# US 12,000,114 B2 · Work machine

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,000,114 B2
- Document ID: US12000114B2
- Status: Granted
- Kind: B2
- Application number: 17/274,448
- Filed: 2020-02-04
- Published: 2022-01-27
- Granted: 2024-06-04
- Earliest claimed: 2019-03-01
- Assignees: Hitachi Construction Machinery Co., Ltd.
- Applicants: Hitachi Construction Machinery Co., Ltd.
- Inventors: Yasuhiko Kanari; Hideto Ishibashi
- Web page: https://patentgrep.com/patent/US12000114B2

## CPC

- E02F 9/2004: {Control mechanisms, e.g. control levers (control levers per se G05G)}
- E02F 9/261: {Surveying the work-site to be treated}
- E02F 9/0858: {Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units (E02F9/16, E02F9/18 take precedence)}
- E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)}
- E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)}
- G01S 19/28: Satellite selection
- G01S 19/43: using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S 19/54: using carrier phase measurements; using long or short baseline interferometry
- E02F 9/2079: {Control of mechanical transmission (for hydrostatic transmission or hydraulic torque converter E02F9/2253)}
- E02F 9/2087: {Control of vehicle steering (for steering with hydraulic or pneumatic drives E02F9/225)}
- G01S 19/04: providing carrier phase data
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A hydraulic excavator includes a receiver configured to calculate a position and an azimuth angle of an upper swing structure on the basis of satellite signals received by two GNSS antennae and a controller configured to calculate a distal end position of a bucket on the basis of the position and the azimuth angle of the upper swing structure calculated by the receiver. The controller sets, on the basis of installation positions of the two GNSS antennae, a movable range of a front work device and an inclination angle and an azimuth angle of the upper swing structure, a range within which the front work device possibly becomes an obstacle to reception of satellite signals by each of the two GNSS antennae as a mask range. The receiver is configured to calculate the position and the azimuth angle of the upper swing structure on the basis of the satellite signals transmitted from the remaining satellites other than the satellites positioned in the mask range.

## Claims

### Claim 1

A work machine that includes a track structure, an upper swing structure swingably attached on the track structure, a work device that includes a boom rotatably provided in an upward and downward direction on the upper swing structure, an arm rotatably provided in the upward and downward direction at a distal end of the boom, and a bucket rotatably provided in the upward and downward direction at a distal end of the arm, two GNSS antennae installed on the upper swing structure, a receiver configured to calculate a position and an azimuth angle of the upper swing structure on a basis of satellite signals transmitted from a plurality of satellites and received by the two GNSS antennae, a controller configured to calculate a position of a monitor point on a basis of the position and the azimuth angle of the upper swing structure calculated by the receiver, and a sensor for detecting an inclination angle of the upper swing structure, wherein
the controller is configured to set, on a basis of installation positions of the two GNSS antennae on the work machine, a movable range of the work device, the inclination angle of the upper swing structure detected by the sensor, and the azimuth angle of the upper swing structure calculated by the receiver, a range within which, when the two GNSS antennae individually receive satellite signals from the plurality of satellites, the work device possibly becomes an obstacle to the satellite signals as a mask range in a coordinate system set to a ground,
the mask range is a combination of an azimuth angle range that is an angle range in a leftward and rightward direction, and an elevation angle range that is an angle range in the upward and downward direction, with reference to each of the GNSS antennae, and
the receiver is configured to calculate the position and the azimuth angle of the upper swing structure on a basis of the satellite signals transmitted from remaining ones of the plurality of satellites, the remaining ones other than the satellites positioned within the mask range set by the controller.

### Claim 2 (depends on 1)

The work machine according to claim 1, wherein
the controller decides whether or not the work machine is performing a work that requires accuracy and sets the mask range when the controller decides that the work machine is performing a work that requires accuracy.

### Claim 3 (depends on 2)

The work machine according to claim 2, wherein
the controller cancels the setting of the mask range when any one of a case in which a state that it is decided that the work machine is not performing a work that requires accuracy continues for a predetermined period of time or more, another case in which the work machine moves a predetermined distance or more, and a further case in which the position of the upper swing structure is not able to be calculated with satellite signals transmitted from the remaining satellites is applicable.

### Claim 4 (depends on 1)

The work machine according to claim 1, wherein
the controller decides whether or not the work machine is performing a work that requires accuracy on a basis of at least one of a distance between the work device and a target surface and an inputting operation to an operation device that operates the work device, and sets the mask range when the controller decides that the work machine is performing a work that requires accuracy.

### Claim 5 (depends on 1)

The work machine according to claim 1, wherein
the controller is configured to newly set the mask range according to a change in the inclination angle and the azimuth angle of the upper swing structure and is configured to add the new mask range to the mask range set in a past.

### Claim 6 (depends on 1)

The work machine according to claim 1, wherein
the controller includes a storage device in which shape data on an obstacle around the work machine is stored, and
the controller is configured to calculate, on a basis of the position and the azimuth angle of the upper swing structure and the shape data on the obstacle, a cross sectional shape when the obstacle is cut in a predetermined azimuth angle direction with reference to the azimuth angle of the upper swing structure and is configured to set the mask range further taking into consideration an influence by the obstacle having the cross sectional shape when the two GNSS antennae individually receive satellite signals from the plurality of satellites.