Control system and control method for work machine
A work machine includes a work implement. A control system for the work machine includes a controller configured to operate the work implement according to a target trajectory for a backward movement while the work machine is moving backward. A method is performed by a processor for controlling a work machine including a work implement. The method includes operating the work implement according to a target trajectory for a backward movement while the work machine is moving backward.
1. A control system for a work machine including a work implement, the control system comprising:
a controller configured to
acquire current terrain data indicative of a current terrain,
determine a target trajectory for a backward movement based on the current terrain, and
operate the work implement according to the target trajectory for the backward movement while the work machine is moving backward.
2. The control system according to claim 1 , wherein
the controller is further configured to
determine whether the work machine is switched to backward, and
execute a backward control to operate the work implement according to the target trajectory for the backward movement when the work machine is switched to backward.
3. The control system according to claim 1 , wherein
the controller is further configured to execute a forward control to operate the work implement according to a target trajectory for a forward movement while the work machine is moving forward.
4. The control system according to claim 1 , wherein
the controller is further configured to
update the current terrain data while the work machine is moving backward, and
determine the target trajectory for the backward movement based on the updated current terrain.
5. The control system according to claim 1 , wherein
the work machine includes a crawler track, and
the controller is further configured to
acquire heights of a plurality of points on the current terrain through which the crawler track pass while the work machine is moving backward, and
determine the target trajectory for the backward movement based on the heights of the plurality of points.
6. The control system according to claim 1 , wherein
the current terrain data indicates heights of a plurality of points on the current terrain, and
the controller is further configured to
acquire a cutting edge position of the work implement, and
determine the target trajectory for the backward movement based on the heights of the plurality of points around the cutting edge position.
7. The control system according to claim 6 , wherein
the controller is further configured to
acquire a midpoint position of the cutting edge of the work implement in a vehicle width direction,
acquire a target height of the work implement at the midpoint position based on the heights of the plurality of points around the midpoint position, and
determine the target trajectory for the backward movement based on the target height.
8. A control system for a work machine including a work implement, the control system comprising:
a controller configured to operate the work implement according to a target trajectory for a backward movement while the work machine is moving backward; and
an input device manually operable to change a tilt angle of the work implement,
the controller being further configured to
change the tilt angle of the work implement according to a manual operation of the input device, and
while the work implement is moving backward, move the work implement up and down according to the target trajectory for the backward movement while holding the work implement at the tilt angle.
9. The control system according to claim 6 , wherein
the controller is further configured to
acquire at least two positions separated from each other in the vehicle width direction on the cutting edge of the work implement,
acquire target heights at the at least two points based on the heights of the plurality of points around each of the at least two points, and
determine the target trajectory for the backward movement based on the target heights at the at least two positions.
10. The control system according to claim 9 , wherein
the controller is further configured to determine a tilt angle of the work implement based on the target heights at the at least two positions.
11. A method performed by a processor for controlling a work machine including a work implement, the method comprising:
acquiring current terrain data indicative of a current terrain;
determining a target trajectory for a backward movement based on the current terrain; and
operating the work implement according to the target trajectory for the backward movement while the work machine is moving backward.
12. The method according to claim 11 , further comprising:
determining whether the work machine is switched to backward, and
operating the work implement according to the target trajectory for the backward movement when the work machine is switched to backward.
13. The method according to claim 11 , further comprising:
executing a forward control to operate the work implement according to a target trajectory for a forward movement while the work machine is moving forward.
14. The method according to claim 11 , further comprising:
updating the current terrain data while the work machine is moving backward,
the determining the target trajectory for the backward movement including determining the target trajectory for the backward movement based on the updated current terrain.
15. The method according to claim 11 , wherein
the work machine includes a crawler track,
the method further comprises acquiring heights of a plurality of points on the current terrain through which the crawler track pass while the work machine is moving backward, and
the determining the target trajectory for the backward movement includes determining the target trajectory for the backward movement based on the heights of the plurality of points.
16. The method according to claim 11 , wherein
the current terrain data indicates heights of a plurality of points on the current terrain,
the method further comprises acquiring a cutting edge position of the work implement, and
the determining the target trajectory for the backward movement includes determining the target trajectory for the backward movement based on the heights of the plurality of points around the cutting edge position.
17. The method according to claim 11 , further comprising:
acquiring a midpoint position of a cutting edge of the work implement in a vehicle width direction, and
acquiring a target height of the work implement at the midpoint position based on heights of a plurality of points around the midpoint position, wherein
the determining the target trajectory for the backward movement including determining the target trajectory for the backward movement based on the target height.
18. A method performed by a processor for controlling a work machine including a work implement, the method comprising:
operating the work implement according to a target trajectory for a backward movement while the work machine is moving backward;
receiving a signal from a manually operable input device to change a tilt angle of the work implement, and
changing the tilt angle of the work implement according to a manual operation of the input device, wherein
the operating the work implement including operating the work implement up and down according to the target trajectory for the backward movement while holding the work implement at the tilt angle when the work implement is moving backward.