Control device for work machine, work machine, and method of controlling work machine

Patent metadata

Field	Value
Publication number	US-9938694-B2
Application number	US-201615301779-A
Country	US
Kind code	B2
Filing date	Mar 29, 2016
Priority date	Mar 29, 2016
Publication date	Apr 10, 2018
Grant date	Apr 10, 2018

Abstract

A control device for a work machine is a device for controlling a working unit of a work machine to excavate an object to be excavated. The control device includes a control unit for controlling the working unit to prevent a working implement of the working unit from crossing a predetermined target profile, and a switching unit for defining the target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile.

First claim

The invention claimed is:

1. A control device for a work machine, the control device being configured to control a working unit of the work machine to excavate an object to be excavated, the control device comprising:
a control unit configured to control the working unit to prevent a working implement of the working unit from crossing a predetermined target profile; and
a switching unit configured to define the target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile.

2. The control device for a work machine according to claim 1 , wherein
the switching unit causes the control unit to maintain the target profile at a start of the excavation of the target profile, during a period from the start of the excavation of the target profile by the working unit to an end of a series of the excavation.

3. The control device for a work machine according to claim 2 , wherein
the working unit has an arm mounted to the working implement,
the control unit performs control to stop the working unit, when the working implement crosses the target profile, and
the switching unit cancels the maintained target profile, when the arm is stopped and controlling the working unit not to cross the target profile is not performed.

4. The control device for a work machine according to claim 1 , wherein
when the offset profile is positioned below the target excavation profile,
the switching unit defines the target profile as the offset profile.

5. The control device for a work machine according to claim 1 , wherein
when the offset profile is positioned below the target excavation profile,
the switching unit defines the target profile as a ground profile separated by a predetermined distance from the offset profile toward the target excavation profile that is a target profile for finishing of the object to be excavated, based on the attitude of the working implement relative to the target excavation profile.

6. A work machine comprising the control device for a work machine according to claim 1 .

7. The control device for a work machine according to claim 1 , wherein the switching unit defines the target profile as the offset profile when the attitude reflects an excavating operation, and defines the target profile as the target excavation profile when the attitude reflects a finishing operation.

8. The control device for a work machine according to claim 1 , wherein the switching unit defines the target profile as the offset profile when the attitude is greater than a threshold, and defines the target profile as the target excavation profile when the attitude is less than a threshold.

9. The control device for a work machine according to claim 8 , wherein the attitude comprises an angle between the target excavation profile and a bottom surface of the working implement.

10. A method of controlling a work machine, the method controlling a working unit of the work machine to excavate an object to be excavated, the method comprising:
defining a predetermined target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile; and
controlling the working unit not to cross the target profile while the working unit excavates the object to be excavated.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Matsuyama Toru
• Shimano Yuki
• Ichihara Masashi
• Kami Yoshiki

Classifications

• E02F3/435

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

• E02F9/2296

  Systems with a variable displacement pump · CPC title

• E02F9/22

  Hydraulic or pneumatic drives {(for dipper or bucket arm position control E02F3/43, for blade position control for graders E02F3/844; for turntables E02F9/121; for fork-lift trucks B66F9/22)} · CPC title

• E02F3/32

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

• E02F9/2033

  Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin (sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123) · CPC title