Work machine having a movable body or a movably mounted work implement and a control unit configured to calculate clearance amounts and comparing them to thresholds

A work machine comprising:

• a movable body or a work implement movably mounted on a body;
• an actuator configured to drive the work implement or the body;
• a movement range setting unit configured to set a movement range of the work implement or the body;
• an obstacle position detection unit configured to detect a position of an obstacle in vicinity;
• and
• a control unit configured to control the actuator,
• wherein the control unit includes:
• a first control command calculation unit configured to calculate a first control command to control the actuator based on the movement range;
• a second control command calculation unit configured to calculate a second control command to control the actuator based on a position of the obstacle inside of the movement range;
• and
• a control execution unit configured to perform control of the actuator by selecting, from the first control command and the second control command, a control command that stops the work implement or the body at earlier timing or a control command that more rapidly decelerates the work implement or the body,
• and wherein:
• the first control command calculation unit is configured to calculate a clearance amount before the work implement or the body moves beyond the movement range and set a calculated value as a first clearance amount, set a first speed limit value of the work implement or the body such that the larger the first clearance amount, the larger the first speed limit value, and set the first speed limit value as the first control command,
• the second control command calculation unit is configured to calculate a clearance amount before the work implement or the body comes into contact with the obstacle inside of the movement range and set a calculated value as a second clearance amount, set a second speed limit value of the work implement or the body such that the larger the second clearance amount, the larger the second speed limit value, and set the second speed limit value as the second control command,
• the control execution unit is configured to select a smaller value from the first speed limit value and the second speed limit value as a speed limit value, and when a speed of the actuator is higher than the speed limit value, perform control such that the speed of the actuator is lower than or equal to the speed limit value, and
• if the first clearance amount is larger than a predetermined lower limit and the second clearance amount is smaller than a predetermined upper limit, the second speed limit value is smaller than the first speed limit value even if the first clearance amount is equal to the second clearance amount.

A work machine comprising:

• a movable body or a work implement movably mounted on a body;
• an actuator configured to drive the work implement or the body;
• a movement range setting unit configured to set a movement range of the work implement or the body;
• an obstacle position detection unit configured to detect a position of an obstacle in vicinity;
• and
• a control unit configured to control the actuator,
• wherein the control unit includes:
• a first control command calculation unit configured to calculate a first control command to control the actuator based on the movement range;
• a second control command calculation unit configured to calculate a second control command to control the actuator based on a position of the obstacle inside of the movement range;
• and
• a control execution unit configured to perform control of the actuator by selecting, from the first control command and the second control command, a control command that stops the work implement or the body at earlier timing or a control command that more rapidly decelerates the work implement or the body,
• and wherein:
• the first control command calculation unit is configured to calculate a clearance amount before the work implement or the body moves beyond the movement range and set a calculated value as a first clearance amount, set a first speed limit value of the work implement or the body such that the larger the first clearance amount, the larger the first speed limit value, and set the first speed limit value as the first control command,
• the second control command calculation unit is configured to set a periphery of the obstacle inside of the movement range as an obstacle existence range, calculate a clearance amount before the work implement or the body enters the obstacle existence range and set a calculated value as a second clearance amount, set a second speed limit value of the work implement or the body such that the larger the second clearance amount, the larger the second speed limit value, and set the second speed limit value as the second control command, and
• the control execution unit is configured to select a smaller value from the first speed limit value and the second speed limit value as a speed limit value, and when a speed of the actuator is higher than the speed limit value, perform control such that the speed of the actuator is lower than or equal to the speed limit value.