13/931: of land vehicles - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/89: for mapping or imaging - G01S 17/931: of land vehicles - G01S 19/46: the supplementary measurement being of a radio-wave signal type - G01S 19/485: {whereby the further system is an optical system or imaging system} - G05D 1/24: Arrangements for determining position or orientation - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - 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) - G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G}) ## Abstract A work machine control system includes: a position sensor detecting a position of a work machine traveling on a traveling path; first and second non-contact sensors provided in the work machine and detecting a position of an object around the work machine; a map data creation unit creating map data based on detection data of the position sensor and detection data of the first non-contact sensor; a first position calculation unit calculating a first position of the work machine by matching the map data and the detection data of the first non-contact sensor; a second position calculation unit calculating a second position of the work machine based on detection data of the second non-contact sensor; and an integrated position determination unit determining an integrated position of the work machine by integrating the first and second positions. ## Claims ### Claim 1 A work machine control system comprising: a position sensor which detects a position of a work machine traveling on a traveling path; a first non-contact sensor which is provided in the work machine and detects a position of an object around the work machine; a second non-contact sensor which is provided in the work machine and detects a position of the object including a position reference member with a reflectance higher than the reflectance of the rest of the object around the work machine; a processor, the processor being configured to: create map data on a basis of detection data of the position sensor and detection data of the first non-contact sensor; calculate a first position of the work machine by matching the map data and the detection data of the first non-contact sensor; calculate a second position of the work machine on a basis of detection data of the second non-contact sensor; determine an integrated position of the work machine by integrating the first position and the second position; and a traveling control device which controls traveling of the work machine on a basis of the integrated position determined by the processor when a detection accuracy of the position sensor deteriorates wherein the object detected by the first non-contact sensor includes a bank provided near the traveling path, and the object detected by the second non-contact sensor includes the position reference member, also known as a landmark, installed near the traveling path. ### Claim 2 (depends on 1) The work machine control system according to claim 1, wherein the object detected by the first non-contact sensor includes a bank provided near the traveling path, and the object detected by the second non-contact sensor includes the position reference member, a landmark, installed near the traveling path. ### Claim 3 (depends on 2) The work machine control system according to claim 2, wherein the processor calculates the first position from a plurality of particles set in a range in which the work machine is predicted to exist, the processor calculates the second position from a plurality of particles set in a range in which the work machine is predicted to exist, and the processor determines the integrated position between the first position and the second position. ### Claim 4 (depends on 2) The work machine control system according to claim 2, the system comprising: a speed sensor which detects a traveling speed of the work machine; and a direction sensor which detects a direction of the work machine, wherein the processor sets a plurality of particles in a range in which the work machine is predicted to exist at a specified time on a basis of detection data of the speed sensor and detection data of the direction sensor, matches predicted detection data when the first non-contact sensor detects the bank and actual detection data when the first non-contact sensor detects the bank at the specified time for each of the plurality of particles to calculate likelihood for each of the plurality of particles, and calculate the first position on a basis of the likelihood, the processor sets a plurality of particles in a range in which the work machine is predicted to exist at a specified time on the basis of the detection data of the speed sensor and the detection data of the direction sensor, matches predicted detection data when the second non-contact sensor detects the landmark and actual detection data when the second non-contact sensor detects the landmark at the specified time for each of the plurality of particles to calculate likelihood for each of the plurality of particles, and calculate the second position on a basis of the likelihood, and the processor determines the integrated position between the first position and the second position. ### Claim 5 (depends on 1) A work machine comprising: the work machine control system according to claim 1. ### Claim 6 A work machine control method comprising: acquiring detection data of a position sensor detecting a position of a work machine traveling on a traveling path; acquiring detection data of a position of an object around the work machine detected by a first non-contact sensor provided in the work machine; acquiring detection data of a position of an object including a position reference member with a reflectance higher than the reflectance of the rest of the object around the work machine detected by a second non-contact sensor provided in the work machine; creating map data on a basis of the detection data of the position sensor and detection data of the first non-contact sensor; calculating a first position of the work machine by matching the map data and the detection data of the first non-contact sensor; calculating a second position of the work machine on a basis of detection data of the second non-contact sensor; determining an integrated position of the work machine by integrating the first position and the second position; and controlling the traveling of the work machine on a basis of the integrated position wherein the object detected by the first non-contact sensor includes a bank provide d near the traveling path, and the object detected by the second non-contact sensor includes the position reference member, also known as a landmark, installed near the traveling path.