Search

EP-4177407-B1 - WORK MACHINE WITH OVERTURNING PREVENTION CONTROLLER

EP4177407B1EP 4177407 B1EP4177407 B1EP 4177407B1EP-4177407-B1

Inventors

  • FUJIO, KAZUHIRO

Dates

Publication Date
20260506
Application Date
20220614

Claims (14)

  1. A work machine (1) comprising: a work unit (3) that executes work; a main body (2) that supports the work unit (3); a detection unit that detects a posture of the main body (2); and a controller (11) that executes a restriction process of restricting at least one of a motion of the work unit (3) and a motion of the main body (2) , based on a result of detection of the detection unit, wherein the main body includes a traveling body (5) that travels, characterized in that the controller (11) executes the restriction process based on a determination condition indicating an inclination angle of the main body (2) and the controller (11) executes the restriction process based on a position of the traveling body (5) relative to an inclined surface.
  2. The work machine (1) according to claim 1, wherein the controller (11) executes the restriction process based on a change in the posture of the main body (2) from a reference posture.
  3. The work machine (1) according to claim 2, wherein the reference posture includes the posture of the main body (2) obtained when the main body (2) is disposed on a level surface.
  4. The work machine (1) according to any one of claims 1 to 3, wherein the controller (11) executes the restriction process based on a change in the posture of the main body (2) caused by traveling of the traveling body (5).
  5. The work machine (1) according to any one of claims 1 to 4, wherein the controller (11) specifies a posture of the work unit (3), and executes the restriction process based on a posture of the work unit (3) and the posture of the main body (2).
  6. The work machine (1) according to any one of claims 1 to 5, wherein the restriction process includes a first restriction process of restricting a motion speed and a second restriction process of prohibiting a motion.
  7. The work machine (1) according to claim 1, wherein the determination condition includes a first determination condition and a second determination condition different from the first determination condition, and the controller (11) executes the first restriction process based on the first determination condition and executes the second restriction process based on the second determination condition.
  8. The work machine (1) according to any one of claims 1 to 7, wherein the controller (11) restricts a motion of the work unit (3) in a first predetermined direction in the restriction process, and the first predetermined direction indicates a downward direction of an inclined surface where the main body (2) is positioned.
  9. The work machine (1) according to any one of claims 1 to 8, wherein the main body (2) supports the work unit (3) and includes a swivel body (4) supported by the traveling body (5) in a swivelable manner, and the controller (11) restricts a swivel motion of the swivel body (4) in the first predetermined direction in the restriction process.
  10. The work machine (1) according to any one of claims 4 to 9, wherein the controller (11) restricts a traveling motion of the traveling body (5) in a second predetermined direction in the restriction process, and the second predetermined direction indicates a direction in which a change in the posture of the main body (2) increases.
  11. The work machine (1) according to any one of claims 1 to 10, further comprising a reporting unit (19) that reports the detection result of the detection unit.
  12. The work machine (1) according to claim 11, wherein the reporting unit (19) reports content of the restriction process.
  13. The work machine (1) according to any one of claims 1 to 12, further comprising: a storage unit (21) that stores the detection result of the detection unit, wherein the controller (11) executes the restriction process based on the detection result stored in the storage unit (21).
  14. The work machine (1) according to claim 13, wherein the controller (11) estimates a change in the posture of the main body (2) caused by the traveling motion based on the detection result stored in the storage unit (21) and executes the restriction process based on the estimation.

Description

TECHNICAL FIELD The present disclosure relates to a work machine. BACKGROUND ART The hydraulic excavator described in Patent Document 1 includes a safety device against overturning. The safety device against overturning calculates the center of gravity of the hydraulic excavator. The safety device against overturning calculates a center-of-gravity safety zone. The safety device against overturning outputs a warning when the center of gravity approaches a boundary of the center-of-gravity safety zone. Patent Document 2 discloses a shovel including an undercarriage, an upper swing structure swingably mounted on the undercarriage, an object detector, and a controller . PRIOR ART DOCUMENT PATENT DOCUMENT Patent Document 1: Japanese Unexamined Patent Application Publication No. 7-207711Patent Document 2 : EP 3779062 A1 SUMMARY OF INVENTION TECHNICAL PROBLEM However, the work machine, such as the hydraulic excavator, described in Patent Document 1 does not restrict a motion of the work machine located on an inclined surface, and therefore, tipping-over of the work machine caused by a motion of the work machine may not be avoided. The present disclosure is made in view of the above-mentioned problem, and it is an object to provide a work machine that can be restrained from tipping-over caused by a motion of the work machine in an inclined state. SOLUTION TO PROBLEM According to an aspect of the disclosure, a work machine includes a work unit, a main body, a detection unit, and a controller. The work unit performs works. The main body supports the work unit. The detection unit detects a posture of the main body. The controller executes a restriction process of restricting at least one of a motion of the work unit and a motion of the main body based on a detection result of the detection unit. ADVANTAGEOUS EFFECTS OF INVENTION According to the work machine of the present disclosure, the work machine can be prevented from tipping-over caused by a motion of the work machine in an inclined state. BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a diagram illustrating a work machine according to an embodiment of the present disclosure.FIG. 2 is a block diagram illustrating a hydraulic configuration and an electrical configuration of the work machine according to the embodiment.FIG. 3 is a diagram illustrating an example of a process executed by a controller of the work machine according to the embodiment.FIG. 4 is a diagram illustrating the work machine according to the embodiment.FIG. 5A is a diagram illustrating the work machine located in an inclined surface. FIG. 5B is a plan view of the work machine of FIG. 5A.FIG. 6A is a diagram illustrating the work machine located in an inclined surface. FIG. 6B is a plan view of the work machine of FIG. 6A.FIG. 7A is a diagram illustrating the work machine located in an inclined surface. FIG. 7B is a plan view of the work machine of FIG. 7A.FIG. 8 is a diagram illustrating a pattern table of a swivel body of the work machine according to the embodiment.FIG. 9A is a diagram illustrating the work machine located in an inclined surface. FIG. 9B is a plan view of the work machine of FIG. 9A in a first posture. FIG. 9C is a plan view of the work machine of FIG. 9A in a second posture.FIG. 10A is a diagram illustrating the work machine located in an inclined surface. FIG. 10B is a plan view of the work machine of FIG. 10A in a third posture. FIG. 10C is a plan view of the work machine of FIG. 10A in a fourth posture.FIG. 11 is a diagram illustrating a pattern table of a work unit of the work machine according to the embodiment.FIG. 12 is a diagram illustrating an image displayed on a display unit of a reporting unit of the work machine according to the embodiment.FIG. 13 is a flowchart of a process executed by a controller of the work machine according to the embodiment. DESCRIPTION OF EMBODIMENTS An embodiment of the present disclosure will be described hereinafter with reference to the accompanying drawings. Note that the present disclosure is not limited to the embodiment below. The explanation may be omitted where the explanation is duplicated as appropriate. Furthermore, in the drawings, the same reference signs are used for the same or equivalent components, and redundant descriptions are omitted. First Embodiment Referring to FIG. 1, a work machine 1 according to an embodiment of the present disclosure will be described. The work machine 1 includes construction machinery and agricultural machinery, for example, and may be self-propelled or stationary machinery. The following is an example of this embodiment where the work machine 1 is a hydraulic excavator. A hydraulic excavator is an example of construction machinery. FIG. 1 is a diagram illustrating a work machine 1 according to this embodiment. As illustrated in FIG. 1, the work machine 1 of this embodiment includes a main body 2, a work unit 3, and an engine unit 6. The main body 2 supports the work unit 3. The main body 2 include