US 12,098,526 B2
System and method for automatically controlling work machine including work implement
Yukihisa Takaoka, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/273,476
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Sep. 17, 2019, PCT No. PCT/JP2019/036367
§ 371(c)(1), (2) Date Mar. 4, 2021,
PCT Pub. No. WO2020/105260, PCT Pub. Date May 28, 2020.
Claims priority of application No. 2018-216702 (JP), filed on Nov. 19, 2018.
Prior Publication US 2021/0317640 A1, Oct. 14, 2021
Int. Cl. E02F 9/26 (2006.01); E02F 9/20 (2006.01)
CPC E02F 9/262 (2013.01) [E02F 9/2041 (2013.01); E02F 9/205 (2013.01); E02F 9/265 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for automatically controlling a work machine including a work implement, the system comprising:
a processor configured to control the work machine by selectively executing
a normal digging mode in order to dig an actual topography at a work site, and
a wall digging mode in order to dig a digging wall formed between a plurality of slots by digging the actual topography,
the processor being further configured to execute the following in the wall digging mode:
acquire starting edge position data indicative of a position of a starting edge of the digging wall,
determine a digging starting position based on the position of the starting edge of the digging wall,
acquire slot position data indicative of a position of a slot adjacent to the digging wall,
determine a target digging height of the digging wall based on a height of the slot, and
control the work machine to dig the digging wall from the digging starting position according to the target digging height.