Control device for work machine, work machine, and method of controlling work machine
A control device for a work machine is a device for controlling a working unit of a work machine to excavate an object to be excavated. The control device includes a control unit for controlling the working unit to prevent a working implement of the working unit from crossing a predetermined target profile, and a switching unit for defining the target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile.
1. A control device for a work machine, the control device being configured to control a working unit of the work machine to excavate an object to be excavated, the control device comprising:
a control unit configured to control the working unit to prevent a working implement of the working unit from crossing a predetermined target profile; and
a switching unit configured to define the target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile.
2. The control device for a work machine according to claim 1 , wherein
the switching unit causes the control unit to maintain the target profile at a start of the excavation of the target profile, during a period from the start of the excavation of the target profile by the working unit to an end of a series of the excavation.
3. The control device for a work machine according to claim 2 , wherein
the working unit has an arm mounted to the working implement,
the control unit performs control to stop the working unit, when the working implement crosses the target profile, and
the switching unit cancels the maintained target profile, when the arm is stopped and controlling the working unit not to cross the target profile is not performed.
4. The control device for a work machine according to claim 1 , wherein
when the offset profile is positioned below the target excavation profile,
the switching unit defines the target profile as the offset profile.
5. The control device for a work machine according to claim 1 , wherein
when the offset profile is positioned below the target excavation profile,
the switching unit defines the target profile as a ground profile separated by a predetermined distance from the offset profile toward the target excavation profile that is a target profile for finishing of the object to be excavated, based on the attitude of the working implement relative to the target excavation profile.
6. A work machine comprising the control device for a work machine according to claim 1 .
7. The control device for a work machine according to claim 1 , wherein the switching unit defines the target profile as the offset profile when the attitude reflects an excavating operation, and defines the target profile as the target excavation profile when the attitude reflects a finishing operation.
8. The control device for a work machine according to claim 1 , wherein the switching unit defines the target profile as the offset profile when the attitude is greater than a threshold, and defines the target profile as the target excavation profile when the attitude is less than a threshold.
9. The control device for a work machine according to claim 8 , wherein the attitude comprises an angle between the target excavation profile and a bottom surface of the working implement.
10. A method of controlling a work machine, the method controlling a working unit of the work machine to excavate an object to be excavated, the method comprising:
defining a predetermined target profile as an offset profile separated by a predetermined distance from a target excavation profile that is a target profile for finishing of the object to be excavated or the target excavation profile, based on an attitude of the working implement relative to the target excavation profile; and
controlling the working unit not to cross the target profile while the working unit excavates the object to be excavated.