Construction machine control system, construction machine, and construction machine control method
A construction machine control system includes: a target construction ground shape generation unit which generates a target construction ground shape indicating a target shape of an excavation target; a working device control instruction determination unit which outputs an instruction for driving the working device in a working device operation plane orthogonal to at least one of a boom axis, an arm axis, and a bucket axis based on an operation state of at least one of an arm and a bucket and a distance between the bucket and the target construction ground shape; and a tilting control instruction determination unit which outputs an instruction for performing a tilting control of the bucket about a tilting axis based on a tilting state of the bucket and the distance between the bucket and the target construction ground shape.
1. A construction machine control system for a construction machine with a working device including a boom being rotatable about a boom axis with respect to a vehicle body, an arm being rotatable about an arm axis parallel to the boom axis with respect to the boom, and a bucket being rotatable about a bucket axis parallel to the arm axis and a tilting axis orthogonal to the bucket axis with respect to the arm, comprising:
a target construction ground shape generation unit which generates a target construction ground shape indicating a target shape of an excavation target;
a working device control instruction determination unit which outputs an instruction for driving the working device in a working device operation plane orthogonal to at least one of the boom axis, the arm axis, and the bucket axis based on an operation state of at least one of the arm and the bucket and a distance between the bucket and the target construction ground shape; and
a tilting control instruction determination device which outputs an instruction for performing a tilting control of the bucket about the tilting axis based on a tilting state of the bucket and the distance between the bucket and the target construction ground shape.
2. The construction machine control system according to claim 1 , further comprising:
a tilting operation plane calculation unit which calculates a tilting operation plane which passes through the bucket and is orthogonal to the tilting axis;
a tilting target ground shape calculation unit which calculates a tilting target ground shape in which the target construction ground shape and the tilting operation plane intersect each other; and
a tilting target speed determination unit which determines a tilting target speed of the bucket in the tilting operation plane based on a distance between the bucket and the tilting target ground shape,
wherein the tilting control instruction determination device outputs the instruction based on the tilting target speed.
3. The construction machine control system according to claim 2 ,
wherein the tilting control instruction determination device outputs an instruction for driving a tilting cylinder that tilts the bucket based on the tilting target speed determined by the tilting target speed determination unit.
4. The construction machine control system according to claim 2 ,
wherein the tilting target speed determination unit calculates the tilting target speed of the bucket in a normal direction of the target construction ground shape.
5. The construction machine control system according to claim 2 , further comprising:
a working device target speed determination unit which determines a working device target speed of the working device in the working device operation plane based on a perpendicular distance which is a shortest distance between the target construction ground shape and the bucket in the normal direction of the target construction ground shape,
wherein the working device control instruction determination unit outputs an instruction for controlling at least one of the boom and the arm based on the working device target speed.
6. The construction machine control system according to claim 5 ,
wherein the working device control instruction determination unit outputs an instruction for driving a hydraulic cylinder that drives at least one of the boom and the arm in the working device operation plane based on the working device target speed.
7. The construction machine control system according to claim 2 ,
wherein the working device control instruction determination unit outputs the instruction based on the tilting target speed and the working device target speed.
8. A construction machine comprising:
an upper swinging body;
a lower traveling body which supports the upper swinging body;
a working device which includes a boom, an arm, and a bucket and is supported by the upper swinging body; and
the construction machine control system according to claim 1 .
9. A construction machine control method of controlling a construction machine with a working device including a boom being rotatable about a boom axis with respect to a vehicle body, an arm being rotatable about an arm axis parallel to the boom axis with respect to the boom, and a bucket being rotatable about a bucket axis parallel to the arm axis and a tilting axis orthogonal to the bucket axis with respect to the arm, comprising:
outputting an instruction for driving the working device in a working device operation plane orthogonal to at least one of the boom axis, the arm axis, and the bucket axis based on an operation state of at least one of the arm and the bucket and a distance between the bucket and a target construction ground shape indicating a target shape of an excavation target; and
outputting an instruction for performing a tilting control of the bucket about the tilting axis based on a tilting state of the bucket and the distance between the bucket and the target construction ground shape.