Work machine
An estimative load determination part included in a work machine determines, based on a load acquired by a load acquisition section, an estimative load of an object of a work held by an attachment when an estimative load determinative criterion is satisfied. The estimative load determinative criterion includes at least one of a criterion that a predetermined first reduction manipulation is detected in a holding task and a criterion that the first reduction manipulation is detected after the holding task, the first reduction manipulation being for reducing an amount of the object held by the attachment.
1 . A work machine which performs a holding task of holding an object of a work, a carrying task of carrying the object being held to a position above a destination, and a discharge task of discharging the object at the position above the destination, the work machine comprising:
a machine body;
a working device which is supported by the machine body, and includes a boom, an arm, and an attachment for holding the object, the boom being rotatably attached to the machine body, the arm being rotatably attached to a distal end of the boom and having a distal end to which the attachment is attached;
at least one manipulation lever configured to receive an attachment discharge manipulation and an arm pushing manipulation by an operator, the attachment discharge manipulation being a manipulation by the operator to cause the attachment to discharge at least a portion of the object held by the attachment, the arm pushing manipulation being a manipulation by the operator to push the arm in a direction in which the distal end of the arm moves away from the boom;
a load acquisition section which acquires a load of the object held by the attachment; and
a controller configured to
determine whether a predetermined first reduction manipulation is given to the at least one manipulation lever by the operator, the first reduction manipulation being for reducing an amount of the object held by the attachment and being at least one of the attachment discharge manipulation and the arm pushing manipulation; and
determine, based on the load acquired by the load acquisition section, an estimative load of the object estimated to be discharged at the position above the destination in the discharge task, when the first reduction manipulation is given to the at least one manipulation lever by the operator in the holding task or after the holding task;
determine, after the estimative load is determined, whether a predetermined second reduction manipulation is given to the at least one manipulation lever by the operator, the second reduction manipulation being for reducing an amount of the object held by the attachment after a completion of the first reduction manipulation and being at least one of the attachment discharge manipulation and the arm pushing manipulation.
2 . The work machine according to claim 1 , wherein
the controller is configured to
update, based on the load acquired by the load acquisition section after the estimative load is determined, the estimative load when a predetermined estimative load update criterion is satisfied, the estimative load update criterion including a criterion that the second reduction manipulation is given to the at least one manipulation lever by the operator; and
determine, when a predetermined definitive load determinative criterion for determining a definitive load of the object to be actually discharged at the position above the destination in the discharge task is satisfied, the estimative load as the definitive load.
3 . The work machine according to claim 2 , wherein the definitive load determinative criterion includes a criterion that the load acquired by the load acquisition section after the estimative load is determined is equal to or smaller than a predetermined load threshold.
4 . The work machine according to claim 2 , wherein the estimative load update criterion further includes a criterion that a time from the completion of the first reduction manipulation to a start of the second reduction manipulation is equal to or longer than a predetermined time threshold, and the controller is configured to avoid updating the estimative load when the time from the completion of the first reduction manipulation to the start of the second reduction manipulation is shorter than the time threshold.