US 11,835,643 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. 16/982,775
Filed by Komatsu Ltd., Tokyo (JP)
PCT Filed Feb. 27, 2019, PCT No. PCT/JP2019/007691
§ 371(c)(1), (2) Date Sep. 21, 2020,
PCT Pub. No. WO2020/026490, PCT Pub. Date Feb. 6, 2020.
Claims priority of application No. 2018-144523 (JP), filed on Jul. 31, 2018.
Prior Publication US 2021/0011122 A1, Jan. 14, 2021
Int. Cl. G01S 7/40 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G01S 19/46 (2010.01)
CPC G01S 7/40 (2013.01) [G01S 13/86 (2013.01); G01S 13/931 (2013.01); G01S 19/46 (2013.01); G01S 2013/932 (2020.01)] 12 Claims
OG exemplary drawing
 
1. A work machine control system comprising:
a non-contact sensor which is provided on a work machine and detects a position of a landmark;
a landmark detection position acquisition unit which acquires a detection position of the landmark detected by the non-contact sensor in traveling of the work machine;
a landmark registration position storage unit which stores a registration position of the landmark;
a first relative distance calculation unit which calculates a first relative distance between the non-contact sensor and the landmark on a basis of the detection position of the landmark;
a second relative distance calculation unit which calculates a second relative distance between the non-contact sensor and the landmark on a basis of the registration position of the landmark;
a correction value calculation unit which calculates a correction value relating to a relative distance between the non-contact sensor and the landmark on a basis of the first relative distance and the second relative distance; and
a landmark correction position calculation unit which corrects the first relative distance on a basis of the correction value and calculates a corrected relative distance between the non-contact sensor and the landmark.