Work machine, and method and system for controlling work machine
AssigneeKomatsu Ltd.
InventorsTakeshi Kamimae, Hiroki Nagasaki
Life of this patent
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Abstract
A work machine includes a vehicle body, a traveling wheel, a steering actuator, a leaning actuator, a leaning angle sensor, and a controller. The traveling wheel is supported by the vehicle body. The steering actuator changes a steering angle of the traveling wheel. The leaning actuator changes a leaning angle of the traveling wheel. The leaning angle sensor detects the leaning angle. The controller performs an automatic steering control that automatically steers the traveling wheel by controlling the steering actuator. The controller acquires the leaning angle. The controller limits travel of the vehicle body or limits the automatic steering control according to the leaning angle.
Claims15
A work machine comprising:
- a vehicle body;
- a traveling wheel supported by the vehicle body;
- a steering actuator configured to change a steering angle of the traveling wheel;
- a leaning actuator configured to change an actual leaning angle of the traveling wheel, the actual leaning angle being an angle in a left-right direction of the traveling wheel when viewed from a front of the vehicle body;
- a leaning angle sensor configured to detect the actual leaning angle;
- and
- a controller configured to
- perform an automatic steering control that automatically steers the traveling wheel by controlling the steering actuator,
- acquire the actual leaning angle, and
- limit travel of the vehicle body or limit the automatic steering control according to the actual leaning angle.
A method for controlling a work machine that includes a vehicle body, a traveling wheel supported by the vehicle body, a steering actuator configured to change a steering angle of the traveling wheel, and a leaning actuator configured to change an actual leaning angle of the traveling wheel, the method comprising:
- performing an automatic steering control that automatically steers the traveling wheel by controlling the steering actuator;
- acquiring the actual leaning angle, the actual leaning angle being an angle in a left-right direction of the traveling wheel when viewed from a front of the vehicle body;
- and
- limiting travel of the vehicle body or limiting the automatic steering control according to the actual leaning angle during movement of the work machine.
A system for controlling a work machine that includes a vehicle body, a traveling wheel supported by the vehicle body, a steering actuator configured to change a steering angle of the traveling wheel, and a leaning actuator configured to change an actual leaning angle of the traveling wheel, the system comprising:
- a leaning angle sensor configured to detect the actual leaning angle;
- and
- a controller configured to
- perform an automatic steering control that automatically steers the traveling wheel by controlling the steering actuator,
- acquire the actual leaning angle, the actual leaning angle being an angle in a left-right direction of the traveling wheel when viewed from a front of the vehicle body, and
- limit travel of the vehicle body or limit the automatic steering control according to the actual leaning angle.
Dependencies are inferred from the claim text.