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

Abstract

A controller provides a command to drive a work implement actuator based on detection values from a travel sensor that detects a state of travel of a travel unit, a work implement posture sensor that detects a posture of a work implement, and a object sensor that detects an object around a main body. The controller recognizes a loading target into which loads in a bucket are to be loaded, based on detection of the object. The controller starts drive of the work implement actuator to operate the bucket in a dump direction while forward travel of the travel unit continues, at a time point when a feature point of the bucket reaches a first target position in front of the loading target and higher than the loading target while the work implement approaches the loading target by forward travel of the travel unit.

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 starts drive of the work implement actuator to operate the bucket in a dump direction while forward travel of the travel unit continues, at a time point when a feature point of the bucket reaches a first target position in front of the loading target and higher than the loading target while the work implement approaches the loading target by forward travel of the travel unit.   
     
     
         2 . The work machine according to  claim 1 , wherein
 the controller continues drive of the work implement actuator to operate the bucket in the dump direction until the feature point reaches a second target position above the loading target.   
     
     
         3 . The work machine according to  claim 2 , wherein
 the controller continues drive of the work implement actuator to operate the bucket in the dump direction also after the feature point passes through the second target position.   
     
     
         4 . The work machine according to  claim 2 , wherein
 the work implement has a boom coupled to the main body, and   the controller starts drive of the work implement actuator to raise the boom before the feature point reaches the first target position and continues drive of the work implement actuator to raise the boom also after the feature point passes through the first target position.   
     
     
         5 . The work machine according to  claim 4 , wherein
 the controller continues drive of the work implement actuator to raise the boom until the feature point reaches the second target position.   
     
     
         6 . The work machine according to  claim 5 , wherein
 the controller continues drive of the work implement actuator to raise the boom also after the feature point passes through the second target position.   
     
     
         7 . The work machine according to  claim 4 , wherein
 the controller continues drive of the work implement actuator to raise the boom until drive of the work implement actuator to operate the bucket in the dump direction is stopped.   
     
     
         8 . The work machine according to  claim 4 , wherein
 the controller continues drive of the work implement actuator to raise the boom until forward travel of the travel unit is stopped.   
     
     
         9 . 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 calculates a current position of the feature point relative to the reference point.   
     
     
         10 . The work machine according to  claim 1 , wherein
 a target posture of the work implement at time when the feature point is located at the first target position is stored in the controller, and the controller controls the work implement actuator to set the work implement into the target posture when the feature point reaches the first target position.   
     
     
         11 . 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 starts drive of the work implement actuator to operate the bucket in a dump direction while forward travel of the travel unit continues, at a time point when a feature point of the bucket reaches a first target position in front of the loading target and higher than the loading target while the work implement approaches the loading target by forward travel of the travel unit.   
     
     
         12 . 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;   causing a travel unit to travel forward to bring a work implement closer to the loading target; and   starting drive of a work implement actuator to operate the bucket in a dump direction while forward travel of the travel unit continues, at a time point when a feature point of the bucket reaches a first target position in front of the loading target and higher than the loading target.