Work machine and work machine control method

Abstract

To provide a work machine capable of suppressing falling of a work machine positioned on a sloped face caused by an operation of the work machine.SOLUTION: A work machine 1 comprises a work portion 3, a main body portion 2, a detection portion 12, and a control portion 11. The work portion 3 performs a work. The main body portion 2 supports the work portion 3. The detection portion 12 detects a posture of the main body portion 2. The control portion 11 performs restriction processing which restricts at least one of an operation of the work portion 3 and an operation of the main body portion 2 based on detection results of the detection portion 12.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a work machine. [Background technology]

[0002] The hydraulic excavator described in Patent Document 1 is equipped with an anti-toppling device. The anti-toppling device calculates the position of the center of gravity of the hydraulic excavator. The anti-toppling device calculates a center of gravity safe zone. The anti-toppling device outputs a warning when the center of gravity position approaches the boundary of the center of gravity safe zone. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 07-207711 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in a work machine such as the hydraulic excavator described in Patent Document 1, the movement of the work machine when positioned on a slope is not restricted, and therefore it is not possible to prevent the work machine from tipping over due to the movement of the work machine.

[0005] The present invention has been made in view of the above-mentioned problems, and has an object to provide a work machine that can prevent the work machine from tipping over due to the work machine operating in an inclined state. [Means for solving the problem]

[0006] According to one aspect of the present invention, a work machine includes a working unit, a main body unit, a detection unit, and a control unit. The working unit performs work. The main body unit supports the working unit. The detection unit detects the attitude of the main body unit. The control unit executes a restriction process to restrict at least one of the operation of the working unit and the operation of the main body unit based on the detection result of the detection unit. [Effects of the Invention]

[0007] According to the work machine of the present invention, it is possible to prevent the work machine from tipping over due to the work machine operating in an inclined state. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing a work machine according to an embodiment of the present invention. [Figure 2] 1 is a block diagram showing a hydraulic configuration and an electrical configuration of a work machine according to an embodiment of the present invention. FIG. [Figure 3] FIG. 3 is a diagram showing an example of processing executed by a control unit of a work machine according to the present embodiment. [Figure 4] 1 shows a work machine according to an embodiment of the present invention. [Figure 5] Fig. 5(a) shows a work machine positioned on a slope, and Fig. 5(b) is a plan view of the work machine of Fig. 5(a). [Figure 6] Figure 6(a) shows another view of the work machine positioned on a slope, and Figure 6(b) is a plan view of the work machine of Figure 6(a). [Figure 7] Figure 7(a) shows another view of the work machine positioned on a slope, and Figure 7(b) is a plan view of the work machine of Figure 7(a). [Figure 8] FIG. 4 is a diagram showing a pattern table of a revolving body of the work machine according to the present embodiment. [Figure 9] Fig. 9(a) shows a work machine positioned on a slope, Fig. 9(b) is a plan view of the work machine of Fig. 9(a) in a first position, and Fig. 9(c) is a plan view of the work machine of Fig. 9(a) in a second position. [Figure 10] Fig. 10(a) shows a work machine positioned on a slope, Fig. 10(b) is a plan view of the work machine of Fig. 10(a) in a third position, and Fig. 10(c) is a plan view of the work machine of Fig. 10(a) in a fourth position. [Figure 11] FIG. 4 is a diagram showing a pattern table of a working unit of a work machine according to the present embodiment. [Figure 12]4 shows an image displayed on the display unit of the notification unit of the work machine according to the present embodiment. [Figure 13] 3 shows a flowchart of processing executed by a control unit of a work machine according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. Note that duplicated explanations may be omitted as appropriate. In addition, the same or equivalent parts in the drawings will be designated by the same reference numerals, and explanations will not be repeated.

[0010] [Embodiment 1] First, a work machine 1 according to an embodiment of the present invention will be described with reference to Figure 1. The work machine 1 includes, for example, a construction machine or an agricultural machine, and may be either self-propelled or fixed. Below, this embodiment will be described using an example in which the work machine 1 is a hydraulic excavator. A hydraulic excavator is an example of a construction machine.

[0011] Fig. 1 is a diagram showing a work machine 1 according to this embodiment. As shown in Fig. 1, the work machine 1 according to this embodiment includes a main body section 2, a working section 3, and an engine section 6. The main body section 2 supports the working section 3. The main body section 2 includes a revolving body 4 and a running body 5.

[0012] The rotating body 4 is supported by the running body 5. Specifically, the rotating body 4 is disposed on the upper part of the running body 5 via, for example, a swing bearing. The rotating body 4 is supported by the running body 5 so as to be able to swing.

[0013] The rotating body 4 includes a cabin 43 and a rotating motor 40. The rotating body 4 has an engine section 6 disposed therein.

[0014] The cabin 43 houses a driver's seat 401 and the operating unit 20. An operator sits in the driver's seat 401. In this specification, the left side as seen from the operator sitting in the driver's seat 401 may be referred to as the left direction. Also, the right side as seen from the operator sitting in the driver's seat 401 may be referred to as the right direction. Also, the front side as seen from the operator sitting in the driver's seat 401 may be referred to as the front direction. Also, the rear side as seen from the operator sitting in the driver's seat 401 may be referred to as the rear direction.

[0015] The operating unit 20 can operate each of the working unit 3, the revolving unit 4, and the running unit 5. The operator can operate each of the working unit 3, the revolving unit 4, and the running unit 5 by sitting in the driver's seat 401 and operating the operating unit 20. The operating unit 20 includes a travel lever (not shown) that operates the running unit 5. The travel lever can operate the running unit 5 to travel regardless of the rotation angle of the revolving unit 4, and in FIG. 1, when the travel lever is tilted forward of the machine body (leftward in the figure), the work machine 1 travels leftward in the figure. Also, when the revolving unit 4 has rotated 180° and is facing rightward in the figure, tilting the travel lever forward of the machine body (rightward in the figure) will cause the work machine 1 to travel leftward in the figure.

[0016] The swing motor 40 swings the cabin 43. Specifically, the swing motor 40 swings the cabin 43 via a swing bearing. The swing motor 40 is, for example, a hydraulic motor. The swing motor 40 swings the cabin 43 leftward or rightward relative to the traveling body 5 in response to operation of the operation unit 20, for example.

[0017] The traveling body 5 causes the work machine 1 to travel. Specifically, for example, the traveling body 5 is driven by pressurized oil discharged by a hydraulic pump 7 (main pump 71) powered by the engine unit 6, and causes the work machine 1 to travel in accordance with the operation of the operation unit 20. In this embodiment, the traveling body 5 is a crawler-type traveling device. That is, the traveling body 5 includes a travel motor 50 and crawlers 501. Note that the pressurized oil is hydraulic oil applied with high pressure to operate a hydraulic actuator, which will be described later.

[0018] The crawler 501 is a pair of crawlers 501. The pair of crawlers 501 includes a first crawler 501A and a second crawler 501B. The first crawler 501A is disposed on the left side. The second crawler 501B is disposed on the right side.

[0019] The travel motors 50 drive and rotate the crawlers 501. The travel motors 50 are, for example, hydraulic motors. The travel motors 50 are a pair of travel motors 50. The pair of travel motors 50 includes a first travel motor and a second travel motor. The first travel motor drives and rotates the first crawler 501A. The second travel motor drives and rotates the second crawler 501B.

[0020] The traveling body 5 further includes a blade 511, a blade cylinder 512, and a blade arm 513. The blade 511 forms an earth removal mechanism and is used for ground leveling work and the like. The blade 511 has a plate shape. The blade cylinder 512 drives the blade 511. The blade arm 513 supports the blade 511.

[0021] The working unit 3 performs work. Specifically, for example, the working unit 3 is driven by power received from the engine unit 6, and performs earth excavation work in response to operation of the operation unit 20. In this embodiment, the working unit 3 includes a boom 301, an arm 302, a bucket 303, a boom cylinder 31, an arm cylinder 32, and a bucket cylinder 33.

[0022] The boom 301 is supported by the revolving body 4 so as to be able to swing freely around a first rotation support R1.

[0023] The boom cylinder 31 operates the boom 301. Specifically, the boom cylinder 31 is driven by hydraulic oil and swings the boom 301 around the first rotation fulcrum R1. The boom cylinder 31 includes a cylinder body, a piston that divides the internal space of the cylinder body into two hydraulic chambers, and a rod that has one end connected to the piston and outputs hydraulic power. The piston moves back and forth inside the cylinder body by hydraulic oil, and the rod operates the boom 301.

[0024] The arm 302 is supported by the boom 301 so as to be able to swing freely around a second rotation fulcrum R2.

[0025] The arm cylinder 32 actuates the arm 302. Specifically, the arm cylinder 32 is driven by hydraulic oil and swings the arm 302 around the second rotation fulcrum R2. The arm cylinder 32 has a configuration similar to that of the boom cylinder 31 described above.

[0026] The bucket 303 is a type of attachment. The bucket 303 is supported by the arm 302 via a bucket link (not shown) at the tip of the arm so that it can swing freely around a third rotation fulcrum R3. A crane hook (not shown) for lifting work is attached to the bucket link.

[0027] The bucket cylinder 33 actuates the bucket 303. Specifically, the bucket cylinder 33 is driven by hydraulic oil and swings the bucket 303 around the third rotation fulcrum R3. The bucket cylinder 33 has a configuration similar to that of the boom cylinder 31 described above.

[0028] The engine unit 6 drives the hydraulic pump 7 (main pump 71), which will be described later, to discharge pressure oil, thereby driving the boom cylinder 31, arm cylinder 32, bucket cylinder 33, swing motor 40, first traveling motor, and second traveling motor. Note that hereinafter, the boom cylinder 31, arm cylinder 32, bucket cylinder 33, swing motor 40, first traveling motor, and second traveling motor may be collectively referred to as hydraulic actuators.

[0029] In the work machine 1 having the above-described configuration, the travelling body 5 travels when driven to rotate by the travelling motor 50, and the swing body 4 swings when driven to swing by the swing motor 40. In addition, the bucket 303 moves up and down and forward and backward when the boom cylinder 31 and arm cylinder 32 extend and retract, and the bucket 303 performs a dumping operation or a crowding operation when the bucket cylinder 33 extends and retracts.

[0030] The operation of the work machine 1 will be described in more detail with reference to Figures 1 and 2. Figure 2 is a block diagram showing the general hydraulic and electrical configuration of the work machine 1.

[0031] As shown in FIG. 2, the work machine 1 includes the engine unit 6, hydraulic pump 7 (main pump 71, pilot pump 72), control valve 8, solenoid valve 9, hydraulic oil tank 10, control unit 11, and detection units 12 to 18.

[0032] 1, the engine section 6 of the work machine 1 of this embodiment includes an engine 61 and an engine control section 62. The engine control section 62 is, for example, an ECU (Engine Control Unit). Fuel is supplied to the engine 61 from a fuel tank (not shown).

[0033] The engine 61 drives the hydraulic pump 7 (main pump 71 and pilot pump 72). As a result, the hydraulic pump 7 (main pump 71) discharges pressure oil from the hydraulic oil tank 10 and sends the pressure oil to the control valve 8. The control valve 8 supplies pressure oil to each of the hydraulic actuators 31, 32, 33, 40, and 50. As a result, the boom cylinder 31, arm cylinder 32, bucket cylinder 33, swing motor 40, and travel motor 50 (first travel motor and second travel motor) are driven.

[0034] The hydraulic pump 7 (pilot pump 72) discharges pilot oil from a hydraulic oil tank 10 and sends it to a solenoid valve 9. The solenoid valve 9 outputs pilot oil to a control port of a control valve 8 in response to the operation of an operating unit 20 connected via a control unit 11. As a result, the control valve 8 supplies pressure oil, the direction and flow rate of which are controlled in response to the pilot oil, to each of the hydraulic actuators 31, 32, 33, 40, and 50.

[0035] The work machine 1 also includes a first detection unit 12, a second detection unit 13, a third detection unit 14, a fourth detection unit 15, a fifth detection unit 16, a sixth detection unit 17, and a seventh detection unit 18. Each of the detection units 12 to 18 is connected to the control unit 11.

[0036] The first detector 12 detects the attitude of the main body 2. The first detector 12 corresponds to an example of a "detector" of the present invention. The attitude of the main body 2 indicates the inclination of the main body 2 and the orientation of the main body 2 with respect to the inclined surface. The inclination of the main body 2 indicates, for example, the angle of the surface on which the main body 2 is located and the tilt of the main body 2 according to the angle of the surface on which the main body 2 is located. In other words, when the main body 2 is located on an inclined surface, the attitude of the main body 2 corresponds to the angle of the inclined surface. The first detector 12 is attached to the revolving unit 4. The first detector 12 may be, for example, an inclination sensor, a rotation angle sensor, or a capacitance sensor. The first detector 12 may be an inertial measurement unit (IMU). The inertial measurement unit measures the roll angle and pitch angle of the main body 2. The first detector 12 outputs the detection result to the control unit 11.

[0037] The second detection unit 13 is configured by, for example, an angle sensor, and detects the angle of the boom 301. The second detection unit 13 detects the rotation angle of the boom 301. The second detection unit 13 is, for example, a potentiometer or a rotary encoder. The second detection unit 13 outputs the detection result to the control unit 11.

[0038] The third detection unit 14 is configured by, for example, an angle sensor, and detects the angle of the arm 302. The third detection unit 14 detects the rotation angle of the arm 302. The third detection unit 14 is, for example, a potentiometer or a rotary encoder. The third detection unit 14 outputs the detection result to the control unit 11.

[0039] The fourth detection unit 15 is configured with, for example, an angle sensor and detects the angle of the bucket 303. The fourth detection unit 15 detects the rotation angle of the bucket 303. The fourth detection unit 15 is, for example, a potentiometer or a rotary encoder. The fourth detection unit 15 outputs the detection result to the control unit 11.

[0040] The fifth detection unit 16 acquires information about the rotation angle of the rotating unit 4. The fifth detection unit 16 can detect the rotation angle of the rotating unit 4 relative to the running unit 5. The fifth detection unit 16 is configured with, for example, a potentiometer, a rotary encoder, etc. The fifth detection unit 16 is attached to, for example, a rotation bearing (not shown). The fifth detection unit 16 outputs the detection result to the control unit 11.

[0041] The sixth detection unit 17 is attached to the boom cylinder 31 and detects the pressure of the hydraulic oil supplied to the boom cylinder 31. The sixth detection unit 17 outputs the detection result to the control unit 11.

[0042] Based on the pressure of the hydraulic oil detected by the sixth detection unit 17, the control unit 11 can calculate the load of the excavated material stored in the bucket 303. Furthermore, based on the pressure of the hydraulic oil detected by the sixth detection unit 17, the control unit 11 can calculate the load of the object suspended from the crane hook. In the following description, the load of the material stored in the bucket 303 and the load of the object suspended from the crane hook may be collectively referred to as the "suspended load."

[0043] The seventh detection unit 18 detects the state of the environment surrounding the work machine 1. The seventh detection unit 18 is, for example, a range sensor such as a TOF (Time Of Flight) camera. An example of a TOF camera is a lidar. Specifically, the seventh detection unit 18 emits light around the work machine 1 and receives the reflected light. The seventh detection unit 18 then outputs a signal corresponding to the received reflected light to the control unit 11 as the detection result. In other words, the seventh detection unit 18 outputs a signal indicating the state of the environment surrounding the work machine 1 to the control unit 11. The seventh detection unit 18 may be, for example, a millimeter-wave radar, a camera, or a stereo camera.

[0044] As shown in FIG. 2, the work machine 1 further includes a notification unit 19, a control unit 11, and a storage unit 21.

[0045] The notification unit 19 notifies the operator of information indicating the status of the work machine 1 (hereinafter sometimes referred to as "status information"). The information notified by the notification unit 19 includes, for example, the attitude (tilt angle) of the main body unit 2, the suspended load, the attitude of the working unit 3, the traveling speed of the work machine 1, the degree of risk of the work machine 1 tipping over, and warnings (including control details for preventing tipping over). Warnings include restricting the operation of the work machine 1 or prohibiting the operation of the work machine 1. The notification unit 19 includes at least one visual notification unit and an audio notification unit. The visual notification unit is made up of, for example, a light-emitting unit and a display unit. The light-emitting unit is made up of, for example, an LED (Light Emitting Diode) and notifies status information by emitting light, and indicates the status of the work machine 1 by, for example, the light color or light method. Specifically, when the state (risk of tipping over) of the work machine 1 is indicated by light color, green indicates no risk of tipping over (safe state), yellow indicates a low risk of tipping over (caution state), and red indicates a high risk of tipping over (warning state). On the other hand, when the state (risk of tipping over) of the work machine 1 is indicated by light emission, the light is off when there is no risk of tipping over (safe state), lit when a low risk of tipping over (caution state), and flashes when a high risk of tipping over (warning state). The display unit is, for example, configured with a display such as a liquid crystal display or organic EL display, and notifies the state information by displaying messages or icons indicating the state of the work machine 1. The auditory notification unit is, for example, a speaker. The speaker notifies the state of the work machine 1 by outputting audio messages or sounds (including alarms).

[0046] The storage unit 21 includes a storage device and stores data and computer programs. Specifically, the storage unit 21 includes a main storage device such as a semiconductor memory, and an auxiliary storage device such as a semiconductor memory, a solid-state drive, and / or a hard disk drive. The storage unit 21 may also include removable media.

[0047] The control unit 11 controls the work machine 1. The control unit 11 includes a processor such as an integrated ECU (Electronic Control Unit). The processor of the control unit 11 executes a computer program stored in a storage device of the memory unit 21 to control the work machine 1.

[0048] (Determination process) 1 to 3, a determination process in which the control unit 11 determines the attitude of the work machine 1 based on the detection results of the first detection unit 12 will be described. FIG. 3 is a diagram showing an example of the process executed by the control unit 11 of the work machine 1 according to this embodiment. When the control unit 11 acquires the detection results from the first detection unit 12, it determines the attitude of the work machine 1 (attitude of the main body unit 2: tilt state) by referring to the determination conditions stored in the memory unit 21. For example, if the determination condition is that an inclination of 10° or more indicates a risk of tipping, then when the detection result of the first detection unit 12 is 12°, the control unit 11 determines that the attitude of the work machine 1 is at risk of tipping.

[0049] The determination process can detect the posture of the work machine 1 at a certain point in time, or detect changes over time in the posture of the work machine 1. For example, it can detect changes in posture while the work machine 1 is traveling, or it can also detect changes in posture due to changes in the environment in which the work machine 1 is located. A change in the environment in which the work machine 1 is located could be, for example, a mechanical change in the inclination of the base that supports the work machine 1.

[0050] Furthermore, when detecting a change in attitude of the work machine 1 while it is traveling, a determination condition may be added that the detected attitude of the main body unit 2 has been maintained for a predetermined period of time. Specifically, for example, when the work machine 1 enters an inclined surface from a flat surface while traveling on the inclined surface, the angle of the inclined surface is detected as the attitude of the main body unit 2 while it is traveling on the inclined surface, and therefore, an attitude change is detected from the attitude of the work machine 1 on the flat surface and its attitude on the inclined surface. On the other hand, when the work machine 1 travels on a road surface with an uneven surface, the attitude of the work machine 1 changes frequently to match the unevenness, and in such cases the control unit 11 does not detect a change in attitude of the work machine 1. As a result, it is possible to reduce the occurrence of restriction processing due to erroneous detection.

[0051] This determination process allows for gradual determination by providing multiple determination conditions with different degrees of risk. For example, a first determination condition for a relatively low risk of falling and a second determination condition for a relatively high risk of falling can be provided. That is, the first determination condition includes the angle of the main body unit 2 indicated by the posture of the main body unit 2 being equal to or greater than a first threshold. In this case, for example, the tilt angle that satisfies the first determination condition is equal to or greater than 10° (first threshold) and less than 30°, and the tilt angle that satisfies the second determination condition is equal to or greater than 30° (second threshold).

[0052] In the determination process, the attitude (tilt state) of the work machine 1 is calculated based on the reference attitude. The reference attitude refers to the attitude (tilt angle) of the main body unit 2 that serves as a reference when detecting the attitude of the work machine 1, and includes the attitude (tilt angle) of the main body unit 2 when placed on a flat surface, or the attitude (tilt angle) of the main body unit when attitude detection starts. This reference attitude includes the attitude of the main body unit 2 when placed on a horizontal surface. Therefore, the control unit 11 can execute the restriction process based on changes in the attitude of the main body unit 2 when placed on a flat surface. As a result, the restriction process can be executed if there is a change from the reference attitude. Furthermore, the reference attitude may include the attitude of the main body unit 2 detected by the first detection unit 12 before the attitude of the main body unit 2 changes (the attitude of the main body unit 2 at the start of the detection process). This allows the control unit 11 to detect changes in attitude during traveling, and to determine that even if the state was stable at the start of traveling, it has transitioned to an unstable state due to traveling.

[0053] (Other judgment examples) (Example of judgment using the posture detection results of working unit 3) In the above example, the posture of the main body unit 2 is detected to determine the state of the work machine 1, but this is not limiting. For example, the posture of the working unit 3 may be detected, and the control unit 11 may execute a determination process based on the posture detection results of the working unit 3. In this determination example, the control unit 11 identifies the posture of the working unit 3. Specifically, the control unit 11 identifies the posture of the working unit 3 based on the detection results of the second detection unit 13, the detection results of the third detection unit 14, and the detection results of the fourth detection unit 15. More specifically, the control unit 11 identifies the positions of the boom 301, the arm 302, and the bucket 303 based on the rotation angle of the boom 301, the rotation angle of the arm 302, the rotation angle of the bucket 303, the length of the boom 301, the length of the arm 302, and the length of the bucket 303. Then, the control unit 11 identifies the posture of the working unit 3 based on the position information of the bucket 303. For example, when the boom 301 and arm 302 are extended to a position far from the main body 2, the control unit 11 determines that the work machine 1 is in a state where the risk of tipping over is high. In addition, when the boom 301 and arm 302 are retracted to a position close to the main body 2, the control unit 11 determines that the work machine 1 is in a state where the risk of tipping over is low.

[0054] (Example of judgment using the results of lifting load detection) Another possible determination method is determination based on the hanging load. In this determination example, the control unit 11 determines the state of the work machine 1 based on the detection results of the sixth detection unit (load sensor) 17. For example, if the hanging load is greater than a predetermined threshold, the control unit 11 determines that the work machine 1 is in a state where the risk of tipping over is high. Furthermore, if the hanging load is equal to or less than the threshold, the control unit 11 determines that the work machine 1 is in a state where the risk of tipping over is low.

[0055] Although several examples of the determination processing method of the present invention have been described above, the present invention is not limited to these and various modifications are possible. For example, the determination processing may be performed by combining multiple determination methods. Specifically, the determination processing may be performed by combining the posture detection results of the main body unit 2 and the posture detection results of the working unit 3, the determination processing may be performed by combining the posture detection results of the main body unit 2 and the posture detection results of the hanging load, or the determination processing may be performed by combining the posture detection results of the main body unit 2, the posture detection results of the working unit 3, and the posture detection results of the hanging load.

[0056] (Restriction processing) Next, a description will be given of the restriction process in which the control unit 11 restricts the operation of the work machine 1. Specifically, in the restriction process, the control unit 11 restricts the operation of the main body unit 2 and / or the working unit 3. Restrictions on the operation of the main body unit 2 include, for example, restrictions on the traveling operation of the traveling body 5 and restrictions on the rotating operation of the rotating body 4. Furthermore, restrictions on the operation of the working unit 3 include restrictions on the rotational operation of the boom 301, arm 302, and bucket 303.

[0057] Restricting operation includes, for example, restricting the operation speed or prohibiting operation. Prohibiting operation includes prohibiting operation outside a predetermined range and prohibiting operation in a predetermined direction. In the restriction process, the control unit 11, for example, sends a control signal to the engine control unit 62 of the engine unit 6 to control the engine speed, or sends a control signal to the solenoid valve 9 to control the pilot oil flow state. Specifically, when the control unit 11 sends a control signal to the engine control unit 62, the engine speed decreases, the discharge rate of the main pump 71 decreases, and the flow rate of pressure oil supplied to the hydraulic actuator decreases, thereby decreasing the operation speed of the hydraulic actuator. Furthermore, when the control unit 11 sends a control signal to the solenoid valve 9, the flow rate of pilot oil passing through the solenoid valve 9 changes. If the flow rate of pilot oil passing through the solenoid valve 9 decreases, the operation speed of the hydraulic actuator decreases. If the pilot oil can no longer pass through the solenoid valve 9, the operation of the hydraulic actuator stops. Note that the control unit 11 may limit the engine speed in stages.

[0058] Furthermore, the control unit 11 can also limit the operation of the work machine 1 in stages during the restriction process. For example, it is possible to provide a first restriction process that imposes a relatively light restriction and a second restriction process that imposes a relatively heavy restriction. For example, the first restriction process limits the operation speed, and the second restriction process prohibits operation. Furthermore, the control unit 11 can execute the restriction process based on a judgment condition; for example, it can execute the first restriction process based on a first judgment condition and execute the second restriction process based on a second judgment condition. The restriction processes will be described in detail below using specific examples.

[0059] (Limitation of running operation: Limitation processing for running operation of running body 5) First, with reference to FIG. 4, the process by which the control unit 11 restricts the movement of the traveling body 5 will be described in detail. FIG. 4 shows the traveling states of the work machine 1, with the center of the drawing showing a state in which the work machine 1 travels on a flat surface PL (fifth position ST5), the left side of the drawing showing a state in which the work machine 1 approaches an upward slope (first inclined surface SL1) from the flat surface (sixth position ST6), and the right side of the drawing showing a state in which the work machine 1 approaches a downward slope (second inclined surface SL2) from the flat surface (seventh position ST7). In the drawing, the working unit 3 of the work machine 1 is positioned on the side facing up the slope (first inclined direction D1) and has an object W suspended therefrom. The first inclined direction D1 indicates the direction from the base end of the inclined surface SL toward the apex of the inclined surface SL. In other words, the first inclined direction D1 indicates the direction up the inclined surface SL on which the main body 2 is located. The first inclined direction D1 indicates the direction toward the mountain side. In addition, in the example of Figure 4, an example is described in which the working unit 3 is positioned on the side facing up the slope (first inclined direction D1), but the same applies when the working unit 3 is positioned on the side facing down the slope (second inclined direction D2), so the explanation is omitted.

[0060] (Running uphill) First, the limit control for the traveling operation of the work machine 1 entering the upslope (first inclined surface SL1) from the plane PL will be described.

[0061] (Speed ​​limits) If the sixth posture ST6 of the work machine 1 satisfies the above-mentioned judgment condition, the control unit 11, for example, restricts the movement of the traveling body 5. Specifically, as shown in FIG. 3, the control unit 11 reduces the traveling speed to a speed limit. The speed limit is a low speed that can prevent the work machine 1 from tipping over, and is, for example, a preset speed (first speed) or a speed (second speed) obtained by multiplying the traveling speed at the time of posture detection of the work machine 1 by a predetermined coefficient. Furthermore, either one of these speeds may be selected. Specifically, if the preset speed is 3 km / h and the predetermined coefficient is 0.7, and the traveling speed at the time of posture detection of the work machine 1 is 5 km / h, the first speed will be 3 km / h and the second speed will be 3.5 km / h. Furthermore, if the slower of the first speed or the second speed is selected, the first speed (3 km / h) will be the speed limit. Furthermore, the speed is gradually reduced at a predetermined deceleration rate to prevent a sudden change in speed from increasing the risk of tipping over. In other words, even if the operator performs a sudden operation, at least one of the speed of the working operation of the working unit 3, the speed of the traveling operation of the traveling body 5, and the speed of the rotating operation of the rotating body 4 is limited (gradually decelerated).

[0062] (Prohibition of driving) Furthermore, if the sixth posture ST6 of the work machine 1 satisfies the above-mentioned judgment condition, the control unit 11 can also prohibit the travel of the travelling body 5 as a movement restriction. For example, travel in a predetermined direction can be restricted. In the example of FIG. 4, travel in the first inclination direction D1 (the direction in which the inclination angle of the work machine 1 increases) from the plane PL toward the first inclined surface SL1 can be prohibited. Therefore, the travel of the travelling body 5 in a direction in which the risk of tipping of the work machine 1 increases (the change in the center of gravity position becomes greater) is restricted. As a result, the work machine 1 that has entered the first inclined surface SL1 due to the travel of the travelling body 5 can be prevented from traveling further in the first inclination direction D1. In other words, the travel of the travelling body 5 in a direction in which the risk of tipping of the work machine 1 decreases (for example, a direction in which the work machine 1 returns to the reference posture) is permitted. In this way, by restricting the movement of the work machine 1 when the risk of tipping is high, the occurrence of tipping is reduced. Note that when traveling on an upslope, the first inclination direction D1 in FIG. 4 corresponds to an example of the "first predetermined direction" in the present invention.

[0063] On the other hand, the control unit 11 can also restrict the traveling range as another restriction process for prohibiting traveling. In the traveling range restriction process, the control unit 11 can also restrict the traveling range in the first tilt direction D1 or the second tilt direction D2, for example.

[0064] In this way, the control unit 11 executes restriction processing such as limiting the traveling speed or prohibiting traveling operations based on the determination result indicating the attitude of the work machine 1. At this time, the control unit 11 can execute restriction processing in stages, for example, restricting the traveling speed as a first restriction processing based on a first determination condition, and restricting the traveling direction as a second restriction processing based on a second determination condition.

[0065] (Driving down a slope) Next, the travel operation of the work machine 1 entering a downward slope (second inclined surface SL2) from the plane PL is also subject to the restriction process in the same way as the above-mentioned travel operation on an upward slope, and will be described below.

[0066] (Speed ​​limits) When the seventh posture ST7 of the work machine 1 satisfies the above-mentioned determination condition, the control unit 11 restricts the movement of the traveling body 5, for example, by reducing the traveling speed to a speed limit.

[0067] (Prohibition of driving) Furthermore, when the seventh posture ST7 of the work machine 1 satisfies the above-mentioned judgment condition, the control unit 11 can prohibit traveling and restrict traveling in a direction that increases the risk of tipping. Note that when traveling on a downward slope, the direction that increases the risk of tipping (second inclined direction D2) corresponds to an example of the "second predetermined direction" of the present invention.

[0068] (Restrictions on turning movement) Next, the process by which the control unit 11 restricts the movement of the revolving unit 4 will be described with reference to Figures 5 to 8. Figure 5(a) shows a work machine 1 positioned on an inclined surface SL. As shown in Figure 5(a), the working unit 3 of the work machine 1 is positioned on the side of the first inclined direction D1, and has an object W suspended therefrom.

[0069] (Turning operation while facing uphill) First, limit control for a turning operation when the work machine 1 faces upward onto the slope SL will be described.

[0070] In Fig. 5(b), the eleventh position ST11 shows the position of the work machine 1 when the angle of the revolving unit 4 relative to the running unit 5 is the reference angle. The reference angle is, for example, when the angle of the revolving unit 4 relative to the running unit 5 is "0°." In Fig. 5(b), the working unit 3 of the work machine 1 in the eleventh position ST11 is positioned on the side of the first tilt direction D1.

[0071] The twelfth position ST12 shows the position of the work machine 1 when the angle of the revolving unit 4 relative to the running unit 5 has rotated a predetermined angle to the left from the reference angle. The predetermined angle is, for example, a 90° angle of the revolving unit 4 relative to the running unit 5. In FIG. 5(b), the working unit 3 of the work machine 1 in the twelfth position ST12 intersects with the first tilt direction D1, and the working unit 3 is positioned on the side of the first crawler 501A.

[0072] The thirteenth position ST13 shows the position of the work machine 1 when the angle of the revolving unit 4 relative to the running unit 5 has rotated a predetermined angle to the right from the reference angle. The predetermined angle is, for example, a 90° angle of the revolving unit 4 relative to the running unit 5. In FIG. 5(b), the working unit 3 of the work machine 1 in the thirteenth position ST13 intersects with the first tilt direction D1, and the working unit 3 is positioned on the side of the second crawler 501B.

[0073] The revolving unit 4 of the work machine 1 revolves in a first revolving direction RD1. The first revolving direction RD1 indicates the revolving direction from the thirteenth position ST13 to the eleventh position ST11. In Fig. 5(b), the first revolving direction RD1 indicates the direction in which the revolving unit 4 revolves so that the working unit 3 faces upward on the inclined surface SL on which the main body unit 2 is located.

[0074] The revolving unit 4 of the work machine 1 revolves in a second revolving direction RD2. The second revolving direction RD2 indicates the revolving direction from the eleventh position ST11 to the thirteenth position ST13. In Fig. 5(b), the second revolving direction RD2 indicates the direction in which the revolving unit 4 revolves so that the working unit 3 faces downwardly along the inclined surface SL on which the main body 2 is located.

[0075] The revolving unit 4 of the work machine 1 revolves in a third revolving direction RD3. The third revolving direction RD3 indicates the revolving direction from the twelfth position ST12 to the eleventh position ST11. In Fig. 5(b), the third revolving direction RD3 indicates the direction in which the revolving unit 4 revolves so that the working unit 3 faces upward on the inclined surface SL on which the main body 2 is located.

[0076] The revolving unit 4 of the work machine 1 revolves in a fourth revolving direction RD4. The fourth revolving direction RD4 indicates the revolving direction from the eleventh position ST11 to the twelfth position ST12. In Fig. 5(b), the fourth revolving direction RD4 indicates the direction in which the revolving unit 4 revolves so that the working unit 3 faces downwardly along the inclined surface SL on which the main body 2 is located.

[0077] (Turning speed limit) 5(a) and 5(b), when the posture of the work machine 1 positioned on the inclined surface SL satisfies the first judgment condition, the control unit 11 restricts the rotational movement of the rotating body 4. Specifically, the control unit 11 reduces the rotation speed to the speed limit regardless of the rotation direction RD1, RD2, RD3, or RD4, using a method similar to the speed restriction process described above.

[0078] (Rotation prohibited) Furthermore, when the eleventh posture ST11 of the work machine 1 satisfies the above-mentioned judgment condition, the control unit 11 can also prohibit a rotation operation in a predetermined direction as a movement restriction of the rotating body 4. In the example of Fig. 5, a rotation operation from an upward direction to a downward direction (second rotation direction RD2, fourth rotation direction RD4) on the slope SL, which increases the risk of the work machine 1 tipping over, can be prohibited. In other words, the second rotation direction RD2 and the fourth rotation direction RD4 shown in Fig. 5(b) each correspond to an example of the "first predetermined direction" of the present invention.

[0079] On the other hand, the control unit 11 can also limit the turning range as another limiting process for prohibiting turning operations. In the turning range limiting process, the control unit 11 can also limit the turning range to a range TR in which the risk of tipping over does not increase (a range in which the change in the center of gravity position does not become large), for example. In this way, by being able to select the method of prohibiting movement, either prohibiting movement in a predetermined direction or prohibiting movement outside a predetermined range, restriction processing can be executed according to the work environment. For example, in the example of Fig. 5, restriction processing by prohibiting movement in a predetermined direction makes it impossible to perform turning movement, making it practically difficult to avoid danger, but by executing restriction processing by prohibiting movement outside the predetermined range, turning movement within the predetermined range becomes possible, making it possible to avoid danger.

[0080] As shown in Figures 6(a) and (b), when the working unit 3 of the work machine 1 is positioned on the side of the second inclined direction D2 (facing downward on the slope), the working unit 3 can only rotate from the downward direction to the upward direction (third rotation direction RD3, fourth rotation direction RD4) on the slope SL, where the risk of tipping is low, and therefore the above-mentioned restriction processing is not performed.

[0081] In this way, the control unit 11 executes restriction processing such as restricting the turning speed or prohibiting turning operations based on the determination result indicating the attitude of the work machine 1. At this time, the control unit 11 can execute stepwise restriction processing, similar to the traveling operation described above, and can, for example, restrict the turning speed as a first restriction processing based on a first determination condition, and restrict the turning direction as a second restriction processing based on a second determination condition.

[0082] (Turning operation while facing sideways on a slope) Next, limit control for a turning operation when the work machine 1 is positioned sideways on the slope SL will be described.

[0083] Figure 7(a) shows another view of the work machine 1 positioned on the inclined surface SL. As shown in Figure 7(a), the working unit 3 of the work machine 1 is positioned in a direction intersecting the first inclination direction D1 or the second inclination direction D2, and has an object W suspended from it.

[0084] In Fig. 7(b), the working unit 3 of the work machine 1 in the eleventh position ST11 intersects with the first tilt direction D1 or the second tilt direction D2. In Fig. 6(b), the working unit 3 of the work machine 1 in the twelfth position ST12 is positioned on the side of the second tilt direction D2. In Fig. 6(b), the working unit 3 of the work machine 1 in the thirteenth position ST13 is positioned on the side of the first tilt direction D1.

[0085] The revolving bed 4 of the work machine 1 revolves in a first revolving direction RD1, a second revolving direction RD2, a third revolving direction RD3, and a fourth revolving direction RD4. In Fig. 7(b), the first revolving direction RD1 and the fourth revolving direction RD4 indicate the directions in which the revolving bed 4 revolves so that the working unit 3 faces downward on the sloped surface SL on which the main body 2 is located. In Fig. 7(b), the second revolving direction RD2 and the third revolving direction RD3 indicate the directions in which the revolving bed 4 revolves so that the working unit 3 faces upward on the sloped surface SL on which the main body 2 is located.

[0086] For example, as shown in Fig. 7(b), when the revolving unit 4 of the work machine 1 in the eleventh position ST11 revolves in the first revolving direction RD1 or the fourth revolving direction RD4, the revolving unit 4 revolves in a direction downward on the inclined surface SL on which the main body 2 is located. In other words, each of the first revolving direction RD1 and the fourth revolving direction RD4 shown in Fig. 7(b) corresponds to an example of the "first predetermined direction" of the present invention.

[0087] (Turning speed limit) If the eleventh posture ST11 of the work machine 1 satisfies the above judgment condition, the control unit 11 reduces the rotation speed to the limited speed, for example, using a method similar to the speed limiting process described above as a movement limiting method for the rotating body 4.

[0088] (Rotation prohibited) Furthermore, when the eleventh posture ST11 of the work machine 1 satisfies the above-mentioned judgment condition, the control unit 11 can prohibit the turning operation by using a method similar to the prohibition and restriction processing described above, and can restrict the turning operation in a direction in which the risk of tipping becomes higher. Note that, in the case of turning operation while facing sideways on a slope, the direction in which the risk of tipping becomes higher (fourth inclination direction D4) corresponds to an example of the "first predetermined direction" of the present invention.

[0089] On the other hand, the control unit 11 can also limit the turning range as another restriction process for prohibiting turning operations. In the process of limiting the turning range, the control unit 11 can, for example, limit the turning range to a range in which the risk of tipping over is not high (a range in which the change in the center of gravity position is not large).

[0090] In this way, the control unit 11 executes restriction processing such as restricting the turning speed or prohibiting turning operations based on the determination result indicating the attitude of the work machine 1. At this time, the control unit 11 can execute stepwise restriction processing, similar to the traveling operation described above, and can, for example, restrict the turning speed as a first restriction processing based on a first determination condition, and restrict the turning direction as a second restriction processing based on a second determination condition.

[0091] (Pattern table showing how to restrict turning movements) While the above has described the restriction processing for swing operation using specific examples, these restriction processing can also be performed based on a predetermined pattern table. Therefore, next, the pattern table for the swing unit 4 of the work machine 1 will be described with reference to Fig. 8. Fig. 8 is a diagram showing the pattern table for the swing unit 4 of the work machine 1 according to this embodiment. The pattern table TB for the swing unit 4 shown in Fig. 8 is stored in the memory unit 21. The pattern table TB indicates the state of the work machine 1 and whether or not the swing unit 4 can operate in accordance with the state of the work machine 1. Specifically, the pattern table TB includes status information T11, status information T12, status information T13, status information T14, first swing information T15, and second swing information T16.

[0092] Status information T11 indicates the status of the traveling body 5. Status information T12 indicates the status of the blade 511. Status information T13 indicates the status of the revolving body 4. Status information T14 indicates the status of the working unit 3.

[0093] The first rotation information T15 indicates whether or not the rotating unit 4 is permitted to rotate to the right. Whether or not the rotating unit 4 is permitted to rotate to the right is indicated by a symbol. If the rotating unit 4 is permitted to rotate to the right, an "O" is displayed. If the rotating unit 4 is not permitted to rotate to the right, an "X" is displayed.

[0094] The second rotation information T16 indicates whether or not the rotating unit 4 is permitted to rotate to the left. Whether or not the rotating unit 4 is permitted to rotate to the left is indicated by a symbol. If the rotating unit 4 is permitted to rotate to the left, an "O" is displayed. If the rotating unit 4 is not permitted to rotate to the left, an "X" is displayed.

[0095] For example, status information T11 of the pattern table TB indicates that the inclined surface SL and the front-to-rear direction of the traveling body 5 are parallel. Status information T12 of the pattern table TB indicates that the blade 511 is positioned on the side of the first inclination direction D1. Status information T13 of the pattern table TB indicates that the angle of the revolving body 4 with respect to the traveling body 5 is "0°." Status information T14 of the pattern table TB indicates that the working unit 3 is positioned on the side of the first inclination direction D1. In this case, the first rotation information T15 does not permit the revolving body 4 to rotate leftward. In other words, the second rotation information T16 restricts the movement of the working unit 3 in the contraction direction DB. Furthermore, the second rotation information T16 permits the revolving body 4 to rotate leftward.

[0096] In this way, by predetermining the content of the restriction process using a pattern table, it becomes easier to develop a system for executing the restriction process.

[0097] (Restrictions on the movement of working unit 3: Movement of working unit 3 facing upward on a slope) First, the limit control for limiting the movement of the working unit 3 when the work machine 1 is positioned on an upwardly sloping surface SL will be described.

[0098] 9 to 11, the process by which the control unit 11 restricts the operation of the working unit 3 will be described. As shown in Fig. 9(a), the working unit 3 of the work machine 1 is positioned on the side facing up the slope (first inclined direction D1), and has an object W suspended therefrom.

[0099] FIG. 9(a) also shows the work machine 1 in a first position ST1 and a second position ST2. The first position ST1 indicates a state in which the position of the working unit 3 is further in the first inclination direction D1 than the position of the working unit 3 in the second position ST2. The second position ST2 indicates a state in which the position of the working unit 3 is further in the second inclination direction D2 than the position of the working unit 3 in the first position ST1. The second inclination direction D2 indicates the opposite direction to the first inclination direction D1. Specifically, the second inclination direction D2 indicates the direction from the apex of the inclined surface SL toward the base end of the inclined surface SL. In other words, the second inclination direction D2 indicates the direction down the inclined surface SL on which the main body 2 is located. The second inclination direction D2 indicates the direction toward the so-called valley side. The second inclination direction D2 is an example of a "first predetermined direction."

[0100] Figure 9(b) is a plan view of the work machine 1 of Figure 9(a) in the first position ST1, and Figure 9(c) is a plan view of the work machine 1 of Figure 9(a) in the second position ST2.

[0101] (Limitation of the operating speed of working unit 3) 9(a) to 9(c), when the first posture ST1 of the work machine 1 satisfies the above-mentioned determination conditions, the control unit 11 limits the movement speed of the working unit 3. Specifically, the control unit 11 reduces the movement speed of the working unit 3 in the restriction process.

[0102] (Working unit 3 operation prohibited) Furthermore, when the first posture ST1 of the work machine 1 satisfies the above-mentioned judgment conditions, the control unit 11 can also restrict the movement of the working unit 3 by prohibiting the movement of the working unit 3. For example, the movement of the working unit 3 in a predetermined direction can be restricted. In the example of FIG. 9, movement from above to below the plane of the inclined surface SL can be prohibited. That is, the working unit 3 is prevented from moving in the second inclined direction D2 (shortening direction DB) and transitioning from the first posture ST1 to the second posture ST2. Therefore, work movement of the working unit 3 in a direction that increases the risk of the work machine 1 tipping over (greater change in the center of gravity position) is restricted. As a result, it is possible to prevent the work machine 1, which is positioned on the inclined surface SL, from tipping over due to the work movement of the working unit 3.

[0103] On the other hand, the control unit 11 can also limit the range of motion of the working unit 3 as another restriction process for prohibiting the movement of the working unit 3. For example, the control unit 11 can limit the range of motion of the working unit 3 to a range that does not increase the risk of tipping over (a range that does not cause a large change in the center of gravity position).

[0104] (Operation of working unit 3 facing downward on a slope) Next, limit control for limiting the operation of the working unit 3 when the work machine 1 is positioned on the downward slope SL will be described.

[0105] Figure 10(a) shows a work machine 1 positioned on an inclined surface SL. As shown in Figure 10(a), the working unit 3 of the work machine 1 is positioned on the side facing downward on the slope (second inclined direction D2), and has an object W suspended therefrom.

[0106] 10(a) shows the work machine 1 in the third position ST3 and the work machine 1 in the fourth position ST4. The third position ST3 shows a state in which the position of the working unit 3 is further in the second tilt direction D2 than the position of the working unit 3 in the fourth position ST4. The fourth position ST4 shows a state in which the position of the working unit 3 is further in the first tilt direction D1 than the position of the working unit 3 in the third position ST3.

[0107] (Limitation of the operating speed of working unit 3) As shown in FIG. 10(b), when the third posture ST3 of the work machine 1 satisfies the above-mentioned judgment condition, the control unit 11 restricts the movement of the working unit 3. Specifically, in the restriction process, the control unit 11 slows down the movement speed of the working unit 3. The extension direction DA in FIGS. 10(b) and 10(c) is the same direction as the second tilt direction D2. The second tilt direction D2 in FIGS. 10(b) and 10(c) corresponds to an example of the "first predetermined direction."

[0108] (Working unit 3 operation prohibited) Furthermore, when the third posture ST3 of the work machine 1 satisfies the above-mentioned judgment conditions, the control unit 11 can also restrict the movement of the working unit 3, prohibiting the movement of the working unit 3. For example, the movement of the working unit 3 in a predetermined direction can be restricted. In the example of FIG. 10, movement from above to below the plane of the inclined surface SL can be prohibited. In other words, the working unit 3 is prevented from moving in the second inclined direction D2 (extension direction DA) and transitioning from the fourth posture ST4 to the third posture ST3.

[0109] On the other hand, the control unit 11 can also limit the range of motion of the working unit 3 as another restriction process for prohibiting the movement of the working unit 3. For example, the control unit 11 can limit the range of motion of the working unit 3 to a range that does not increase the risk of tipping over (a range that does not cause a large change in the center of gravity position).

[0110] (Pattern table showing how to restrict the operation of the working unit 3) The above describes the process of restricting the operation of working unit 3 using specific examples, but these restriction processes can also be performed based on a predetermined pattern table. Therefore, next, the process of control unit 11 when restricting the operation of working unit 3 will be described in more detail with reference to Figures 2 to 11. Figure 11 is a diagram showing pattern table TA of working unit 3.

[0111] The pattern table TA for the working unit 3 shown in Figure 11 is stored in the memory unit 21. The pattern table TA indicates the state of the work machine 1 and whether the working unit 3 is able to perform work corresponding to the state of the work machine 1. Specifically, the pattern table TA includes status information T1, status information T2, status information T3, status information T4, first work information T5, and second work information T6.

[0112] The state information T1 indicates the state of the running object 5. Specifically, it indicates the position of the running object 5 relative to the inclined surface SL. The state of the running object 5 includes, for example, a state in which the inclined surface SL and the front-to-rear direction of the running object 5 are parallel, and a state in which the inclined surface SL and the front-to-rear direction of the running object 5 intersect.

[0113] The status information T2 indicates the status of the blade 511. Specifically, the status information T2 indicates the position of the blade 511 relative to the inclined surface SL. The status of the blade 511 includes, for example, a state in which the blade 511 is located on the side of the first inclined direction D1 and a state in which the blade 511 is located on the side of the second inclined direction D2.

[0114] The state information T3 indicates the state of the revolving unit 4. Specifically, it indicates the angle of the revolving unit 4 relative to the running unit 5. The state of the revolving unit 4 includes, for example, states in which the angle of the revolving unit 4 relative to the running unit 5 is "0°" to "90°".

[0115] The status information T4 indicates the status of the working unit 3. Specifically, it indicates the position of the working unit 3 relative to the inclined surface SL. The status of the working unit 3 includes, for example, a state in which the working unit 3 is located on the side of the first inclined direction D1 and a state in which the working unit 3 is located on the side of the second inclined direction D2.

[0116] The first work information T5 indicates whether or not the working unit 3 is permitted to move in the extension direction DA. Whether or not the working unit 3 is permitted to move in the extension direction DA is indicated by a symbol. If the working unit 3 is permitted to move in the extension direction DA, an "O" is displayed. If the working unit 3 is not permitted to move in the extension direction DA, an "X" is displayed.

[0117] The second work information T6 indicates whether or not the working unit 3 is permitted to move in the shortening direction DB. Whether or not the working unit 3 is permitted to move in the shortening direction DB is indicated by a symbol. If the working unit 3 is permitted to move in the shortening direction DB, an "O" is displayed. If the working unit 3 is not permitted to move in the shortening direction DB, an "X" is displayed.

[0118] For example, status information T1 of pattern table TA indicates that the inclined surface SL and the front-to-rear direction of the running body 5 are parallel. Status information T2 of pattern table TA indicates that the blade 511 is positioned on the side of the first inclination direction D1. Status information T3 of pattern table TA indicates that the angle of the revolving body 4 with respect to the running body 5 is "0°." Status information T4 of pattern table TA indicates that the working unit 3 is positioned on the side of the first inclination direction D1. In this case, the first work information T5 permits operation of the working unit 3 in the extension direction DA. Furthermore, the second work information T6 does not permit operation of the working unit 3 in the contraction direction DB. In other words, the second work information T6 restricts operation of the working unit 3 in the contraction direction DB.

[0119] In this way, by predetermining the content of the restriction process using a pattern table, it becomes easier to develop a system for executing the restriction process.

[0120] (Switching work modes) Furthermore, the construction machine 1 of this embodiment may have a plurality of work modes, and the control unit 11 may execute the restriction process when the construction machine 1 is in a predetermined work mode selected from the work modes. The work modes include, for example, an excavation mode in which excavation work is performed using the bucket 303, or a crane mode in which work is performed with a load suspended from the crane hook of the bucket 303. The control unit 11 may then execute the restriction process based on the above-described determination conditions, for example, when the construction machine 1 is switched to the crane mode. In the crane mode, a load with a considerable load is suspended by a rope or the like, and the load may sway during work, increasing the risk of tipping over compared to other work modes. On the other hand, in the excavation mode, the excavated material may be temporarily stored inside the bucket 303, but the risk of tipping over is lower compared to the crane mode. Therefore, by having the control unit 11 execute the restriction process when the construction machine 1 is in a work mode with a higher risk of tipping, a decrease in workability during work modes with a lower risk of tipping over is suppressed. The crane mode is an example of a "predetermined work mode."

[0121] Furthermore, in the above example, the control unit 11 executes the restriction process when the determination condition is met in a predetermined work mode, but this is not limited to this. For example, the control unit 11 may allow the work mode to be switched when the determination condition is met. In this case, transition to the crane mode is permitted depending on the posture of the main body 2. As a result, crane work in a posture that poses a high risk of tipping over can be prevented, and tipping of the work machine 1 can be prevented.

[0122] (Notification process of notification unit 19) Next, the notification unit 19 will be described in detail with reference to Fig. 12. Fig. 12 shows an image displayed on the display unit 190 of the notification unit 19. The image displayed on the display unit 190 of the notification unit 19 includes a first image 191 and a second image 192. The first image 191 shows an angle corresponding to the attitude of the main body 2 of the work machine 1. The second image 192 shows the restriction processing being executed by the control unit 11.

[0123] 12, the notification unit 19 notifies the detection result of the first detection unit 12. Therefore, it is possible to notify the operator that the work machine 1 is located on a slope. As a result, it is possible to prompt the operator to move the work machine 1 to a position other than the slope.

[0124] 12, the notification unit 19 notifies the operator of the content of the restriction process. Therefore, the content of the restriction process being executed by the control unit 11 can be notified to the operator. As a result, the operator can understand the content of the restriction process.

[0125] When the change in the attitude of the main body 2 satisfies the first determination condition, the notification unit 19 can notify the content of the first restriction process. When the change in the attitude of the main body 2 satisfies the second determination condition, the notification unit 19 can notify the content of the second restriction process.

[0126] Furthermore, when the determination result of the second determination unit indicates that the change in the posture of the main body unit 2 satisfies the second condition, the notification unit 19 issues a warning. This makes it possible to recognize that there is a possibility that the work machine 1 may tip over. As a result, the operator can be prompted to move the work machine 1 to a position where work can be performed.

[0127] (Flow of restriction process of control unit 11) Next, the processing executed by the control unit 11 of the work machine 1 will be described with reference to Figure 13. Figure 13 shows a flowchart of the processing executed by the control unit 11 of the work machine 1. The processing executed by the control unit 11 of the work machine 1 includes steps S101 to S112.

[0128] In step S101, the operation unit 20 accepts an operation by the operator to switch the working machine 1 to the crane mode. The process proceeds to step S102.

[0129] In step S102, the control unit 11 determines whether the attitude of the main body unit 2 satisfies a first determination condition. If the attitude of the main body unit 2 does not satisfy the first determination condition (No in step S102), the process proceeds to step S104. If the attitude of the main body unit 2 satisfies the first determination condition (Yes in step S102), the process proceeds to step S103.

[0130] If the answer is Yes in step S102, in step S103, the control unit 11 causes the notification unit 19 to notify information about the attitude of the main body unit 2. The process returns to step S102.

[0131] If the answer is No in step S102, in step S104, the control unit 11 permits mode switching to the crane mode and executes mode switching processing. In the processing thereafter, the work machine 1 operates in the crane mode. The processing proceeds to step S105.

[0132] In step S105, the control unit 11 determines whether the attitude of the main body unit 2 satisfies the first determination condition. If the attitude of the main body unit 2 does not satisfy the first determination condition (No in step S105), the process proceeds to step S109. If the attitude of the main body unit 2 satisfies the first determination condition (Yes in step S105), the process proceeds to step S107.

[0133] If the answer is Yes in step S105, in step S107, control unit 11 executes a first restriction process. Specifically, control unit 11 slows down the movement speed of main body unit 2 and / or working unit 3. The process proceeds to step S108.

[0134] In step S108, the control unit 11 causes the notification unit 19 to notify the content of the first restriction process. The process proceeds to step S109.

[0135] If the determination in step S105 is No, or after step S108, in step S109, the control unit 11 determines whether or not the attitude of the main body unit 2 satisfies the second determination condition. If the attitude of the main body unit 2 does not satisfy the second determination condition (No in step S109), the process returns to step S106. If the attitude of the main body unit 2 satisfies the second determination condition (Yes in step S109), the process proceeds to step S110.

[0136] If the answer is Yes in step S109, in step S110, control unit 11 executes a second restriction process. Specifically, control unit 11 prohibits the operation of main body unit 2 and / or working unit 3. The process proceeds to step S111.

[0137] In step S111, the control unit 11 causes the notification unit 19 to notify the content of the second restriction process. The process proceeds to step S112.

[0138] In step S112, the control unit 11 determines whether or not the termination condition for the crane mode is satisfied. If the termination condition is not satisfied (No in step S112), the process returns to step S104. If the termination condition is satisfied (Yes in step S112), the process ends.

[0139] If the result of step S109 is No, the control unit 11 cancels the restricted state in step S106, and the process returns to step S104.

[0140] The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above embodiments and can be embodied in various forms without departing from the spirit and scope of the present invention. Furthermore, various inventions can be formed by appropriately combining multiple components disclosed in the above embodiments. For example, some components may be omitted from all components shown in the embodiments. Furthermore, components from different embodiments may be appropriately combined. The drawings mainly show each component in a schematic manner to facilitate understanding. The thickness, length, number, spacing, etc. of each illustrated component may differ from the actual components due to the convenience of drawing. Furthermore, the speed, material, shape, dimensions, etc. of each component shown in the above embodiments are merely examples and are not particularly limited. Various modifications are possible within a scope that does not substantially deviate from the configuration of the present invention.

[0141] (1) In the first embodiment, the control unit 11 of the work machine 1 restricts at least one of the operation of the working unit 3 and the operation of the main body unit 2 in the crane mode. However, this is not limited to this. For example, when the working unit 3 is in a mode for performing earth excavation work, the control unit 11 may restrict at least one of the operation of the working unit 3 and the operation of the main body unit 2. Specifically, the control unit 11 restricts at least one of the operation of the working unit 3 and the operation of the main body unit 2 based on the detection results of the first detection unit 12 and the detection results of the sixth detection unit 17. The control unit 11 can calculate the weight of the earth and sand contained in the bucket 303 based on the pressure of the work oil supplied to the boom cylinder 51a indicated by the detection results of the sixth detection unit 17. Therefore, the control unit 11 can restrict at least one of the operation of the working unit 3 and the operation of the main body unit 2 based on the inclination of the main body unit 2 and the weight of the earth and sand.

[0142] (2) In this embodiment, when limiting the movement of the working unit 3, the control unit 11 limits the movement of the working unit 3 based on the pattern table TA, but this is not limitative. For example, the control unit 11 may limit the movement of the working unit 3 based on the position of the center of gravity of the work machine 1.

[0143] For example, the control unit 11 calculates the position of the center of gravity of the work machine 1 based on dimensional information of the work machine 1, weight information of the work machine 1, the attitude of the main body unit 2, the attitude of the working unit 3, angle information of the revolving unit 4, and load information. Specifically, the control unit 11 calculates the position of the center of gravity of the work machine 1 based on the dimensional information of the work machine 1, weight information of the work machine 1, and the detection results of the first detection unit 12 to the sixth detection unit 17. Then, the control unit 11 calculates the possibility of the work machine 1 tipping over based on the position of the center of gravity of the work machine 1. Then, the control unit 11 restricts the operation of the working unit 3 based on the calculation results of the control unit 11. As a result, the control unit 11 can restrict the operation of the working unit 3 with high accuracy.

[0144] (3) In this embodiment, when limiting the movement of the revolving unit 4, the control unit 11 limits the movement of the revolving unit 4 based on the pattern table TB, but this is not limiting. For example, the control unit 11 may limit the movement of the revolving unit 4 based on the position of the center of gravity of the work machine 1.

[0145] For example, the control unit 11 calculates the position of the center of gravity of the work machine 1 based on dimensional information about the work machine 1, weight information about the work machine 1, and the detection results of the first detection unit 12 to the sixth detection unit 17. Then, the control unit 11 calculates the possibility of the work machine 1 tipping over based on the position of the center of gravity of the work machine 1. Then, the control unit 11 restricts the movement of the revolving unit 4 based on the calculation results of the control unit 11. As a result, the control unit 11 can restrict the movement of the revolving unit 4 with high accuracy.

[0146] Furthermore, the memory unit 21 of the work machine 1 of this embodiment stores the detection results of the first detection unit 12. The control unit 11 can execute control processing based on the detection results stored in the memory unit 21. For example, if the inclination of the inclined surface SL gradually increases, the direction in which the inclination of the inclined surface SL increases (i.e., the direction in which the change in the attitude of the main body unit 2 increases) and the magnitude of the change in inclination can be identified by storing the detection results of the first detection unit 12 in the memory unit 21. This allows the control unit 11 to predict a change in the attitude of the main body unit 2 based on the detection results of the first detection unit 12 stored in the memory unit 21. Therefore, the control unit 11 can execute the restriction processing in advance before the main body unit 2 reaches the predicted inclination angle. As a result, the restriction processing can be executed before the work machine 1 is positioned on the inclined surface SL. The direction in which the inclination of the inclined surface SL increases corresponds to the "second predetermined direction" in this invention.

[0147] The control unit 11 can predict changes in the attitude of the main body 2 due to the traveling operation of the traveling object 5 based on the detection results stored in the memory unit 21. Then, the control unit 11 executes restriction processing based on the prediction results. Therefore, the control unit 11 can execute restriction processing to restrict the operation of the work machine 1 based on the change in attitude of the main body 2 predicted by the control unit 11. As a result, the restriction processing can be executed before the work machine 1 is positioned on the slope SL, and the work machine 1 can be prevented from tipping over.

[0148] (5) The control unit 11 of the work machine 1 of this embodiment may use the detection results of the seventh detection unit 18 to restrict the operation of the work machine 1. The detection results of the seventh detection unit 18 are stored in the memory unit 21. The seventh detection unit 18 can detect road surface conditions. Road surface conditions include, for example, the inclination angle of the road surface. The control unit 11 identifies the road surface conditions based on the detection results of the seventh detection unit 18 stored in the memory unit 21. Therefore, the control unit 11 can restrict the operation of the work machine 1 based on the road surface conditions identified by the control unit 11. As a result, it is possible to prevent the work machine 1 positioned on a slope SL from tipping over.

[0149] Furthermore, because the detection results of the seventh detection unit 18 stored in the memory unit 21 are used, the control unit 11 can identify the angle of the slope SL in the direction of travel of the work machine 1. This makes it possible to prevent the work machine 1 from approaching the slope SL in the direction of travel of the work machine 1. As a result, it is possible to prevent the work machine 1 from entering the slope SL where there is a risk of the work machine 1 tipping over. [Industrial Applicability]

[0150] The present invention provides a work machine and has industrial applicability. [Explanation of symbols]

[0151] 1: Work machine 2: Main body 3: Working section 4: Rotating body 5: Running body 12: First detection unit 111: Restriction section 112: Specific part 113: 1st judgment part 114:Second judgment part

Claims

1. a work unit that performs work; a main body portion supporting the working unit; a control unit that executes a restriction process that restricts at least one of the operation of the working unit and the operation of the main body unit, the control unit, in the restriction process, restricts the movement of the working unit and / or the movement of the main body unit in a direction down the inclined surface based on a relationship between a front-to-rear direction of the main body unit and an inclination direction of the inclined surface on which the main body unit is located, the control unit limits the operation of the working unit differently depending on whether the front-rear direction of the main body unit and the inclination direction of the inclined surface are parallel to each other or whether the front-rear direction of the main body unit and the inclination direction of the inclined surface intersect with each other. Work machinery.

2. the main body includes a traveling body that travels, and a rotating body that supports the working unit and is rotatably supported on the traveling body, The work machine according to claim 1 , wherein the control unit, in the restriction process, restricts the rotation of the rotating body in a downward direction on the inclined surface.

3. The work machine according to claim 1 or 2, further comprising a detector that detects the inclination direction of the inclined surface as the attitude of the main body.

4. a work unit that performs work; a main body that supports the working unit, and limiting the movement of the working unit and / or the movement of the main body unit in a direction downward on the inclined surface based on a relationship between a front-to-rear direction of the main body unit and an inclination direction of the inclined surface on which the main body unit is located, The restriction on the operation of the working unit differs between a case where the front-rear direction of the main body unit and the inclination direction of the inclined surface are parallel to each other and a case where the front-rear direction of the main body unit and the inclination direction of the inclined surface intersect with each other. A method for controlling a work machine.

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