System and method for controlling work machine

Abstract

This system is for controlling a work machine and comprises a sensor and a controller. The sensor detects the current position of the work machine. The controller acquires a plurality of paths including a first path. The controller acquires the current position of the work machine. The controller sets the first path from among the plurality of paths as a target path for the 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 along the first path. The controller acquires a cancellation command for the target path during the automatic travel control. The controller cancels the setting of the first path as the target path when the cancellation command is acquired during the automatic travel control.

Description

System and method for controlling a working machine

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

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

[0003] Japanese Unexamined Patent Application Publication No. 2020-166303

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

[0005] During the above automatic driving control, there may be a case where an operator wants to change the target path. Alternatively, during the automatic driving control, there may be a case where the controller of the working machine wants to change the target path when an obstacle is found in the target path. However, in the above control system, since the working machine travels along the set target path by automatic driving control, even if the target path is changed to another path, the working machine returns to the set target path. Therefore, the operator needs to manually stop the automatic driving control and then change the target path, which is troublesome to operate. The object of the present disclosure is to easily change the target path during the automatic driving control.

[0006] A system according to one aspect of this disclosure is a system for controlling a work machine, comprising a sensor and a controller. The sensor detects the current position of the work machine. The controller acquires a plurality of paths, including a first path. The controller acquires the current position of the work machine. The controller sets the first path from among the plurality of paths as the target path for the work machine. Based on the current position of the work machine, the controller controls the work machine by automatic driving control so that the work machine travels according to the first path. During automatic driving control, the controller acquires a command to cancel the target path. If the controller acquires a cancellation command during automatic driving control, it cancels the setting of the first path as the target path.

[0007] A method relating to another aspect of the present disclosure is a method for controlling a work machine, comprising: acquiring a plurality of paths including a first path; acquiring the current position of the work machine; setting the first path from among the plurality of paths as the target path of the work machine; controlling the work machine by automatic driving control so that the work machine travels according to the first path based on the current position of the work machine; acquiring a target path cancellation command during automatic driving control; and, if a cancellation command is acquired during automatic driving control, canceling the setting of the first path as the target path.

[0008] According to this disclosure, the target route can be easily changed during automated driving control.

[0009] This is a side view showing a work machine according to an embodiment. This is a block diagram showing the configuration of the drive system and control system of the work machine. This is a flowchart showing the process of automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing the work machine and target path in automatic driving control. This is a diagram showing an example of a reference point when reversing.

[0010] The following description of the work machine according to the embodiment will be made with reference to the drawings. Figure 1 is a side view showing the work machine 1 according to the embodiment. The work machine 1 according to this embodiment is a bulldozer. The work machine 1 comprises a vehicle body 11 and a work machine 12.

[0011] The vehicle body 11 includes a driver's cab 13, an engine room 14, and a running gear 15. The driver's cab 13 has a driver's seat (not shown). The engine room 14 is located in front of the driver's cab 13. The running gear 15 is located at the bottom of the vehicle body 11. The running gear 15 includes a pair of left and right tracks 16. In Figure 1, only the left track 16 is shown. The work machine 1 moves 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 so as to be rotatable around the lift axis X1 relative to the vehicle body 11. The blade 18 is positioned 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. As the lift actuator 19 extends and retracts, the lift frame 17 moves up and down. The blade 18 moves up and down in accordance with the up and down movement of the lift frame 17.

[0013] 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 fluid. The hydraulic fluid discharged from the hydraulic pump 23 is supplied to the lift actuator 19. Although one hydraulic pump 23 is shown in Figure 2, multiple hydraulic pumps may be provided.

[0014] The power transmission device 24 transmits the driving force from the drive source 22 to the running gear 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 multiple gears.

[0015] The control system 3 comprises a controller 26 and a control valve 27. The controller 26 is programmed to control the work machine 1 based on 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, memory and auxiliary storage device. The storage device 28 may be, for example, RAM or ROM. The storage device 28 may be semiconductor memory or a hard disk. The storage device 28 is executable by the processor 29 and records computer commands for controlling the work machine 1.

[0016] The control system 3 includes a travel control device 31A, a steering control device 31B, and a work machine control device 31C. The travel control device 31A is operable by an operator to manually control the forward and reverse movement of the work machine 1. The travel control device 31A includes, for example, a travel lever. However, the travel control device 31A may also include other components such as switches. The travel control device 31A is operable from a neutral position N1 to a forward position F1 and a reverse position R1. The travel control device 31A outputs travel commands to the controller 26 in response to the operator's operation.

[0017] The steering control device 31B is operable by an operator to manually steer the work machine 1. The steering control device 31B includes, for example, a steering lever. However, the steering control device 31B may also include a steering wheel or other components such as switches. The steering control device 31B is operable from a neutral position N2 in a right turn direction R2 and a left turn direction L2. The steering control device 31B outputs steering commands to the controller 26 in response to the operator's input.

[0018] The work implement operating device 31C is operable 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 switches. The work implement operating device 31C outputs work commands to the controller 26 in response to the operator's operation. Note that each of the operating devices 31A-31C may be composed of common components.

[0019] The controller 26 controls the drive source 22 and the power transmission device 24 to move the work machine 1 in response to a travel command from the travel control device 31A. As a result, the work machine 1 moves forward or backward in response to the operation of the travel control device 31A by the operator.

[0020] The controller 26 controls the drive source 22 and the power transmission device 24 to steer the work machine 1 left or right in response to steering commands from the steering control device 31B. For example, the controller 26 turns the work machine 1 left or right based on the speed difference between the left and right tracks 16. As a result, the work machine 1 turns left or right in response to the operation of the steering control device 31B by the operator.

[0021] The controller 26 controls the control valve 27 to operate the work implement 12 in response to work commands from the work implement operating device 31C. As a result, the work implement 12 moves up and down in response to the operator's operation of the work implement operating device 31C.

[0022] 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 set the automatic control of the work machine 1. The automatic control of the work machine 1 will be described in detail later.

[0023] 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 of another type. The display 33 may be a touch panel integrated with the input device 32. The display 33 displays a screen corresponding to an image signal from the controller.

[0024] 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 may include, for example, a sensor using GNSS (Global Navigation Satellite System). The position sensor 34 may also include an IMU (Inertial Measurement Unit).

[0025] The controller 26 acquires the current position and orientation of the work machine 1 based on the detection signal from the position sensor 34. Based on the current position and orientation of the work machine 1, the controller 26 performs automatic travel control to control the direction of travel of the work machine 1. For example, as shown in Figure 2, the control system 3 includes an automatic control switch 35. The automatic control switch 35 is operable by an operator to switch the automatic travel control on or off. The controller 26 enables automatic travel control when the automatic control switch 35 is ON. The controller 26 disables automatic travel control when the automatic control switch 35 is OFF.

[0026] The automatic travel control of the work machine 1 will be described below. Figure 3 is a flowchart of the automatic travel control process. In this embodiment of automatic travel control, the forward movement, reverse movement, and stopping of the work machine 1 are controlled according to the manual operation of the travel control device 31A by the operator.

[0027] In automatic driving control, the left and right turns of the work machine 1 are automatically controlled so that the work machine 1 moves according to the target path described later. For example, in automatic driving control, if the work machine 1 deviates to the right from the target path, the controller 26 automatically turns the work machine 1 to the left so that it returns to the target path. In automatic driving control, if the work machine 1 deviates to the left from the target path, the controller 26 automatically turns the work machine 1 to the right so that it returns to the target path.

[0028] As shown in Figure 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 P1 of the work machine 1 as the current position of the work machine 1. The reference point P1 of the work machine 1 is included in the blade 18. For example, as shown in Figure 4, the reference point P1 is the left end of the blade 18 in the vehicle width direction. Alternatively, the reference point P1 of the work machine 1 may be the right end or the center of the blade 18. The reference point P1 of the work machine 1 may be changeable by the input device 32.

[0029] In step S102, the controller 26 acquires multiple routes PA1-PA5. Figure 4 shows an example of multiple routes PA1-PA5. Note that in Figure 4, only some of the multiple routes are labeled, and the labels of the other routes are omitted. The multiple routes PA1-PA5 extend parallel to each other. For example, the operator sets one route using the input device 32. The controller 26 automatically generates multiple routes to the left and right of the route set by the operator. Alternatively, the controller 26 may store the multiple routes PA1-PA5 set by the operator using the input device 32. Alternatively, the controller 26 may acquire multiple routes PA1-PA5 from an external computer. Alternatively, the controller 26 may automatically generate multiple routes PA1-PA5.

[0030] The multiple routes PA1-PA5 include a first route PA1, a second route PA2, and a third route PA3. The second route PA2 and the third travel passage PA3 extend parallel to the first travel passage PA1. The second route PA2 is adjacent to the first route PA1 on one side. The third route PA3 is adjacent to the first route PA1 on the other side. That is, the third route PA3 is adjacent to the first route PA1 on the opposite side from the second route PA2. In this embodiment, the second route PA2 is located to the right of the first route PA1. The third route PA3 is located to the left of the first route PA1. However, the second route PA2 and the third route PA3 may be arranged in reverse order.

[0031] In step S103, the controller 26 sets the target path for automatic driving control. Here, the controller 26 sets the first path PA1 described above as the target path. For example, the controller 26 sets the first path PA1 as the target path when automatic driving control is enabled and the work machine is located within the effective range of the first path PA1, which will be described later.

[0032] In step S104, the controller 26 performs automatic driving control according to the target path. The controller 26 moves the work machine 1 forward or backward in response to the operator's manual operation of the driving control device 31A, and controls the work machine 1 so that it travels according to the target path based on the work machine 1's current position and orientation.

[0033] In detail, as shown in Figure 5, when the reference point P1 is located within the effective range A1 of automatic driving control on the first path PA1, the driving control device 31A is in the forward position F1 or the reverse position R1, and the steering control device 31B is in the neutral position N2, the controller 26 controls the work machine 1 by automatic driving control with the first path PA1 as the target path.

[0034] The effective range of the automatic driving control is the range up to a predetermined distance W1 minutes to the left and right of each path. The predetermined distance W1 is, for example, half the width of the blade. However, the predetermined distance W1 may be smaller or larger than half the width of the blade. The predetermined distance W1 may be changeable by the operator. Alternatively, the predetermined distance W1 may be a fixed value.

[0035] In Figure 5, "AUTO" indicates that automatic driving control is in operation. As shown in Figure 5, in automatic driving control, the controller 26 automatically rotates the work machine 1 so that the reference point P1 moves along the first path PA1. As a result, the work machine 1 is steered to travel along the first path PA1 simply by operating the travel control device 31A, without the operator having to operate the steering control device 31B. In other words, as shown in Figure 5, even if the steering control device 31B is in the neutral position N2, the work machine 1 is steered to travel along the first path PA1 simply by the operator operating the travel control device 31A.

[0036] In step S105, the controller 26 determines whether the steering control device 31B has been operated to turn. The controller 26 determines that the steering control device 31B has been operated to turn if it has been operated from the neutral position in the left turn direction L2 or the right turn direction R2. If the steering control device 31B is operated to turn during automatic driving control, the process proceeds to step S106.

[0037] In step S106, the controller 26 rotates the work machine 1 in response to a turning operation on the steering control device 31B. That is, if an intervention operation is performed by the steering control device 31B during automatic driving control, the controller 26 temporarily suspends the automatic driving control and enters a standby state, and rotates the work machine 1 in response to a turning operation on the steering control device 31B.

[0038] For example, in Figure 6, "READY" indicates that the automatic driving control is in standby mode. As shown in Figure 6, when the steering control device 31B is operated in the left turning direction L2, the controller 26 causes the work machine 1 to turn to the left. In the example shown in Figure 6, the driving control device 31A is operated to the forward position F1. Therefore, the work machine 1 turns to the left while moving forward.

[0039] The controller 26 resumes automatic driving control when intervention operations on the steering control device 31B are completed. In other words, when the steering control device 31B is returned to the neutral position N2, the controller 26 resumes automatic driving control.

[0040] In step S107, the controller 26 determines whether the working machine 1 has been switched between forward and reverse. For example, as shown in Figure 7, the controller 26 determines that the working machine 1 has been switched between forward and reverse when the travel control device 31 is switched from the forward position F1 to the reverse position R1. If the working machine 1 has been switched between forward and reverse, the process proceeds to step S108.

[0041] In step S108, the controller 26 cancels the target route. As shown in Figure 7, if the working machine 1 switches between forward and reverse movement during automatic driving control, the controller 26 cancels setting the first route PA1 as the target route and puts the automatic driving control into standby mode. The controller 26 also makes it impossible to set the first route PA1 as the target route.

[0042] Therefore, even when the steering control device 31B is returned to the neutral position N2, the controller 26 does not set the first route PA1 as the target route. Also, since the reference point P1 is not located within the effective range of the other routes, the controller 26 does not set a target route and maintains the automatic driving control in standby mode. As a result, as shown in Figure 8, the operator can move the work machine 1 toward the second route PA2 by moving the work machine 1 further in reverse with the steering control device 31B returned to the neutral position N2.

[0043] In step S109, the controller 26 determines whether the route setting conditions are satisfied. As shown in FIG. 9, the controller 26 determines that the route setting conditions are satisfied when the reference point P1 is located within the effective range A2 of the automatic driving control on the second route PA2, the traveling operation device 31A is located at the forward position F1 or the reverse position R1, and the steering operation device 31B is located at the neutral position N2. When the controller 26 determines that the route setting conditions are satisfied, in step S110, it re - sets the target route. That is, the controller 26 sets the second route PA2 as the target route.

[0044] When the second route PA2 is set as the target route, in step S104, the controller 26 executes automatic driving control according to the target route with the second route PA2 as the target route. That is, as shown in FIG. 10, the controller 26 controls the work machine 1 to move the work machine 1 toward the second route PA2 by automatic driving control and to travel along the second route PA2. After the controller 26 re - sets the second route PA2 as the target route, it enables the setting of the target route of the first route PA1. Alternatively, the controller 26 may enable the setting of the target route of the first route PA1 when the work machine 1 is switched from reverse to forward.

[0045] After the setting of the target route is canceled and the automatic driving control enters the standby state, if a predetermined time elapses without the target route being re - set, the controller 26 may end the automatic driving control.

[0046] As shown in FIG. 5, when the work machine 1 is moving forward by automatic driving control with the first route PA1 as the target route, as shown in FIG. 11, when the steering operation device 31B is operated in the right - turn direction R2, in step S106, the controller 26 puts the automatic driving control in the standby state and turns the work machine 1 to the right according to the operation of the steering operation device 31B. Therefore, the work machine 1 turns to the right while moving forward.

[0047] As shown in FIG. 12, when the traveling operation device 31 is switched from the forward position F1 to the reverse position R1, the controller 26 cancels the setting of the target path of the first path PA1 in step S108 and sets the automatic driving control to the standby state. Further, the controller 26 makes it impossible to set the target path of the first path PA1.

[0048] Therefore, even if the steering operation device 31B is returned to the neutral position N2, the controller 26 does not set the first path PA1 as the target path. Further, since the reference point P1 is not located within the effective range of any other path, the controller 26 does not set the target path and maintains the automatic driving control in the standby state. Thereby, as shown in FIG. 13, the operator can drive the work machine 1 toward the third path PA3 by further reversing the work machine 1 with the steering operation device 31B returned to the neutral position N2.

[0049] As shown in FIG. 14, when the reference point P1 is located within the effective range A3 of the automatic driving control in the third path PA3, the traveling operation device 31A is located at the forward position F1 or the reverse position R1, and the steering operation device 31B is located at the neutral position N2, the controller 26 determines in step S109 that the path setting conditions are satisfied. When the path setting conditions are satisfied, the controller 26 re-sets the target path in step S110. That is, the controller 26 sets the third path PA3 as the target path.

[0050] When the third path PA3 is set as the target path, in step S104, the controller 26 executes the automatic driving control according to the target path with the third path PA3 as the target path. That is, as shown in FIG. 15, the controller 26 moves the work machine 1 toward the third path PA3 by the automatic driving control and controls the work machine 1 to travel according to the third path PA3. Note that after re-setting the third path PA3 as the target path, the controller 26 enables the setting of the target path of the first path PA1.

[0051] As described above, if the target route is changed from the first route PA1 to the second route PA2, the controller 26 performs the same switching process from the second route PA2 to the first route PA1 or the fourth route PA4 as described above for switching from the first route PA1 to the second route PA2 or the third route PA3. Similarly, if the target route is changed from the first route PA1 to the third route PA3, the controller 26 performs the same switching process from the third route PA3 to the first route PA1 or the fifth route PA5 as described above for switching from the first route PA1 to the second route PA2 or the third route PA3.

[0052] In the work machine 1 according to this embodiment described above, if the work machine 1 switches between forward and reverse movement during automatic driving control, the target path is canceled. Therefore, the operator can change the direction of the work machine 1 by manually operating the steering control device 31B, and then move the work machine 1 toward the second path PA2 with the steering control device 31B returned to the neutral position N2. As a result, the target path is automatically changed from the first path PA1 to the second path PA2. Therefore, as shown by the dashed line B1 in Figure 10, the target path can be changed by moving the work machine 1 along a gentle trajectory. This makes it possible to easily change the target path in automatic driving control while suppressing the roughening of the ground caused by the movement of the work machine 1.

[0053] Similarly, the operator can change the orientation of the work machine 1 by manually operating the steering control device 31B, and then move the work machine 1 toward the third path PA3 with the steering control device 31B returned to the neutral position N2. This automatically changes the target path from the first path PA1 to the third path PA3. Therefore, as shown by the dashed line B2 in Figure 15, the target path can be changed by moving the work machine 1 along a gentle trajectory. This makes it possible to easily change the target path in automatic driving control while suppressing the roughening of the ground caused by the movement of the work machine 1.

[0054] 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 spirit of the invention.

[0055] The work machine 1 is not limited to a bulldozer; it may be other vehicles such as a wheel loader or motor grader. The work machine 1 may be operable remotely. In that case, the operating devices 31A-31C, the input device 32, the display 33, and the automatic control switch 35 may be located outside the work machine 1. The steering operating device 31B may be operated manually from a distance. The work machine 1 may have multiple controllers that are separate from each other. The processing performed by the controller 26 described above may be distributed and executed across multiple controllers.

[0056] The automatic driving control process by the controller 26 is not limited to that of the above embodiment and may be modified. For example, the path is not limited to a straight line but may be curved. The reference point P1 of the work machine 1 is not limited to the work machine 12 but may be included in the vehicle body 11. The reference point P1 of the work machine 1 may be the center of the vehicle body 11. The work machine 12 may include a ripper attached to the rear of the vehicle body 11. The reference point P1 of the work machine 1 may be included in the ripper.

[0057] The controller 26 may acquire different reference points for reverse and forward movement. For example, as shown in Figure 16, the controller 26 may set the forward reference point P1A in front of the pivot center C1 of the work machine 1 when the work machine 1 is moving forward, and set the reverse reference point P1B behind the pivot center C1 of the work machine 1 when the work machine 1 is moving backward. The reverse reference point P1B may be symmetric to the forward reference point P1A with respect to the center line L1 that passes through the pivot center C1 of the work machine 1 and extends in the left-right direction of the work machine 1.

[0058] The forward, reverse, and stop movements of the work machine 1 may be automatically controlled by the controller 26, rather than by manual operation of the travel control device 31A by the operator. In the above embodiment, the controller 26 acquires the operation of switching the travel control device 31A from the forward position F1 to the reverse position R1 as a target path cancellation command. However, the controller 26 may also acquire the operation of switching the travel control device 31A from the reverse position R1 to the forward position F1 as a target path cancellation command. The controller 26 may also acquire a predetermined input operation by the operator, such as a predetermined operation on a switch or touch panel, or a predetermined voice input, as a cancellation command. The controller 26 may also acquire the switching between forward and reverse by automatic control, not limited to manual operation of the travel control device 31A by the operator, as a target path cancellation command.

[0059] In the above embodiment, the controller 26 cancels the target path when the work machine 1 is switched from forward to reverse. However, the controller 26 may also cancel the target path when the work machine 1 is switched from reverse to forward.

[0060] In the above embodiment, if the controller 26 receives a cancellation command during automatic driving control, it cancels the setting of the first route R1 as the target route, making it impossible to set the first route R1 as the target route. However, if the controller 26 receives a cancellation command during automatic driving control, it may cancel the setting of the first route R1 as the target route and refrain from setting the target route for a certain period of time. Alternatively, if the controller 26 receives a cancellation command during automatic driving control, it may cancel the setting of the first route R1 as the target route and refrain from following the first route R1 for a certain period of time.

[0061] According to this disclosure, the target route can be easily changed during automated driving control.

[0062] 1: Working machine, 26: Controller, 31B: Steering control device, 34: Position sensor, R1: First path, R2: Second path

Claims

1. A system for controlling a work machine, comprising: a sensor for detecting the current position of the work machine; and a controller, wherein the controller acquires a plurality of paths including a first path; acquires the current position of the work machine; sets the first path from among the plurality of paths as the target path of the work machine; controls the work machine by automatic driving control so that the work machine travels according to the first path based on the current position of the work machine; acquires a cancellation command for the target path during the automatic driving control; and, if the cancellation command is acquired during the automatic driving control, cancels the setting of the first path as the target path.

2. The system according to claim 1, wherein the plurality of paths further include a second path, the controller cancels the setting of the first path as the target path, then resets the second path as the target path, and controls the work machine by the automatic driving control so that the work machine travels according to the second path based on the current position of the work machine.

3. The system according to claim 2, wherein the controller acquires the effective range of the automatic driving control in the second path, cancels the setting of the first path as the target path, and then, when the work machine enters the effective range of the automatic driving control in the second path, resets the second path as the target path.

4. The system according to claim 2, wherein the controller enables the setting of the first path as the target path after resetting the second path as the target path.

5. The system according to claim 1, wherein the controller acquires the cancellation command when the forward and reverse movements of the work machine are switched during the automatic driving control.

6. The system according to claim 1, wherein the controller acquires the effective range of the automatic driving control in the first path, sets the first path as the target path when the work machine enters the effective range of the automatic driving control in the first path, and cancels the setting of the first path as the target path when the cancellation command is acquired during the automatic driving control, thereby preventing the setting of the first path as the target path even if the work machine is located within the effective range.

7. The system according to claim 1, further comprising a steering control device that can be operated to rotate the work machine left or right, wherein the controller interrupts the automatic driving control when the steering control device is operated during the automatic driving control, rotates the work machine in response to the operation on the steering control device, and resumes the automatic driving control when the operation on the steering control device is completed.

8. The system according to claim 1, wherein the controller acquires the current position of the reference point of the work machine as the current position of the work machine.

9. The system according to claim 8, wherein the controller sets the reference point in front of the pivot center of the work machine when the work machine is moving forward, and sets the reference point behind the pivot center of the work machine when the work machine is moving backward.

10. A method for controlling a work machine, comprising: acquiring a plurality of paths including a first path; acquiring the current position of the work machine; setting the first path from among the plurality of paths as the target path of the work machine; controlling the work machine by automatic driving control so that the work machine travels according to the first path based on the current position of the work machine; acquiring a cancellation command for the target path during the automatic driving control; and, if the cancellation command is acquired during the automatic driving control, canceling the setting of the first path as the target path.

11. The method according to claim 10, wherein the plurality of paths further include a second path, and the method comprises: canceling the setting of the first path as the target path, then resetting the second path as the target path; and controlling the work machine by the automatic driving control so that the work machine travels according to the second path based on the current position of the work machine.

12. The method according to claim 11, comprising: obtaining the effective range of the automatic driving control in the second path; and, after canceling the setting of the first path as the target path, resetting the second path as the target path when the work machine enters the effective range of the automatic driving control in the second path.

13. The method according to claim 11, further comprising enabling the setting of the first route as the target route after the second route has been reset as the target route.

14. The method according to claim 10, further comprising obtaining the cancellation command when the forward and reverse movements of the work machine are switched during the automatic driving control.

15. The method according to claim 10, comprising: acquiring the effective range of the automatic driving control in the first path; setting the first path as the target path when the work machine enters the effective range of the automatic driving control in the first path; and, if the cancellation command is acquired during the automatic driving control, canceling the setting of the first path as the target path, and making it impossible to set the first path as the target path even if the work machine is located within the effective range.

16. The method according to claim 10, further comprising: interrupting the automatic driving control when a steering control device is operated during the automatic driving control, and turning the work machine in response to the operation on the steering control device; and resuming the automatic driving control when the operation on the steering control device is completed.

17. The method according to claim 10, further comprising acquiring the current position of the reference point of the work machine as the current position of the work machine.

18. The method according to claim 17, further comprising setting the reference point in front of the pivot center of the work machine when the work machine is moving forward, and setting the reference point behind the pivot center of the work machine when the work machine is moving backward.

19. The system according to claim 1, wherein, if the controller receives the cancellation command during the automatic driving control, it cancels the setting of the first route as the target route and makes it impossible to set the first route as the target route.

20. The method according to claim 10, further comprising: if a cancellation command is obtained during the automatic driving control, the setting of the first route to the target route is canceled, and the setting of the first route to the target route is made impossible.

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