Apparatus and method for limiting movement of a work machine

Abstract

A work machine comprising a power conversion system, a ground-engaging mechanism, a traveling body, a moveable structure, a user input, and a controller. The traveling body is coupled to the ground-engaging mechanism which is controllable to move the traveling body relative to the ground surface. The movable structure has an actuator controllable to move the movable structure relative to the traveling body wherein the actuator receives power through the power conversion system. The user input generates a user input signal. The sensor generates a sensory signal. A controller with a processor thereon is operable to execute a position control algorithm to receive a user input signal; receive a sensor signal, determine a position of the movable structure relative to the traveling body; and responsively control the power conversion system to control the ground-engaging mechanism or the actuator to avoid interference of a boundary limit with an object sensed.

What is claimed is: 
     
         1 . A work machine comprising:
 a power source;   a power conversion system driven by the power source;   a ground-engaging mechanism coupled to and receiving power from the power conversion system;   a traveling body coupled to the ground-engaging mechanism, the ground-engaging mechanism controllable to move the traveling body relative to a ground surface;   a moveable structure coupled to the traveling body, the moveable structure having an actuator controllable to move the moveable structure relative to the traveling body, the actuator coupled to and receiving power through the power conversion system;   a user input actuable by an operator of the work machine, the user input generating a user input signal to control the ground-engaging mechanism;   a positioning sensor operable to generate a positioning sensor signal;   a controller in communication with the positioning sensor and the user input, the controller including a processor and a memory having a position control algorithm stored thereon, wherein the processor is operable to execute the position control algorithm to:
 receive the user input signal; 
 receive the positioning sensor signal including information related to movement of the movable structure relative to the traveling body to create a boundary limit, the boundary limit updating as the traveling body moves; 
 determine a position of the movable structure relative to the traveling body; and 
 responsively control the power conversion system to control one or more of the ground-engaging mechanism and the actuator to avoid interference of the boundary limit with an object sensed from an object detection sensor. 
   
     
     
         2 . The work machine of  claim 1 , wherein the processor continuously determines the position of the movable structure relative to the traveling body as the traveling body moves. 
     
     
         3 . The work machine of  claim 1 , wherein the boundary limit comprises a vertical plane, the vertical plane shifting based on an outermost point of one or more of the traveling body and the moveable member. 
     
     
         4 . The work machine of  claim 3 , wherein the vertical plane encircles the work machine. 
     
     
         5 . The work machine of  claim 1 , wherein the ground-engaging mechanism comprises a left-side traction assembly and a right-side traction assembly. 
     
     
         6 . The work machine of  claim 1 , wherein the movable structure is rotatable about a yaw axis. 
     
     
         7 . The work machine of  claim 1 , wherein the moveable structure comprises a boom arm. 
     
     
         8 . The work machine of  claim 1 , wherein the object detection sensor comprises a stereo imaging apparatus coupled to the work machine, the position control algorithm further processing an object detection sensor signal to identify the object from a stereo image. 
     
     
         9 . The work machine of  claim 1 , wherein the object detection sensor comprises a LIDAR imaging apparatus coupled to the work machine, the position control algorithm further processing an object detection sensory signal to identify the object from a point cloud. 
     
     
         10 . The work machine of  claim 1 , wherein the position control algorithm overrides the user input signal when the boundary limit interferes with or anticipates interference with the object. 
     
     
         11 . A method of responsively controlling a power conversion system to limit a movement of a work machine as the work machine travels, the work machine including a traveling body and a moveable structure couple to the traveling body, the method comprising:
 receiving a user input signal by a controller to control a ground-engaging mechanism of the work machine from a user input actuable by an operator;   receiving a positioning sensor signal by the controller from a positioning sensor, the positioning sensor signal including information related to a movement of the moveable structure relative to the traveling body to create a boundary limit, the boundary limit updating as the traveling body moves;   determining a position of the movable structure relative to the traveling body by a processor located on the controller; and   processing, by the processor with a position control algorithm, the user input signal and the positioning sensor signal responsively controlling the power conversion system to control one or more the ground-engaging mechanism and a position of a boom arm to avoid interference of the boundary limit with an object sensed from an object detection sensor.   
     
     
         12 . The method of  claim 11 , wherein determining the position of the movable structure relative to the traveling body as the traveling body moves is continuous. 
     
     
         13 . The method of  claim 11 , wherein the boundary limit comprises a vertical plane, the vertical plane shifting based on an outermost point of the traveling body and the moveable member. 
     
     
         14 . The method of  claim 11 , wherein the vertical plane encircles the work machine. 
     
     
         15 . The method of  claim 11 , wherein the ground-engaging mechanism comprises a left-side traction assembly and a right-side motor traction assembly. 
     
     
         16 . The method of  claim 11 , wherein the movable structure is rotatable about a yaw axis. 
     
     
         17 . The method of  claim 11 , wherein the moveable structure comprises an operator cab. 
     
     
         18 . The method of  claim 11 , the object detection sensor comprises a stereo imaging apparatus coupled to the work machine, the position control algorithm further processing an object detection sensor signal to identify the boundary limit from a stereo image. 
     
     
         19 . The method of  claim 11  wherein the object detection sensor comprises a LIDAR imaging apparatus coupled to the work machine, wherein the position control algorithm further processing an object detection sensory signal to identify the boundary limit from a point cloud. 
     
     
         20 . The method of  claim 11  further comprising:
 overriding the user input signal by the controller when the boundary limit interferes with or anticipates an interference with the object.