Work machine collision safety controls and warnings

A work machine in which a turning body is disposed to be turnable relative to a base body, the work machine comprising:

• a control unit including a computer having a memory and a central processing unit which reads processing content from the memory and achieves various functions, and
• sensors which detect an obstacle present around the turning body,
• wherein the control unit comprises a drive control unit which controls a turning operation of the turning body,
• the drive control unit does not start turning of the turning body in a case where the obstacle is detected by the detection unit while the turning of the turning body is stopped, and decelerates the turning of the turning body with a deceleration to such an extent that a load suspended from the turning body does not swing like a pendulum for at least a predetermined period in a case where the obstacle is detected by the detection unit during the turning of the turning body,
• the drive control unit decelerates the turning of the turning body with a deceleration equal to or less than a predetermined deceleration, in the case where the obstacle is detected by the detection unit during the turning of the turning body, and
• a notification device which outputs different notifications to an operator of the work machine depending on a mode of the detection of the obstacle by the sensors and a type of the turning operation of the turning body based on at least turning speed and turning direction.