# US 12,180,675 B2 · Control system and method for work machine

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- Number: US 12,180,675 B2
- Document ID: US12180675B2
- Status: Granted
- Kind: B2
- Application number: 17/293,719
- Filed: 2020-01-20
- Published: 2022-01-06
- Granted: 2024-12-31
- Earliest claimed: 2019-03-28
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Yukihisa Takaoka
- Web page: https://patentgrep.com/patent/US12180675B2

## CPC

- 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 3/842: {using electromagnetic, optical or photoelectric beams, e.g. laser beams}
- E02F 3/844: {for positioning the blade, e.g. hydraulically}
- E02F 9/2041: {Automatic repositioning of implements, i.e. memorising determined positions of the implement (for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence)}
- 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 9/262: {with follow-up actions to control the work tool, e.g. controller}
- G05D 1/0011: {associated with a remote control arrangement}
- G05D 1/0219: {ensuring the processing of the whole working surface}
- G05D 1/2469: {using a topologic or simplified map}
- E02F 3/7609: {Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers}
- E02F 9/2228: {including an electronic controller}
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A work machine includes a work implement. A control system for the work machine includes a processor. The processor acquires actual topography data indicative of an actual topography of a work site. The processor acquires work data including a width of a work implement. The processor generates work path data based on the actual topography data and the work data. The work path data indicates positions of a plurality of work paths aligned in a lateral direction. The processer determines a work order of the plurality of work paths based on the work path data. The processer controls a work machine to perform work according to the work paths in the work order.

## Claims

### Claim 1

A control system for a work machine including a work implement, the control system comprising:
a processor configured to
acquire actual topography data indicative of an actual topography of a work site,
acquire work data including a width of the work implement, a slot width, and a wall width,
generate work path data based on the actual topography data and the work data, the work path data indicating positions of a plurality of work paths aligned in a lateral direction, the plurality of work paths including at least three slots and at least two digging walls positioned between adjacent pairs of the at least three slots, each of the at least three slots having a width equal to the slot width and each of the at least two digging walls having a width equal to the wall width, the work path data including type data indicating a type of work performed by the work machine and the type data including digging of the slots and digging of the digging wall,
acquire area data indicative of a work area including the plurality of work paths, and
determine a work order of the plurality of work paths based on the type data of the work path data so that work on the digging wall is performed after work on the at least three slots in the work area, and
control the work machine to perform work according to the work paths in the work order,
wherein
the at least three slots include a first slot positioned at one end of the work area and a farthest slot positioned at another end of the work area, the one end of the work area being spaced from the other end of the work area along the lateral direction,
the at least two digging walls include a first digging wall that is closest to the first slot and a farthest digging wall that is closest to the farthest slot along the lateral direction, and
the processor is further configured to determine the work order of the plurality of work paths such that
the at least three slots are worked in order from the first slot to the farthest slot, and
after the work on the at least three slots is completed, the at least two digging walls are worked in order from the farthest digging wall to the first digging wall such that the work on the at least two digging walls is conducted in the opposite order with respect to the lateral direction as the work on the at least three slots.

### Claim 2 (depends on 1)

The control system for the work machine according to claim 1, wherein
the processor is further configured to
acquire target trajectory data indicative of a target trajectory, at least a portion of the target trajectory being positioned below the actual topography, and
control the work machine so that the work implement moves according to the target trajectory for each of the work paths.

### Claim 3 (depends on 1)

The control system for the work machine according to claim 1, wherein
the processor is further configured to
determine the plurality of work paths in a plurality of layers positioned below a surface of the actual topography, and
determine the work order of the work paths in order from an upper layer between the plurality of layers.

### Claim 4 (depends on 1)

The control system for the work machine according to claim 1, wherein
the processor is further configured to determine the at least three slots including the first slot and the farthest slot and the plurality of digging walls including the first digging wall and the farthest digging wall in a first layer positioned below a surface of the actual topography and in a second layer positioned below the first layer.

### Claim 5 (depends on 4)

The control system for the work machine according to claim 4, wherein
the processor is further configured to determine the work order so that work on the first slot in the second layer is performed after the first digging wall in the first layer.

### Claim 6

A method executed by a processor in order to control a work machine including a work implement, the method comprising:
acquiring actual topography data indicative of an actual topography of a work site;
acquiring work data including a width of the work implement, a slot width, and a wall width;
generating work path data based on the actual topography data and the work data, the work path data indicating positions of a plurality of work paths aligned in a lateral direction, the plurality of work paths including at least three slots and at least two digging walls positioned between adjacent pairs of the at least three slots, each of the at least three slots having a width equal to the slot width and each of the at least two digging walls having a width equal to the wall width, the work path data including type data indicating a type of work performed by the work machine and the type data including digging of the slots and digging of the digging wall;
acquiring area data indicative of a work area including the plurality of work paths;
determining a work order of the plurality of work paths based on the type data of the work path data so that work on the digging wall is performed after work on the plurality of at least three slots in the work area; and
controlling the work machine to perform work according to the work paths in the work order
wherein,
the at least three slots include a first slot positioned at one end of the work area and a farthest slot positioned at another end of the work area, the one end of the work area being spaced from the other end of the work area along the lateral direction,
the at least two digging walls include a first digging wall that is closest to the first slot and a farthest digging wall that is closest to the farthest slot along the lateral direction,
the work order of the plurality of work paths is determined such that
the at least three slots are worked in order from the first slot to the farthest slot, and
after the work on the at least three slots is completed, the at least two digging walls are worked in order from the farthest digging wall to the first digging wall such that the work on the at least two digging walls is conducted in the opposite order with respect to the lateral direction as the work on the at least three slots.

### Claim 7 (depends on 6)

The method according to claim 6, further comprising:
acquiring target trajectory data indicative of a target trajectory, at least a portion of the target trajectory being positioned below the actual topography,
the controlling the work machine including controlling the work machine so that the work implement moves according to the target trajectory for each of the work paths.

### Claim 8 (depends on 6)

The method according to claim 6, further comprising:
determining the plurality of work paths in a plurality of layers positioned below a surface of the actual topography,
the work order of the work paths being determined in order from an upper layer between the plurality of layers.

### Claim 9 (depends on 6)

The method according to claim 6, further comprising:
determining the at least three slots including the first slot and the farthest slot and the plurality of digging walls including the first digging wall and the farthest digging wall in a first layer positioned below a surface of the actual topography and in a second layer positioned below the first layer.

### Claim 10 (depends on 9)

The method according to claim 9, wherein
the work order is determined so that work on the first slot in the second layer is performed after the first digging wall in the first layer.