Patent attributes
To provide a work machine that can maintain the construction precision of semi-automatic control irrespective of excavation depths and differences in soil nature. A controller acquires soil-nature information on the basis of an operation command given to a work implement, a bucket-claw-tip position outputted from a bucket-position measuring device, and a drive load of the work implement outputted from a load measuring device; generates a soil-nature map on the basis of the bucket-claw-tip position, and the soil-nature information; calculates an estimated load that is an estimate of an excavation load on the basis of the soil-nature map and a bucket-claw-tip target position; and corrects the operation command in accordance with the estimated load.
