Work machine and control method for work machine

Abstract

A work machine according an aspect includes a work implement, an operation apparatus for operating the work implement, and a controller for controlling the work implement. The controller performs intervention control for raising the work implement based on an operation command from the operation apparatus, decides switching from the intervention control to control of the work implement in accordance with an operation command from the operation apparatus, when the operation command from the operation apparatus is the operation command for raising the work implement or the neutral command based on a result of the determination, and makes an adjustment to gradually change the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is greater than or equal to a predetermined value.

1 . A work machine comprising:
 a work implement;   an operation apparatus for operating the work implement; and   a controller for controlling the work implement, wherein the controller
 performs intervention control for raising the work implement based on an operation command from the operation apparatus, 
 decides switching from the intervention control to control of the work implement in accordance with an operation command from the operation apparatus, 
 determines whether or not the operation command from the operation apparatus for the switching performed based on a result of the decision is an operation command for raising the work implement, or a neutral command, 
 determines a speed difference between a rising target speed of the work implement in the intervention control and a target speed in accordance with the operation command from the operation apparatus when the operation command from the operation apparatus is the operation command for raising the work implement or the neutral command based on a result of the determination, and 
 makes an adjustment to gradually change the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is greater than or equal to a predetermined value. 
   
     
     
         2 . The work machine according to  claim 1 , wherein
 the controller includes   an intervention control unit for performing intervention control for raising the work implement based on an operation command from the operation apparatus,   a switching decision unit for deciding switching from the intervention control to control of the work implement in accordance with an operation command from the operation apparatus,   an operation command determination unit for determining whether or not the operation command from the operation apparatus for the switching performed based on a result of the decision of the switching decision unit is an operation command for raising the work implement, or a neutral command,   a speed difference determination unit for determining a speed difference between a rising target speed of the work implement in the intervention control and a target speed in accordance with the operation command from the operation apparatus when the operation command from the operation apparatus is the operation command for raising the work implement or the neutral command based on a result of the determination of the operation command determination unit, and   a speed adjustment unit for making an adjustment to gradually change the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is greater than or equal to a predetermined value based on a result of the determination of the speed difference determination unit.   
     
     
         3 . The work machine according to  claim 1 , wherein the controller switches the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is less than the predetermined value. 
     
     
         4 . A control method for a work machine including a work implement and an operation apparatus for operating the work implement, the method comprising the steps of:
 performing intervention control for raising the work implement based on an operation command from the operation apparatus;   deciding switching from the intervention control to control of the work implement in accordance with an operation command from the operation apparatus;   determining whether or not the operation command from the operation apparatus for the switching performed based on a result of the decision is an operation command for raising the work implement, or a neutral command;   determining a speed difference between a rising target speed of the work implement in the intervention control and a target speed in accordance with the operation command from the operation apparatus when the operation command from the operation apparatus is the operation command for raising the work implement or the neutral command based on a result of the determination; and   making an adjustment to gradually change the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is greater than or equal to a predetermined value.