US 11,668,071 B2
Control system for work vehicle, control method, and work vehicle
Eiji Ishibashi, Tokyo (JP); Akifumi Inamaru, Tokyo (JP); Yasuhito Yonezawa, Tokyo (JP); and Takahiro Shimojo, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Filed by KOMATSU LTD., Tokyo (JP)
Filed on Jan. 15, 2021, as Appl. No. 17/150,282.
Application 17/150,282 is a continuation of application No. 16/083,221, granted, now 10,927,525, previously published as PCT/JP2017/026913, filed on Jul. 25, 2017.
Claims priority of application No. JP2016-146381 (JP), filed on Jul. 26, 2016.
Prior Publication US 2021/0140142 A1, May 13, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. E02F 9/20 (2006.01); G06T 7/529 (2017.01)
CPC E02F 9/2029 (2013.01) [E02F 9/20 (2013.01); E02F 9/2033 (2013.01); G06T 7/529 (2017.01); G06T 2207/30181 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A control system for a work vehicle having a work implement, the control system comprising:
an actual topography acquisition device that acquires actual topography information indicating an actual topography of a work target;
a storage device that stores design topography information indicating a final design topography, which is a target topography of the work target;
a soil amount acquisition device that generates a soil amount signal indicating a held soil amount of the work implement; and
a controller configured to
acquire the actual topography information from the actual topography acquisition device,
acquire the design topography information from the storage device,
generate a command signal to move the work implement while keeping the work implement at a position that is between the actual topography and the final design topography above the actual topography by a predetermined distance,
acquire the soil amount signal from the soil amount acquisition device, and
change the predetermined distance based on the held soil amount.