Work machine

Abstract

The posture of a work machine is computed on the basis of posture information about the work machine output from a posture measurement device. A loading area which is an area where a transporting machine stops and where loading work by the work machine to load the transporting machine is performed is set. On the basis of the posture of the work machine, it is assessed whether or not the work machine can sense, with an external environment measurement device, the transporting machine having stopped in the loading area. When it is assessed that the work machine can sense the transporting machine, the transporting machine is sensed on the basis of measurement information output from the external environment measurement device. Accordingly, it is possible to more accurately sense the position of the vessel of the stopped transporting machine and to appropriately assist loading work by the work machine.

1 . A work machine that has an articulated front work device and performs loading work to load a transporting machine with a transporting target object, the work machine comprising:
 an external environment measurement device that is provided to the work machine, measures an object existing in a predetermined measurement area around the work machine and a position of the object, and outputs information about the object and the position as object position information;   a posture measurement device that measures a state quantity related to a posture of the work machine and outputs information about the state quantity as posture information; and   a controller configured to compute a position and a posture of a transporting machine relative to the work machine on a basis of the posture information about the work machine and the object position information and perform loading assist control of the work machine on a basis of the computed position and posture of the transporting machine, wherein   the controller is configured to
 compute the posture of the work machine on a basis of the posture information about the work machine output from the posture measurement device, 
 set a loading area that is an area where the transporting machine stops and where loading work by the work machine to load the transporting machine is performed, 
 assess whether or not the work machine is at such a posture that the external environment measurement device can compute the transporting machine having stopped in the loading area, on a basis of the posture of the work machine, the measurement area, and the loading area, and 
 compute the position and posture of the transporting machine in the loading area on a basis of the object position information output from the external environment measurement device, when it is assessed that the work machine is at such a posture that the transporting machine can be computed. 
   
     
     
         2 . The work machine according to  claim 1 , wherein
 the controller is configured to assess whether or not the work machine is at such a posture that the position and posture of the transporting machine can be computed, on a basis of an overlap degree representing a degree to which the loading area and the measurement area overlap.   
     
     
         3 . The work machine according to  claim 2 , wherein
 the controller is configured to
 calculate a position of a front end of the front work device of the work machine on a basis of the posture information about the work machine output from the posture measurement device, and 
 set the loading area on a basis of the position of the front end of the front work device. 
   
     
     
         4 . The work machine according to  claim 3 , wherein
 the controller is configured to
 calculate a tolerance range of a stop position of the transporting machine as a stop tolerance range when the loading area is set, and 
 assess that the work machine has such an azimuth that the position and posture of the transporting machine can be computed, when an overlap degree between the stop tolerance range and the measurement area is equal to or greater than a predetermined degree. 
   
     
     
         5 . The work machine according to  claim 3 , comprising:
 a position measurement device that outputs own machine position information about a position of the work machine in a site coordinate system, wherein   the controller is configured to assess whether or not the work machine has moved on a basis of the own machine position information, and move a position of the loading area according to a movement amount of the work machine when it is assessed that the work machine has moved.   
     
     
         6 . The work machine according to  claim 3 , wherein
 the controller is configured to externally acquire, as own machine position information, position information about the work machine in a site coordinate system by using a communication device, assess whether or not the work machine has moved on a basis of the acquired own machine position information, and move a position of the loading area according to a movement amount of the work machine when it is assessed that the work machine has moved.   
     
     
         7 . The work machine according to  claim 3 , wherein
 the measurement area of the external environment measurement device can be adjusted, and   the controller is configured to assess that the work machine has such an azimuth that the position and posture of the transporting machine can be computed, when an overlap degree between the loading area and a range over which the measurement area of the external environment measurement device can be adjusted is equal to or greater than a predetermined degree, and compute the position and posture of the transporting machine after the measurement area is adjusted such that the overlap degree between the loading area and the measurement area is maximized.   
     
     
         8 . The work machine according to  claim 3 , wherein
 the external environment measurement device has a plurality of mutually different measurement areas, and   the controller is configured to assess that the work machine has such an azimuth that the position and posture of the transporting machine can be computed, when an overlap degree between the loading area and at least one measurement area of the plurality of measurement areas of the external environment measurement device is equal to or greater than a predetermined degree, and sense the position and posture of the transporting machine by using a measurement area having a high overlap degree with the loading area in the plurality of measurement areas.   
     
     
         9 . The work machine according to  claim 3 , wherein
 the controller is configured to
 calculate the position of the front end of the front work device of the work machine on the basis of the posture information about the work machine output from the posture measurement device, and 
 assess whether or not the front end of the front work device is positioned above the measurement area of the external environment measurement device, and sense the position and posture of the transporting machine when it is assessed that the front end of the front work device is positioned outside the measurement area.