Abstract: A measured value acquisition unit acquires measured values from a plurality of sensors. A position and posture calculation unit calculates a current posture of the work tool, based on the measured values. A target posture determination unit determines a virtual rotation axis, based on the calculated current posture of the work tool. A rotation amount calculation unit generates a control signal of the tilt rotator for rotating the work tool around the virtual rotation axis, based on the operation signal from an operation device. A control signal output unit outputs the generated control signal.

Abstract: A measurement value acquisition unit acquires measurement values from a plurality of sensors. A posture calculation unit calculates a posture of an attachment with respect to a vehicle body based on the measurement values. An intervention control unit determines a virtual rotation axis based on the calculated posture of the attachment. An operation signal acquisition unit acquires an operation signal for operating the support portion from an operation device. An intervention control unit generates a control signal for the tilt rotator to rotate the attachment around the virtual rotation axis so that an axial direction of the virtual rotation axis in a global coordinate system is held and a design surface and teeth of the attachment are approximately parallel to each other, based on the calculated posture of the attachment and an operation amount indicated by the operation signal for operating the support portion. An output unit outputs the generated control signal.

Abstract: A measured value acquisition unit acquires measured values from a plurality of sensors. A position and posture calculation unit calculates a current posture of the work tool, based on the measured values. A target posture determination unit determines a virtual rotation axis, based on the calculated current posture of the work tool. A rotation amount calculation unit generates a control signal of the tilt rotator for rotating the work tool around the virtual rotation axis, based on the operation signal from an operation device. A control signal output unit outputs the generated control signal.

Abstract: A control system of a work machine including a lower traveling body and an upper turning body that can turn with respect to the lower traveling body includes a detection device attached to the upper turning body and detecting an object present around the work machine, and a controller controlling operation of the lower traveling body and the upper turning body. The controller controls the operation of the lower traveling body on the basis of a position of the object detected by the detection device and a lower traveling body stop region, and controls the operation of the upper turning body on the basis of the position of the object detected by the detection device and an upper turning body region different from the lower traveling body stop region, and the lower traveling body stop region is set in a coordinate system based on the upper turning body.

Abstract: A measurement value acquisition unit acquires measurement values from a plurality of sensors. A posture calculation unit calculates a posture of an attachment with respect to a vehicle body based on the measurement values. An intervention control unit determines a virtual rotation axis based on the calculated posture of the attachment. An operation signal acquisition unit acquires an operation signal for operating the support portion from an operation device. An intervention control unit generates a control signal for the tilt rotator to rotate the attachment around the virtual rotation axis so that an axial direction of the virtual rotation axis in a global coordinate system is held and a design surface and teeth of the attachment are approximately parallel to each other, based on the calculated posture of the attachment and an operation amount indicated by the operation signal for operating the support portion. An output unit outputs the generated control signal.

Abstract: A measured value acquisition unit acquires measured values from a plurality of sensors. A position and posture calculation unit calculates a current posture of the work tool, based on the measured values. A target posture determination unit determines a virtual rotation axis, based on the calculated current posture of the work tool, when a predetermined control start condition is satisfied. A rotation amount calculation unit generates a control signal of the tilt rotator for rotating the work tool from the current posture to a target posture by a predetermined amount around the virtual rotation axis. A control signal output unit outputs the generated control signal.

Abstract: A measurement value acquisition unit acquires measurement values from a plurality of sensors. A posture calculation unit calculates a posture of an attachment with respect to a vehicle body based on the measurement values. An operation signal acquisition unit acquires an operation signal from an operation device. An intervention control unit generates a control signal for the tilt rotator so that the posture of the attachment is held, based on the operation signal. An output unit outputs the generated control signal.

Abstract: A measurement value acquisition unit acquires measurement values from a plurality of sensors. A posture calculation unit calculates a posture of an attachment with respect to a vehicle body. An intervention control unit determines a virtual rotation axis based on the calculated posture of the attachment. An intervention control unit generates a control signal for the tilt rotator to rotate the attachment around the virtual rotation axis so that a design surface and teeth of the attachment are approximately parallel to each other, based on the calculated posture of the attachment. An output unit outputs the generated control signal.

Abstract: A control method of a work machine includes: calculating a maximum flow rate of hydraulic oil discharged from a hydraulic pump; calculating a first target speed of working equipment including a bucket based on an operation amount of an operation device operated for driving a plurality of hydraulic actuators to which the hydraulic oil discharged from the hydraulic pump is supplied to drive the working equipment and a distance between the bucket and a target excavation landform; calculating a second target speed of the working equipment based on the maximum flow rate, and the operation amount of the operation device and the distance between the bucket and the target excavation landform; and outputting a control signal for controlling the hydraulic actuators based on a smaller one of the first target speed and the second target speed.

Abstract: A work equipment control device includes a bucket posture-determining unit, a working plane-determining unit, and a bucket control unit. The bucket posture-determining unit determines an angle of a bucket in global coordinates. The working plane-determining unit determines an angle of a working plane in the global coordinates indicating a target shape of an excavation object of work equipment. The bucket control unit controls the bucket such that a difference between the angle of the bucket and the angle of the working plane maintains a uniform angle.

Abstract: A control method of a work machine includes: calculating a maximum flow rate of hydraulic oil discharged from a hydraulic pump; calculating a first target speed of working equipment including a bucket based on an operation amount of an operation device operated for driving a plurality of hydraulic actuators to which the hydraulic oil discharged from the hydraulic pump is supplied to drive the working equipment and a distance between the bucket and a target excavation landform; calculating a second target speed of the working equipment based on the maximum flow rate, and the operation amount of the operation device and the distance between the bucket and the target excavation landform; and outputting a control signal for controlling the hydraulic actuators based on a smaller one of the first target speed and the second target speed.

Abstract: A control device for a construction machine includes an operational amount data acquisition unit configured to acquire operational amount data indicating an operational amount of the working unit, an operation determination unit configured to determine a non-operation state of a bucket on the basis of the operational amount data, a bucket control determination unit configured to determine whether bucket control conditions are satisfied, on the basis of determination of the non-operation state, and a working unit control unit configured to output a control signal for controlling the bucket to maintain a state of the working unit, when the bucket control conditions are determined to be satisfied.

Abstract: A control device includes a bucket control unit and a speed restricting unit. The bucket control unit calculates a control speed controlling a bucket so as to maintain an angle of the work equipment at a constant angle. The speed restricting unit reduces the control speed when the bucket is driven at the control speed calculated by the bucket control unit and when a direction in which the bucket is driven and a direction in which the arm is driven coincide with each other.

Abstract: A control system for a work vehicle includes at least one sensor, an operating device, and a controller. The operating device includes at least one operating member. The controller is programmed to control a work implement of the work vehicle based on signals from the at least one sensor and the operating device. The controller is further programmed to use the signals to obtain a distance between the work implement and a design terrain which represents a target shape of a work object, and to determine whether a surface compaction determination condition indicating that work performed by the work implement is surface compaction work is satisfied. The controller executes a surface compaction control in which a velocity of the work implement toward the design terrain is limited in response to the distance between the work implement and the design terrain when the surface compaction determination condition is satisfied.

Abstract: A distance obtaining unit obtains the distance between a work implement and a design terrain. A work aspect determining unit determines a work aspect by the work implement. A limit velocity deciding unit limits the velocity of the work implement when the distance between the work implement and the design terrain becomes smaller. When the work aspect is surface compaction work and the distance between the work implement and the design terrain is within a first range of at least a portion that is equal to or less than a predetermined first distance, the limit velocity deciding unit increases the limit velocity of the work implement in comparison to when the work aspect is an aspect of a work other than surface compaction, or cancels the limiting of the velocity of the work implement.

Abstract: A work equipment control device includes a work equipment state specifying unit, a control reference specifying unit, a distance specifying unit, and a bucket control unit. The work equipment state specifying unit specifies a state of work equipment. The control reference specifying unit specifies a control reference of the work equipment. The distance specifying unit specifies a distance between the work equipment and the control reference. The bucket control unit generates a control command to drive a bucket such that the state of the work equipment is maintained when the distance between the work equipment and the control reference is less than a bucket control start threshold.

Abstract: A work equipment control device includes a bucket posture-determining unit, a working plane-determining unit, and a bucket control unit. The bucket posture-determining unit determines an angle of a bucket in global coordinates. The working plane-determining unit determines an angle of a working plane in the global coordinates indicating a target shape of an excavation object of work equipment. The bucket control unit controls the bucket such that a difference between the angle of the bucket and the angle of the working plane maintains a uniform angle.

Abstract: A control device includes a bucket control unit and a speed restricting unit. The bucket control unit calculates a control speed controlling a bucket so as to maintain an angle of the work equipment at a constant angle. The speed restricting unit reduces the control speed when the bucket is driven at the control speed calculated by the bucket control unit and when a direction in which the bucket is driven and a direction in which the arm is driven coincide with each other.

Abstract: A control device for a construction machine includes an operational amount data acquisition unit configured to acquire operational amount data indicating an operational amount of the working unit, an operation determination unit configured to determine a non-operation state of a bucket on the basis of the operational amount data, a bucket control determination unit configured to determine whether bucket control conditions are satisfied, on the basis of determination of the non-operation state, and a working unit control unit configured to output a control signal for controlling the bucket to maintain a state of the working unit, when the bucket control conditions are determined to be satisfied.

Abstract: 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.