Work machine control system and work machine control method

Abstract

A control system of a work machine includes: a three-dimensional measurement device 20 that measures a work target of a work machine 1 ; a detection device 25 that detects the work target; and a working equipment control unit 87 functioning as an intervention control unit that performs intervention control of the work machine 1 when both the three-dimensional measurement device 20 and the detection device 25 have detected the work target.

1 . A control system of a work machine, the system comprising:
 a three-dimensional measurement device that measures a work target of the work machine;   a detection device that detects the work target; and   an intervention control unit that performs intervention control of the work machine when both the three-dimensional measurement device and the detection device detects the work target.   
     
     
         2 . The control system of the work machine according to  claim 1 ,
 wherein the intervention control unit stops the intervention control when one of the three-dimensional measurement device and the detection device detects the work target and the other of the three-dimensional measurement device and the detection device does not detect the work target.   
     
     
         3 . The control system of the work machine according to  claim 1 , further comprising
 an output unit that outputs a warning when one of the three-dimensional measurement device and the detection device detects the work target and the other of the three-dimensional measurement device and the detection device does not detect the work target.   
     
     
         4 . The control system of the work machine according to  claim 1 , further comprising
 a target calculation unit that calculates a position of a loading target of the work machine based on a measurement result of the three-dimensional measurement device,   wherein the intervention control unit performs intervention control based on the position of the loading target calculated by the target calculation unit.   
     
     
         5 . The control system of the work machine according to  claim 1 ,
 wherein the intervention control unit performs intervention control when an angle of working equipment of the work machine is equal to or greater than an angle threshold and the work target is detected by both the three-dimensional measurement device and the detection device.   
     
     
         6 . The control system of the work machine according to  claim 1 ,
 wherein the intervention control includes control of raising working equipment of the work machine toward a loading target of the work machine, and   the intervention control unit stops raising of the working equipment when one of the three-dimensional measurement device and the detection device detects the work target and the other of the three-dimensional measurement device and the detection device does not detect the work target.   
     
     
         7 . The control system of the work machine according to  claim 1 ,
 wherein the intervention control includes control of raising working equipment of the work machine toward a loading target of the work machine, control of loading an excavated object of the working equipment onto the loading target, and control of lowering the working equipment, and   the intervention control unit stops at least one of the raising of the working equipment, the loading of the working equipment, and the lowering of the working equipment when one of the three-dimensional measurement device and the detection device detects the work target and the other of the three-dimensional measurement device and the detection device does not detect the work target.   
     
     
         8 . The control system of the work machine according to  claim 1 ,
 wherein the detection device is installed at a position different from a position of the three-dimensional measurement device.   
     
     
         9 . The control system of the work machine according to  claim 1 ,
 wherein the work machine is a wheel loader,   the detection device is installed on a front axle, and   the intervention control unit performs intervention control when the work target is detected by both the three-dimensional measurement device and the detection device in a case where an angle of working equipment is equal to or greater than an angle threshold.   
     
     
         10 . A method of controlling a work machine comprising
 performing intervention control of the work machine when both a three-dimensional measurement device that measures a work target of the work machine and a detection device that detects the work target detect the work target.   
     
     
         11 . The method of controlling the work machine according to  claim 10 ,
 wherein intervention control is stopped when one of the three-dimensional measurement device and the detection device detects the work target and the other of the three-dimensional measurement device and the detection device does not detect the work target.   
     
     
         12 . The method of controlling the work machine according to  claim 10 ,
 wherein a warning is output when one of the three-dimensional measurement device and the detection device detects the work target and the other of the three-dimensional measurement device and the detection device does not detect the work target.   
     
     
         13 . The method of controlling the work machine according to  claim 10 , further comprising:
 calculating a position of a loading target of the work machine based on a measurement result of the three-dimensional measurement device, and   performing intervention control based on the position of the loading target obtained by the calculation.   
     
     
         14 . The method of controlling the work machine according to  claim 10 ,
 wherein intervention control is performed when an angle of working equipment of the work machine is equal to or greater than an angle threshold and the work target is detected by both the three-dimensional measurement device and the detection device.   
     
     
         15 . The method of controlling the work machine according to  claim 10 ,
 wherein the intervention control includes control of raising working equipment of the work machine toward a loading target of the work machine, and   the raising of the working equipment is to be stopped when one of the three-dimensional measurement device and the detection device detects the work target and the other of the three-dimensional measurement device and the detection device does not detect the work target.   
     
     
         16 . The method of controlling the work machine according to  claim 10 ,
 wherein the intervention control includes control of raising working equipment of the work machine toward a loading target of the work machine, control of loading an excavated object of the working equipment onto the loading target, and control of lowering the working equipment, and   at least any one of the raising of the working equipment, the loading of the working equipment, and the lowering of the working equipment is to be stopped when one of the three-dimensional measurement device and the detection device detects the work target and the other of the three-dimensional measurement device and the detection device does not detect the work target.