JP6781068B2 - Work machine control system, work machine and work machine control method - Google Patents

Description

The present invention relates to a work machine control system, a work machine, and a work machine control method.

A work machine including a work machine having a tilt-type bucket as a work tool as disclosed in Patent Document 1 is known.

International Publication No. 2015/186179

In the technical field related to the control of work machines, the bucket is stopped or the target construction shape is stopped so that the bucket does not enter the target construction shape indicating the target shape of the construction target by intervening in the operation of the operation lever by the operator of the work machine. Work equipment control is known in which the bucket is moved to a position where it does not invade the target construction shape when the bucket invades. By executing the work machine control, it is suppressed that the bucket exceeds the target construction shape, and the construction according to the target construction shape is realized.

For example, two surfaces are connected to a shoulder portion of a slope or the like, but when constructing such a portion, there is a request that the cutting edge of the bucket should be positioned on one surface by tilting the bucket. The target construction shape is discontinuous at the part where the two surfaces are connected, such as the shoulder of the slope. As described above, when there is a discontinuous portion in the target construction shape, the bucket may tilt to the surface opposite to the surface on which the bucket is to be positioned with respect to the discontinuous portion. As a result, there is a possibility that the bucket, which is a work tool, cannot be positioned in the target construction shape to be positioned.

An object of the present invention is to enable the work tool to be positioned in a target construction shape of a work machine to be constructed.

According to the first aspect of the present invention, it is a control system of a work machine that controls a work machine including a work machine having a work tool that rotates about an axis, and indicates a target shape of a construction target of the work machine. A target construction shape generating unit that generates a target construction shape and a control target shape that is a target shape when controlling the rotation of the work tool are obtained from the target construction shape, and an extension target that extends the control target shape. A target shape calculation unit for obtaining a shape, and a work machine control unit that controls rotation of the work tool around the axis based on the distance between the work tool, the control target shape, and the extension target shape. A control system for work machines, including, is provided.

According to the second aspect of the present invention, in the first aspect, it is determined whether or not the extension target shape is a target when the work equipment control unit controls the rotation of the work tool. The work machine control unit has a determination unit, and when the determination unit sets the extension target shape as a target when the work machine control unit controls the rotation of the work tool, the work The rotation of the work tool around the axis is controlled based on the distance between the tool and the control target shape and the extension target shape, and the extension target shape is determined by the determination unit by the work machine control unit. When it is not a target when controlling the rotation of the work tool, control of the work machine that controls the rotation of the work tool around the axis based on the distance between the work tool and the control target shape. The system is provided.

According to the third aspect of the present invention, in the second aspect, the determination unit overlaps the work tool with the target construction shape, and the distance between the work tool and the stop terrain corresponding to the target construction shape. Provided is a control device for a work machine that determines whether or not the extension target shape is a target when the work tool is stopped, based on the posture of the work tool and the operating state of the work machine. ..

According to the fourth aspect of the present invention, in the third aspect, the determination unit determines the size of the overlap when determining that the target when stopping the work tool is the extension target shape. A control system for a work machine is provided in which the size of the overlap is larger than the size of the overlap when making a non-target decision.

According to the fifth aspect of the present invention, in any one of the first to fourth aspects, the defined point position data calculation unit for obtaining the position data of the defined point set in the work tool, and the above-mentioned It has an operation plane calculation unit that obtains an operation plane that passes through a specified point and is orthogonal to the axis line, and the stop terrain calculation unit sets a portion where the target construction shape and the operation plane intersect as the control target shape. Provided is a control system for a working machine in which a portion obtained by extending the control target shape in parallel with the control target shape is used as the extension target shape.

According to the sixth aspect of the present invention, the upper swing body, the lower traveling body that supports the upper swing body, the boom that rotates around the first axis, and the arm that rotates around the second axis. A work machine supported by the upper swing body, including a bucket that rotates about a third axis, and a control system for the work machine according to any one of the first to fifth aspects. The working tool is provided with a working machine which is at least one of the bucket, the arm, the boom and the upper swing body.

According to a seventh aspect of the present invention, in the sixth aspect, a work machine is provided in which the work tool is the bucket and the axis line is orthogonal to the third axis.

According to the eighth aspect of the present invention, it is a control method of a work machine for controlling a work machine including a work machine having a work tool that rotates about an axis, and indicates a target shape of a construction target of the work machine. To generate a target construction shape, to obtain a control target shape which is a target shape when controlling the rotation of the work tool from the target construction shape, and to obtain an extension target shape which is an extension of the control target shape. A method for controlling a work machine is provided, which includes controlling the rotation of the work tool about the axis based on the distance between the work tool and the control target shape and the extension target shape. To.

According to the aspect of the present invention, the work tool can be positioned at the target construction shape of the work machine to be constructed.

It is a perspective view which shows an example of the work machine which concerns on this embodiment. It is a side sectional view which shows an example of the bucket which concerns on this embodiment. It is a front view which shows an example of the bucket which concerns on this embodiment. It is a side view which shows typically the hydraulic excavator. It is a rear view which shows typically the hydraulic excavator. It is a top view which shows typically the hydraulic excavator. It is a side view which shows typically the bucket. It is a front view which shows typically the bucket. It is a figure which shows typically an example of the hydraulic system which operates a tilt cylinder. It is a functional block diagram which shows an example of the control system of the work machine which concerns on this embodiment. It is a figure which shows typically an example of the definition point set in the bucket which concerns on this embodiment. It is a schematic diagram which shows an example of the target construction data which concerns on this embodiment. It is a schematic diagram which shows an example of the target construction shape which concerns on this embodiment. It is a schematic diagram which shows an example of the tilt operation plane which concerns on this embodiment. It is a schematic diagram which shows an example of the tilt operation plane which concerns on this embodiment. It is a schematic diagram for demonstrating the tilt stop control which concerns on this Embodiment. It is a figure which shows an example of the relationship between the operating distance and the speed limit in order to stop the tilt rotation of a tilt bucket based on the operating distance. It is a figure which shows an example of the case where the tilt stop control is executed while moving a bucket. It is a figure which shows an example of the case where the tilt stop control is executed while moving a bucket. It is a figure which shows an example of the case where the tilt stop control is executed while moving a bucket. It is a figure for demonstrating stop control which concerns on this Embodiment. It is a figure for demonstrating stop control which concerns on this Embodiment. It is a figure which shows an example of the case where the tilt stop control which concerns on this Embodiment is executed while moving a bucket. It is a figure which shows an example of the case where the tilt stop control which concerns on this Embodiment is executed while moving a bucket. It is a figure which shows an example of the case where the tilt stop control which concerns on this Embodiment is executed while moving a bucket. It is a figure for demonstrating that a bucket stops in the air. It is a figure which shows the state which the bucket is positioned to the target construction shape. It is a figure for demonstrating an example which determines whether or not the extended stop terrain is set as a target at the time of stopping a bucket by the overlap of a bucket and a target construction shape. It is a figure for demonstrating an example which determines whether or not the extended stop terrain is set as a target at the time of stopping a bucket by the overlap of a bucket and a target construction shape. It is a figure which shows the bucket and the target construction shape in the vehicle body coordinate system. It is a control block diagram of a determination part. It is a flowchart which shows an example of the control method of the work machine which concerns on this embodiment.

An embodiment (embodiment) for carrying out the present invention will be described in detail with reference to the drawings.

In the following description, the global coordinate system (Xg-Yg-Zg coordinate system) and the vehicle body coordinate system (XYZ coordinate system) are set and the positional relationship of each part is described. The global coordinate system is a coordinate system that indicates an absolute position defined by a global navigation satellite system (GNSS) such as the Global Positioning System (GPS). The vehicle body coordinate system is a coordinate system that indicates a position relative to a reference position of a work machine.

In the present embodiment, the stop control refers to a control for stopping the operation of at least a part of the work machine based on the distance between the work machine and the target construction shape of the work machine to be constructed. For example, when the bucket of the working machine is a tilt type bucket, the stop control includes a control of stopping the tilt operation of the bucket based on the distance between the bucket and the target construction shape. The stop control for stopping the tilt operation of the bucket is appropriately referred to as tilt stop control.

[Working machine]
FIG. 1 is a perspective view showing an example of a work machine according to the present embodiment. In this embodiment, an example in which the work machine is a hydraulic excavator 100 will be described. The work machine is not limited to the hydraulic excavator 100.

As shown in FIG. 1, the hydraulic excavator 100 includes a working machine 1 operated by hydraulic pressure, an upper turning body 2 which is a vehicle body supporting the working machine 1, and a lower running device which is a traveling device supporting the upper turning body 2. It includes a body 3, an operating device 30 for operating the working machine 1, and a control device 50 for controlling the working machine 1. The upper swivel body 2 can swivel around the swivel shaft RX while being supported by the lower traveling body 3.

The upper swing body 2 has a driver's cab 4 on which the operator is boarded, and a machine room 5 in which the engine and the hydraulic pump are housed. The driver's cab 4 has a driver's seat 4S on which the operator sits. The machine room 5 is arranged behind the driver's cab 4.

The lower running body 3 has a pair of tracks 3C. The hydraulic excavator 100 travels by the rotation of the track 3C. The lower traveling body 3 may have tires.

The working machine 1 is supported by the upper swing body 2. The work machine 1 includes a boom 6 connected to the upper swing body 2 via a boom pin, an arm 7 connected to the boom 6 via an arm pin, and a bucket 8 connected to the arm 7 via a bucket pin and a tilt pin. And have. The bucket 8 has a blade 8C. The blade 8C is a plate-shaped member provided at the tip of the bucket 8, that is, a portion separated from the portion connected by the bucket pin. The cutting edge 9 of the blade 8C is a tip portion of the blade 8C, which is a linear portion in the present embodiment. When the bucket 8 is provided with a plurality of convex blades, the cutting edge 9 is the tip of the convex blade.

The boom 6 is rotatable with respect to the upper swing body 2 about the boom shaft AX1 which is the first shaft. The arm 7 is rotatable with respect to the boom 6 about the arm shaft AX2, which is the second shaft. The bucket 8 is rotatable with respect to the arm 7 about each of the bucket axis AX3, which is the third axis, and the tilt axis AX4, which is an axis orthogonal to the axis parallel to the bucket axis AX3. The bucket axis AX3 and the tilt axis AX4 do not intersect each other.

The boom shaft AX1, the arm shaft AX2, and the bucket shaft AX3 are parallel to each other. The boom shaft AX1, the arm shaft AX2, the bucket shaft AX3, and the shaft parallel to the swivel shaft RX are orthogonal to each other. The boom axis AX1, the arm axis AX2, and the bucket axis AX3 are parallel to the Y axis of the vehicle body coordinate system. The turning axis RX is parallel to the Z axis of the vehicle body coordinate system. The direction parallel to the boom shaft AX1, the arm shaft AX2, and the bucket shaft AX3 indicates the vehicle width direction of the upper swing body 2. The direction parallel to the swivel shaft RX indicates the vertical direction of the upper swivel body 2. The direction orthogonal to both the boom shaft AX1, the arm shaft AX2, the bucket shaft AX3, and the swivel shaft RX indicates the front-rear direction of the upper swivel body 2. The direction in which the work machine 1 exists is forward with respect to the driver's seat 4S.

The work machine 1 operates by the force generated by the hydraulic cylinder 10. The hydraulic cylinder 10 includes a boom cylinder 11 that operates the boom 6, an arm cylinder 12 that operates the arm 7, a bucket cylinder 13 that operates the bucket 8, and a tilt cylinder 14.

The work machine 1 has a boom stroke sensor 16, an arm stroke sensor 17, a bucket stroke sensor 18, and a tilt stroke sensor 19. The boom stroke sensor 16 detects a boom stroke indicating the amount of movement of the boom cylinder 11. The arm stroke sensor 17 detects an arm stroke indicating the amount of movement of the arm cylinder 12. The bucket stroke sensor 18 detects a bucket stroke indicating the amount of operation of the bucket cylinder 13. The tilt stroke sensor 19 detects a tilt stroke indicating the amount of movement of the tilt cylinder 14.

The operation device 30 is arranged in the driver's cab 4. The operating device 30 includes an operating member operated by the operator of the hydraulic excavator 100. The operator operates the operating device 30 to operate the working machine 1. In the present embodiment, the operating device 30 includes a left operating lever 30L, a right operating lever 30R, a tilt operating lever 30T, and an operating pedal 30F.

When the right operating lever 30R in the neutral position is operated forward, the boom 6 is lowered, and when it is operated backward, the boom 6 is raised. When the right operating lever 30R in the neutral position is operated to the right, the bucket 8 dumps, and when it is operated to the left, the bucket 8 scrapes.

When the left operating lever 30L in the neutral position is operated forward, the arm 7 is extended, and when it is operated backward, the arm 7 is scraped. When the left operating lever 30L in the neutral position is operated to the right, the upper swivel body 2 turns to the right, and when it is operated to the left, the upper swivel body 2 turns to the left.

The relationship between the operating directions of the right operating lever 30R and the left operating lever 30L, the operating direction of the working machine 1, and the turning direction of the upper swing body 2 does not have to be the above-mentioned relationship.

The control device 50 includes a computer system. The control device 50 is an input / output device including a processor such as a CPU (Central Processing Unit), a non-volatile memory such as a ROM (Read Only Memory), and a volatile memory such as a RAM (Random Access Memory). It has an interface device.

[bucket]
FIG. 2 is a side sectional view showing an example of the bucket 8 according to the present embodiment. FIG. 3 is a front view showing an example of the bucket 8 according to the present embodiment. In the present embodiment, the bucket 8 is a tilt type bucket. The tilt type bucket is a bucket that operates around the tilt axis AX4, which is an axis, for example, rotates. In the present embodiment, the member that rotates about the axis is the bucket 8.

The bucket 8 is not limited to the tilt type bucket. The bucket 8 may be, for example, a rotate bucket. The rotate bucket is a bucket that rotates around an axis that intersects the bucket axis AX3 perpendicularly.

As shown in FIGS. 2 and 3, the bucket 8 is rotatably connected to the arm 7 via the bucket pin 8B. Further, the bucket 8 is rotatably supported by the arm 7 via the tilt pin 8T. The bucket 8 is connected to the tip of the arm 7 via the connecting member 90. The bucket pin 8B connects the arm 7 and the connecting member 90. The tilt pin 8T connects the connecting member 90 and the bucket 8. The bucket 8 is rotatably connected to the arm 7 via a connecting member 90.

The bucket 8 includes a bottom plate 81, a back plate 82, an upper plate 83, a side plate 84, and a side plate 85. The bucket 8 has a bracket 87 provided on the upper portion of the upper plate 83. The bracket 87 is installed at a front-rear position of the upper plate 83. The bracket 87 is connected to the connecting member 90 and the tilt pin 8T.

The connecting member 90 has a plate member 91, a bracket 92 provided on the upper surface of the plate member 91, and a bracket 93 provided on the lower surface of the plate member 91. The bracket 92 is connected to the arm 7 and the second link pin 95P. The bracket 93 is installed above the bracket 87 and is connected to the tilt pin 8T and the bracket 87.

The bucket pin 8B connects the bracket 92 of the connecting member 90 and the tip end portion of the arm 7. The tilt pin 8T connects the bracket 93 of the connecting member 90 and the bracket 87 of the bucket 8. The connecting member 90 and the bucket 8 are rotatable about the bucket shaft AX3 with respect to the arm 7. The bucket 8 can rotate about the tilt axis AX4 with respect to the connecting member 90.

The work equipment 1 has a first link member 94 rotatably connected to the arm 7 via the first link pin 94P and a second link member rotatably connected to the bracket 92 via the second link pin 95P. Has 95 and. The base end portion of the first link member 94 is connected to the arm 7 via the first link pin 94P. The base end portion of the second link member 95 is connected to the bracket 92 via the second link pin 95P. The tip of the first link member 94 and the tip of the second link member 95 are connected via a bucket cylinder top pin 96.

The tip of the bucket cylinder 13 is rotatably connected to the tip of the first link member 94 and the tip of the second link member 95 via the bucket cylinder top pin 96. When the bucket cylinder 13 expands and contracts, the connecting member 90 rotates around the bucket shaft AX3 together with the bucket 8.

The tilt cylinder 14 is connected to each of the bracket 97 provided on the connecting member 90 and the bracket 88 provided on the bucket 8. The rod of the tilt cylinder 14 is connected to the bracket 97 via a pin. The main body of the tilt cylinder 14 is connected to the bracket 88 via a pin. When the tilt cylinder 14 expands and contracts, the bucket 8 rotates about the tilt axis AX4. The connection structure of the tilt cylinder 14 is an example, and is not limited to the structure of the present embodiment.

In this way, the bucket 8 rotates about the bucket shaft AX3 by the operation of the bucket cylinder 13. The bucket 8 rotates about the tilt axis AX4 by operating the tilt cylinder 14. When the bucket 8 rotates about the bucket shaft AX3, the tilt pin 8T rotates together with the bucket 8.

[Detection system]
Next, the detection system 400 of the hydraulic excavator 100 will be described. FIG. 4 is a side view schematically showing the hydraulic excavator 100. FIG. 5 is a rear view schematically showing the hydraulic excavator 100. FIG. 6 is a plan view schematically showing the hydraulic excavator 100. FIG. 7 is a side view schematically showing the bucket 8. FIG. 8 is a front view schematically showing the bucket 8.

As shown in FIGS. 4, 5 and 6, the detection system 400 includes a position detection device 20 that detects the position of the upper swing body 2 and a work machine angle detection device 24 that detects the angle of the work machine 1. Have. The position detection device 20 includes a vehicle body position calculator 21 that detects the position of the upper swing body 2, a posture calculator 22 that detects the posture of the upper swing body 2, and a direction calculator 23 that detects the orientation of the upper swing body 2. And include.

The vehicle body position calculator 21 includes a GPS receiver. The vehicle body position calculator 21 is provided on the upper swing body 2. The vehicle body position calculator 21 detects the absolute position Pg of the upper swing body 2 defined by the global coordinate system, that is, the position in the global coordinate system (Xg-Yg-Zg). The absolute position Pg of the upper swivel body 2 includes coordinate data in the Xg axis direction, coordinate data in the Yg axis direction, and coordinate data in the Zg axis direction.

A plurality of GPS antennas 21A are provided on the upper swing body 2. The GPS antenna 21A receives radio waves from GPS satellites and outputs a signal generated based on the received radio waves to the vehicle body position calculator 21. The vehicle body position calculator 21 detects the position Pr where the GPS antenna 21A defined by the global coordinate system is installed based on the signal given from the GPS antenna 21A. The vehicle body position calculator 21 detects the absolute position Pg of the upper swing body 2 based on the position Pr where the GPS antenna 21A is installed.

Two GPS antennas 21A are provided in the vehicle width direction. The vehicle body position calculator 21 detects each of the position Pra where one GPS antenna 21A is installed and the position Prb where the other GPS antenna 21A is installed. The vehicle body position calculator 21 executes arithmetic processing based on at least one of the position Pra and the position Prb, and detects the absolute position Pg of the upper swing body 2. In the present embodiment, the absolute position Pg of the upper swing body 2 is the position Pra. The absolute position Pg of the upper swing body 2 may be a position Prb or a position between the position Pra and the position Prb.

The attitude calculator 22 includes an inertial measurement unit (IMU). The posture calculator 22 is provided on the upper swing body 2. The attitude calculator 22 detects the tilt angle of the upper swing body 2 with respect to the horizontal plane defined by the global coordinate system, that is, the Xg-Yg plane. The inclination angle of the upper turning body 2 with respect to the horizontal plane includes a roll angle θ1 indicating the inclination angle of the upper turning body 2 in the vehicle width direction and a pitch angle θ2 indicating the inclination angle of the upper turning body 2 in the front-rear direction.

The directional calculator 23 is based on the position Pra where one GPS antenna 21A is installed and the position Prb where the other GPS antenna 21A is installed, and the upper swivel body 2 with respect to the reference direction defined by the global coordinate system. Detects the orientation of. The direction calculator 23 executes arithmetic processing based on the position Pra and the position Prb to detect the direction of the upper swivel body 2 with respect to the reference direction. The directional calculator 23 obtains a straight line connecting the position Pra and the position Prb, and detects the direction of the upper swivel body 2 with respect to the reference direction based on the angle formed by the obtained straight line and the reference direction. The orientation of the upper swing body 2 with respect to the reference orientation includes a yaw angle θ3 indicating an angle formed by the reference orientation and the orientation of the upper swing body 2.

As shown in FIGS. 4, 7 and 8, the work equipment angle detection device 24 indicates the inclination angle of the boom 6 with respect to the Z axis of the vehicle body coordinate system based on the boom stroke detected by the boom stroke sensor 16. Find the boom angle α. The work equipment angle detection device 24 obtains an arm angle β indicating an inclination angle of the arm 7 with respect to the boom 6 based on the arm stroke detected by the arm stroke sensor 17. The working machine angle detecting device 24 obtains a bucket angle γ indicating an inclination angle of the cutting edge 9 of the bucket 8 with respect to the arm 7 based on the bucket stroke detected by the bucket stroke sensor 18. The work equipment angle detection device 24 obtains a tilt angle δ indicating the tilt angle of the bucket 8 with respect to the XY plane based on the tilt stroke detected by the tilt stroke sensor 19. The work equipment angle detection device 24 is detected by the boom stroke detected by the boom stroke sensor 16, the arm stroke detected by the arm stroke sensor 17, the bucket stroke detected by the bucket stroke sensor 18, and the tilt stroke sensor 19. Based on the tilt stroke, the tilt axis angle ε indicating the tilt angle of the tilt axis AX4 with respect to the XY plane is obtained. The tilt angle of the work equipment 1 may be detected by an angle sensor other than the stroke sensor, or may be detected by an optical measuring means such as a stereo camera or a laser scanner.

[Hydraulic system]
FIG. 9 is a diagram schematically showing an example of a hydraulic system 300 that operates the tilt cylinder 14. The hydraulic system 300 includes a variable displacement main hydraulic pump 31 that supplies hydraulic oil, a pilot pressure pump 32 that supplies pilot oil, a flow rate control valve 25 that adjusts the amount of hydraulic oil supplied to the tilt cylinder 14, and a flow rate. The control valves 37A, 37B, 39 for adjusting the pilot pressure acting on the control valve 25, the tilt operation lever 30T and the operation pedal 30F of the operation device 30, and the control device 50 are provided. The tilt operation lever 30T is a button or the like provided on at least one of the left operation lever 30L and the right operation lever 30R. In the present embodiment, the operation pedal 30F of the operation device 30 is a pilot pressure type operation device. The tilt operation lever 30T of the operation device 30 is an electronic lever type operation device.

The operation pedal 30F of the operation device 30 is connected to the pilot pressure pump 32. A control valve 39 is provided between the operation pedal 30F and the pilot pressure pump 32. Further, the operation pedal 30F is connected to the oil passage 38A through which the pilot oil sent from the control valve 37A flows via the shuttle valve 36A. Further, the operation pedal 30F is connected to the oil passage 38B through which the pilot oil sent from the control valve 37B flows via the shuttle valve 36B. By operating the operation pedal 30F, the pressure of the oil passage 33A between the operation pedal 30F and the shuttle valve 36A and the pressure of the oil passage 33B between the operation pedal 30F and the shuttle valve 36B are adjusted.

By operating the tilt operation lever 30T, the operation signal generated by the operation of the tilt operation lever 30T is output to the control device 50. The control device 50 generates a control signal based on the operation signal output from the tilt operation lever 30T, and controls the control valves 37A and 37B. The control valves 37A and 37B are electromagnetic proportional control valves. The control valve 37A opens and closes the oil passage 38A based on the control signal. The control valve 37B opens and closes the oil passage 38B based on the control signal.

When the tilt stop control is not executed, the pilot pressure is adjusted based on the amount of operation of the operating device 30. When the tilt stop control is executed, the control device 50 outputs a control signal to the control valves 37A and 37B or the control valve 39 to adjust the pilot pressure.

[Control system]
FIG. 10 is a functional block diagram showing an example of the control system 200 of the work machine according to the present embodiment. In the following, the control system 200 of the work machine is appropriately referred to as a control system 200. As shown in FIG. 10, the control system 200 includes a control device 50 for controlling the work machine 1, a position detection device 20, a work machine angle detection device 24, and control valves 37 (37A, 37B), 39. It is equipped with a target construction data generation device 70.

The position detection device 20 detects the posture of the upper swing body 2 including the absolute position Pg of the upper swing body 2, the roll angle θ1 and the pitch angle θ2, and the orientation of the upper swing body 2 including the yaw angle θ3. The work equipment angle detection device 24 detects the angle of the work equipment 1 including the boom angle α, the arm angle β, the bucket angle γ, the tilt angle δ, and the tilt axis angle ε. The control valves 37 (37A, 37B) adjust the amount of hydraulic oil supplied to the tilt cylinder 14.

The control valve 37 operates based on a control signal from the control device 50. The target construction data generation device 70 includes a computer system. The target construction data generation device 70 generates target construction data indicating the target terrain, which is the target shape of the construction area. The target construction data shows a three-dimensional target shape obtained after construction by the work machine 1.

The target construction data generation device 70 is provided at a remote location of the hydraulic excavator 100. The target construction data generation device 70 is installed in, for example, a construction management facility. Wireless communication is possible between the target construction data generation device 70 and the control device 50. The target construction data generated by the target construction data generation device 70 is wirelessly transmitted to the control device 50.

The target construction data generation device 70 and the control device 50 may be connected by wire, and the target construction data may be transmitted from the target construction data generation device 70 to the control device 50. The target construction data generation device 70 may include a recording medium that stores the target construction data, and the control device 50 may have a device that can read the target construction data from the recording medium.

The target construction data generation device 70 may be provided on the hydraulic excavator 100. Target construction data may be supplied to the target construction data generator 70 of the hydraulic excavator 100 by wire or wirelessly from an external management device that manages the construction, and the target construction data generator 70 may store the supplied target construction data. ..

The control device 50 includes a processing unit 51, a storage unit 52, and an input / output unit 53. The processing unit 51 operates with the vehicle body position data acquisition unit 51A, the work machine angle data acquisition unit 51B, the candidate specified point position data calculation unit 51Ca, the target construction shape generation unit 51D, and the specified point position data calculation unit 51Cb. It has a plane calculation unit 51E, a stop terrain calculation unit 51F, a work machine control unit 51G, a speed limit determination unit 51H, and a determination unit 51J. The storage unit 52 stores the specification data of the hydraulic excavator 100 including the work machine data.

Body position data acquisition unit 51A, work machine angle data acquisition unit 51B, candidate specified point position data calculation unit 51Ca, target construction shape generation unit 51D, specified point position data calculation unit 51Cb, operation plane calculation unit 51E, which the processing unit 51 has. The functions of the stop terrain calculation unit 51F, the work equipment control unit 51G, the speed limit determination unit 51H, and the determination unit 51J are realized by the processor of the control device 50. The function of the storage unit 52 is realized by the storage device of the control device 50. The function of the input / output unit 53 is realized by the input / output interface device of the control device 50.

The vehicle body position data acquisition unit 51A acquires vehicle body position data from the position detection device 20 via the input / output unit 53. The vehicle body position data includes the absolute position Pg of the upper swivel body 2 defined by the global coordinate system, the posture of the upper swivel body 2 including the roll angle θ1 and the pitch angle θ2, and the orientation of the upper swivel body 2 including the yaw angle θ3. ..

The work machine angle data acquisition unit 51B acquires the work machine angle data from the work machine angle detection device 24 via the input / output unit 53. The work equipment angle data is the angle of the work equipment 1 including the boom angle α, the arm angle β, the bucket angle γ, the tilt angle δ, and the tilt axis angle ε.

The candidate specified point position data calculation unit 51Ca obtains the position data of the specified point RP set in the bucket 8. The candidate specified point position data calculation unit 51Ca is stored in the vehicle body position data acquired by the vehicle body position data acquisition unit 51A, the work equipment angle data acquired by the work equipment angle data acquisition unit 51B, and the storage unit 52. Based on the work equipment data, the position data of the specified point RP set in the bucket 8 is obtained. The specified point RP will be described later.

As shown in FIG. 4, the work equipment data includes a boom length L1, an arm length L2, a bucket length L3, a tilt length L4, and a bucket width L5. The boom length L1 is the distance between the boom shaft AX1 and the arm shaft AX2. The arm length L2 is the distance between the arm shaft AX2 and the bucket shaft AX3. The bucket length L3 is the distance between the bucket shaft AX3 and the cutting edge 9 of the bucket 8. The tilt length L4 is the distance between the bucket axis AX3 and the tilt axis AX4. The bucket width L5 is the distance between the side plate 84 and the side plate 85.

FIG. 11 is a diagram schematically showing an example of a defined point RP set in the bucket 8 according to the present embodiment. As shown in FIG. 11, a plurality of candidate specified point RPc as candidates for the specified point RP used for tilt bucket control are set in the bucket 8. Candidate reference points RPc are set on the cutting edge 9 of the bucket 8 and the outer surface of the bucket 8. A plurality of candidate specified points RPc are set in the bucket width direction at the cutting edge 9. Further, a plurality of candidate reference points RPc are set on the outer surface of the bucket 8. The above-mentioned regulation point RP is one of the candidate regulation point RPc.

The work equipment data includes bucket outer shape data indicating the shape and dimensions of the bucket 8. The bucket outline data includes the bucket width L5. The bucket outer shape data includes contour data of the outer surface of the bucket 8 and coordinate data of a plurality of candidate specified points RPc of the bucket 8 with reference to the cutting edge 9 of the bucket 8.

The candidate specified point position data calculation unit 51Ca calculates the relative position of each of the plurality of candidate specified point RPc with respect to the reference position P0 of the upper swing body 2. Further, the candidate specified point position data calculation unit 51Ca calculates the absolute position of each of the plurality of candidate specified point RPc.

The candidate specified point position data calculation unit 51Ca includes work equipment data including boom length L1, arm length L2, bucket length L3, tilt length L4, and bucket outer shape data, boom angle α, arm angle β, and bucket. Based on the work equipment angle data including the angle γ, the tilt angle δ, and the tilt axis angle ε, the relative positions of the plurality of candidate specified points RPc of the bucket 8 with respect to the reference position P0 of the upper swivel body 2 can be calculated. .. As shown in FIG. 4, the reference position P0 of the upper swing body 2 is set to the swing shaft RX of the upper swing body 2. The reference position P0 of the upper swing body 2 may be set to the boom shaft AX1.

Further, the candidate specified point position data calculation unit 51Ca is based on the absolute position Pg of the upper swing body 2 detected by the position detection device 20 and the relative position between the reference position P0 of the upper swing body 2 and the bucket 8. The absolute position Pa of the bucket 8 can be calculated. The relative position between the absolute position Pg and the reference position P0 is known data derived from the specification data of the hydraulic excavator 100. The candidate specified point position data calculation unit 51Ca has the vehicle body position data including the absolute position Pg of the upper swing body 2, the relative position between the reference position P0 of the upper swing body 2 and the bucket 8, the work machine data, and the work machine angle. Based on the data, the absolute positions of the plurality of candidate specified points RPc of the bucket 8 can be calculated. The candidate specified point RPc does not have to be limited to a point as long as the information in the width direction of the bucket 8 and the information on the outer surface of the bucket 8 are included.

The target construction shape generation unit 51D generates a target construction shape CS indicating the target shape of the construction target based on the target construction data given from the target construction data generation device 70. The target construction data generation device 70 may give three-dimensional target topography data to the target construction shape generation unit 51D as the target construction data, or target a plurality of line data or a plurality of point data indicating a part of the target shape. It may be given to the construction shape generation unit 51D. In the present embodiment, the target construction data generation device 70 gives line data indicating a part of the target shape to the target construction shape generation unit 51D as the target construction data.

FIG. 12 is a schematic view showing an example of the target construction data CD according to the present embodiment. As shown in FIG. 12, the target construction data CD shows the target topography of the construction area. The target terrain includes a plurality of target construction shapes CS, each represented by a triangular polygon. Each of the plurality of target construction shapes CS indicates a target shape to be constructed by the work machine 1. In the target construction data CD, the point AP having the closest vertical distance to the bucket 8 among the target construction shape CS is defined. Further, in the target construction data CD, a work machine operation plane WP that passes through the point AP and the bucket 8 and is orthogonal to the bucket axis AX3 is defined. The work machine operation plane WP is an operation plane in which the cutting edge 9 of the bucket 8 moves by the operation of at least one of the boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13, and is the XZ plane in the vehicle body coordinate system (XYZ). Is parallel to.

The target construction shape generation unit 51D acquires the line LX which is the intersection line between the work machine operation plane WP and the target construction shape CS. Further, the target construction shape generation unit 51D acquires a line LY that passes through the point AP and intersects the line LX in the target construction shape CS. Line LY indicates the line of intersection between the lateral motion plane and the target construction terrain CS. The lateral operation plane is a plane orthogonal to the work machine operation plane WP and passing through the point AP. The line LY extends laterally to the bucket 8 in the target construction terrain CS.

FIG. 13 is a schematic view showing an example of the target construction shape CS according to the present embodiment. The target construction shape generation unit 51D acquires the line LX and the line LY, and generates the target construction shape CS indicating the target shape of the construction target based on the line LX and LY. When excavating the target construction shape CS with the bucket 8, the control device 50 moves the bucket 8 along the line LX which is the intersection of the work machine operation plane WP passing through the bucket 8 and the target construction shape CS.

In the present embodiment, the control device 50 can control the bucket 8 by acquiring the vertical distance between the specified point RP and the line LY even when the bucket 8 tilts by the tilt control based on the line LY. .. Further, the control device 50 may perform tilt control not only on the line LY but also on the line parallel to the line LY based on the shortest distance from the target construction shape CS with respect to the specified point RP.

The operation plane calculation unit 51E obtains an operation plane orthogonal to the axis through a specified point set on the member. In the present embodiment, since the axis is the tilt axis AX4 and the member is the bucket 8, the operation plane calculation unit 51E passes through the specified point RP of the bucket 8 which is the member and is orthogonal to the tilt axis AX4 which is the axis. Find TP. The tilt operation plane TP corresponds to the above-mentioned operation plane.

14 and 15 are schematic views showing an example of the tilt operation plane TP according to the present embodiment. FIG. 14 shows a tilt operation plane TP when the tilt axis AX4 is parallel to the target construction shape CS. FIG. 15 shows a tilt operation plane TP when the tilt axis AX4 is not parallel to the target construction shape CS.

As shown in FIGS. 14 and 15, the tilt operation plane TP refers to an operation plane that passes through a specified point RP selected from a plurality of candidate specified point RPc defined in the bucket 8 and is orthogonal to the tilt axis AX4. .. The specified point RP is a specified point RP because it is determined to be the most advantageous in tilt bucket control among the plurality of candidate specified point RPc. The most advantageous defined point RP in tilt bucket control is the defined point RP that is closest to the target construction shape CS. The most advantageous specified point RP in the tilt bucket control may be the specified point RP in which the cylinder speed of the hydraulic cylinder 10 becomes the fastest when the tilt bucket control is executed based on the specified point RP. The specified point position data calculation unit 51Cb is based on the width of the bucket 8, the candidate specified point RPc which is the outer surface information, and the target construction shape CS, and the specified point RP, specifically, the specified point which is the most advantageous in tilt bucket control. Find RP.

14 and 15 show, as an example, a tilt operation plane TP passing through a specified point RP set on the cutting edge 9. The tilt operation plane TP is an operation plane in which the specified point RP (cutting edge 9) of the bucket 8 moves due to the operation of the tilt cylinder 14. When at least one of the boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13 operates and the tilt axis angle ε indicating the direction of the tilt axis AX4 changes, the inclination of the tilt operation plane TP also changes.

As described above, the work equipment angle detection device 24 obtains the tilt axis angle ε indicating the inclination angle of the tilt axis AX4 with respect to the XY plane. The tilt axis angle ε is acquired by the work equipment angle data acquisition unit 51B. Further, the position data of the specified point RP is obtained by the candidate specified point position data calculation unit 51Ca. The operation plane calculation unit 51E is based on the tilt axis angle ε of the tilt axis AX4 acquired by the work equipment angle data acquisition unit 51B and the position of the specified point RP obtained by the candidate specified point position data calculation unit 51Ca. Obtain the tilt operation plane TP.

The target shape calculation unit 51F obtains the tilt stop terrain ST, which is the control target shape, from the target construction shape CS. In the present embodiment, the control target shape is a portion where the target construction shape CS and the operation plane intersect. In the present embodiment, since the operation plane is the tilt operation plane TP, the target shape calculation unit 51F obtains the control target shape defined by the portion where the target construction shape CS and the tilt operation plane TP intersect. In the following, this control target shape is appropriately referred to as a tilt stop terrain ST. The stop terrain calculation unit 51F extends laterally of the bucket 8 in the target construction terrain CS based on the position data of the regulation point RP selected from the plurality of candidate regulation point RPc, the target construction terrain CS, and the tilt data. The tilt target terrain ST to be calculated is calculated. As shown in FIGS. 14 and 15, the tilt stop terrain ST is represented by the line of intersection between the target construction shape CS and the tilt operation plane TP. When the tilt axis angle ε, which is the direction of the tilt axis AX4, changes, the position of the tilt stop terrain ST changes.

The target shape calculation unit 51F obtains an extension target shape obtained by extending the tilt stop terrain ST. In the present embodiment, the extension target shape is a portion where the tilt stop terrain ST is extended in parallel with the tilt stop terrain ST. The extension target shape will be described later.

The work machine control unit 51G outputs a control signal for controlling the hydraulic cylinder 10. When executing the tilt stop control, the work equipment control unit 51G tilts the bucket 8 around the tilt axis AX4 based on the operating distance Da indicating the distance between the specified point RP of the bucket 8 and the tilt stop terrain ST. Executes tilt stop control to stop. That is, in the present embodiment, the tilt stop control is executed based on the tilt stop terrain ST. In the tilt stop control, the work equipment control unit 51G stops the bucket 8 at the tilt stop terrain ST so that the tilting bucket 8 does not exceed the tilt stop terrain ST.

The work machine control unit 51G executes tilt stop control based on the specified point RP having the shortest operating distance Da among the plurality of candidate specified point RPc set in the bucket 8. That is, the work equipment control unit 51G has the tilt stop terrain so that the specified point RP closest to the tilt stop terrain ST among the plurality of candidate specified point RPc specified point RPs set in the bucket 8 does not exceed the tilt stop terrain ST. Tilt stop control is executed based on the operating distance Da between the specified point RP closest to ST and the tilt stop terrain ST.

The speed limit determination unit 51H determines the speed limit U for the tilt operation speed of the bucket 8 based on the operation distance Da. The speed limit determination unit 51H limits the tilt operation speed when the operation distance Da is equal to or less than the threshold line distance H.

The determination unit 51J determines whether or not the tilt stop terrain ST existing in the range beyond the target construction shape CS is set as a target when the work machine control unit 51G stops the bucket 8. When the target is the tilt stop terrain ST existing in the range exceeding the target construction shape CS, the work equipment control unit 51G sets the tilt stop terrain ST existing in the range in which the target construction shape CS exists and in the range exceeding the target construction shape CS. The tilt operation of the bucket 8 is controlled so that the bucket 8 does not exceed the bucket 8. When the tilt stop terrain ST existing in the range exceeding the target construction shape CS is not targeted, the work equipment control unit 51G prevents the bucket 8 from exceeding the tilt stop terrain ST existing in the range in which the target construction shape CS exists. In addition, the tilt operation of the bucket 8 is controlled.

FIG. 16 is a schematic diagram for explaining the tilt stop control according to the present embodiment. As shown in FIG. 16, the target construction shape CS is defined and the speed limiting intervention line IL is defined. The speed limiting intervention line IL is parallel to the tilt axis AX4 and is defined at a position separated from the tilt stop terrain ST by a line distance H. It is desirable that the line distance H is set so as not to impair the operability of the operator. The work equipment control unit 51G limits the tilt operation speed of the bucket 8 when at least a part of the bucket 8 for tilt operation exceeds the speed limit intervention line IL and the operation distance Da becomes the line distance H or less. The speed limit determination unit 51H determines the speed limit U for the tilt operation speed of the bucket 8 that exceeds the speed limit intervention line IL. In the example shown in FIG. 16, since a part of the bucket 8 exceeds the speed limiting intervention line IL and the operating distance Da is smaller than the line distance H, the tilting operating speed is limited.

The speed limit determination unit 51H acquires the operation distance Da between the specified point RP and the tilt stop terrain ST in the direction parallel to the tilt operation plane TP. Further, the speed limit determination unit 51H acquires the speed limit U according to the operating distance Da. When it is determined that the operating distance Da is equal to or less than the line distance H, the working machine control unit 51G limits the tilting operating speed.

FIG. 17 is a diagram showing an example of the relationship between the operating distance Da and the speed limit U in order to stop the tilt rotation of the tilt bucket based on the operating distance Da. As shown in FIG. 17, the speed limit U is a speed determined according to the operating distance Da. The speed limit U is not set when the operating distance Da is larger than the line distance H, and is set when the operating distance Da is equal to or less than the line distance H. The smaller the operating distance Da, the smaller the speed limit U, and when the operating distance Da becomes zero, the speed limit U also becomes zero. In FIG. 17, the direction approaching the target construction shape CS is represented as a negative direction.

When the speed limit determination unit 51H moves toward the target construction shape CS (tilt stop terrain ST) specified by the target construction data CD, the specified point RP is based on the operation amount of the tilt operation lever 30T of the operating device 30. The moving speed Vr of is obtained. The moving speed Vr is the moving speed of the specified point RP in the plane parallel to the tilt operation plane TP. The moving speed Vr is obtained for each of the plurality of specified point RPs.

In the present embodiment, when the tilt operation lever 30T is operated, the moving speed Vr is obtained based on the current value output from the tilt operation lever 30T. When the tilt operation lever 30T is operated, a current corresponding to the operation amount of the tilt operation lever 30T is output from the tilt operation lever 30T. The storage unit 52 stores first correlation data showing the relationship between the current value output from the tilt operation lever 30T and the pilot pressure. Further, the storage unit 52 stores second correlation data showing the relationship between the pilot pressure and the spool stroke indicating the amount of movement of the spool. Further, the storage unit 52 stores third correlation data showing the relationship between the spool stroke and the cylinder speed of the tilt cylinder 14.

The first correlation data, the second correlation data, and the third correlation data are known data obtained in advance by experiments, simulations, or the like. The speed limit determination unit 51H determines the tilt operation lever 30T based on the current value output from the tilt operation lever 30T and the first correlation data, the second correlation data, and the third correlation data stored in the storage unit 52. The cylinder speed of the tilt cylinder 14 according to the operation amount of is obtained. As the cylinder speed, the value detected by the actual stroke sensor may be used. After the cylinder speed of the tilt cylinder 14 is obtained, the speed limit determination unit 51H converts the cylinder speed of the tilt cylinder 14 into the moving speed Vr of each of the plurality of specified point RPs of the bucket 8 by using the Jacobian determinant.

When it is determined that the operating distance Da is equal to or less than the line distance H, the working machine control unit 51G executes a speed limit that limits the moving speed Vr of the specified point RP with respect to the target construction shape CS to the speed limit U. The work equipment control unit 51G outputs a control signal to the control valve 37 in order to suppress the moving speed Vr of the specified point RP of the bucket 8. The work equipment control unit 51G outputs a control signal to the control valve 37 so that the moving speed Vr of the specified point RP of the bucket 8 becomes the speed limit U corresponding to the operating distance Da. By this process, the moving speed of the specified point RP of the bucket 8 that tilts is slowed as the specified point RP approaches the target construction shape CS (tilt stop terrain ST), and the specified point RP (cutting edge 9) becomes the target construction shape CS. It becomes zero when it reaches.

In the present embodiment, the tilt operation plane TP is defined, and the tilt stop terrain ST which is the line of intersection between the tilt operation plane TP and the target construction shape CS is derived. The work equipment control unit 51G has the specified point RP exceeding the target construction shape CS based on the operating distance Da between the specified point RP closest to the tilt stop terrain ST and the target construction shape CS among the plurality of candidate specified point RPc. Execute tilt stop control so that there is no such thing. In the present embodiment, the position of the tilt stop terrain ST does not change only by tilting the bucket 8. Therefore, the excavation work using the tiltable bucket 8 is smoothly executed.

[Positioning of bucket 8 using tilt stop control]
When the control device 50 executes the tilt stop control while moving the bucket 8 toward the target construction shape CS, the bucket 8 can be stopped at the target construction shape CS. That is, the control device 50 can position the bucket 8 in the target construction shape CS. In this case, bucket stop control is also used. The bucket stop control controls the bucket 8 with the target construction shape CS by controlling at least one of the working machine, that is, the boom 6, the arm 7, and the bucket 8 based on the distance between the bucket 8 and the target construction shape CS. It is a control to stop 8. For example, in the bucket stop control, the control device 50 limits the speed at which the bucket 8 approaches the target construction shape CS by controlling the operation of the boom 6 based on the distance between the bucket 8 and the target construction shape CS. By such a process, the bucket 8 is stopped at the target construction shape CS, so that the erosion of the target construction shape CS is suppressed.

18, 19 and 20 are diagrams showing an example of a case where tilt stop control is executed while moving the bucket 8. In the examples shown in FIGS. 18 and 19, the construction target of the hydraulic excavator 100 has a convex cross section. The target construction shape CS is such that the target construction shape CSa and the target construction shape CSb are connected at the inflection point SL. When the bucket 8 is positioned on the target construction shape CSa, the control device 50 sets the tilt stop terrain ST, which is a portion where the target construction shape CS and the tilt operation plane TP intersect, as a target for stopping the bucket 8 and stops tilting. Take control.

When positioning the bucket 8 on the target construction shape CSa, the operator of the hydraulic excavator 100 operates the tilt operation lever 30T of the operation device 30 shown in FIG. 9 to lower the boom 6 while tilting the bucket 8. The bucket 8 rotates about the tilt axis AX4 in the direction of the arrow R shown in FIGS. 18 and 19 by the tilt operation. Further, as the boom 6 descends, it moves in the direction indicated by the arrow D shown in FIGS. 18, 19, and 20.

The control device 50 limits the tilt operation speed based on the operating distance Da between the bucket 8 and the tilt stop terrain ST corresponding to the target construction shape CSa, and is based on the vertical distance Db between the bucket 8 and the target construction shape CSa. And the descending speed Vb of the bucket 8 is limited. The vertical distance Db is the distance between the specified point RP of the bucket 8 and the target construction shape CSa. The distance between the specified point RP and the target construction shape CSa obtained along the perpendicular line extending from the specified point RP of the bucket 8 toward the target construction shape CSa is the vertical distance Db.

The control device 50 stops the lowering of the boom 6 when the vertical distance Db of one of the specified point RPs set at the cutting edge 9 of the bucket 8 becomes zero. In this case, the control device 50 continues the tilting operation of the bucket 8 because the moving speed Vr when the bucket 8 tilts is positive at the specified point RP existing directly above the target construction shape CSa. In the example shown in FIG. 18, the bucket 8 continues to rotate in the direction of arrow R. When the bucket 8 leaves the target construction shape CSa due to the rotation of the bucket 8, the control device 50 lowers the boom 6 by that amount. In the present embodiment, the positive moving speed Vr means the moving speed Vr when the bucket 8 is separated from the target construction shape CSa.

As shown in FIG. 19, when the cutting edge 9 of the bucket 8 comes into contact with the target construction shape CSa, the operating distance Da becomes zero, but the moving speed Vr of the specified point RP on the target construction shape CSa is positive. At this time, a part of the bucket 8 is in contact with the target construction shape CSa, but the remaining part is not in contact with the target construction shape CSa. The defined point RP of the portion that does not exist on the target construction shape CSa has a negative moving speed Vr. In the present embodiment, the negative moving speed Vr is the moving speed Vr when the bucket 8 digs the target construction shape CSb. The specified point RP of the portion that does not exist on the target construction shape CSa moves toward the target construction shape CSb at a moving speed Vr. Therefore, the bucket 8 continues the tilt operation in the same direction as shown in FIG. The bucket 8 further continues the tilt operation, and the specified point RP having a negative operating speed Vr, in the example shown in FIG. 20, the specified point RP existing directly above the target construction shape CSa is in contact with the target construction shape CS and the operating distance. When Da becomes zero, the bucket 8 stops.

The operator wants to position the bucket 8 on the target construction shape CSa, but since the bucket 8 is actually positioned on the target construction shape CSb, the operation intended by the operator is not realized. Further, in the process of tilting the bucket 8 toward the target construction shape CSb, the target construction shapes CSa and CSb near the inflection point SL may be scraped by the bucket 8.

21 and 22 are diagrams for explaining the stop control according to the present embodiment. In order to position the bucket 8 in the target construction shape CSa where the operator wants to position the bucket 8, in the present embodiment, the tilt stop terrain ST of the target construction shape CSa is extended to a range beyond the inflection point SL. As shown in FIG. 22, the tilt stop terrain ST is a portion where the tilt operation plane TP and the target construction shape CS intersect. In the example shown in FIG. 21, the portion where the tilt stop terrain ST is extended is the portion indicated by the alternate long and short dash line and the symbol STe. In the following, this extended portion will be appropriately referred to as an extended stop terrain STe. The extended stop terrain STe is an extended target shape.

As described above, the extended stop terrain ST is a portion in which the tilt stop terrain ST is extended in parallel with the tilt stop terrain ST. In the present embodiment, the tilt stop terrain ST is a straight line segment, and the extension stop terrain ST is a straight line continuous with the tilt stop terrain ST and parallel to the tilt stop terrain ST. The tilt stop terrain ST and the extension stop terrain ST are not limited to straight line segments and straight lines, and may be, for example, a plane.

23, 24, and 25 are diagrams showing an example of a case where the tilt stop control according to the present embodiment is executed while moving the bucket 8. When the bucket 8 is positioned on the target construction shape CSa, the control device 50 determines the tilt stop terrain ST and the tilt stop terrain which are the portions where the target construction shape CSa and the tilt operation plane TP intersect, as shown in FIG. Tilt stop control is executed with the extended stop terrain STe, which is an extension of ST, as a target for stopping the tilt operation of the bucket 8.

As can be understood from the examples shown in FIGS. 21 to 25, the extended stop terrain STe exists in a range beyond the target construction shape CSa of the target for positioning the bucket 8. The extended stop terrain STe exists above the target construction shape CSa to which the bucket 8 is positioned and the target construction shape CSb connected at the inflection point SL. The upper direction is the positive direction of the Z axis in the vehicle body coordinate system (XYZ). The positive direction of the Z-axis is the direction from the lower traveling body 3 of the hydraulic excavator 100 shown in FIG. 1 toward the upper turning body 2. The target shape calculation unit 51F shown in FIG. 9 extends the generated tilt stop terrain ST at least in the direction of the inflection point SL to obtain the extension stop terrain ST. The obtained extended stop terrain STe is temporarily stored in the storage unit 52 shown in FIG.

When the operator of the hydraulic excavator 100 positions the bucket 8 on the target construction shape CSa, the operator operates the tilt operation lever 30T of the operation device 30 shown in FIG. 9 to tilt the bucket 8 in the direction of arrow R while tilting the boom 6. Lower. The bucket 8 rotates about the tilt axis AX4 in the direction of the arrow R shown in FIGS. 23 and 24 by the tilt operation. Further, as the boom 6 descends, it moves in the direction indicated by the arrow D shown in FIGS. 23 and 24.

The control device 50 limits the tilt operation speed based on the operating distance Da between the bucket 8 and the tilt stop terrain ST corresponding to the target construction shape CSa, and the bucket is based on the vertical distance Db between the bucket 8 and the target construction shape CSa. Limit the descent speed of 8. As shown in FIG. 23, the control device 50 stops the lowering of the boom 6 when the vertical distance Db between the bucket 8 and the target construction shape CSa becomes zero. As described above, even if the lowering of the boom 6 is stopped, the bucket 8 continues the tilting operation in the direction indicated by the arrow R because the defined point RP directly above the target construction shape CSa has a positive moving speed Vr.

The control device 50 changes the posture of the bucket 8 so that the cutting edge 9 is parallel to the target construction shape CSa while lowering the boom 6 by the amount of the tilt operation of the bucket 8. In the present embodiment, the control device 50 executes the tilt stop control of the bucket 8 with the tilt stop terrain ST and the extension stop terrain ST as targets. That is, when the operating distance Da between the specified point RP having a negative movement speed Vr with respect to the tilt stop terrain ST and the extension stop terrain ST and the tilt stop terrain ST and the extension stop terrain ST becomes 0, the control device 50 enters the bucket. The tilt operation of 8, in this example, the rotation in the arrow R direction is stopped. By this process, as shown in FIG. 25, the bucket 8 is positioned in the target construction shape CSa because the cutting edge 9 is stopped in the state of being positioned in the target construction shape CSa.

As described above, when the control device 50 executes the tilt stop control for stopping the bucket 8 with the target construction shape CSa, the target terrain for stopping the bucket 8 is referred to as the tilt stop terrain ST and the extension stop terrain ST. To do. Then, the control device 50 stops the rotation of the bucket 8, that is, the tilt operation, based on the operating distance Da between the bucket 8 and the tilt stop terrain ST and the extension stop terrain STe. As a result, the bucket 8 stops with the cutting edge 9 positioned at the target construction shape CSa, so that the operator can operate the bucket 8 as intended.

FIG. 26 is a diagram for explaining that the bucket 8 stops in the air. FIG. 27 is a diagram showing a state in which the bucket 8 is positioned with the target construction shape CSb. In the tilt stop control, when the control device 50 stops the tilt operation of the bucket 8 based on the operating distance Da between the bucket 8 and the tilt stop terrain ST and the extension stop terrain ST, the control device 50 causes the extension stop terrain ST and the bucket. When the operating distance Da with 8 becomes 0, the tilting operation of the bucket 8 is stopped. Then, as shown in FIG. 26, the bucket 8 stops in the air. As a result, as shown in FIG. 27, when the operator wants to change the posture of the bucket 8 so as to position the bucket 8 with the target construction shape CSb, the operation of the bucket 8 is blocked.

In order to avoid this phenomenon, the determination unit 51J of the control device 50 sets the extended stop terrain STe to the bucket 8 based on the operating distance Da which is the distance between the bucket 8 and the tilt stop terrain ST corresponding to the target construction shape CSa. Decide whether or not to set the goal when stopping. Specifically, in the determination unit 51J, the operating distance Da between the specified point RP set in the bucket 8 and the tilt stop terrain ST corresponding to the target construction shape CSa existing immediately below the specified point RP is equal to or less than the threshold value. In this case, the extended stop terrain STe is set as a target when the bucket 8 is stopped. Then, the determination unit 51J determines when the operating distance Da between the specified point RP set in the bucket 8 and the tilt stop terrain ST corresponding to the target construction shape CSa existing directly below the specified point RP is larger than the threshold value. Does not target the extended stop terrain STe when stopping the bucket 8. Immediately below the specified point RP is the negative direction of the Z axis in the vehicle body coordinate system (XYZ) of the hydraulic excavator 100. The negative direction of the Z-axis is the direction from the upper swing body 2 of the hydraulic excavator 100 shown in FIG. 1 toward the lower traveling body 3.

In the example shown in FIG. 26, among the specified point RPs of the bucket 8, the operating distance Da between one specified point RP having a negative moving speed Vr and the extended stop terrain STe is zero. However, the operating distance Da between the other specified point RP of the bucket 8 and the tilt stop terrain ST corresponding to the target construction shape CSa existing directly under the specified point RP is larger than the threshold value. For this reason, the determination unit does not set the extended stop terrain Ste as a target when stopping the bucket 8. As a result, the bucket 8 is positioned with the target construction shape CSa without stopping in the air.

28 and 29 are diagrams for explaining an example of determining whether or not the extended stop terrain STe is the target for stopping the bucket 8 by overlapping the bucket 8 and the target construction shape CSa. .. As in the example shown in FIG. 28, in a state where the bucket 8 and the target construction shape CSa overlap with each other, the operator performs an operation for causing the bucket 8 to perform the operations shown in FIGS. 23 to 25. If so, the operator wants to position the bucket 8 on the target construction shape CSa. As in the example shown in FIG. 29, when the bucket 8 is tilted when the overlap between the bucket 8 and the target construction shape CSa is small, the operator moves the bucket toward the target construction shape CSb centering on the tilt axis AX4. It is considered that the bucket 8 is positioned on the target construction shape CSb by rotating the 8.

The determination unit 51J determines whether or not the extended stop terrain STe is the target for stopping the bucket 8 based on the overlap between the bucket 8 and the target construction shape CSa. Specifically, when the determination unit 51J has a plurality of specified point RPs set in the bucket 8 and a number of specified point RPs equal to or more than the first threshold value overlaps with the target construction shape CSa existing directly under the bucket 8. , Extended stop terrain STe is set as a target when the bucket 8 is stopped. In this case, the control device 50 sets both the tilt stop terrain ST and the extension stop terrain STe as targets when the bucket 8 is stopped in the tilt stop control.

In the determination unit 51J, among the plurality of specified point RPs set in the bucket 8, the number of specified point RPs smaller than the first threshold value and equal to or less than the second threshold value overlaps with the target construction shape CSa existing directly under the bucket 8. If so, the extended stop terrain STe is not the target for stopping the bucket 8. In this case, the control device 50 sets the tilt stop terrain ST as a target when stopping the bucket 8 in the tilt stop control.

In this way, the determination unit 51J determines whether or not the extended stop terrain STe is the target for stopping the bucket 8 based on the overlap between the bucket 8 and the target construction shape CSa, so that the operator sets the target. It is possible to reliably determine whether or not the bucket 8 is to be positioned on the construction shape CSa. As a result, the control device 50 can position the bucket 8 on the target construction shape CSa intended by the operator.

The target construction shape CSa existing directly under the bucket 8 is a target construction shape CSa existing in the negative direction in the Z-axis direction when viewed from the bucket 8 in the vehicle body coordinate system (XYZ). The overlap between the bucket 8 and the target construction shape CSa is the overlap between the bucket 8 and the target construction shape CSa when the bucket 8 and the target construction shape CSa are viewed from the positive direction of the Z axis of the vehicle body coordinate system (XYZ). It is expressed by the degree of overlap, that is, the amount of overlap or the ratio of overlap.

FIG. 30 is a diagram showing a bucket 8 and a target construction shape CSa in the vehicle body coordinate system (XYZ). The target construction shape CSa is generated by the target construction shape generation unit 51D based on the line LX and the line LY. The intersection of the line LX and the line LY is a straight line LC that is parallel to the Z axis of the work machine operating plane WP and the vehicle body coordinate system (XYZ) and passes through a part of the bucket 8 (specified point RP in this example). Cross with. The target construction shape generation unit 51D can generate the target construction shape CSa1 indicated by the broken line and the target construction shape CSa2 indicated by the alternate long and short dash line based on the line LX and the line LY. In the present embodiment, the determination unit 51J may use either the target construction shape CSa1 or the target construction shape CSa2 in obtaining the overlap between the bucket 8 and the target construction shape CSa.

The determination unit 51J sets the extended stop terrain STe as the target for stopping the bucket 8 based on the posture of the bucket 8, and in the present embodiment, the angle θb formed by the cutting edge 9 of the bucket 8 and the target construction shape CSa. Decide whether to do it or not. The determination unit 51J obtains a straight line representing the cutting edge 9 from a plurality of specified point RPs set on the cutting edge 9 of the bucket 8. Then, the determination unit 51J obtains the angle θb formed by the obtained straight line and the tilt stop terrain ST existing in the target construction shape CSa.

When the angle θb is equal to or less than the first angle threshold value, the determination unit 51J sets the extended stop terrain STe as a target when stopping the bucket 8. In this case, the control device 50 sets both the tilt stop terrain ST and the extension stop terrain STe as targets when the bucket 8 is stopped in the tilt stop control. When the angle θb is larger than the second angle threshold value larger than the first angle threshold value, the determination unit 51J does not set the extended stop terrain STe as a target for stopping the bucket 8. In this case, the control device 50 sets the tilt stop terrain ST as a target when stopping the bucket 8 in the tilt stop control.

The angle θb shown in FIG. 21 is an index indicating that the bucket 8 and the cutting edge 9 of the bucket 8 in the present embodiment are along the target construction shape CSa. When the angle θb is small, the operator wants to position the bucket 8 on the target construction shape CSa. When the angle θb is large, it is considered that the operator has no intention of positioning the bucket 8 on the target construction shape CSa. By using the angle θb, the determination unit 51J can accurately determine whether or not the operator wants to position the bucket 8 on the target construction shape CSa.

FIG. 31 is a control block diagram of the determination unit 51J. The determination unit 51J includes an operation state determination unit 511, an operation distance determination unit 512, an overlap determination unit 513, a posture determination unit 514, a first logical product calculation unit 515, a distance determination unit 516, and a second logical product. Includes arithmetic unit 517. The operation state determination unit 511 generates the operation flag Fc based on the operation state CT of the right operation lever 30R that operates the boom 6. When the operation state CT of the right operation lever 30R is the boom lowering D, the operation state determination unit 511 sets the operation flag Fc to TRUE (1 in this embodiment). When the operation state CT of the right operation lever 30R is the boom raising UP, the operation state determination unit 511 sets the operation flag Fc to FALSE (0 in this embodiment).

The operating distance determination unit 512 generates the operating distance flag Fd based on the operating distance Da. When the operating distance Da becomes equal to or less than the first distance threshold value Da1, the operating distance determining unit 512 sets the operating distance flag Fd to TRUE (1 in this embodiment). When the operating distance Da becomes the second distance threshold value Da2 or more, the operating distance determining unit 512 sets the operating distance flag Fd to FALSE (0 in this embodiment).

The overlap determination unit 513 generates the overlap determination flag Fk based on the overlap rate KR. The overlap ratio KR is the ratio of the specified point RP that overlaps with the target construction shape CSa existing directly under the bucket 8 among all the specified point RPs set in the bucket 8. When the overlap rate KR becomes equal to or higher than the first threshold value A, the overlap determination unit 513 sets the overlap determination flag Fk to TRUE (1 in this embodiment). When the overlap rate KR is equal to or less than the second threshold B, which is smaller than the first threshold A, the overlap determination unit 513 sets the overlap determination flag Fk to FALSE (0 in this embodiment).

In this way, the determination unit 51J makes the size of the overlap when making a decision that the target when stopping the bucket 8 is the extended stop terrain STe larger than the size of the overlap when making a decision that is not the target. .. By doing so, it is possible to prevent the extended stop terrain STe from disappearing while the control device 50 is adjusting the tilt operation of the bucket 8.

The posture determination unit 514 generates the posture determination flag Fθ based on the posture of the bucket 8 with respect to the target construction shape CSa, and in the present embodiment, the angle θb. When the angle θb becomes equal to or less than the first angle threshold value θc1, the posture determination unit 514 sets the posture determination flag Fθ to TRUE (1 in this embodiment). When the angle θb becomes the second threshold value θc2 or more, the posture determination unit 514 sets the posture determination flag Fθ to FALSE (0 in this embodiment).

The first logical product calculation unit 515 calculates the logical product of the operation flag Fc and the operation distance flag Fd, that is, AND, and outputs the first calculation result Fa to the distance determination unit 516. The first calculation result Fa is 1 (TRUE) when both the operation flag Fc and the operating distance flag Fd are TRUE (1), and is 0 (FALSE) except for this combination.

The distance determination unit 516 outputs the second operation result Fx to the second logical product calculation unit 517 based on the first calculation result Fa and the operation distance flag Fd. The second calculation result Fx becomes TRUE (1) when both the first calculation result Fa and the operating distance flag Fd are TRUE (BT ... Both TRUE), and the operating distance flag Fd is FALSE (DF.・ ・ Distance FALSE) becomes FALSE (0).

The second logical product calculation unit 517 calculates the logical product of the second calculation result Fx, the overlap determination flag Fk, and the attitude determination flag Fθ, and outputs the calculation result as the determination result OT of the determination unit 51J. The determination result OT is TRUE (1) when the second calculation result Fx, the overlap determination flag Fk, and the posture determination flag Fθ are all TRUE (1), and FALSE (0) except for this combination.

When the determination result OT is TRUE, the extended stop terrain STe becomes a target when the bucket 8 is stopped. In this case, the control device 50 sets both the tilt stop terrain ST and the extension stop terrain STe as targets when the bucket 8 is stopped in the tilt stop control. When the determination result OT is FALSE, the extended stop terrain STe is not a target when stopping the bucket 8. In this case, the control device 50 sets the tilt stop terrain ST as a target when stopping the bucket 8 in the tilt stop control.

When the operation flag Fc is FALSE (0), that is, when the operation state CT of the right operation lever 30R is boom-up UP, the determination unit 51J sets the operating distance flag Fd, the overlap determination flag Fk, and the attitude determination flag Fθ to FALSE (0). ). This is because when the boom 6 rises, the bucket 8 moves away from the target construction shape CSa, so that it can be determined that the operator has no intention of positioning the bucket 8 with the target construction shape CSa.

[Control method]
FIG. 32 is a flowchart showing an example of the control method of the work machine according to the present embodiment. In step S101, the determination unit 51J of the control device 50 obtains a determination value to be used for determining whether or not the extended stop terrain STe is the target when stopping the bucket 8. Specifically, the determination unit 51J acquires the operation state CT from the right operating lever 30R and the operating distance Da from the speed limit determination unit 51H, and obtains the angle θb and the overlap rate KR. These are the above-mentioned determination values.

The determination unit 51J obtains and outputs the determination result OT using the determination value obtained in step S101. In step S102, when the determination result OT is TRUE (step S102, Yes), in step S103, the extended stop terrain Ste is valid, that is, the extended stop terrain Ste becomes a target when the bucket 8 is stopped. In this case, the control device 50 sets both the tilt stop terrain ST and the extension stop terrain STe as targets when the bucket 8 is stopped in the tilt stop control.

In step S102, when the determination result OT is not TRUE, that is, when it is FALSE (steps S102, No), in step S104, the extended stop terrain Ste is invalid, that is, the extended stop terrain Ste is a target when the bucket 8 is stopped. It does not become. In this case, the control device 50 sets the tilt stop terrain ST as a target when stopping the bucket 8 in the tilt stop control.

In step S105, the control device 50 reduces the speed at which the bucket 8 tilts based on the operating distance Da between the target and the bucket 8 when the bucket 8 is stopped, which is determined in step ST103 or step S104. Let me. In this case, the work equipment control unit 51G controls based on the movement speed Vr of the specified point RP of the bucket 8 obtained from the operation amount of the tilt operation lever 30T and the speed limit U determined by the speed limit determination unit 51H. A control signal for the valve 37 is obtained.

When the operator performs an operation for causing the bucket 8 to perform the operations shown in FIGS. 23 to 25, the work equipment control unit 51G calculates and controls a control signal for setting the moving speed Vr to the speed limit U. Output to valve 37. The control valve 37 controls the pilot pressure based on the control signal output from the work equipment control unit 51G. By this process, the moving speed Vr of the specified point RP of the bucket 8 is limited. When the bucket 8 to be tilted approaches the target construction shape CSa and the operating distance Da at all the specified point RPs becomes zero, the tilting operation of the bucket 8 is stopped. As a result, the bucket 8 is positioned in the target construction shape CSa.

As described above, in this embodiment, the rotation of the bucket 8 is controlled based on the distance between the bucket 8 which is a work tool and the tilt stop terrain ST and the extension stop terrain ST which is an extension of the tilt stop terrain ST and the tilt stop terrain ST. Therefore, even if there is a discontinuous portion in the target construction shape CS, the tilt operation of the bucket 8 can be stopped by the extended stop terrain ST that extends the tilt stop terrain ST, so that the bucket 8 is desired to be positioned. The bucket 8 can be positioned on the target construction shape CSa. Further, even if the target construction shape CS has a discontinuous portion, the tilt operation of the bucket 8 is stopped, so that the discontinuous portion of the target construction shape CS corresponding to the inflection point SL of the target construction shape CS is the bucket. The possibility of being scraped to 8 can be reduced.

In the present embodiment, the control device 50 generates an extended stop terrain ST that extends the tilt stop terrain ST in advance, and the bucket 8 is based on the distance between the bucket 8 and the tilt stop terrain ST and the extended stop terrain ST. The extended stop terrain STe is enabled when controlling the rotation of. Not limited to such control, the control device 50 controls the rotation of the bucket 8 based on the distance between the bucket 8 and the tilt stop terrain ST and the extension stop terrain ST. It may be generated.

In the present embodiment, the control device 50 overlaps the bucket 8 with the target construction shape CSa, the operating distance Da between the bucket 8 and the tilt stop terrain ST corresponding to the target construction shape CSa, the posture of the bucket 8, and the work equipment 1. Based on the operation state CT, it is determined whether or not the extended stop terrain STe is a target when controlling the rotation of the bucket 8. By such processing, the control device 50 can determine the intention of the operator of the hydraulic excavator 100 to align the bucket 8 with the target construction shape CSa. Therefore, if the operator does not have the intention of aligning the bucket 8 with the target construction shape CSa, the tilt stop control of the bucket 8 with respect to the extended stop terrain STe is not executed, and the tilt operation of the bucket 8 is allowed. In this case, the tilt stop control of the bucket 8 with respect to the tilt stop terrain ST is executed. Further, when the operator has an intention to align the bucket 8 with the target construction shape CSa, the bucket 8 is positioned with the target construction shape CSa by the stop control. As a result, the control device 50 can realize the operation of the bucket 8 according to the intention of the operator.

In the present embodiment, the control device 50 overlaps the bucket 8 with the target construction shape CSa depending on whether the extension stop terrain STe is targeted or not when controlling the rotation of the bucket 8. Hysteresis is provided in the determination conditions of the operating distance Da with the tilt stop terrain ST corresponding to the target construction shape CSa and the angle θb formed by the cutting edge 9 of the bucket 8 and the target construction shape CSa. By doing so, it is possible to prevent the extended stop terrain STe from disappearing while the control device 50 is fine-tuning the tilt operation of the bucket 8. However, the determination condition described above is not limited to providing hysteresis, and hysteresis may not be provided.

In the present embodiment, as an example in which the work machine control unit 51G controls the rotation of the bucket 8, the tilt stop control for stopping the tilt operation of the bucket 8 has been described, but the work machine control unit 51G controls the rotation of the bucket 8. The example is not limited to tilt stop control. For example, the work equipment control unit 51G may execute an intervention control for moving the bucket 8 away from the target construction shape CS when the bucket 8 erodes the target construction shape CS due to the tilt operation. Then, the work machine control unit 51G may execute the intervention control based on the distance between the bucket 8 which is a work tool and the tilt stop terrain ST and the extension stop terrain ST which is an extension of the tilt stop terrain ST.

In the present embodiment, the bucket 8 is a tilt type bucket, but the bucket 8 may be, for example, a rotate bucket. The rotate bucket is a bucket that rotates around an axis that intersects the bucket axis AX3 perpendicularly. Even if the work equipment control unit 51G executes at least one of stop control and intervention control with respect to the rotate bucket based on the distance between the bucket 8 and the rotate stop terrain and the rotate extension stop terrain that extends the rotate stop terrain. Good. The rotate stop terrain is obtained by the same method as the tilt stop terrain ST. When the bucket 8 rotates about the bucket axis AX3, the work equipment control unit 51G provides stop control and intervention control based on the distance between the bucket 8 and the rotate stop terrain and the rotate extension stop terrain that extends the rotate stop terrain. At least one of may be executed.

In the present embodiment, the work machine is a hydraulic excavator, but the components described in the embodiment may be applied to a work machine having a work machine other than the hydraulic excavator.

Although the present embodiment has been described above, the present embodiment is not limited by the contents described above. Further, the above-mentioned components include those that can be easily assumed by those skilled in the art, those that are substantially the same, that is, those having a so-called equal range. Furthermore, the components described above can be combined as appropriate. Further, various omissions, replacements or changes of components can be made without departing from the gist of the present embodiment.

1 Working machine 2 Upper swivel body 3 Lower traveling body 6 Boom 7 Arm 8 Bucket 8C Blade 9 Cutting edge 11 Boom cylinder 12 Arm cylinder 13 Bucket cylinder 14 Tilt cylinder 20 Position detection device 30 Operation device 30T Tilt operation lever 30R Right operation lever 50 Control Device 51 Processing unit 51A Body position data acquisition unit 51B Work equipment angle data acquisition unit 51Ca Candidate specified point position data calculation unit 51D Target construction shape generation unit 51Cb Standard point position data calculation unit 51E Operation plane calculation unit 51F Target shape calculation unit 51G Work Machine control unit 51H Limit speed determination unit 51J Determination unit 52 Storage unit 53 Input / output unit 100 Hydraulic excavator 200 Control system 300 Hydraulic system 400 Detection system 511 Operation state determination unit 512 Operating distance determination unit 513 Overlap determination unit 514 Attitude determination unit 515th 1 AND calculation unit 516 Distance determination unit 517 Second logical product calculation unit AX1 Boom axis AX2 Arm axis AX3 Bucket axis AX4 Tilt axis CS, CSa, CSb Target construction shape CT Operation state Da Operating distance ST Tilt stop terrain STe Extension stop terrain TP tilt operating plane

Claims (8)

A work machine control system that controls a work machine including a work machine having a work tool that rotates about an axis.
A control target shape that is generated from a plane orthogonal to the axis and is a target shape when controlling the rotation of the work tool, and a target shape calculation unit that obtains an extension target shape that is an extension of the control target shape.
A work machine control unit that controls rotation of the work tool about the axis based on the distance between the work tool and the control target shape and the extension target shape.
Work machine control system. It has a determination unit for determining whether or not the extension target shape is a target when the work machine control unit controls the rotation of the work tool.
The work machine control unit
When the extension target shape is set as a target when the work equipment control unit controls the rotation of the work tool by the determination unit, the work tool, the control target shape, and the extension target shape are used. Control the rotation of the work tool around the axis based on the distance,
When the extension target shape is not set as a target when the work equipment control unit controls the rotation of the work tool by the determination unit, the extension target shape is based on the distance between the work tool and the control target shape. Controls the rotation of the work tool around the axis,
The control system for a work machine according to claim 1. The decision unit
The work tool is stopped at the extension target shape based on the overlap between the work tool and the control target shape, the distance between the work tool and the control target shape, the posture of the work tool, and the operating state of the work machine. Decide whether to aim or not
The control system for a work machine according to claim 2. The decision unit
The size of the overlap when deciding that the target when stopping the work tool is the extension target shape is made larger than the size of the overlap when deciding not to set the target.
The control system for a work machine according to claim 3. A specified point position data calculation unit that obtains the position data of the specified point set in the work tool,
It has an operation plane calculation unit that obtains an operation plane that passes through the specified point and is orthogonal to the axis.
The target shape calculation unit is
The portion where the target construction shape indicating the target shape of the construction target of the work machine and the operation plane intersect is defined as the control target shape, and the portion obtained by extending the control target shape in parallel with the control target shape is the extension target shape. To
The work machine control system according to any one of claims 1 to 4. With the upper swivel body,
A lower traveling body that supports the upper turning body and
A working machine that includes a boom that rotates around a first axis, an arm that rotates around a second axis, and a bucket that rotates around a third axis, and is supported by the upper swing body.
The work machine control system according to any one of claims 1 to 5, including.
A work machine in which the work tool is at least one of the bucket, the arm, the boom, and the upper swing body. The work tool is the bucket, and the axis line is orthogonal to the third axis.
The work machine according to claim 6. It is a control method of a work machine that controls a work machine including a work machine having a work tool that rotates around an axis.
Obtaining a control target shape that is generated from a plane orthogonal to the axis and is a target shape when controlling the rotation of the work tool, and an extension target shape that is an extension of the control target shape.
It includes controlling the rotation of the work tool about the axis based on the distance between the work tool and the control target shape and the extension target shape.
How to control the work machine.

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