WO2019187796A1 - 作業車両の制御システム、方法、及び作業車両 - Google Patents
作業車両の制御システム、方法、及び作業車両 Download PDFInfo
- Publication number
- WO2019187796A1 WO2019187796A1 PCT/JP2019/006101 JP2019006101W WO2019187796A1 WO 2019187796 A1 WO2019187796 A1 WO 2019187796A1 JP 2019006101 W JP2019006101 W JP 2019006101W WO 2019187796 A1 WO2019187796 A1 WO 2019187796A1
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- WIPO (PCT)
- Prior art keywords
- tilt angle
- target
- controller
- work
- work implement
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7609—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
- E02F3/7618—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 with the scraper blade adjustable relative to the pivoting arms about a horizontal axis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
Definitions
- the present invention relates to a work vehicle control system, method, and work vehicle.
- the occurrence of shoe slip can be suppressed by raising the blade when the load on the blade becomes excessively large. Thereby, work can be performed efficiently.
- the blade is first controlled along the design landform 100. Thereafter, when the load on the blade increases, the blade is raised by load control (see the blade locus 200 in FIG. 30). Therefore, when the design terrain 100 is at a deep position with respect to the current terrain 300, the load on the blade may increase rapidly, and the blade may be rapidly raised. In that case, since the topography with large unevenness
- An object of the present invention is to cause a work vehicle to perform work efficiently and with good quality by automatic control.
- the first aspect is a control system for a work vehicle having a work machine, and includes an operation device and a controller.
- the operating device outputs an operation signal indicating an operation by the operator.
- the controller communicates with the operation device and controls the work machine.
- the controller is programmed to perform the following processing.
- the controller determines a target design terrain that indicates the target shape.
- the controller generates a command signal for operating the work machine according to the target design landform.
- the controller corrects the tilt angle of the work implement according to the changed tilt angle.
- the second aspect is a method executed by a controller to control a work vehicle having a work machine, and includes the following processing.
- the first process is to determine a target design landform indicating the target shape.
- the second process is to generate a command signal for operating the work machine according to the target design landform.
- the third process is to receive an operation signal indicating an operation by the operator from the operation device.
- the fourth process is to correct the tilt angle of the work implement according to the changed tilt angle when the tilt angle of the work implement is changed by operation of the operating device.
- the third aspect is a work vehicle, which includes a work machine, an operation device, and a controller.
- the operating device outputs an operation signal indicating an operation by the operator.
- the controller receives the operation signal and controls the work machine.
- the controller is programmed to perform the following processing.
- the controller determines a target design terrain that indicates the target shape.
- the controller generates a command signal for operating the work machine according to the target design landform.
- the controller corrects the tilt angle of the work implement according to the changed tilt angle.
- FIG. 6 is a block diagram showing the configuration of a drive system and a control system for a work vehicle according to a first modification.
- FIG. 10 is a block diagram showing configurations of a drive system and a control system for a work vehicle according to a second modification. It is a figure which shows the process which determines the target design topography based on other embodiment.
- FIG. 6 is a diagram showing a first example of first tilt angle control.
- FIG. 6 is a diagram showing a first example of second tilt angle control.
- FIG. 10 is a diagram showing a second example of first tilt angle control.
- FIG. 10 is a diagram showing a second example of second tilt angle control. It is a figure which shows the correction method of the target design topography which concerns on other embodiment. It is a figure which shows the excavation work by a prior art.
- FIG. 1 is a side view showing a work vehicle 1 according to the embodiment.
- the work vehicle 1 according to the present embodiment is a bulldozer.
- the work vehicle 1 includes a vehicle body 11, a traveling device 12, and a work implement 13.
- the vehicle body 11 has a cab 14 and an engine compartment 15.
- a driver's seat (not shown) is arranged in the cab 14.
- the engine compartment 15 is disposed in front of the cab 14.
- the traveling device 12 is attached to the lower part of the vehicle body 11.
- the traveling device 12 has a pair of left and right crawler belts 16. In FIG. 1, only the left crawler belt 16 is shown. As the crawler belt 16 rotates, the work vehicle 1 travels.
- the work machine 13 is attached to the vehicle body 11.
- the work machine 13 includes a lift frame 17, a blade 18, a lift cylinder 19, and a tilt cylinder 21.
- the lift frame 17 is attached to the vehicle body 11 so as to be movable up and down around an axis X extending in the vehicle width direction.
- the lift frame 17 supports the blade 18.
- the blade 18 is disposed in front of the vehicle body 11.
- the blade 18 moves up and down as the lift frame 17 moves up and down.
- the lift frame 17 may be attached to the traveling device 12.
- the lift cylinder 19 is connected to the vehicle body 11 and the lift frame 17.
- the tilt cylinder 21 is connected to the lift frame 17 and the blade 18.
- tilt operation As the tilt cylinder 21 expands and contracts, the blade 18 rotates about the axis Z extending in the vehicle front-rear direction (hereinafter referred to as “tilt operation”).
- FIG. 2 is a block diagram showing the configuration of the drive system 2 and the control system 3 of the work vehicle 1.
- the drive system 2 includes an engine 22, a hydraulic pump 23, and a power transmission device 24.
- the hydraulic pump 23 is driven by the engine 22 and discharges hydraulic oil.
- the hydraulic oil discharged from the hydraulic pump 23 is supplied to the lift cylinder 19 and the tilt cylinder 21.
- one hydraulic pump 23 is shown, but a plurality of hydraulic pumps may be provided.
- the power transmission device 24 transmits the driving force of the engine 22 to the traveling device 12.
- the power transmission device 24 may be, for example, HST (Hydro Static Transmission).
- the power transmission device 24 may be, for example, a torque converter or a transmission having a plurality of transmission gears.
- the control system 3 includes an operating device 25a, an input device 25b, a controller 26, a storage device 28, and a control valve 27.
- the operating device 25a and the input device 25b are disposed in the cab 14.
- the operating device 25a is a device for operating the work implement 13 and the traveling device 12.
- the operating device 25a is disposed in the cab 14.
- the operating device 25a receives an operation by an operator for driving the work machine 13 and the traveling device 12, and outputs an operation signal corresponding to the operation.
- the operation device 25a includes, for example, an operation lever, a pedal, a switch, and the like.
- the input device 25b is a device for setting automatic control of the work vehicle 1 described later.
- the input device 25b accepts an operation by an operator and outputs an operation signal corresponding to the operation.
- the operation signal of the input device 25b is output to the controller 26.
- the input device 25b includes, for example, a touch panel display.
- the input device 25b is not limited to a touch panel, and may include a hardware key.
- the controller 26 is programmed to control the work vehicle 1 based on the acquired data.
- the controller 26 includes a processing device (processor) such as a CPU.
- the controller 26 acquires an operation signal from the operation device 25a and the input device 25b.
- the controller 26 is not limited to being integrated, and may be divided into a plurality of controllers.
- the controller 26 controls the traveling device 12 or the power transmission device 24 to cause the work vehicle 1 to travel.
- the controller 26 moves the blade 18 up and down by controlling the control valve 27.
- the controller 26 tilts the blade 18 by controlling the control valve 27.
- the control valve 27 is a proportional control valve and is controlled by a command signal from the controller 26.
- the control valve 27 is disposed between a hydraulic actuator such as the lift cylinder 19 and the tilt cylinder 21 and the hydraulic pump 23.
- the control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 23 to the lift cylinder 19 and the tilt cylinder 21.
- the controller 26 generates a command signal to the control valve 27 so that the blade 18 operates. Thereby, the lift cylinder 19 and the tilt cylinder 21 are controlled.
- the control valve 27 may be a pressure proportional control valve. Alternatively, the control valve 27 may be an electromagnetic proportional control valve.
- the control system 3 includes a lift sensor 29 and a tilt sensor 30.
- the lift sensor 29 detects the position of the work implement 13 in the vertical direction and outputs a work implement position signal indicating the position of the work implement 13 in the vertical direction.
- the lift sensor 29 may be a displacement sensor that detects the displacement of the work implement 13.
- the lift sensor 29 detects the stroke length of the lift cylinder 19 (hereinafter referred to as “lift cylinder length Llift”).
- FIG. 3 is a schematic side view showing the configuration of the work vehicle 1. As shown in FIG. As shown in FIG. 3, the controller 26 calculates the lift angle ⁇ lift of the blade 18 based on the lift cylinder length Llift.
- the lift sensor 29 may be a rotation sensor that directly detects the rotation angle of the work implement 13.
- the reference position of the work machine 13 is indicated by a two-dot chain line.
- the reference position of the work machine 13 is the position of the blade 18 in a state where the blade tip of the blade 18 is in contact with the ground on the horizontal ground.
- the lift angle ⁇ lift is an angle from the reference position of the work machine 13.
- the tilt sensor 30 detects the tilt angle of the work implement 13 and outputs a work implement position signal indicating the tilt angle of the work implement 13.
- the tilt sensor 30 may be a displacement sensor that detects the displacement of the work implement 13. Specifically, the tilt sensor 30 detects the stroke length of the tilt cylinder 21 (hereinafter referred to as “tilt cylinder length”).
- FIG. 4 is a schematic front view showing the configuration of the work vehicle 1. As shown in FIG. As shown in FIG. 4, the controller 26 calculates the tilt angle ⁇ tilt of the blade 18 based on the tilt cylinder length.
- the tilt sensor 30 may be a rotation sensor that directly detects the rotation angle of the work machine 13.
- the control system 3 includes a position sensor 31.
- the position sensor 31 measures the position of the work vehicle 1.
- the position sensor 31 includes a GNSS (Global Navigation Satellite System) receiver 32 and an IMU 33.
- the GNSS receiver 32 is, for example, a receiver for GPS (Global Positioning System).
- GPS Global Positioning System
- the antenna of the GNSS receiver 32 is disposed on the cab 14.
- the GNSS receiver 32 receives a positioning signal from the satellite, calculates the antenna position based on the positioning signal, and generates vehicle position data.
- the controller 26 acquires vehicle body position data from the GNSS receiver 32.
- the controller 26 obtains the traveling direction and the vehicle speed of the work vehicle 1 from the vehicle body position data.
- the vehicle body position data may not be the antenna position data.
- the vehicle body position data may be data indicating the position of an arbitrary place where the positional relationship with the antenna is fixed in the work vehicle 1 or in the vicinity of the work vehicle 1.
- the IMU 33 is an inertial measurement device (Inertial Measurement Unit).
- the IMU 33 acquires vehicle body tilt angle data.
- the vehicle body tilt angle data includes an angle (pitch angle) with respect to the horizontal in the vehicle longitudinal direction and an angle (roll angle) with respect to the horizontal in the vehicle lateral direction.
- the controller 26 acquires vehicle body tilt angle data from the IMU 33.
- the controller 26 calculates the cutting edge position Pb from the lift cylinder length Llift, the vehicle body position data, and the vehicle body inclination angle data. As shown in FIG. 3, the controller 26 calculates the global coordinates of the GNSS receiver 32 based on the vehicle body position data. The controller 26 calculates the lift angle ⁇ lift based on the lift cylinder length Llift. The controller 26 calculates the local coordinates of the cutting edge position Pb with respect to the GNSS receiver 32 based on the lift angle ⁇ lift and the vehicle body dimension data.
- the vehicle body dimension data is stored in the storage device 28, and indicates the position of the work machine 13 with respect to the GNSS receiver 32.
- the controller 26 calculates the global coordinates of the cutting edge position Pb based on the global coordinates of the GNSS receiver 32, the local coordinates of the cutting edge position Pb, and the vehicle body inclination angle data.
- the controller 26 acquires the global coordinates of the cutting edge position Pb as cutting edge position data.
- the controller 26 calculates the tilt angle in the global coordinate system from the tilt angle ⁇ tilt in the local coordinate system, the vehicle body position data, and the vehicle body tilt angle data.
- the global coordinate system may be a world coordinate system or a coordinate system based on a work site.
- the local coordinate system is a coordinate system based on the work vehicle 1.
- the storage device 28 includes, for example, a memory and an auxiliary storage device.
- the storage device 28 may be a RAM or a ROM, for example.
- the storage device 28 may be a semiconductor memory or a hard disk.
- the storage device 28 is an example of a non-transitory computer-readable recording medium.
- the storage device 28 can be executed by a processor and records computer commands for controlling the work vehicle 1.
- the storage device 28 stores design terrain data and work site terrain data.
- the designed terrain data indicates the final designed terrain.
- the final design terrain is the final target shape of the worksite surface.
- the design terrain data is, for example, a civil engineering construction diagram in a three-dimensional data format.
- Worksite terrain data indicates the terrain over a wide area of the worksite.
- the work site topographic data is, for example, a current topographic survey map in a three-dimensional data format. Worksite terrain data can be obtained, for example, by aviation laser surveying.
- Controller 26 obtains current terrain data.
- Current terrain data indicates the current terrain of the work site.
- the current terrain of the work site is a terrain in an area along the traveling direction of the work vehicle 1.
- the current terrain data is obtained by calculation in the controller 26 from the work site terrain data and the position and traveling direction of the work vehicle 1 obtained from the position sensor 31 described above.
- the current terrain data may be obtained from distance measurement of the current terrain by an on-board lidar (LIDAR: Laser Imaging Detection and Ranging) or the like.
- LIDAR Laser Imaging Detection and Ranging
- the controller 26 automatically controls the work machine 13 based on the current terrain data, the design terrain data, and the blade edge position data.
- the automatic control of the work machine 13 may be semi-automatic control performed in combination with a manual operation by an operator.
- the automatic control of the work machine 13 may be a fully automatic control performed without a manual operation by an operator.
- the traveling of the work vehicle 1 may be automatically controlled by the controller 26.
- the traveling control of the work vehicle 1 may be fully automatic control that is performed without manual operation by an operator.
- the traveling control may be semi-automatic control performed in combination with a manual operation by an operator.
- the traveling of the work vehicle 1 may be performed manually by an operator.
- the controller 26 starts automatic control when a predetermined start condition is satisfied.
- the predetermined start condition may be, for example, that the controller 26 has received an operation signal indicating a lowering operation of the work machine 13 from the operation device 25a.
- the predetermined start condition may be that the controller 26 has received an operation signal indicating an automatic control start command from the input device 25b.
- FIG. 5 is a flowchart showing the automatic control process.
- the controller 26 acquires current position data.
- the controller 26 acquires the current cutting edge position Pb of the blade 18 as described above.
- the controller 26 acquires design terrain data.
- the plurality of reference points Pn indicate a plurality of points at predetermined intervals along the traveling direction of the work vehicle 1.
- the plurality of reference points Pn are on the traveling path of the blade 18.
- the final design landform 60 has a flat shape parallel to the horizontal direction, but may have a different shape.
- step S103 the controller 26 acquires the current terrain data.
- the controller 26 obtains the current terrain data by calculation from the work site terrain data obtained from the storage device 28 and the position data and the traveling direction data of the vehicle body 11 obtained from the position sensor 31.
- Current terrain data is information indicating the terrain located in the traveling direction of the work vehicle 1.
- FIG. 6 shows a cross section of the current terrain 50.
- the vertical axis indicates the height of the topography
- the horizontal axis indicates the distance from the current position in the traveling direction of the work vehicle 1.
- the current terrain data includes the height Zn of the current terrain 50 at a plurality of reference points Pn from the current position to a predetermined terrain recognition distance dA in the traveling direction of the work vehicle 1.
- the current position is a position determined based on the current cutting edge position Pb of the work vehicle 1.
- the current position may be determined based on the current position of the other part of the work vehicle 1.
- the plurality of reference points are arranged at a predetermined interval, for example, every 1 m.
- step S104 the controller 26 determines target design landform data.
- the target design terrain data indicates the target design terrain 70 indicated by broken lines in FIG.
- the target design landform 70 indicates a desired trajectory of the blade edge of the blade 18 in the work.
- the target design terrain 70 is a target profile of the terrain that is a work target, and indicates a desired shape as a result of excavation work.
- the controller 26 determines a target design landform 70 that is at least partially located below the current landform 50.
- controller 26 determines the target design landform 70 so as not to cross the final design landform 60 downward. Accordingly, the controller 26 determines the target design landform 70 that is located at least the final design landform 60 and below the current landform 50 during excavation work.
- step S105 the controller 26 controls the work machine 13 according to the target design landform 70.
- the controller 26 generates a command signal to the work machine 13 so that the cutting edge position Pb of the blade 18 moves according to the target design landform 70.
- the generated command signal is input to the control valve 27. Thereby, the cutting edge position Pb of the blade 18 moves toward the target design landform 70.
- step S106 the controller 26 updates the work site topographic data.
- the controller 26 updates the work site terrain data with position data indicating the latest locus of the cutting edge position Pb.
- the update of the work site terrain data may be performed at any time.
- the controller 26 may calculate the position of the bottom surface of the crawler belt 16 from the vehicle body position data and the vehicle body dimension data, and update the work site landform data with the position data indicating the trajectory of the bottom surface of the crawler belt 16.
- the work site topographic data can be updated immediately.
- the work site topographic data may be generated from survey data measured by a surveying device outside the work vehicle 1.
- a surveying device for example, an aviation laser surveying may be used.
- the current terrain 50 may be photographed by a camera, and the work site terrain data may be generated from image data obtained by the camera.
- aerial surveying by UAV Unmanned Aerial Vehicle
- the update of the work site terrain data may be performed at predetermined intervals or at any time.
- excavation is performed so that the current landform 50 approaches the final design landform 60.
- FIG. 7 is a flowchart showing a process for determining the target design landform 70.
- the controller 26 determines a start point S0.
- the controller 26 determines a position at a predetermined distance L1 forward from the blade edge position Pb at the time when automatic control is started as a start point S0.
- the predetermined distance L1 is stored in the storage device 28.
- the predetermined distance L1 may be settable by the input device 25b.
- the predetermined interval L2 is 3 m, for example. However, the predetermined interval L2 may be smaller than 3 m or larger than 3 m.
- the predetermined interval L2 is stored in the storage device 28. The predetermined interval L2 may be set by the input device 25b. From the start point S0, the controller 26 determines a plurality of points at predetermined intervals L2 in the traveling direction of the work vehicle 1 as partition points An.
- step S203 the controller 26 smoothes the current terrain data.
- the controller 26 smoothes the current terrain data by linear interpolation. Specifically, as shown in FIG. 9, the controller 26 smoothes the current terrain data by replacing the current terrain 50 with a straight line connecting the partition points An.
- step S204 the controller 26 determines the target depth L3.
- the controller 26 determines the target depth L3 according to the control mode set by the input device 25b. For example, the operator can select one of the first mode, the second mode, and the third mode with the input device 25b.
- the first mode is the control mode with the largest load
- the third mode is the control mode with the least load.
- the second mode is a load control mode between the first mode and the third mode.
- the target depth L3 corresponding to each mode is stored in the storage device 28.
- the controller 26 selects the first target depth in the first mode, the second target depth in the second mode, and the third target depth in the third mode as the target depth L3.
- the first target depth is greater than the second target depth.
- the second target depth is greater than the third target depth.
- the target depth L3 may be arbitrarily set by the input device 25b.
- step S205 the controller 26 determines a plurality of reference points. As shown in FIG. 10, the controller 26 sets the reference points at points where the partition point A1 that is one point ahead of the start point S0 and the partition point A2 that is two points ahead are respectively displaced downward by the target depth L3. Determined as points B1 and B2.
- step S206 the controller 26 determines a plurality of reference terrain. As shown in FIG. 10, the controller 26 determines the first reference terrain C1 and the second reference terrain C2. The first reference topography C1 is indicated by a straight line connecting the start point S0 and the next reference point B1. The second reference topography C2 is indicated by a straight line connecting the start point S0 and the next reference point B2.
- step S207 the controller 26 determines the target design landform 70.
- the controller 26 determines the target design landform 70 for each section divided by a plurality of section points An. As shown in FIG. 11, the controller 26 determines the first target design landform 70_1 so as to pass between the first reference landform C1 and the second reference landform C2.
- the first target design landform 70_1 is the target design landform 70 in the section between the start point S0 and the next section point A1.
- the controller 26 calculates the average angle between the first reference landform C1 and the second reference landform C2.
- the average angle is an average value of the angle of the first reference landform C1 with respect to the horizontal direction and the angle of the second reference landform C2 with respect to the horizontal direction.
- the controller 26 determines a straight line inclined at an average angle with respect to the horizontal direction as the first target design landform 70_1.
- the controller 26 controls the work implement 13 according to the first target design landform 70_1 as shown in FIG. 12 according to the process of step S105 described above. To do.
- step S208 the controller 26 determines the next start point S1.
- the next start point S1 is the start point of the next target design landform 70, that is, the second target design landform 70_2.
- the second target design landform 70_2 is the target design landform 70 in the section between the next start point S1 and the next section point A2.
- the next start point S1 is the end position of the first target design landform 70_1, and is located vertically below the partition point A1.
- the controller 26 determines the second target design landform 70_2 by repeating the processing from step S205 to step S207.
- the controller 26 determines the second target design landform 70_2 during the work according to the first target design landform 70_1.
- the controller 26 determines a straight line connecting the next start point S1 and the next reference point B2 as the next first reference landform C1. Further, the controller 26 determines a straight line connecting the next start point S1 and the next reference point B3 as the next second reference landform C2. Then, the second target design landform 70_2 is determined from the average angle between the first reference landform C1 and the second reference landform C2.
- the controller 26 controls the work implement 13 according to the second target design landform 70_2 in accordance with the process of step S105 described above. Then, the controller 26 continues excavation of the current landform 50 by repeating the above-described processing.
- the predetermined termination condition is, for example, that the amount of material held by the work machine 13 has reached a predetermined upper limit value.
- the controller 26 controls the work machine 13 along the current landform 50. Thereby, the excavated material can be transported smoothly.
- FIG. 14 is a flowchart showing processing when manual operation is intervened.
- FIG. 15 is a front view showing the work vehicle 1, the final designed landform 60, the current landform 50, and the target designed landform 70.
- the size of the target design landform 70 in the vehicle width direction may be determined based on the size of the work implement 13 in the vehicle width direction. Alternatively, the size of the target design landform 70 in the vehicle width direction may be set by the input device 25b.
- step S301 the controller 26 determines a target tilt angle.
- the controller 26 determines an initial value of the target tilt angle according to the final design landform 60. Specifically, as shown in FIG. 15, the controller 26 determines an initial value of the target tilt angle so that the blade 18 is parallel to the final design landform 60.
- the controller 26 determines the initial value as the target tilt angle. For example, as shown in FIG. 15, when the final designed landform 60 is inclined at an angle ⁇ 1 with respect to the horizontal direction in the vehicle width direction, the controller 26 makes the tilt angle ⁇ tilt with respect to the horizontal direction of the blade 18 be ⁇ 1.
- the target tilt angle is determined.
- step S302 the controller 26 determines the target design landform 70 with the target tilt angle determined in step S301.
- the controller 26 determines the target design landform 70 so as to be parallel to the final design landform 60 in the vehicle width direction, as shown in FIG.
- the controller 26 determines the target design landform 70 in accordance with the final design landform 60 even if the current landform 50 is inclined with respect to the final design landform 60.
- the controller 26 sets the target design inclined at an angle ⁇ 1 with respect to the horizontal direction in the vehicle width direction.
- the controller 26 controls the blade 18 according to the target design landform 70 in accordance with the process of step S105 described above. As shown in FIG. 15, the controller 26 controls the blade 18 according to the target design landform 70 while maintaining the tilt angle ⁇ tilt of the blade 18 at the target tilt angle. For example, as shown in FIG. 15, the controller 26 controls the blade 18 according to the first target design landform 70_1 shown in FIG. 12 while maintaining the tilt angle ⁇ tilt of the blade 18 at the target tilt angle.
- step S303 the controller 26 determines whether a manual operation has been performed.
- the controller 26 determines that a manual operation has been performed when an operation signal indicating an operation for tilting the blade 18 is received from the operation device 25a.
- the process proceeds to step S304.
- step S304 the controller 26 acquires the tilt angle ⁇ tilt changed by manual operation.
- the controller 26 may acquire the changed tilt angle ⁇ tilt based on the detection signal from the tilt sensor 30.
- the controller 26 may acquire the changed tilt angle ⁇ tilt by an operation signal from the operation device 25a.
- step S305 the controller 26 corrects the target tilt angle.
- the controller 26 corrects the target tilt angle according to the changed tilt angle ⁇ tilt.
- the controller 26 corrects the target tilt angle in accordance with the changed tilt angle ⁇ tilt.
- step S306 the controller 26 determines the target design landform 70 with the corrected target tilt angle. As shown in FIG. 16, the controller 26 determines the target design landform 70 so as to be parallel to the blade 18 in the vehicle width direction.
- the final designed landform 60 is inclined at an angle ⁇ 1 with respect to the horizontal direction in the vehicle width direction.
- the controller 26 determines the target tilt angle so that the blade 18 is horizontal in step S301, and in step S302, The target design landform 70 is determined so as to be horizontal in the vehicle width direction.
- the controller 26 corrects the target tilt angle in accordance with the changed tilt angle ⁇ tilt in step S305, and in step S306, the vehicle width
- the target design terrain 70 is determined to be parallel to the blade 18 in the direction.
- step S307 the controller 26 determines whether the target design landform 70 exceeds the final design landform 60. When at least a part of the target design terrain 70 exceeds the final design terrain 60, the controller 26 proceeds to step S308.
- step S308 the controller 26 corrects the target design landform 70 so that the target design landform 70 does not exceed the final design landform 60. For example, as shown in FIG. 19, when the side end 70a of the target design landform 70 is below the final design landform 60, the controller 26 determines that the side end 70a of the target design landform 70 is as shown in FIG. The target tilt angle is corrected so that it is equal to or higher than the height of the final designed landform 60. Alternatively, as shown in FIG. 21, the controller 26 may correct the target tilt angle so that the target design landform 70 is parallel to the final design landform 60.
- the controller 26 determines the target design landform 70 in accordance with the changed tilt angle ⁇ tilt. However, when at least a part of the target design landform 70 exceeds the final design landform 60, the target tilt angle is corrected so that the target design landform 70 does not exceed the final design landform 60. That is, when at least a part of the target design terrain 70 exceeds the final design terrain 60, the controller 26 gives priority to the target design terrain 70 over the correction of the target tilt angle according to the operation of the operation device 25a. Correct the target tilt angle so that it does not exceed 60.
- the controller 26 operates the work implement 13 according to the target design landform 70. Therefore, when the final design topography 60 is still deep, excavation by the work machine 13 is performed according to the target design topography 70 positioned above the final design topography 60. Therefore, an excessive increase in the load on the work machine 13 can be suppressed. Further, it is possible to suppress the working machine 13 from moving up and down rapidly. As a result, the work vehicle 1 can be efficiently and efficiently finished.
- the controller 26 corrects the target tilt angle according to the changed tilt angle ⁇ tilt, and determines the target design landform 70 according to the corrected target tilt angle. . Therefore, an operator's intention can be reflected in automatic control.
- Work vehicle 1 is not limited to a bulldozer, but may be another vehicle such as a wheel loader, a motor grader, or a hydraulic excavator.
- Work vehicle 1 may be a vehicle that can be remotely controlled. In that case, a part of the control system 3 may be arranged outside the work vehicle 1.
- the controller 26 may be disposed outside the work vehicle 1.
- the controller 26 may be located in a control center remote from the work site.
- the work vehicle 1 may be a vehicle that does not include the cab 14.
- Work vehicle 1 may be a vehicle driven by an electric motor.
- the power source may be arranged outside the work vehicle 1.
- the work vehicle 1 to which power is supplied from the outside may be a vehicle that does not include an internal combustion engine and an engine room.
- the controller 26 may include a plurality of controllers 26 that are separate from each other.
- the controller 26 may include a remote controller 261 disposed outside the work vehicle 1 and an in-vehicle controller 262 mounted on the work vehicle 1.
- the remote controller 261 and the vehicle-mounted controller 262 may be able to communicate wirelessly via the communication devices 38 and 39.
- a part of the functions of the controller 26 described above may be executed by the remote controller 261, and the remaining functions may be executed by the in-vehicle controller 262.
- the target design landform 70 and the process of determining the work order may be executed by the remote controller 261, and the process of outputting a command signal to the work machine 13 may be executed by the in-vehicle controller 262.
- the operating device 25a and the input device 25b may be arranged outside the work vehicle 1. In that case, the cab may be omitted from the work vehicle 1. Alternatively, the operating device 25a and the input device 25b may be omitted from the work vehicle 1.
- the current landform 50 is not limited to the position sensor 31 described above, and may be acquired by another device.
- the current landform 50 may be acquired by the interface device 37 that receives data from an external device.
- the interface device 37 may receive the current landform 50 data measured by the external measuring device 41 by radio.
- the interface device 37 may be a recording medium reading device, and may receive the current landform 50 data measured by the external measuring device 41 via the recording medium.
- the method for determining the target design landform 70 is not limited to that of the above embodiment, and may be changed.
- the target design landform 70 is determined based on the reference points from the start point to the next two points.
- the target design landform 70 may be determined based on reference points from the start point to three points ahead or beyond.
- the controller 26 determines the target design landform 70 based on the average angle between the first reference landform C1 and the second reference landform C2.
- the controller 26 may determine the target design landform 70 by performing processing such as weighting on the angle of the first reference landform C1 and the angle of the second reference landform C2 as well as the average angle.
- the controller 26 determines the second target design landform 70_2 before the next start point S1 is reached while the work is in accordance with the first target design landform 70_1. However, the controller 26 may determine the second target design landform 70_2 when the next start point S1 is reached.
- the controller 26 may determine the target design landform 70 by other methods.
- the controller 26 may determine the target design landform 70 by displacing the current landform 50 in the vertical direction.
- the controller 26 may determine the target design landform 70 by displacing the current landform 50 by the target displacement dz in the vertical direction.
- the target displacement dz may be determined according to a parameter such as a mechanical capacity of the work vehicle 1 or a load that the work vehicle 1 receives.
- the target displacement dz may be set by the input device 25b.
- the controller 26 determines the initial value of the target tilt angle in accordance with the final design landform 60.
- the controller 26 may determine the initial value of the target tilt angle regardless of the final design topography 60.
- the controller 26 may use a preset value as the initial value of the target tilt angle.
- the initial value of the target tilt angle may be arbitrarily set by the input device 25b.
- the controller 26 may control the work implement 13 so that the tilt angle ⁇ tilt of the blade 18 is maintained at the target tilt angle in the global coordinate system. That is, as shown in FIG. 25A, the controller 26 may control the work implement 13 so as to maintain the tilt angle ⁇ tilt of the blade 18 with respect to the horizontal direction X_global at the target tilt angle. In this case, as shown in FIG. 25 (B), even if the current topography 50 is inclined and the work vehicle 1 is inclined in the vehicle width direction, the attitude of the blade 18 is maintained constant in the global coordinate system. Is done.
- the controller 26 may control the work implement 13 so as to maintain the tilt angle ⁇ tilt of the blade 18 at the target tilt angle in the local coordinate system of the work vehicle 1. That is, as shown in FIG. 26 (A), the controller 26 controls the work implement 13 so that the tilt angle ⁇ tilt of the blade 18 with respect to the vehicle width direction X_vehicle with respect to the work vehicle 1 is maintained at the target tilt angle. May be. In this case, as shown in FIG. 26 (B), even if the current terrain 50 is inclined and the work vehicle 1 is inclined in the vehicle width direction, the posture of the blade 18 with respect to the work vehicle 1 is maintained constant. Is done.
- the controller 26 controls the first tilt angle control for maintaining the tilt angle ⁇ tilt of the blade 18 at the target tilt angle in the global coordinate system and the first tilt angle control for maintaining the tilt angle ⁇ tilt of the blade 18 at the target tilt angle in the local coordinate system of the work vehicle 1. It may be possible to switch between two tilt angle controls. For example, the controller 26 may switch between the first tilt angle control and the second tilt angle control in accordance with the operation of the input device 25b.
- the controller 26 may control the work implement 13 such that when the traveling direction of the work vehicle 1 is reversed, the target tilt angle is reversed left and right while maintaining the absolute value of the target tilt angle with respect to the vehicle body 11. For example, after the work vehicle 1 travels from the front side of the paper in FIG. 27A toward the back side (outward), the traveling direction is reversed, and from the back side of the paper surface in FIG. 27B toward the front ( Suppose you traveled (return).
- the controller 26 controls the work implement 13 so as to maintain the tilt angle ⁇ tilt at the target tilt angle that is lowered to the left with respect to the vehicle body 11 in the forward path. Then, as shown in FIG. 27 (B), the controller 26 maintains the tilt angle ⁇ tilt at the target tilt angle that is lower than the vehicle body 11 while maintaining the absolute value of the target tilt angle on the return path.
- the work machine 13 is controlled. Thereby, the posture of the blade 18 in the global coordinate system is maintained.
- the controller 26 may control the work implement 13 so that the target tilt angle with respect to the vehicle body 11 is maintained even when the traveling direction of the work vehicle 1 is reversed. For example, after the work vehicle 1 travels from the front side of the paper of FIG. 28A toward the back side (outward), the traveling direction is reversed, and the back side of the paper surface of FIG. Suppose you traveled (return).
- the controller 26 controls the work implement 13 so as to maintain the tilt angle ⁇ tilt at the target tilt angle that is lower left relative to the vehicle body 11 in the forward path. Then, as shown in FIG. 28 (B), the controller 26 controls the work implement 13 so that the tilt angle ⁇ tilt is maintained at the target tilt angle that is lowered to the left with respect to the vehicle body 11 even on the return path.
- the controller 26 When the traveling direction of the work vehicle 1 is reversed, the controller 26 maintains the absolute value of the target tilt angle with respect to the vehicle body 11 and reverses the target tilt angle to the left and right, and the traveling direction of the work vehicle 1 is reversed. Even so, the second tilt angle control for maintaining the target tilt angle with respect to the vehicle body 11 may be switched. For example, the controller 26 may switch between the first tilt angle control and the second tilt angle control in accordance with the operation of the input device 25b.
- the controller 26 corrects the target tilt angle so that the target design landform 70 does not exceed the final design landform 60 when at least a part of the target design landform 70 exceeds the final design landform 60.
- the controller 26 may modify the target design terrain 70 so as not to exceed the final design terrain 60 by other methods. For example, as shown in FIG. 29, the controller 26 may correct the position of the target design landform 70 so that the target design landform 70 does not exceed the final design landform 60.
- Control system 13 Working machine 25a Operating device 26 Controller 50 Current terrain 60 Final design terrain 70 Target design terrain
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Abstract
Description
13 作業機
25a 操作装置
26 コントローラ
50 現況地形
60 最終設計地形
70 目標設計地形
Claims (20)
- 作業機を有する作業車両の制御システムであって、
オペレータによる操作を示す操作信号を出力する操作装置と、
前記操作装置と通信し、前記作業機を制御するコントローラと、
を備え、
前記コントローラは、
目標形状を示す目標設計地形を決定し、
前記目標設計地形に従って前記作業機を動作させる指令信号を生成し、
前記操作装置の操作によって前記作業機のチルト角が変更されたときには、変更された前記チルト角に応じて前記作業機のチルト角を修正する、
作業車両の制御システム。 - 前記コントローラは、
目標チルト角を決定し、
前記目標チルト角で前記目標設計地形に従って前記作業機を動作させる指令信号を生成し、
前記操作装置の操作によって前記作業機のチルト角が変更されたときには、変更された前記チルト角に応じて前記目標チルト角を修正する、
請求項1に記載の作業車両の制御システム。 - 前記コントローラは、
最終的な目標形状を示す最終設計地形を取得し、
前記最終設計地形に応じて前記目標チルト角の初期値を決定する、
請求項2に記載の作業車両の制御システム。 - 前記コントローラは、前記作業機が前記最終設計地形と平行になるように前記目標チルト角の初期値を決定する、
請求項3に記載の作業車両の制御システム。 - 前記コントローラは、グローバル座標系において前記作業機のチルト角を前記目標チルト角に維持するように、前記作業機を制御する、
請求項2に記載の作業車両の制御システム。 - 前記コントローラは、前記作業車両のローカル座標系において前記作業機のチルト角を前記目標チルト角に維持するように、前記作業機を制御する、
請求項2に記載の作業車両の制御システム。 - 前記コントローラは、前記作業車両の進行方向が反転しても、前記目標チルト角を維持する、
請求項2に記載の作業車両の制御システム。 - 前記コントローラは、前記作業車両の進行方向が反転すると、前記目標チルト角の絶対値を維持しながら前記目標チルト角を左右に反転させる、
請求項2に記載の作業車両の制御システム。 - 作業機を有する作業車両を制御するためにコントローラによって実行される方法であって、
目標形状を示す目標設計地形を決定することと、
前記目標設計地形に従って前記作業機を動作させる指令信号を生成することと、
オペレータによる操作を示す操作信号を操作装置から受信することと、
前記操作装置の操作によって前記作業機のチルト角が変更されたときには、変更された前記チルト角に応じて前記作業機のチルト角を修正すること、
を備える方法。 - 目標チルト角を決定することをさらに備え、
前記作業機を動作させる指令信号を生成することは、前記目標チルト角で前記目標設計地形に従って前記作業機を動作させる指令信号を生成することを含み、
前記作業機のチルト角を修正することは、前記操作装置の操作によって前記作業機のチルト角が変更されたときに、変更された前記チルト角に応じて前記目標チルト角を修正することを含む、
請求項9に記載の方法。 - 最終的な目標形状を示す最終設計地形を取得することと、
前記最終設計地形に応じて前記目標チルト角の初期値を決定すること、
をさらに備える請求項10に記載の方法。 - 前記目標チルト角の初期値を決定することは、前記作業機が前記最終設計地形と平行になるように前記目標チルト角の初期値を決定することを含む、
請求項11に記載の方法。 - 前記作業機を制御することは、グローバル座標系において前記作業機のチルト角を前記目標チルト角に維持するように、前記作業機を制御することを含む、
請求項10に記載の方法。 - 前記作業機を制御することは、前記作業車両のローカル座標系において前記作業機のチルト角を前記目標チルト角に維持するように、前記作業機を制御することを含む、
請求項10に記載の方法。 - 前記作業機を制御することは、前記作業車両の進行方向が反転しても、前記目標チルト角を維持することを含む、
請求項10に記載の方法。 - 前記作業機を制御することは、前記作業車両の進行方向が反転すると、前記目標チルト角の絶対値を維持しながら前記目標チルト角を左右に反転させることを含む、
請求項10に記載の方法。 - 作業機と、
オペレータによる操作を示す操作信号を出力する操作装置と、
前記操作装置と通信し、前記作業機を制御するコントローラと、
を備え、
前記コントローラは、
目標形状を示す目標設計地形を決定し、
前記目標設計地形に従って前記作業機を動作させる指令信号を生成し、
前記操作装置の操作によって前記作業機のチルト角が変更されたときには、変更された前記チルト角に応じて前記作業機のチルト角を修正する、
作業車両。 - 前記コントローラは、
目標チルト角を決定し、
前記目標チルト角で前記目標設計地形に従って前記作業機を動作させる指令信号を生成し、
前記操作装置の操作によって前記作業機のチルト角が変更されたときには、変更された前記チルト角に応じて前記目標チルト角を修正する、
請求項17に記載の作業車両。 - 前記コントローラは、
最終的な目標形状を示す最終設計地形を取得し、
前記最終設計地形に応じて前記目標チルト角の初期値を決定する、
請求項18に記載の作業車両。 - 前記コントローラは、前記作業機が前記最終設計地形と平行になるように前記目標チルト角の初期値を決定する、
請求項19に記載の作業車両。
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JP2013515886A (ja) * | 2009-12-23 | 2013-05-09 | キャタピラー インコーポレイテッド | オペレータによる器具の制御を制限するためのシステムおよび方法 |
US20140180444A1 (en) * | 2012-12-20 | 2014-06-26 | Caterpillar Inc. | System and Method for Modifying a Path for a Machine |
JP2018021427A (ja) * | 2016-08-05 | 2018-02-08 | 株式会社小松製作所 | 作業車両の制御システム、制御方法、及び作業車両 |
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CN111094657B (zh) | 2021-10-22 |
JP2019173384A (ja) | 2019-10-10 |
AU2019246099B2 (en) | 2021-07-22 |
US20210108395A1 (en) | 2021-04-15 |
JP7418948B2 (ja) | 2024-01-22 |
AU2019246099A1 (en) | 2020-03-19 |
CN111094657A (zh) | 2020-05-01 |
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