# US 12,006,654 B2 · Work machine, system including work machine, and method of controlling work machine

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- Number: US 12,006,654 B2
- Document ID: US12006654B2
- Status: Granted
- Kind: B2
- Application number: 17/288,944
- Filed: 2019-12-10
- Published: 2021-12-09
- Granted: 2024-06-11
- Earliest claimed: 2018-12-13
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Atsushi Mura; Haruki Nishiguchi; Hayato Hisa; Hiromu Dambayashi; Akihiko Teramura; Kazuki Takehara; Katsuhiro Ikegami
- Web page: https://patentgrep.com/patent/US12006654B2

## CPC

- E02F 3/437: {providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant}
- E02F 3/438: {Memorising movements for repetition, e.g. play-back capability}
- E02F 9/2037: {Coordinating the movements of the implement and of the frame}
- E02F 9/2228: {including an electronic controller}
- E02F 9/2246: {Control of prime movers, e.g. depending on the hydraulic load of work tools}
- E02F 9/2253: {Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission}
- E02F 9/2285: {Pilot-operated systems}
- E02F 9/262: {with follow-up actions to control the work tool, e.g. controller}
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)

## Abstract

A work machine capable of saving works by an operator during traveling is provided. The work machine includes a vehicular main body including a traveling unit, a work implement attached to the vehicular main body, and a controller that automatically controls operations by the work implement. The controller cancels automatic control of operations by the work implement based on a traveling state of the traveling unit.

## Claims

### Claim 1

A work machine comprising:
a vehicular main body including a traveling unit;
a work implement attached to the vehicular main body; and
a controller that automatically controls operations by the work implement, wherein
the controller:
cancels automatic control of operations by the work implement based on one or more of i) determining that traveling of the traveling unit has continued for a prescribed time period, ii) determining that the traveling unit has continuously traveled a prescribed distance, and iii) determining that the traveling unit has traveled an area outside of a prescribed work area.

### Claim 2 (depends on 1)

The work machine according to claim 1, wherein
the automatic control refers to control of operations by the work implement for design topography that represents a target shape of an object to be worked by the work implement.

### Claim 3 (depends on 1)

The work machine according to claim 1, further comprising a notification unit that gives a notification about cancellation of the automatic control when the controller cancels the automatic control.

### Claim 4 (depends on 1)

The work machine according to claim 1, wherein
the controller determines that traveling of the traveling unit is continuing when traveling of the traveling unit is suspended and a duration of suspension of traveling is shorter than a threshold value.

### Claim 5

A system comprising:
a work machine including a vehicular main body including a traveling unit and a work implement attached to the vehicular main body; and
a controller that automatically controls operations by the work implement, wherein
the controller:
cancels automatic control of operations by the work implement based on one or more of i) determining that traveling of the traveling unit has continued for a prescribed time period, ii) determining that the traveling unit has continuously traveled a prescribed distance, and iii) determining that the traveling unit has traveled an area outside of a prescribed work area.

### Claim 6

A method of controlling a work machine including a vehicular main body including a traveling unit and a work implement attached to the vehicular main body, the method comprising:
determining a traveling state of the traveling unit; and
canceling automatic control of operations by the work implement based on the traveling state of the traveling unit, the traveling stating of the traveling unit including one or more of i) determining that traveling of the traveling unit has continued for a prescribed time period, ii) determining that the traveling unit has continuously traveled a prescribed distance, and iii) determining that the traveling unit has traveled an area outside of a prescribed work area.