Work machine

Abstract

Provided is a work machine capable of appropriately controlling a loading work onto a carrier machine by verifying validity of a recognition result of the carrier machine. A hydraulic excavator includes an external measuring device that measures a surrounding environment, an information processing device that recognizes a dump truck present around the hydraulic excavator based on a measurement result of the external measuring device, a control device that controls an operation of the hydraulic excavator based on a recognition result of the information processing device, and a truck information acquisition device that acquires a position and vehicle class information of the dump truck through external communication. The information processing device corrects the recognition result of the dump truck based on the information acquired by the truck information acquisition device. The control device controls the operation of the hydraulic excavator based on the corrected recognition result of the dump truck.

The invention claimed is: 
     
         1 . A work machine for loading a target object onto a carrier machine, comprising:
 an external measuring device that measures a surrounding environment of a body of the work machine;   an information processing device that recognizes the carrier machine present around the body based on a measurement result of the external measuring device; and   a control device that controls an operation of the body based on a recognition result of the information processing device; and   a carrier machine information acquisition device that acquires a position and vehicle class information of the carrier machine from an external source, wherein   wherein the information processing device corrects a recognition result of the carrier machine based on the position and the vehicle class information of the carrier machine acquired by the carrier machine information acquisition device,   wherein the control device controls the operation of the body based on the corrected recognition result of the carrier machine.   
     
     
         2 . The work machine according to  claim 1 ,
 wherein the information processing device includes:
 a recognition section that recognizes the carrier machine from the measurement result of the external measuring device and calculates a recognition area as an area where the recognized carrier machine is present; 
 an area estimation section that calculates an estimated area as an area where the carrier machine is estimated to be present based on the position and the vehicle class information of the carrier machine acquired by the carrier machine information acquisition device; and 
 a correction section that corrects the recognition area based on the estimated area. 
   
     
     
         3 . The work machine according to  claim 2 ,
 wherein the information processing device calculates a confidence of the recognition result by comparing the recognition area with the estimated area,   wherein the correction section corrects the recognition area according to the calculated confidence.   
     
     
         4 . The work machine according to  claim 3 ,
 wherein the information processing device calculates an overlap degree indicating a degree of overlap between the recognition area and the estimated area as the confidence,   wherein the correction section corrects the recognition area according to the calculated overlap degree.   
     
     
         5 . The work machine according to  claim 2 ,
 wherein the carrier machine information acquisition device further acquires information on a position adjustment amount of the carrier machine,   wherein the area estimation section calculates the estimated area using the position adjustment amount acquired by the carrier machine information acquisition device.   
     
     
         6 . The work machine according to  claim 2 ,
 wherein the information processing device further includes a task acquisition section that acquires a next task to be performed by the work machine,   wherein the correction section changes a correction method of the recognition area according to the acquired task.   
     
     
         7 . The work machine according to  claim 6 ,
 wherein when a loading task for loading the target object onto the carrier machine is acquired, the correction section corrects the recognition area such that the recognition area becomes an area encompassing the recognition area and the estimated area.   
     
     
         8 . The work machine according to  claim 6 , further comprising
 a bucket that holds the target object,   wherein the carrier machine information acquisition device further acquires information regarding a position adjustment amount of the carrier machine,   wherein when a loading task for loading the target object onto the carrier machine is acquired, the correction section calculates a position of the bucket when loading the target object from the bucket onto the carrier machine based on the position adjustment amount acquired by the carrier machine information acquisition device, the recognition area, and the estimated area,   wherein the control device controls a loading operation of the target object onto the carrier machine based on the position of the bucket calculated by the correction section.   
     
     
         9 . The work machine according to  claim 6 ,
 wherein when a reaching task to be performed after the loading task for loading the target object onto the carrier machine is terminated is acquired, the correction section corrects the recognition area such that the recognition area becomes an area encompassed by an area where the recognition area and the estimated area overlap.   
     
     
         10 . The work machine according to  claim 2 ,
 when the recognition result of the carrier machine is determined to be not correctable, the information processing device notifies a user of that the recognition result is not correctable and displays a screen on the display device to allow the user to confirm whether or not the operation of the body is allowed to be continued:   when a confirmation result on whether or not the operation of the body is allowed to be continued is received from the user, the information processing device outputs the confirmation result to the control device,   wherein the control device controls the operation of the body according to the confirmation result.   
     
     
         11 . The work machine according to  claim 2 , further comprising
 a terrain information acquisition device that acquires terrain information around the work machine,   wherein the information processing device further includes a posture estimation section that estimates a posture of the carrier machine based on the terrain information acquired by the terrain information acquisition device,   wherein the area estimation section calculates the estimated area using the posture of the carrier machine estimated by the posture estimation section.   
     
     
         12 . The work machine according to  claim 2 ,
 wherein the external measuring device acquires point cloud data of the surrounding environment as the measurement result,   wherein the information processing device further includes a filter section that extracts the point cloud data within a predetermined area including the estimated area from the point cloud data acquired by the external measuring device,   wherein the recognition section recognizes the carrier machine from the point cloud data extracted by the filter section and calculates the recognition area.