Work machine

Abstract

A work machine capable of continuing work by automatic operation over a large area includes a controller that makes an upper turning body and a work device perform a series of motions including processing motion a plurality of times. The controller performs: shifting the start position of the processing motion in the next series of motions in the turning direction of the upper turning body when a processing work performed by a series of motions reaches a predetermined stage; making a lower traveling body perform an area change movement when the processing work reaches a predetermined stage while the start position has reached a change limit plane; and setting an after-movement start position so as to make the processing work after the area change movement continued with the processing work before the area change movement.

1 . A work machine comprising:
 a lower traveling body capable of performing a traveling motion;   an upper turning body mounted on the lower traveling body capably of turning with respect to the lower traveling body;   a work device rotatably attached to the upper turning body capably of performing a processing motion of processing an object; and   a controller that controls driving of the upper turning body and the work device so as to make the upper turning body and the work device perform a series of motions including the processing motion by the work device a plurality of times, wherein:   the controller is configured to perform: shifting a start position of the processing motion included in the next series of motions in a turning direction of the upper turning body when processing work which is work performed by the series of motions reaches a predetermined stage; making the lower traveling body perform an area change movement that is a movement for changing an area in which the processing work is performed when the processing work reaches the predetermined stage in a state where the start position has reached a predetermined shift limiting surface that defines a limit of the shift of the start position in the turning direction; and setting an after-movement start position, which is a start position of the processing motion after the area change movement, so as to make the processing work after the area change movement and the processing work before the area change movement continued with each other.   
     
     
         2 . The work machine according to  claim 1 , wherein the area change movement is a movement in a direction of making an after-movement posture which is a posture of the upper turning body with respect to the lower traveling body at the after-movement start position closer to an initial posture which is a posture of the upper turning body with respect to the lower traveling body at the start position of the processing motion included in the first series of motions. 
     
     
         3 . The work machine according to  claim 2 , wherein the controller is configured to perform setting the after-movement posture to the same posture as the initial posture and setting a distance of the area change movement so as to make the processing work after the area change movement continued with the processing work before the area change movement. 
     
     
         4 . The work machine according to  claim 2 , wherein the controller is configured to make the lower traveling body perform the area change movement by a preset movement distance and configured to set the after-movement posture so as to make the processing work by the series of motions after the area change movement continued with the processing work before the area change movement. 
     
     
         5 . The work machine according to  claim 4 , wherein the controller is configured to make a notification device notify that the after-movement start position is deviated beyond the shift limiting surface by the area change movement by the movement distance. 
     
     
         6 . The work machine according to  claim 4 , wherein the controller is configured to move the lower traveling body in a direction reverse to a direction of the area change movement when the after-movement start position is deviated beyond the shift limiting surface by the area change movement by the movement distance. 
     
     
         7 . The work machine according to  claim 1 , wherein the controller is configured to stop the area change movement when the lower traveling body is made reach a preset movement limiting position by the area change movement. 
     
     
         8 . The work machine according to  claim 1 , wherein the controller is configured to shift the start position within a preset working area and configured to set the after-movement start position within the working area so as to make the processing work after the area change movement continued with the processing work before the area change movement. 
     
     
         9 . The work machine according to  claim 1 , wherein the controller is configured to set the after-movement start position to a position upstream of the shift limiting surface in a direction of the area change movement. 
     
     
         10 . The work machine according to  claim 1 , wherein the processing motion is an excavation motion of excavating earth and sand, and the controller is configured to make the upper turning body and the work device repeat the series of motions with a change of a height of a tip of the work device in the processing motion. 
     
     
         11 . The work machine according to  claim 10 , wherein the series of motions includes an earth removal motion of discharging earth and sand to an earth removal position, the work machine further comprising a soil amount detector that detects an amount of soil at the earth removal position, wherein the controller is configured to move the shift limiting surface in a direction reverse to a direction of the area change movement when the amount of soil at the earth removal position detected by the soil amount detector is equal to or greater than a preset allowable amount. 
     
     
         12 . The work machine according to  claim 1 , wherein: the processing motion is a motion of excavating earth and sand; the series of motions includes an earth removal motion of discharging earth and sand to the earth removal position; and the controller is configured to set the after-movement start position so as to allow the earth and sand that has been discharged to the earth removal position to be excavated by the processing motion after the area change movement. 
     
     
         13 . The work machine according to  claim 1 , wherein the processing motion is a motion of scraping an inclined surface.