Control system for work machine and control method for work machine

Abstract

A control system for a work machine including a vehicle body, a traveling device that travels while supporting the vehicle body, and an excavation blade of an excavation working equipment disposed in front of the vehicle body includes: a detection data acquisition unit that acquires detection data of a sensor that detects surroundings of the work machine; a determination unit that determines whether or not there is a descending cliff in front of the work machine on the basis of the detection data of the sensor; and a traveling control unit that controls the traveling device on the basis of a relative position between a forward stop position set behind the excavation blade and the descending cliff in a case where it is determined that there is the descending cliff.

1 . A control system for a work machine including a vehicle body, a traveling device that travels while supporting the vehicle body, and an excavation blade of an excavation working equipment disposed in front of the vehicle body, the control system comprising:
 a detection data acquisition unit that acquires detection data of a sensor that detects surroundings of the work machine;   a determination unit that determines whether or not there is a descending cliff in front of the work machine on a basis of the detection data of the sensor; and   a traveling control unit that controls the traveling device on a basis of a relative position between a forward stop position set behind the excavation blade and the descending cliff in a case where it is determined that there is the descending cliff.   
     
     
         2 . The control system for the work machine according to  claim 1 ,
 wherein the forward stop position is set in front of a rear end portion of the vehicle body.   
     
     
         3 . The control system for the work machine according to  claim 2 ,
 wherein the traveling control unit stops forward movement of the traveling device such that the forward stop position coincides with a start position of the descending cliff.   
     
     
         4 . The control system for the work machine according to  claim 1 ,
 wherein the determination unit determines whether or not there is an ascending cliff in front of the work machine on a basis of the detection data of the sensor, and   in a case where it is determined that there is the ascending cliff, the traveling control unit stops forward movement of the traveling device on a basis of a relative position between the forward stop position set in front of the excavation blade and the ascending cliff.   
     
     
         5 . The control system for the work machine according to  claim 4 ,
 wherein the traveling control unit stops the forward movement of the traveling device such that the forward stop position coincides with a start position of the ascending cliff.   
     
     
         6 . The control system for the work machine according to  claim 1 ,
 wherein the work machine includes a shank of a ripper working equipment disposed behind the vehicle body,   the determination unit determines whether or not there is a descending cliff behind the work machine on a basis of the detection data of the sensor, and   in a case where it is determined that there is the descending cliff, the traveling control unit stops reverse movement of the traveling device on a basis of a relative position between a reverse stop position set in front of the shank and the descending cliff.   
     
     
         7 . The control system for the work machine according to  claim 6 ,
 wherein the reverse stop position is set behind a front end portion of the vehicle body.   
     
     
         8 . The control system for the work machine according to  claim 7 ,
 wherein the traveling control unit stops the reverse movement of the traveling device such that the reverse stop position coincides with a start position of the descending cliff.   
     
     
         9 . The control system for the work machine according to  claim 6 ,
 wherein the determination unit determines whether or not there is an ascending cliff behind the work machine on a basis of the detection data of the sensor, and   in a case where it is determined that there is the ascending cliff, the traveling control unit stops the reverse movement of the traveling device on a basis of a relative position between the reverse stop position set behind the shank and the ascending cliff.   
     
     
         10 . The control system for the work machine according to  claim 9 ,
 wherein the traveling control unit stops the reverse movement of the traveling device such that the reverse stop position coincides with a start position of the ascending cliff.   
     
     
         11 . A control method for a work machine including a vehicle body, a traveling device that travels while supporting the vehicle body, and an excavation blade of an excavation working equipment disposed in front of the vehicle body, the control method comprising:
 acquiring detection data of a sensor that detects surroundings of the work machine;   determining whether or not there is a descending cliff in front of the work machine on a basis of the detection data of the sensor; and   controlling the traveling device on a basis of a relative position between a forward stop position set behind the excavation blade and the descending cliff in a case where it is determined that there is the descending cliff.