Control system for work vehicle, control method, and work vehicle
A control deciding unit for deciding to execute a leveling control for controlling a work implement so that the work implement moves along a design terrain when a leveling determination condition is satisfied. The control deciding unit decides to execute a surface compaction control for limiting the velocity of the work implement toward the design terrain in response to the distance between the work implement and the design terrain when a surface compaction determination condition is satisfied. The control deciding unit maintains the surface compaction control when the leveling determination condition is satisfied while the surface compaction control is being executed.
1. A control system for a work vehicle including a work implement, the control system comprising:
a distance obtaining unit for obtaining a distance between the work implement and a design terrain which represents a target shape of a work object;
a work aspect determining unit for determining whether a leveling determination condition for indicating that work performed by the work implement is leveling work is satisfied, and determining whether a surface compaction determination condition for indicating that work performed by the work implement is surface compaction work is satisfied; and
a control deciding unit for deciding to execute a leveling control for controlling the work implement so that the work implement moves along the design terrain when the leveling determination condition is satisfied, and deciding to execute a surface compaction control for limiting a velocity of the work implement toward the design terrain in response to the distance between the work implement and the design terrain when the surface compaction determination condition is satisfied;
the control deciding unit maintaining the surface compaction control when the leveling determination condition is satisfied while the surface compaction control is being executed.
2. The control system for the work vehicle according to claim 1 , wherein
the control deciding unit cancels the leveling control when the surface compaction determination condition is satisfied while the leveling control is being executed.
3. The control system for the work vehicle according to claim 1 , wherein
the control deciding unit cancels the leveling control and executes the surface compaction control when the surface compaction determination condition is satisfied while the leveling control is being executed.
4. The control system for the work vehicle according to claim 1 , wherein
the work aspect determining unit obtains an operation signal from an operating member for operating the work implement and determines whether the leveling determination condition is satisfied and whether the surface compaction determination condition is satisfied on the basis of an operation content of the operating member.
5. The control system for the work vehicle according to claim 1 , wherein
the work implement includes a boom, an arm attached to the tip of the boom, and a work tool attached to the tip of the arm, and
the leveling determination condition includes an operation of the arm.
6. The control system for the work vehicle according to claim 5 , wherein
the surface compaction determination condition includes an operation of the boom.
7. The control system for the work vehicle according to claim 1 , wherein
the surface compaction determination condition includes a first surface compaction condition and a second surface compaction condition,
the control deciding unit starts the surface compaction control when the first surface compaction condition is satisfied,
the control deciding unit switches to the leveling control when the leveling determination condition is satisfied when only the first surface compaction condition is satisfied among the first surface compaction condition and the second surface compaction condition, and
the control deciding unit maintains the surface compaction control when the leveling determination condition is satisfied when the second surface compaction condition is satisfied following the first surface compaction condition.
8. The control system for the work vehicle according to claim 5 , wherein
the surface compaction determination condition includes a first surface compaction condition and a second surface compaction condition,
the control deciding unit starts the surface compaction control when the first surface compaction condition is satisfied,
the control deciding unit switches to the leveling control when the leveling determination condition is satisfied when only the first surface compaction condition is satisfied among the first surface compaction condition and the second surface compaction condition, and
the control deciding unit maintains the surface compaction control when the leveling determination condition is satisfied when the second surface compaction condition is satisfied following the first surface compaction condition.
9. The control system for the work vehicle according to claim 8 , wherein
the first surface compaction condition includes an operation of the boom in a predetermined direction, and
the second surface compaction condition includes an operation of the boom in a direction reverse to the predetermined direction.
10. A control system for a work vehicle including a work implement, the control system comprising:
a distance obtaining unit for obtaining a distance between the work implement and a design terrain which represents a target shape of a work object;
a work aspect determining unit for determining whether a leveling determination condition for indicating that work performed by the work implement is leveling work is satisfied, and determining whether a surface compaction determination condition for indicating that work performed by the work implement is surface compaction work is satisfied; and
a control deciding unit for deciding to execute a leveling control for controlling the work implement so that the work implement moves along the design terrain, and deciding to execute a surface compaction control for limiting the velocity of the work implement towards the design terrain in response to the distance between the work implement and the design terrain;
the surface compaction determination condition including a first surface compaction condition and a second surface compaction condition,
the control deciding unit starting the surface compaction control when the first surface compaction condition is satisfied,
the control deciding unit switching to the leveling control when the leveling determination condition is satisfied when only the first surface compaction condition is satisfied among the first surface compaction condition and the second surface compaction condition, and
the control deciding unit maintaining the surface compaction control when the leveling determination condition is satisfied when the second surface compaction condition is satisfied following the first surface compaction condition.
11. A control method for a work vehicle including a work implement, the method comprising:
a step for obtaining a distance between the work implement and a design terrain which represents a target shape of a work object;
a step for determining whether a leveling determination condition that indicates that the work performed by the work implement is leveling work is satisfied;
a step for determining whether a surface compaction determination condition that indicates that the work performed by the work implement is surface compaction work is satisfied;
a step for executing a leveling control for controlling the work implement so that the work implement moves along the design terrain when the leveling determination condition is satisfied;
a step for executing a surface compaction control for limiting the velocity of the work implement toward the design terrain in response to the distance between the work implement and the design terrain when the surface compaction determination condition is satisfied; and
a step for maintaining the surface compaction control when the leveling determination condition is satisfied while the surface compaction control is being executed.
12. A work vehicle comprising:
a work implement; and
a work implement control unit for controlling the work implement;
the work implement control unit
controlling the work implement according to a leveling control for controlling the work implement so that the work implement moves along a design terrain which indicates a target shape of a work object when a leveling determination condition which indicates that the work performed by the work implement is leveling work,
controlling the work implement according to a surface compaction control for limiting the velocity of the work implement toward the design terrain in response to a distance between the work implement and the design terrain when a surface compaction determination condition which indicates that the work performed by the work implement is surface compaction work is satisfied, and
maintaining the surface compaction control when the leveling determination condition is satisfied while the surface compaction control is being executed.