公开(公告)号：US11105071B2

公开(公告)日：2021-08-31

申请号：US16083956

申请日：2017-07-25

Applicant: KOMATSU LTD.

Inventor： Eiji Ishibashi ,  Akifumi Inamaru ,  Seiji Nagano ,  Kenji Yamamoto ,  Kazuyuki Kirino ,  Yasuhito Yonezawa ,  Yosuke Kogawa

IPC: E02F9/26 ,  E02F9/20

Abstract: A work vehicle control system includes an actual topography acquisition device, a storage device, and a controller. The actual topography acquisition device acquires actual topography information which indicates an actual topography of a work target. The storage device stores design topography information which indicates a final design topography which is a target topography of the work target. The controller acquires the actual topography information from the actual topography acquisition device. The controller acquires the design topography information from the storage device. The controller generates a command signal to move the work implement along a first locus that follows a slope of the actual topography, and a second locus positioned above the actual topography and below the final design topography in front of the first locus.

公开(公告)号：US11041289B2

公开(公告)日：2021-06-22

申请号：US16083112

申请日：2017-07-26

Applicant: KOMATSU LTD.

Inventor： Eiji Ishibashi ,  Junji Harada ,  Akifumi Inamaru ,  Seiji Nagano ,  Yasuhito Yonezawa

IPC: E02F3/84 ,  E02F9/20 ,  E02F9/26

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.

公开(公告)号：US10822771B2

公开(公告)日：2020-11-03

申请号：US16083054

申请日：2017-07-26

Applicant: KOMATSU LTD.

Inventor： Eiji Ishibashi ,  Kazuhiro Hashimoto ,  Akifumi Inamaru ,  Yosuke Kogawa

IPC: E02F9/20 ,  G05D1/02 ,  E02F9/26

Abstract: A sensor outputs a signal indicating an excavation start position at which a work implement starts excavation. A controller determines an inclination angle of a virtual design surface so that an amount of soil between the virtual design surface extending from the excavation start position and a current landscape matches a predetermined target amount of soil. The controller generates a command signal that causes the work implement to move along the virtual design surface extending from the excavation start position in a direction inclined at the inclination angle.