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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：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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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：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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Patent Agency Ranking
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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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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8.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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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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10.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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