Patent ID: 11873623
Assignee: KOMATSU LTD.
Field: Civil engineering (Other fields)
Classification: CPC E  B | IPC B  E

Claim 0:
1. A work machine comprising:
a right front wheel and a left front wheel;
a front frame provided with the right front wheel and the left front wheel;
a rear wheel;
a rear frame provided with the rear wheel and coupled to the front frame;
a speed sensor that measures a moving speed of the work machine;
a measurement device that measures a turning angular velocity acting on the work machine during movement of the work machine;
an articulation sensor that detects an articulation angle between the front frame and the rear frame;
a first drive source that provides driving force to the right front wheel;
a second drive source that provides driving force to the left front wheel; and
a controller that controls the first drive source and the second drive source based on the moving speed of the work machine measured by the speed sensor and the turning angular velocity measured by the measurement device, to thereby independently control a rotation speed of each of the right front wheel and the left front wheel, wherein
the controller i) calculates a turning radius of the rear wheel based on the moving speed of the work machine measured by the speed sensor and the turning angular velocity measured by the measurement device; ii) determines a target front wheel rotation speed of the right front wheel and a target front wheel rotation speed of the left front wheel based on the calculated turning radius of the rear wheel and the articulation angle detected by the articulation sensor; and iii) controls the first drive source so as to achieve the target front wheel rotational speed of the right front wheel, and controls the second drive source so as to achieve the target front wheel rotational speed of the left front wheel.