US 12,258,736 B2
System and method for determining construction plan for work machine at construction site
Shinya Kanou, Tokyo (JP); and Hiroshi Tadenuma, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/775,662
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Dec. 14, 2020, PCT No. PCT/JP2020/046599
§ 371(c)(1), (2) Date May 10, 2022,
PCT Pub. No. WO2021/131864, PCT Pub. Date Jul. 1, 2021.
Claims priority of application No. 2019-233066 (JP), filed on Dec. 24, 2019.
Prior Publication US 2022/0403627 A1, Dec. 22, 2022
Int. Cl. E02F 9/26 (2006.01); G06Q 50/08 (2012.01)
CPC E02F 9/262 (2013.01) [G06Q 50/08 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for determining a construction plan of a work machine at a work site, the system comprising:
a computer including a processor configured to
acquire excavation region data indicative of positions of a plurality of excavation regions at the work site, and embankment region data indicative of positions of a plurality of embankment regions at the work site, the plurality of excavation regions including a first excavation region and a second excavation region and the plurality of embankment regions including a first embankment region and a second embankment region,
determine, as the construction plan, a construction sequence and a target travel path including a combination of a plurality of travel paths that link the plurality of excavation regions to the plurality of embankment regions while taking into account a change in a topography of the work site, the plurality of travel paths including a first target path that links the first excavation region to the first embankment region and a second target path that links the second excavation region to the second embankment region,
control the work machine automatically such that the work machine travels along the first target path,
determine whether each of the first excavation region and the first embankment region has changed from a passage prohibited region to a passage permitted region due to the work by the work machine along the first target path,
determine the second target path such that the second target path does not pass through either of the first excavation region and the first embankment region upon determining that neither the first excavation region nor the first embankment region has changed to the passage prohibited region,
determine the second target path such that the second target path passes through at least one of the first excavation region or the first embankment region upon determining that the at least one of the first excavation region or the first embankment region has changed to the passage permitted region, and
control the work machine automatically such that the work machine travels along the second target path.