US 12,392,110 B2
Work machine and method for controlling work machine
Takuya Sonoda, Tokyo (JP); Takashi Maeda, Tokyo (JP); Yoshihide Nakae, Tokyo (JP); Yasuhisa Asano, Tokyo (JP); and Takeo Murata, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 18/558,284
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed May 18, 2022, PCT No. PCT/JP2022/020619
§ 371(c)(1), (2) Date Oct. 31, 2023,
PCT Pub. No. WO2023/286442, PCT Pub. Date Jan. 19, 2023.
Claims priority of application No. 2021-117774 (JP), filed on Jul. 16, 2021.
Prior Publication US 2024/0229419 A1, Jul. 11, 2024
Int. Cl. E02F 9/20 (2006.01); E02F 3/76 (2006.01)
CPC E02F 9/2087 (2013.01) [E02F 3/76 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A work machine comprising:
a vehicle body;
a traveling wheel supported by the vehicle body;
a first steering member that is operable by an operator of the work machine;
a second steering member that is separate from the first steering member and that is operable by the operator;
an actuator configured to:
change a steering angle of the traveling wheel in response to an operation of the first steering member, and
change the steering angle of the traveling wheel in response to an operation of the second steering member;
a first operation sensor configured to output a first operation signal that indicates the operation of the first steering member;
a second operation sensor configured to output a second operation signal that indicates the operation of the second steering member; and
a controller configured to:
acquire the first operation signal and the second operation signal,
determine whether or not the first steering member is being operated,
determine whether the first steering member was operated last among the first steering member and the second steering member,
perform an automatic control to control the actuator so as to change the steering angle of the traveling wheel to a target steering angle upon determining that the first steering member is not being operated and the first steering member was operated last among the first steering member and the second steering member, and
not perform the automatic control upon determining that the second steering member was operated last among the first steering member and the second steering member, even if the first steering member is not being operated.