Patent ID: 11913198
Assignee: HITACHI CONSTRUCTION MACHINERY CO., LTD.
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E

Claim 0:
1. A work machine comprising:
a work device;
an actuator that drives the work device;
an operation device for operating the actuator; and
a controller that controls the actuator by any of two types of control that are first control to control the actuator on a basis of input to the operation device and second control to control the actuator on a basis of a distance between a predetermined design surface and the work device while the operation device is operated, wherein
the controller
sets a limiting value for a rate of change with time in a velocity of the actuator to a first rate of change in case that switchover between the two types of control is performed on a basis of input of a state switching signal and the velocity of the actuator changes from a velocity specified by the control before the switchover out of the two types of control to a velocity specified by the control after the switchover, and
changes the rate of change with time in the velocity of the actuator from the first rate of change to a second rate of change greater than the first rate of change in a case in which input to the operation device changes since the switchover between the two types of control is performed on the basis of the input of the state switching signal until the velocity of the actuator changes to the velocity specified by the control after the switchover.