System, method, and non-transitory computer-readable storage medium storing program
AssigneeKomatsu Ltd.
InventorShinya HINO
Life of this patent
Estimating the term…
Abstract
A system (200) includes a processor (210). The processor identifies a virtual wall (VW), which is a surface that prohibits entry of a work implement (160). The processor identifies a position of a control point (P) of a work tool (163) in a work machine (100). The processor identifies an offset wall (OW) obtained by bringing the virtual wall closer to the control point in a normal direction of the virtual wall by a length of a radius of a virtual sphere (VS) defined such that the virtual sphere includes the work tool with the control point as a center. The processor controls the work machine such that the offset wall does not come into contact with the control point.
Claims14
A system for controlling a work machine including a work implement provided with a work tool at a tip end, the system comprising:
- a processor, wherein
- the processor
- identifies a virtual wall being a surface that prohibits entry of the work implement;
- identifies a position of a control point of the work tool in the work machine;
- identifies an offset wall obtained by bringing the virtual wall closer to the control point in a normal direction of the virtual wall by a length of a radius of a virtual sphere defined such that the virtual sphere includes the work tool with the control point as a center;
- and
- controls the work machine such that the offset wall does not come into contact with the control point.
A method for controlling a work machine including a work implement provided with a work tool at a tip end, the method comprising:
- identifying a virtual wall being a surface that prohibits entry of the work implement;
- identifying a position of a control point of the work tool in the work machine;
- identifying an offset wall obtained by bringing the virtual wall closer to the control point in a normal direction of the virtual wall by a length of a radius of a virtual sphere defined such that the virtual sphere includes the work tool with the control point as a center;
- and
- controlling the work machine such that the offset wall does not come into contact with the control point.
A non-transitory computer storage medium storing a program, wherein the program causes a computer configured to control a work machine including a work implement provided with a work tool at a tip end to execute:
- identifying a virtual wall being a surface that prohibits entry of the work implement;
- identifying a position of a control point of the work tool in the work machine;
- identifying an offset wall obtained by bringing the virtual wall closer to the control point in a normal direction of the virtual wall by a length of a radius of a virtual sphere defined such that the virtual sphere includes the work tool with the control point as a center;
- and
- controlling the work machine such that the offset wall does not come into contact with the control point.
Dependencies are inferred from the claim text.