Control system for work machine, method, and work machine

Patent metadata

Field	Value
Publication number	US-11414840-B2
Application number	US-201816636968-A
Country	US
Kind code	B2
Filing date	Nov 22, 2018
Priority date	Dec 14, 2017
Publication date	Aug 16, 2022
Grant date	Aug 16, 2022

Abstract

A controller acquires a size of a recess included in an actual topography within a work range. The controller determines whether the size of the recess is larger than a predetermined recess threshold. When the size of the recess is larger than the predetermined recess threshold, the controller determines a first area and a second area divided at a position of the recess in the work range. The controller determines a first target design topography indicative of a target trajectory of a work implement for the first area. The controller generates a command signal to operate the work implement according to the first target design topography.

First claim

The invention claimed is:

1. A control system for a work machine including a work implement, the control system comprising:
a controller configured to
acquire actual topography data indicative of an actual topography,
acquire work range data indicative of a work range,
acquire a size of a first recess included in the actual topography within the work range,
determine whether the size of the first recess is greater than a predetermined recess threshold,
determine a first area and a second area divided at a position of the first recess in the work range when the size of the first recess is larger than the predetermined recess threshold,
determine a first target design topography for the first area, the first target design topography being indicative of a target trajectory of the work implement, and
generate a command signal to operate the work implement according to the first target design topography.

2. The control system for the work machine according to claim 1 , wherein
the controller is further configured to
determine a second target design topography for the second area, the second target design topography being indicative of the target trajectory of the work implement, and
generate the command signal to operate the work implement according to the first target design topography before operating the work implement according to the second target design topography.

3. The control system for the work machine according to claim 1 , wherein
the work range includes a terminal end, and
the first area is closer than the second area to the terminal end.

4. The control system for the work machine according to claim 1 , wherein
the size of the first recess is a depth of the first recess.

5. The control system for the work machine according to claim 1 , wherein
the size of the first recess is a length of the first recess.

6. The control system for the work machine according to claim 1 , wherein
the controller is further configured to determine the first target design topography for the first area when the size of the first recess is larger than the predetermined recess threshold and the length of the first area is larger than a predetermined length threshold.

7. The control system for the work machine according to claim 1 , wherein
the first target design topography includes a plurality of target design surfaces displaced from each other in a vertical direction, and
the controller is further configured to operate the work implement in order from a top of the target design surfaces.

8. The control system for the work machine according to claim 7 , wherein
the target design surface located at a lowermost position among the plurality of target design surfaces is located at a same height as a bottom of the first recess, or a predetermined distance below the bottom of the first recess.

9. The control system for the work machine according to claim 1 , wherein
the controller is further configured to
when the actual topography in the work range includes the first recess and a second recess, and both the size of the first recess and a size of the second recess are larger than the predetermined recess threshold, determine a first area, a second area, and a third area divided by a position of the first recess and a position of the second recess in the work range,
determine the first target design topography for the first area,
determine a second target design topography for the second area, the second target design topography being indicative of the target trajectory of the work implement,
determine a third target design topography for the third area, the third target design topography being indicative of the target trajectory of the work implement,
operate the work implement according to the first target design topography,
operate the work implement according to the second target design topography after operating the work implement according to the first target design topography, and
operate the work implement according to the third target design topography after operating the work implement according to the second target design topography.

10. The control system for the work machine according to claim 9 , wherein
the work range includes a terminal end,
the first area is closer than the second area to the terminal end, and
the second area is closer than the third area to the terminal end.

11. A method performed by a controller for controlling a work machine including a work implement, the method comprising:
acquiring a size of a recess included in an actual topography within a work range;
determining whether the size of the recess is greater than a predetermined recess threshold;
determining a first area and a second area divided at a position of the recess in the work range when the size of the recess is larger than the predetermined recess threshold;
determining a first target design topography for the first area, the first target design topography being indicative of a target trajectory of the work implement; and
generating a command signal to operate the work implement according to the first target design topography.

12. The method according to claim 11 , further comprising
determining a second target design topography for the second area, the second target design topography being indicative of the target trajectory of the work implement; and
generating the command signal to operate the work implement according to the first target design topography before operating the work implement according to the second target design topography.

13. The method according to claim 11 , wherein
the work range includes a terminal end, and
the first area is closer than the second area to the terminal end.

14. The method according to claim 11 , wherein
the size of the recess is a depth of the recess.

15. The method according to claim 11 , wherein
the size of the recess is a length of the recess.

16. The method according to claim 11 , wherein
the first target design topography is determined for the first area when the size of the recess is larger than the predetermined recess threshold and the length of the first area is greater than a predetermined length threshold.

17. The method according to claim 11 , wherein
the first target design topography includes a plurality of target design surfaces displaced from each other in a vertical direction, and
the command signal operates the work implement in order from a top of the target design surfaces.

18. The control system for the work machine according to claim 17 , wherein
the target design surface located at a lowermost position among the plurality of target design surfaces is located at a same height as a bottom of the recess, or a predetermined distance below the bottom of the recess.

19. A work machine comprising:
a work implement; and
a controller for controlling the work implement, the controller being configured to
acquire a size of a recesses included in an actual topography within a work range,
determine whether the size of the recess is greater than a predetermined recess threshold,
determine a first area and a second area divided at a position of the recess in the work range when the size of the recess is larger than the predetermined recess threshold,
determine a first target design topography for the first area, the first target design topography being indicative of a target trajectory of the work implement, and
generate a command signal to operate the work implement according to the first target design topography.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Takaoka Yukihisa

Classifications

• E02F9/262 Primary

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

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• G05D1/02

  Control of position or course in two dimensions · CPC title

• E02F3/7618

  with the scraper blade adjustable relative to the pivoting arms about a horizontal axis · CPC title

• E02F9/265 Primary

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