| CPC E02F 3/439 (2013.01) [E02F 3/436 (2013.01); E02F 9/2041 (2013.01); E02F 9/2228 (2013.01); E02F 9/2285 (2013.01); E02F 9/2292 (2013.01)] | 5 Claims |
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1. A work machine comprising:
a work device having a boom, an arm, and a bucket;
an operation device for operating the work device; and
a controller capable of controlling the work device using an excavation work control for controlling the work device so as to cause a claw tip of the bucket to move along a predetermined target surface and a leveling work control for controlling the work device so as to cause the bucket to move along the target surface while maintaining a posture of the bucket with respect to the target surface, wherein
the controller is configured to:
calculate, based on posture data and size data on the work device and position data on the target surface, an arm tip difference that is a distance from a tip pin to the target surface, the tip pin connecting the arm with the bucket,
execute the leveling work control in a case of the calculated arm tip difference being equal to or less than a predetermined threshold, there being no input of a bucket operation to the operation device, and there being an input of an arm operation to the operation device, and
execute the excavation work control in a case of the calculated arm tip difference being more than the predetermined threshold, or in a case of there being an input of the bucket operation to the operation device, or in a case of there being no input of the arm operation to the operation device,
wherein the predetermined threshold is a distance from the tip pin to a claw tip of the bucket.
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