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US 2022/0186461 A1Published application
Work machine, system, and method of controlling work machine
AssigneeKomatsu Ltd.
InventorsTomoki KONDA, Kenjiro SHIMADA
Life of this patent
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Abstract
A hydraulic excavator loads a load onto a loaded machine. The hydraulic excavator includes a work implement and a controller. The work implement includes a bucket. The controller senses an amount of natural lowering of the bucket in a stand-by state in which the hydraulic excavator waits for entry of the loaded machine and controls the work implement to raise the bucket based on the amount of natural lowering.
Claims11
1:
- A work machine that loads a load onto a loaded machine, the work machine comprising:
- a work implement including a bucket;
- and
- a controller that senses an amount of natural lowering of the bucket in a stand-by state in which the work machine waits for entry of the loaded machine and controls the work implement to raise the bucket based on the amount of natural lowering.
1 more element
2:
- The work machine according to claim 1, further comprising a sensing unit that senses a current height of the bucket in the stand-by state, wherein
- the controller senses the amount of natural lowering of the bucket based on the current height of the bucket sensed by the sensing unit and a set height of the bucket in the stand-by state.
3:
- The work machine according to claim 2, wherein
- the controller controls the work implement to raise the bucket by a height corresponding to the amount of natural lowering.
4:
- The work machine according to claim 2, further comprising a height obtaining unit that obtains height information of the loaded machine based on at least one of information transmitted from the loaded machine and information obtained by measurement for the loaded machine, wherein
- the controller controls the work implement to adjust the height of the bucket to the set height based on the height information of the loaded machine obtained by the height obtaining unit.
5:
- The work machine according to claim 4, further comprising a receiver that receives the information transmitted from the loaded machine.
6:
- The work machine according to claim 4, further comprising a measurement apparatus that conducts measurement for the loaded machine.
7:
- A work machine that loads a load onto a loaded machine, the work machine comprising:
- a work implement including a bucket;
- a height obtaining unit that obtains height information of the loaded machine based on at least one of information transmitted from the loaded machine and information obtained by measurement for the loaded machine;
- and
- a controller that determines a set height of the bucket in loading of the load onto the loaded machine by the work machine based on the height information of the loaded machine obtained by the height obtaining unit and controls the work implement to set a height of the bucket to the determined set height of the bucket.
2 more elements
8:
- A system comprising:
- the work machine according to claim 4;
- and
- a transmitter that transmits the height information of the loaded machine obtained by the height obtaining unit of the work machine to the work machine.
1 more element
9:
- A method of controlling a work machine that includes a work implement including a bucket and loads a load onto a loaded machine, the method comprising:
- sensing an amount of natural lowering of the bucket in a stand-by state in which the work machine waits for entry of the loaded machine;
- and
- controlling the work implement to raise the bucket based on the sensed amount of natural lowering.
1 more element
10:
- The method of controlling a work machine according to claim 9, further comprising:
- obtaining height information of the loaded machine based on at least one of information transmitted from the loaded machine and information obtained by measurement for the loaded machine;
- and
- adjusting a height of the bucket based on the obtained height information of the loaded machine.
1 more element
11:
- A method of controlling a work machine that includes a work implement including a bucket and loads a load onto a loaded machine, the method comprising:
- obtaining height information of the loaded machine based on at least one of information transmitted from the loaded machine and information obtained by measurement for the loaded machine;
- determining a set height of the bucket in loading of the load onto the loaded machine by the work machine based on the obtained height information of the loaded machine;
- and
- controlling the work implement to set a height of the bucket to the determined set height of the bucket.
2 more elements