Devices and methods for restricting the movement of operating machines

Abstract

This invention relates to apparatus and methods for restricting the movement of a working machine. Specifically, a working machine is provided, comprising: a power conversion system, a ground engagement mechanism, a traveling body, a movable structure, a user input unit, and a controller. The traveling body is coupled to the ground engagement 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 unit generates a user input signal. Sensors generate sensing signals. The controller, having a processor, is operable to execute a position control algorithm: receiving the user input signal; receiving the sensor signal; determining the position of the movable structure relative to the traveling body; and responsively controlling the power conversion system to control the ground engagement mechanism or the actuator, thereby avoiding interference between boundary constraints and the sensed object.

Description

[0001] Cross-references to related applications

[0002] This application is a continuation-in-part of U.S. Patent Application Serial No. 17 / 249,258, filed February 25, 2021, entitled “Apparatus and Method for Limiting Movement of a Work Machine,” the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] This disclosure relates to devices and methods for use with work machines. Background Technology

[0004] Operators actively monitor operations performed on the site during their shifts. However, uneven environments and prolonged periods can lead to operator fatigue. If operators fail to remain alert, this can result in inconsistencies, such as when digging straight edges. In particularly adverse situations, machine downtime may occur to correct any inaccuracies. Downtime can accumulate and become quite long. High reliance on experienced operators can reduce efficiency due to the potential challenges of finding staff. For example, using multiple controls to move the boom arm on an excavator may not be intuitive for a trainee operator and requires several hours of training. There is potential to reduce this reliance on operators by improving the working machine and its operating methods. This is particularly relevant during machine travel, when the machine may need to move between various work sites. Summary of the Invention

[0005] This summary is provided to introduce selected concepts further described below in the detailed description and accompanying drawings. This summary is not intended to identify key or essential features of the appended claims, nor is it intended to be used to help determine the scope of the appended claims.

[0006] This disclosure includes a working machine comprising a power source, a power conversion system, a traveling body, a movable structure, a user input unit, a positioning sensor, and a controller. The traveling body includes a ground-engaging mechanism coupled to and receiving power from the power conversion system, and capable of controlling the traveling body to move relative to the ground along a traveling path. The movable structure is coupled to the traveling body and has an actuator capable of controlling the movable structure to move relative to the traveling body. The user input unit is actuable by an operator of the working machine, wherein the user input unit generates user input signals to control the ground-engaging mechanism. The positioning sensor is operable to generate positioning sensing signals. The controller communicates with the positioning sensor and the user input unit, wherein the controller includes a processor and a memory storing a position control algorithm. The processor is operable to execute the position control algorithm, which receives user input signals. The processor receives positioning sensor signals, which include information related to the movement of the movable structure relative to the traveling body to create boundary constraints. These boundary constraints are updated as the traveling body moves. The processor determines the position of the movable structure relative to the traveling body and responsively controls the power conversion system to control one or more ground engagement mechanisms and actuators, thereby preventing interference between the boundary constraints and objects sensed from the object detection sensor.

[0007] The processor continuously determines the position of the movable structure relative to the moving body as the moving body moves.

[0008] The boundary constraint includes a vertical plane that is shifted based on the outermost point of one or more of the traveling body and movable structures. This vertical plane may be used to enclose the working machine in concentric circles.

[0009] The object detection sensor may include a stereo imaging device coupled to the working machine, wherein the position control algorithm processes the object detection sensor signal to identify objects from the stereo image.

[0010] The object detection sensor may include a LIDAR imaging device coupled to the operating machine, wherein the position control algorithm further processes the object detection sensor signal to identify objects from the point cloud.

[0011] When boundary constraints interfere with or are anticipated to interfere with an object, this position control algorithm can override operator input commands.

[0012] According to another aspect of this disclosure, a method is provided for responsively controlling a power conversion system to limit the movement of a working machine as it travels, wherein the working machine includes a traveling body having a movable structure coupled to the traveling body. The method includes the steps of: receiving a user input signal from a user input unit actuated by an operator to control a ground engagement mechanism of the working machine; receiving a positioning sensor signal from a positioning sensor; determining the position of the movable structure relative to the traveling body; and responsively controlling the power conversion system to control one or more of the ground engagement mechanism and boom position, thereby avoiding interference between boundary constraints and objects sensed from object detection sensors. The method may further include the step of: overriding the user input signal when the boundary constraints interfere with or are anticipated to interfere with an object.

[0013] These and other features will become apparent from the following detailed description and accompanying drawings, in which various features are shown and described by way of illustration. This disclosure is capable of other and different configurations, and certain details thereof can be modified in various other respects, all without departing from the scope of this disclosure. Therefore, the detailed description and accompanying drawings are to be regarded in nature as illustrative rather than limiting or restrictive. Attached Figure Description

[0014] The detailed description of the accompanying figures refers to the figures in which: Figure 1 This is a side view of a working machine shown as an excavator according to the first embodiment; Figure 2 This is a schematic front view of the first embodiment in its environment; Figure 3 yes Figure 1 A system diagram of the movement restriction component of the first embodiment is shown; Figure 4 This is a diagram of the movement envelope of the first embodiment; Figure 5 This is a schematic top view of the first embodiment in its environment; Figure 6 This is a flowchart of a method for restricting the movement of the machine. Figure 7 It is a system diagram for controlling power conversion to avoid interference between boundary constraints and the sensed object; Figure 8 This is a schematic top view of the first embodiment, wherein the vertical plane dynamically shifts as the working machine moves; and Figure 9 It is a method of controlling the power conversion system in response to the movement of the working machine to limit the movement of the working machine.

[0015] Throughout multiple figures, the same labels are used to indicate the same features. Detailed Implementation

[0016] The embodiments disclosed in the above figures and the detailed description below are not intended to be exhaustive or to limit this disclosure to these embodiments. Rather, several variations and modifications may be made without departing from the scope of this disclosure.

[0017] Unless otherwise limited or modified, as used herein, a list having elements separated by conjunctions (e.g., “and”) and preceded by the phrase “one or more of…” or “at least one of…” indicates a configuration or arrangement that potentially includes individual elements of the list or any combination thereof. For example, “at least one of A, B, and C” or “one or more of A, B, and C” indicates the possibility of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

[0018] As used herein, the term "controller" is a computing device that includes a processor and memory. A "controller" may be a single device or alternatively multiple devices. Controller 180 may also refer, individually or in any combination, to any hardware, software, firmware, electronic control components, processing logic, processing device, including, but not limited to: application-specific integrated circuits (ASICs) executing one or more software or firmware programs, electronic circuits, processors (shared, dedicated, or grouped), and memory, combinational logic circuits, and / or other suitable components that provide these functions.

[0019] The term "processor" is described and shown as a single processor. However, two or more processors may be used depending on the specific needs, desires, or particular implementation of the controller and these functions. A processor may be a component of the controller, part of an object detector, or alternatively part of another device. Typically, a processor can execute instructions and manipulate data to perform operations of the controller, including operations using the algorithms, methods, functions, processes, flows, and procedures described in this disclosure.

[0020] Figure 1This is a side view of an exemplary embodiment of the work machine 100. The work machine 100 is specifically implemented as an excavator, which includes a movable structure 105 (upper frame) pivotally coupled to a traveling body 110 (underframe). The movable structure 105 can be pivotally coupled to the traveling body 110 by means of a swing pivot, allowing the movable structure 105 to rotate in a yaw direction 115. The traveling body 110 includes a ground engagement mechanism 120, including but not limited to tracks and wheels. The illustrated ground engagement mechanism 120 includes a pair of ground engagement tracks on opposite sides of the traveling body 110 for movement along the ground surface 125. The movable structure 105 includes an operator's cab 130 for operator control of the excavator (but not required, i.e., this can be done remotely). These controls 132 may include: a steering wheel, control levers, control pedals, control buttons, and a graphical user interface with a display, allowing the operator to input commands 135. The excavator's movable structure 105 also includes a boom assembly 142 and a stick 145, the boom assembly 142 including a large boom 140 (a first segment of the boom assembly 142) adjacent to the operator's cab. The large boom 140 is rotatable and forms a vertical arc relative to the operator's cab 130 by actuating a large boom actuator 150 (a first actuator). The stick 145 is coupled to the large boom 140 and is pivotable relative to the large boom 140 by means of a stick actuator 155 (a second actuator). An attachment 160 is coupled to the end of the stick 145, wherein the attachment 160 is pivotable relative to the stick 145 by means of an attachment hydraulic cylinder 165. In an exemplary embodiment of the excavator, the movable structure 105 includes: an operator's cab 130, a large boom 140, a stick 145, and an attachment 160.

[0021] The working machine 100 also includes a sensor 170 operable to generate a sensing signal 175. A controller 180 communicating with the sensor 170 includes a processor 185 and a memory 190 storing a position control algorithm 195. The processor 185 is operable to execute the position control algorithm 195 to: receive a boundary command 200 establishing a defined boundary 205 relative to the ground surface 125; receive the sensing signal 175 from the sensor 170; determine the position of the movable structure 105 relative to the traveling body 110; and, when the position of the movable structure 105 is within an allowable distance 215 from the defined boundary 205, restrict the movement of either the ground engagement mechanism 120 of the traveling body 110 or the actuator of the movable structure 105 as the traveling body 110 moves along the travel path 210 to prevent the movable structure 105 from moving beyond the defined boundary 205.

[0022] As the moving body 110 moves along the travel path 210, the processor 185 continuously determines the position of the movable structure 105 relative to the defined boundary 205. This monitoring can be achieved through a first determination 222 of the position of the moving body 110 and a second determination 224 of the position of the movable structure 105 relative to both the moving body 110 and the ground surface 125.

[0023] Boundary commands 200 may include one or more of the following: pre-planned path 201, site instructions 202, a series of waypoints 203, and identification of the post-operation surface 204.

[0024] In an exemplary implementation, a series of waypoints 203 may be derived from bird's-eye view (BEV) images, memory, or a work machine “following” another work machine.

[0025] like Figure 3 As shown, in an exemplary application, a bucket attachment 160, utilizing the aforementioned components, excavates a straight trench, forming a straight-travel feature 207. The straight-travel feature 207 provides simple one-pedal mechanical control (i.e., operator input command 135), where the excavator is restricted to movement along a straight line (i.e., defined boundary 205) for activities such as pipe laying, material handling, installation of underground facilities, and seedling placement. The movement of the movable structure 105 relative to the ground surface 125 and the restriction of the movable structure's movement within an allowable distance 215 of the defined boundary 205 advantageously enable the working machine 100 to move automatically or semi-automatically to form a trench. Operation becomes a semi-autonomous collaborative mode (between the operator and the working machine 100). As the operator moves the movable structure 105 within the allowable distance 215, the machine can effectively "lock into position" while following the boundary command 200. The system provides little flexibility for operations deviating from the travel path 210. In one instance, the defining boundary 205 can be a straight line representing the edge of the trench or the post-work surface 204, such as a straight line identified from the sensing signal 175 processing the trench image as the working machine follows the boundary command 200. In another instance, the defining boundary 205 can be derived from site instructions 202 (e.g., path planning, predetermined endpoints, predetermined lengths) or a series of waypoints 203. The permissible distance 215 of the movable structure 105 (or more specifically, the bucket attachment 160 in trench construction applications) during engagement with the surface 125 represents the area that the bucket attachment continues to maintain as the working machine 100 continues to move forward once the operator's command has been entered. This is a way of integrating site instructions with the actual physical movement of the working machine. Figure 3In the example shown, the travel path 210 extends along the front-to-back direction 102 of the traveling body 110. For example... Figure 2 As shown, at least two levels of processing occur, including: a first determination 222 of the movable structure 105 relative to the ground surface 125, and a second determination 224 of the traveling body 110 relative to the movable structure 105. Operator input command 135 (e.g., the single-pedal in the disclosed application above) can maintain a semi-autonomous mode, wherein the operator moves the work machine 100 forward while the processor 185 automatically determines, based on sensing signals 175, how the work machine should move forward by adjusting the ground engagement mechanism 120, and must adjust the yaw angle 245 around the yaw axis 115 ( Figure 5 (As shown) What adjustments are made?

[0026] Limiting the movement of the movable structure 105 may also include defining a movement envelope 214. The movement envelope 214 may lie in a plane that extends radially from the yaw axis 115 along the plane 232 of the boom assembly 142. Figure 4 Is with Figure 1 The diagram shows a line drawing of the motion envelope 214 associated with the work machine 100 (in this case, an excavator). The motion envelope 214 is defined by the possible range of motion of point 225, which is located near the portion of the boom assembly 142 away from the operator's cab 130. The position of point 225 is defined by the lengths of the boom actuator 150 and the stick actuator 155. The perimeter 230 of the motion envelope 214 drawn by point 225 (as indicated by the solid black line) is defined by one or more of the boom actuator 150 and the stick actuator 155 in their fully extended or retracted positions. The perimeter of the boom hydraulic cylinder movement is shown by a series of first geometric configurations 235, which are defined by the boom assembly 142 (… Figure 1 The mechanical linkage (shown) defines the boundary. The processor 185 can also be configured to prevent point 225 from moving to multiple nodes within the movement envelope 214, where the actuator capacity is insufficient to move the payload, and the position control algorithm 195 has determined the limiting boundary 205. In an alternative simplified embodiment, the limiting boundary 205 can simply be a vertical plane 250 located at or outside the outermost point of the movement envelope 214.

[0027] Now turn to Figure 5The diagram shows a top view of the working machine 100. As previously discussed, limiting the movement of the movable structure 105 may also include a yaw angle 245 relative to the traveling body 110. More specifically, the yaw angle 245 is the rotation of the movable structure 105 about the yaw axis 115 from the zero-degree dividing line 260. The zero-degree dividing line 260 can also be defined as the default alignment of the movable structure 105 relative to the traveling body 110. In the illustrated excavator embodiment, the zero-degree dividing line 260 extends along the fore-and-aft direction 102 of the traveling body 110 (i.e., between the various ground engagement mechanisms 120). That is, in the illustrated example of the excavator, the boom assembly 142, which is part of the movable structure 105, can be oriented along the fore-and-aft direction 102 at the zero-degree dividing line 260. The zero-degree dividing line 260 and the yaw axis 115 can depend on the type of working machine 100 and can be arbitrarily assigned.

[0028] In one embodiment, sensor 170 includes a stereo imaging device 265 coupled to the working machine, wherein position control algorithm 195 processes the sensed signal 175 to identify a defined boundary 205 from the stereo image. Position control algorithm 195 further processes the sensed signal 175 to identify moving objects as the sensed signal 175 is continuously updated.

[0029] In another embodiment, sensor 170 includes a LIDAR imaging device 270 coupled to the working machine, wherein position control algorithm 195 processes the sensed signal 175 to identify a defined boundary 205 from the point cloud 275. Another advantage of using this system is that it maintains slope control of attachment 160 (e.g., in a backhoe loader) as the working machine 100 carves the ground surface 125.

[0030] In another embodiment, processor 185 receives operator input commands 135 that actuate one or more of the traveling body 110 and movable structure 105. When the movable structure 105 is within an allowable distance 215 from the defined boundary 205, position control algorithm 195 may override operator input commands 135, thereby placing the machine in automatic mode.

[0031] Alternatively, when operations are suspended during the day, operator input command 135 may take precedence over position control algorithm 195 when the movable structure 105 is within an allowable distance 215 from the defined boundary 205.

[0032] Figure 6Method 600 is a method 600 for restricting the movement of a work machine 100 (as previously described) as it moves, wherein the work machine 100 includes a traveling body 110 having a movable structure 105 coupled to the traveling body 110. A controller 180 includes a processor 185 and a memory 190, wherein the processor uses a position control algorithm 195 to perform the following steps. Method 600 includes: in a first step 610, the processor 185 receives a boundary command 200. In a next step 620, the processor 185 receives a sensing signal 175 from a sensor 170, wherein the sensing signal 175 includes information related to the movement of the movable structure 105 relative to a ground surface 125. Step 620 may occur after, simultaneously with, or before step 610. In step 630, the processor 185 may then determine the position of the movable structure 105 relative to the traveling body 110. In step 640, a defining boundary 205 is determined.

[0033] Finally, in step 650, processor 185 restricts movement according to one or more of steps 660, 670, and 680. Step 650 includes restricting movement of the ground engagement mechanism 120 coupled to the traveling body 110. This may include changing the track speed to change the direction of movement. Step 670 includes restricting movement of actuators (150, 155, 165) controlling the boom assembly 142 within the movement envelope 214. Step 680 includes restricting movement of the movable structure 105 relative to the angular orientation (i.e., yaw angle 245) of the movable structure 105 relative to the traveling body 110 as the traveling body moves along the travel path. These steps occur when the position of the movable structure 105 is within an allowable distance 215 from the defined boundary 205 to prevent the movable structure 105 from moving beyond the defined boundary 205. When the sensing signal 175 is received, method 600 may include the following steps: processing the sensing signal 175 to identify a defined boundary 205 from a stereo image. Method 600 may include the following steps: processing the sensing signal 175 while it is continuously updated to identify a moving object. Method 600 further includes the following step: processing the sensing signal 175 to identify a defined boundary from a point cloud.

[0034] In one implementation, step 690 of method 600 may include: receiving an operator input command 135 for actuating movement of the traveling body 110 or the movable structure 105; and controlling the operator input command 135 when the movable structure 105 is within an allowable distance 215 from the defined boundary 205.

[0035] In another embodiment, step 695 of method 600 may include: receiving an operator input command 135 for actuating movement of the traveling body 110 or the movable structure 105; and exceeding the movement limit when the movable structure 105 is within an allowable distance 215 from the defined boundary 205.

[0036] Now turn to Figure 7 A diagram of the power system 700 of the working machine 100 is shown to help avoid boundary restrictions 710. Figure 8 Interference with the sensed object 720 (shown). The power system 700 includes a power source 730. The power conversion system 740 is driven by the power source 730. A ground engagement mechanism 120 is coupled to and receives power 750 from the power conversion system 750. A traveling body 110 is coupled to the ground engagement mechanism 120, wherein the ground engagement mechanism 120 is controllable to move the traveling body 110 relative to the ground surface 125. A movable structure 105 is coupled to the traveling body 110, wherein the movable structure 105 has an actuator 755, which is controllable to move the movable structure 105 relative to the traveling body 110. The actuator 755 is coupled to and receives power 750 from the power conversion system 740. The actuator 755 may include a boom, a portion of the boom, or a rotating assembly of the movable structure 105.

[0037] The user input unit 760 generates a user input signal 765 to control the ground engagement mechanism 120. The user input unit 760 can be actuated by the operator of the working machine from the operator's room 130 or remotely.

[0038] The positioning sensor 770 is operable to generate a positioning sensing signal 775.

[0039] The controller 180, which communicates with the positioning sensor 770 and the user input unit 760, includes a processor 185 and a memory 190 storing a position control algorithm 195. The processor 185 is operable to execute the position control algorithm 195 to receive user input signals 765 and positioning sensing signals 775. The positioning sensor signals 770 include information related to the movement of the movable structure 105 relative to the traveling body 110 for creating a boundary constraint 710. The boundary constraint 710 is updated as the traveling body 110 moves. The processor 185 also determines the position of the movable structure 105 relative to the traveling body 110 and responsively controls the power conversion system 740 to control one or more of the ground engagement mechanism 120 and actuators 755, thereby preventing interference between the boundary constraint 710 and the object 720 sensed by the object detection sensor 725.

[0040] The ground engagement mechanism 120 may include a left traction assembly 780 and a right traction assembly 785, which can move independently at different speeds, thereby enabling the traveling body 110 to rotate.

[0041] The processor 185 can continuously determine the position of the movable structure 105 relative to the moving body 110 as the moving body 110 moves. The processor 185 can also continuously determine the position of the movable structure 105 relative to the sensed object 720 as the moving body 110 moves.

[0042] Now refer to Figure 8 The diagram shows a schematic top view of the working machine, where boundary constraints 710 include a vertical plane 250, which is displaced based on the outermost points 790 of one or more of the traveling body 110 and the movable structure 105. The vertical plane 250 may be located at or near a distance from the outermost points with sufficient clearance to avoid interference with the object 720 at any given time.

[0043] Displacement of the vertical plane 250 may be achieved by moving the vertical plane 250 through concentric circles (e.g., 805a, 805b, 805c). Each circle 805a may completely surround the working machine 100 or only surround a portion of the working machine 805b (i.e., forming an arc), a portion of the outermost point 790 closest to the movable structure 105.

[0044] In one embodiment, the movable structure 105 may consist only of the boom assembly 142.

[0045] In another embodiment, the movable structure 105 can rotate about the yaw axis 115.

[0046] The object detection sensor 725 may include a stereo imaging device 265 connected to the working machine 100. The position control algorithm 195 further processes the object detection sensing signal 753 to identify the object 720 or the presence of the object 720 from the stereo image.

[0047] The object detection sensor may include a LIDAR imaging device 270 coupled to the working machine 100, wherein a position control algorithm 195 processes the object detection sensing signal 753 to identify an object 720 or the presence of an object from a point cloud 275 derived from the LIDAR.

[0048] In semi-autonomous mode, when the boundary constraint 710 interferes with or anticipates interference with the object 720, the position control algorithm 195 can take precedence over the user input signal 765. In autonomous mode, the user input signal 765 may not be present. However, by using the position control algorithm 195, the processor 185 can continuously reassess the relative positions of the movable structure 105, the traveling body 110, and the nearby object 720.

[0049] Now turn to Figure 9 A method 900 is shown for responsively controlling a power conversion system 740 to limit the movement of a working machine 100 as the machine moves. In step 910, a controller 180 (which has a processor 185 and a memory 190 storing a position control algorithm 195, wherein the processor 185 is operable to execute the position control algorithm 195) receives a user input signal 765 from a user input unit 760 that can be actuated by an operator to control the ground engagement mechanism 120 of the working machine 100. In step 920, the controller 182 receives a positioning sensing signal 775 from a positioning sensor 770. The positioning sensing signal 775 includes information related to the movement of the movable structure 105 relative to the traveling body 110 for creating a boundary limit 710. In step 930, the boundary limit 710 is continuously updated as the traveling body 110 moves. In step 940, controller 180 determines the position of movable structure 105 relative to traveling body 110; and responsively controls power conversion system 740 to control the position of one or more of ground engagement mechanism 120 and boom assembly 142, thereby avoiding interference between boundary limit 710 and object 720 sensed by object detection sensor 725. In step 940, when boundary limit 710 interferes with object 720 or when interference with object 720 is anticipated, controller 180 overrides user input signal 765.

[0050] The terminology used herein is for describing specific embodiments or implementations and is not intended to limit this disclosure. As used herein, unless the context clearly indicates otherwise, the singular form of the description is intended to include the plural form. It should also be understood that any use of the terms "has," "have," "having," "include," "includes," "including," "comprise," "comprises," "comprising," etc., in this specification indicates the presence of the specified features, elements, steps, operations, components, and / or components, and does not exclude the presence or addition of one or more other features, elements, steps, operations, components, and / or combinations thereof.

[0051] When describing multiple implementations of a device, the references “A” and “B” used with labels in this document are for clarification only.

[0052] One or more steps or operations in any of the methods, processes or systems discussed herein may be omitted, repeated or reordered, and are within the scope of this disclosure.

[0053] While exemplary embodiments of this disclosure have been described above, these descriptions should not be considered restrictive or limiting. Rather, various changes and modifications may be made without departing from the scope of the appended claims.

Claims

1. A working machine, the working machine comprising: Power source; A power conversion system driven by the aforementioned power source; A ground connection mechanism, which is connected to and receives power from the power conversion system; The main body is a chassis connected to the ground engagement mechanism, which can control the movement of the main body relative to the ground surface. A movable structure includes an upper frame connected to the traveling body, the movable structure having an actuator capable of controlling the movable structure to move relative to the traveling body, the actuator being connected to the power conversion system and receiving power through the power conversion system; A user input unit, which can be actuated by the operator of the working machine, generates user input signals to control the ground engagement mechanism; A positioning sensor, which is operable to generate a positioning sensor signal; A controller that communicates with the positioning sensor and the user input unit, the controller including a processor and a memory, the memory storing a position control algorithm, wherein the processor is operable to execute the position control algorithm to perform the following operations: Receive the user input signal; The positioning sensor signal is received, the positioning sensor signal including information related to the movement of the movable structure relative to the traveling body in order to create boundary constraints, the boundary constraints being updated as the traveling body moves; Determine the position of the traveling body and the position of the movable structure relative to both the traveling body and the ground surface; and The power conversion system is responsively controlled to control one or more of the ground engagement mechanism and the actuators, thereby avoiding interference between the boundary constraints and the object sensed by the object detection sensor. The boundary constraint includes a vertical plane that is shifted based on the outermost point of one or more of the traveling body and the movable structure.

2. The operating machine according to claim 1, wherein, The processor continuously determines the position of the movable structure relative to the moving body as the moving body moves.

3. The operating machine according to claim 1, wherein, The vertical plane surrounds the working machine.

4. The operating machine according to claim 1, wherein, The ground engagement mechanism includes a left traction assembly and a right traction assembly.

5. The operating machine according to claim 1, wherein, The movable structure is capable of rotating about the yaw axis.

6. The operating machine according to claim 1, wherein, When the boundary constraint interferes with the object or is anticipated to interfere with the object, the position control algorithm is superior to the user input signal.

7. A method for responsively controlling a power conversion system to limit the movement of a working machine as it travels, the working machine including a traveling body and a movable structure coupled to the traveling body, the traveling body being a base frame coupled to a ground engagement mechanism of the working machine, the movable structure including an upper frame, the method comprising the following steps: The controller receives user input signals from a user input unit that can be actuated by the operator in order to control the ground engagement mechanism; The controller receives positioning sensor signals from positioning sensors, the positioning sensor signals including information related to the movement of the movable structure relative to the traveling body in order to create boundary constraints, the boundary constraints being updated as the traveling body moves; The position of the traveling body and the position of the movable structure relative to both the traveling body and the ground surface are determined by a processor located on the controller. as well as The processor uses a position control algorithm to process the user input signal and the positioning sensor signal to responsively control the power conversion system, thereby controlling one or more of the ground engagement mechanism and actuators to avoid interference between the boundary constraints and the object sensed by the object detection sensor. The boundary constraint includes a vertical plane that is shifted based on the outermost point of the traveling body and the movable structure.

8. The method according to claim 7, wherein, The steps of determining the position of the movable structure relative to the traveling body as the traveling body moves are continuous.

9. The method according to claim 7, wherein, The vertical plane surrounds the working machine.

10. The method according to claim 7, wherein, The ground engagement mechanism includes a left traction assembly and a right traction assembly.

11. The method according to claim 7, wherein, The movable structure is capable of rotating about the yaw axis.

12. The method according to claim 7, wherein, The movable structure includes an operator's room.

13. The method according to claim 7, further comprising the following step: When the boundary constraint interferes with the object or is anticipated to interfere with the object, the user input signal is controlled by the controller.

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