# US 2017/0285657 A1 · Control system for work machine, work machine, and control method for work machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0285657 A1 - Document ID: US20170285657A1 - Status: Published application - Kind: A1 - Application number: 15/316,247 - Filed: 2016-03-31 - Published: 2017-10-05 - Earliest claimed: 2016-03-31 - Assignees: Komatsu Ltd. - Applicants: Komatsu Ltd. - Inventors: Atsushi Sakai; Mitsuhiro Ryuman - Web page: https://patentgrep.com/patent/US20170285657A1 ## CPC - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - E02F 9/2045: {Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004)} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - E02F 9/2054: {Fleet management} - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - G01C 21/12: executed aboard the object being navigated; Dead reckoning - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - 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 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - E02F 3/32: working downwardly and towards the machine, e.g. with backhoes - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - 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) ## Abstract A control system for a work machine includes a non-contact sensor, a position output device, a correction position calculation unit, and a control device. The non-contact sensor detects a periphery of a work machine. The position output device determines a position of the work machine based on at least a detection result of the non-contact sensor, and outputs information of the position. The correction position calculation unit corrects the position determined by the position output device based on delay time including at least a delay in communication with the position output device. The control device generates a command for controlling the work machine using the corrected position corrected by the correction position calculation unit. ## Claims ### Claim 1 A control system for a work machine, comprising: a non-contact sensor that detects a periphery of a work machine; a position output device that determines a position of the work machine based on at least a detection result of the non-contact sensor, and outputs information of the position; a correction position calculation unit that corrects the position determined by the position output device, based on delay time including at least a delay in communication with the position output device; and a control device that generates a command for controlling the work machine using a corrected position corrected by the correction position calculation unit. ### Claim 2 (depends on 1) The control system for a work machine according to claim 1, wherein the control device corrects the position using dead reckoning navigation. ### Claim 3 (depends on 1) The control system for a work machine according to claim 1, wherein the delay time is a difference between first time, which is time when the correction position calculation unit corrects the position, and second time, which is time before the first time and time when the non-contact sensor has performed the detection or when the position output device has received the detection result of the non-contact sensor. ### Claim 4 (depends on 1) The control system for a work machine according to claim 1, wherein the position output device determines the position of the work machine by receiving information for determining the position from the control device, the first time is time when the information for determining the position is output to the position output device by the control device, and the second time is time when the position determined by the position output device is corrected by the correction position calculation unit, and the delay time is the difference between the second time and the first time. ### Claim 5 (depends on 3) The control system for a work machine according to claim 3, wherein the control device, using the dead reckoning navigation, determines a position to which the work machine has moved, during the delay time, from the position having been received by the position output device and corresponding to the first time, and defines the determined position as the position after the correction. ### Claim 6 (depends on 1) A work machine comprising: the control system for a work machine according to claim 1; and a traveling device controlled by the control device included in the control system for the work machine. ### Claim 7 A control method for a work machine, comprising: detecting a periphery of a work machine by a non-contact sensor; determining a position of the work machine based on a detected result, and outputting information of the position; and correcting, based on the output information of the position, the position by dead reckoning navigation using delay time including a delay caused when the information of the position has been received, and generating a command for controlling the work machine using the position after the correction. ### Claim 8 (depends on 3) The control system for a work machine according to claim 3, wherein the control device, using the dead reckoning navigation, determines a position to which the work machine has moved, during the delay time, from the position having been received by the position output device and corresponding to the first time, and defines the determined position as the position after the correction.