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US 12,729,502 B2Granted
Work machine and control method for work machine
AssigneeKomatsu Ltd.
InventorShota Yamawaki
Life of this patent
Estimating the term…
Abstract
A wheel loader includes a vehicle body, a work implement, a bucket-to-ground angle detection section, and a control section. The work implement operates with respect to the vehicle body and includes a bucket or a fork. The bucket-to-ground angle detection section detects information on a tilt angle of the bucket or the fork with respect to a gravity direction. The control section controls the tilt angle of the bucket or the fork with respect to the gravity direction based on a detection value of the bucket-to-ground angle detection section.
Claims6
A wheel loader comprising:
- a body including
- a front frame to which a work implement is connected, the work implement being movably attached to the front frame and including an attachment,
- a rear frame disposed behind the front frame,
- front tires disposed on the front frame, and
- rear tires disposed on the rear frame;
- a plurality of sensors, the plurality of sensors being configured to detect information on an attachment-to-ground angle of the attachment with respect to a gravity direction, the plurality of sensors being further configured to detect an articulation angle of the front frame with respect to the rear frame;
- and
- a controller including a processor and a storage, the controller being configured to calculate the attachment-to-ground angle by adjusting the information on the attachment-to-ground angle in accordance with the articulation angle,
- the controller being configured to control the attachment-to-ground angle based on a detection value from the plurality of sensors such that the attachment-to-ground angle matches a target value,
- the controller being configured to determine whether a posture of the work implement required to match the attachment-to-ground angle to the target value is within a moveable range of the work implement,
- the controller being configured to execute a ground-reference control such that the attachment-to-ground angle is maintained constant at the target value when the posture of the work implement required to match the attachment-to-ground angle to the target value is within the movable range, and
- the controller being configured to execute a vehicle-body-reference control such that an attachment-to-body angle of the attachment with respect to the body is maintained constant when the posture of the work implement required to match the attachment-to-ground angle to the target value is outside the movable range.
9 more elements
A control method for a work machine that includes a body and a work implement that has an attachment and is movably attached to the body,
- the body including
- a front frame to which the work implement is connected,
- a rear frame disposed behind the front frame,
- front tires disposed on the front frame, and
- rear tires disposed on the rear frame,
- the control method comprising using a controller and a plurality of sensors to perform the following:
- detecting information on an attachment-to-ground angle of the attachment with respect to a gravity direction;
- detecting an articulation angle of the front frame with respect to the rear frame,
- calculating the attachment-to-ground angle by adjusting the information on the attachment-to-ground angle in accordance with the articulation angle;
- controlling the attachment-to-ground angle such that the attachment-to-ground angle matches a target value;
- determining whether a posture of the work implement required to match the attachment-to-ground angle to the target value is within a moveable range of the work implement;
- executing a ground-reference control such that the attachment-to-ground angle is maintained constant at the target value when the posture of the work implement required to match the attachment-to-ground angle to the target value is within the movable range;
- and
- executing a vehicle-body-reference control such that an attachment-to-body angle of the attachment with respect to the body is maintained constant when the posture of the work implement required to match the attachment-to-ground angle to the target value is outside the movable range.
11 more elements
Dependencies are inferred from the claim text.