System including work machine, work machine controller, and method of controlling work machine

Abstract

A trace of an automatically controlled work implement is appropriately set. A controller of a work machine obtains a reference point of a container detected by an object sensor, obtains the trace of the work implement while the work machine is operated, and extracts a position of a feature point that defines the trace with the reference point being defined as a reference.

1 : A system including a work machine, the system comprising:
 a work machine main body;   a work implement attached to the work machine main body, the work implement including a bucket;   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 communicates with the work implement posture sensor and the object sensor, wherein   the controller obtains a reference point of a container detected by the object sensor, obtains a trace of the work implement while an operation of the work machine is performed, and extracts a position of a feature point that defines the trace with the reference point being defined as a reference.   
     
     
         2 : The system according to  claim 1 , wherein
 the operation is an operation to load loads carried in the work implement into the container.   
     
     
         3 : The system according to  claim 1 , the system obtaining a posture of the work implement at the feature point. 
     
     
         4 : The system according to  claim 1 , wherein
 the feature point includes a position of the work implement at time when an operation of the bucket in a dump direction is started while the work machine travels forward toward the container.   
     
     
         5 : The system according to  claim 1 , wherein
 the feature point includes a position of the work implement at time when an operation of the bucket in a dump direction is stopped above the container.   
     
     
         6 : The system according to  claim 1 , wherein
 the work implement includes a boom having a tip end attached to the bucket, and   the feature point includes a position of the work implement at time when an operation to raise the boom is stopped above the container.   
     
     
         7 : The system according to  claim 1 , wherein
 the feature point includes a position of the work implement at time when an operation of the bucket in a tilt direction is started above the container.   
     
     
         8 : The system according to  claim 7 , wherein
 the feature point includes a position of the work implement at the time when the operation of the bucket in the tilt direction is stopped   
     
     
         9 : A work machine controller,
 obtaining a reference point of a container detected by an object sensor;   obtaining a trace of a work implement while the work machine is operated; and   extracting a position of a feature point that defines the trace with the reference point being defined as a reference.   
     
     
         10 : A method of controlling a work machine, the method comprising:
 obtaining a reference point of a container detected by an object sensor;   obtaining a trace of a work implement while the work machine is operated; and   extracting a position of a feature point that defines the trace with the reference point being defined as a reference.