US 11,794,577 B2
Work machine and control method thereof
Naoto Takase, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/261,700
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Oct. 18, 2019, PCT No. PCT/JP2019/041063
§ 371(c)(1), (2) Date Jan. 20, 2021,
PCT Pub. No. WO2020/085232, PCT Pub. Date Apr. 30, 2020.
Claims priority of application No. 2018-201552 (JP), filed on Oct. 26, 2018.
Prior Publication US 2021/0291647 A1, Sep. 23, 2021
Int. Cl. B60K 17/16 (2006.01); B60K 23/04 (2006.01); B60K 28/10 (2006.01); B62D 12/00 (2006.01); E02F 3/84 (2006.01)
CPC B60K 23/04 (2013.01) [B60K 17/20 (2013.01); B60K 28/10 (2013.01); B62D 12/00 (2013.01); E02F 3/841 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A work machine comprising:
a differential device;
a differential control device that prohibits or limits a differential motion generated by the differential device;
a sensor that detects a turning angular velocity and a travelling velocity of the work machine; and
a controller that
calculates a turning radius based on the turning angular velocity and the travelling velocity detected by the sensor,
determines a turning motion by comparing the calculated turning radius with a threshold, and
based on the comparison result, controls the differential control device to perform the differential prohibition or limitation,
wherein determining a turning motion by comparing the calculated turning radius with a threshold includes (i) comparing the calculated turning radius with a prestored turning radius in half steering and (ii) comparing the calculated turning radius with a minimum turning radius, and
wherein the differential motion is prohibited or limited if the calculated turning radius is equal to or less than the prestored turning radius in half steering for a first predetermined period of time and the turning radius is not less than the minimum turning radius for a second predetermined period of time.