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公开(公告)号：US10954651B2
公开(公告)日：2021-03-23
申请号：US15658811
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto , Kenjiro Shimada
Abstract: A terrain information acquisition device acquires terrain information about a work site. A controller is configured to decide an inclination angle of the current terrain along a travel direction of the work vehicle from the terrain information. The controller is configured to decide a virtual design surface that is inclined at an inclination angle smaller than the inclination angle of the current terrain. The controller is configured to generate a command signal to a work implement of the work vehicle to move the work implement along the inclined virtual design surface.
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2.发明授权公开(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
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.
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公开(公告)号：US10968598B2
公开(公告)日：2021-04-06
申请号：US15658769
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto , Kenjiro Shimada
IPC: E02F3/84
Abstract: A controller is configured to acquire current terrain information indicating the current terrain in the travel direction of a work vehicle. The controller is configured to generate an inclined virtual surface extending from the current position of the work vehicle. The controller is configured to decide the soil volume of the current terrain located above the virtual surface. The controller is configured to set the virtual surface in which the soil volume of the current terrain becomes a predetermined target soil volume to be a virtual design surface. The controller is configured to generate a command signal to a work implement of the work vehicle to move the work implement along the virtual design surface.
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公开(公告)号：US10604912B2
公开(公告)日：2020-03-31
申请号：US15658922
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto , Kenjiro Shimada , Kota Beppu
Abstract: A current terrain acquisition device acquires current terrain information indicating a current terrain to be worked. A controller is configured to generate an inclined virtual surface extending from a current position of the work vehicle. The controller is configured to decide an estimated held soil volume of a work implement of the work vehicle when the work implement is moved along the virtual surface in the current terrain. The controller is configured to decide whether the estimated held soil volume has reached a predetermined held soil volume threshold. The controller is configured to set the virtual surface extending from the current position of the work vehicle when the estimated held soil volume has reached the held soil volume threshold as a first virtual design surface, and generate a command signal to the work implement to move the work implement along the virtual design surface.
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公开(公告)号：US10508412B2
公开(公告)日：2019-12-17
申请号：US15579963
申请日：2017-03-31
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto
IPC: E02F3/84 , E02F9/26 , E02F9/20 , E02F3/43 , E02F3/815 , G05D1/00 , G05D1/02 , E02F3/76 , E02F9/22
Abstract: A control system for a work vehicle includes a controller. The controller decides a target profile of a work site. The controller generates a command signal to move a work implement according to the target profile. The controller acquires the load to which the work vehicle is subjected. The controller modifies the target profile according to the magnitude of the load. The controller generates a command signal to operate the work implement according to the modified target profile.
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Patent Agency Ranking
公开(公告)号：US11512452B2
公开(公告)日：2022-11-29
申请号：US16612178
申请日：2018-08-27
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto
Abstract: A control system for a work vehicle includes a controller. The controller acquires actual topography data indicating an actual topography to be worked. The controller determines a target design topography indicating a target trajectory of a work implement of the work vehicle based on the actual topography. The controller acquires an uneven surface parameter indicating the degree of surface unevenness of the actual topography. The controller changes the target design topography according to the uneven surface parameter.
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公开(公告)号：US11459733B2
公开(公告)日：2022-10-04
申请号：US16613302
申请日：2017-08-29
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto , Kenjiro Shimada , Toshihiro Kawano , Yosuke Yamaguchi
Abstract: A control system for a work includes an operating device and a controller. The operating device outputs an operation signal indicative of an operation by an operator. The controller is in communication with the operating device. The controller determines a target profile of a terrain to be worked on. The controller generates a command signal to operate the work implement according to the target profile. The controller receives the operation signal from the operating device. The controller determines an operation of the work implement based on the operation signal. The controller corrects the target profile according to the operation by the operator when the operation of the work implement by the operator is performed.
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公开(公告)号：US11180903B2
公开(公告)日：2021-11-23
申请号：US16612231
申请日：2018-08-28
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto
Abstract: A control system for a work vehicle includes a storage device and a controller in communication with the storage device. The storage device stores target parameter data defining a relationship between a movement distance of the work vehicle and a target parameter related to a target digging amount of a work implement of the work vehicle. The target parameter data includes digging time data defining a relationship between the movement distance of the work vehicle within a predetermined digging area and the target parameter. The controller determines a target return distance from a distance of the digging area defined in the target parameter data, and determines a position returned from a predetermined reference position by the target return distance as a recommended digging start position.
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公开(公告)号：US10671074B2
公开(公告)日：2020-06-02
申请号：US15754435
申请日：2017-08-08
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto , Kenjiro Shimada , Kazuhiko Hayashi , Yousuke Yamaguchi
Abstract: A control system for a work vehicle includes a sensor and a controller. The sensor outputs a signal indicating an actual traveling direction of the work vehicle. The controller communicates with the sensor. The controller is programmed so as to execute the following processing. The controller acquires the actual traveling direction of the work vehicle. The controller sets the actual traveling direction as a target traveling direction when a condition that indicates that the work vehicle has started straight travel has been met. The controller calculates a bearing difference between the target traveling direction and the actual traveling direction. The controller moves the work implement at a target tilt angle corresponding to the bearing difference so as to reduce the bearing difference.
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公开(公告)号：US10563374B2
公开(公告)日：2020-02-18
申请号：US15658867
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Kazuhiro Hashimoto , Kenjiro Shimada
Abstract: A current terrain acquisition device acquires current terrain information indicating the current terrain to be worked. A controller is configured to decide a virtual design surface that is located below the current terrain and has an inclination angle. The controller is configured to generate a command signal to the work implement of the work vehicle to move the work implement along the virtual design surface. The controller is configured to update the current terrain information with the current terrain acquisition device as the movement proceeds, and change the inclination angle with the updated current terrain information.
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