Control system, control method, and control program

Abstract

A work machine includes an undercarriage, a swing body swingably supported by the undercarriage, and work equipment operably supported by the swing body. A control system controls the work machine. The control system includes a processor. The processor generates a design plane that is defined by a plane on a vehicle body coordinate system of which origin is a representative point of a swing body. The processor rotationally converts the design plane around the origin of the vehicle body coordinate system in association with a swing of the swing body. The processor specifies a position of the work equipment in the vehicle body coordinate system. The processor controls the work equipment based on the specified position of the work equipment and the design plane.

1 . A control system that controls a work machine including an undercarriage configured to travel, a swing body configured to be swingably supported by the undercarriage, and work equipment configured to be operably supported by the swing body, the control system comprising:
 a processor that
 generates a design plane that is defined by a plane on a vehicle body coordinate system of which origin is a representative point of the swing body, 
 rotationally converts the design plane around the origin of the vehicle body coordinate system in association with a swing of the swing body, 
 specifies a position of the work equipment in the vehicle body coordinate system, and 
 controls the work equipment based on the specified position of the work equipment and the design plane. 
   
     
     
         2 . The control system according to  claim 1 , wherein
 the processor
 acquires a measurement value from an inclination measurer that measures the posture of the swing body, 
 calculates an amount of change in a posture caused by the swing of the swing body based on the measurement value, and 
 rotationally converts the design plane based on the amount of change in the posture. 
   
     
     
         3 . The control system according to  claim 1 , wherein
 the processor moves the design plane based on a difference between
 a first position that is a position of the work equipment in the vehicle body coordinate system when the work equipment is positioned at a reference point of a site at a first time, and 
 a second position that is a position of the work equipment in the vehicle body coordinate system when the work equipment is positioned at the reference point at a second time. 
   
     
     
         4 . The control system according to  claim 3 , wherein
 the first time is a time before traveling by the undercarriage, and   the second time is a time after traveling by the undercarriage.   
     
     
         5 . A control method of a work machine including an undercarriage configured to travel, a swing body configured to be swingably supported by the undercarriage, and work equipment configured to be operably supported by the swing body, the control method comprising:
 generating a design plane that is defined by a plane on a vehicle body coordinate system of which origin is a representative point of the swing body;   rotationally converting the design plane around the origin of the vehicle body coordinate system in association with a swing of the swing body;   specifying a position of the work equipment in the vehicle body coordinate system; and   controlling the work equipment based on the specified position of the work equipment and the design plane.   
     
     
         6 . A control program causing a computer of a work machine including an undercarriage configured to travel, a swing body configured to be swingably supported by the undercarriage, and work equipment configured to be operably supported by the swing body, to execute:
 a step of generating a design plane that is defined by a plane on a vehicle body coordinate system of which origin is a representative point of the swing body;   a step of rotationally converting the design plane around the origin of the vehicle body coordinate system in association with a swing of the swing body;   a step of specifying a position of the work equipment in the vehicle body coordinate system; and   a step of controlling the work equipment based on the specified position of the work equipment and the design plane.