Control system and method for work machine, and work machine
AssigneeKomatsu Ltd.
InventorYukihisa Takaoka
Life of this patent
Estimating the term…
Abstract
A work machine includes a work implement. A control system for the work machine includes a controller. The controller acquires cliff position data. The cliff position data indicates a position of a cliff included in an actual topography of a work site. The controller determines a target design topography located below the actual topography. The controller determines an end position of work by the work implement from the cliff position data. The controller generates a command signal to move a work implement according to the end position and the target design topography.
Claims12
A control system for a work machine including a work implement, the control system comprising:
- a controller configured to
- acquire cliff position data indicative of a position of a cliff included in an actual topography of a work site,
- determine a target design topography located below the actual topography,
- calculate a position of an intersection of the cliff and the target design topography,
- determine an end position of work by the work implement from the cliff position data, the end position being determined as a point backwardly away from the position of the intersection by a predetermined distance in a traveling direction of the work machine, and
- generate a command signal to move the work implement according to the end position and the target design topography.
A method performed by a controller for controlling a work machine including a work implement, the method comprising:
- acquiring cliff position data indicative of a position of a cliff included in an actual topography of a work site;
- determining a target design topography located below the actual topography;
- determining an end position of work by the work implement from the cliff position data, the determining the end position including
- calculating a position of an intersection of the cliff and the target design topography, and
- determining, as the end position, a point backwardly away from the position of the intersection by a predetermined distance in a traveling direction of the work implement;
- and
- generating a command signal to move the work implement according to the end position and the target design topography.
A work machine comprising:
- a work implement;
- and
- a controller configured to control the work implement, the controller being configured to
- acquire cliff position data indicative of a position of a cliff included in an actual topography of a work site,
- determine the target design topography located below the actual topography,
- calculate a position of an intersection of the cliff and the target design topography,
- determine an end position of work by the work implement from the cliff position data, the end position being determined as a point backwardly from the position of the intersection by a predetermined distance in a traveling direction of the work machine, and
- generate a command signal to move the work implement according to the end position and the target design topography.
A control system for a work machine including a work implement, the control system comprising:
- a controller configured to
- acquire cliff position data indicative of a position of a cliff included in an actual topography of a work site,
- determine a target design topography located below the actual topography,
- determine an inclined surface backwardly a predetermined distance away from the cliff in a traveling direction of the work machine from the cliff position data,
- determine an end position of work by the work implement from the cliff position data,
- determine a position of the intersection of the inclined surface and the target design topography as the end position, and
- generate a command signal to move the work implement according to the end position and the target design topography.
A work machine comprising:
- a work implement;
- and
- a controller configured to control the work implement, the controller being configured to
- acquire cliff position data indicative of a position of a cliff included in an actual topography of a work site,
- determine the target design topography located below the actual topography,
- determine an inclined surface backwardly a predetermined distance away from the cliff in a traveling direction of the work machine from the cliff position data,
- determine an end position of work by the work implement from the cliff position data,
- determine a position of the intersection of the inclined surface and the target design topography as the end position, and
- generate a command signal to move the work implement according to the end position and the target design topography.
A method performed by a controller for controlling a work machine including a work implement, the method comprising:
- acquiring cliff position data indicative of a position of a cliff included in an actual topography of a work site;
- determining a target design topography located below the actual topography;
- determining an end position of work by the work implement from the cliff position data, the determining the end position including
- determining an inclined surface backwardly a predetermined distance away from the cliff in a traveling direction of the work machine from the cliff position data, and
- determining a position of the intersection of the inclined surface and the target design topography as the end position;
- and
- generating a command signal to move the work implement according to the end position and the target design topography.
Dependencies are inferred from the claim text.