Control device, work machine, control method, and control system
AssigneeKomatsu Ltd.
InventorsKazuhiro Hatake, Yusuke Saigo
Life of this patent
Estimating the term…
Abstract
A control device of a work machine includes work equipment including a work tool and is configured to perform an automatic loading control of holding a posture of the work tool in a target posture and moving a position of the work tool up to a target position, in which in the automatic loading control, when the posture of the work tool is out of a predetermined range from the target posture, the control device is configured to prioritize a control of the posture of the work tool over a control of the position of the work tool until the posture of the work tool falls within the predetermined range.
Claims8
A control device of a work machine that includes (i) work equipment including a first member, a second member, and a work tool, and (ii) a swing body supporting the work equipment, the control device comprising:
- a processor configured to perform an automatic loading control of holding a posture of the work tool in a target posture and moving a position of the work tool up to a target position,
- wherein the processor is configured to, based on the posture of the work tool being out of a predetermined range from the target posture in the automatic loading control, prioritize a control of the posture of the work tool over a control of the position of the work tool until the posture of the work tool falls within the predetermined range, and
- wherein the processor is configured to, based on a height of the work tool being lower than a predetermined threshold in the automatic loading control, stop driving of the second member while allowing driving of the first member.
A work machine comprising:
- work equipment including a first member, a second member, and a work tool;
- a swing body supporting the work equipment;
- and
- a control device comprising a processor configured to perform an automatic loading control of holding a posture of the work tool in a target posture and moving a position of the work tool up to a target position,
- wherein the processor is configured to, based on the posture of the work tool being out of a predetermined range from the target posture in the automatic loading control, prioritize a control of the posture of the work tool over a control of the position of the work tool until the posture of the work tool falls within the predetermined range, and
- wherein the processor is configured to, based on a height of the work tool being lower than a predetermined threshold in the automatic loading control, stop driving of the second member while allowing driving of the first member.
A control method for a work machine that includes (i) work equipment including a first member, a second member, and a work tool, and (ii) a swing body supporting the work equipment, the control method comprising:
- in an automatic loading control of holding a posture of the work tool in a target posture and moving a position of the work tool up to a target position, based on the posture of the work tool being out of a predetermined range from the target posture, controlling the work tool to prioritize a control of the posture of the work tool over a control of the position of the work tool until the posture of the work tool falls within the predetermined range;
- and
- based on a height of the work tool being lower than a predetermined threshold in the automatic loading control, stopping driving of the second member while allowing driving of the first member.
A control system of a work machine that includes (i) work equipment including a first member, a second member, and a work tool, and (ii) a swing body supporting the work equipment, the control system comprising:
- a processor configured to perform an automatic loading control of holding a posture of the work tool in a target posture and moving a position of the work tool up to a target position,
- wherein the processor is configured to, based on the posture of the work tool being out of a predetermined range from the target posture, prioritize a control of the posture of the work tool over a control of the position of the work tool until the posture of the work tool falls within the predetermined range, and
- wherein the processor is configured to, based on a height of the work tool being lower than a predetermined threshold in the automatic loading control, stop driving of the second member while allowing driving of the first member.
Dependencies are inferred from the claim text.