Back to results
US 11,794,577 B2Granted
Work machine and control method thereof
AssigneeKomatsu Ltd.
InventorNaoto Takase
Life of this patent
Estimating the term…
Abstract
The differential control device prohibits or limits a differential motion generated by the differential device. The sensor detects a turning angular velocity of the motor grader. Based on the turning angular velocity detected by the sensor, the controller controls the differential control device to perform the differential prohibition or limitation.
Claims5
A work machine comprising:
- a differential device;
- a differential control device that prohibits or limits a differential motion generated by the differential device;
- a sensor that detects a turning angular velocity and a travelling velocity of the work machine;
- and
- a controller that
- calculates a turning radius based on the turning angular velocity and the travelling velocity detected by the sensor,
- determines a turning motion by comparing the calculated turning radius with a threshold, and
- based on the comparison result, controls the differential control device to perform the differential prohibition or limitation,
- wherein determining a turning motion by comparing the calculated turning radius with a threshold includes (i) comparing the calculated turning radius with a prestored turning radius in half steering and (ii) comparing the calculated turning radius with a minimum turning radius, and
- wherein the differential motion is prohibited or limited if the calculated turning radius is equal to or less than the prestored turning radius in half steering for a first predetermined period of time and the turning radius is not less than the minimum turning radius for a second predetermined period of time.
7 more elements
A control method of a work machine equipped with a right wheel and a left wheel, the control method comprising:
- detecting a turning angular velocity of the work machine;
- detecting a travelling velocity of the work machine;
- calculating a turning radius based on the detected turning angular velocity and the detected travelling velocity;
- determining a turning motion by comparing the calculated turning radius with a threshold, and
- prohibiting or limiting a differential motion between the right wheel and the left wheel based on the comparison result,
- wherein determining a turning motion by comparing the calculated turning radius with a threshold includes (i) comparing the calculated turning radius with a prestored turning radius in half steering and (ii) comparing the calculated turning radius with a minimum turning radius, and
- wherein the differential motion is prohibited or limited if the calculated turning radius is equal to or less than a prestored turning radius in half steering for a first predetermined period of time and the turning radius is not less than a minimum turning radius for a second predetermined period of time.
4 more elements
Dependencies are inferred from the claim text.