US 12,227,922 B2
Work machine
Yuho Saito, Tokyo (JP); Hidekazu Moriki, Tokyo (JP); Shinya Imura, Tsuchiura (JP); and Takaaki Chiba, Tsuchiura (JP)
Assigned to HITACHI CONSTRUCTION MACHINERY CO., LTD., Tokyo (JP)
Appl. No. 17/912,026
Filed by HITACHI CONSTRUCTION MACHINERY CO., LTD., Tokyo (JP)
PCT Filed Feb. 5, 2021, PCT No. PCT/JP2021/004451
§ 371(c)(1), (2) Date Sep. 15, 2022,
PCT Pub. No. WO2021/192655, PCT Pub. Date Sep. 30, 2021.
Claims priority of application No. 2020-057162 (JP), filed on Mar. 27, 2020.
Prior Publication US 2023/0137344 A1, May 4, 2023
Int. Cl. B60R 1/27 (2022.01); E02F 9/12 (2006.01); E02F 9/24 (2006.01); E02F 9/26 (2006.01)
CPC E02F 9/262 (2013.01) [E02F 9/123 (2013.01); E02F 9/24 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A work machine comprising:
a machine body having a moving device;
a work device disposed on the machine body;
a plurality of actuators that cause the moving device and the work device to operate;
an object sensor that senses an object around the machine body; and
a controller configured to:
create an environment map including information relating to an object that exists around the machine body on a basis of information on an object sensed by the object sensor and cause the plurality of actuators to operate on a basis of the environment map created,
determine a type of the object and predict a movement direction of the object on a basis of a sensing result of the object sensed by the object sensor, and
delete, from the environment map, the information relating to the object that is the object sensed by the object sensor and has been determined to have moved to outside of a sensing range of the object sensor on a basis of the type and the movement direction of the object, and
keep, in the environment map, the information relating to the object that is an object that has been sensed in a movable range of the machine body and the work device by the object sensor and whose type has been discriminated as a fixed object, and has been determined to have moved to the outside of the sensing range of the object sensor due to operation of the machine body and the work device.