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US 2026/0015818 A1Published application
System including work machine, work machine controller, and method of controlling work machine
AssigneeKomatsu Ltd.
InventorTakafumi MATSUYAMA
Life of this patent
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Abstract
A trace of an automatically controlled work implement is appropriately set. A controller of a work machine obtains a reference point of a container detected by an object sensor, obtains the trace of the work implement while the work machine is operated, and extracts a position of a feature point that defines the trace with the reference point being defined as a reference.
Claims10
1:
- A system including a work machine, the system comprising:
- a work machine main body;
- a work implement attached to the work machine main body, the work implement including a bucket;
- a work implement posture sensor that detects a posture of the work implement;
- an object sensor that detects an object around the work machine main body;
- and
- a controller that communicates with the work implement posture sensor and the object sensor, wherein
- the controller obtains a reference point of a container detected by the object sensor, obtains a trace of the work implement while an operation of the work machine is performed, and extracts a position of a feature point that defines the trace with the reference point being defined as a reference.
5 more elements
2:
- The system according to claim 1, wherein
- the operation is an operation to load loads carried in the work implement into the container.
3:
- The system according to claim 1, the system obtaining a posture of the work implement at the feature point.
4:
- The system according to claim 1, wherein
- the feature point includes a position of the work implement at time when an operation of the bucket in a dump direction is started while the work machine travels forward toward the container.
5:
- The system according to claim 1, wherein
- the feature point includes a position of the work implement at time when an operation of the bucket in a dump direction is stopped above the container.
6:
- The system according to claim 1, wherein
- the work implement includes a boom having a tip end attached to the bucket, and
- the feature point includes a position of the work implement at time when an operation to raise the boom is stopped above the container.
7:
- The system according to claim 1, wherein
- the feature point includes a position of the work implement at time when an operation of the bucket in a tilt direction is started above the container.
8:
- The system according to claim 7, wherein
- the feature point includes a position of the work implement at the time when the operation of the bucket in the tilt direction is stopped
9:
- A work machine controller,
- obtaining a reference point of a container detected by an object sensor;
- obtaining a trace of a work implement while the work machine is operated;
- and
- extracting a position of a feature point that defines the trace with the reference point being defined as a reference.
2 more elements
10:
- A method of controlling a work machine, the method comprising:
- obtaining a reference point of a container detected by an object sensor;
- obtaining a trace of a work implement while the work machine is operated;
- and
- extracting a position of a feature point that defines the trace with the reference point being defined as a reference.
2 more elements