Work machine, method and system for controlling work machine
A work machine includes a vehicle body, a support member, a blade, a rotation angle sensor, an object sensor, and a controller. The support member is connected to the vehicle body. The blade is rotatably supported by the support member. The rotation angle sensor detects a rotation angle of the blade. The object sensor detects an object around the work machine and outputs a signal indicating a presence or absence of the object. The controller is configured to set a detection range around the work machine. The controller is configured to determine the presence or absence of the object within the detection range based on the signal from the object sensor. The controller is configured to set the detection range according to the rotation angle of the blade.
1 . A work machine comprising:
a vehicle body;
a support member connected to the vehicle body;
a blade rotatably supported by the support member;
a rotation angle sensor configured to detect a rotation angle of the blade;
an object sensor configured to detect an object around the work machine and output a signal indicating a presence or absence of the object; and
a controller configured to
set a detection range around the work machine and
determine the presence or absence of the object within the detection range based on the signal from the object sensor,
the controller being configured to set the detection range according to the rotation angle of the blade.
2 . The work machine according to claim 1 , wherein
the controller is configured to
set a reference range for the detection range based on a width of the vehicle body, and
expand the detection range from the reference range based on the rotation angle of the blade.
3 . The work machine according to claim 2 , wherein
the controller is configured to
detect a position of a left end and a position of a right end of the blade based on the rotation angle of the blade,
expand the detection range leftward from the reference range when the left end of the blade protrudes from the vehicle body in a width direction, and
expand the detection range rightward from the reference range when the right end of the blade protrudes from the vehicle body in the width direction.
4 . The work machine according to claim 1 , wherein
the support member supports the blade in a slidable manner left and right,
the work machine further comprises a blade shift sensor configured to detect a blade shift amount indicating an amount of a left and right movement of the blade, and
the controller is configured to set the detection range according to the blade shift amount.
5 . The work machine according to claim 1 , wherein
the support member includes a drawbar supported by the vehicle body so as to be swingable left and right,
the work machine further comprises a drawbar shift sensor configured to detect a drawbar shift amount indicating an amount of a left and right movement of the drawbar, and
the controller is configured to set the detection range according to the drawbar shift amount.
6 . A method for controlling a work machine, the work machine including a vehicle body, a support member connected to the vehicle body, and a blade rotatably supported by the support member, the method comprising:
obtaining a rotation angle of the blade;
receiving a signal indicating a presence or absence of an object around the work machine;
setting a detection range around the work machine;
determining the presence or absence of the object within the detection range based on the signal; and
setting the detection range according to the rotation angle of the blade.
7 . The method according to claim 6 , further comprising:
setting a reference range for the detection range based on a width of the vehicle body; and
expanding the detection range from the reference range based on the rotation angle of the blade.
8 . The method according to claim 7 , further comprising:
detecting a position of a left end and a position of a right end of the blade based on the rotation angle of the blade;
expanding the detection range leftward from the reference range when the left end of the blade protrudes from the vehicle body in a width direction; and
expanding the detection range from the reference range rightward when the right end of the blade protrudes from the vehicle body in the width direction.
9 . The method according to claim 6 , wherein
the support member supports the blade in a slidable manner left and right, and the method further comprises:
obtaining a blade shift amount indicating an amount of a left and right movement of the blade; and
setting the detection range according to the blade shift amount.
10 . The method according to claim 6 , wherein
the support member includes a drawbar supported by the vehicle body so as to be swingable left and right, and
the method further comprises:
obtaining a drawbar shift amount indicating an amount of a left and right movement of the drawbar; and
setting the detection range according to the drawbar shift amount.
11 . A system for controlling a work machine, the work machine including a vehicle body, a support member connected to the vehicle body, and a blade rotatably supported by the support member, the system comprising:
a rotation angle sensor configured to detect a rotation angle of the blade;
an object sensor configured to detect an object around the work machine and outputs a signal indicating a presence or absence of the object; and
a controller configured to
set a detection range around the work machine and
determine the presence or absence of the object within the detection range based on the signal from the object sensor,
the controller being configured to set the detection range according to the rotation angle of the blade.
12 . The system according to claim 11 , wherein
the controller is configured to
set a reference range for the detection range based on a width of the vehicle body, and
expand the detection range from the reference range based on the rotation angle of the blade.
13 . The system of claim 12 , wherein
the controller is configured to
detect a position of a left end and a position of a right end of the blade based on the rotation angle of the blade,
expand the detection range leftward from the reference range when the left end of the blade protrudes from the vehicle body in a width direction, and
expand the detection range rightward from the reference range when the right end of the blade protrudes from the vehicle body in the width direction.
14 . The system according to claim 11 , wherein
the support member supports the blade in a slidable manner left and right,
the system further comprises a blade shift sensor configured to detect a blade shift amount indicating an amount of a left and right movement of the blade, and
the controller is configured to set the detection range according to the blade shift amount.
15 . The system according to claim 11 , wherein
the support member includes a drawbar supported by the vehicle body so as to be swingable left and right,
the system further comprises a drawbar shift sensor configured to detect a drawbar shift amount indicating an amount of a left and right movement of the drawbar, and
the controller is configured to set the detection range according to the drawbar shift amount.