Komatsu Corporation

Mitsuhiro Ryuman

Masanori Tojima

Atsushi Sakai

Daisuke Tanaka

Masanori Minagawa

Akiharu Nishijima

Yosuke Kadono

Tatsuya Shiga

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.

Work machine control system, work machine, and work machine control method

A management system of a mining machine includes a vehicle, a first antenna, in the vehicle, receiving radio waves from GPS satellites, a portable second antenna, in a releasable manner in the vehicle, receiving radio waves from the GPS satellites, a first detector, in the vehicle, detecting a position of the first antenna based on a signal from the first antenna, a second detector, in the vehicle, detecting a position of the second antenna based on a signal from the second antenna, and a processer setting a prohibited area where an entry of a mining machine is prohibited based on detection results of the first and second detectors, such that the prohibited area includes the positions of the first and second antennae.

Management system and management method of mining machine

A mining machine management system includes a detection unit mounted on a mining machine that travels in a mine in which a plurality of landmarks is installed, and which detects a position of the landmark with respect to the mining machine in a non-contact manner, and a traveling control unit which corrects a current position of the mining machine based on a position of the landmark, the position having been obtained in advance, and the position of the landmark obtained by the detection unit and causes the mining machine to travel by dead reckoning navigation, and which does not use at least the position of the landmark detected by the detection unit in causing the mining machine to travel by the dead reckoning navigation, when a vehicle traveling in the mine exists around the position of the landmark detected by the detection unit.

Mining machine management system and management method

A mining machine management system includes a detection unit mounted on a mining machine that travels in a mine in which a plurality of landmarks is installed, and configured to detect a position of the landmark with respect to the mining machine in a non-contact manner, an own position detection device mounted on the mining machine, and configured to obtain an own position of the mining machine, a storage unit configured to store positions of the plurality of landmarks, the positions having been obtained in advance, as registration positions, and a processing unit configured to obtain the position of the landmark detected by the detection unit from a detection result of the detection unit and the own position, and read the registration position corresponding to the landmark from the storage unit and obtain position deviation between the registration position and the position of the landmark.

Mining machine management system, mining machine, and management method

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.

Control system for work machine, work machine, and control method for work machine

A control system includes: a detector detecting a position of a work machine running on a running path; a non-contact sensor detecting an object at a side of the running path; a generator generating map data of a work site based on detection data from the detector and the non-contact sensor; a first storage storing past map data generated in the generator based on the detection data from the detector and the non-contact sensor acquired in a predetermined period in a past; a second storage storing current map data generated in the generator based on the detection data from the detector and the non-contact sensor; a first calculator calculating integrated map data by integrating the past map data and the current map data; and a second calculator by matching the integrated map data and the detection data from the non-contact sensor, calculates the position of the work machine.

Control system for work machine, work machine, and management system for work machine

A work machine control system is configured to control a work machine that travels on a travel route and includes a position detection unit, a non-contact sensor, and a control unit. The position detection unit detects a position of the work machine. The non-contact sensor detects a position of an object around the work machine. The control unit extracts information on an object to be detected from a detection result of the position detection unit and a detection result of the non-contact sensor, and excludes the information on an object to be detected inside a mask region that is set so as to include a terrain change portion that is a portion in which a terrain changes by use of a machine among portions around the travel route.

Work machine control system, work machine, and work machine management system

A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a non-contact sensor that detects a position of an object around the construction machine; and a measurement output unit that detects a position of a vertical projection that protrudes vertically from a detection result of the position detection unit and a detection result of the non-contact sensor and stores the detected position of the vertical projection in a map information storage unit as map information, wherein the measurement output unit determines whether the construction machine is in a state that decreases accuracy of the map information, and when it is determined that the construction machine is in the state that decreases the accuracy of the map information, the measurement output unit stops storing the map information.

Construction machine control system, construction machine, construction machine management system, and construction machine control method and program

A management system of a mining machine includes: a landmark that is placed at a mine and allows a non-contact sensor placed on the mining machine able to run at the mine to detect a relative position of the landmark and the mining machine; a storage device that registers a position of the landmark detected using the Global Positioning System; and a processing device that sets, upon the registration, a prohibited area where an entry of the mining machine is prohibited such that the position of the landmark is included in the prohibited area.

A work machine control system is configured to control a work machine that travels in an operation region and includes a position detection unit, a non-contact sensor, and a control unit. The position detection unit detects a position of the work machine. The non-contact sensor detects a position of an object around the work machine. The control unit extracts information on an object to be detected from a detection result of the position detection unit and a detection result of the non-contact sensor, and excludes moving object information that is information on an object to be detected regarding a moving object that moves in the operation region.

A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a determination unit that determines whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error; a non-contact sensor that detects a position of an object around the construction machine; and a map information storage unit that extracts a detection result related to a vertical projection that protrudes vertically from a detection result of the non-contact sensor and stores the extracted detection result related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error.

A managing method of a mining machine includes: detecting a position of a landmark; and extending a first distance when a position of the landmark obtained in advance is present within a range of a second distance in a travel direction of the mining machine from a position, as a reference, where the mining machine reaches when the mining machine travels the first distance after the mining machine starts traveling by the dead reckoning navigation, when the mining machine travels in an unmanned state in a mine in which a plurality of the landmarks is located, the mining machine travels based on a detected self position and uses the dead reckoning navigation while correcting a current position of the mining machine based on a position of the landmark obtained in advance and a detected position of the landmark when the self position cannot be detected.

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Hiratsuka, Japan

Mitsuhiro Ryuman