System and method for controlling work machine, and work machine

Abstract

To improve the degree of freedom in work by a work machine.SOLUTION: The system includes a sensor, a steering operation device, and a controller. The sensor detects a current position of the work machine. The controller controls the work machine by automatic travel control so that the work machine travels along a first target route, based on the current position of the work machine. When an intervention operation is performed on a steering operation device during the automatic travel control, the controller interrupts the automatic travel control and turns the work machine in accordance with the intervention operation on the steering operation device. When the intervention operation on the steering operation device ends, the controller acquires the position and the orientation of the work machine at the point in time that the intervention operation on the steering operation device ends, as an intervention end position and an intervention end orientation, respectively. Based on the intervention end position and the intervention end orientation, the controller generates a second target route.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Conventionally, automatic cruise control is known that controls a work machine to travel along a predetermined target route. For example, in a work machine control system disclosed in Patent Document 1, multiple target routes extending parallel to one another are set. The control system controls the work machine so that the work machine travels in sequence along the multiple target routes. The work machine performs work such as excavation while traveling along the target routes, thereby constructing the topography of the work site into a desired shape. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2020-166303 Summary of the Invention [Problem to be solved by the invention]

[0004] A work machine operator may want to adjust a target route, for example, when redoing work performed by the work machine. Alternatively, the operator may want to adjust the target route using the work machine controller, for example, when an obstacle is discovered along the target route. However, with the above-described control system, the work machine travels according to multiple predetermined target routes using automatic travel control. This results in a low degree of freedom in work. An object of the present disclosure is to improve the degree of freedom in work performed by a work machine. [Means for solving the problem]

[0005] A 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 is capable of being intervened in to turn the work machine left or right. The controller acquires a first target route for the work machine. The controller acquires the current position of the work machine. The controller controls the work machine through automatic travel control based on the current position of the work machine so that the work machine travels along the first target route. When an intervening operation of the steering operation device is performed during automatic travel control, the controller interrupts the automatic travel control and turns the work machine in accordance with the intervening operation of the steering operation device. When the intervening operation of the steering operation device ends, the controller acquires the position of the work machine at the time the intervening operation of the steering operation device ends as an intervention end position. The controller acquires the orientation of the work machine at the time the intervening operation of the steering operation device ends as an intervention end orientation. The controller generates a second target route based on the intervention end position and intervention end orientation. The controller resumes automatic travel control and controls the work machine so that the work machine travels along the second target route based on the current position of the work machine.

[0006] A second aspect of the present disclosure is a method for controlling a work machine, comprising: acquiring a first target route for the work machine; acquiring a current position of the work machine; controlling the work machine using automatic cruise control based on the current position of the work machine so that the work machine travels along the first target route; receiving an operation signal that enables an intervention operation to turn the work machine left or right; if an intervention operation is performed during automatic cruise control, interrupting the automatic cruise control and turning the work machine in accordance with the intervention operation; if the intervention operation is terminated, acquiring the position of the work machine when the intervention operation ended as an intervention end position; acquiring the orientation of the work machine when the intervention operation ended as an intervention end orientation; generating a second target route based on the intervention end position and intervention end orientation; and resuming the automatic cruise control and controlling the work machine based on the current position of the work machine so that the work machine travels along the second target route.

[0007] A third aspect of the present disclosure is a work machine including a sensor, a steering operation device, and a controller. The sensor detects the current position of the work machine. The steering operation device is capable of being intervened in to turn the work machine left or right. The controller acquires a first target route for the work machine. The controller acquires the current position of the work machine. The controller controls the work machine by automatic travel control based on the current position of the work machine so that the work machine travels along the first target route. When an intervening operation of the steering operation device is performed during automatic travel control, the controller interrupts the automatic travel control and turns the work machine in accordance with the intervening operation of the steering operation device. When the intervening operation of the steering operation device is ended, the controller acquires the position of the work machine when the intervening operation of the steering operation device is ended as an intervention end position. The controller acquires the orientation of the work machine when the intervening operation of the steering operation device is ended as an intervention end orientation. The controller generates a second target route based on the intervention end position and intervention end orientation. The controller resumes automatic travel control and controls the work machine so that the work machine travels along the second target route based on the current position of the work machine. [Effects of the Invention]

[0008] According to the present disclosure, when an intervention operation of the steering operation device is performed during automatic driving control, the automatic driving control is interrupted and the work machine turns in response to the intervention operation of the steering operation device. This provides a high degree of freedom for work performed by the work machine. Furthermore, when the intervention operation of the steering operation device is terminated, a second target route is generated based on an intervention end position indicating the position of the work machine when the intervention operation ended and an intervention end orientation indicating the orientation of the work machine when the intervention operation ended. Then, automatic driving control is resumed and the work machine is controlled so that the work machine travels along the second target route. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view showing a work machine according to an embodiment. [Figure 2] 1 is a block diagram showing the configuration of a drive system and a control system of a work machine. [Figure 3] 4 is a flowchart showing a process of automatic driving control. [Figure 4] FIG. 2 is a diagram showing a work machine and a target travel route under automatic travel control. [Figure 5] FIG. 2 is a diagram showing a work machine and a target travel route under automatic travel control. [Figure 6] FIG. 2 is a diagram showing a work machine and a target travel route under automatic travel control. [Figure 7] 10 is a flowchart showing a process for generating a second target route R2. [Figure 8] FIG. 2 is a diagram showing a work machine and a target travel route under automatic travel control. [Figure 9] FIG. 2 is a diagram showing a work machine and a target travel route under automatic travel control. [Figure 10] FIG. 10 is a diagram showing an example of a guide screen in automatic driving control. [Figure 11] FIG. 10 is a diagram showing an example of a guide screen in automatic driving control. [Figure 12] FIG. 10 is a diagram showing a work machine and a target travel route under automatic travel control according to a modified example. [Figure 13] FIG. 10 is a diagram showing a work machine and a target travel route under automatic travel control according to a modified example. [Figure 14] FIG. 10 is a block diagram showing the configuration of a drive system and a control system of a work machine according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] A work machine according to an embodiment will be described below with reference to the drawings. FIG. 1 is a side view showing a work machine 1 according to an embodiment. The work machine 1 according to this embodiment is a bulldozer. The work machine 1 comprises a vehicle body 11 and a work implement 12.

[0011] The vehicle body 11 includes a cab 13, an engine compartment 14, and a traveling device 15. A driver's seat (not shown) is arranged in the cab 13. The engine compartment 14 is arranged in front of the cab 13. The traveling device 15 is provided on the lower part of the vehicle body 11. The traveling device 15 includes a pair of left and right tracks 16. Note that only the left track 16 is shown in FIG. 1. The work machine 1 travels as the tracks 16 rotate.

[0012] 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 on the vehicle body 11 so as to be rotatable about a lift axis X1. The blade 18 is disposed 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. The lift frame 17 moves up and down as the lift actuator 19 extends and retracts. The blade 18 moves up and down in accordance with the up and down movement of the lift frame 17.

[0013] Fig. 2 is a block diagram showing the configuration of the drive system 2 and 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 also 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. Although Fig. 2 shows one hydraulic pump 23, multiple hydraulic pumps may be provided.

[0014] 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 speed change gears.

[0015] The control system 3 includes a controller 26 and a control valve 27. The controller 26 is programmed to control the work machine 1 based on the acquired data. The controller 26 includes a memory device 28 and a processor 29. The processor 29 includes, for example, a CPU. The memory device 28 includes, for example, a memory and an auxiliary memory device. The memory device 28 may be, for example, a RAM or a ROM. The memory device 28 may be, for example, a semiconductor memory or a hard disk. The memory device 28 stores computer instructions that are executable by the processor 29 and that are used to control the work machine 1.

[0016] 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 hydraulic oil supplied from the hydraulic pump 23 to the lift actuator 19. The control valve 27 may be a pressure proportional control valve. Alternatively, the control valve 27 may be an electromagnetic proportional control valve.

[0017] The control system 3 includes a travel operation device 31A, a steering operation device 31B, and a work implement operation device 31C. The travel operation device 31A can be operated by an operator to manually control the forward and reverse travel of the work machine 1. The travel operation device 31A includes, for example, a travel lever. However, the travel operation device 31A may also include other components such as a switch. The travel operation device 31A can be operated from a neutral position N1 to a forward position A1 and a reverse position B1. The travel operation device 31A outputs travel commands to the controller 26 in accordance with operation by the operator.

[0018] The steering operation device 31B can be operated by an operator to manually steer the work 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 can be operated 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 to the controller 26 in accordance with the operation by the operator.

[0019] The work implement operating device 31C can be operated by an operator to manually operate the work implement 12. The work implement operating device 31C includes, for example, a work implement lever. However, the work implement operating device 31C may also include other components such as a switch. The work implement operating device 31C outputs a work command to the controller 26 in response to an operation by the operator. Note that each of the operating devices 31A-31C may be configured using common components.

[0020] In response to a travel command from the travel operation device 31A, the controller 26 controls the drive source 22 and the power transmission device 24 so as to travel the work machine 1. As a result, the work machine 1 travels forward or backward in response to operation of the travel operation device 31A by the operator.

[0021] The controller 26 controls the drive source 22 and the power transmission device 24 to steer the work machine 1 to the left or right in response to a steering command from the steering operation device 31B. For example, the controller 26 turns the work machine 1 to the left or right by using a speed difference between the left and right tracks 16. As a result, the work machine 1 turns to the left or right in response to operation of the steering operation device 31B by the operator.

[0022] The controller 26 controls the control valve 27 in response to a work command from the work implement operating device 31C to operate the work implement 12. As a result, the work implement 12 moves up and down in response to the operation of the work implement operating device 31C by the operator.

[0023] 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 also include other devices such as switches. The operator can use the input device 32 to configure settings for automatic control of the work machine 1. Automatic control of the work machine 1 will be described in detail later.

[0024] 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 in response to an image signal from the controller.

[0025] The control system 3 includes a position sensor 34. The position sensor 34 detects the current position and orientation of the work machine 1. The position sensor 34 includes, for example, a sensor based on a Global Navigation Satellite System (GNSS). The position sensor 34 may include an Inertial Measurement Unit (IMU).

[0026] The controller 26 acquires the current position and orientation of the work machine 1 based on the detection signal from the position sensor 34. The controller 26 performs automatic cruise control, which controls the traveling direction of the work machine 1, based on the current position and orientation of the work 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 an operator to switch the automatic cruise control on and off. The controller 26 enables the automatic cruise control when the automatic control switch 35 is in the on state. The controller 26 disables the automatic cruise control when the automatic control switch 35 is in the off state.

[0027] The following describes the automatic travel control of the work machine 1. Figure 3 is a flowchart showing the processing of the automatic travel control. In the automatic travel control according to this embodiment, the forward travel, reverse travel and stop of the work machine 1 are controlled in accordance with manual operation of the travel operation device 31A by the operator.

[0028] In automatic travel control, the left and right turning of the work machine 1 is automatically controlled so that the work machine 1 moves according to a target travel route, which will be described later. For example, in automatic travel control, if the work machine 1 deviates to the right from the target travel route, the controller 26 automatically turns the work machine 1 to the left so that the work machine 1 returns to the target travel route. In automatic travel control, if the work machine 1 deviates to the left from the target travel route, the controller 26 automatically turns the work machine 1 to the right so that the work machine 1 returns to the target travel route.

[0029] As shown in FIG. 3, in step S101, the controller 26 acquires the current position and orientation of the work machine 1. The controller 26 acquires the current position of a predetermined reference point Pa1 of the work machine 1 as the current position of the work machine 1. The reference point Pa1 of the work machine 1 is included in the blade 18. For example, as shown in FIG. 4, the reference point Pa1 is the centre of the blade 18 in the vehicle width direction. Alternatively, the reference point Pa1 of the work machine 1 may be the left or right end of the blade 18. The reference point Pa1 of the work machine 1 may be changeable by the input device 32.

[0030] In step S102, the controller 26 acquires a first target route R1. The controller 26 stores a preset first target route R1. For example, the controller 26 stores a route set by an operator using the input device 32 as the first target route R1. Alternatively, the controller 26 may acquire the first target route R1 from an external computer. Alternatively, the controller 26 may automatically generate the first target route R1.

[0031] In step S103, the controller 26 sets a target driving route for the automatic driving control. The controller 26 sets the above-mentioned first target route R1 as the target driving route.

[0032] In step S104, controller 26 executes automatic travel control in accordance with the target travel route. Controller 26 moves the work machine 1 forward or backward in response to manual operation of travel operation device 31A by the operator, and controls the work machine 1 so that the work machine 1 travels in accordance with the target travel route based on the current position and direction of the work machine 1.

[0033] In detail, as shown in Fig. 4, the controller 26 automatically turns the work machine 1 so that the reference point Pa1 moves along the first target route R1. As a result, the work machine 1 is steered so that the work machine 1 travels along the first target route R1 simply by operating the travel operation device 31A, without the operator having to operate the steering operation device 31B. In other words, as shown in Fig. 4, even if the steering operation device 31B is in the neutral position N2, the work machine 1 is steered so that the work machine 1 travels along the first target route R1 simply by the operator operating the travel operation device 31A.

[0034] In step S105, the controller 26 determines whether the steering operation device 31B has been manually operated. If the steering operation device 31B has been operated from the neutral position in a left turning direction or a right turning direction, the controller 26 determines that the steering operation device 31B has been manually operated. If the steering operation device 31B has not been manually operated, in step S104, the controller 26 continues the automatic driving control. If the steering operation device 31B has been manually operated during the automatic driving control, the process proceeds to step S106.

[0035] In step S106, the controller 26 turns the work machine 1 in response to manual operation of the steering operation device 31B. The controller 26 temporarily suspends automatic travel control, and turns the work machine 1 in response to manual operation of the steering operation device 31B. For example, as shown in Fig. 5, when the steering operation device 31B is operated in a right turning direction A2, the controller 26 turns the work machine 1 to the right.

[0036] In step S107, the controller 26 determines whether the manual operation of the steering operation device 31B has ended. As shown in Fig. 6, the controller 26 determines that the manual operation of the steering operation device 31B has ended when the steering operation device 31B has returned to the neutral position N2. If the manual operation of the steering operation device 31B has not ended, in step S106 the controller 26 continues to turn the work machine 1 in accordance with the manual operation of the steering operation device 31B. If the manual operation of the steering operation device 31B has ended, the processing proceeds to step S108.

[0037] In step S108, the controller 26 generates a second target route R2. The controller 26 generates the second target route R2 based on the current position of the work machine 1 when the manual operation ended (hereinafter referred to as the "intervention end position Pb1") and the orientation of the work machine 1 when the manual operation ended (hereinafter referred to as the "intervention end orientation").

[0038] Figure 7 is a flowchart showing the processing for generating the second target route R2. As shown in Figure 7, in step S201, the controller 26 acquires an intervention end position Pb1. The controller 26 acquires the current position of the work machine 1 when manual operation ends as the intervention end position Pb1. In detail, the controller 26 acquires the current position of the work machine 1 when the steering operation device 31B returns to the neutral position N2 as the intervention end position Pb1.

[0039] In step S202, the controller 26 determines the intervention end orientation. The controller 26 determines the traveling direction of the work machine 1 when manual operation ends as the intervention end orientation. In detail, the controller 26 acquires the orientation of the work machine 1 when the steering operation device 31B returns to the neutral position N2 as the intervention end orientation.

[0040] In step S203, the controller 26 determines a second target route R2. As shown in Fig. 6, the controller 26 determines a linear route that passes through the intervention end position Pb1 and extends toward the intervention end orientation as the second target route R2. For example, in the example shown in Figs. 4 to 6, the controller 26 determines a route whose orientation is changed clockwise with respect to the first target route R1 as the second target route R2.

[0041] As shown in Fig. 3, in step S109, the controller 26 updates the target driving route. The controller 26 updates the target driving route to the second target route R2 generated in step S108. Then, in step S104, the controller 26 executes automatic driving control in accordance with the target driving route. That is, as shown in Fig. 8, the controller 26 sets the second target route R2 generated in step S108 as a new target driving route and executes automatic driving control in accordance with the second target route R2.

[0042] Note that Fig. 6 shows an example in which the work machine 1 turns to the right relative to the first target route R1. As shown in Fig. 9, when the work machine 1 turns to the left relative to the first target route R1, the controller 26 determines, as the second target route R2, a route in which the direction has changed counterclockwise relative to the first target route R1.

[0043] The controller 26 displays a guide screen showing the target travel route described above on the display. FIG. 10 is a diagram showing an example of the guide screen 40. As shown in FIG. 10, the guide screen 40 includes a first route image 41 and a machine image 42. The first route image 41 shows the first target route R1. The machine image 42 shows the work machine 1. During automatic travel control, the work machine 1 sets the first target route R1 as the target travel route and travels according to the first target route R1. Therefore, the controller 26 displays the first route image 41 and the machine image 42 superimposed on each other on the display 33.

[0044] When the work machine 1 is manually steered, the controller 26 changes the machine image 42 in accordance with the current position and orientation of the work machine 1, as shown in Fig. 11. When the manual operation ends, the controller 26 generates a second target route R2 based on the current position and orientation of the work machine 1 at the time the manual operation ended, and updates the target travel route to the second target route R2. As shown in Fig. 11, when the target travel route has been updated to the second target route R2, the controller 26 erases the first route image 41 and displays a second route image 44 indicating the second target route R2 and the machine image 42 superimposed on each other on the display 33.

[0045] According to the work machine 1 according to the present embodiment described above, if the steering operation device 31B is manually operated during automatic travel control, the work machine 1 turns in response to the manual operation of the steering operation device 31B. This provides a high degree of freedom in work performed by the work machine 1. Furthermore, when the manual operation of the steering operation device 31B ends, a second target route R2 is generated based on the current position and orientation of the work machine 1 at the time the manual operation of the steering operation device 31B ended. Then, the work machine 1 is controlled by automatic travel control so that the work machine 1 travels according to the second target route R2. This reduces the operational burden on the operator.

[0046] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0047] The work machine 1 is not limited to a bulldozer, and may be other vehicles such as a wheel loader or motor grader. The work machine 1 may be remotely operable. In this case, the operation devices 31A-31C, input device 32, display 33, and automatic control switch 35 may be located outside the work machine 1. The intervention operation of the steering operation device 31B may be performed manually from a remote location. The work machine 1 may have multiple controllers that are separate from each other. The processing by the controller 26 described above may be distributed and executed by multiple controllers.

[0048] The processing of the automatic travel control by the controller 26 is not limited to that of the above embodiment and may be modified. For example, the forward movement, reverse movement, and stopping of the work machine 1 may be controlled automatically by the controller 26, without the operator manually operating the travel operation device 31A. The intervention operation is not limited to manual operation by the operator, but may be automatic operation. For example, if the controller 26 detects an obstacle in the direction of travel of the work machine 1 while the work machine 1 is traveling along the first target route R1 under automatic travel control, the controller 26 may intervene by performing automatic operation to avoid the obstacle. In this case, the controller 26 may set the position where the automatic operation to avoid the obstacle ends as the intervention end position Pb1, and generate the second target route R2 based on the intervention end position Pb1 and the intervention end orientation.

[0049] The reference point Pa1 of the work machine 1 is not limited to the work implement 12, but may be included in the vehicle body 11. For example, the reference point Pa1 of the work machine 1 may be the center of the vehicle body 11. The work implement 12 may include a ripper attached to the rear of the vehicle body 2. The reference point Pa1 of the work machine 1 may be included in the ripper.

[0050] The controller 26 may maintain the target travel route as the first target route R1 when the amount of change in the orientation of the work machine 1 is equal to or less than a threshold value. For example, as shown in Fig. 12, the controller 26 may update the target travel route from the first target route R1 to a second target travel route R2 when the amount of change θ1 in the orientation of the work machine 1 when the intervention operation ends is greater than a threshold value.

[0051] When the operation amount of the steering operation device 31B is equal to or less than a threshold, the controller 26 may maintain the target traveling route as the first target route R1. For example, as shown in Fig. 13, when the operation amount C1 of the steering operation device 31B is greater than a threshold, the controller 26 may update the target traveling route from the first target route R1 to a second target traveling route R2.

[0052] Fig. 14 is a block diagram showing the configuration of the drive system 2 and control system 3 of a work machine 1 according to a modified example. As shown in Fig. 14, the control system 3 may be equipped with a route change switch 36. The route change switch 36 may be manually operable by an operator. The route change switch 36 may be located on the steering operation device 31B. The controller 26 may acquire, as the intervention end position Pb1, the current position of the work machine 1 when the route change switch 36 is operated after an intervening operation on the steering operation device 31B. The controller 26 may acquire, as the intervention end orientation, the orientation of the work machine 1 when the route change switch 36 is operated after an intervening operation on the steering operation device 31B. [Industrial Applicability]

[0053] According to the present disclosure, the degree of freedom in work performed by a work machine is improved. [Explanation of symbols]

[0054] 1: Work machine, 12: Work machine, 26: Controller, 31B: Steering operation device, 33: Display, 34: Position sensor, 36: Path change switch, R1: First target path, R2: Second target path

Claims

1. 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 operated to turn the work machine left and right; A controller; Equipped with The controller acquiring a first target path for the work machine; Acquire the current position of the work machine; controlling the work machine by automatic travel control based on the current position of the work machine so that the work machine travels along the first target route; When an intervention operation of the steering operation device is performed during the automatic travel control, the automatic travel control is interrupted and the work machine is turned in accordance with the intervention operation of the steering operation device, When an intervention operation on the steering operation device has ended, the current position of the work machine at the time when the intervention operation on the steering operation device has ended is acquired as an intervention end position; The direction of the work machine when an intervention operation to the steering operation device is completed is acquired as an intervention end direction; generating a second target route based on the intervention end position and the intervention end orientation; restarting the automatic travel control and controlling the work machine so that the work machine travels along the second target route based on the current position of the work machine; system.

2. the controller generates, as the second target path, a linear path that passes through the intervention end position and extends toward the intervention end orientation; The system of claim 1 .

3. the steering operation device can be operated from a neutral position in a right turning direction and a left turning direction, The controller acquiring the current position of the work machine when the steering operation device has returned to the neutral position as an intervention end position; The orientation of the work machine when the steering operation device returns to the neutral position is acquired as an intervention end orientation. The system of claim 1 .

4. Further provided with a manually operable route change switch, The controller acquiring, as an intervention end position, the current position of the work machine when the route change switch is operated after an intervention operation on the steering operation device; The direction of the work machine when the route change switch is operated after the intervention operation on the steering operation device is acquired as an intervention end direction. The system of claim 1 .

5. the controller maintains the first target path when the operation amount of the steering operation device is equal to or less than a threshold value; The system of claim 1 .

6. the controller maintains the first target route when the amount of change in the heading of the work machine is equal to or less than a threshold. The system of claim 1 .

7. It also has a display, The controller a first route image showing the first target route and a machine image showing the work machine are superimposed on the display; When the second target route is generated, a second route image indicating the second target route and the machine image are superimposed and displayed on the display. The system of claim 1 .

8. 1. A method for controlling a work machine, comprising: obtaining a first target path for the work machine; Obtaining a current position of the work machine; controlling the work machine by automatic travel control based on a current position of the work machine so that the work machine travels along the first target route; receiving a steering operation signal capable of intervening to turn the work machine left or right; When an intervention operation is performed during the automatic travel control, the automatic travel control is interrupted and the work machine is turned in accordance with the intervention operation. When the intervention operation is completed, the current position of the work machine at the time the intervention operation is completed is acquired as an intervention end position; acquiring the orientation of the work machine when the intervention operation is completed as an intervention end orientation; generating a second target route based on the intervention end position and the intervention end orientation; resuming the automatic travel control and controlling the work machine so that the work machine travels along the second target route based on the current position of the work machine; A method for providing the above.

9. generating, as the second target route, a linear route that passes through the intervention end position and extends toward the intervention end orientation; The method of claim 8.

10. receiving the steering operation signal from a steering operation device that can be operated in a right turning direction and a left turning direction from a neutral position; acquiring, as an intervention end position, the current position of the work machine when the steering operation device has returned to the neutral position; acquiring the orientation of the work machine when the steering operation device has returned to the neutral position as an intervention end orientation; The method of claim 8 comprising:

11. receiving a switch operation signal from a manually operable route change switch; acquiring, as an intervention end position, the current position of the work machine when the route change switch is operated after an intervention operation on the steering operation device; acquiring, as an intervention end orientation, the orientation of the work machine when the route change switch is operated after an intervention operation on the steering operation device; The method of claim 8 comprising:

12. maintaining the first target path when the operation amount of the steering operation device is equal to or less than a threshold value; The method of claim 8 comprising:

13. maintaining the first target route when the amount of change in the heading of the work machine is equal to or less than a threshold; The method of claim 8 comprising:

14. displaying a first route image showing the first target route and a machine image showing the work machine on a display in a superimposed manner; When the second target route is generated, a second route image indicating the second target route and the machine image are superimposed and displayed on the display; The method of claim 8 comprising:

15. A work machine, a sensor for detecting the current position of the work machine; a steering operation device that can be operated to turn the work machine left and right; A controller; Equipped with The controller acquiring a first target path for the work machine; Acquire the current position of the work machine; controlling the work machine by automatic travel control based on the current position of the work machine so that the work machine travels along the first target route; When an intervention operation of the steering operation device is performed during the automatic travel control, the automatic travel control is interrupted and the work machine is turned in accordance with the intervention operation of the steering operation device, When an intervention operation on the steering operation device has ended, the current position of the work machine at the time when the intervention operation on the steering operation device has ended is acquired as an intervention end position; The direction of the work machine when an intervention operation to the steering operation device is completed is acquired as an intervention end direction; generating a second target route based on the intervention end position and the intervention end orientation; restarting the automatic travel control and controlling the work machine so that the work machine travels along the second target route based on the current position of the work machine; Work machinery.

Images