# US 11,993,912 B2 · 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 > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,912 B2 - Document ID: US11993912B2 - Status: Granted - Kind: B2 - Application number: 17/433,616 - Filed: 2019-09-30 - Published: 2022-05-12 - Granted: 2024-05-28 - Earliest claimed: 2019-09-30 - Assignees: Hitachi Construction Machinery Co., Ltd. - Applicants: Hitachi Construction Machinery Co., Ltd. - Inventors: Shinya Imura; Masamichi Ito; Hidekazu Moriki; Yuho Saito - Web page: https://patentgrep.com/patent/US11993912B2 ## CPC - E02F 3/435: {for dipper-arms, backhoes or the like} - E02F 3/32: working downwardly and towards the machine, e.g. with backhoes - E02F 9/123: {Drives or control devices specially adapted therefor (E02F9/125 and E02F9/128 take precedence)} - 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 9/24: Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 9/2203: {Arrangements for controlling the attitude of actuators, e.g. speed, floating function} - E02F 9/2271: {Actuators and supports therefor and protection therefor} - E02F 9/2285: {Pilot-operated systems} - E02F 9/2292: {Systems with two or more pumps} - E02F 9/2296: {Systems with a variable displacement pump} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract Provided is a work machine that can suppress decrease in work efficiency while reducing the possibility of contacting a worker or a dump truck, etc. A movement range is set in advance so as to avoid entry of a worker or a dump truck, etc. into the set movement range. The work machine performs stop control with clearance for an obstacle having entered the movement range, but performs stop control with relatively small clearance (minimum clearance) for a movement range. Thus, the work machine can reduce the frequency of stopping a body or a work implement and suppress decrease in work efficiency. Since the work machine controls the body or the work implement to stop with clearance when the worker or the dump truck, etc. enters the movement range of the work machine, the work machine can reduce the possibility of contacting the worker or the dump truck, etc. ## Claims ### Claim 1 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 the first control command as a stop command when the first clearance amount is smaller than or equal to a first threshold, and set the first control command as an operation continue command when the first clearance amount is larger than the first threshold, 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 the second control command as a stop command when the second clearance amount is smaller than or equal to a second threshold, and set the second control command as an operation continue command when the second clearance amount is larger than the second threshold, the control execution unit is configured to control the actuator to stop when at least one of the first control command or the second control command is a stop command, and the second threshold is larger than the first threshold. ### Claim 2 (depends on 1) The work machine according to claim 1, wherein: the actuator is an actuator for traveling the body, the first control command calculation unit is configured to calculate a travel distance before the work implement or the body moves beyond the movement range and set a calculated value as a first clearance amount, and the second control command calculation unit is configured to calculate a travel distance before the work implement or the body comes into contact with the obstacle or a travel distance before the work implement or the body enters an obstacle existence range that is set to a periphery of the obstacle, and set a calculated value as a second clearance amount. ### Claim 3 (depends on 1) The work machine according to claim 1, wherein: the actuator is an actuator for turning the body, the first control command calculation unit is configured to calculate a turning angle before the work implement or the body moves beyond the movement range and set a calculated value as a first clearance amount, and the second control command calculation unit is configured to calculate a turning angle before the work implement or the body comes into contact with the obstacle or a turning angle before the work implement or the body enters an obstacle existence range that is set to a periphery of the obstacle, and set a calculated value as a second clearance amount. ### Claim 4 (depends on 1) The work machine according to claim 1, wherein: the actuator is a cylinder for moving the work implement, the first control command calculation unit is configured to calculate a displacement amount of the actuator before the work implement moves beyond the movement range and set a calculated value as a first clearance amount, and the second control command calculation unit is configured to calculate a displacement amount of the actuator before the work implement comes into contact with the obstacle or a displacement amount of the actuator before the work implement enters an obstacle existence range that is set to a periphery of the obstacle, and set a calculated value as a second clearance amount. ### Claim 5 (depends on 1) The work machine according to claim 1, wherein when the movement range is not set, the second control command calculation unit is configured to calculate a second control command to control the actuator based on a position of the obstacle regardless of location. ### Claim 6 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. ### Claim 7 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.