Work machine and method for controlling work machine
AssigneeKomatsu Ltd.
InventorsKen Nishihara, Eiji Ishibashi
Life of this patent
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Abstract
A work machine includes a vehicle body including a travel device, a blade supported so as to be rotatable about a pitch axis with respect to the vehicle body, a pitch actuator configured to cause the blade to perform a pitch motion about the pitch axis, and a controller. The determines whether a slip occurs on the travel device during work with the blade, and causes the blade to perform the pitch motion in a backward tilt direction upon determining that the slip occurs.
Claims6
A work machine comprising:
- a vehicle body including a travel device;
- a blade supported so as to be rotatable about a pitch axis with respect to the vehicle body;
- a pitch actuator configured to cause the blade to perform a pitch motion about the pitch axis;
- and
- a controller configured to
- determine, based on a first slip condition, whether a first slip occurs on the travel device during work with the blade,
- cause the blade to perform the pitch motion in a backward tilt direction upon determining that the first slip occurs,
- determine whether the travel device has escaped from the first slip,
- upon determining that the travel device has not escaped from the first slip, determine, based on a second slip condition different from the first slip condition, whether a second slip is occurring on the travel device during work with the blade, and
- raise the blade upon determining that the second slip is occurring.
A method for controlling a work machine that includes a vehicle body including a travel device, a blade supported so as to be rotatable about a pitch axis with respect to the vehicle body, and a pitch actuator configured to cause the blade to perform a pitch motion about the pitch axis, the method comprising:
- determining, based on a first slip condition, whether a first slip occurs on the travel device during work with the blade;
- causing the blade to perform the pitch motion in a backward tilt direction upon determining that the first slip occurs;
- determining whether the travel device has escaped from the first slip;
- upon determining that the travel device has not escaped from the first slip, determining, based on a second slip condition different from the first slip condition, whether a second slip is occurring on the travel device during work with the blade;
- and
- raising the blade upon determining that the second slip is occurring.
Dependencies are inferred from the claim text.