Work machine and method of controlling work machine

Abstract

A work machine includes a vehicular body that can travel, a work implement that performs an excavation work with a bucket, and a controller. The controller includes first calculation means for obtaining mechanical data on an operation of the vehicular body and the work implement based on the mechanical data and calculating a target posture of the work implement during an excavation work and second calculation means for calculating an accelerator opening necessary for excavation of a target amount of excavated soil. The controller controls the operation of the work implement such that a posture of the work implement is set to the target posture and controls travel of the vehicular body based on the accelerator opening.

1 . A work machine comprising:
 a vehicular body that can travel;   a work implement including a bucket, the work implement performing an excavation work with the bucket; and   a controller, wherein the controller includes
 first calculation means for obtaining mechanical data on an operation of the vehicular body and the work implement and calculating a target posture of the work implement during the excavation work based on the mechanical data, and 
 second calculation means for calculating an accelerator opening necessary for excavation of a target amount of excavated soil, and 
   the controller controls the operation of the work implement such that a posture of the work implement is set to the target posture and controls travel of the vehicular body based on the accelerator opening.   
     
     
         2 . The work machine according to  claim 1 , wherein
 the work implement includes
 a boom, and 
 a boom cylinder that operates the boom, and 
   the second calculation means calculates
 a target boom cylinder pressure to be applied to the boom cylinder and target traction force of the work machine based on the target amount of excavated soil, and 
 the accelerator opening based on the target boom cylinder pressure and the target traction force. 
   
     
     
         3 . The work machine according to  claim 2 , wherein
 the bucket is connected to the boom,   the work machine further comprises detection means for detecting a weight of an excavation target loaded in the bucket,   the controller further includes correction means for correcting the target amount of excavated soil based on a difference between the target amount of excavated soil and the detected weight, and   the second calculation means calculates the accelerator opening based on the corrected target amount of excavated soil.   
     
     
         4 . The work machine according to  claim 2 , wherein
 the vehicular body further includes an engine, and   the mechanical data includes a pressure of the boom cylinder, a vehicle speed of the work machine, a rotation speed of the engine, and traction force of the work machine.   
     
     
         5 . The work machine according to  claim 2 , wherein
 the work implement further includes a bell crank that pivotably supports the boom, and   when an accelerator operation is not being performed or when an angle of the bell crank with respect to the boom has been maximized, the controller quits control of the operation of the work implement and control of the operation of the vehicular body based on the accelerator opening.   
     
     
         6 . The work machine according to  claim 1 , further comprising an input device that receives an input of a total weight of an excavation target to be loaded on a load target, wherein
 when the total weight is larger than a bucket volume, the controller divides the total weight into a plurality of weights equal to or less than the bucket volume, and   the second calculation means calculates the accelerator opening with the weight obtained by division being set as the target amount of excavated soil.