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公开(公告)号：US11668071B2
公开(公告)日：2023-06-06
申请号：US17150282
申请日：2021-01-15
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Akifumi Inamaru , Yasuhito Yonezawa , Takahiro Shimojo
CPC classification number: E02F9/2029 , E02F9/20 , E02F9/2033 , G06T7/529 , G06T2207/30181
Abstract: A control system for a work vehicle includes an actual topography acquisition device, a storage device, a soil amount acquisition device, and a controller. The actual topography acquisition device acquires actual topography information indicating an actual topography of a work target. The storage device stores design topography information indicating a final design topography. The soil amount acquisition device generates a soil amount signal indicating a held soil amount of the work implement. The controller acquires the actual topography information from the actual topography acquisition device and acquires the design topography information from the storage device. The controller generates a command signal for moving the work implement at position that is between the actual topography and the final design topography and is a predetermined distance above the actual topography. The controller acquires the soil amount signal and changes the predetermined distance based on the held soil amount.
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公开(公告)号：US10787789B2
公开(公告)日：2020-09-29
申请号：US16083152
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Akifumi Inamaru , Seiji Nagano , Kenji Yamamoto , Yasuhito Yonezawa , Yosuke Kogawa , Takahiro Shimojo
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 that 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 locus that is more gently sloped than the actual topography when the actual topography positioned below the final design topography is sloped.
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公开(公告)号：US11408149B2
公开(公告)日：2022-08-09
申请号：US16083635
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Akifumi Inamaru , Seiji Nagano , Kenji Yamamoto , Kazuyuki Kirino , Yasuhito Yonezawa , Yosuke Kogawa , Takahiro Shimojo
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 that is a target topography of the work target. The controller acquires the actual topography information from the actual topography acquisition device, and the design topography information from the storage device. The controller determines an intermediate design topography positioned above the actual topography and below the final design topography. The controller generates a command signal to move the work implement based on the intermediate design topography. The intermediate design topography includes a plurality of intermediate design surfaces divided in the traveling direction of the work vehicle. Inclination angles of at least two of the intermediate design surfaces differ from each other.
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公开(公告)号：US11268264B2
公开(公告)日：2022-03-08
申请号：US16330971
申请日：2017-10-25
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Takahiro Shimojo , Akifumi Inamaru , Toshihiro Kawano , Yasuhito Yonezawa , Yosuke Kogawa
Abstract: A control system for a work vehicle includes a controller. The controller receives actual topography information of a work target. The controller determines a design surface that is positioned below the actual topography. The controller generates a command signal to move the work implement along the design surface. The controller determines if slip of the work vehicle has occurred. The controller raises the design surface when the blade tip of the work implement is positioned below an initial target surface when the slip occurs. The initial target surface is the design surface before the occurrence of the slip.
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公开(公告)号：US11091898B2
公开(公告)日：2021-08-17
申请号：US16084049
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Akifumi Inamaru , Seiji Nagano , Yosuke Kogawa
Abstract: A work vehicle control system includes an actual topography acquisition device and a controller. The actual topography acquisition device acquires actual topography information, which indicates an actual topography of a work target. The controller acquires the actual topography information from the actual topography acquisition device. The controller generates a command signal to move the work implement along a locus positioned above the target topography by a predetermined distance when the actual topography is positioned below the target topography of the work target.
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Patent Agency Ranking
6.发明授权公开(公告)号：US11174619B2
公开(公告)日：2021-11-16
申请号：US16084648
申请日：2017-07-26
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Junji Harada , Akifumi Inamaru , Seiji Nagano , Yasuhito Yonezawa
Abstract: When a current landscape includes an upward slope and a downward slope existing ahead of the upward slope, a controller determines a virtual design surface including a first design surface inclined at a smaller angle than the upward slope and a second design surface inclined with respect to the first design surface at a smaller angle than the downward slope. The controller generates a command signal that causes a work implement to move along the virtual design surface.
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公开(公告)号：US10927525B2
公开(公告)日：2021-02-23
申请号：US16083221
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Akifumi Inamaru , Yasuhito Yonezawa , Takahiro Shimojo
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 the actual topography of a work target. The storage device stores design topography information, which indicates a final design topography that 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 to a position that is between the actual topography and the final design topography, and a predetermined distance above the actual topography.
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公开(公告)号：US10907325B2
公开(公告)日：2021-02-02
申请号：US16084418
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Akifumi Inamaru , Kenji Yamamoto , Yasuhito Yonezawa , Yosuke Kogawa
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 that 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. When the actual topography positioned below the final design topography is sloped, the controller generates a command signal to move the work implement along a locus positioned below the final design topography and below the actual topography, and a sloped locus that is positioned below the final design topography and above the actual topography.
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公开(公告)号：US11371218B2
公开(公告)日：2022-06-28
申请号：US16323357
申请日：2017-10-25
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Takahiro Shimojo , Akifumi Inamaru , Toshihiro Kawano , Yasuhito Yonezawa , Yosuke Kogawa
Abstract: A control system for a work vehicle includes a controller. The controller receives actual topography information of a work target. The controller determines a design surface that is positioned below the actual topography. The controller generates a command signal to move a work implement of the work vehicle along the design surface. The controller determines if slip of the work vehicle has occurred. Upon determining that slip has occurred, the controller changes the design surface to a position equal to or higher than a blade tip position of the work implement when the slip occurred.
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10.发明授权公开(公告)号：US11136742B2
公开(公告)日：2021-10-05
申请号：US16083674
申请日：2017-07-26
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Akifumi Inamaru , Yosuke Kogawa
Abstract: A controller calculates a virtual design surface including a first design surface extending from an excavation start position in a traveling direction of a work vehicle and a second design surface further extending from the first design surface in the traveling direction. The controller generates a command signal that causes the work implement to move along the virtual design surface. The controller changes a position of the first design surface so that the first design surface extends along the current landscape or is located below the current landscape when the first design surface is located above the current landscape.
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