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

A work machine control system that controls a work machine including a work unit with a working tool, the work machine control system comprising:

• a position detection unit that detects a position information item of the work machine;
• a generation unit that obtains a position of the work unit based on the position information item detected by the position detection unit and generates a first target excavation ground shape information item as an information item of an intersection portion of a first cut face, which intersects a work unit operation plane as an operation plane for the work unit and is parallel to a vertical direction, with respect to a first target construction face which indicates a target shape and a second target construction face which is continuous to a lateral side of the first target construction face;
• and
• a work unit control unit that performs an excavation control so that a velocity in a direction in which the work unit approaches an excavation target becomes equal to or less than a limitation velocity based on the first target excavation ground shape information item acquired from the generation unit.

A work machine control method of controlling a work machine including a work unit with a working tool and a swing body that has the work unit attached thereto and that swings about a predetermined axis, the work machine control method comprising:

• detecting a position of the work unit;
• predicting and obtaining the position of the work unit based on the detected position information item of the work machine and a swing velocity of the swing body and generating a first target excavation ground shape information item as an information item of an intersection portion of a first cut face which intersects a work unit operation plane as an operation plane for the work unit and is parallel to a vertical direction with respect to at least one target construction face indicating a target shape;
• performing, by a work unit controller, when the work unit is swinging along with the swing body, an excavation control so that a velocity in a direction in which the work unit approaches an excavation target becomes equal to or less than a limitation velocity based on the first target excavation ground shape information item;
• and
• predicting the position of the work unit by using the swing velocity of the swing body.

A work machine control method of controlling a work machine including a work unit with a working tool, the work machine control method comprising:

• detecting a position of the work machine;
• obtaining the position of the work unit based on the detected position information item of the work machine and generating a first target excavation ground shape information item as an information item of an intersection portion of a first cut face which intersects a work unit operation plane as an operation plane for the work unit and is parallel to a vertical direction with respect to a first target construction face indicating a target shape and a second target construction face which is continuous to a lateral side of the first target construction face;
• and
• performing, by a work unit controller, an excavation control so that a velocity in a direction in which the work unit approaches an excavation target becomes equal to or less than a limitation velocity based on the first target excavation ground shape information item.

A work machine control system that controls a work machine including a work unit with a working tool, the work machine control system comprising:

• a position detection unit that detects a position information item of the work machine;
• a generation unit that obtains a position of the work unit based on the position information item detected by the position detection unit and generates a first target excavation ground shape information item as an information item of an intersection portion of a first cut face which intersects a work unit operation plane as an operation plane for the work unit and is parallel to a vertical direction with respect to at least one target construction face which indicates a target shape;
• a work unit control unit that performs an excavation control so that a velocity in a direction in which the work unit approaches an excavation target becomes equal to or less than a limitation velocity based on the first target excavation ground shape information item acquired from the generation unit;
• and
• a detection device that is provided in the work machine and detects an angular velocity and acceleration,
• wherein the work machine includes a swing body that has the work unit attached thereto and that swings about a predetermined axis, and
• wherein the work unit control unit performs the excavation control when the work unit is swinging along with the swing body, and
• wherein the work unit control unit predicts a position of the work unit by using a swing velocity of the work unit detected by the detection device.

A work machine control method of controlling a work machine including a work unit with a working tool and a swing body that has the work unit attached thereto and that swings about a predetermined axis, the work machine control method comprising:

• detecting a position of the work unit;
• obtaining the position of the work unit based on the detected position information item of the work machine and generating a first target excavation ground shape information item as an information item of an intersection portion of a first cut face which intersects a work unit operation plane as an operation plane for the work unit and is parallel to a vertical direction with respect to at least one target construction face indicating a target shape;
• and
• performing, by a work unit controller, when the work unit is swinging along with the swing body, an excavation control so that a velocity in a direction in which the work unit approaches an excavation target becomes equal to or less than a limitation velocity based on the first target excavation ground shape information item,
• wherein the excavation control is performed based on a velocity having a target velocity in a direction in which the work unit swings synthesized with a target velocity in a front to back direction of the working tool.