Control method for agricultural or industrial work machine and agricultural or industrial work machine

Abstract

A method for controlling an agricultural or industrial working machine 1 having a drive unit 2 with means 3 enabling the autonomous movement of the machine within a working area and a tool 5 connectable to the drive unit 2 by means of connection and support means 4 and configured for performing a specific task, the method comprising the steps of: storing characteristic data characterizing the type of tool and technical features of the tool in an RFID unit 6; stably positioning the RFID unit 6 on the tool 5; pre-positioning a unit 7 for reading the RFID unit 6 on the machine; connecting the tool 5 to the machine by means of the connection and support means 4; automatically establishing a short-range wireless connection between the reading unit 7 and the RFID unit 6 in order to recognize that the tool is correctly connected and to transmit the characteristic data characterizing the type of the attached tool and the technical features of the tool to the reading unit 7; setting an operating unit 9 of the machine 1 providing mechanical or hydraulic power for operating moving parts of the tool 5 based on values ​​of the previously obtained characteristic data; enabling a working operation of the machine; and starting a process of using the machine 1.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to Italian Patent Application No. 102021000028451, filed November 9, 2021, the disclosure of which is incorporated herein by reference in its entirety.

[0002] The present invention relates to a control method for an agricultural or industrial work machine and an agricultural or industrial work machine. [Background technology]

[0003] Known agricultural or industrial working machines include, for example, road or forest maintenance machines, which have a drive unit equipped with a device (wheels or tracks) that allows the machine to move autonomously within a working area, and are equipped with tools that perform predetermined tasks within the working area, such as cutting, cleaning, collecting, leveling, etc.

[0004] Such work machines may be operated remotely or by an on-site operator via a remote control.

[0005] Tools are equipped with moving parts that are driven by the operating units of the working machine, such as motors, pumps, actuators, etc. Each tool is characterized by its own operating parameters, so that when changing a tool, it is necessary to change the settings of the operating units of the machine - a task that is often done manually and requires considerable time.

[0006] Manual configuration also represents a potential source of error, since incorrect settings of the actuating unit (e.g. if the settings are not updated after a tool change) can lead to tool malfunctions, which in some cases can lead to dangerous situations.

[0007] Therefore, in order to reduce the time required for the setting work and the associated human error, it is necessary to automatically set up the operating units of the work machines.

[0008] US Patent Application Publication No. 2020 / 073366 describes a method for a machine operator to adjust settings on a work machine, the method comprising: (a) an operator operates an operating member to set a maximum drive speed of an actuator or a motor; (b) storing the maximum speed setting made in step (a) in a dedicated memory incorporated in a computer of a control station of the handling equipment; (c) adjusting, at the control station, the power of the handling equipment to operate within the parameters of the control law such that the handling equipment does not exceed the stored maximum operating speed.

[0009] Also known is a type of radio-controlled handling equipment that can operate on very steep slopes (up to 60 degrees) and that can operate tools with different types of dangers, as described for example in EP 3606629. During operation of this machine, the operator must stay outside the dangerous working area. Since different tools (shredder, snow blower, chipper, etc.) can be operated with the same working machine, the shape, size and danger of the working area differs depending on the type of tool installed. For example, during the use of a shredder, there is a high risk that material and / or machine parts (such as tool fragments) will be scattered towards the operator or third parties, whereas during the use of a crusher, the operator must get close to feed the material to be crushed, and there is no risk of material scattering outside.

[0010] It is therefore necessary to implement safety systems that take into account the type of tool in order to ensure operation safety and eliminate the risk of accidents and injuries. [Prior art documents] [Patent documents]

[0011] [Patent Document 1] US Patent Application Publication No. 2020 / 073366 [Patent Document 2] European Patent No. 3606629 Summary of the Invention [Problem to be solved by the invention]

[0012] An object of the present invention is to provide a method for controlling an agricultural or industrial working machine of the type as claimed.An object of the present invention is also to provide an agricultural or industrial working machine of the type as claimed. [Brief description of the drawings]

[0013] [Figure 1] 1 is a perspective view of an agricultural or industrial work machine according to an embodiment of the present invention. FIG. [Diagram 2] FIG. 2 is a schematic diagram showing an operational configuration of the work machine; [Diagram 3] FIG. 4 is a schematic diagram showing another operating configuration of the work machine. [Figure 4] FIG. 4 is a schematic diagram showing another operating configuration of the work machine. [Diagram 5] 1 is a schematic plan view showing a dangerous work area of ​​a work machine according to an embodiment of the present invention. [Figure 6] FIG. 4 is a schematic diagram showing yet another operating configuration of the work machine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, non-limiting embodiments of the present invention will be described with reference to the drawings.

[0015] 1, an agricultural or industrial work machine 1 has a drive unit 2 driven by a heat absorbing motor or an electric motor (not shown), and the drive unit 2 is equipped with a device (a pair of tracks 3 in the illustrated example) that enables the machine to move autonomously within a work area. In a preferred embodiment of the invention, the work machine 1 is a road or forest maintenance machine (of a known type, and therefore will not be described in detail).

[0016] Typically, but not exclusively, the drive unit 2 is remote controlled and moves within the working area based on remote control signals and / or using data sensed on-site, for example data detected by sensors (cameras, proximity sensors, etc.) and used by an artificial intelligence program to perform a predetermined action.

[0017] 2 to 6, an operator M operating from a safe distance controls the wireless control device 10 and performs remote control. That is, the operator M performs operations outside the danger zone A, as will be described in more detail below.

[0018] In the illustrated example, the drive unit 2 is provided at the front with a connection support device 4 (shown diagrammatically, since it is of a known type) arranged to support a tool 5. The tool 5 is, for example, a crusher T1 arranged to operate on lawns and / or shrubs for mowing and trimming the shrubs. In each case, the machine 1 can perform various functions depending on the type of tool 5 attached to it. In the case of a crusher, the tool 5 is used to break up shrubs and grass, but different tools may also be provided. The machine 1 can also be fitted with telescopic arms, tillage implements, tools for treating objects and soil, etc. In other words, the tool 5 is selected from a group of different devices depending on the final purpose. Examples of tools 5 include, but are not limited to, crushers, log cutters, forklift systems, buckets, cutter bars, sprayers, cultivators, spades, lawnmowers, snow plows, etc.

[0019] The tool carrying platform may be provided with a tool carrier with upper attachments and the connection support device 4 may be arranged differently, for example further back or higher than shown.

[0020] According to the invention, the machine 1 comprises an RFID unit 6 (of known type) which is stably attached to the tool 5 and which exchanges data with a reading unit 7 (of known type) when the tool 5 is correctly positioned on the connection and support device 4. In this embodiment, the RFID unit 6 and the reading unit 7 are positioned opposite / close to each other or at a distance which is set to allow a two-way data exchange between the reading unit 7 and the RFID unit 6.

[0021] In the illustrated example, the reading unit 7 is arranged in the connection and support device 4, but it may also be located in another position.

[0022] The reading unit 7 communicates with a control unit 8 of the machine 1, which controls operating units 9 of the machine 1, such as motors, pumps, actuators (shown diagrammatically) that are configured to provide mechanical or hydraulic power for operating moving parts of the tool 5.

[0023] As is well known, RFID (Radio-Frequency IDentification) is a technology for identifying, verifying and / or automatically storing information at a remote location, and RFID units are based on data storage in passive electronic devices, whether fixed or portable, that are in close proximity to an active device (here a reading unit 7) and can respond to a call.

[0024] The identification and exchange of information is carried out using radio frequencies. One of the latest implementations of RFID is the short-range wireless communication standard, which allows data exchange between two devices at a distance of about 10 cm at a transmission speed of about 424 kbps.

[0025] For example, the following data is stored in the RFID unit 6: Tool serial number (e.g. alphanumeric code), Tool name (such as the product name specified by the manufacturer), Tool model number (e.g. unique identification code assigned by the manufacturer), Tool operating time (more on this later), Data characterizing the type of tool 5, such as a machine compatibility code (obtained as a reference when the control unit analyses the compatibility of tool 5 with machine 1 in order to ensure the user's safety). Safety feature codes (codes that identify different settings of machine 1 depending on the tool, each code may be specific to one tool or common to tools with similar "safety requirements"). -Setup run or response of machine 1 (Dynamic, Natural, Sensitive). the speed of the motor 9 that supplies the mechanical power to the tool (the motor 9 is arranged in the drive unit 2); the direction of rotation of the pump 9 which supplies hydraulic power to the tool (the pump 9 is arranged in the drive unit 2); · technical characteristics of the tool 5, such as the flow rate of the pump 9 that supplies hydraulic power to the tool (the pump 9 is arranged in the drive unit 2);

[0026] Specifically, the safety function code automatically sets safe work settings for activating safety measures of the machine 1. The safe work settings include a combination of tolerance ranges for predetermined work parameters, and the respective safe work measures are activated when the actual values ​​of one or more work parameters are outside the relative tolerance ranges.

[0027] Preferably, the safe work settings specify the shape and / or extent and / or location of all danger zones A around the tool 5 and / or machine 1 in use so as to activate safety measures or to stop the machine 1 and / or the tool 5 in case of a dangerous situation. For example, if the machine 1 is remotely controlled via the cloud, the dangerous situation may be the detection of an obstacle (such as a utility pole or a rock) in the danger zone A. Also, if the machine 1 is a radio-controlled vehicle, the dangerous situation may be the detection of an operator M in the danger zone A.

[0028] The safety measures are selected from a group of different safety measures depending on the particular combination of actual operating parameters of the machine. For example, the safety measures may include one or more of the following steps (the order of the steps is merely exemplary and not chronological; these steps may be performed simultaneously or in a different order): -Slow down the tool - Reduce the load on the tool - Change the operating conditions of machine 1 (forward speed, forward direction, track width expansion, etc.) - Stop tool 5 -Stop Machine 1

[0029] In the example shown in Figures 2 and 3, the machine 1 can move while operating the tool 5 even on a slope with a gradient α of 60 degrees. In such operating conditions, there is a potential risk of the operator M being crushed in case of an error or a rollover (the risk increases if the machine 1 moves forward at full speed and the tool 5 operates at full load). Furthermore, as in the example shown in Figures 2 to 5, if the tool 5 is a crusher T1, there is a high risk of material and / or machine parts (such as pieces of the tool) scattering towards the operator M or third parties. In fact, even if the crusher T1 is equipped with passive type protection (straps, metal sheet protective casing, chains, rubber strips), there is a risk of material scattering outwards. This risk can be even higher by using the machine 1 on slopes with a large gradient α.

[0030] Preferably, according to the invention, detection of the type of tool 5 automatically determines the shape and size of a danger zone A around the machine 1, within which the operator M cannot enter while the machine 1 and / or the tool 5 are in operation.

[0031] Preferably, the control unit 8 of the machine 1 is configured to calculate in real time the minimum safe distance R that should be maintained from a desired reference point G of the machine 1 (eg the centre of gravity).

[0032] Depending on the type of tool 5 mounted on the machine 1 and the type of immediate use situation (whether the machine 1 is moving uphill or downhill, the width of the support base in the case of vehicles with variable track width), the minimum distance R may vary depending on the position of the danger area A relative to the machine 1. For example, if the machine 1 is moving forward on the support surface π without a tool 5 mounted, there is a danger area A (A1) in front of the machine 1 and a danger area A (A2) behind it.

[0033] 5 and 6, during use, the wireless control device 10 is directly operated by the operator M, so it is assumed that the position of the operator M corresponds to the position of the wireless control device 10. As a variant not shown, the machine 1 may be equipped with a different detection system, for example a camera, an infrared sensor, a proximity sensor or a sensor (such as a wristband) wearable by the operator M that communicates wirelessly with the machine 1.

[0034] 5 and 6, the control unit 8 of the machine 1 is also configured to detect in real time the relative position (forward, backward, right, left, etc.) between the wireless control device 10 (i.e. the operator, or more generally an external object) and an X, Y, Z coordinate system (in the illustrated example, X is the longitudinal axis, Y is the horizontal axis, and Z is the vertical axis) with a reference point G as the origin. Depending on the relative position between the wireless control device 10 and the reference point G, the minimum safe distance R may change. Note that the illustrated coordinate system X, Y, Z is exemplary and not intended to be limiting, and the position of the reference point G may change.

[0035] Furthermore, since the machine 1 of the invention can also operate on gradients with a steep inclination α of 60 degrees, for safety reasons the operator M must not be located downstream of the machine 1, i.e. at a lower altitude than the machine 1. For this reason, the machine 1 is preferably equipped with an inclinometer 11 for detecting, in the coordinate system X, Y, Z, the inclination α1 of the machine 1 relative to the transverse axis Y (FIG. 3) and / or the inclination α2 of the machine 1 relative to the longitudinal axis X (FIG. 2). The determination of the shape and width of the danger zone A depends on both the type and magnitude of the inclination α1 and / or the inclination α2.

[0036] Preferably, the control unit 8 combines data regarding the tilt α1 and / or tilt α2 with data regarding the real-time position of the wireless control device 10 (or more generally, an obstacle) to detect dangerous situations and initiate safety measures if necessary.

[0037] In particular, the determination of the danger zone A is also a function of the inclination α1 and / or the inclination α2 of the machine 1. Indeed, the scattering of material differs depending on whether it occurs while the machine 1 is moving uphill / downhill or while working tilted to the side.

[0038] The machine 1 may also operate a tool 5 that requires a large working load. In this case, it is best for the machine 1 not to advance at its maximum speed while the tool 5 is operating at maximum load. Preferably, the permissible advance speed and permissible load of the tool 5 vary depending on the instantaneous tilt α1 and / or tilt α2 of the machine 1.

[0039] Figures 2 to 5 illustrate some possible dangers for the operator M while operating the machine 1. In these figures, the operator M marked with an X indicates a schematic danger zone A in each operating mode. Figures 2 and 3 show the machine 1 working on a slope. In this case, the danger zone A is the area downstream of the machine 1.

[0040] FIG. 4 illustrates the risk of material being thrown towards an operator M positioned in front of the tool 5 .

[0041] FIG. 5 is a plan view showing the danger zone A around the machine 1 operating the crusher T1. In FIG. 5, danger zones A1, A2, A3 with different danger levels are shown in different colors. Preferably, the control unit 8 of the machine 1 selects a safety measure from a group of different safety measures for each working parameter depending on the danger level of the danger zone A. In this way, it is preferable to be able to adjust the intervention, i.e. the appropriate combination of working parameters, depending on the actual needs. This avoids inefficiencies such as unnecessary machine stoppages and dangerous situations that may be problematic for the operator M. Indeed, in some situations (e.g. on a very steep slope) it may be desirable to stop only the tool 5 and allow the machine 1 to move forward or backward.

[0042] 6 shows a variant in which the tool 5 is a crusher T2. In this case, the operator M must be able to freely access the crusher T2 in order to input the material to be processed. This means that when using the crusher T2, the area close to the machine 1 is essentially a danger area A to prevent the operator M from being run over.

[0043] Also in the case of the crusher T2, the forward speed and / or loading speed of the machine 1 may be adjusted depending on the inclination α if the machine is on a slope. Preferably, the machine 1 is equipped with an alarm 12 arranged to indicate a dangerous situation by means of light, sound, etc. The control unit 8 is arranged to activate the alarm 12 depending on the type of the attached tool 5 and the instantaneous use of the machine 1.

[0044] The method of the present invention includes the following operations.

[0045] Property data characterising the type of tool 5 and the technical characteristics of the tool 5 are stored by known writing techniques in the RFID unit 6 which is stably arranged on the tool 5 .

[0046] When the tool 5 is connected to the machine 1 by the connection support device 4, the RFID unit 6 and the reading unit 7 are positioned opposite / close to each other, and a short-range wireless connection is automatically established between the reading unit 7 and the RFID unit 6 to recognize that the tool 5 is correctly connected.

[0047] Thereby, characteristic data characterizing the type of the fitted tool 5 as well as the technical characteristics of the tool 5 are read by the reading unit and transferred to the control unit 8. The control unit 8 sets the actuation unit 9 based on the values ​​of the previously obtained characteristic data. Once this step is finished, the machine 1 is ready for work and the machine use process can begin. The machine adjusts the settings of the actuation unit 9 fully automatically, and therefore quickly and safely.

[0048] Thus, possible manual incorrect settings of the actuating unit 9 of the machine 1 (eg too high rotation speed of the motor, too high pressure generated by the pump, etc.) which could damage the tool 5 are prevented.

[0049] When the operator M operates the machine 1 on site by means of the wireless control 10, the automatic recognition of the safety function code ensures that the machine 1 operates in perfect safety, preferably by setting safety measures depending on the type of tool 5 mounted. The safety function code also determines the shape and / or extension and / or position and / or danger level of the danger area A in combination with data relating to the tool 5 and to the immediate work parameters (forward speed of the machine 1, load on the tool 5, inclination of the machine 1, extension of the support base of the machine 1, etc.).

[0050] The safety measure may be a slowdown and / or an automatic stop of the tool 5 and / or the machine 1. The safety measure may be an automatic activation of an alarm signal (light and / or sound).

[0051] The RFID unit 6 does not have a battery and is not affected by external factors such as water. Also, RFID units are very cheap (a few euros). Therefore, in case of failure, the RFID unit 6 can be easily and cheaply replaced.

[0052] In addition, the time counter is operated after the start of the use process and stopped at the end of the use process to count the continuous use time T uc In this case, a step of measuring the continuous use time T uc is the total usage time T including the total continuous usage time in a series of processes. ut are accumulated and stored in the RFID unit.

[0053] Furthermore, a step may be provided in which any intrusion into the danger zone A (by the operator M and / or an obstacle) during operation of the machine 1 and / or the tool 5 is stored in the RFID unit.

[0054] A step may also be provided of storing in the RFID unit the activation of a safety measure during use of the machine 1 and / or the tool 5. In this case, the instantaneous operating parameters which caused the activation of the safety measure may be stored in the RFID unit.

[0055] If the reading unit 7 fails to read the RFID unit 6, the tool 5 will not be recognised and starting up and therefore use of the machine 1 will be prevented. This feature provides an additional safety measure, as fitting of an incompatible tool 5 is prevented.

[0056] The RFID unit 6 may be read by another mobile terminal (e.g., a smartphone, not shown) equipped with an application for maintaining the accessories and managing the status and information recorded in the RFID unit 6. In this way, the tool 5 can be identified and the total usage time T ut It can read the vehicle's status to determine if scheduled maintenance needs to be performed, and record in the app that maintenance has been performed for sharing electronic logs.

[0057] The continuous usage time is stored in the RFID unit 6, so you can use the app to get information about the number of working hours. ut and instantly know when tool maintenance is needed.

[0058] Any intrusion into the danger zone A during the operation of the tool 5 is stored in the RFID unit so that control actions can be carried out subsequently regarding the correct use of the machine 1 and / or the tool 5 (use by the operator M or remotely, as well as the possibility of encountering an obstacle).

[0059] Furthermore, since the safety measures are stored in the RFID unit, it is possible to verify after the fact the factors that may have caused a dangerous situation or a risk of breakdown of the machine 1 and / or the tool 5. This data can therefore be advantageously used to schedule maintenance work.

[0060] An accidental release of the tool 5 can also be detected if a previously established connection between the reading unit 7 and the RFID unit 6 is lost and may later be re-established. This accidental disconnection is stored in the RFID unit 6. In this case, the operator remotely controlling the machine may be informed via the channel used for remote control. An accidental release of the tool 5 can occur when an external object accidentally presses the mount / release button (not shown) of the tool 5. In this way, a danger signal is sent in the event of an accidental event.

[0061] The system may be sold as a KIT that can be applied to existing machines / tools. [Explanation of symbols]

[0062] 1. Work Machinery 2 Drive unit 3 Tracks 4 Connection support device 5 Tools 6 RFID Unit 7 Reading unit 8 Machine Control Unit 9. Machine operating unit 10 Radio control device 11 Inclinometer 12 Alarm A, A1, A2 Danger Areas T1 Crusher T2 Crusher M Operator R Distance G reference point X Longitudinal Axis Y Horizontal Axis Z vertical axis α, α1, α2 tilt

Claims

1. 1. A method for controlling an agricultural or industrial work machine (1) having a drive unit (2) with means (3) enabling the machine to move autonomously within a work area, and a tool (5) connectable to said drive unit (2) by means of connection support means (4) and configured to perform a specific task, comprising: (a) storing characteristic data characterizing the type of tool (5) and the technical characteristics of said tool in an RFID unit (6); (b) stably placing said RFID unit (6) on said tool (5); (c) pre-positioning a reading unit (7) in the machine for reading the RFID unit (6); (d) connecting said tool (5) to said machine by said connection support means (4); (e) automatically establishing a short-range wireless connection between the reading unit (7) and the RFID unit (6) in order to recognize that the tool is correctly connected and to transmit to the reading unit (7) the characteristic data characterizing the type of the attached tool and the technical features of the tool; (f) setting the operating unit (9) of the machine, which provides mechanical or hydraulic power for actuating the moving parts of the tool (5), based on the values ​​of the characteristic data obtained in step (e); (g) enabling operation of the machine upon completion of step (e); (h) starting the process of using the machine (1), (i) setting a safe work setting including a combination of tolerances for predetermined work parameters based on the values ​​of the characteristic data obtained in step (e); (l) detecting the actual value of said operating parameter in use; (m) initiating a safety measure or shutdown of the machine (1) and / or the tool (5) if the actual value of one or more of said operating parameters is outside a relative tolerance range.

2. The machine (1) is remotely controlled by a wireless control device (10), 2. The method according to claim 1, wherein the safe work settings identify the shape and / or extent and / or location and / or degree of danger of all danger zones (A, A1, A2, A3) around the tool (5) and / or the machine (1) so that safety measures are activated or the machine (1) and / or the tool (5) is stopped if an operator (M) enters the danger zone (A, A1, A2, A3).

3. 3. The method of claim 2, wherein the operating parameters include a minimum distance and / or a relative position between the wireless control device (10) and the machine (1).

4. 3. The method according to claim 2, wherein the work parameters include a distance (R) between the wireless control device (10) and a predetermined reference point (G) of the machine (1) projected onto a support surface of the machine (1).

5. The machine (1) has a longitudinal axis (X) and a transverse axis (Y), 2. The method according to claim 1, wherein the operating parameters comprise a value of a first inclination (α1) of the machine (1) relative to the transverse axis (Y) and / or a value of a second inclination (α2) of the machine (1) relative to the longitudinal axis (X) and determined danger areas (A, A1, A2, A3).

6. 2. The method according to claim 1, wherein the work parameters comprise the advance speed of the machine (1) and / or the work load of the tool (5).

7. (d) starting a time counter after the start of the use process and stopping the counter at the end of the use process to measure the continuous use time of the machine; The method of claim 1 , further comprising the step of accumulating a total usage time including the sum of the continuous usage times in a series of steps, and storing the continuous usage time in the RFID unit.

8. The method of claim 7 , wherein the step of saving the continuous usage time is performed periodically at preset time intervals.

9. 2. The method of claim 1, wherein failure of the reading unit (7) to read the RFID unit (6) prevents activation and use of the machine (1).

10. detecting the loss of a pre-established data connection between the reading unit (7) and the RFID unit (6) and detecting an accidental release of the tool (5); The method of claim 1, further comprising the step of: storing the accidental disconnection in the RFID unit (6).

11. a drive unit (2) equipped with means (3) enabling the autonomous movement of the machine within a working area; a tool (5) connectable to said drive unit (2) by means of a connection support means (4) and adapted to perform a specific task; and an actuation unit (9) for providing mechanical or hydraulic power for actuating the moving parts of the tool (5), an RFID unit (6) stably arranged on the tool (5) and storing characteristic data characterizing the type of tool and the technical characteristics of the tool; a reading unit (7) for reading the RFID unit (6) located on the machine, said reading unit (7) and said RFID unit (6) automatically establish a short-range wireless connection when said tool is properly connected in order to transmit characteristic data characterizing the type of tool attached and the technical features of said tool to said reading unit (7); The setting of the machine (1) is configured based on the value of the characteristic data stored in the RFID unit (6), The machine (1) is configured so that a use process of the machine (1) is started after the setting is performed, the settings include safe work settings that include a combination of tolerances for predetermined work parameters; 10. The working machine of claim 9, wherein the machine (1) is configured to initiate a safety measure or to shut down the machine (1) and / or the tool (5) if the actual value of one or more of the working parameters is outside a relative tolerance range.

12. The machine (1) can be operated by an operator (M) using a wireless control device (10), the wireless control device (10) exchanges data and / or signals with the machine (1) in order to instantly detect the mutual positions of the wireless control device (10) and the machine (1); the safe work settings identify the shape and / or location and / or extent and / or degree of danger of all danger zones (A, A1, A2, A3) around the machine (1); 12. A work machine according to claim 11, wherein the machine (1) is configured to initiate a safety measure if the immediate position of the wireless control device (10) is within a danger zone (A, A1, A2, A3).

13. 13. A work machine according to claim 12, comprising an inclinometer (11) for detecting the inclination (α, α1, α2) of the machine (1).

14. 13. A work machine according to claim 12, comprising at least one alarm system (1) for issuing an alarm signal if the wireless control device (10) enters a danger zone (A, A1, A2, A3).

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