US 11,674,287 B2
System and method for planning travel path for work machine, and work machine
Masami Hirayama, Kensington (AU); Jose Guivant, Kensington (AU); Jayantha Katupitiya, Kensington (AU); and Mark Whitty, Kensington (AU)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 16/335,451
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Dec. 10, 2018, PCT No. PCT/JP2018/045313
§ 371(c)(1), (2) Date Mar. 21, 2019,
PCT Pub. No. WO2019/176193, PCT Pub. Date Sep. 19, 2019.
Claims priority of application No. JP2018-048608 (JP), filed on Mar. 15, 2018.
Prior Publication US 2021/0363727 A1, Nov. 25, 2021
Int. Cl. G01C 21/36 (2006.01); H04W 4/40 (2018.01); G01S 17/08 (2006.01); G01S 17/89 (2020.01); G06K 9/00 (2022.01); E02F 9/20 (2006.01); B60W 60/00 (2020.01); E02F 9/26 (2006.01); G05D 1/02 (2020.01); E02F 3/76 (2006.01); E02F 3/84 (2006.01)
CPC E02F 9/2045 (2013.01) [B60W 60/0011 (2020.02); B60W 60/0023 (2020.02); E02F 9/205 (2013.01); E02F 9/261 (2013.01); G05D 1/0214 (2013.01); B60W 2300/17 (2013.01); B60W 2300/44 (2013.01); E02F 3/7609 (2013.01); E02F 3/841 (2013.01); G05D 2201/0202 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A system for planning a travel path of a work machine that is configured to work on a material at a work site, the system comprising:
a controller configured to
obtain topographical data indicating a topography of the work site,
obtain material data indicating a position of the material,
compute an evaluation function based on the material data for each of a plurality of candidates of the travel path to each of a plurality of dumping positions to be decided from the topographical data, the evaluation function including a material function pertaining to an amount of the material, each of the plurality of candidates of the travel path to one of the plurality of dumping positions being non-overlapping travel paths,
decide a candidate having a smallest evaluation function of the plurality of candidates to each of the plurality of dumping positions as the travel path, and
move the work machine along the travel path corresponding to the decided candidate.