Control device, control method, and work machine

Abstract

A control device is a control device of a work machine including a swing body swinging around a swing center and work equipment attached to the swing body. The control device includes an excavation-start-position determination unit. The excavation-start-position determination unit determines a start position of an excavation operation for each single excavation operation on the basis of at least an excavation time required for the excavation operation and a swing time required for a loading swing and a return swing when the excavation operation, a dumping operation, and the loading swing and the return swing between the excavation operation and the dumping operation are automatically performed by the work equipment.

1 . A control device of a work machine including a swing body swinging around a swing center and work equipment attached to the swing body, comprising:
 an excavation-start-position determination unit determining a start position of an excavation operation for each single excavation operation on the basis of at least an excavation time required for the excavation operation and a swing time required for a loading swing and a return swing when the excavation operation, a dumping operation, and the loading swing and the return swing between the excavation operation and the dumping operation are automatically performed by the work equipment.   
     
     
         2 . The control device according to  claim 1 , wherein the excavation-start-position determination unit determines a start position of the excavation operation for each single excavation operation on the basis of an estimated value of an excavation amount for the single excavation operation, the excavation time, and the swing time. 
     
     
         3 . The control device according to  claim 2 , wherein the excavation-start-position determination unit determines a start position of the excavation operation for each single excavation operation on the basis of the estimated value, the excavation time, a dumping time required for the dumping operation, and the swing time. 
     
     
         4 . The control device according to  claim 2 , wherein the excavation-start-position determination unit determines a start position of the excavation operation for each single excavation operation on the basis of a value obtained by dividing the estimated value by a total value of the excavation time and the swing time. 
     
     
         5 . The control device according to  claim 3 , wherein the excavation-start-position determination unit obtains the estimated value, the excavation time, and the swing time for a plurality of excavation directions, and determines the start position on the basis of comparison results between the plurality of excavation directions. 
     
     
         6 . The control device according to  claim 5 , wherein the excavation-start-position determination unit estimates the estimated value and the excavation time on the basis of a two-dimensional cross section obtained for each of the excavation directions from a three-dimensional shape of an excavation target in the excavation operation. 
     
     
         7 . The control device according to  claim 6 , wherein the excavation-start-position determination unit calculates an optimal excavation trajectory for each single excavation operation. 
     
     
         8 . The control device according to  claim 7 , wherein the excavation trajectory is determined by an angular velocity or a cylinder speed in a time series. 
     
     
         9 . A control method for a work machine including a swing body swinging around a swing center and work equipment attached to the swing body, comprising:
 a step of determining a start position of an excavation operation for each single excavation operation on the basis of at least an excavation time required for the excavation operation and a swing time required for a loading swing and a return swing when the excavation operation, a dumping operation, and the loading swing and the return swing between the excavation operation and the dumping operation are automatically performed by the work equipment.   
     
     
         10 . A work machine comprising:
 a swing body swinging around a swing center;   work equipment attached to the swing body; and   a control device, wherein   the control device includes:
 an excavation-start-position determination unit determining a start position of an excavation operation for each single excavation operation on the basis of at least an excavation time required for the excavation operation and a swing time required for a loading swing and a return swing when the excavation operation, a dumping operation, and the loading swing and the return swing between the excavation operation and the dumping operation are automatically performed by the work equipment. 
   
     
     
         11 . A control method according to  claim 9 , wherein the method is for remotely controlling a work machine.