WORK MACHINE CONTROL DEVICE, WORK MACHINE, AND WORK MACHINE CONTROL METHOD

摘要

A method of controlling a work machine including a working implement with a boom, an arm, and a bucket, includes: acquiring distance data between the bucket and a target excavating topography; determining a target blade tip speed of the bucket based on the distance data; calculating a target boom speed based on the target blade tip speed and at least one of an arm operation amount and a bucket operation amount; calculating a correction amount of the target boom speed based on an integration in time of a distance between the bucket and the target excavating topography; limiting the correction amount based on the distance between the bucket and the target excavating topography; and outputting an instruction for driving a boom cylinder driving the boom based on the target boom speed corrected by the correction amount.

主权项

1. A work machine control device for a work machine including a working implement with a boom, an arm, and a bucket, comprising:
a distance acquiring unit which acquires distance data between the bucket and a target excavating topography; a target blade tip speed determining unit which determines a target blade tip speed of the bucket based on the distance data; an operation amount acquiring unit which acquires an operation amount for operating the working implement; a target boom speed calculating unit which calculates a target boom speed based on the target blade tip speed and at least one of an arm operation amount and a bucket operation amount acquired by the operation amount acquiring unit; a correction amount calculating unit which calculates a correction amount of the target boom speed based on an integration in time of a distance between the bucket and the target excavating topography; a correction amount limiting unit which limits the correction amount based on the distance between the bucket and the target excavating topography; and a working implement control unit which outputs an instruction for driving a boom cylinder driving the boom based on the target boom speed corrected by the correction amount.