US 11,745,767 B2
Work machine control system, work machine, and work machine control method
Daisuke Tanaka, Tokyo (JP); and Tatsuya Shiga, Tokyo (JP)
Assigned to Komatsu Ltd., Tokyo (JP)
Appl. No. 16/962,043
Filed by Komatsu Ltd., Tokyo (JP)
PCT Filed Feb. 5, 2019, PCT No. PCT/JP2019/004107
§ 371(c)(1), (2) Date Jul. 14, 2020,
PCT Pub. No. WO2019/187654, PCT Pub. Date Oct. 3, 2019.
Claims priority of application No. 2018-070026 (JP), filed on Mar. 30, 2018.
Prior Publication US 2020/0391767 A1, Dec. 17, 2020
Int. Cl. B60W 60/00 (2020.01); G01C 21/00 (2006.01); G01S 17/89 (2020.01); G05D 1/02 (2020.01); G08G 1/017 (2006.01); G08G 1/0969 (2006.01); G01S 17/86 (2020.01); G01S 13/86 (2006.01); G01S 13/89 (2006.01)
CPC B60W 60/0025 (2020.02) [G01C 21/3826 (2020.08); G01C 21/3848 (2020.08); G01S 17/89 (2013.01); G05D 1/0274 (2013.01); G08G 1/017 (2013.01); G08G 1/0969 (2013.01); B60W 2300/12 (2013.01); G01S 13/865 (2013.01); G01S 13/89 (2013.01); G01S 17/86 (2020.01); G05D 2201/0202 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A work machine control system comprising:
a work machine;
a position sensor that detects a position of a work machine traveling on a traveling path;
a non-contact sensor that detects a position of an object around the work machine;
a map data creation unit that creates map data, which is a plurality of grids representing a surface of the object, on a basis of a detection point, which is defined by one grid which is binary data indicating an existence of the surface or a non-existence of the surface of the object and detection data of the position sensor, the detection point being detected by the non-contact sensor and satisfying a defined matching condition for the map data in a defined area containing grids indicating the existence of the surface of the object or non-existence of the surface of the object, the detection point includes an existing detection point forming the map data stored in a map data storage unit, and a current state detection point detected by the non-contact sensor;
the map data storage unit that stores the map data;
a defined area setting unit that sets a defined area completely around the work machine and moves the defined area in synchronization with the work machine while keeping a shape and a size of the defined area constant; and
a counting processing unit that counts a number of detection times at which the same current state detection point has been detected by a plurality of scans of the non-contact sensor in the defined area;
wherein the matching condition, for the map data in the defined area containing grids indicating the existence of the surface of the object or non-existence of the surface of the object, includes that a matching ratio between the existing detection points forming map data stored in the map data storage unit and the current state detection points forming map data is equal to or lower than a threshold of the matching ratio.