Work machine, system including work machine, and method of controlling work machine

Abstract

A work machine capable of reliably ejecting loads loaded in a bucket is provided. A travel sensor detects a state of travel of a travel unit. A work implement posture sensor detects a posture of a work implement. An object sensor detects an object around a main body. A controller provides a command to drive a work implement actuator based on detection values from the travel sensor, the work implement posture sensor, and the object sensor. The controller recognizes a loading target into which the loads in the bucket are to be loaded, based on detection of the object. The controller controls the work implement actuator and the travel unit such that the bucket is set to a full dump state while a feature point of the bucket is located above the loading target and such that the travel unit travels rearward with the full dump state being maintained.

1 . A work machine comprising:
 a main body including a travel unit;   a work implement attached in front of the main body, the work implement including a bucket at a tip end;   a work implement actuator that drives the work implement with respect to the main body;   a travel sensor that detects a state of travel of the travel unit;   a work implement posture sensor that detects a posture of the work implement;   an object sensor that detects an object around the main body; and   a controller that provides a command to drive the work implement actuator based on detection values from the travel sensor, the work implement posture sensor, and the object sensor, wherein   the controller recognizes a loading target into which loads in the bucket are to be loaded, based on detection of the object, and controls the work implement actuator and the travel unit such that the bucket is in a full dump state while a feature point of the bucket is located above the loading target and such that the travel unit travels rearward with the full dump state being maintained.   
     
     
         2 . The work machine according to  claim 1 , wherein
 the controller sets an upper end of a side surface of the loading target recognized by the object sensor as a reference point, and starts drive of the work implement actuator to operate the bucket in a tilt direction at a time point when a horizontal distance between the reference point and the feature point becomes equal to or smaller than a prescribed value.   
     
     
         3 . The work machine according to  claim 2 , wherein
 the controller stops drive of the work implement actuator to operate the bucket in the tilt direction at a time point when the feature point moves beyond the reference point.   
     
     
         4 . The work machine according to  claim 1 , wherein
 the work implement has a boom coupled to the main body, and   the controller controls the travel unit to travel rearward with the full dump state being maintained while a posture of the boom with respect to the main body is held.   
     
     
         5 . The work machine according to  claim 2 , wherein
 the work implement has a boom coupled to the main body, and   the controller controls the bucket to operate in the tilt direction while a posture of the boom with respect to the main body is held.   
     
     
         6 . The work machine according to  claim 3 , wherein
 the work implement has a boom coupled to the main body, and   the controller starts drive of the work implement actuator to lower the boom at the time point when the feature point moves beyond the reference point.   
     
     
         7 . A system including a work machine, the system comprising:
 a work machine main body including a travel unit;   a work implement attached in front of the work machine main body, the work implement including a bucket at a tip end;   a work implement actuator that drives the work implement with respect to the work machine main body;   a travel sensor that detects a state of travel of the travel unit;   a work implement posture sensor that detects a posture of the work implement;   an object sensor that detects an object around the work machine main body; and   a controller that provides a command to drive the work implement actuator based on detection values from the travel sensor, the work implement posture sensor, and the object sensor, wherein   the controller recognizes a loading target into which loads in the bucket are to be loaded, based on detection of the object, and controls the work implement actuator and the travel unit such that the bucket is in a full dump state while a feature point of the bucket is located above the loading target and such that the travel unit travels rearward with the full dump state being maintained.   
     
     
         8 . A method of controlling a work machine, the method comprising:
 recognizing a loading target into which loads in a bucket are to be loaded, based on an object detection signal;   moving a feature point of the bucket to above the loading target;   setting the bucket into a full dump state while the feature point is located above the loading target; and   controlling a travel unit to travel rearward with the full dump state being maintained.