# US 10,119,250 B2 · Work machine control system, work machine, and work machine control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,119,250 B2 - Document ID: US10119250B2 - Status: Granted - Kind: B2 - Application number: 15/507,445 - Filed: 2016-05-31 - Published: 2017-11-30 - Granted: 2018-11-06 - Earliest claimed: 2016-05-31 - Assignees: Komatsu Ltd. - Applicants: Komatsu Ltd. - Inventors: Tsutomu Iwamura; Yoshiro Iwasaki - Web page: https://patentgrep.com/patent/US10119250B2 ## CPC - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 3/32: working downwardly and towards the machine, e.g. with backhoes - E02F 3/3677: {allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets} - E02F 3/435: {for dipper-arms, backhoes or the like} - E02F 9/2033: {Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin (sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123)} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract A work machine control system that controls a work machine including a member that rotates about a shaft line includes a target construction shape generation unit that generates a target construction shape indicating a target shape of a construction target of the work machine; and a determination unit that outputs first information when the member is present on an air side which is a side on which the work machine is present in relation to the target construction shape and outputs second information when the member is not present on the air side. ## Claims ### Claim 1 A work machine control system that controls a work machine including a first member that rotates about a shaft of a first direction and a second member that rotates about a shaft of a second direction different from the first direction, comprising: a determination unit that determines whether a member is present on an air side which is a side on which the work machine is present in relation to a target construction shape indicating a shape of a construction target of the work machine based on a positional relation between the second shaft and the target construction shape and outputs first information when the second member is present on the air side in relation to the target construction shape and outputs second information when the second member is present on a ground side which is a side that is opposite the air side in relation to the target construction shape. ### Claim 2 (depends on 1) The work machine control system according to claim 1, further comprising: a working device control unit that allows rotation of the second member when the first information is output from the determination unit and does not allow rotation of the second member when the second information is output. ### Claim 3 (depends on 1) The work machine control system according to claim 1, further comprising: a target construction shape generation unit that generates the target construction shape indicating the target shape of the construction target of the work machine, wherein the target construction shape generation unit generates a plurality of the target construction shapes around the second member, and the determination unit outputs the first information or the second information with respect to the plurality of target construction shapes. ### Claim 4 A work machine control system that controls a work machine including a member that rotates about a shaft line, comprising: a determination unit that outputs first information when the member is present on an air side which is a side on which the work machine is present in relation to a target construction shape indicating a shape of a construction target of the work machine and outputs second information when the member is present on a ground side which is a side that is opposite the air side in relation to the target construction shape; a candidate regulation point position data calculation unit that calculates position data of a regulation point set to the member; an operation plane calculation unit that calculates an operation plane which passes through the regulation point and is orthogonal to the shaft line; and a stop ground shape calculation unit that calculates a stop ground shape in which the target construction shape and the operation plane cross each other, wherein the determination unit outputs the first information or the second information using a distance between the stop ground shape and the regulation point, a first vector extending in a direction orthogonal to the target construction shape, and a second vector extending in an extension direction of the shaft line. ### Claim 5 A work machine control system that controls a work machine including a member that rotates about a shaft line, comprising: a determination unit that outputs first information when the member is present on an air side which is a side on which the work machine is present in relation to a target construction shape indicating a shape of a construction target of the work machine and outputs second information when the member is present on a ground side which is a side that is opposite the air side in relation to the target construction shape; a known reference point which is located at a position of a portion different from the member of the work machine; and a candidate regulation point position data calculation unit that calculates position data of a regulation point set to the member, wherein the determination unit calculates the number of intersections between the target construction shape and a line segment that connects the reference point and the regulation point and outputs the first information or the second information using whether the number is an even number or an odd number. ### Claim 6 (depends on 1) A work machine comprising: an upper swinging body; a lower traveling body that supports the upper swinging body; a working device which includes a boom that rotates about a first shaft, an arm that rotates about a second shaft, and a bucket that rotates about a third shaft, the working device being supported on the upper swinging body; and a work machine control system according to claim 1, wherein the shaft of the first direction is one of the first shaft, the second shaft and the third shaft, the first member is one of the boom and the arm, the second member is the bucket, and the bucket rotates about a tilting shaft which is the shaft of the second direction. ### Claim 7 (depends on 6) The work machine according to claim 6, wherein the first shaft and the second shaft are orthogonal to the third shaft. ### Claim 8 A work machine control method of controlling a work machine including a first member that rotates about a shaft of a first direction and a second member that rotates about a shaft of a second direction different from the first direction, comprising: determining whether a member is present on an air side which is a side on which the work machine is present in relation to a target construction shape indicating a shape of a construction target of the work machine based on a positional relation between the second shaft and the target construction shape; outputting first information when the second member is present on the air side in relation to the target construction shape; and outputting second information when the second member is present on a ground side which is a side that is opposite the air side in relation to the target construction shape.