US 12,460,388 B2
Control device and control method for work machine
Takeshi Oi, Tokyo (JP); and Tomoki Konda, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/251,458
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Jul. 19, 2019, PCT No. PCT/JP2019/028412
§ 371(c)(1), (2) Date Dec. 11, 2020,
PCT Pub. No. WO2020/044845, PCT Pub. Date Mar. 5, 2020.
Claims priority of application No. 2018-163643 (JP), filed on Aug. 31, 2018.
Prior Publication US 2021/0254312 A1, Aug. 19, 2021
Int. Cl. E02F 9/26 (2006.01); E02F 3/43 (2006.01); E02F 9/20 (2006.01)
CPC E02F 9/261 (2013.01) [E02F 3/43 (2013.01); E02F 9/2033 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A control device for a work machine including a travel body, a swing body supported by the travel body and being capable of swinging about a swing central axis, and work equipment provided to the swing body and having a bucket, the control device comprising:
a memory in which a program is loaded; and
a processor configured to execute the program,
the processor including, by executing the program,
a three-dimensional map acquisition unit configured to acquire a three-dimensional map indicating a shape around the work machine:
an available excavation range specification unit configured to specify an available excavation range in which a rotation figure obtained by rotating a movable range of the work equipment about the swing central axis of the swing body and the three-dimensional map overlap each other when viewed in a direction along the swing central axis, the available excavation range being a range in which the work machine is capable of excavating without traveling:
a boundary specification unit configured to specify a traveling road boundary line in terrain shown by the three-dimensional map, the traveling road boundary line being a boundary line between
a traveling road surface on which a transport vehicle different from the work machine is capable of traveling, and
an excavation target by the work equipment, the excavation target being excluded from the traveling road surface by the traveling road boundary line; and
an excavation position specification unit configured to determine an excavation start point by the work equipment from among a plurality of points on or above the traveling road boundary line for each azimuth direction with respect to the swing central axis in the available excavation range, based on a distance between the swing central axis and the traveling road boundary line.