# US 2013/0158784 A1 · Hydraulic shovel operability range display device and method for controlling same

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- Number: US 2013/0158784 A1
- Document ID: US20130158784A1
- Status: Published application
- Kind: A1
- Application number: 13/819,225
- Filed: 2012-02-08
- Published: 2013-06-20
- Earliest claimed: 2011-02-22
- Assignees: Komatsu Ltd.
- Inventors: Ryo Fukano; Hisashi Asada; Takashi Kurihara
- Web page: https://patentgrep.com/patent/US20130158784A1

## CPC

- E02F 9/26: Indicating devices {(E02F5/145 takes 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 9/262: {with follow-up actions to control the work tool, e.g. controller}
- E02F 9/264: {Sensors and their calibration for indicating the position of the work tool}
- E02F 9/2037: {Coordinating the movements of the implement and of the frame}
- G05B 2219/45012: Excavator
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

In a hydraulic shovel operability range display device, a calculation unit is configured to set a boundary between an operability range and an underbody area along a vertical direction in a global coordinate system when a vehicle body is horizontally oriented. When the vehicle body is tilted forward, the calculation unit is configured to set the boundary so as to be maintained along the vertical direction in the global coordinate system. When the vehicle body is tilted backwards, the calculation unit is configured to correct the boundary between the operability range and the underbody area so that an angle formed by the boundary and the ground surface on which the vehicle body is positioned is at least 90°.

## Claims

### Claim 1

An operability range display device in a hydraulic shovel including a work machine and a vehicle body, the operability range display device comprising:
a calculation unit configured to calculate an operability range in which an underbody area positioned underneath the vehicle body is excluded from a reachable range indicating a range that can be reached by the work machine; and
a display unit configured and arranged to display the operability range,
the calculation unit being configured to set a boundary of the operability range and the underbody area along a vertical direction in a global coordinate system when the vehicle body is horizontally oriented, to set the boundary of the operability range and the underbody area so as to be maintained along the vertical direction in the global coordinate system when the vehicle body is tilted forward, and to correct the boundary of the operability range and the underbody area so that an angle formed by the boundary and a ground surface on which the vehicle body is positioned is at least 90° when the vehicle body is tilted backwards.

### Claim 2

A method for controlling an operability range display device in a hydraulic shovel including a work machine and a vehicle body, comprising:
calculating an operability range in which an underbody area positioned underneath the vehicle body is excluded from a reachable range indicating a range that can be reached by the work machine; and
displaying the operability range,
the calculating of the operability range includes setting a boundary of the operability range and the underbody area along a vertical direction in a global coordinate system when the vehicle body is horizontally oriented, setting the boundary of the operability range and the underbody area so as to be maintained along the vertical direction in the global coordinate system when the vehicle body is tilted forward, and correcting the boundary of the operability range and the underbody area so that an angle formed by the boundary and a ground surface on which the vehicle body is positioned is at least 90° when the vehicle body is tilted backwards.