US 12,467,227 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. 18/554,702
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed May 31, 2022, PCT No. PCT/JP2022/022150
§ 371(c)(1), (2) Date Oct. 10, 2023,
PCT Pub. No. WO2023/276529, PCT Pub. Date Jan. 5, 2023.
Claims priority of application No. 2021-108991 (JP), filed on Jun. 30, 2021.
Prior Publication US 2024/0044104 A1, Feb. 8, 2024
Int. Cl. E02F 3/84 (2006.01); E02F 9/26 (2006.01)
CPC E02F 3/844 (2013.01) [E02F 9/265 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A work machine comprising:
a vehicle body including a travel device;
a blade supported so as to be rotatable about a pitch axis with respect to the vehicle body;
a pitch actuator configured to cause the blade to perform a pitch motion about the pitch axis; and
a controller configured to
determine, based on a first slip condition, whether a first slip occurs on the travel device during work with the blade,
cause the blade to perform the pitch motion in a backward tilt direction upon determining that the first slip occurs,
determine whether the travel device has escaped from the first slip,
upon determining that the travel device has not escaped from the first slip, determine, based on a second slip condition different from the first slip condition, whether a second slip is occurring on the travel device during work with the blade, and
raise the blade upon determining that the second slip is occurring.