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

A work machine control method comprising:

• operating a working equipment element in a movable range by a hydraulic cylinder, the working equipment element includes a boom, an arm connected to the boom, and a bucket connected to the arm;
• detecting a posture of the working equipment element in the movable range;
• adjusting a flow rate of hydraulic oil supplied to the hydraulic cylinder via a first flow path connected to a hydraulic pump and adjusting a flow rate of the hydraulic oil discharged to a tank via a second flow path branching from the first flow path when it is determined that the working equipment element is present in an end section including an end position of the movable range based on detection data of a posture of the working equipment element, and
• acquiring an operation command for adjusting the flow rate of the hydraulic oil supplied to the hydraulic cylinder,
• wherein when it is determined that the working equipment element is present in the end section and the operation command is output such that the working equipment element moves toward the end position, the flow rate of the hydraulic oil supplied to the hydraulic cylinder is decreased and the flow rate of the hydraulic oil discharged to the tank is increased.

A work machine control device, comprising:

• a posture data acquisition unit that acquires detection data of a posture of a working equipment element operated in a movable range by a hydraulic cylinder, the working equipment element includes a boom, an arm connected to the boom, and a bucket connected to the arm;
• a stroke end determination unit that determines whether or not the working equipment element is present in an end section including an end position of the movable range based on the detection data of the posture of the working equipment element;
• a flow rate control valve control unit that adjusts a flow rate of hydraulic oil supplied to the hydraulic cylinder via a first flow path connected to a hydraulic pump when it is determined that the working equipment element is present in the end section;
• a bleed valve control unit that adjusts a flow rate of the hydraulic oil discharged to a tank via a second flow path branching from the first flow path, and
• a control device having a processor that outputs a first control command for adjusting the flow rate of the hydraulic oil supplied to the hydraulic cylinder and a second control command for adjusting the flow rate of the hydraulic oil discharged to the tank when it is determined that the working equipment element is present in an end section including an end position of the movable range based on detection data of the posture sensor,
• wherein the control device outputs the first control command to decrease the flow rate of the hydraulic oil supplied to the hydraulic cylinder and the second control command to increase the flow rate of the hydraulic oil discharged to the tank when it is determined that the working equipment element is present in the end section.