CONTROL SYSTEM FOR WORK VEHICLE, METHOD, AND WORK VEHICLE

• US 20200131740A1
• Filed: 08/28/2018
• Published: 04/30/2020
• Est. Priority Date: 08/29/2017
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: HASHIMOTO, Kazuhiro
• Granted Patent: US 11,401,697 B2
• Time in Patent Office: Days
• CPC Class Codes: E02F 3/844 for positioning the blade, e.g. hydraulically
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G06Q 50/08 Construction

Abstract

A control system for a work vehicle includes a controller. The controller acquires actual topography data indicating an actual topography to be worked. The controller determines a target design topography indicating a target trajectory of a work implement based on the actual topography. The controller determines whether the actual topography is an upward gradient or a downward gradient based on the actual topography data. The controller changes the target design topography according to a result of determination of the gradient.

Claims

1. A control system for a work vehicle including a work implement, the control system comprising:

a controller configured to

acquire actual topography data indicating an actual topography to be worked,

determine a target design topography indicating a target trajectory of the work implement based on the actual topography,

determine whether the actual topography is an upward gradient or a download gradient based on the actual topography data, and

change the target design topography according to a result of determination of the gradient.

2. The control system for a work vehicle according to claim 1, wherein

the controller is further configured to

determine the target design topography by vertically displacing the actual topography, and

decrease a displacement amount of the target design topography from the actual topography upon determining that the actual topography is an upward gradient.

3. The control system for a work vehicle according to claim 2, wherein

the controller is further configured to decrease the displacement amount as an inclination of the upward gradient is steeper.

4. The control system for a work vehicle according to claim 1, wherein

the controller is further configured to

determine the target design topography by vertically displacing the actual topography, and

increase a displacement amount of the target design topography from the actual topography upon determining that the actual topography is a downward gradient.

5. The control system for a work vehicle according to claim 4, wherein

the controller is further configured to increase the displacement amount as an inclination of the downward gradient is steeper.

6. The control system for a work vehicle according to claim 1, wherein

the controller being further configured to

acquire an inclination degree parameter indicating a degree of inclination of the actual topography based on the actual topography data, and

determine whether the actual topography is an upward gradient or a downward gradient according to a value of the inclination degree parameter.

7. The control system for a work vehicle according to claim 6, wherein

the controller is further configured to

calculate a difference between the actual topography and a predetermined horizontal surface, and

determine the difference as the inclination degree parameter.

8. The control system for a work vehicle according to claim 1, further comprising:

a position sensor that outputs a position signal indicating a position of the work vehicle; and

a storage device that stores target parameter data that defines a relation between a moving distance of the work vehicle and a target parameter related to a target digging amount of the work implement, implement wherein

the controller being further configured to

receive the position signal from the position sensor,

acquire a moving distance of the work vehicle from the position signal,

refer to the target parameter data to determine the target parameter from the moving distance of the work vehicle,

determine a target displacement according to the target parameter,

change the target displacement according to a result of determination of the gradient, and

determine the target design topography by vertically displacing the actual topography by the target displacement.

9. A method executed by a controller for setting a trajectory of a work implement of a work vehicle, the method comprising:

acquiring actual topography data indicating an actual topography to be worked;

determining a target design topography indicating a target trajectory of the work implement based on the actual topography;

determining whether the actual topography is an upward gradient or a downward gradient based on the actual topography data; and

changing the target design topography according to a result of determination of the gradient.

10. The method according to claim 9, wherein

the determining the target design topography includes determining the target design topography by vertically displacing the actual topography, and

the changing the target design topography includes decreasing a displacement amount of the target design topography from the actual topography upon determining that the actual topography is an upward gradient.

11. The method according to claim 10, wherein

the changing the target design topography further includes decreasing the displacement amount as an inclination of the upward gradient is steeper.

12. The method according to claim 9, wherein

the determining the target design topography includes determining the target design topography by vertically displacing the actual topography, and

the changing the target design topography includes increasing a displacement amount of the target design topography from the actual topography upon determining that the actual topography is a downward gradient.

13. The method according to claim 12, wherein

the changing the target design topography further includes increasing the displacement amount as an inclination of the downward gradient is steeper.

14. The method according to claim 9, further comprising:

acquiring an inclination degree parameter indicating a degree of inclination of the actual topography based on the actual topography data,

the determining whether the actual topography is an upward gradient or a downward gradient including determining whether the actual topography is an upward gradient or a downward gradient according to a value of the inclination degree parameter.

15. The method according to claim 14, wherein

the acquiring the inclination degree parameter further includes

calculating a difference between the actual topography and a predetermined horizontal surface, and

determining the difference as the inclination degree parameter.

16. A work vehicle comprising:

a work implement; and

a controller configured to control the work implement, the controller being configured to

acquire actual topography data indicating an actual topography to be worked,

determine a target design topography indicating a target trajectory of the work implement based on the actual topography,

determine whether the actual topography is an upward gradient or a downward gradient based on the actual topography data,

change the target design topography according to a result of determination of the gradient, and

output a command signal for controlling the work implement according to the target design topography.

17. The work vehicle according to claim 16, wherein

the controller is further configured to

determine the target design topography by vertically displacing the actual topography, and

decrease a displacement amount of the target design topography from the actual topography upon determining that the actual topography is an upward gradient.

18. The work vehicle according to claim 17, wherein

the controller is further configured to decrease the displacement amount as an inclination of the upward gradient is steeper.

19. The work vehicle according to claim 16, wherein

the controller is further configured to

determine the target design topography by vertically displacing the actual topography, and

increase a displacement amount of the target design topography from the actual topography upon determining that the actual topography is a downward gradient.

20. The work vehicle according to claim 19, wherein

the controller is further configured to increase the displacement amount as an inclination of the downward gradient is steeper.