US 12,264,452 B2
Work machine
Ryu Narikawa, Tokyo (JP); Kouji Fujita, Ibaraki (JP); Hideaki Itou, Ibaraki (JP); Hidefumi Ishimoto, Ibaraki (JP); Teppei Saitoh, Tokyo (JP); and Tadashi Nishizawa, Tokyo (JP)
Assigned to HITACHI CONSTRUCTION MACHINERY CO., LTD., Tokyo (JP)
Appl. No. 18/023,465
Filed by HITACHI CONSTRUCTION MACHINERY CO., LTD., Tokyo (JP)
PCT Filed Mar. 1, 2022, PCT No. PCT/JP2022/008656
§ 371(c)(1), (2) Date Feb. 27, 2023,
PCT Pub. No. WO2022/186215, PCT Pub. Date Sep. 9, 2022.
Claims priority of application No. 2021-032298 (JP), filed on Mar. 2, 2021.
Prior Publication US 2023/0358014 A1, Nov. 9, 2023
Int. Cl. E02F 3/43 (2006.01); E02F 3/32 (2006.01); E02F 9/12 (2006.01); E02F 9/20 (2006.01); E02F 9/26 (2006.01); E02F 9/22 (2006.01)
CPC E02F 3/435 (2013.01) [E02F 3/32 (2013.01); E02F 9/123 (2013.01); E02F 9/2033 (2013.01); E02F 9/261 (2013.01); E02F 9/2228 (2013.01); E02F 9/2285 (2013.01); E02F 9/2292 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A work machine for loading a target object onto a loaded machine by performing a convey operation and a dump operation, the convey operation conveying the target object toward the loaded machine, the dump operation dumping the target object conveyed by the convey operation onto the loaded machine, the work machine comprising:
an upper swing body that swings with respect to a lower traveling body;
a working device mounted on the upper swing body and including a boom, an arm, and a bucket;
a posture detecting device that detects a turn angle of the working device and a swing angle of the upper swing body;
an object detecting device that detects a position of the loaded machine; and
a control device that controls operations of the working device and the upper swing body,
wherein the control device includes:
an allowable range calculation section that calculates an allowable range indicating a range in which the working device is movable in a height direction allowed in the swing operation of the upper swing body based on a detection result of the object detecting device;
an operation determining section that determines whether the work machine is under the convey operation or not based on a detection result of the posture detecting device and a detection result of the object detecting device;
an operation control section that controls a turn operation of the boom such that the position of the working device in the height direction remains within the allowable range when the work machine is determined to be under the convey operation,
wherein the allowable range calculation section calculates a range of the turn angle of the boom defined by a lower limit value and an upper limit value as the allowable range, the lower limit value of the position in the height direction allowing the working device to avoid interference with the loaded machine under the convey operation, the upper limit value of the position in the height direction obtained based on at least one of a dimension of the bucket, a capacity of the bucket, a type of the target object, or a specific gravity of the target object.