Work machine, system and method for controlling work machine

Abstract

A first work machine includes a work implement. A method of controlling the first work machine includes acquiring a traveling state of the first work machine that is performing work with the work implement while traveling on a first work path, determining whether the first work machine is deviating from the first work path based on the traveling state, and stopping travel of the first work machine upon determining that the first work machine is deviating from the first work path.

1 . A method for controlling a first work machine including a work implement, the method comprising:
 acquiring a traveling state of the first work machine that is performing work with the work implement while traveling on a first work path;   determining whether the first work machine is deviating from the first work path based on the traveling state; and   stopping travel of the first work machine upon determining that the first work machine is deviating from the first work path.   
     
     
         2 . The method according to  claim 1 , further comprising:
 determining whether the first work machine is repeatedly traveling on the first work path; and   determining whether the first work machine is deviating from the first work path when the first work machine is repeatedly traveling on the first work path.   
     
     
         3 . The method according to  claim 1 , wherein
 the traveling state includes a traveling direction of the first work machine, and the method further comprising:   determining that the first work machine is deviating from the first work path when a state in which the traveling direction of the first work machine is deviating from a target orientation of the first work machine continues for a predetermined period of time.   
     
     
         4 . The method according to  claim 1 , wherein
 the traveling state includes a of the first work machine, and   
       the method further comprising:
 determining that the first work machine is deviating from the first work path when a deviation width of the current position of the first work machine from the first work path exceeds a threshold. 
 
     
     
         5 . The method according to  claim 1 , wherein
 the first work machine further includes left and right crawler belts,   the traveling state includes rotation speeds of the left and right crawler belts, and the method further comprising:   determining that the first work machine is deviating from the first work path when a difference between the rotation speeds of the left and right crawler belts is greater than a threshold.   
     
     
         6 . The method according to  claim 1 , further comprising:
 allocating a work path to each of a plurality of work machines including the first work machine;   acquiring traveling states of the plurality of work machines;   determining whether any one of the plurality of work machines is deviating from the work path allocated to the corresponding work machine based on the traveling state; and   stopping travel of the work machine that is determined to be deviating from the work path.   
     
     
         7 . The method according to  claim 6 , wherein
 the plurality of work machines further include a second work machine positioned in a predetermined range in a vicinity of the first work machine, and the method further comprising:   stopping travel of the second work machine together with the first work machine upon determining that the first work machine is deviating from the first work path.   
     
     
         8 . The method according to  claim 1 , wherein
 the first work machine is controlled to dig a ground with the work implement while traveling on the first work path so that a slot is formed.   
     
     
         9 . The method according to  claim 1 , further comprising:
 determining whether the first work machine that is traveling in reverse on the first work path is deviating from the first work path based on the traveling state; and   stopping travel of the first work machine upon determining that the first work machine is deviating from the first work path.   
     
     
         10 . A system for controlling a first work machine including a work implement, the system comprising:
 a communication device configured to communicate with the first work machine; and   a remote controller configured to
 acquire a traveling state of the first work machine that is performing work with the work implement while traveling on a first work path, 
 determine whether the first work machine is deviating from the first work path based on the traveling state, and 
 stop travel of the first work machine upon determining that the first work machine is deviating from the first work path. 
   
     
     
         11 . A work machine comprising:
 a work implement;   a travel device; and   a machine controller configured to control the work implement and the travel device, the machine controller being configured to
 acquire a traveling state of the work machine when the work machine is performing work while traveling on a work path, 
 determine whether the work machine is deviating from the work path based on the traveling state, and 
 stop travel of the work machine upon determining that the work machine is deviating from the work path.