US 12,123,438 B2
Work machine
Hisami Nakano, Tsuchiura (JP); Hiroaki Tanaka, Kasumigaura (JP); Yusuke Suzuki, Tsuchiura (JP); and Akihiro Narazaki, Tsukuba (JP)
Assigned to HITACHI CONSTRUCTION MACHINERY CO., LTD., Tokyo (JP)
Appl. No. 17/435,714
Filed by HITACHI CONSTRUCTION MACHINERY CO., LTD., Tokyo (JP)
PCT Filed Sep. 4, 2020, PCT No. PCT/JP2020/033672
§ 371(c)(1), (2) Date Sep. 2, 2021,
PCT Pub. No. WO2021/059931, PCT Pub. Date Apr. 1, 2021.
Claims priority of application No. 2019-173082 (JP), filed on Sep. 24, 2019.
Prior Publication US 2022/0154742 A1, May 19, 2022
Int. Cl. E02F 3/43 (2006.01); F15B 21/02 (2006.01)
CPC F15B 21/02 (2013.01) [E02F 3/43 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A work machine comprising:
a work device;
a plurality of actuators that drive the work device;
an operation device that operates the plurality of actuators; and
a controller that controls driving of at least one of the plurality of actuators,
wherein the controller is configured to
generate a supplemented design face that passes through a junction or above the junction between a first design face and a second design face adjacent to each other among a plurality of design faces prescribed on an operation plane of the work device, the supplemented design face having one end thereof positioned on the first design face and another end thereof positioned on the second design face,
set a curvature of the supplemented design face according to an operation amount of the operation device,
set a target face on the supplemented design face, and
execute semi-automatic excavation control to control at least one of the plurality of actuators such that a working point set on the work deice is maintained on the target face or above the target face.