| CPC E02F 9/262 (2013.01) [E02F 3/435 (2013.01)] | 6 Claims |
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1. A work machine comprising:
a bucket;
a plurality of actuators including at least one position control actuator that controls a position of the bucket and at least one posture control actuator that controls posture of the bucket;
an operation device that instructs the plurality of actuators about operations of the actuators;
a controller that outputs a control signal for controlling at least one of the plurality of actuators on a basis of an operation amount of the operation device; and
a design surface storage device that stores information concerning design surfaces including a plurality of target surfaces,
the controller being configured to extract a first target surface which is a target surface nearest to the bucket, from among the plurality of target surfaces, and control an operation velocity of at least one actuator of the plurality of actuators on a basis of the position and posture of the bucket relative to the first target surface, wherein
the posture control actuator is a rotary motor that rotates the bucket, and
when the bucket is moved along the first target surface with a cutting edge of the bucket in a line contact state with the first target surface by controlling the position control actuator on a basis of an operation amount of the operation device for the position control actuator, the controller is configured to:
extract a second target surface which is a target surface adjacent to the first target surface, from among the plurality of target surfaces,
calculate a first boundary line which is a boundary line between the first target surface and the second target surface,
calculate an angular difference between a reference line and the first boundary line, the reference line being set as a straight line passing through a left end point and a right end point of the cutting edge of the bucket, and
prior to the cutting edge of the bucket passing the first boundary line, correct a rotational angle of the rotary motor such that the angular difference becomes small and thereby the reference line comes into the line contact state with the second target surface after passing the first boundary line.
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