Control system for work machine and control method for work machine

Abstract

A control system for a work machine includes: a first detection data acquisition unit that acquires detection data of a first sensor that detects an object present in a traveling direction of the work machine; a determination unit that determines a type of a cliff present in the traveling direction on the basis of the detection data of the first sensor; a position setting unit that changes a stop position of the work machine on the basis of the type of the cliff; and a traveling control unit that stops travel of the work machine on the basis of the stop position.

1 . A control system for a work machine, the control system comprising:
 a first detection data acquisition unit that acquires detection data of a first sensor that detects an object present in a traveling direction of the work machine;   a determination unit that determines a type of a cliff present in the traveling direction on a basis of the detection data of the first sensor;   a position setting unit that changes a stop position of the work machine on a basis of the type of the cliff; and   a traveling control unit that stops travel of the work machine on a basis of the stop position.   
     
     
         2 . The control system for the work machine according to  claim 1 ,
 wherein in a case where it is determined that the type of the cliff is an ascending cliff, the position setting unit sets the stop position on a side of the traveling direction relative to the work machine.   
     
     
         3 . The control system for the work machine according to  claim 2 ,
 wherein the traveling control unit stops travel of the work machine before the stop position enters the ascending cliff or such that the stop position coincides with a start position of the ascending cliff.   
     
     
         4 . The control system for the work machine according to  claim 1 ,
 wherein in a case where it is determined that the type of the cliff is a descending cliff, the position setting unit sets the stop position on a side of a reverse direction with respect to the traveling direction relative to an end portion of the work machine on a side of the traveling direction.   
     
     
         5 . The control system for the work machine according to  claim 4 ,
 wherein the position setting unit sets the stop position on a side of the traveling direction relative to an end portion of the work machine on the side of the reverse direction.   
     
     
         6 . The control system for the work machine according to  claim 5 ,
 wherein the traveling control unit stops travel of the work machine before the stop position enters the descending cliff or such that the stop position coincides with a start position of the descending cliff.   
     
     
         7 . The control system for the work machine according to  claim 1 ,
 wherein the first sensor detects a three-dimensional shape around the work machine, and   the determination unit determines the type of the cliff on a basis of three-dimensional data indicating the three-dimensional shape.   
     
     
         8 . The control system for the work machine according to  claim 1 , further comprising
 a second detection data acquisition unit that acquires detection data of a second sensor that detects an object present around the work machine,   wherein the determination unit determines whether or not there is an obstacle around the work machine on a basis of the detection data of the second sensor.   
     
     
         9 . A control method for a work machine, the control method comprising:
 acquiring detection data of a first sensor that detects an object present in a traveling direction of the work machine;   determining a type of a cliff present in the traveling direction on a basis of the detection data of the first sensor;   changing a stop position of the work machine on a basis of the type of the cliff; and   stopping travel of the work machine on a basis of the stop position.