System and method for controlling work machine, and work machine

Abstract

In a system according to the present disclosure, a controller acquires a first travel route and a second travel route adjacent to the first travel route. The controller sets the first travel route as a target travel route of the work machine. The controller controls the work machine by automated travel control on the basis of the current position of the work machine, such that the work machine travels according to the first travel route. If an intervention operation is performed by means of a steering operation device during the automated travel control, the controller interrupts the automated travel control and turns the work machine in response to an intervention operation performed with respect to the steering operation device. The controller changes the target travel route to the second travel route if an intervention operation is performed by means of the steering operation device in a direction proceeding from the first travel route toward the second travel route and a route change condition is satisfied.

Description

System and method for controlling a work machine, and work machine

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

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

[0003] Japanese Patent Application Laid-Open No. 2020-166303

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

[0005] During the above-described automatic travel control, there are cases where the operator wishes to change the target travel route. Alternatively, there are cases where the operator wishes to change the target travel route using the controller of the work machine, for example, if an obstacle is discovered on the target route during automatic travel control. However, in the above-described control system, the work machine travels according to a predetermined target travel route 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.

[0006] A system according to 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 operated to intervene and turn the work machine left or 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 work machine. The controller sets the first travel route as a target travel route for the work machine. The controller controls the work machine using automatic travel control based on the current position of the work machine so that the work machine travels along the first travel route. If the steering operation device is operated to intervene during automatic travel control, the controller interrupts the automatic travel control and turns the work machine in accordance with the operation to intervene on the steering operation device. The controller determines whether a predetermined route change condition is satisfied by the operation to intervene on the steering operation device. The controller changes the target travel route to the second travel route when the steering operation device is intervened in a direction from the first travel route to the second travel route and a route change condition is satisfied. After the intervening operation of the steering operation device is completed, the controller resumes automatic travel control and controls the work machine based on the current position of the work machine so that the work machine travels along the second travel route.

[0007] A method according to a second aspect of the present disclosure is a method for controlling a work machine, the method comprising: acquiring a first travel route and a second travel route adjacent to the first travel route; acquiring a current position of the work machine; setting the first travel route as a target travel route for 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; if an intervention operation is performed to turn the work machine left or right during the automatic travel control, suspending the automatic travel control and turning the work machine in accordance with the intervention operation; determining whether a predetermined route change condition is satisfied by the intervention operation; if an intervention operation is performed in a direction from the first travel route to the second travel route and the route change condition is satisfied, changing the target travel route to the second travel route; and, after the intervention operation is completed, resuming the automatic travel 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] A work machine according to a third aspect of the present disclosure 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 operated to intervene and turn the work machine left or 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 work machine. The controller sets the first travel route as a target travel route for the work machine. The controller 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. If the steering operation device is operated to intervene during automatic travel control, the controller interrupts the automatic travel control and turns the work machine in accordance with the operation to intervene on the steering operation device. The controller determines whether a predetermined route change condition is satisfied by the operation to intervene on the steering operation device. If the steering operation device is operated to intervene in a 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 intervention operation on the steering operation device is completed, the controller resumes automatic travel control and controls the work machine so that the work machine travels along the second travel route based on the current position of the work machine.

[0009] According to the present disclosure, if an intervention in the steering operation device occurs during automatic travel control, the automatic travel control is interrupted and the work machine turns in response to the intervention in the steering operation device. Furthermore, if the intervention in the steering operation device satisfies a predetermined route change condition, the target travel route is automatically changed from the first travel route to the second travel route. This improves the degree of freedom in work performed by the work machine.

[0010] FIG. 1 is a side view showing a work machine according to an embodiment. FIG. 2 is a block diagram showing the configuration of the drive system and control system of the work machine. FIG. 3 is a flowchart showing the processing of automatic travel control. FIG. 4 is a diagram showing a work machine and a target travel route under automatic travel control. FIG. 5 is a diagram showing a work machine and a target travel route under automatic travel control. FIG. 6 is a diagram showing a work machine and a target travel route under automatic travel control. FIG. 7 is a diagram showing a work machine and a target travel route under automatic travel control. FIG. 8 is a diagram showing a work machine and a target travel route under automatic travel control. FIG. 9 is a diagram showing a work machine and a target travel route under automatic travel control. FIG. 10 is a diagram showing an example of a guide screen under automatic travel control. FIG. 11 is a diagram showing an example of a guide screen under automatic travel control. FIG. 12 is a diagram showing first to third travel routes according to a modified example. FIG. 13 is a diagram showing first to third travel routes according to a modified example.

[0011] A work machine according to an embodiment will be described below with reference to the drawings. Figure 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.

[0012] The vehicle body 11 includes a cab 13, an engine compartment 14, and a traveling device 15. A driver's seat (not shown) is disposed in the cab 13. The engine compartment 14 is disposed 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 by rotating the tracks 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 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.

[0014] Figure 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 Figure 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 Figure 2 shows one hydraulic pump 23, multiple 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, a hydrostatic transmission (HST). Alternatively, the power transmission device 24 may be, for example, a torque converter or a transmission having a plurality of speed change gears.

[0016] 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 are used to control the work 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 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.

[0018] 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.

[0019] 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.

[0020] The work machine operating device 31C can be operated by an operator to manually operate the work machine 12. The work machine operating device 31C includes, for example, a work machine lever. However, the work machine operating device 31C may also include other components such as a switch. The work machine 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.

[0021] 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.

[0022] 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.

[0023] The controller 26 controls the control valve 27 in response to a work command from the work machine operating device 31C to operate the work machine 12. As a result, the work machine 12 moves up and down in response to the operation of the work machine operating 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 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.

[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 in response to an 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 work machine 1. The position sensor 34 includes, for example, a sensor based on the Global Navigation Satellite System (GNSS). The position sensor 34 may include an IMU (Inertial Measurement Unit).

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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 end or right end of the blade 18. The reference point Pa1 of the work machine 1 may be changeable by the input device 32.

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

[0032] The controller 26 stores first to third travel routes R1-R3 that have been set in advance. For example, the controller 26 stores a route set by an operator using the input device 32 as the first travel route R1, 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 multiple 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 driving route for the automatic driving control. Here, the controller 26 sets the first driving route R1 described above as the target driving route.

[0034] In step S104, the controller 26 executes automatic travel control in accordance with the target travel route. The controller 26 moves the work machine 1 forward or backward in response to manual operation of the 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.

[0035] 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 travel path R1. As a result, the work machine 1 is steered so that the work machine 1 travels along the first travel path 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 travel path R1 simply 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. 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 automatic driving control, the process proceeds to step S106.

[0037] 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.

[0038] In step S107, the controller 26 determines whether a predetermined route change condition has been satisfied by manual operation of 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 work 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 work machine 1. If the distance D1 is equal to or greater than the first distance threshold Th1, the processing 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 a direction from the first travel route R1 to the second travel route R2 and a 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 of the steering operation device 31B has ended. When the steering operation device 31B has returned to the neutral position N2, the controller 26 determines that the manual operation of the steering operation device 31B has ended. 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 returns to step S104.

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

[0042] If the route change condition is not satisfied in step S107, the controller 26 maintains the first travel route R1 as the target travel route. Therefore, in step S104, the controller 26 sets the first travel route R1 as the target travel route and executes automatic travel control in accordance with 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 travel control so that the work machine 1 returns to the first travel route R1 and travels in accordance with the first travel route R1.

[0043] 9 , when the steering operation device 31B is manually operated in a direction from the first travel route R1 to the third travel route R3 and a 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 a second distance threshold Th2. After manual operation of the steering operation device 31B is completed, the controller 26 controls the work machine 1 by automatic travel control so that the work machine 1 travels along the third travel route R3. 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 path R1 and the second travel path 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 path R1 and the third travel path R3 (hereinafter referred to as the “second route change width W2”). The controller 26 determines the first distance threshold Th1 as a value obtained by multiplying the first route change width W1 by a predetermined ratio. The controller 26 determines the second distance threshold Th2 as a value obtained by multiplying the second route change width W2 by a predetermined ratio. The predetermined ratio may be changeable, for example, by the operator operating the input device 32. As a result, 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] Note that, when the target travel route is changed from the first travel route R1 to the second travel route R2 in step S108 described above, the controller 26 acquires a fourth travel route R4 that is adjacent to the second travel route R2 on the opposite side of the first travel route R1, as shown in Fig. 11. Then, the controller 26 performs a process of switching from the second travel route R2 to the first travel route R1 or the fourth travel route R4, similar to the process of switching 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 a guide screen showing the above-mentioned target travel route to be displayed on the display. 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 format. The controller 26 displays a travel route that is not the target travel route on the display in a second format that is different from the first format. For example, if 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 format. The controller 26 displays the second route image 42 and the third route image 43 on the display in the second format. The first format and the second format have different shapes. For example, the controller 26 displays the first route image 41 with a solid line and the second route image 42 and the third route image 43 with a dashed line.

[0048] When the work machine 1 is manually steered, the controller 26 changes the machine image 44 in accordance with the current position and orientation of the work machine 1, as shown in Fig. 13. When the target travel route is changed from the first travel route R1 to the second travel route R2 as a result of the work machine 1 being manually steered, the controller 26 switches the first route image 41 from the first aspect to the second aspect and displays it on the display 33, as shown in Fig. 14. The controller 26 switches the second route image 42 from the second aspect to the first aspect and displays it on the display. The controller 26 also displays a fourth route image 45 showing the fourth travel route R4 on the opposite side of the first route image 41 from the second route image 42.

[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 manual steering of the work machine 1, the controller 26 switches the first route image 41 from the first aspect to the second aspect and displays it on the display 33. The controller 26 switches the third route image 43 from the second aspect to the first aspect and displays it on the display 33.

[0050] In the work 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. If a route change condition is satisfied by this 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. Furthermore, 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. If a route change condition is satisfied by this 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 automatic travel control.

[0051] 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.

[0052] 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 operable remotely. In this case, the operation devices 31A-31C, input device 32, display 33, and automatic control switch 35 may be located external to the work machine 1. The intervention operation of the steering operation device 31B may be manual operation remotely. 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.

[0053] 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 reference point Pa1 of the work machine 1 may be included in the vehicle body 11, not limited to the work implement 12. 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.

[0054] The forward, reverse and stop of the work machine 1 may be controlled automatically by the controller 26, without the operator manually operating the travel operation device 31A. In the example of automatic travel control described above, the work machine 1 travels in reverse. However, the same automatic travel control processing as described above is also executed when the work machine 1 travels forward.

[0055] The intervention operation is not limited to manual operation by an operator, and may be automatic operation. For example, if the controller 26 detects an obstacle in the traveling direction 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 automatic operation to avoid the obstacle. In this case, if a route change condition is satisfied, the controller 26 may change the target travel route from the first travel route R1 to the second target route R2.

[0056] The function of changing the target driving route by manually operating 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 states of the automatic route change function in the automatic driving control in response to an operation of the input device 32 by an operator.

[0057] The route change condition is not limited to the above 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. The operation amount threshold may be changeable. Alternatively, the operation amount threshold 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. The time threshold may be changeable. The time threshold may be a fixed value. Alternatively, the route change condition may be a combination of the above conditions.

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

[0059] The first to third travel routes R1-R3 are not limited to those in the above embodiment and may be modified. For example, Figures 15 and 16 are diagrams showing first to third travel routes R1-R3 according to modified examples. As shown in Figure 15, the first to third travel routes R1-R3 may have curved shapes.

[0060] The first travel path 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 travel path R2 and the third travel path R3 are paths parallel to the first travel path R1.

[0061] The second traveling path 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 path 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, the controller 26 changes the target travel route when a route change condition is satisfied by manual operation of the steering operation device 31B. For example, when the steering operation device 31B is manually operated in a 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 work machine 1 is equal to or greater than a 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 a 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 work machine 1 is equal to or greater than a second distance threshold Th2, the controller 26 switches the target travel route from the first travel route R1 to the third travel route R3.

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

[0065] 1: Work machine, 12: Work equipment, 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 working machine, comprising: a sensor for detecting the current position of the working machine; a steering operation device that can be intervened to turn the working machine left and right; and a controller, 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 working machine, sets the first travel route as the target travel route of the working machine, and based on the current position of the working machine, controls the working machine by automatic driving control so that the working machine travels along the first travel route. During the automatic driving control, if an intervention operation is performed on the steering operation device, the automatic driving control is interrupted, and the working machine is turned according to the intervention operation on the steering operation device. It is determined 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, based on the current position of the working machine, the automatic driving control is resumed to control the working machine so that the working machine travels along the second travel route.

2. 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 working machine is equal to or greater than a predetermined distance threshold.

3. 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 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 working machine by the automatic driving control so that the working machine returns to the first travel route and travels along the first travel route. The system according to claim 1.

6. The system according to claim 1, further comprising a display, wherein the controller displays, on the display, a first path image indicating the first travel path, a second path image indicating the second travel path, and a machine image indicating the work machine.

7. The system according to claim 6, wherein the controller displays the first path image on the display in a first mode, and displays the second path image on the display in a second mode different from the first mode.

8. The system according to claim 7, wherein when the controller changes the target travel path from the first travel path to the second travel path, the controller switches the first path image from the first mode to the second mode and displays it on the display, and switches the second path image from the second mode to the first mode and displays it on the display.

9. The system according to claim 1, wherein the controller acquires a third travel path adjacent to the first travel path on the side opposite to the second travel path with respect to the first travel path, and when the steering operation device is intervened in the direction from the first travel path to the third travel path and the path change condition is satisfied, the controller changes the target travel path to the third travel path, and after the intervention operation to the steering operation device ends, the controller controls the work machine by the automatic travel control so that the work machine travels along the third travel path based on the current position of the work machine.

10. A method for controlling a working machine, comprising: obtaining a first travel route and a second travel route adjacent to the first travel route; obtaining a current position of the working machine; setting the first travel route as a target travel route of the working machine; controlling the working machine by automatic travel control so that the working machine travels along the first travel route based on the current position of the working machine; when an intervention operation is performed to turn the working machine left or right during the automatic travel control, interrupting the automatic travel control and turning the working 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 to the second travel route and the route change condition is satisfied, changing the target travel route to the second travel route; and after the end of the intervention operation, resuming the automatic travel control and controlling the working machine so that the working machine travels along the second travel route based on the current position of the working machine.

11. An operating machine, comprising: a sensor that detects the current position of the operating machine; a steering operation device that can be intervened to turn the operating machine left and right; and a controller, 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 operating machine; sets the first travel route as the target travel route of the operating machine; controls the operating machine by automatic travel control so that the operating machine travels along the first travel route based on the current position of the operating machine; when the steering operation device is intervened during the automatic travel control, interrupts the automatic travel control, turns the operating machine 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, changes the target travel route to the second travel route; and after the end of the intervention operation on the steering operation device, resumes the automatic travel control and controls the operating machine so that the operating machine travels along the second travel route based on the current position of the operating machine.

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