CN115110593A

CN115110593A - Apparatus and method for restricting movement of a work machine

Info

Publication number: CN115110593A
Application number: CN202210003292.9A
Authority: CN
Inventors: L·R·夏洛克
Original assignee: Deere and Co
Current assignee: Deere and Co
Priority date: 2021-03-18
Filing date: 2022-01-04
Publication date: 2022-09-27
Also published as: BR102021024163A2; DE102022200803A1; AU2022200957A1

Abstract

To an apparatus and method for limiting movement of a work machine. Specifically provided is a working machine including: a power conversion system, a ground engaging mechanism, a travel body, a movable structure, a user input, and a controller. The travelling body is coupled to a ground engaging mechanism that is controllable to move the travelling body relative to the ground surface. The movable structure has an actuator that is controllable to move the movable structure relative to the traveling body, wherein the actuator receives power through the power conversion system. The user input section generates a user input signal. The sensor generates a sensing signal. A controller having a processor is operable to execute a position control algorithm: receiving a user input signal; receiving a sensor signal; determining a position of the movable structure relative to the travelling body; and responsively controlling the power conversion system to control the ground engaging mechanism or the actuator to avoid interference of the boundary constraint with the sensed object.

Description

Apparatus and method for limiting movement of a work machine

Cross Reference to Related Applications

This application is a continuation-in-part application entitled "Apparatus and Method for Limiting Movement of a Work Machine," U.S. patent application Ser. No.17/249,258, filed on 25/2/2021, the entire disclosure of which is incorporated herein by reference.

Technical Field

The present disclosure relates to apparatus and methods for a work machine.

Background

Operators actively monitor the work being performed at the worksite during the work. However, the uneven environment and long time may cause operator fatigue. This can lead to inconsistencies, for example, when digging straight edges, if the operator fails to be vigilant. In particularly adverse situations, machine shutdowns may occur to correct any inaccuracies. Downtime can accumulate over time and become quite long. The high reliance on experienced operators may reduce efficiency due to potential challenges in finding employees. For example, moving a boom (boom) on an excavator with multiple controls may not be intuitive for a knowledgeable operator and require training in several man-hours. There is a possibility to reduce such dependency on the operator by improving the work machine and the operation method thereof. This is particularly relevant during travel of the work machine, which may need to be moved about various worksites.

Disclosure of Invention

This summary is provided to introduce a selection of concepts that are further described below in the detailed description and accompanying drawings. This summary is not intended to identify key features or essential features of the appended claims, nor is it intended to be used as an aid in determining the scope of the appended claims.

The present disclosure includes a work machine including a power source, a power conversion system, a traveling body, a movable structure, a user input portion, a positioning sensor, and a controller. The travelling body includes a ground-engaging mechanism (ground-engaging mechanism) coupled to and receiving power from the power conversion system, and the ground-engaging mechanism is controllable to move the travelling body along a travel path relative to the ground surface. The movable structure is coupled to the traveling body, and has an actuator that is controllable to move the movable structure relative to the traveling body. The user input is actuatable by an operator of the work machine, wherein the user input generates a user input signal to control the ground engaging mechanism. The positioning sensor is operable to generate a positioning sensing signal. The controller is in communication with the positioning sensor and the user input, wherein the controller includes a processor and a memory having a position control algorithm stored thereon. The processor is operable to execute a position control algorithm that performs the following. The processor receives a user input signal. The processor receives a positioning sensor signal including information related to movement of the movable structure relative to the traveling body to create the boundary constraint. The boundary limit is updated as the traveling body moves. The processor determining a position of the movable structure relative to the travelling body; and responsively controlling 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 the object sensed from the object-detection sensor.

The processor continuously determines the position of the movable structure relative to the travelling body as the travelling body moves.

The boundary constraint includes a vertical plane, wherein the vertical plane is displaced based on an outermost point (outmost point) of one or more of the traveling body and the movable structure. The vertical plane may be in concentric circles to enclose the work machine.

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

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

The position control algorithm may be preferred to (override) operator input commands when boundary limits interfere with or are anticipated to interfere with objects.

According to another aspect of the present disclosure, a method of responsively controlling a power conversion system to limit movement of a work machine as the work machine travels is provided, wherein the work machine includes a traveling body having a movable structure coupled to the traveling body. The method comprises the following steps: receiving a user input signal from a user input actuatable by an operator to control a ground engaging mechanism of a work machine; receiving a positioning sensor signal from a positioning sensor; determining a position of the movable structure relative to the travelling body; and responsively controlling the power conversion system to control one or more of the ground engagement mechanism and the boom position to avoid interference of the boundary limit with the object sensed from the object detection sensor. The method may further comprise the steps of: overrides (overrides) the user input signal when the boundary limit interferes with the object or is predicted to interfere with the object.

These and other features will become apparent from the following detailed description and the accompanying drawings, wherein various features are shown and described, by way of illustration. The disclosure is capable of other and different configurations and its several details are capable of modification in various other respects, all without departing from the scope of the present disclosure. Accordingly, the detailed description and drawings are to be regarded as illustrative in nature and not as restrictive or limiting.

Drawings

The detailed description of the drawings refers to the accompanying drawings in which:

fig. 1 is a side view of a work machine shown as an excavator (excavator) according to a first embodiment;

FIG. 2 is a schematic elevational view of the first embodiment in its environment;

FIG. 3 is a system diagram of a movement restricting member of the first embodiment shown in FIG. 1;

fig. 4 is a diagram of a motion envelope (motion envelope) of the first embodiment;

FIG. 5 is a schematic top view of the first embodiment in its environment;

FIG. 6 is a flow diagram of a method of limiting movement of a work machine;

FIG. 7 is a system diagram of controlling power conversion to avoid interference of boundary limits with sensed objects;

FIG. 8 is a schematic top view of the first embodiment with the vertical plane dynamically displaced as the work machine moves; and

FIG. 9 is a method of responsively controlling a power conversion system to limit movement of a work machine as the work machine travels.

Like reference numerals are used to refer to like elements throughout the several views.

Detailed Description

The embodiments disclosed in the above drawings and the following detailed description are not intended to be exhaustive or to limit the disclosure to these embodiments. Rather, several variations and modifications may be made without departing from the scope of the present disclosure.

As used herein, unless otherwise limited or modified, a list of elements separated by conjunctive terms (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 the 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 any combination of two or more of a alone, B alone, C alone, or A, B and C (e.g., a and B; B and C; a and C; or A, B and C).

As used herein, the term "controller" is a computing device that includes a processor and a memory. A "controller" may be a single device or alternatively a plurality of devices. The controller 180 may also refer to any hardware, software, firmware, electronic control components, processing logic, processing means, alone or in any combination, including without limitation: an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that execute one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality.

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

Fig. 1 is a side view of an exemplary embodiment of a work machine 100. The work machine 100 is embodied as an excavator which includes a movable structure 105 (upper frame) pivotally coupled to a traveling body 110 (undercarriage). Movable structure 105 may be pivotally coupled to travelling body 110 by means of a swing pivot such that movable structure 105 is able to rotate in yaw (yaw) direction 115. The traveling body 110 includes ground engaging mechanisms 120, including but not limited to tracks and wheels. The illustrated ground engaging mechanism 120 includes a pair of ground engaging tracks on opposite sides of the travel body 110 for movement along the ground surface 125. The movable structure 105 includes an operator compartment 130 where an operator controls the excavator (but this is not required, i.e., it may be done remotely). These controls 132 may include: steering wheels, levers, control pedals, control buttons, and a graphical user input interface with a display, which enables an operator to input commands 135. The movable structure 105 of the excavator further 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 the operator compartment. The large boom 140 is rotatable and forms a vertical arc with respect to the operator compartment 130 by actuating a large boom actuator 150 (first actuator). The handle 145 is coupled to the large boom 140 and is pivotable with respect to the large boom 140 by means of a handle actuator 155 (second actuator). Coupled to the end of the stick 145 is an accessory 160, wherein the accessory 160 is pivotable relative to the stick 145 by an accessory hydraulic cylinder 165. In an exemplary embodiment of the excavator, the movable structure 105 includes: operator station 130, boom 140, stick 145, and attachment 160.

Work machine 100 also includes a sensor 170 operable to generate a sense signal 175. The controller 180, which is in communication with the sensor 170, includes a processor 185 and a memory 190, the memory 190 having a position control algorithm 195 stored thereon. The processor 185 is operable to execute a position control algorithm 195 to: receiving a boundary command 200, the boundary command 200 establishing a defined boundary 205 with respect to the surface 125; receive a sensing signal 175 from the sensor 170; determining the position of the movable structure 105 relative to the travelling body 110; and when the position of the movable structure 105 is within the allowable distance 215 from the defined boundary 205, restricting movement of one of the ground engaging mechanism 120 of the travelling body 110 or the actuator of the movable structure 105 as the travelling body 110 moves along the travel path 210 to prevent the movable structure 105 from moving beyond the defined boundary 205.

As the traveling 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. Such monitoring may occur through a first determination 222 of the position of the travelling body 110 and a second determination 224 of the position of the movable structure 105 relative to both the travelling body 110 and the earth's surface 125.

The boundary command 200 may include one or more of the following: a pre-planned path 201, a worksite instruction 202, a series of waypoints (waypoints) 203, and an identification of a post-job surface 204.

In an exemplary embodiment, a series of waypoints 203 may be derived from a bird's eye view image (BEV), memory, or work machine that "follows" another work machine.

As shown in FIG. 3, in one exemplary application, the bucket attachment 160, which excavates a linear trench utilizing the components mentioned above, forms a linear travel feature 207. The linear travel feature 207 provides a simple single pedal mechanical control (i.e., operator input command 135) in which the excavator is constrained in movement to move along a straight line (i.e., defining boundary 205) for activities such as pipelaying, material handling, installation of underground utilities, and sapling placement. Movement of movable structure 105 relative to earth surface 125 and limiting movement of the movable structure within allowable distance 215 defining boundary 205 advantageously enables work machine 100 to move automatically or semi-automatically to form a trench. The operation becomes the cooperation in the semi-autonomous mode (between the operator and the work machine 100). As the operator moves the movable structure 105 within the allowable distance 215, the machine may effectively "lock in position" while following the boundary command 200. This system provides little flexibility for operation away from the path of travel 210. In one example, defined boundary 205 may be a straight line representing a trench edge or post-job surface 204, such as a straight line identified from sensed signals 175 processing a trench image as the work machine follows boundary command 200. In another example, the defined boundary 205 may be derived from the worksite instructions 202 (e.g., a path plan, a predetermined end point, a predetermined length) or a series of waypoints 203. The allowable distance 215 of the movable structure 105 (or more particularly the bucket attachment 160 in a trench building application) during engagement with the earth's surface 125 represents: once entered by the operator's command, the bucket attachment continues to maintain the area as the work machine 100 continues to move forward. This is a way to physically integrate the worksite instructions with the actual movement of the work machine. In the example shown in fig. 3, the travel path 210 extends in the front-to-rear direction 102 of the travel body 110. As shown in fig. 2, at least two degrees of processing occur, including: a first determination 222 of the movable structure 105 relative to the earth's surface 125, and a second determination 224 of the traveling body 110 relative to the movable structure 105. Operator input command 135 (e.g., single pedal in the above-disclosed application) may maintain a semi-autonomous mode in which the operator moves work machine 100 forward while processor 185 automatically determines how the work machine should move forward based on sensed signals 175 by adjusting ground engaging mechanism 120 and what adjustments must be made to movable structure 105 about yaw axis 115 (shown in fig. 5) by adjusting yaw angle 245.

Restricting the movement of the movable structure 105 may also include determining a movement envelope 214. Movement envelope 214 may lie in a plane extending radially from yaw axis 115 along a plane 232 of boom assembly 142. Fig. 4 is a line schematic of a movement envelope 214 associated with work machine 100 (in this case, an excavator) shown in fig. 1. The travel envelope 214 is defined by the range of possible travel of a point 225 that is proximate to a portion of the boom assembly 142 that is located away from the operator compartment 130. The position of point 225 is defined by the length of large boom actuator 150 and stick actuator 155. A perimeter 230 (as designated by the solid black line) of movement envelope 214 depicted by point 225 is defined by one or more of large boom actuator 150 and stick actuator 155 in a fully extended or retracted position. The perimeter of large boom cylinder movement is illustrated by a series of first geometries 235 defined by the mechanical linkages of boom assembly 142 (shown in fig. 1). The processor 185 may also be configured to refrain from moving the point 225 to 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 defined boundary 205. In an alternative simplified embodiment, the defined boundary 205 may simply be a vertical plane 250 at or outside of the outermost point of the movement envelope 214.

Turning now to fig. 5, a top view of work machine 100 is shown. As previously discussed, limiting the movement of the movable structure 105 may also include a yaw angle 245 with respect to the traveling body 110. More specifically, yaw angle 245 is a rotation of movable structure 105 about yaw axis 115 from zero degree boundary line 260. The zero degree boundary 260 may also be defined as a default alignment of the moveable structure 105 relative to the traveling body 110. In the illustrated excavator embodiment, the zero degree boundary line 260 extends in the fore-aft direction 102 of the travel body 110 (i.e., between each ground engaging mechanism 120). That is, boom assembly 142, which in the illustrated example of an excavator is part of movable structure 105, may be oriented in fore-aft direction 102 at zero degrees boundary 260. Zero degree boundary 260 and yaw axis 115 may depend on the type of work machine 100 and may be arbitrarily assigned.

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

In another embodiment, the sensor 170 includes a LIDAR imaging device 270 coupled to the work machine, wherein the position control algorithm 195 processes the sensing signals 175 to identify the defined boundary 205 from the point cloud 275. Another advantage of using the system includes: grade control of attachment 160 (e.g., in a backhoe loader) is maintained as work machine 100 cuts through (carve) terrain 125.

In another embodiment, the processor 185 receives an operator input command 135 actuating movement of one or more of the traveling body 110 and the movable structure 105. When movable structure 105 is within allowable distance 215 from defined boundary 205, position control algorithm 195 may override (override) operator input command 135, thereby placing the work machine in an automatic mode.

Alternatively, in the case of daytime suspended jobs, the operator input command 135 may be preferred over the position control algorithm 195 when the movable structure 105 is within the allowable distance 215 from the defined boundary 205.

Fig. 6 is a method 600 of limiting movement of the work machine 100 as the work machine 100 (as previously described) travels, wherein the work machine 100 includes a traveling body 110, the traveling body 110 having a movable structure 105 coupled to the traveling body 110. The controller 180 includes a processor 185 and a memory 190, wherein the processor performs the following steps using a position control algorithm 195. The method 600 comprises: in a first step 610, the processor 185 receives the boundary command 200. In a next step 620, the processor 185 receives the sensed signal 175 from the sensor 170, wherein the sensed signal 175 includes information related to movement of the movable structure 105 relative to the earth's surface 125. Step 620 may occur after, concurrently with, or before step 610. In step 630, the processor 185 may then determine the position of the moveable structure 105 relative to the travelling body 110. In step 640, the defined boundary 205 is determined.

Finally, in step 650, processor 185 restricts movement according to one or more of

steps

660, 670 and 680. Step 650 includes: movement of the ground engaging mechanism 120 coupled to the traveling body 110 is restricted. This may include changing the track speed to change the direction of movement. Step 670 includes: movement of actuators (150, 155, 165) controlling boom assembly 142 is limited within movement envelope 214. Step 680 includes: as the traveling body moves along the travel path, movement of the movable structure 105 is limited relative to the angular orientation of the movable structure 105 with respect to the traveling body 110 (i.e., the yaw angle 245). Each of these steps occurs 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. Upon receiving the sensing signal 175, the method 600 may include the steps of: the sensing signal 175 is processed to identify the defined boundary 205 from the stereo image. The method 600 may include the steps of: the sensing signal 175 is processed to identify the moving object while the sensing signal 175 is continuously updated. The method 600 further comprises the steps of: the sensing signal 175 is processed to identify a defined boundary from the point cloud.

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

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 overriding the movement limit when the movable structure 105 is within an allowable distance 215 from the defined boundary 205.

Turning now to fig. 7, a diagram of a power system 700 of work machine 100 is shown to help avoid interference of boundary limit 710 (shown in fig. 8) with sensed object 720. Power system 700 includes a power source 730. Power-conversion system 740 is driven by power source 730. Ground engaging mechanism 120 is coupled to power conversion system 750 and receives power 750 from power conversion system 750. The travelling body 110 is coupled to a ground engaging mechanism 120, wherein the ground engaging mechanism 120 is controllable to move the travelling body 110 relative to the ground surface 125. The movable structure 105 is coupled to the travelling body 110, wherein the movable structure 105 has an actuator 755 that is controllable to move the movable structure 105 relative to the travelling body 110. Actuator 755 is coupled to and receives power 750 through power conversion system 740. Actuator 755 may include a boom, a portion of a boom, or a rotating assembly of movable structure 105.

User input 760 generates user input signal 765 to control ground engaging mechanism 120. The user input 760 can be actuated by an operator of the work machine from the operator compartment 130 or remotely.

The position sensor 770 is operable to generate a position sense signal 775.

The controller 180, which is in communication with the positioning sensor 770 and the user input 760, includes a processor 185 and a memory 190, with a position control algorithm 195 stored on the memory 190. The processor 185 is operable to execute a position control algorithm 195 to receive the user input signal 765 and to receive the location sensing signal 775. The positioning sensor signal 770 will include information related to the movement of the movable structure 105 relative to the traveling body 110 to create the boundary limit 710. The boundary limit 710 is updated as the traveling body 110 moves. The processor 185 also determines the position of the movable structure 105 relative to the travelling body 110; and responsively controlling power-conversion system 740 to control one or more of ground-engaging mechanism 120 and actuator 755 to avoid interference of boundary limit 710 with object 720 sensed by object-detection sensor 725.

The ground engaging mechanism 120 may include a left side traction assembly 780 and a right side traction assembly 785, which left side traction assembly 780 and right side traction assembly 785 may be independently moved at different speeds to enable rotation of the traveling body 110.

The processor 185 may continuously determine the position of the moveable structure 105 relative to the traveling body 110 as the traveling body moves. The processor 185 may also continuously determine the position of the movable structure 105 relative to the sensed object 720 as the traveling body 110 moves.

Referring now to fig. 8, which shows a schematic top view of a work machine, boundary limit 710 includes vertical plane 250, where vertical plane 250 is displaced based on outermost point 790 of one or more of traveling body 110 and movable structure 105. The vertical plane 250 may be at or near a distance sufficiently free from the outermost point to avoid interference with the object 720 at any given time.

The shifting of the vertical plane 250 may include shifting the vertical plane 250 through concentric circles (e.g., 805a, 805b, 805 c). Each circle 805a may completely surround the work machine 100 or only surround a portion 805b of the work machine (i.e., form an arc) that is closest to a portion of the outermost point 790 of the movable structure 105.

In one embodiment, movable structure 105 may include only boom assembly 142.

In another embodiment, movable structure 105 may rotate about yaw axis 115.

Object detection sensor 725 may include a stereo imaging device 265 coupled to work machine 100. The position control algorithm 195 further processes the object detection sense signal 753 to identify the object 720 or the presence of the object 720 from the stereo image.

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

In the semi-autonomous mode, the position control algorithm 195 may override the user input signal 765 when the boundary constraint 710 interferes with or is anticipated to interfere with the object 720. In the autonomous mode, there may be no user input signal 765. However, using position control algorithm 195, processor 185 may continuously re-evaluate the relative positions of movable structure 105, traveling body 110, and nearby object 720.

Turning now to fig. 9, a method 900 is shown for responsively controlling power conversion system 740 to limit movement of work machine 100 as it travels. In step 910, controller 180 (which has a processor 185 and a memory 190, the memory 190 having a position control algorithm 195 stored thereon, wherein the processor 185 is operable to execute the position control algorithm 195) receives a user input signal 765 from a user input 760 that is actuatable by an operator to control the ground engaging mechanism 120 of the work machine 100. In step 920, the controller 182 receives a position sensing signal 775 from the position sensor 770. The positioning sense signal 775 includes information related to the movement of the movable structure 105 relative to the traveling body 110 that is used to create the boundary limit 710. In step 930, the boundary limits 710 are continuously updated as the traveling body 110 moves. In step 940, the controller 180 determines the position of the movable structure 105 relative to the traveling body 110; and responsively controlling power conversion system 740 to control one or more of ground engagement mechanism 120 and boom assembly 142 positions to avoid interference of boundary limit 710 with object 720 sensed from object detection sensor 725. In step 940, the controller 180 overrides the user input signal 765 when the boundary limit 710 interferes with the object 720 or is expected to interfere with the object.

The terminology used herein is for the purpose of describing particular embodiments or implementations and is not intended to be limiting of the disclosure. As used herein, a description in the singular is intended to include the plural unless the context clearly indicates otherwise. It will be further understood that the terms "has, have, having", "includes", "including", "comprises", "including" and/or "comprising", and the like, when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

When describing multiple implementations of a device, references "a" and "B" are used herein with reference numerals for clarity only.

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

While the above describes example embodiments of the present disclosure, these descriptions should not be considered in a limiting or restrictive sense. Rather, there are several variations and modifications which may be made without departing from the scope of the appended claims.

Claims

1. A work machine, the work machine comprising:

a power source;

a power conversion system driven by the power source;

a ground engaging mechanism coupled to the power conversion system and receiving power from the power conversion system;

a travelling body coupled to the ground engaging mechanism, the ground engaging mechanism controllable to move the travelling body relative to a ground surface;

a movable structure coupled to the traveling body, the movable structure having an actuator controllable to move the movable structure relative to the traveling body, the actuator coupled to and receiving power through the power conversion system;

a user input actuatable by an operator of the work machine, the user input generating a user input signal to control the ground engagement 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 comprising a processor and a memory having a position control algorithm stored thereon, wherein the processor is operable to execute the position control algorithm to:

receiving the user input signal;

receiving the positioning sensor signal, the positioning sensor signal including information related to movement of the movable structure relative to the travelling body to create a boundary limit, the boundary limit being updated with movement of the travelling body;

determining a position of the movable structure relative to the travelling body; and

responsively controlling the power conversion system to control one or more of the ground engagement 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 travelling body as the travelling body moves.

3. The work machine of claim 1, wherein the boundary limit comprises a vertical plane that is displaced based on an outermost point of one or more of the traveling body and the movable structure.

4. The work machine of claim 3, wherein the vertical plane encompasses 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 position control algorithm overrides the user input signal when the boundary limit interferes with or is anticipated to interfere with the object.

8. A method of responsively controlling a power conversion system to limit movement of a work machine as the work machine travels, the work machine including a traveling body and a movable structure coupled to the traveling body, the method comprising the steps of:

receiving, by a controller, a user input signal from a user input actuatable by an operator to control a ground engaging mechanism of the work machine;

receiving, by the controller, a positioning sensor signal from a positioning sensor, 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 being updated with movement of the traveling body;

determining, by a processor located on the controller, a position of the movable structure relative to the traveling body; and

processing, by the processor, the user input signal and the positioning sensor signal with a position control algorithm to responsively control the power conversion system to control one or more of the ground engagement mechanism and the actuator to avoid interference of the boundary limit with an object sensed from an object detection sensor.

9. The method of claim 8, wherein the step of determining the position of the movable structure relative to the travelling body as the travelling body moves is continuous.

10. The method of claim 8, wherein the boundary constraint comprises a vertical plane that is displaced based on an outermost point of the traveling body and the movable structure.

11. The method of claim 10, wherein the vertical plane encompasses the work machine.

12. The method of claim 8, wherein the ground engaging mechanism includes a left side traction assembly and a right side traction assembly.

13. The method of claim 8, wherein the movable structure is rotatable about a yaw axis.

14. The method of claim 8, wherein the movable structure comprises an operator compartment.

15. The method of claim 8, further comprising the steps of:

overriding, by the controller, the user input signal when the boundary limit interferes with or is predicted to interfere with the object.