Control system for work vehicle, control method, and work vehicle
A controller is configured to acquire current terrain information indicating the current terrain in the travel direction of a work vehicle. The controller is configured to generate an inclined virtual surface extending from the current position of the work vehicle. The controller is configured to decide the soil volume of the current terrain located above the virtual surface. The controller is configured to set the virtual surface in which the soil volume of the current terrain becomes a predetermined target soil volume to be a virtual design surface. The controller is configured to generate a command signal to a work implement of the work vehicle to move the work implement along the virtual design surface.
1. A control system for a work vehicle, the control system comprising:
a controller including a processor, the controller being configured to
acquire current terrain information indicating a current terrain in a travel direction of the work vehicle, the travel direction being a forward direction in which the work vehicle moves toward a side where a work implement of the work vehicle is located;
determine, based on the current terrain information, a first inclination angle of the current terrain with respect to a horizontal plane and a height of the current terrain;
repeat the following operations while the work vehicle moves forward in the travel direction until a starting condition is satisfied:
generate a virtual surface extending from a current position of the work vehicle such that the virtual surface has a second inclination angle with respect to the horizontal plane, the second inclination angle being determined based on the first inclination angle, the height of the current terrain, and a predetermined target soil volume,
calculate an estimated soil volume of the current terrain located above the virtual surface within a predetermined terrain recognition distance from the current position,
determine whether the estimated soil volume has reached a held soil volume threshold, the held soil volume threshold being a product of the predetermined target soil volume and a coefficient, and
determine that the starting condition is satisfied when the estimated soil volume has reached the held soil volume threshold;
set the virtual surface to be a first virtual design surface when the starting condition is satisfied;
generate a first command signal for moving the work implement along the first virtual design surface; and
transmit the first command signal to the work implement.
2. The control system according to claim 1 , further comprising:
a position sensing device; and
a storage device,
the controller being further configured to determine the current terrain information from travel direction information and position information of the work vehicle detected by the position sensing device and the terrain information of a work site in which the work vehicle is working stored in the storage device, the travel direction information indicating the travel direction of the work vehicle and the position information indicating the current position of the work vehicle.
3. The control system according to claim 1 , wherein
the controller is further configured to determine the second inclination angle to be equal to or less than a predetermined upper limit value.
4. The control system according to claim 3 , wherein
the upper limit value is determined based on a maximum digging angle of which the work vehicle is capable.
5. The control system according to claim 1 , wherein
the controller is further configured to determine the second inclination angle to be equal to or greater than a predetermined lower limit value.
6. The control system according to claim 5 , wherein
the current terrain information includes data indicating the height of the current terrain in a region spanning from the current position of the work vehicle to a point that is the predetermined terrain recognition distance away from the current position in the travel direction.
7. The control system according to claim 6 , wherein
the controller is further configured to determine the lower limit value from the height of the current terrain and the predetermined terrain recognition distance.
8. The control system according to claim 1 , wherein
the controller is further configured to compensate for soil already held by the work implement by calculating the estimated soil volume as a sum of a current held soil volume and an estimated dug soil volume, the current held soil volume being a volume of the soil already held by the work implement and the estimated dug soil volume being an estimate of the soil volume that will be dug when the work implement is moved along the first virtual design surface.
9. The control system according to claim 1 , wherein
the controller is further configured to
determine from the current terrain information whether there is an undulation in the current terrain, and
execute the generating the virtual surface when it is determined that there is an undulation in the current terrain.
10. The control system according to claim 1 , wherein
the controller is further configured to
determine a current soil volume held by the work implement due to moving the work implement along the first virtual design surface, and
end control of the work implement along the first virtual design surface when an ending condition is met, the ending condition including that the current soil volume is greater than a predetermined end determination threshold.
11. The control system according to claim 10 , wherein
the controller is further configured to
set a second virtual design surface that follows along the current terrain when the ending condition is met, and
generate a second command signal for moving the work implement along the second virtual design surface, and
transmit the second command signal to the work implement.
12. The control system according to claim 1 , wherein
when the current terrain ahead of the work vehicle is such that the work vehicle will dig on an upward slope, the coefficient is a value smaller than 1, and
when the current terrain ahead of the work vehicle is such that the vehicle will dig on a downward slope, the coefficient is a value larger than 1.
13. A method for controlling a work vehicle equipped with a work implement and a controller including a processor, the method comprising using the controller to:
acquire current terrain information indicating a current terrain to be worked in a travel direction of the work vehicle, the travel direction being a forward direction in which the work vehicle moves toward a side where the work implement of the work vehicle is located;
determine, based on the current terrain information, a first inclination angle of the current terrain with respect to a horizontal plane and a height of the current terrain;
repeat the following operations while the work vehicle moves forward in the travel direction until a starting condition is satisfied:
generate a virtual surface extending from a current position the work vehicle, the virtual surface having a second inclination angle with respect to the horizontal plane, the second inclination angle being determined based on the first inclination angle, the height of the current terrain, and a predetermined target soil volume,
calculate an estimated soil volume of the current terrain located above the virtual surface within a predetermined terrain recognition distance from the current position,
determine whether the estimated soil volume has reached a held soil volume threshold, the held soil volume threshold being a product of the predetermined target soil volume and a coefficient, and
determine that the starting condition is satisfied when the estimated soil volume has reached the held soil volume threshold; and
set the virtual surface as a virtual design surface and move the work implement along the virtual design surface when the work vehicle travels to a location at which the starting condition is satisfied.
14. The method according to claim 13 , wherein
the current terrain information includes data indicating heights of the current terrain in a region lying along a travel direction of the work vehicle.
15. The method according to claim 13 , further comprising
transmitting a command signal from the controller to the work implement to move the work implement along the virtual design surface.
16. A work vehicle comprising:
a work implement; and
a controller including a processor, the controller being configured to
acquire current terrain information indicating a current terrain to be worked in a travel direction of the work vehicle, the travel direction being a forward direction in which the work vehicle moves toward a side where the work implement of the work vehicle is located;
determine, based on the current terrain information, a first inclination angle of the current terrain with respect to a horizontal plane and a height of the current terrain;
repeat the following operations while the work vehicle moves forward in the travel direction until a starting condition is satisfied:
generate a virtual surface extending from a distal end of the work implement at a second inclination angle with respect to the horizontal plane, the second inclination angle being determined based on the first inclination angle, the height of the current terrain, and a predetermined target soil volume,
calculate an estimated soil volume of the current terrain located above the virtual surface within a predetermined terrain recognition distance from the distal end of the work implement,
determine whether the estimated soil volume has reached a held soil volume threshold, the held soil volume threshold being a product of the predetermined target soil volume and a coefficient, and
determine that the starting condition is satisfied when the estimated soil volume has reached the held soil volume threshold;
set the virtual surface to be a virtual design surface when the starting condition is satisfied; and
move the work implement along the virtual design surface.
17. The work vehicle according to claim 16 , further comprising:
a position sensing device; and
a storage device,
the controller being further configured to acquire the current terrain information indicating the current terrain in a travel direction of the work vehicle by calculation from travel direction information and position information of the work vehicle detected by the position sensing device and terrain information about a work site in which the work vehicle is working stored in the storage device, the travel direction information indicating the travel direction of the work vehicle and the position information indicating a current position of the distal end of the work implement.