Ryu NARIKAWA

A work machine comprising:

• a travel structure;
• a swing structure that is rotatably provided to the travel body;
• a work device that is attached to the swing structure and includes a boom, an arm, and a bucket;
• a posture sensor that senses a posture of the swing structure and a posture of the work device;
• a vessel position acquisition device that acquires position information on a vessel of a loaded machine on which an excavated object excavated by the work device is loaded;
• and
• a controller that controls an operation of the work device and an operation of the swing structure, wherein
• the control device is configured to
• set, side by side, a discharge start position that is a position for starting a discharge operation executed above the vessel for an excavated object and a discharge completion position that is a position for completing the discharge operation, in a direction having a component of a front-rear direction of the vessel, on a basis of position information on the vessel acquired by the vessel position acquisition device at a position at which the excavation operation is completed,
• move a control point of the work device from the discharge start position to the discharge completion position by controlling, on a basis of the postures of the work device and the posture of the swing structure sensed by the posture sensor, at least one of the work device and the swing structure, and
• control the operation of the work device such that a ground angle of the bucket reaches a discharge completion angle set in advance during a movement of the control point of the work device from the discharge start position to the discharge completion position,
• a first trigger switch and a second trigger switch that input a loading control start instruction through an operation by an operator are connected to the controller, and
• the control device is configured to
• set the discharge start position and the discharge completion position along a vessel center line that passes through a center in a left-right direction of the vessel and extends in the front-rear direction, when the first trigger switch is operated, and
• set the discharge start position and the discharge completion position to any one of regions at four corners on a top surface of the vessel when the second trigger switch is operated.