US 12,454,444 B2
Work machine and method for controlling work machine
Arisa Nakamura, Hyogo (JP); Kentaro Teranishi, Hyogo (JP); and Shintaro Sasai, Hyogo (JP)
Assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
Appl. No. 17/609,434
Filed by KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
PCT Filed May 14, 2020, PCT No. PCT/JP2020/019302
§ 371(c)(1), (2) Date Nov. 8, 2021,
PCT Pub. No. WO2020/235448, PCT Pub. Date Nov. 26, 2020.
Claims priority of application No. 2019-093961 (JP), filed on May 17, 2019.
Prior Publication US 2022/0227606 A1, Jul. 21, 2022
Int. Cl. B66C 13/46 (2006.01); B66C 23/94 (2006.01); B66C 13/16 (2006.01); E02D 13/06 (2006.01); E02F 9/20 (2006.01); E02F 9/24 (2006.01); E02F 9/26 (2006.01)
CPC B66C 13/46 (2013.01) [B66C 23/94 (2013.01); B66C 13/16 (2013.01); E02D 13/06 (2013.01); E02F 9/2033 (2013.01); E02F 9/24 (2013.01); E02F 9/264 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A work machine comprising:
a lower base;
a slewing body slewably located on an upper part of the lower base and coupled with a boom that supports a rope that suspends a hoist load;
a slewing motor that drives the slewing body;
an obstacle detection device located in the slewing body and detecting an obstacle existing in a designated area set within a unique monitoring range;
a slewing manipulation device including a slewing lever that receives a drive manipulation instructing the slewing motor to operate;
a controller that controls an operation of the slewing motor in response to the drive manipulation;
a hook for hanging the hoist load, the hook being supported by the rope; and
a winch configured to cause the hook to move up and down by winding or unwinding the rope,
wherein the work machine is a crane,
wherein the controller is configured to execute first monitoring control and second monitoring control,
in the first monitoring control, the controller is configured to set a first monitoring area that is set with respect to the slewing body as the designated area when the slewing motor is at a stop, when the obstacle is detected in the first monitoring area, the controller is configured to prohibit start of the slewing motor in response to the drive manipulation; and
in the second monitoring control, the controller is configured to set one or more second monitoring areas that are set at places remoter from a slewing center of the slewing body than the first monitoring area as the designated area, when the obstacle is detected in the one or more second monitoring areas, the controller is configured to set an operation limitation of the slewing motor, and start, with the operation of the slewing motor limited, the slewing motor in response to the drive manipulation,
wherein the first monitoring area is an area where the upper slewing body is configured to pass when the upper slewing body slews, and an area for detecting the obstacle that is configured to come into contact with the upper slewing body when the upper slewing body slews,
wherein the one or more second monitoring areas are areas where the upper slewing body does not pass when the upper slewing body slews, and areas for detecting the obstacle existing at a position where the obstacle does not come into contact with the upper slewing body when the upper slewing body slews.