System and method for controlling work machine

Abstract

A controller determines a plurality of candidate paths. The plurality of candidate paths cross a first digging wall from a first slot toward a second slot and extend in respective directions. The controller calculates an evaluation function of a path search algorithm for each of the plurality of candidate paths. The controller determines a candidate path having an optimal evaluation function of the plurality of the candidate paths as a first digging path. The controller controls a work machine according to the first digging path.

1 . A system for controlling a work machine, the system comprising:
 a position sensor configured to output position data indicative of a position of the work machine; and   a controller configured to acquire the position data, the controller being configured to
 acquire actual topography data, the actual topography data including a position of a first slot extending in a predetermined work direction, a position of a second slot positioned adjacent to the first slot, and a position of a first digging wall positioned between the first slot and the second slot, 
 determine a plurality of candidate paths crossing the first digging wall from the first slot toward the second slot and extending in respective directions, 
 calculate an evaluation function of a path search algorithm for each of the plurality of candidate paths, 
 determine a candidate path having an optimal evaluation function of the plurality of candidate paths as a first digging path, and 
 control the work machine according to the first digging path. 
   
     
     
         2 . The system according to  claim 1 , wherein
 the controller is further configured to
 acquire a dumping position for the second slot, 
 determine a first soil transportation path extending from the first digging path to the dumping position along the second slot, and 
 control the work machine according to the first soil transportation path subsequent to the first digging path. 
   
     
     
         3 . The system according to  claim 2 , wherein
 the controller is further configured to
 determine one or more reference points on the second slot, and 
 determine the plurality of candidate paths so as to extend from the one or more reference points in the respective directions. 
   
     
     
         4 . The system according to  claim 2 , wherein
 the actual topography data further includes a position of a third slot positioned adjacent to the second slot and a position of a second digging wall positioned between the second slot and the third slot, and   the controller is further configured to
 determine a second digging path crossing the second digging wall from the second slot toward the third slot, and 
 control the work machine according to the second digging path subsequent to the first soil transportation path. 
   
     
     
         5 . The system according to  claim 2 , wherein
 the controller is further configured to
 determine a second digging path positioned in front of the first digging path and crossing the first digging wall in the predetermined work direction, and 
 control the work machine according to the second digging path subsequent to the first soil transportation path. 
   
     
     
         6 . A method for controlling a work machine, the method comprising:
 acquiring position data indicative of a position of the work machine;   acquiring actual topography data including a position of a first slot extending in a predetermined work direction, a position of a second slot positioned adjacent to the first slot, and a position of a first digging wall positioned between the first slot and the second slot;   determining a plurality of candidate paths crossing the first digging wall from the first slot toward the second slot and extending in respective directions;   calculating an evaluation function of a path search algorithm for each of the plurality of candidate paths;   determining a candidate path having an optimal evaluation function of the plurality of candidate paths as a first digging path; and   controlling the work machine according to the first digging path.   
     
     
         7 . The method according to  claim 6 , further comprising:
 acquiring a dumping position for the second slot;   determining a first soil transportation path extending from the first digging path to the dumping position along the second slot; and   controlling the work machine according to the first soil transportation path subsequent to the first digging path.   
     
     
         8 . The method according to  claim 7 , further comprising:
 determining one or more reference points on the second slot; and   determining the plurality of candidate paths so as to extend from the one or more reference points in the respective directions.   
     
     
         9 . The method according to  claim 7 , wherein
 the actual topography data further includes a position of a third slot positioned adjacent to the second slot and a position of a second digging wall positioned between the second slot and the third slot,   the method further comprising:
 determining a second digging path crossing the second digging wall from the second slot toward the third slot; and 
 controlling the work machine according to the second digging path subsequent to the first soil transportation path. 
   
     
     
         10 . The method according to  claim 7 , further comprising:
 determining a second digging path positioned in front of the first digging path and crossing the first digging wall in the predetermined work direction; and   controlling the work machine according to the second digging path subsequent to the first soil transportation path.