To enable smooth performance of operation of changing a steering angle based on a travel route and operation of changing a speed when the steering angle is equal to or greater than a threshold value.SOLUTION: A work machine controller includes: a first control part which performs first control of changing the steering angle of a steering device capable of changing the orientation of a vehicle body so that deviation between the machine position as the position of the vehicle body and a travel route becomes small; and a second control part which performs second control related to the speed of a travel device when the steering angle is greater than or equal to a threshold value, and the first control part and the second control part control the priority relation between the first control and the second control in accordance with a straight or turning state of the vehicle body.SELECTED DRAWING: Figure 1
【課題】走行ルートに基づいて操舵角を変更する動作と、操舵角が閾値以上である場合に速度を変更する動作との両方の動作をスムーズに行うことができるようにする。【解決手段】作業機の制御装置は、車体の位置である機械位置と走行ルートとの偏差が小さくなるように車体の向きを変更可能な操舵装置の操舵角を変更する第1制御を行う第1制御部と、操舵角が閾値以上である場合に走行装置の速度に関する第2制御を行う第2制御部と、を備え、第1制御部及び第2制御部は、車体の直進状態又は旋回状態に応じて第1制御と第2制御の優先関係を制御する。【選択図】図1
WORK MACHINE CONTROLLER, WORK MACHINE CONTROL METHOD, AND WORK MACHINE
作業機の制御装置、作業機の制御方法及び作業機
2021-08-19
Patent
Electronic Resource
Japanese
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