| CPC G05D 1/0231 (2013.01) [G01B 11/14 (2013.01)] | 4 Claims |
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1. A work machine that operates at a site, the work machine comprising:
a measurement sensor that measures, a three-dimensional point cloud information constituted of a plurality of pieces of point data indicating a surface position of an object around the work machine;
an object sensor that senses the object as a sensing subject around the work machine on a basis of information from the measurement sensor;
a vehicle controller that performs autonomous travelling control of the work machine at the site of the work machine;
a position measurement sensor that measures a position of the work machine; and
a posture measurement sensor that measures a posture of the work machine, wherein
the object sensor configured to:
acquire the three-dimensional point cloud information obtained as a result of measurement by the measurement sensor,
sense point data as microparticles, based on a relationship between a depression angle determined based on a horizontal direction from the measurement sensor and a measurement distance from the measurement sensor of point data of a vertically-adjacent surface position of the object, and variances of distance differences from the measurement sensor,
delete the point data of a point sensed as the point where the microparticles are measured, from the three-dimensional point cloud information,
sense the object around the work machine on a basis of the three-dimensional point cloud information from which microparticle point data has been deleted, and
when a point data count included in the three-dimensional point cloud information from which microparticle point data has been deleted is smaller than a predetermined threshold, decide that the point data count is not sufficient for object sensing, and perform an accumulation of the point data until the point data count of the three-dimensional point cloud information becomes equal to or greater than the predetermined threshold, and
the vehicle controller is configured to:
control the autonomous travelling of the work machine on a basis of a sensing result of the object sensor, and
determine whether or not a microparticle scattering area is no longer present on a travel trajectory of the work machine before the work machine arrives at the scattering area, by using information about a position and a movement speed of the work machine calculated on a basis of a measurement result of the position measurement sensor, the sensing result of the microparticles obtained from the object sensor, and information about a number of times of the accumulation of point data.
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