Work machine
A work machine includes a work implement, a rotating body to which the work implement is attached, a topography sensor configured to measure a topography, and a controller. The controller determines a digging start point of the work implement based on topographical data indicative of the topography measured by the topography sensor. The controller moves the work implement from a current position of the work implement to the digging start point.
1. A work machine comprising:
a work implement;
a rotating body to which the work implement is attached;
a topography sensor configured to measure a topography; and
an electronic controller configured
to determine a digging start point of the work implement based on a target topography and a current topography measured by the topography sensor,
to move the work implement from a current position of the work implement to the digging start point,
to set a movement target position above the digging start point,
to determine a rotation path from the current position to the movement target position,
then to move the work implement along the rotation path
to determine a digging path which joins the digging start point and a digging end point based on
a target volume of materials carried by the work implement, and
the topographical data
to control the work implement so that the blade tip of the work implement moves along the digging path after the blade tip has moved along the rotation path.
2. The work machine according to claim 1 , wherein
the electronic controller is further configured
to determine a rotation path from the current position to the digging start point, and
to move the work implement along the rotation path.
3. The work machine according to claim 2 , wherein
the rotation path includes a midpoint, and
the electronic controller is further configured to control the work implement and the rotating body so that a blade tip of the work implement moves through the midpoint.
4. A method executed by an electronic controller in order to control a work machine, the method comprising:
a first process including determining a digging start point for a work implement attached to a rotating body based on a target topography and a current topography in the vicinity of the work machine; and
a second process including causing the work implement to move from a current position of the work implement to the digging start point,
the first process further including
setting a movement target position above the digging start point,
determining a rotation path from the current position to the movement target position, and
determining a digging path which joins the digging start point and a digging end point based on
a target volume of materials carried by the work implement, and
the topographical data,
the second process further including moving the work implement along the rotation path, and
a third process including controlling the work implement after the second process so that the blade tip moves along the digging path.
5. The method according to claim 4 , wherein
the first process further includes determining a rotation path from the current position to the digging start point, and
the second process further includes moving the work implement along the rotation path.
6. The method according to claim 5 , wherein
the first process further includes setting a midpoint in the rotation path, and
the second process further includes controlling the work implement and the rotating body so that a blade tip of the work implement moves through the midpoint.