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US 12,209,390 B2Granted
Work machine, and method for controlling work machine
AssigneeKomatsu Ltd.
InventorsKazuyoshi Okabe, Renia Yasumura, Hirofumi Minato, Shinichi Kitao
Life of this patent
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Abstract
The wheel loader includes a rear detection section, a state detection section, and a controller. The rear detection section detects rearward of the vehicle body when moving backward. The state detection section detects a state of the vehicle body. The controller brakes the vehicle body based on the detection of the state detection section and the detection of the rear detection section.
Claims13
A work machine comprising:
- a rear detection section configured to detect rearward of a vehicle body of the work machine when the work machine is traveling backward, the rear detection section including at least one of a radar or a camera;
- a state detection section configured to detect a state of the vehicle body, the state detection section including at least one sensor;
- and
- a controller configured to execute a braking control of the vehicle body based on the detection of the rear detection section and the detection of the state detection section, the controller including a processor and a storage,
- the controller being configured to execute the braking control by executing automatic braking with a preset braking force or suppressing the automatic braking to a weak braking force weaker than the preset braking force,
- the controller being further configured to stop the automatic braking upon determining that
- the rear detection section has detected an obstacle during traveling backward, and
- the state of the vehicle body is a state in which the vehicle body will become unstable when activating the automatic braking with the preset braking force, or the state of the vehicle body is a state in which the vehicle body will become unstable when suppressing the automatic braking to the weak braking force.
5 more elements
A method for controlling a work machine, comprising:
- detecting rearward of a vehicle body of the work machine when the work machine is traveling backward;
- detecting a state of the vehicle body;
- and
- executing a braking control of the vehicle body based on a detection of the rear detection step and a detection of the state detection step,
- the braking control including executing automatic braking with a preset braking force or suppressing the automatic braking to a weak braking force weaker than the preset braking force,
- the braking control being configured to stop the automatic braking upon determining that
- an obstacle has been detected rearward of the vehicle during the traveling backward, and
- the state of the vehicle body is a state in which the vehicle body will become unstable when activating the automatic braking with the preset braking force, or the state of the vehicle body is a state in which the vehicle body will become unstable when suppressing the automatic braking to the weak braking force.
5 more elements
Dependencies are inferred from the claim text.