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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：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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5.发明授权公开(公告)号：US11268259B2
公开(公告)日：2022-03-08
申请号：US16466416
申请日：2018-02-15
Applicant: KOMATSU LTD.
Inventor： Junji Harada , Eiji Ishibashi , Yasuhito Yonezawa , Kazuyuki Kirino
Abstract: A work vehicle includes a work implement. A control system for the work vehicle includes an input device and a controller. The controller is configured to communicate with the input device, receive an input signal indicating an input operation by an operator from the input device, acquire vehicle information including a position of the work vehicle when the input signal is received, and orientation information of the work vehicle when the input signal is received, and determine a target design surface indicating a target trajectory of the work implement based on the vehicle information and the orientation information when the input signal is received.
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Patent Agency Ranking
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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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
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.
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8.发明授权公开(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
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.
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9.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：US11001993B2
公开(公告)日：2021-05-11
申请号：US16084021
申请日：2017-07-25
Applicant: KOMATSU LTD.
Inventor： Eiji Ishibashi , Seiji Nagano , Kenji Yamamoto , Kazuyuki Kirino , Yasuhito Yonezawa , Yosuke Kogawa
Abstract: A work vehicle control system 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, which indicates an actual topography of a work target. The storage device stores design topography information, which indicates a final design topography of the work target. 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, the design topography information from the storage device, and the soil amount signal from the soil amount acquisition device. The controller determines an intermediate design topography positioned above the actual topography and below the final design topography in accordance with the held soil amount. The controller generates a command signal to move the work implement based on the intermediate design topography.
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