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

Patent metadata

Field	Value
Publication number	US-10443214-B2
Application number	US-201715704400-A
Country	US
Kind code	B2
Filing date	Sep 14, 2017
Priority date	Mar 17, 2016
Publication date	Oct 15, 2019
Grant date	Oct 15, 2019

Abstract

A control system for a work vehicle includes at least one sensor, an operating device, and a controller. The operating device includes at least one operating member. The controller is programmed to control a work implement of the work vehicle based on signals from the at least one sensor and the operating device. The controller is further programmed to use the signals to obtain a distance between the work implement and a design terrain which represents a target shape of a work object, and to determine whether a surface compaction determination condition indicating that work performed by the work implement is surface compaction work is satisfied. The controller executes a surface compaction control in which a velocity of the work implement toward the design terrain is limited in response to the distance between the work implement and the design terrain when the surface compaction determination condition is satisfied.

First claim

What is claimed is:

1. A control system for a work vehicle including a work implement, the control system comprising:
at least one sensor;
an operating device including at least one operating member; and
a controller including a memory and a processor, the controller being operatively connected to receive signals from the at least one sensor and the operating device,
the controller being programmed to
control the work implement based on the signals,
obtain a distance between the work implement and a design terrain which represents a target shape of a work object based on the signals,
determine whether a surface compaction determination condition indicating that work performed by the work implement is surface compaction work is satisfied based on the signals, and
execute a surface compaction control in which a velocity of the work implement toward the design terrain is limited in response to the distance between the work implement and the design terrain when the surface compaction determination condition is satisfied.

2. The control system for the work vehicle according to claim 1 , wherein
the work implement includes a boom, an arm attached to a tip of the boom, and a work tool attached to a tip of the arm, and
the surface compaction determination condition includes an operation of the boom.

3. The control system for the work vehicle according to claim 2 , wherein
the at least one sensor includes at least one of a stroke sensor of the boom, a stroke sensor of the arm, a stroke sensor of the work tool, a tilt angle sensor of the work vehicle, and a three-dimensional position sensor.

4. The control system for the work vehicle according to claim 1 , wherein
the controller is further programed to
determine whether a leveling determination condition indicating that work performed by the work implement is leveling work is satisfied based on the signals, and
execute a leveling control in which the work implement is controlled such that the work implement moves along the design terrain when the leveling determination condition is satisfied.

5. The control system for the work vehicle according to claim 4 , wherein
the controller is further programed to cancel the leveling control when the surface compaction determination condition is satisfied while the leveling control is being executed.

6. The control system for the work vehicle according to claim 4 , wherein
the controller is further programed to cancel the leveling control and execute the surface compaction control when the surface compaction determination condition is satisfied while the leveling control is being executed.

7. The control system for the work vehicle according to claim 4 , wherein
the work implement includes a boom, an arm attached to a tip of the boom, and a work tool attached to a tip of the arm,
the leveling determination condition includes an operation of the arm.

8. The control system for the work vehicle according to claim 7 , wherein
the surface compaction determination condition includes an operation of the boom.

9. The control system for the work vehicle according to claim 4 , wherein
the controller is further programed to maintain the surface compaction control when the leveling determination condition is satisfied while the surface compaction control is being executed.

10. The control system for the work vehicle according to claim 9 , wherein
the surface compaction determination condition includes a first surface compaction condition and a second surface compaction condition,
the controller is programmed to
start the surface compaction control when the first surface compaction condition is satisfied,
switch to the leveling control when the leveling determination condition is satisfied while the first surface compaction condition is satisfied and the second surface compaction condition is not satisfied, and
maintain the surface compaction control when the leveling determination condition is satisfied while the second surface compaction condition is satisfied, the second surface compaction condition having been satisfied following a state in which the first surface compaction condition was satisfied.

11. The control system for the work vehicle according to claim 10 , wherein
the work implement includes a boom, an arm attached to a tip of the boom, and a work tool attached to a tip of the arm,
the leveling determination condition includes an operation of the arm, and
each of the first and second surface compaction conditions includes an operation of the boom.

12. The control system for the work vehicle according to claim 11 , wherein
the first surface compaction condition includes an operation of the boom in a predetermined direction, and
the second surface compaction condition includes an operation of the boom in a direction reverse to the predetermined direction.

13. A control system for a work vehicle including a work implement, the control system comprising:
at least one sensor;
an operating device including at least one operating member, the operating device being configured to generate at least one operation signal in response to an operation of the at least one operating member; and
a controller including a memory and a processor, the controller being operatively connected to receive at least one detection signal from the at least one sensor and to receive the at least one operation signal from the operating device,
the controller being programmed to
control the work implement based on the at least one operation signal,
use the at least one detection signal to obtain a distance between the work implement and a design terrain which represents a target shape of a work object,
use the at least one operation signal to determine whether a leveling determination condition indicating that work performed by the work implement is leveling work is satisfied, and to determine whether a surface compaction determination condition indicating that work performed by the work implement is surface compaction work is satisfied, the surface compaction determination condition including a first surface compaction condition and a second surface compaction condition,
determine whether to execute a leveling control in which the work implement is controlled so that the work implement moves along the design terrain, or to execute a surface compaction control in which the velocity of the work implement towards the design terrain is limited in response to the distance between the work implement and the design terrain,
start the surface compaction control when the first surface compaction condition is satisfied,
switch to the leveling control when the leveling determination condition is satisfied while the first surface compaction condition is satisfied and the second surface compaction condition is not satisfied, and
maintain the surface compaction control when the leveling determination condition is satisfied while the second surface compaction condition is satisfied, the second surface compaction condition having been satisfied following a state in which the first surface compaction condition was satisfied.

14. A control method for a work vehicle including a work implement, at least one sensor, an operating device, and a controller programmed to control the work implement based on signals from the at least one sensor and the operating device, the method comprising:
obtaining a distance between the work implement and a design terrain which represents a target shape of a work object based on the signals;
determining whether a leveling determination condition indicating that the work performed by the work implement is leve

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Shimano Yuki
• Kitajima Jin
• Kami Yoshiki
• Ichihara Masashi

Classifications

• E02F3/435

  for dipper-arms, backhoes or the like · CPC title

• E02F3/32

  working downwardly and towards the machine, e.g. with backhoes · CPC title

• E02F9/262 Primary

  with follow-up actions to control the work tool, e.g. controller · CPC title

• E02F9/265

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• E02F9/2296

  Systems with a variable displacement pump · CPC title