US 12,460,378 B2
Work machine and method for controlling work machine
Ken Nishihara, Tokyo (JP); and Eiji Ishibashi, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 18/554,681
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed May 31, 2022, PCT No. PCT/JP2022/022149
§ 371(c)(1), (2) Date Oct. 10, 2023,
PCT Pub. No. WO2023/276528, PCT Pub. Date Jan. 5, 2023.
Claims priority of application No. 2021-108990 (JP), filed on Jun. 30, 2021.
Prior Publication US 2024/0191471 A1, Jun. 13, 2024
Int. Cl. E02F 9/20 (2006.01); E02F 9/26 (2006.01); E02F 9/08 (2006.01)
CPC E02F 9/2029 (2013.01) [E02F 9/265 (2013.01); E02F 9/0841 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A work machine comprising:
a vehicle body;
a lift frame supported so as to be rotatable about a lift axis with respect to the vehicle body;
a blade supported so as to be rotatable about a pitch axis with respect to the lift frame;
a lift actuator configured to cause the blade to perform a lift motion up and down about the lift axis;
a pitch actuator configured to cause the blade to perform a pitch motion about the pitch axis;
a sensor configured to detect a current blade tip position of the blade; and
a controller configured to
acquire actual topography data indicative of an actual topography to be worked,
acquire target topography data indicative of a target topography, and
control the lift actuator so that a blade tip of the blade moves according to the target topography,
the controller being configured to control the pitch actuator so that a pitch angle of the blade is changed based on a positional relationship in a vertical direction between any two of
the actual topography corresponding to the current blade tip position,
the target topography corresponding to the current blade tip position, and
the current blade tip position.