System for controlling work vehicle, method for controlling work vehicle, and work vehicle

Patent metadata

Field	Value
Publication number	US-2019078296-A1
Application number	US-201716083112-A
Country	US
Kind code	A1
Filing date	Jul 26, 2017
Priority date	Aug 5, 2016
Publication date	Mar 14, 2019
Grant date	—

Abstract

A controller acquires an excavation start position at which a work implement starts excavation. When a current landscape includes an upward slope and a downward slope existing ahead of the upward slope and the excavation start position is on the upward slope, the controller determines a first virtual design surface including a first design surface located below the current landscape and inclined at a smaller angle than the upward slope. The controller generates a command signal that causes the work implement to move along the first virtual design surface.

First claim

1 . A system for controlling a work vehicle including a work implement, the system comprising:
a storage device that stores current landscape information indicating a current landscape to be subjected to a work operation; and a controller that communicates with the storage device, the controller being configured to
acquire an excavation start position at which the work implement starts excavation,
determine a first virtual design surface including a first design surface located below the current landscape and inclined at a smaller angle than an upward slope when the current landscape includes the upward slope and a downward slope existing ahead of the upward slope and the excavation start position is on the upward slope, and
generate a command signal that causes the work implement to move along the first virtual design surface.

2 . The system for controlling a work vehicle according to claim 1 , wherein
the controller is further configured to determine a height of the first design surface so that an amount of soil between the first virtual design surface and the current landscape matches a predetermined target amount of soil.

3 . The system for controlling a work vehicle according to claim 1 , wherein
the controller is further configured to
calculate an inclination angle of a second virtual design surface inclined and extending from the excavation start position so that an amount of soil between the second virtual design surface and the current landscape matches the predetermined target amount of soil, and
generate a command signal that causes the work implement to move along the first virtual design surface including the first design surface when the inclination angle indicates an upward slope.

4 . The system for controlling a work vehicle according to claim 3 , wherein
the controller is further configured to generate a command signal that causes the work implement to move along the second virtual design surface when the excavation start position is on the downward slope and the inclination angle indicates a downward slope.

5 . The system for controlling a work vehicle according to claim 3 , wherein
the controller is further configured to generate a command signal that causes the work implement to move along the first virtual design surface when the excavation start position is on the upward slope and the inclination angle indicates a downward slope.

6 . The system for controlling a work vehicle according to claim 1 , wherein
the first design surface extends in a horizontal direction.

7 . The system for controlling a work vehicle according to claim 1 , wherein
a distal end of the first design surface reaches the downward slope.

8 . The system for controlling a work vehicle according to claim 1 , wherein
a length of the first design surface is larger than a length of the work vehicle.

9 . The system for controlling a work vehicle according to claim 1 , wherein
the controller includes
a first controller disposed outside the work vehicle, and
a second controller that is disposed inside of the work vehicle and communicates with the first controller,
the first controller being configured to communicate with the storage device, and
the second controller being configured to generate the command signal that causes the work implement to move.

10 . A computer-implemented method for controlling a work vehicle including a work implement, the method comprising:
acquiring current landscape information indicating a current landscape to be subjected to a work operation; acquiring an excavation start position at which the work implement starts excavation; determining a first virtual design surface including a first design surface located below the current landscape and inclined at a smaller angle than an upward slope when the current landscape includes the upward slope and a downward slope existing ahead of the upward slope and the excavation start position is on the upward slope; and generating a command signal that causes the work implement to move along the first virtual design surface.

11 . The method for controlling a work vehicle according to claim 10 , wherein
a height of the first design surface is determined so that an amount of soil between the first virtual design surface and the current landscape matches a predetermined target amount of soil.

12 . The method for controlling a work vehicle according to claim 10 , further comprising
calculating an inclination angle of a second virtual design surface inclined and extending from the excavation start position so that an amount of soil between the second virtual design surface and the current landscape matches the predetermined target amount of soil, a command signal that causes the work implement to move along the first virtual design surface being generated when the inclination angle indicates an upward slope.

13 . The method for controlling a work vehicle according to claim 12 , wherein
a command signal that causes the work implement to move along the second virtual design surface is generated when the excavation start position is on the downward slope and the inclination angle indicates a downward slope.

14 . The method for controlling a work vehicle according to claim 12 , wherein
a command signal that causes the work implement to move along the first virtual design surface is generated when the excavation start position is on the upward slope and the inclination angle indicates a downward slope.

15 . The method for controlling a work vehicle according to claim 10 , wherein
the first design surface extends in a horizontal direction.

16 . The method for controlling a work vehicle according to claim 10 , wherein
a distal end of the first design surface reaches the downward slope.

17 . The method for controlling a work vehicle according to claim 10 , wherein
a length of the first design surface is larger than a length of the work vehicle.

18 . A work vehicle comprising:
a work implement; and a controller programmed to control the work implement, the controller being configured to
acquire current landscape information indicating a current landscape to be subjected to a work operation,
acquire an excavation start position at which the work implement starts excavation,
determine a first virtual design surface including a first design surface located below the current landscape and inclined at a smaller angle than an upward slope when the current landscape includes the upward slope and a downward slope existing ahead of the upward slope and the excavation start position is on the upward slope, and
generate a command signal that causes the work implement to move along the first virtual design surface.

19 . The work vehicle according to claim 18 , wherein
the controller is further configured to determine a height of the first design surface so that an amount of soil between the first virtual design surface and the current landscape matches a predetermined target amount of soil.

20 . The work vehicle according to claim 18 , wherein the controller is further configured to
calculate an inclination angle of a second virtual design surface inclined and extending from the excavation start position so that an amount of soil between the second virtual design surface and the current landscape matches the predetermined target amount of soil, and generate a command signal that causes the work implement to move along the first virtual design surface including the first design surface when the inc

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Ishibashi Eiji
• Harada Junji
• Inamaru Akifumi
• Nagano Seiji
• Yonezawa yasuhito

Classifications

• E02F9/2045

  Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004) · CPC title

• E02F3/844

  for positioning the blade, e.g. hydraulically · CPC title

• E02F9/2041 Primary

  Automatic repositioning of implements, i.e. memorising determined positions of the implement (for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence) · CPC title

• E02F9/262

  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