# US 2020/0399864 A1 · Construction system and construction method

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- Number: US 2020/0399864 A1
- Document ID: US20200399864A1
- Status: Published application
- Kind: A1
- Application number: 16/088,143
- Filed: 2017-06-06
- Published: 2020-12-24
- Earliest claimed: 2016-06-21
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Chikashi Shike; Ryoichi Togashi; Akinori Onodera
- Web page: https://patentgrep.com/patent/US20200399864A1

## CPC

- E02F 9/26: Indicating devices {(E02F5/145 takes precedence)}
- E02F 9/262: {with follow-up actions to control the work tool, e.g. controller}
- E02F 3/43: Control of dipper or bucket position; Control of sequence of drive operations
- E02F 3/439: {Automatic repositioning of the implement, e.g. automatic dumping, auto-return (E02F3/438 takes precedence)}
- E02F 3/847: {using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams}
- E02F 9/20: Drives; Control devices (gearings in general F16H; controlling in general G05; electric multi-motor drives H02K, H02P)
- 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 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)}
- E02F 9/22: Hydraulic or pneumatic drives {(for dipper or bucket arm position control E02F3/43, for blade position control for graders E02F3/844; for turntables E02F9/121; for fork-lift trucks B66F9/22)}
- E02F 9/264: {Sensors and their calibration for indicating the position of the work tool}
- E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)}
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)

## Abstract

A construction system includes: a position data acquisition unit configured to acquire position data of a bottom of water; a current-terrain data generation unit configured to generate current terrain data of the bottom of water based on the position data; a target-terrain data generation unit configured to generate target terrain data of the bottom of water based on the current terrain data; and a working equipment control unit configured to control a working equipment of a work vehicle based on the target terrain data.

## Claims

### Claim 1

A construction system comprising:
a position data acquisition unit configured to acquire position data of a bottom of water;
a current-terrain data generation unit configured to generate current terrain data of the bottom of water, based on the position data;
a target-terrain data generation unit configured to generate target terrain data of the bottom of water, based on the current terrain data; and
a working equipment control unit configured to control a working equipment of a work vehicle, based on the target terrain data.

### Claim 2 (depends on 1)

The construction system according to claim 1, wherein the position data includes position data of the working equipment when at least a part of the working equipment is in contact with the bottom of water.

### Claim 3 (depends on 1)

The construction system according to claim 1, wherein the target-terrain data generation unit is configured to generate the target terrain data based on position data of a deepest site in the current terrain data.

### Claim 4 (depends on 1)

The construction system according to claim 1, wherein the target-terrain data generation unit is configured to offset the current terrain data to generate the target terrain data.

### Claim 5 (depends on 1)

The construction system according to claim 1, wherein the target-terrain data generation unit is configured to generate the target terrain data based on position data of a site at a depth between a deepest site and a shallowest side in the current terrain data.

### Claim 6 (depends on 1)

The construction system according to claim 1, wherein the position data includes detection data of a detection device configured to detect the bottom of water in a non-contact manner.

### Claim 7 (depends on 1)

The construction system according to claim 1, further comprising: a display control unit configured to output a display signal to cause a display device to display at least one of the current terrain data and the target terrain data.

### Claim 8 (depends on 1)

The construction system according to claim 1, wherein the current-terrain data generation unit is configured to update the current terrain data based on position data of the working equipment.

### Claim 9

A construction system comprising:
a position data acquisition unit configured to acquire position data of a bottom of water;
a current-terrain data generation unit configured to generate current terrain data of the bottom of water based on the position data;
a target-terrain data generation unit configured to generate target terrain data of the bottom of water;
a working equipment control unit configured to control a working equipment of a work vehicle based on the target terrain data; and
a display control unit configured to output a display signal to cause a display device to display at least one of the current terrain data and the target terrain data.

### Claim 10

A construction method comprising:
acquiring position data of a bottom of water;
generating current terrain data of the bottom of water based on the position data;
generating target terrain data of the bottom of water based on the current terrain data; and
controlling a working equipment of a work vehicle based on the target terrain data.