Patent ID: 8768580

Claim:
A working machine provided with an undercarriage, a working machine main body mounted on the undercarriage, a front working mechanism attached pivotally in an up-and-down direction to the working machine main body, and a working attachment connected to a free end of the front working mechanism, comprising: a ZMP computing means operably arranged to calculate coordinates of a ZMP by using position information, acceleration information and external force information on respective movable portions of the main body, which includes the front working mechanism, and undercarriage; and a stability computing means operably arranged to calculate a support polygon formed by plural ground points of the working machine with a ground, performing a discrimination of stability based on the calculated ZMP coordinates, and, when the ZMP is included in a warning region formed inside a perimeter of the support polygon, producing a tipping warning, wherein the ZMP computing means and stability computing means compute the ZMP and the support polygon including the warning region therein, and produce a display or warning.