Control system of work machine, work machine, and control method of work machine

Abstract

Disclosed is a control system of a work machine, the control system including: a construction data storage unit that stores a plurality of design surfaces set as an excavation object of the work machine; an expansion surface creation unit that creates, in each of a top-of-slope direction and a toe-of-slope direction, an expansion surface obtained by expanding a target construction surface indicating a target shape of a slope of the excavation object designated from among the plurality of design surfaces; and a working equipment control unit that controls, when the expansion surface is created in each of the top-of-slope direction and the toe-of-slope direction, the working equipment provided in the work machine based on the expansion surface in the top-of-slope direction and the target construction surface, without using the expansion surface in the toe-of-slope direction.

1 . A control system of a work machine, the control system comprising:
 a construction data storage unit that stores a plurality of design surfaces set as an excavation object of the work machine;   an expansion surface creation unit that creates, in each of a top-of-slope direction and a toe-of-slope direction, an expansion surface obtained by expanding a target construction surface indicating a target shape of a slope of the excavation object designated from among the plurality of design surfaces; and   a working equipment control unit that controls, when the expansion surface is created in each of the top-of-slope direction and the toe-of-slope direction, working equipment provided in the work machine based on the expansion surface in the top-of-slope direction and the target construction surface, without using the expansion surface in the toe-of-slope direction.   
     
     
         2 . The control system of a work machine according to  claim 1 , further comprising
 a toe of slope determination unit that determines whether a toe of slope is present at a boundary between the target construction surface and an adjacent design surface connected to the target construction surface among the plurality of design surfaces, based on a relative position between the adjacent design surface and the expansion surface, wherein   the working equipment control unit controls, when it is determined that the toe of slope is present, the working equipment based on the target construction surface and the adjacent design surface.   
     
     
         3 . The control system of a work machine according to  claim 2 , wherein
 the toe of slope determination unit determines that the toe of slope is present when determining that the adjacent design surface is present at a position higher than the expansion surface at a same point in a horizontal direction.   
     
     
         4 . The control system of a work machine according to  claim 1 , further comprising
 an input data acquisition unit that acquires input data from an input device, wherein   the working equipment control unit controls, based on the input data, the working equipment based on the expansion surface in the top-of-slope direction, the target construction surface, and an adjacent design surface connected to a lowermost portion of the target construction surface among the plurality of design surfaces, without using the expansion surface in the toe-of-slope direction.   
     
     
         5 . A work machine comprising
 the control system of a work machine according to  claim 1 .   
     
     
         6 . A control method of a work machine, the method comprising:
 storing a plurality of design surfaces set as an excavation object of the work machine;   creating, in each of a top-of-slope direction and a toe-of-slope direction, an expansion surface obtained by expanding a target construction surface indicating a target shape of a slope of the excavation object designated from among the plurality of design surfaces; and   controlling, when the expansion surface is created in each of the top-of-slope direction and the toe-of-slope direction, working equipment provided in the work machine based on the expansion surface in the top-of-slope direction and the target construction surface, without using the expansion surface in the toe-of-slope direction.   
     
     
         7 . The control method of a work machine according to  claim 6 , further comprising:
 determining whether a toe of slope is present at a boundary between the target construction surface and an adjacent design surface connected to the target construction surface among the plurality of design surfaces based on a relative position between the adjacent design surface and the expansion surface; and   controlling, when it is determined that the toe of slope is present, the working equipment based on the target construction surface and the adjacent design surface.   
     
     
         8 . The control method of a work machine according to  claim 7 , wherein
 it is determined that the toe of slope is present when it is determined that the adjacent design surface is present at a position higher than the expansion surface at a same point in a horizontal direction.   
     
     
         9 . The control method of a work machine according to  claim 6 , further comprising:
 acquiring input data from an input device; and   controlling, based on the input data, the working equipment based on the expansion surface in the top-of-slope direction, the target construction surface, and an adjacent design surface connected to a lowermost portion of the target construction surface among the plurality of design surfaces without using the expansion surface in the toe-of-slope direction.