| CPC E02F 9/2033 (2013.01) [E02F 9/205 (2013.01); E02F 9/24 (2013.01); E02F 9/26 (2013.01); E02F 9/268 (2013.01)] | 10 Claims |
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1. A work machine characterized in that it comprises:
a traveling body;
a rotary body rotatably mounted onto the traveling body;
a work machinery of an articulated type mounted to the rotary body and including a boom, an arm and a work tool; and
a control device,
wherein the control device comprises:
a control instruction calculation section for calculating an operation control instruction to the traveling body, the rotary body and the work machinery in response to an operation instruction outputted from an operation input device;
a machine control section for controlling the traveling body, the rotary body and the work tool in response to an operation control instruction of the control instruction calculation section;
an abnormality detection section for detecting abnormality of a signal from outside of the work machine or abnormality of the work machine;
an avoiding movement necessity determination section for distinguishing movement situation of the traveling body, the rotary body and the work machinery and determining whether an avoiding movement which is a movement to change a moving direction of the work machinery to a predetermined direction avoiding coming into contact with an obstacle, is necessary in a case wherein the abnormality detection section detects abnormality; and
an avoidance control instruction section for calculating an avoidance control instruction and outputs this to the machine control section in a case wherein it is determined that the avoiding movement is necessary by the avoiding movement necessity determination section,
wherein the machine control section controls the traveling body, the rotary body and the work machinery putting priority on the avoidance control instruction over the operation control instruction.
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