# US 11,993,923 B2 · System and method for controlling work machine

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- Number: US 11,993,923 B2
- Document ID: US11993923B2
- Status: Granted
- Kind: B2
- Application number: 17/598,958
- Filed: 2020-05-20
- Published: 2022-06-23
- Granted: 2024-05-28
- Earliest claimed: 2019-06-19
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Yukihisa Takaoka; Kota Beppu; Yuto Fujii; Toru Kurakane
- Web page: https://patentgrep.com/patent/US11993923B2

## CPC

- E02F 9/262: {with follow-up actions to control the work tool, e.g. controller}
- E02F 3/841: {Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine (construction of roads E01C19/008)}
- E02F 9/2045: {Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004)}
- E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)}
- E02F 9/2296: {Systems with a variable displacement pump}
- E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)}
- E02F 3/844: {for positioning the blade, e.g. hydraulically}
- E02F 9/2228: {including an electronic controller}
- E02F 9/2267: {Valves or distributors (position of valves arrangements on upper-structures E02F9/0875)}
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)

## Abstract

A controller is configured to determine a target excavation depth of a first pass based on a position of an excavation end, a target soil amount, and an excavation distance. The controller is configured to move a work implement to the target excavation depth of the first pass to execute an excavation of the first pass. The controller is configured to acquire an actual soil amount excavated in the first pass. The controller is configured to modify the target soil amount based on the actual soil amount. The controller is configured to determine the target excavation depth of a second pass based on the modified target soil amount. The controller is configured to move the work implement to the target excavation depth of the second pass to execute the excavation of the second pass.

## Claims

### Claim 1

A system for controlling a work machine including a work implement, the system comprising:
a controller configured to
acquire a position of an excavation end by the work machine, a target soil amount, and an excavation distance,
determine a target excavation depth of a first pass based on the position of the excavation end, the target soil amount, and the excavation distance,
move the work implement to the target excavation depth of the first pass to execute an excavation of the first pass,
acquire an actual soil amount excavated in the first pass,
modify the target soil amount based on the actual soil amount,
determine the target excavation depth of a second pass based on the modified target soil amount, and
move the work implement to the target excavation depth of the second pass to execute the excavation of the second pass.

### Claim 2 (depends on 1)

The system according to claim 1, wherein
the controller is further configured to
acquire an angle of an approach path, and
determine the target excavation depth of the first pass based on the position of the excavation end, the target soil amount, the excavation distance, and the angle of the approach path.

### Claim 3 (depends on 2)

The system according to claim 2, wherein
the controller is further configured to
acquire an angle of an exit path, and
determine the target excavation depth of the first pass based on the position of the excavation end, the target soil amount, the excavation distance, the angle of the approach path, and the angle of the exit path.

### Claim 4 (depends on 3)

The system according to claim 3, wherein
the controller is further configured to
determine a target trajectory of the first pass based on the position of the excavation end, the excavation distance, the angle of the approach path, the angle of the exit path, and the target excavation depth of the first pass, and
control the work implement to move according to the target trajectory of the first pass in the excavation of the first pass.

### Claim 5 (depends on 1)

The system according to claim 1, wherein
the controller is further configured to
acquire a retreat distance indicative of a distance from an excavation start position of a previous pass to the excavation start position of a next pass, or a distance from the position of the excavation end to the excavation start position of the first pass, and
determine the target excavation depth of the second pass based on the modified target soil amount and the retreat distance.

### Claim 6 (depends on 5)

The system according to claim 5, wherein
the controller is further configured to
acquire an angle of an approach path, and
determine the target excavation depth of the second pass based on the modified target soil amount, the retreat distance, and the angle of the approach path.

### Claim 7 (depends on 1)

The system according to claim 1, wherein
the controller is further configured to
acquire a retreat distance indicative of a distance from an excavation start position of a previous pass to the excavation start position of a next pass, or a distance from the position of the excavation end to the excavation start position of the first pass,
acquire a lower limit value of the target excavation depth,
determine the target excavation depth of the next pass based on the modified target soil amount and the retreat distance until the target excavation depth reaches the lower limit value, and
modify the retreat distance based on the modified target soil amount after the target excavation depth reaches the lower limit value.

### Claim 8

A method performed by a controller for controlling a work machine including a work implement, the method comprising:
acquiring a position of an excavation end by the work machine, a target soil amount, and an excavation distance;
determining a target excavation depth of a first pass based on the position of the excavation end, the target soil amount, and the excavation distance;
executing an excavation of the first pass by moving the work implement to the target excavation depth of the first pass;
acquiring an actual soil amount excavated in the first pass;
modifying the target soil amount based on the actual soil amount;
determining the target excavation depth of a second pass based on the modified target soil amount; and
executing the excavation of the second pass by moving the work implement to the target excavation depth of the second pass.

### Claim 9 (depends on 8)

The method according to claim 8, further comprising:
acquiring an angle of an approach path; and
determining the target excavation depth of the first pass based on the position of the excavation end, the target soil amount, the excavation distance, and the angle of the approach path.

### Claim 10 (depends on 9)

The method according to claim 9, further comprising:
acquiring an angle of an exit path; and
determining the target excavation depth of the first pass based on the position of the excavation end, the target soil amount, the excavation distance, the angle of the approach path, and the angle of the exit path.

### Claim 11 (depends on 10)

The method according to claim 10, further comprising:
determining a target trajectory of the first pass based on the position of the excavation end, the excavation distance, the angle of the approach path, the angle of the exit path, and the target excavation depth of the first pass; and
controlling the work implement to move according to the target trajectory of the first pass in the excavation of the first pass.

### Claim 12 (depends on 8)

The method according to claim 8, further comprising:
acquiring a retreat distance indicative of a distance from an excavation start position of a previous pass to the excavation start position of a next pass, or a distance from the position of the excavation end to the excavation start position of the first pass, and
determining the target excavation depth of the second pass based on the modified target soil amount and the retreat distance.

### Claim 13 (depends on 12)

The method according to claim 12, further comprising:
acquiring an angle of an approach path; and
determining the target excavation depth of the second pass based on the modified target soil amount, the retreat distance, and the angle of the approach path.

### Claim 14 (depends on 8)

The method according to claim 8, further comprising:
acquiring a retreat distance indicative of a distance from an excavation start position of a previous pass to the excavation start position of a next pass, or a distance from the position of the excavation end to the excavation start position of the first pass;
acquiring a lower limit value of the target excavation depth;
determining the target excavation depth of the next pass based on the modified target soil amount and the retreat distance until the target excavation depth reaches the lower limit value; and
modifying the retreat distance based on the modified target soil amount after the target excavation depth reaches the lower limit value.

### Claim 15

A system for controlling a work machine including a work implement, the system comprising:
a controller configured to
acquire a position of an excavation end by the work machine, a target soil amount, and an excavation distance,
determine a target excavation depth of a pass based on the position of the excavation end, the target soil amount, and the excavation distance, and
move the work implement to the target excavation depth of the pass to execute an excavation of the pass.