System and method for controlling work machine, and work machine

Abstract

To improve the degree of freedom of work by a work machine.SOLUTION: In a system, a controller acquires a first travel path, and a second travel path adjacent to the first travel path. The controller sets the first travel path as a target travel path of a work machine. The controller controls the work machine by automatic travel control on the basis of the current position of the work machine so that the work machine travels in accordance with the first travel path. When a steering operation device is operated to intervene during automatic travel control, the controller aborts the automatic trave control and causes the work machine to turn in accordance with intervention operation to the steering operation device. The controller changes the target travel path to the second travel path when the steering operation device is operated to intervene in a direction heading from the first travel path toward the second travel path and route change conditions are satisfied.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present disclosure relates to a system, a method, and a work machine for controlling a work machine.

Background Art

[0002] Conventionally, automatic driving control for controlling a work machine to travel along a predetermined travel route is known. For example, in the control system of the work machine of Patent Document 1, a plurality of travel routes extending parallel to each other are set. The control system controls the work machine so that the work machine travels in order along the plurality of travel routes. While traveling along each travel route, the work machine performs work such as excavation, whereby the terrain of the work site is constructed into a desired shape.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above control system, first, the controller uses the first travel route as the target travel route and causes the work machine to travel along the first travel route. When the work on the first travel route is completed, the controller automatically changes the target travel route to the second travel route adjacent to the first travel route. Then, the controller causes the work machine to travel along the second travel route.

[0005] During the above-described automatic driving control, there may be a case where an operator wants to change the target driving route. Alternatively, during the automatic driving control, when an obstacle is found in the target route, etc., the controller of the work machine may want to change the target driving route. However, in the above control system, the work machine travels according to a predetermined target driving route by automatic driving control. Therefore, the degree of freedom of work is low. An object of the present disclosure is to improve the degree of freedom of work by a work machine.

Means for Solving the Problems

[0006] The system according to the first aspect of the present disclosure is a system for controlling a work machine. The system includes a sensor, a steering operation device, and a controller. The sensor detects the current position of the work machine. The steering operation device can be intervened to turn the work machine left and right. The controller acquires a first driving route and a second driving route adjacent to the first driving route. The controller acquires the current position of the work machine. The controller sets the first driving route as the target driving route of the work machine. The controller controls the work machine by automatic driving control so that the work machine travels along the first driving route based on the current position of the work machine. During the automatic driving control, when the steering operation device is intervened, the controller interrupts the automatic driving control and turns the work machine according to the intervention operation on the steering operation device. The controller determines whether a predetermined route change condition is satisfied by the intervention operation on the steering operation device. When the steering operation device is intervened in the direction from the first driving route to the second driving route and the route change condition is satisfied, the controller changes the target driving route to the second driving route. After the end of the intervention operation on the steering operation device, the controller resumes the automatic driving control and controls the work machine so that the work machine travels along the second driving route based on the current position of the work machine.

[0007] The method according to the second aspect of the present disclosure is a method for controlling a work machine. The method includes obtaining a first travel route and a second travel route adjacent to the first travel route, obtaining the current position of the work machine, setting the first travel route as the target travel route of the work machine, controlling the work machine by automatic driving control so that the work machine travels along the first travel route based on the current position of the work machine, interrupting the automatic driving control and turning the work machine according to the intervention operation when an intervention operation is performed to turn the work machine left or right during the automatic driving control, determining whether a predetermined route change condition is satisfied by the intervention operation, changing the target travel route to the second travel route when the intervention operation is performed in the direction from the first travel route to the second travel route and the route change condition is satisfied, and after the end of the intervention operation, resuming the automatic driving control and controlling the work machine so that the work machine travels along the second travel route based on the current position of the work machine.

[0008] The working machine according to the third aspect of the present disclosure includes a sensor, a steering operation device, and a controller. The sensor detects the current position of the working machine. The steering operation device can be intervened to turn the working machine left and right. The controller acquires a first travel route and a second travel route adjacent to the first travel route. The controller acquires the current position of the working machine. The controller sets the first travel route as the target travel route of the working machine. The controller controls the working machine by automatic driving control so that the working machine travels along the first travel route based on the current position of the working machine. During the automatic driving control, when an intervention operation is performed on the steering operation device, the controller interrupts the automatic driving control and turns the working machine according to the intervention operation on the steering operation device. The controller determines whether a predetermined route change condition is satisfied by the intervention operation on the steering operation device. When the steering operation device is intervened in the direction from the first travel route to the second travel route and the route change condition is satisfied, the controller changes the target travel route to the second travel route. After the end of the intervention operation on the steering operation device, the controller resumes the automatic driving control and controls the working machine so that the working machine travels along the second travel route based on the current position of the working machine.

Effect of the Invention

[0009] According to the present disclosure, during the automatic driving control, when an intervention operation is performed on the steering operation device, the automatic driving control is interrupted and the working machine turns according to the intervention operation on the steering operation device. Further, when a predetermined route change condition is satisfied by the intervention operation of the steering operation device, the target travel route is automatically changed from the first travel route to the second travel route. Thereby, the degree of freedom of work by the working machine is improved.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Mode for Carrying Out the Invention

[0011] Hereinafter, the work machine according to the embodiment will be described with reference to the drawings. FIG. 1 is a side view showing the work machine 1 according to the embodiment. The work machine 1 according to the present embodiment is a bulldozer. The work machine 1 includes a vehicle body 11 and a working machine 12.

[0012] The vehicle body 11 includes a driver's cab 13, an engine room 14, and a traveling device 15. A driver's seat (not shown) is arranged in the driver's cab 13. The engine room 14 is arranged in front of the driver's cab 13. The traveling device 15 is provided below the vehicle body 11. The traveling device 15 includes a pair of left and right crawler belts 16. In FIG. 1, only the left crawler belt 16 is shown. The work machine 1 travels by the rotation of the crawler belt 16.

[0013] The work implement 12 is attached to the vehicle body 11. The work implement 12 has a lift frame 17, a blade 18, and a lift actuator 19. The lift frame 17 is supported so as to be rotatable about a lift axis X1 with respect to the vehicle body 11. The blade 18 is arranged in front of the vehicle body 11. The blade 18 is supported by the lift frame 17. The lift actuator 19 is connected to the vehicle body 11 and the lift frame 17. Alternatively, the lift actuator 19 may be connected to the vehicle body 11 and the blade 18. The lift actuator 19 is a hydraulic cylinder. When the lift actuator 19 expands and contracts, the lift frame 17 moves up and down. The blade 18 moves up and down along with the up and down movement of the lift frame 17.

[0014] FIG. 2 is a block diagram showing the configuration of the drive system 2 and the control system 3 of the work machine 1. As shown in FIG. 2, the drive system 2 includes a drive source 22, a hydraulic pump 23, and a power transmission device 24. The drive source 22 includes, for example, an internal combustion engine. The drive source 22 may include an electric motor. The hydraulic pump 23 is driven by the drive source 22 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 23 is supplied to the lift actuator 19. In FIG. 2, one hydraulic pump 23 is shown, but a plurality of hydraulic pumps may be provided.

[0015] The power transmission device 24 transmits the driving force of the drive source 22 to the traveling device 15. The power transmission device 24 may be, for example, an HST (Hydro Static Transmission). Alternatively, the power transmission device 24 may be, for example, a torque converter or a transmission having a plurality of transmission gears.

[0016] The control system 3 includes a controller 26 and a control valve 27. The controller 26 is programmed to control the working machine 1 based on the acquired data. The controller 26 includes a storage device 28 and a processor 29. The processor 29 includes, for example, a CPU. The storage device 28 includes, for example, a memory and an auxiliary storage device. The storage device 28 may be, for example, a RAM or a ROM. The storage device 28 may be a semiconductor memory or a hard disk. The storage device 28 records computer instructions executable by the processor 29 for controlling the working machine 1.

[0017] The control valve 27 is controlled by a command signal from the controller 26. The control valve 27 is disposed between a hydraulic actuator such as the lift actuator 19 and the hydraulic pump 23. The control valve 27 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 23 to the lift actuator 19. Note that the control valve 27 may be a pressure proportional control valve. Alternatively, the control valve 27 may be an electromagnetic proportional control valve.

[0018] The control system 3 includes a traveling operation device 31A, a steering operation device 31B, and a work implement operation device 31C. The traveling operation device 31A is operable by an operator to manually operate the forward and reverse travel of the working machine 1. The traveling operation device 31A includes, for example, a travel lever. However, the traveling operation device 31A may include other members such as a switch. The traveling operation device 31A is operable from a neutral position N1 to a forward position A1 and a reverse position B1. The traveling operation device 31A outputs a travel command according to the operator's operation to the controller 26.

[0019] The steering operation device 31B is operable by an operator to manually steer the working machine 1. The steering operation device 31B includes, for example, a steering lever. However, the steering operation device 31B may include other members such as a steering wheel or a switch. The steering operation device 31B is operable from a neutral position N2 in a right turning direction A2 and a left turning direction B2. The steering operation device 31B outputs a steering command according to the operator's operation to the controller 26.

[0020] The work implement operation device 31C is operable by an operator to manually operate the work implement 12. The work implement operation device 31C includes, for example, a work implement lever. However, the work implement operation device 31C may include other members such as a switch. The work implement operation device 31C outputs a work command according to the operator's operation to the controller 26. Note that each of the operation devices 31A - 31C may be configured by a common member.

[0021] The controller 26 controls the drive source 22 and the power transmission device 24 so as to run the working machine 1 in response to a running command from the running operation device 31A. Thereby, the working machine 1 moves forward or backward according to the operation of the running operation device 31A by the operator.

[0022] The controller 26 controls the drive source 22 and the power transmission device 24 so as to steer the working machine 1 left and right in response to a steering command from the steering operation device 31B. For example, the controller 26 turns the working machine 1 left and right by the speed difference between the left and right crawlers 16. Thereby, the working machine 1 turns left or right according to the operation of the steering operation device 31B by the operator.

[0023] The controller 26 controls the control valve 27 so as to operate the work implement 12 in response to a work command from the work implement operation device 31C. Thereby, the work implement 12 moves up and down according to the operation of the work implement operation device 31C by the operator.

[0024] The control system 3 includes an input device 32. The input device 32 includes, for example, a touch panel. However, the input device 32 may include other devices such as switches. The operator can use the input device 32 to set the automatic control of the working machine 1. The automatic control of the working machine 1 will be described in detail later.

[0025] The control system 3 includes a display 33. The display 33 is, for example, an LCD or an OLED. Alternatively, the display 33 may be another type of display 33. The display 33 may be a touch panel integrated with the input device 32. The display 33 displays a screen according to the image signal from the controller.

[0026] The control system 3 includes a position sensor 34. The position sensor 34 detects the current position and orientation of the working machine 1. The position sensor 34 includes, for example, a sensor based on GNSS (Global Navigation Satellite System). The position sensor 34 may include an IMU (Inertial Measurement Unit).

[0027] The controller 26 acquires the current position and orientation of the working machine 1 based on the detection signal from the position sensor 34. The controller 26 performs automatic driving control to control the traveling direction of the working machine 1 based on the current position and orientation of the working machine 1. For example, as shown in FIG. 2, the control system 3 includes an automatic control switch 35. The automatic control switch 35 can be operated by the operator to switch the on / off of the automatic driving control. The controller 26 enables the automatic driving control when the automatic control switch 35 is in the on state. The controller 26 disables the automatic driving control when the automatic control switch 35 is in the off state.

[0028] Hereinafter, the automatic travel control of the working machine 1 will be described. FIG. 3 is a flowchart showing the processing of the automatic travel control. In the automatic travel control according to the present embodiment, the forward movement, reverse movement, and stop of the working machine 1 are controlled according to the manual operation of the travel operation device 31A by the operator.

[0029] In the automatic travel control, the left and right turning of the working machine 1 is automatically controlled so that the working machine 1 moves along a target travel route described later. For example, in the automatic travel control, when the working machine 1 deviates to the right from the target travel route, the controller 26 automatically turns the working machine 1 to the left so that the working machine 1 returns to the target travel route. In the automatic travel control, when the working machine 1 deviates to the left from the target travel route, the controller 26 automatically turns the working machine 1 to the right so that the working machine 1 returns to the target travel route.

[0030] As shown in FIG. 3, in step S101, the controller 26 acquires the current position and orientation of the working machine 1. The controller 26 acquires the current position of a predetermined reference point Pa1 of the working machine 1 as the current position of the working machine 1. The reference point Pa1 of the working machine 1 is included in the blade 18. For example, as shown in FIG. 4, the reference point Pa1 is the center in the vehicle width direction of the blade 18. Alternatively, the reference point Pa1 of the working machine 1 may be the left end or the right end of the blade 18. The reference point Pa1 of the working machine 1 may be changeable by the input device 32.

[0031] In step S102, the controller 26 acquires a first travel route R1, a second travel route R2, and a third travel route R3. The second travel route R2 and the third travel route extend parallel to the first travel route. The second travel route R2 is adjacent to the first travel route on one side of the first travel route. The third travel route R3 is adjacent to the first travel route on the other side of the first travel route. That is, the third travel route R3 is adjacent to the first travel route R1 on the side opposite to the second travel route R2 with respect to the first travel route R1. In the present embodiment, the second travel route R2 is located on the right side of the first travel route R1. The third travel route R3 is located on the left side of the first travel route R1. However, the second travel route R2 and the third travel route R3 may be arranged in reverse left and right.

[0032] The controller 26 stores the preset first to third travel routes R1 - R3. For example, the controller 26 stores, as the first travel route R1, the route set by the operator using the input device 32, and generates the second travel route R2 and the third travel route R3 from the first travel route R1. Alternatively, the controller 26 may store a plurality of routes set by the operator using the input device 32 as the first to third travel routes R1 - R3, respectively. Alternatively, the controller 26 may acquire the first to third travel routes R1 - R3 from an external computer. Alternatively, the controller 26 may automatically generate the first to third travel routes R1 - R3.

[0033] In step S103, the controller 26 sets a target travel route for the automatic travel control. Here, the controller 26 sets the above-described first travel route R1 as the target travel route.

[0034] In step S104, the controller 26 executes automatic travel control according to the target travel route. The controller 26 moves the work machine 1 forward or backward in response to a manual operation of the travel operation device 31A by the operator, and controls the work machine 1 so that the work machine 1 travels according to the target travel route based on the current position and orientation of the work machine 1.

[0035] Specifically, as shown in FIG. 4, the controller 26 automatically turns the work machine 1 so that the reference point Pa1 moves along the first travel route R1. Thereby, the work machine 1 is steered so that it travels along the first travel route R1 only by the operator operating the travel operation device 31A without operating the steering operation device 31B. That is, as shown in FIG. 4, even when the steering operation device 31B is located at the neutral position N2, the work machine 1 is steered so that it travels along the first travel route R1 only by the operator operating the travel operation device 31A.

[0036] In step S105, the controller 26 determines whether the steering operation device 31B has been manually operated. The controller 26 determines that the steering operation device 31B has been manually operated when the steering operation device 31B is operated in the left turn direction or the right turn direction from the neutral position. When the steering operation device 31B has not been manually operated, in step S104, the controller 26 continues the automatic travel control. When the steering operation device 31B is manually operated during the automatic travel control, the process proceeds to step S106.

[0037] In step S106, the controller 26 turns the work machine 1 in response to the manual operation on the steering operation device 31B. The controller 26 temporarily interrupts the automatic travel control and turns the work machine 1 in response to the manual operation on the steering operation device 31B. For example, as shown in FIG. 5, when the steering operation device 31B is operated in the right turn direction A2, the controller 26 turns the work machine 1 to the right.

[0038] In step S107, the controller 26 determines whether a predetermined route change condition is satisfied by a manual operation on the steering operation device 31B. As shown in FIG. 6, the route change condition is that the distance D1 from the first travel route R1 to the current position of the working machine 1 is equal to or greater than a predetermined first distance threshold Th1. The distance D1 is the shortest distance from the first travel route R1 to the current position of the working machine 1. When the distance D1 is equal to or greater than the first distance threshold Th1, the process proceeds to step S108.

[0039] In step S108, the controller 26 changes the target travel route. When the steering operation device 31B is manually operated in the direction from the first travel route R1 to the second travel route R2 and the route change condition is satisfied, the controller 26 changes the target travel route from the first travel route R1 to the second travel route R2.

[0040] In step S109, the controller 26 determines whether the manual operation on the steering operation device 31B has ended. When the steering operation device 31B returns to the neutral position N2, the controller 26 determines that the manual operation on the steering operation device 31B has ended. When the manual operation on the steering operation device 31B has not ended, in step S106, the controller 26 continues to turn the working machine 1 in response to the manual operation on the steering operation device 31B. When the manual operation on the steering operation device 31B has ended, the process returns to step S104.

[0041] In step S104, the controller 26 executes automatic travel control according to the target travel route with the second travel route R2 as the target travel route. That is, as shown in FIG. 7, the controller 26 controls the working machine 1 to move the working machine 1 toward the second travel route R2 by automatic travel control and to travel according to the second travel route R2.

[0042] In step S107, when the route change condition is not satisfied, the controller 26 maintains the target travel route as the first travel route R1. Therefore, in step S104, the controller 26 executes automatic driving control according to the target travel route with the first travel route R1 as the target travel route. That is, as shown in FIG. 8, when the distance D1 from the first travel route R1 to the current position of the work machine 1 is smaller than the first distance threshold Th1, the controller 26 maintains the target travel route as the first travel route R1. Therefore, in step S104, the controller 26 controls the work machine 1 by automatic driving control so that the work machine 1 returns to the first travel route R1 and travels along the first travel route R1.

[0043] As shown in FIG. 9, when the steering operation device 31B is manually operated in the direction from the first travel route R1 to the third travel route R3 and the route change condition is satisfied, the controller 26 changes the target travel route to the third travel route R3. The route change condition is that the distance D1 from the first travel route R1 to the current position of the work machine 1 is equal to or greater than the second distance threshold Th2. Then, after the manual operation to the steering operation device 31B ends, the controller 26 controls the work machine 1 by automatic driving control so that the work machine 1 travels along the third travel route R3. Note that the second distance threshold Th2 may be the same as the first distance threshold Th1. Alternatively, the second distance threshold Th2 may be different from the first distance threshold Th1.

[0044] The first distance threshold Th1 is determined based on, for example, the distance between the first travel route R1 and the second travel route R2 (hereinafter referred to as "the first route change width W1"). The second distance threshold Th2 is determined based on, for example, the distance between the first travel route R1 and the third travel route R3 (hereinafter referred to as "the second route change width W2"). The controller 26 determines, as the first distance threshold Th1, a value obtained by multiplying the first route change width W1 by a predetermined ratio. The controller 26 determines, as the second distance threshold Th2, a value obtained by multiplying the second route change width W2 by a predetermined ratio. The predetermined ratio may be changeable, for example, by an operator's operation of the input device 32. Thereby, as shown in FIG. 10, the operator can arbitrarily change the first distance threshold Th1 and the second distance threshold Th2. Alternatively, the first distance threshold Th1 and the second distance threshold Th2 may be fixed values.

[0045] In step S108 described above, when the target travel route is changed from the first travel route R1 to the second travel route R2, as shown in FIG. 11, the controller 26 acquires a fourth travel route R4 adjacent to the second travel route R2 on the side opposite to the first travel route R1. Then, the controller 26 performs a switching process from the second travel route R2 to the first travel route R1 or the fourth travel route R4 in the same manner as the switching process from the first travel route R1 to the second travel route R2 or the third travel route R3 described above.

[0046] The controller 26 causes the display to display a guide screen showing the target travel route described above. FIG. 12 is a diagram showing an example of the guide screen 40. As shown in FIG. 12, the guide screen 40 includes a first route image 41, a second route image 42, a third route image 43, and a machine image 44. The first route image 41 shows the first travel route R1. The second route image 42 shows the second travel route R2. The third route image 43 shows the third travel route R3. The machine image 44 shows the work machine 1.

[0047] The controller 26 displays the target travel route on the display 33 in a first mode. The controller 26 displays a travel route that is not the target travel route on the display in a second mode different from the first mode. For example, when the first travel route R1 is the target travel route, the controller 26 displays the first route image 41 on the display 33 in the first mode. The controller 26 displays the second route image 42 and the third route image 43 on the display in the second mode. The first mode and the second mode have different shapes. For example, the controller 26 displays the first route image 41 as a solid line and the second route image 42 and the third route image 43 as dashed lines.

[0048] When the working machine 1 is manually steered, as shown in FIG. 13, the controller 26 changes the machine image 44 according to the current position and orientation of the working machine 1. When the target travel route is changed from the first travel route R1 to the second travel route R2 due to the manual steering of the working machine 1, as shown in FIG. 14, the controller 26 switches the first route image 41 from the first mode to the second mode and displays it on the display 33. The controller 26 switches the second route image 42 from the second mode to the first mode and displays it on the display. Further, the controller 26 displays a fourth route image 45 indicating the fourth travel route R4 on the opposite side of the second route image 42 from the first route image 41.

[0049] Although not shown, when the target travel route is changed from the first travel route R1 to the third travel route R3 due to the manual steering of the working machine 1, the controller 26 switches the first route image 41 from the first mode to the second mode and displays it on the display 33. The controller 26 switches the third route image 43 from the second mode to the first mode and displays it on the display 33.

[0050] In the working machine 1 according to the present embodiment described above, when the operator wants to change the target travel route from the first travel route R1 to the second travel route R2, the operator manually operates the steering operation device 31B in the direction from the first travel route R1 to the second travel route R2. Then, when the route change condition is satisfied by the manual operation of the steering operation device 31B, the target travel route is automatically changed from the first travel route R1 to the second travel route R2. Further, when the operator wants to change the target travel route from the first travel route R1 to the third travel route R3, the operator manually operates the steering operation device 31B in the direction from the first travel route R1 to the third travel route R3. Then, when the route change condition is satisfied by the manual operation of the steering operation device 31B, the target travel route is automatically changed from the first travel route R1 to the third travel route R3. Therefore, the operator can change the target travel route with a simple operation during the automatic travel control.

[0051] As described above, one embodiment of the present invention has been described. However, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0052] The working machine 1 is not limited to a bulldozer, and may be other vehicles such as a wheel loader or a motor grader. The working machine 1 may be operable remotely. In that case, the operation devices 31A - 31C, the input device 32, the display 33, and the automatic control switch 35 may be arranged outside the working machine 1. The intervention operation of the steering operation device 31B may be a manual operation from a remote location. The working machine 1 may have a plurality of controllers that are separate from each other. The processing by the controller 26 described above may be distributed and executed by a plurality of controllers.

[0053] The process of automatic driving control by the controller 26 is not limited to that of the above-described embodiment and may be changed. For example, the reference point Pa1 of the working machine 1 may be included not only in the working machine 12 but also in the vehicle body 11. The reference point Pa1 of the working machine 1 may be the center of the vehicle body 11. The working machine 12 may include a ripper attached to the rear part of the vehicle body 2. The reference point Pa1 of the working machine 1 may be included in the ripper.

[0054] The forward movement, backward movement, and stop of the working machine 1 may be automatically controlled by the controller 26 without depending on the manual operation of the travel operation device 31A by the operator. In the example of the automatic driving control described above, the working machine 1 is moving backward. However, even when the working machine 1 is moving forward, the same process of automatic driving control as described above is executed.

[0055] The intervention operation is not limited to the manual operation by the operator and may be an automatic operation. For example, when the controller 26 detects an obstacle in the traveling direction of the working machine 1 while traveling along the first target path R1 by automatic driving control, the controller 26 may intervene with an automatic operation to avoid the obstacle. In that case, when the route change condition is satisfied, the controller 26 may change the target traveling route from the first traveling route R1 to the second target route R2.

[0056] The function of changing the target traveling route by manual operation of the steering operation device 31B in the above-described automatic driving control (hereinafter referred to as the "automatic route change function") may be switchable between enabled and disabled. For example, the controller 26 may switch between enabled and disabled of the automatic route change function in the automatic driving control according to the operation of the input device 32 by the operator.

[0057] The route change conditions are not limited to those of the above-described embodiment and may be changed. The route change condition may be that the operation amount of the steering operation device 31B is equal to or greater than a predetermined operation amount threshold value. The operation amount threshold value may be changeable. Alternatively, the operation amount threshold value may be a fixed value. The route change condition may be that the operation time of the steering operation device is equal to or greater than a predetermined time threshold value. The time threshold value may be changeable. The time threshold value may be a fixed value. Alternatively, the route change condition may be a combination of the above-described conditions.

[0058] The first to third route images 41-43 displayed on the display 33 are not limited to those of the above-described embodiment and may be changed. For example, the first mode and the second mode may differ in color.

[0059] The first to third traveling routes R1-R3 are not limited to those of the above-described embodiment and may be changed. For example, FIGS. 15 and 16 are diagrams showing the first to third traveling routes R1-R3 according to a modified example. As shown in FIG. 15, the first to third traveling routes R1-R3 may have a curved shape.

[0060] The first traveling route R1 includes a first curved portion R1A, a first front straight portion R1B, and a first rear straight portion R1C. The first front straight portion R1B extends forward from the first curved portion R1A. The first rear straight portion R1C extends rearward from the first curved portion R1A. The second traveling route R2 and the third traveling route R3 are routes parallel to the first traveling route R1.

[0061] The second traveling route R2 includes a second curved portion R2A, a second front straight portion R2B, and a second rear straight portion R2C. The second curved portion R2A is located on the inner diameter side of the first curved portion R1A and is parallel to the first curved portion R1A. The second front straight portion R2B extends forward from the second curved portion R2A. The second front straight portion R2B is parallel to the first front straight portion R1B. The second rear straight portion R2C extends rearward from the second curved portion R2A. The second rear straight portion R2C is parallel to the first rear straight portion R1C.

[0062] The third travel route R3 includes a third curved portion R3A, a third front straight portion R3B, and a third rear straight portion R3C. The third curved portion R3A is located on the outer diameter side of the first curved portion R1A and is parallel to the first curved portion R1A. The third front straight portion R3B extends forward from the third curved portion R3A. The third front straight portion R3B is parallel to the first front straight portion R1B. The third rear straight portion R3C extends rearward from the third curved portion R3A. The third rear straight portion R3C is parallel to the first rear straight portion R1C.

[0063] As shown in FIG. 15, for the first to third travel routes R1 - R3, when the route change condition is satisfied by manual operation of the steering operation device 31B, the controller 26 changes the target travel route. For example, when the steering operation device 31B is manually operated in the direction from the first travel route R1 to the second travel route R2 and the distance D1 from the first travel route R1 to the current position of the working machine 1 is equal to or greater than the first distance threshold Th1, the controller 26 switches the target travel route from the first travel route R1 to the second travel route R2. Also, as shown in FIG. 16, when the steering operation device 31B is manually operated in the direction from the first travel route R1 to the third travel route R3 and the distance D1 from the first travel route R1 to the current position of the working machine 1 is equal to or greater than the second distance threshold Th2, the controller 26 switches the target travel route from the first travel route R1 to the third travel route R3.

Industrial Applicability

[0064] According to the present disclosure, the degree of freedom of work by the working machine is improved.

Explanation of Reference Numerals

[0065] 1: Working machine, 12: Working implement, 26: Controller, 31B: Steering operation device, 33: Display, 34: Position sensor, R1: First target route, R2: Second target route, R3: Third target route

Claims

1. A system for controlling a work machine, comprising: a sensor for detecting the current position of the work machine; a steering operation device that can be intervened to turn the work machine left and right; a controller; and wherein the controller acquires a first travel route and a second travel route adjacent to the first travel route, acquires the current position of the work machine, sets the first travel route as the target travel route of the work machine, controls the work machine by automatic travel control so that the work machine travels along the first travel route based on the current position of the work machine, when the steering operation device is intervened during the automatic travel control, the automatic travel control is interrupted, and the work machine is turned according to the intervention operation on the steering operation device, determines whether a predetermined route change condition is satisfied by the intervention operation on the steering operation device, when the steering operation device is intervened in the direction from the first travel route to the second travel route and the route change condition is satisfied, the target travel route is changed to the second travel route, after the end of the intervention operation on the steering operation device, the automatic travel control is resumed based on the current position of the work machine, and the work machine is controlled so that the work machine travels along the second travel route. A system.

2. The route change condition includes that the distance from the first travel route to the current position of the work machine is equal to or greater than a predetermined distance threshold. The system according to Claim 1. The system according to claim 1, wherein the route change condition includes that the distance from the first travel route to the current position of the work machine is equal to or greater than a predetermined distance threshold.

3. The route change condition includes that the operation amount of the steering operation device is equal to or greater than a predetermined operation amount threshold. The system according to Claim 1. The system according to claim 1, wherein the route change condition includes that the operation amount of the steering operation device is equal to or greater than a predetermined operation amount threshold.

4. The route change condition includes that the operation time of the steering operation device is equal to or greater than a predetermined time threshold. The system according to Claim 1. The system according to claim 1, wherein the route change condition includes that the operation time of the steering operation device is equal to or greater than a predetermined time threshold.

5. The controller after the end of the intervention operation on the steering operation device, if the route change condition is not satisfied, maintains the target travel route as the first travel route, and controls the work machine by the automatic travel control so that the work machine returns to the first travel route and travels along the first travel route. The system according to Claim 1. The system according to claim 1, wherein after the end of the intervention operation on the steering operation device, if the route change condition is not satisfied, the target travel route is maintained as the first travel route, and the work machine is controlled by the automatic travel control so that the work machine returns to the first travel route and travels along the first travel route.

6. Further comprising a display, and wherein the controller ​ Display on the display a first route image indicating the first travel route, a second route image indicating the second travel route, and a machine image indicating the work machine. The system according to claim 1.

7. The controller: Displays the first route image on the display in a first mode. Displays the second route image on the display in a second mode different from the first mode. The system according to claim 6.

8. The controller: When the target travel route is changed from the first travel route to the second travel route, switches the first route image from the first mode to the second mode and displays it on the display. Switches the second route image from the second mode to the first mode and displays it on the display. The system according to claim 7.

9. The controller: Acquires a third travel route adjacent to the first travel route on the side opposite to the second travel route with respect to the first travel route. When an intervention operation is performed on the steering operation device in a direction from the first travel route toward the third travel route and the route change condition is satisfied, changes the target travel route to the third travel route. After the end of the intervention operation on the steering operation device, controls the work machine by the automatic travel control so that the work machine travels along the third travel route based on the current position of the work machine. The system according to claim 1.

10. A method for controlling a work machine, comprising: Acquiring a first travel route and a second travel route adjacent to the first travel route. Acquiring the current position of the work machine. Setting the first travel route as the target travel route of the work machine. Controlling the work machine by automatic travel control so that the work machine travels along the first travel route based on the current position of the work machine. During the automatic travel control, when an intervention operation is performed to turn the work machine left and right, interrupting the automatic travel control and turning the work machine according to the intervention operation. Determining whether a predetermined route change condition is satisfied by the intervention operation. When the intervention operation is performed in a direction from the first travel route toward the second travel route and the route change condition is satisfied, changing the target travel route to the second travel route. After the intervention operation ends, based on the current position of the work machine, restart the automatic driving control so that the work machine travels along the second travel route, and control the work machine. A method comprising the above.

11. A work machine, A sensor for detecting the current position of the work machine, A steering operation device that can be intervened to turn the work machine left and right, A controller, Comprising, The controller, Acquire a first travel route and a second travel route adjacent to the first travel route, Acquire the current position of the work machine, Set the first travel route as the target travel route of the work machine, Based on the current position of the work machine, control the work machine by automatic driving control so that the work machine travels along the first travel route, During the automatic driving control, if the steering operation device is intervened, interrupt the automatic driving control and turn the work machine according to the intervention operation on the steering operation device, Determine whether a predetermined route change condition is satisfied by the intervention operation on the steering operation device, When the steering operation device is intervened in the direction from the first travel route to the second travel route and the route change condition is satisfied, change the target travel route to the second travel route, After the intervention operation on the steering operation device ends, based on the current position of the work machine, restart the automatic driving control so that the work machine travels along the second travel route, and control the work machine. Work machine.

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