Work machine control system, work machine, and work machine control method

A work machine control system that controls a work machine including a member that rotates about a shaft line, comprising:

• a determination unit that outputs first information when the member is present on an air side which is a side on which the work machine is present in relation to a target construction shape indicating a shape of a construction target of the work machine and outputs second information when the member is present on a ground side which is a side that is opposite the air side in relation to the target construction shape;
• a candidate regulation point position data calculation unit that calculates position data of a regulation point set to the member;
• an operation plane calculation unit that calculates an operation plane which passes through the regulation point and is orthogonal to the shaft line;
• and
• a stop ground shape calculation unit that calculates a stop ground shape in which the target construction shape and the operation plane cross each other, wherein
• the determination unit outputs the first information or the second information using a distance between the stop ground shape and the regulation point, a first vector extending in a direction orthogonal to the target construction shape, and a second vector extending in an extension direction of the shaft line.

A work machine control system that controls a work machine including a member that rotates about a shaft line, comprising:

• a determination unit that outputs first information when the member is present on an air side which is a side on which the work machine is present in relation to a target construction shape indicating a shape of a construction target of the work machine and outputs second information when the member is present on a ground side which is a side that is opposite the air side in relation to the target construction shape;
• a known reference point which is located at a position of a portion different from the member of the work machine;
• and
• a candidate regulation point position data calculation unit that calculates position data of a regulation point set to the member, wherein
• the determination unit calculates the number of intersections between the target construction shape and a line segment that connects the reference point and the regulation point and outputs the first information or the second information using whether the number is an even number or an odd number.

A work machine control method of controlling a work machine including a first member that rotates about a shaft of a first direction and a second member that rotates about a shaft of a second direction different from the first direction, comprising:

• determining whether a member is present on an air side which is a side on which the work machine is present in relation to a target construction shape indicating a shape of a construction target of the work machine based on a positional relation between the second shaft and the target construction shape;
• outputting first information when the second member is present on the air side in relation to the target construction shape;
• and
• outputting second information when the second member is present on a ground side which is a side that is opposite the air side in relation to the target construction shape.