Autonomous driving system

Abstract

The vehicle's body is automatically controlled to move precisely towards the target position. [Solution] The automatic driving system 1 comprises a vehicle (10) and a driving body 11 and a controller 70. The controller 70 automatically controls the movement of the driving body 11 so that it moves toward a target position T1. The driving body 11 comprises a left driving body 11l and a right driving body 11r. The driving body 11 is configured to perform a spin turn by driving the left driving body 11l and the right driving body 11r in opposite directions. The controller 70 causes the driving body 11 to perform a spin turn when conditions relating to the position or distance traveled by the driving body 11 are met.

Description

Technical Field

[0001] The present invention relates to an automatic driving system that automatically controls a traveling body of a vehicle to travel.

Background Art

[0002] For example, Patent Document 1 describes operating a driving actuator based on information regarding a target position (see Claim 1 and Summary of Patent Document 1, etc.).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] It is desired that the traveling body of the vehicle can be automatically controlled so that it travels accurately toward the target position.

[0005] An object of the present invention is to provide an automatic driving system capable of automatically controlling a traveling body so that the traveling body of the vehicle travels accurately toward the target position.

Means for Solving the Problems

[0006] The automated driving system comprises a vehicle body and a controller. The controller automatically controls the movement of the vehicle body so that it moves toward a target position. The vehicle body comprises a left vehicle body and a right vehicle body. The right vehicle body is positioned on the opposite side of the left vehicle body in the lateral direction. The vehicle body is configured to perform a spin turn, which drives the left vehicle body and the right vehicle body in opposite directions. The controller automatically performs the spin turn when conditions relating to the vehicle body's position or distance traveled are met. [Effects of the Invention]

[0007] The above-described automated driving system allows for the automatic control of the vehicle so that it moves accurately toward the target position. [Brief explanation of the drawing]

[0008] [Figure 1] This is a view of the work machine 10 of the automated driving system 1 from the side Y. [Figure 2] This figure shows the hydraulic circuit 20 of the work machine 10 shown in Figure 1. [Figure 3] Figure 2 shows the functions of the controller 70, etc. (block print). [Figure 4] Figure 1 shows the working machine 10 as viewed from above Z1, and represents the case where the pivot center 13a is included in the target position O. [Figure 5] This diagram is equivalent to Figure 4, and shows the case where the pivot center 13a is not included in the target position O. [Figure 6] This diagram corresponds to Figure 4, and shows the case where the target position O is the position of the upper rotating body 13. [Figure 7] This diagram corresponds to Figure 4 and shows the state in which the vehicle 11 has performed a spin turn from the state shown in Figure 4. [Figure 8] This is a diagram corresponding to Figure 7, showing the state in which the vehicle 11 has moved forward from the state shown in Figure 7. [Figure 9]Figure 2 is a flowchart of the processing performed by the controller 70. [Figure 10] Figure 4 is a top view of the work machine 10 and other equipment shown, and is an explanatory diagram for modified example 1. [Figure 11] Figure 4 is a top view of the work machine 10 and other equipment shown, and is an explanatory diagram for modified example 2. [Modes for carrying out the invention]

[0009] The automated driving system 1 will be described with reference to Figures 1 to 11.

[0010] The automated driving system 1 is a system that automatically controls the movement of the work machine 10 (vehicle) shown in Figure 1. The automated driving system 1 comprises the work machine 10, the detection unit 40 shown in Figure 3, the input unit 60, the controller 70, and the output unit 80.

[0011] As shown in Figure 1, the work machine 10 (vehicle) is a mobile machine. The work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a material handling machine that performs material handling work. The work machine 10 may be, for example, an excavator or a crane. The work machine 10 may be a bulldozer or a wheel loader. Note that the "vehicle" does not have to be a work machine. The work machine 10 is configured to be operable by automatic control. The automatic control may be fully automatic operation or semi-automatic operation (described later). The work machine 10 may also operate in response to the operation of a worker (operator) without the use of automatic control. For example, the work machine 10 may be operated (onboard operation) by a worker in the driver's cab 13c (described later), or it may be remotely operated from outside the work machine 10. The following will mainly describe the case where the work machine 10 is an excavator. The work machine 10 comprises a machine body 10a, an attachment 15, a drive control unit 17 (see Figure 2), and an actuator 30.

[0012] The machine body 10a is the main body of the work machine 10. The machine body 10a comprises a traveling body 11, a slewing device 12, and an upper slewing body 13.

[0013] The traveling body 11 drives the work machine 10. The traveling body 11 is a lower traveling body that supports the upper rotating body 13 from below Z2 so that it can rotate. The traveling body 11 is capable of traveling on a traveling surface (ground, etc.). The traveling body 11 is capable of performing spin turns (details of the traveling method will be described later). The traveling body 11 is equipped with left and right crawlers 11d. The traveling body 11 may also be equipped with left and right wheels if it is capable of performing spin turns. The following mainly describes the case in which the traveling body 11 is equipped with left and right crawlers 11d. As shown in Figure 4, the traveling body 11 is equipped with a traveling body base 11b, a left traveling body 11l, and a right traveling body 11r. As shown in Figure 1, the left traveling body 11l and the right traveling body 11r are each equipped with a crawler frame 11c and a crawler 11d.

[0014] (direction) As shown in Figure 4, the direction in which the vehicle 11 moves forward and backward is defined as the longitudinal direction X. One side in the longitudinal direction X is defined as the front side X1, and the side opposite to the front side X1 is defined as the rear side X2. The front side X1 is the direction in which the vehicle 11 moves forward, and the rear side X2 is the direction in which the vehicle 11 moves backward. The longitudinal direction X is also called the "orientation of the vehicle 11" (described later). The direction in which the right vehicle 11r and the left vehicle 11l face each other is defined as the lateral direction Y. One side in the lateral direction Y (for example, the left when facing the front side X1) is defined as the left side Yl, and the side opposite to the left side Yl is defined as the right side Yr. Note that the left side Yl and the right side Yr may be opposite each other. The direction that intersects (for example, is perpendicular to) the longitudinal direction X and the lateral direction Y is defined as the vertical direction Z. For example, the vertical direction Z is the direction in which the central axis of rotation of the upper rotating body 13 relative to the vehicle 11 (rotation center 13a) extends. In the vertical direction Z, the side opposite to the running surface relative to the traveling body 11 is defined as the upper side Z1, and the side with the running surface relative to the traveling body 11 is defined as the lower side Z2.

[0015] The traveling body base 11b is a frame (structure) that supports the upper slewing body 13 via the slewing device 12 (see FIG. 1). The traveling body base 11b connects the left traveling body 11l and the right traveling body 11r.

[0016] As shown in FIG. 1, the crawler frame 11c is a frame that supports the crawler 11d. The crawler frame 11c is provided on each of the left traveling body 11l and the right traveling body 11r (see FIG. 4). The crawler frame 11c is fixed to both lateral sides in the Y direction of the traveling body base 11b (see FIG. 4). The crawler frame 11c may be attached to the traveling body base 11b or may be provided integrally with the traveling body base 11b. Each of the left and right crawler frames 11c is provided so as to extend in the front-rear direction X.

[0017] The crawler 11d is arranged around the crawler frame 11c (specifically, around each of the left and right crawler frames 11c). The crawler 11d is provided on each of the left traveling body 11l and the right traveling body 11r (see FIG. 4). The crawler 11d is supported by the crawler frame 11c via a roller or the like not shown. The crawler 11d contacts the traveling surface. The crawler 11d moves around the crawler frame 11c when the traveling motor 31 described later is driven.

[0018] The left traveling body 11l is arranged at the left Yl portion of the traveling body 11. The right traveling body 11r (see FIG. 4) is arranged at the right Yr portion of the traveling body 11.

[0019] The slewing device 12 is a device (for example, a slewing bearing) that supports the upper slewing body 13 so as to be slewed with respect to the traveling body 1,

[0020] The upper slewing body 13 is mounted on the traveling body 11 so as to be slewed. The central axis of the slewing of the upper slewing body 13 with respect to the traveling body 11 is defined as the slewing center 13a (see FIG. 4). The upper slewing body 13 includes an operator's cab 13c. The operator's cab 13c is a part where an operator can operate the work machine 10.

[0021] Attachment 15 is the part that performs the work. Attachment 15 is attached to the machine body 10a. For example, attachment 15 comprises a boom 15a, an arm 15b, and a tip attachment 15c. The boom 15a is rotatably attached to the upper slewing body 13. The arm 15b is rotatably attached to the boom 15a. The tip attachment 15c is provided at the tip of attachment 15. The tip attachment 15c is rotatably attached to the arm 15b. The tip attachment 15c may be a bucket capable of scooping and excavating workpieces. The tip attachment 15c may be equipped with a device for gripping workpieces (grapple, nibbler, rotating fork, etc.), a device for crushing workpieces (breaker, etc.), or a magnet for attracting metal workpieces.

[0022] The drive control unit 17 controls the actuator 30 shown in Figure 2. The drive control unit 17 may also include a hydraulic circuit 20 that controls the hydraulically operated actuator 30. The drive control unit 17 may also include an electrical circuit that controls the electrically operated actuator 30. The drive control unit 17 controls the travel motor 31, slewing motor 33, boom cylinder 35a, arm cylinder 35b, and tip attachment cylinder 35c, as shown in Figure 1. The drive control unit 17 includes a hydraulic circuit 20, as shown in Figure 2.

[0023] The hydraulic circuit 20 is a circuit for operating the hydraulically operated actuator 30 (hydraulic actuator). The hydraulic circuit 20 comprises a hydraulic oil tank 20t, a pump 21, a regulator 22, a control valve 25, and a proportional pressure reducing valve 26.

[0024] The 20t hydraulic oil tank is a tank (container) for storing hydraulic oil. The hydraulic oil is the oil used to operate the hydraulically operated actuator 30 and the oil used to operate the work machine 10.

[0025] Pump 21 draws hydraulic fluid from the hydraulic fluid tank 20t. Pump 21 supplies hydraulic fluid to the actuator 30. Pump 21 is rotated by a drive source E. The drive source E for pump 21 may be an engine or an electric motor. The capacity of pump 21 is variable. There may be only one pump 21 or multiple pumps 21. In the example shown in Figure 2, there are two pumps 21. In this example, pump 21 comprises a first pump 21a (P1 pump) and a second pump 21b (P2 pump).

[0026] The regulator 22 changes (controls, adjusts) the capacity of the pump 21. The regulator 22 changes the capacity of the pump 21 by changing the tilt angle of the pump 21. Since the flow rate of the hydraulic fluid discharged by the pump 21 (discharge flow rate) is proportional to the rotational speed and capacity of the pump 21, the regulator 22 changes the discharge flow rate of the pump 21 as a result of changing the capacity of the pump 21. The regulator 22 changes the capacity of the pump 21 in accordance with the command input to the regulator 22. The command input to the regulator 22 may be, for example, a pilot hydraulic pressure signal or an electrical signal (the same applies to the "command" below). This pilot hydraulic pressure command may be a command obtained by converting an electrical signal command output by the controller 70 into a pilot hydraulic pressure command. The regulator 22 comprises a first pump regulator 22a and a second pump regulator 22b.

[0027] The first pump regulator 22a (P1 pump regulator) changes the capacity of the first pump 21a. The second pump regulator 22b (P2 pump regulator) changes the capacity of the second pump 21b.

[0028] The control valve 25 is a valve that controls the movement of the actuator 30. The control valve 25 switches the direction of movement of the actuator 30 (for example, rotational direction or extension direction) by switching the direction of the flow of hydraulic fluid. The control valve 25 changes the speed at which the actuator 30 is driven by changing the flow rate of hydraulic fluid supplied to the actuator 30. The control valve 25 is installed between the pump 21 and the actuator 30. The above "between" refers to the space in the hydraulic fluid passage (the same applies to the "between" components of the hydraulic circuit 20 below). The control valve 25 controls the movement of the actuator 30 by changing the opening (degree of opening) of the control valve 25 in response to a command (opening command) input to the control valve 25, thereby changing the flow rate of hydraulic fluid supplied to the actuator 30. The command input to the control valve 25 may be, for example, pilot hydraulic pressure (see the explanation of proportional pressure reducing valve 26), or an electrical signal. Multiple control valves 25 are provided to control multiple actuators 30. Figure 2 illustrates two control valves 25 that control the two travel motors 31. The control valves 25 consist of a control valve 25l for left travel and a control valve 25r for right travel.

[0029] The left-side control valve 25l controls the movement of the left-side motor 31l. The left-side control valve 25l controls the direction and flow rate of the hydraulic fluid flowing from the first pump 21a to the left-side motor 31l. The right-side control valve 25r controls the movement of the right-side motor 31r. The right-side control valve 25r controls the direction and flow rate of the hydraulic fluid flowing from the second pump 21b to the right-side motor 31r.

[0030] The proportional pressure reducing valve 26 (command conversion unit) converts the electrical signal command output by the controller 70 into a pilot hydraulic pressure command. The proportional pressure reducing valve 26 converts the electrical signal command (e.g., current value) output by the controller 70 to the control valve 25 into a pilot hydraulic pressure command to the control valve 25. Note that if the control valve 25 is controlled by an electrical signal command, the proportional pressure reducing valve 26 is not required. The proportional pressure reducing valve 26 comprises a proportional pressure reducing valve 26l for left-hand travel and a proportional pressure reducing valve 26r for right-hand travel.

[0031] The proportional pressure reducing valve 26l for left-hand travel (proportional pressure reducing valve for left-hand travel control valve) converts the electrical signal command output by the controller 70 to the left-hand travel control valve 25l into a pilot hydraulic command. The proportional pressure reducing valve 26r for right-hand travel (proportional pressure reducing valve for right-hand travel control valve) converts the electrical signal command output by the controller 70 to the right-hand travel control valve 25r into a pilot hydraulic command.

[0032] The actuator 30 is a device that moves the work machine 10. The actuator 30 may be a hydraulic actuator that is driven by hydraulic pressure, or an electric actuator that is driven by electricity. The hydraulic actuator 30 is connected to a pump 21, and is driven by hydraulic pressure when hydraulic fluid is supplied from the pump 21. "Connected" means connected via an oil passage (the same applies hereinafter). The actuator 30 may be equipped with a motor that rotates, or a cylinder that extends and retracts (extendable cylinder). As shown in Figure 1, the actuator 30 includes a travel motor 31, a slewing motor 33, a boom cylinder 35a, an arm cylinder 35b, and a tip attachment cylinder 35c.

[0033] The travel motor 31 drives (moves) the travel body 11. More specifically, the travel body 11 moves the crawler 11d relative to the crawler frame 11c. The travel motor 31 may be a hydraulic motor or an electric motor, as shown in Figure 2 (the same applies to the slewing motor 33 (see Figure 1)). The travel motor 31 comprises a left travel motor 31l and a right travel motor 31r.

[0034] The left travel motor 31l drives the left travel body 11l (see Figure 4). The left travel motor 31l is connected to the first pump 21a via the left travel control valve 25l.

[0035] The right-hand drive motor 31r drives the right-hand drive unit 11r. The right-hand drive motor 31r is connected to the second pump 21b via the right-hand drive control valve 25r.

[0036] As shown in Figure 1, the slewing motor 33 rotates the upper slewing body 13 relative to the traveling body 11. The boom cylinder 35a raises and lowers the boom 15a relative to the upper slewing body 13. The boom cylinder 35a is, for example, a hydraulic cylinder (the same applies to the arm cylinder 35b and the tip attachment cylinder 35c). The arm cylinder 35b rotates the arm 15b relative to the boom 15a. The tip attachment cylinder 35c rotates the tip attachment 15c relative to the arm 15b. If the tip attachment 15c itself is drivable, for example, as a device for gripping objects, an actuator 30 for driving the tip attachment 15c may be provided.

[0037] The detection unit 40 detects various states. Part or all of the detection unit 40 may be mounted on the work machine 10 or located outside the work machine 10. The same applies to the input unit 60 (see Figure 3), controller 70, and output unit 80 (see Figure 3), which will be described later, as they may be mounted on or located outside the work machine 10. The detection unit 40 may also detect the state of the work machine 10. The detection unit 40 comprises a position detection unit 41 and a rotation angle detection unit 43.

[0038] The position detection unit 41 detects the position (current position) of the object to be measured. The position detection unit 41 detects the position of a specific part (positioning position) of the work machine 10. For example, the position detection unit 41 may detect the position of a specific part of the upper rotating body 13, or the position of a specific part of the traveling body 11. The position detection unit 41 may also detect the position using electromagnetic waves (light, radio waves, etc.). The position detection unit 41 may use a satellite positioning system, for example, a GNSS (global navigation satellite system). The position detection unit 41 may use a (ground) transmitter and receiver that do not use satellites, or it may use the reflection of light (for example, laser light) (for example, a total station). The position detection unit 41 may calculate the position of the object to be measured based on position information detected by multiple types of devices. In Figure 1, the position of the GNSS antenna is indicated by the code for the position detection unit 41 when the position detection unit 41 can perform detection using a GNSS positioning system.

[0039] The position detection unit 41 detects the orientation (direction, orientation) of the object to be measured. The position detection unit 41 detects the orientation of a specific part of the work machine 10. For example, the position detection unit 41 may detect the orientation of a specific part of the upper rotating body 13, or it may detect the orientation of the traveling body 11. The position detection unit 41 may use the Earth's magnetic field to detect the orientation of the object to be measured. The position detection unit 41 may detect the orientation of the object to be measured based on the positions of multiple parts of the object to be measured (multiple positioning positions) relative to the traveling surface (e.g., the ground at the work site). Specifically, for example, the position detection unit 41 may measure position information (coordinates) of multiple locations (e.g., two locations) of the upper rotating body 13 relative to the traveling surface, and calculate the orientation of the upper rotating body 13 from the position information of multiple locations.

[0040] The rotation angle detection unit 43 (rotation angle sensor) detects the rotation angle (rotation angle) of the upper rotating body 13 relative to the traveling body 11. The rotation angle detection unit 43 may also detect the rotation angle based on information detected by an angle sensor provided on the rotation axis (rotation center 13a (see Figure 4)) of the upper rotating body 13 relative to the traveling body 11 or on the rotation device 12, etc. The rotation angle detection unit 43 may also detect the rotation angle by performing image recognition on an image including the traveling body 11 and the upper rotating body 13.

[0041] The input unit 60 (see Figure 3) is an input device for inputting information. The input unit 60 shown in Figure 3 may be, for example, a target setting tool used for setting a target position T1 (see Figure 4), which will be described later. The input unit 60 is operated by an operator and outputs a signal corresponding to the operation. The input unit 60 outputs information to the controller 70. The input unit 60 may be equipped with a touch panel, a mouse, a keyboard, or switches. The input unit 60 may be installed on a tablet, a smartphone, or a personal computer. The input unit 60 may be installed on the work machine 10 (see Figure 1), for example, in the operator's cab 13c (see Figure 1). The input unit 60 may be installed on a remote control device for remotely operating the work machine 10.

[0042] The controller 70 is a computer that performs signal input / output, calculations (processing), and information storage. The functions of the controller 70 are realized by the execution of a program stored in the controller 70's memory unit by the calculation unit. The controller 70 may be connected to other devices by wireless communication or by wired communication. The controller 70 may be distributed and arranged in multiple locations (it may constitute a distributed system). The components of the controller 70 may be connected to each other by wireless communication or by wired communication. For example, communication may be performed by means of communication such as a mobile phone line, optical line, wireless LAN (Local Area Network), or wired LAN. For example, information is input to the controller 70 from the detection unit 40 and the input unit 60. For example, the controller 70 outputs a command (signal) to the drive control unit 17 (see Figure 2) to operate the work machine 10. For example, the controller 70 outputs information to the output unit 80. The controller 70 may be mounted on the work machine 10 (see Figure 1) or may be located outside the work machine 10. Focusing on the functions of the controller 70, the controller 70 comprises a driving automatic control unit 71, a target position storage unit 72, an upper rotating body orientation calculation unit 73, a driving body orientation calculation unit 74, a position calculation unit 75, a target orientation calculation unit 76, a reach determination unit 77, an unreachable determination unit 78, and a spin turn switching determination unit 79 (details of each will be described later).

[0043] The output unit 80 is a device that outputs information. The output unit 80 outputs information based on a signal output from the controller 70. The output unit 80 may output light (such as a display), sound (such as voice), or vibration. The output unit 80 may be installed in a tablet, a smartphone, or a personal computer. The output unit 80 may be installed in the operator's cab 13c. The output unit 80 may be installed in a remote control device for remotely operating the work machine 10. If the output unit 80 outputs light, the output unit 80 may be equipped with a display device (monitor).

[0044] (Operation) The automated driving system 1 is configured to operate as follows:

[0045] (How to drive) The vehicle 11 shown in Figure 4 can travel in various ways by combining the forward or reverse movement of the left vehicle 11l and the forward or reverse movement of the right vehicle 11r. The vehicle 11 can travel in ways other than spin turns, and in ways other than spin turns. The ways other than spin turns include straight movement, gentle turns, and pivot turns.

[0046] Straight-line movement is a method of driving in which the vehicle body 11 moves straight in the longitudinal direction X. Straight-line movement can be forward or backward. Straight-line movement is a method of driving in which the left vehicle body 11l and the right vehicle body 11r are driven at the same speed and in the same direction (forward or backward).

[0047] Slow turning is a driving method in which the vehicle 11 is driven in the longitudinal direction X while turning to the right Yr or left Yl. Slow turning is a driving method in which the left vehicle 11l and the right vehicle 11r are driven in the same direction but at different speeds.

[0048] A pivot turn is a driving method in which one of the left and right driving bodies 11l and 11r is stopped, and the other (the one that is not stopped) is driven, causing the driving body 11 to rotate around the stopped body. Specifically, a pivot turn is a driving method in which the right driving body 11r (one) is stopped and the left driving body 11l (the other) is driven (forward or backward), or the left driving body 11l (one) is stopped and the right driving body 11r (the other) is driven (forward or backward). A pivot turn is a driving method in which the driving body 11 rotates with the smallest radius among driving methods other than a spin turn. The center of rotation of the driving body 11 in a pivot turn is called the pivot center Pc.

[0049] The pivot center Pc is the centroid of the vehicle that is to be stopped (referred to as the "stopping vehicle") among the left vehicle 11l and the right vehicle 11r, when viewed from the vertical direction Z. The pivot center Pc is the center of the stopping vehicle (specifically, the crawler 11d (see Figure 1)) in both the longitudinal direction X and the lateral direction Y, when viewed from the vertical direction Z. The pivot center Pc is the centroid of the contact surface of the stopping vehicle when viewed from the vertical direction Z. Note that the position of the center of rotation of the vehicle 11 when it actually performs a pivot turn does not have to be exactly the same as the pivot center Pc position described above, but it will be approximately the same as the pivot center Pc position described above.

[0050] A spin turn is a method of driving that causes the vehicle 11 to rotate in place (see Figures 10 and 11). A spin turn is a method of driving that causes the left vehicle 11l and the right vehicle 11r to move in opposite directions at the same speed (or approximately the same speed). Specifically, a spin turn is a method of driving in which the right vehicle 11r moves forward and the left vehicle 11l moves backward, or the right vehicle 11r moves backward and the left vehicle 11l moves forward. The center of rotation of the vehicle 11 in a spin turn is the central position (or its vicinity) in the longitudinal X direction and the lateral Y direction of the vehicle 11. This central position in the longitudinal X direction and the lateral Y direction of the vehicle 11 may coincide with or approximately coincide with the position of the rotation center 13a of the upper rotation body 13 relative to the vehicle 11. In this case, the center of rotation of the vehicle 11 in a spin turn is the position (or its vicinity) of the rotation center 13a.

[0051] (Automatic driving control) In the following, the controller 70 shown in Figure 3, and each element of the controller 70, will be explained with reference to Figure 3. The controller 70 (specifically, the automatic driving control unit 71) automatically controls the movement of the vehicle 11 so that the vehicle 11 moves toward the target position T1 shown in Figure 10 (automatic driving control). Automatic driving control may be either fully automatic or semi-automatic. Fully automatic means that the controller 70 automatically drives the vehicle 11 without any operation by the operator. Semi-automatic means that the operator performs only a part of the operation of the vehicle 11's movement. In semi-automatic operation, for example, the operator may control the vehicle speed of the vehicle 11, and the controller 70 may control the direction of travel of the vehicle 11. In fully automatic and semi-automatic operation, the controller 70 (for example, the spin turn switching determination unit 79 (see Figure 3)) automatically switches the vehicle's driving method to a spin turn (described later).

[0052] The controller 70 automatically controls the movement of the mobile body 11 so that the target position O of the work machine 10 is positioned at the target position T1.

[0053] The target position O is information about the position that is targeted to be placed at the target position T1. The target position O is information indicating the position of the work machine 10. The target position O is set in the controller 70. The target position O may be set, for example, by manual operation of the input unit 60 (see Figure 3) by the operator, or it may be set in advance in the controller 70, or it may be set based on information read by the controller 70 from an external source (for example, specification information D1 (see Figure 3) described later).

[0054] As shown in Figure 4, the target position O may be a point (see target point Oc), a range (area), a two-dimensional range (range viewed from the vertical direction Z, a planar range), or a three-dimensional range. For example, if the target position O is a range, it may be a circle, a polygon, or any other shape when viewed from the vertical direction Z. If the target position O is a circle when viewed from the vertical direction Z, the target position O may be the area inside a circle centered on the target point Oc and with a radius equal to the reach determination distance Or when viewed from the vertical direction Z. The reach determination distance Or may be set, for example, by manual operation of the input unit 60 (see Figure 3) by the operator, or it may be set in advance in the controller 70.

[0055] This target position O is information indicating the position of the work machine 10. Target position O is a position whose relative position to the work machine 10 is specified. Target position O may be set to a position inside the work machine 10, a position on the surface of the work machine 10, or a position outside the work machine 10. Target position O may also be a position whose relative position to the traveling body 11 is specified. Target position O may move along with the movement of the traveling body 11. Target position O may also be a position whose relative position to the upper slewing body 13 is specified (see Figure 6). Target position O may rotate around the slewing center 13a relative to the traveling body 11 as the upper slewing body 13 rotates relative to the traveling body 11. Note that target position O may also be a position whose relative position to the attachment 15 is specified.

[0056] The target position O may be set to a position that includes the pivot center 13a when viewed from the vertical direction Z. For example, the target position O may be the area inside a circle with the pivot center 13a as the center (target point Oc) and the reach determination distance Or as the radius. The position of the target position O in the vertical direction Z may also be set. For example, the target position O may be a position that includes the intersection of the plane passing through the lower Z2 surfaces of the left travel body 11l and the right travel body 11r, and the pivot center 13a (an example of a position outside the work machine 10). The target position O may also be set to a position that does not include the pivot center 13a (see Figures 5 and 6).

[0057] The target position T1 is the target position (destination) for the vehicle 11's journey. The target position T1 is the position where the target position O is to be placed. As shown in Figure 10, the target position T1 may be the target position at the end of the vehicle 11's journey path (final target position), or it may be a target position along the vehicle 11's journey path (intermediate target position). The position information (information indicating the position) of the target position T1 is represented, for example, by coordinates. The position information of the target position T1 may be represented, for example, by coordinates based on the travel surface (for example, the ground of the work site), and more specifically, it may be represented by global coordinates, for example. Similarly, each "position information" other than the target position T1 is also information represented, for example, by coordinates.

[0058] The target position T1, like the symmetric position O, can be a point, a range (region), a two-dimensional range, or a three-dimensional range.

[0059] Here, even if the controller 70 attempts to move the vehicle 11 toward the target position T1 using automatic driving control, the target position O may deviate from the target position T1 due to the inclination of the driving surface and errors in the equipment (for example, each component of the hydraulic circuit 20 (see Figure 2)). For example, even if the controller 70 attempts to move the vehicle 11 in a straight line toward the target position T1 using automatic driving control, the vehicle 11 may not be able to move in a perfectly straight line along the longitudinal direction X, but may curve relative to the longitudinal direction X. Therefore, the controller 70 automatically controls the movement of the vehicle 11 while correcting the direction of movement of the vehicle 11 in order to suppress the deviation of the target position O from the target position T1.

[0060] (Spin-turn switching control) The controller 70 performs spin turn switching control. The spin turn switching control is outlined below. The controller 70 performs a spin turn on the vehicle 11 when conditions related to the position or travel distance of the work machine 10 (spin turn start conditions) are met. The controller 70 may also perform a spin turn on the vehicle 11 when conditions including the target position T1 being within the range of the unreachable range R are met (unreachable conditions), as shown in Figure 4 (example of this embodiment). The controller 70 may also perform a spin turn on the vehicle 11 each time the vehicle 11 travels a predetermined travel distance L101, as shown in Figure 10 (see Modification 1 described later). The controller 70 may also perform a spin turn on the vehicle 11 when the work machine 10 has moved a predetermined separation distance L201 away from the target path T3, as shown in Figure 11 (see Modification 2 described later). The spin turn switching control is described in detail below.

[0061] (Obtaining location information of target position O) The controller 70 (for example, the position calculation unit 75 (see Figure 3)) acquires position information (e.g., coordinates) of the target position O shown in Figure 4 (see step S33 in Figure 9). The details of the flowchart in Figure 9 will be described later. The "acquisition" of the position information of the target position O shown in Figure 4 above may be done by the controller 70 calculating the position information through calculation, or by the controller 70 receiving position information from an external source (the same applies to the "acquisition" described below). The controller 70 acquires the position information of the target position O as follows, for example.

[0062] The controller 70 acquires specification information D1 of the work machine 10 (see Figure 3). The specification information D1 may include information such as the position, dimensions, and shape of each part of the work machine 10 (e.g., the traveling body 11, the upper rotating body 13, and the pivot center 13a). The specification information D1 may also include information indicating which part of the work machine 10 (e.g., which part of the upper rotating body 13) corresponds to the position where position information is detected by the position detection unit 41 (see Figure 1) (positioning position). The specification information D1 may also include information on the relative position of the target position O with respect to the work machine 10. The specification information D1 may also include information indicating which part of the traveling body 11 corresponds to the pivot center Pc. For example, the specification information D1 may include information on the relative position of a combination of two or more positions from the pivot center 13a, positioning position, target position O, and pivot center Pc.

[0063] The controller 70 (specifically, the upper rotating body orientation calculation unit 73 (see Figure 3)) calculates the orientation of the upper rotating body 13 (see step S31 in Figure 9). Specifically, the position detection unit 41 (see Figure 1) detects the position information (positioning information) of multiple positioning locations (see step S21 in Figure 9). The upper rotating body orientation calculation unit 73 (see Figure 3) calculates the orientation of the upper rotating body 13 based on information indicating where the multiple positioning locations are located on the upper rotating body 13 (for example, specification information D1 (see Figure 3)) and the position information (positioning information) of the multiple positioning locations.

[0064] The controller 70 (specifically, the vehicle orientation calculation unit 74 (see Figure 3)) calculates the orientation of the vehicle 11 (see step S32 in Figure 9). Specifically, the turning angle detection unit 43 (see Figure 3) detects the turning angle of the upper turning body 13 relative to the vehicle 11 (see step S22 in Figure 9). The vehicle orientation calculation unit 74 (see Figure 3) calculates the orientation of the vehicle 11 based on the orientation of the upper turning body 13 calculated by the upper turning body orientation calculation unit 73 (see Figure 3) (step S31 in Figure 9) and the turning angle of the upper turning body 13 relative to the vehicle 11 (step S22 in Figure 9). For example, the orientation of the vehicle 11 is the orientation X in the front-rear direction of the vehicle 11. The orientation of the vehicle 11 may be the front X1 orientation or the rear X2 orientation.

[0065] The controller 70 (for details, the position calculation unit 75 (see Figure 3)) calculates the position information of the target position O as follows (see step S33 in Figure 9). The position calculation unit 75 (see Figure 3) can perform the calculation using any calculation method (procedure) as long as it can calculate the position information of the target position O.

[0066] [Calculation Example A1] For example, if the target point Oc is at the position of the pivot center 13a, the position calculation unit 75 (see Figure 3) calculates the position information of the target position O as follows: The position calculation unit 75 calculates the position information of the pivot center 13a, which is the target point Oc, based on the position information of the positioning position of the upper pivot body 13 (positioning information), the bearing of the upper pivot body 13, and the relative position information between the positioning position and the pivot center 13a (for example, the specification information D1 (see Figure 3)). Then, the position calculation unit 75 calculates the position information of the target position O based on the position information of the target point Oc and the reach determination distance Or.

[0067] [Calculation Example A2] For example, as shown in Figure 5, if the target position O is a position whose relative position to the vehicle 11 is specified, the position calculation unit 75 (see Figure 3) calculates the position information of the target position O as follows: The position calculation unit 75 calculates the position information of the target position O based on the position information of the pivot center 13a (see [Calculation Example A1] above), the orientation of the vehicle 11, and the relative position information between the pivot center 13a and the target position O (for example, the specification information D1 (see Figure 3)).

[0068] [Calculation Example A3] For example, as shown in Figure 6, if the target position O is a position whose relative position to the upper rotating body 13 is specified, the position calculation unit 75 (see Figure 3) calculates the position information of the target position O as follows: The position calculation unit 75 calculates the position information of the target position O based on the position information of the positioning position, the bearing of the upper rotating body 13, and the relative position information between the positioning position and the target position O (for example, the specification information D1 (see Figure 3)).

[0069] (Calculation of pivot center Pc position information) The controller 70 (specifically, the position calculation unit 75 (see Figure 3)) calculates the position information of the pivot center Pc shown in Figure 4 (step S34 in Figure 9). A specific example of how the position information of the pivot center Pc is calculated is as follows: The position calculation unit 75 (see Figure 3) calculates the position information of the pivot center Pc based on the position information of the pivot center 13a, the orientation of the vehicle 11, and the relative position information of the pivot center Pc with respect to the pivot center 13a (for example, the specification information D1 (see Figure 3)). Note that the position calculation unit 75 may use any calculation method (procedure) as long as it can calculate the position information of the pivot center Pc.

[0070] (Setting the target position T1) The controller 70 sets the target position T1. Specifically, the controller 70 may acquire (read) the position information of the target position T1 from outside the controller 70. The controller 70 may acquire the position information of the target position T1 that has been manually set by the operator using the input unit 60 (see Figure 3) (target position setting tool). The controller 70 may automatically calculate the position information of the target position T1 according to certain conditions. The controller 70 (in detail, the target position storage unit 72 (see Figure 3)) stores the position information of the target position T1. In addition, various other information besides the position information of the target position T1 is also stored in the storage unit of the controller 70.

[0071] (Calculation of target direction T5) The controller 70 (specifically, the target direction calculation unit 76 (see Figure 3)) calculates the target direction T5 (step S35 in Figure 9). The target position T1 is the target direction of travel for the vehicle 11. The target direction T5 is the direction (direction) from the current position of the work machine 10 (specifically, the target position O) toward the target position T1. The target direction calculation unit 76 (see Figure 3) calculates the target direction T5 based on the position information of the target position O (current position) and the position information of the target position T1.

[0072] (Achievement judgment) The controller 70 (in detail, the arrival determination unit 77 (see Figure 3)) determines whether the target position O has reached the target position T1 (performs an arrival determination). The arrival determination unit 77 (see Figure 3) determines that "the target position O has reached the target position T1" if the arrival conditions (described later) are met. The arrival determination unit 77 determines that "the target position O has not reached the target position storage unit 72" if the arrival conditions are not met. If the arrival determination unit 77 determines that "the target position O has reached the target position T1", the controller 70 (in detail, the automatic driving control unit 71 (see Figure 3)) terminates the driving targeting this target position T1. For example, if the target position T1 is the end of the driving path of the driving body 11, the controller 70 stops the driving of the driving body 11. For example, if the target position T1 is a target location along the travel path of the vehicle 11, the controller 70 sets the next target position T1 after the target position T1 reached by the target position O as the new target position T1.

[0073] The following are specific examples of arrival determination. Note that the specific method for determining arrival can be changed in various ways. [Example of arrival determination 1] If the target position T1 is a point and the target position O is a range, the arrival determination unit 77 (see Figure 3) determines that "the target position O has reached the target position T1" when the target position T1 enters the range of the target position O. [Example of arrival determination 2] If the target position T1 is a range and the target position O is a point, the arrival determination unit 77 determines that "the target position O has reached the target position T1" when the target position O enters the range of the target position T1.

[0074] [Example 3 of Reaching Determination] The following is a specific example of reach determination when both target position T1 and target position O are within range. [Example 3a of Reaching Determination] The reach determination unit 77 may determine that "target position O has reached target position T1" when at least a part of target position O is within range of target position T1. [Example 3b of Reaching Determination] The reach determination unit 77 may determine that "target position O has reached target position T1" when the narrower of target position O and target position T1 is completely within range of the wider one.

[0075] [Example 4 of Arrival Determination] As described above, as shown in Figure 6, the target position O may be a position whose relative position to the upper rotating body 13 is specified. In this case, as the upper rotating body 13 rotates relative to the traveling body 11, the target position O also rotates relative to the traveling body 11. [Example 4a of Arrival Determination] In this case, rotation of the upper rotating body 13 relative to the traveling body 11 is not permitted in the arrival determination. Specifically, the arrival determination may be performed with the rotation angle of the upper rotating body 13 relative to the traveling body 11 set to a single angle (a fixed angle). [Example 4b of Arrival Determination] Rotation of the upper rotating body 13 relative to the traveling body 11 may be permitted in the arrival determination. For example, when the target position O is positioned near the target position T1, if the upper rotating body 13 rotates relative to the traveling body 11 and the target position O reaches the target position T1, the arrival determination unit 77 may determine that "the target position O has reached the target position T1".

[0076] (Determined as unreachable) The controller 70 (specifically, the unreachable determination unit 78 (see Figure 3)) determines whether or not the unreachable condition is met (performs an unreachable determination). The unreachable condition includes a state in which it is impossible to move the target position O to the target position T1 using any method of movement of the vehicle 11 other than a spin turn (hereinafter simply referred to as "unreachable"). In other words, the unreachable determination unit 78 (see Figure 3) determines whether or not it is unreachable. The specific method for determining unreachable can be set in various ways, depending on the specific method for determining reachability.

[0077] For example, the inaccessibility determination unit 78 determines that the target position T1 is inaccessible if it is within the inaccessible range R shown in Figure 4, and thus determines that the inaccessibility condition is met. The inaccessibility determination unit 78 (see Figure 3) determines that the target position T1 is not inaccessible (it is accessible) if it is not within the inaccessible range R, and thus determines that the inaccessibility condition is not met.

[0078] The unreachable range R is the range of positions of the target position T1 in which it is impossible to reach the target position O using any method of movement of the vehicle 11 other than a spin turn. In other words, if the target position T1 falls within the range of the unreachable range R, it becomes impossible to reach the target position O using any method of movement of the vehicle 11 other than a spin turn. Specifically, the unreachable range R is a circle with the pivot center Pc as its center and the unreachable radius Rr as its radius, when viewed from the vertical direction Z.

[0079] The unreachable radius Rr is the shortest distance from the pivot center Pc to the target position O. In the example shown in Figure 4, the target position O is the inner region of a circle centered at the target point Oc and with a radius equal to the reachability determination distance Or. In this case, the unreachable radius Rr is the distance between the target point Oc and the pivot center Pc (pivot radius Pr) minus the reachability determination distance Or. For example, if the target point Oc coincides with the pivot center 13a, the unreachable radius Rr is the distance between the pivot center 13a and the pivot center Pc (pivot radius Pr) minus the reachability determination distance Or.

[0080] In the example shown in Figure 4, the unreachable range R is a circle centered at the pivot center Pc and with radius Rr when viewed from the vertical direction Z, with the target position T1 being a point. A specific example of determining unreachability in this case (see step S41 in Figure 9) is as follows: In this case, if the distance from the target position T1 to the pivot center Pc (reachability determination distance L1) is less than the unreachable radius Rr, the target position T1 is within the range of unreachable range R. In this case, the unreachability determination unit 78 determines that it is unreachable.

[0081] The specific method for determining whether a location is unreachable can be set in various ways depending on the relative position of the target location O with respect to the work machine 10, the shapes of the target location O and the target location T1, and the specific method for determining whether a location is unreachable. For example, if the target location T1 is within a range, the reachability determination described in [Example 3a of reachability determination] above may be performed. In this case, the controller 70 may determine that "the target location T1 is within the range of the unreachable range R" if the entire target location T1 is within the unreachable range R, and thus determine that the unreachable condition is met. The controller 70 may also determine that "the target location T1 is not within the range of the unreachable range R" if even a part of the target location T1 is not within the unreachable range R, and thus determine that the unreachable condition is not met (it is reachable). Furthermore, if the target location T1 is within a range, the reachability determination described in [Example 3b of reachability determination] above may be performed. In this case, the controller 70 may determine that "the target location T1 is within the range of the unreachable range R" if at least a part of the target location T1 is within the unreachable range R, and thus determine that the unreachable condition is met. The controller 70 may determine that "the target position T1 is not within the range of the unreachable range R" if no part of the target position T1 is within the unreachable range R, and may determine that the unreachable condition is not met (it is reachable).

[0082] Furthermore, the unreachable range R can be set in various ways depending on the relative position of the target position O with respect to the work machine 10. For example, as shown in Figure 6, the target position O is a position whose relative position to the upper slewing body 13 is specified, and as in the [Example of Reachability Determination 4b] above, the rotation of the upper slewing body 13 relative to the traveling body 11 may be permitted in the reachability determination. In this case, the unreachable radius Rr may be the distance (shortest distance) from the pivot center Pc to the corrected target position Oa. The corrected target position Oa is a circle whose center is the slewing center 13a when viewed from the vertical direction Z, and whose radius is the distance between the slewing center 13a and the position of the target position O that is furthest from the slewing center 13a.

[0083] (Spin turn switching) The automatic driving control unit 71 (see Figure 3) basically controls the vehicle 11 shown in Figure 4 to move using a driving method other than a spin turn (straight, gentle turn, or pivot turn) in automatic driving control. The automatic driving control unit 71 makes the vehicle 11 perform a spin turn only when the conditions for performing a spin turn (spin turn execution conditions) are met. More specifically, the automatic driving control unit 71 makes the vehicle 11 perform a spin turn when the conditions for starting a spin turn (spin turn start conditions) are met. The automatic driving control unit 71 makes the vehicle 11 end the spin turn when the conditions for ending a spin turn (spin turn end conditions) are met.

[0084] (Start of spin turn) The controller 70 (specifically, the spin turn switching determination unit 79 (see Figure 3)) initiates a spin turn of the mobile body 11 when the spin turn initiation conditions are met. The spin turn initiation conditions include the above-mentioned unreachable conditions. That is, the controller 70 initiates a spin turn of the mobile body 11 when the conditions are met, including the fact that it is impossible to reach the target position T1 from the target position O using any other method of travel for the mobile body 11 other than a spin turn. For example, the controller 70 initiates a spin turn of the mobile body 11 when the conditions are met, including the fact that the target position T1 is within the range of the unreachable range R. Note that the spin turn initiation conditions only need to include the unreachable conditions, or they may only include the unreachable conditions. The spin turn initiation conditions may also include the unreachable conditions and the meeting of other conditions. The above-mentioned "other conditions" may include, for example, the fact that an operator has performed an operation to confirm that a spin turn is to be performed using the input unit 60 (see Figure 3).

[0085] The controller 70 (specifically, the automatic driving control unit 71 (see Figure 3)) causes the vehicle to spin turn so that the orientation of the vehicle 11 (for example, the front X1) approaches the target orientation T5, as shown in Figure 7.

[0086] (Spin turn complete) The controller 70 (for details, the spin turn switching determination unit 79 (see Figure 3)) terminates the spin turn of the vehicle 11 when the spin turn termination condition is met. If the spin turn termination condition is met, the controller 70 makes the vehicle 11 travel using a different travel method than a spin turn. For example, if the spin turn termination condition is met, the controller 70 makes the vehicle 11 travel using the travel method it was using before the spin turn started (e.g., straight travel) (returning the travel method to its original state).

[0087] The spin turn termination condition may also include the condition that the above unreachable condition is not met (i.e., the target position O is reachable to the target position T1). For example, the spin turn termination condition may also include the condition that the target position T1 is not within the unreachable range R.

[0088] The spin turn completion condition may also include a condition regarding the orientation of the vehicle 11. The orientation of the vehicle 11 is the longitudinal direction X, as described above. In the example shown in Figure 7, the orientation of the vehicle 11 may be the front X1 (forward movement) or the rear X2 (reverse movement). For example, the spin turn completion condition may include the orientation of the vehicle 11 being aligned with, or nearly aligned with, the orientation of the target position T1. Specifically, the spin turn completion condition may include the deviation θd of the orientation of the vehicle 11 with respect to the target orientation T5 being less than or equal to a predetermined threshold (spin turn completion threshold).

[0089] (Effects of performing a spin turn) As shown in Figure 4, when the relative position between the target position T1 and the target position O becomes an "unreachable" position, the controller 70 makes it possible to move the vehicle 11 to the target position T1 by performing a spin turn, as shown in Figure 7. For example, even in situations where it is impossible to move the target position O to the target position T1 unless the target position O shown in Figure 4 is made larger (i.e., the reachability judgment is relaxed), it becomes possible to move the vehicle 11 to the target position T1 by performing a spin turn.

[0090] (Specific example of processing) Referring to the flowchart shown in Figure 9, a specific example of the automatic driving control (mainly spin-turn switching control) process of the controller 70 will be explained. Unless otherwise specified, the process will be explained in order. Note that the order of the process can be changed in various ways. In the following explanation, steps S11 to S53 shown in Figure 9 will be explained with reference to Figure 9.

[0091] In the state prior to step S11 (start), the work machine 10 shown in Figure 1 is in an idling state, and the actuator 30 is not moving.

[0092] In step S11, the controller 70 determines whether or not to start automatic driving control. For example, the controller 70 may determine whether or not to start automatic driving control by manually operating (inputting, selecting) the input unit 60 (see Figure 3). Alternatively, for example, conditions for automatically starting automatic driving control may be set in advance in the controller 70 (before starting automatic driving control). The controller 70 may then start automatic driving control if the conditions for automatically starting automatic driving control are met. If the controller 70 determines to start automatic driving control (if YES in step S11), it starts automatic driving control and specifically begins the processing from step S21 onwards. If the controller 70 does not determine to start automatic driving control (if NO in step S11), it waits until it determines to start automatic driving control.

[0093] In steps S21 to S23, the controller 70 acquires information from the detection unit 40 (see Figure 3). Specifically, the controller 70 acquires position information (positioning information, e.g., coordinates) of multiple positioning positions of the upper rotating body 13, for example, detected by the position detection unit 41 shown in Figure 1 (step S21). The controller 70 acquires the rotation angle of the upper rotating body 13 relative to the driving body 11, detected by the rotation angle detection unit 43 (step S22). The controller 70 acquires position information (e.g., coordinates) of the target position T1 shown in Figure 4 (step S23).

[0094] In steps S31 to S35, the controller 70 calculates direction and position information based on the information acquired from the detection unit 40 (see Figure 3). Specifically, the controller 70 (more specifically, the upper rotating body direction calculation unit 73 (see Figure 3)) calculates the direction of the upper rotating body 13 (step S31). The controller 70 (more specifically, the driving body direction calculation unit 74 (see Figure 3)) calculates the direction of the driving body 11 (step S32). The controller 70 (more specifically, the position calculation unit 75 (see Figure 3)) calculates the position information of the target position O (step S33). The controller 70 (more specifically, the position calculation unit 75) calculates the position information of the pivot center Pc (step S34). The controller 70 (more specifically, the target direction calculation unit 76 (see Figure 3)) calculates the target direction T5.

[0095] In step S36, the controller 70 (for example, the unreachability determination unit 78 (see Figure 3)) calculates the reachability determination distance L1. The reachability determination distance L1 is the distance (shortest distance) from the target position T1 to the pivot center Pc.

[0096] In step S41, the controller 70 (specifically, the unreachable determination unit 78 (see Figure 3)) determines whether the conditions (unreachable conditions) including the target position T1 being within the unreachable range R are met. Specifically, the controller 70 determines whether the reachability determination distance L1 is less than the threshold (unreachable radius Rr). For example, if the target position T1 is within the unreachable range R (if YES in step S41), the controller 70 determines that it is unreachable (the unreachable condition is met). Specifically, if the reachability determination distance L1 is less than the unreachable radius Rr, the controller 70 determines that it is unreachable. If the controller 70 determines that it is unreachable, it performs the process in step S42. For example, if the target position T1 is not within the unreachable range R (if NO in step S41), the controller 70 determines that it is reachable (the unreachable condition is not met). Specifically, the controller 70 determines that the destination is reachable if the reachability determination distance L1 is greater than or equal to the unreachable radius Rr. If the controller 70 determines that the destination is reachable, it performs the process in step S52.

[0097] In step S42, the controller 70 (specifically, the spin turn switching determination unit 79 (see Figure 3)) determines whether the spin turn termination condition has been met. Specifically, the controller 70 determines whether the deviation θd (deviation) of the orientation of the vehicle 11 relative to the target orientation T5, as shown in Figure 7, is greater than a predetermined threshold (spin turn termination threshold). More specifically, the controller 70 determines whether the absolute value of the difference between the target orientation T5 and the orientation of the vehicle 11 is greater than the spin turn termination threshold. If the deviation θd of the orientation of the vehicle 11 relative to the target orientation T5 is greater than the spin turn termination threshold (if YES in step S42), the controller 70 determines that the spin turn termination condition has not been met. If the controller 70 determines that the spin turn termination condition has not been met, it performs the process in step S51 to cause the vehicle 11 to perform a spin turn. The controller 70 determines that the spin turn termination condition has been met if the deviation θd of the orientation of the vehicle 11 with respect to the target orientation T5 is less than or equal to the spin turn termination threshold (if NO in step S42). If the controller 70 determines that the spin turn termination condition has been met, it performs the process in step S52 in order to have the vehicle 11 travel using a method other than a spin turn.

[0098] In step S51, the controller 70 (specifically, the automatic driving control unit 71 (see Figure 3)) automatically controls the driving body 11 so that it performs a spin turn (performs automatic spin turn control). The controller 70 then performs the process in step S53.

[0099] In step S52, the controller 70 (specifically, the automatic driving control unit 71 (see Figure 3)) automatically controls the vehicle 11 so that it drives using a driving method other than a spin turn. The controller 70 then performs the process in step S53.

[0100] In step S53, the controller 70 (specifically, the automatic driving control unit 71 (see Figure 3)) outputs a command to the drive control unit 17 shown in Figure 2. For example, the controller 70 outputs a command to the control valve 25 via the proportional pressure reducing valve 26. For example, the controller 70 commands the capacity of the pump 21 by outputting a command to the regulator 22. After the processing in step S53, the controller 70 performs the processing in step S11 (returning to "start"). The controller 70 repeatedly executes the series of processes (steps S11 to S53). Note that in step S11 from the second time onward, the response is "YES" because automatic driving control has already started, and the controller 70 performs the processing from step S21 onward.

[0101] (Variation 1) Modification 1 will be explained, mainly with reference to Figure 10. In the above example, the spin turn initiation condition includes the target position T1 shown in Figure 4 being within the unreachable range R. On the other hand, the spin turn initiation condition may include other conditions instead of, or in addition to, the target position T1 being within the unreachable range R. Specifically, in Modification 1, the spin turn initiation condition includes the travel distance of the vehicle 11, as shown in Figure 10.

[0102] More specifically, the controller 70 causes the vehicle 11 to spin turn each time it has traveled a predetermined distance L101 by automatic control. The conditions for initiating a spin turn include the controller 70 having traveled the vehicle 11 by a predetermined distance L101 by automatic control. By causing the vehicle 11 to spin turn each time it has traveled a predetermined distance L101 by automatic control, the controller 70 can make the vehicle 11 travel toward the target position T1 with greater precision.

[0103] Specifically, if the controller 70 has not made the vehicle 11 perform a spin turn even once since the start of automatic driving control, it performs the following process. In this case, the controller 70 makes the vehicle 11 perform a spin turn when it has traveled a predetermined distance L101 from the position of the vehicle 11 at the start of automatic driving control (starting position).

[0104] Furthermore, if the controller 70 causes the vehicle 11 to perform a spin turn one or more times during automatic driving control, it performs the following process. In this case, the controller 70 causes the vehicle 11 to perform a spin turn when it has traveled a predetermined distance L101 from the position where it last (most recently) performed a spin turn.

[0105] The predetermined travel distance L101 is a threshold value for the travel distance of the vehicle 11 in automatic driving control. For example, the predetermined travel distance L101 is a threshold value for the travel distance of the vehicle 11 in automatic driving control, from the position where the controller 70 last made the vehicle 11 spin turn or the starting position of the vehicle to the current position of the vehicle 11. The predetermined travel distance L101 may be a threshold value for the straight-line distance from the position where the controller 70 last made the vehicle 11 spin turn or the starting position of the vehicle to the current position of the vehicle. It may also be a threshold value for the length of the path (not limited to a straight line). The predetermined travel distance L101 may also be a threshold value for the travel distance of the turning center 13a (straight-line distance or path length), or a threshold value for the travel distance of the target position O (straight-line distance or path length).

[0106] The predetermined travel distance L101 may be set by the operator manually operating the input unit 60 (see Figure 3) (the same applies to the predetermined separation distance L201 (see Figure 11), which will be described later). The controller 70 may set the predetermined travel distance L101 automatically (the same applies to the predetermined separation distance L201). The controller 70 may change the predetermined travel distance L101 according to some conditions, or it may not change it (the same applies to the predetermined separation distance L201). For example, the controller 70 may automatically set (calculate) the predetermined travel distance L101 according to the distance from the position of the vehicle 11 at the start of automatic travel control (start position) to the target position T1 (the same applies to the predetermined separation distance L201). For example, the controller 70 may automatically set (calculate) the predetermined travel distance L101 according to the distance from the current position of the vehicle 11 while it is traveling under automatic travel control to the target position T1 (the same applies to the predetermined separation distance L201). The predetermined travel distance L101 may be a fixed value pre-set in the controller 70 (the same applies to the predetermined separation distance L201).

[0107] The distance traveled by the vehicle 11 may be calculated, for example, based on positioning information from the position detection unit 41 (see Figure 3). For example, the distance traveled by the vehicle 11 may be calculated based on the position information of the target position O calculated from the positioning information of the position detection unit 41 (see step S33 in Figure 9). The distance traveled by the vehicle 11 may also be calculated based on the drive state (such as rotational speed) of the vehicle motor 31 shown in Figure 1, or based on the drive state of the crawler 11d relative to the crawler frame 11c.

[0108] In Modification 1, the direction of the spin turn and the conditions for ending the spin turn are the same as in the above embodiment (and the same for Modification 2). Specifically, when the controller 70 makes the vehicle 11 spin turn, it makes the vehicle 11 spin turn in a direction in which the orientation of the vehicle 11 shown in Figure 7 (for example, the front X1) approaches the target orientation T5 (same as in the above embodiment). For example, when the deviation θd of the orientation of the vehicle 11 with respect to the target orientation T5 falls below a predetermined threshold (spin turn termination threshold), the controller 70 determines that the spin turn termination condition has been met and terminates the spin turn.

[0109] (Modification 2) Modification 2 will be explained mainly with reference to Figure 11. In Modification 2, the spin turn initiation condition includes a condition regarding the distance of the work machine 10 from the target path T3. For example, the spin turn initiation condition includes the work machine 10 moving away from the target path T3 by a predetermined separation distance L201 set in the controller 70. The controller 70 causes the vehicle 11 to perform a spin turn when the work machine 10 moves away from the target path T3 by a predetermined separation distance L201. This allows the controller 70 to automatically control the vehicle 11 to travel toward the target position T1 with greater accuracy.

[0110] The predetermined separation distance L201 is a threshold distance (separation distance) from the target path T3 to the work machine 10. For example, the predetermined separation distance L201 may also be a threshold distance from the target path T3 to the traveling body 11. The predetermined separation distance L201 may also be a threshold distance from the target path T3 to the target position O, or a threshold distance from the target path T3 to the target point Oc. The predetermined separation distance L201 may also be a threshold distance from the target path T3 to the pivot center 13a.

[0111] The predetermined separation distance L201 may be set manually, automatically by the controller 70, or be a fixed value pre-set in the controller 70, similar to the predetermined travel distance L101.

[0112] The predetermined separation distance L201 may be set according to the size of the target position O. For example, as shown in Figure 4, the target position O may be an area centered on the target point Oc with a radius of the reach determination distance Or. In this case, the predetermined separation distance L201 shown in Figure 11 may be set according to the reach determination distance Or (see Figure 4). For example, it is preferable that the predetermined separation distance L201 is less than or equal to the reach determination distance Or. In this case, it is easier to reach the target position O without the target position T1 entering the unreachable range R (see Figure 4).

[0113] The target path T3 is the target travel path of the vehicle 11 for moving the work machine 10 (from target position O) to target position T1. The target path T3 may be the target path of target position O, or the target path of target point Oc. The target path T3 is information set in the controller 70. The target path T3 is the path from the position of the work machine 10 at the start of automatic travel control (for example, the position of target position O) (travel start position) to target position T1. For example, the target path T3 may be a path that connects the target position O (coordinates) and target position T1 (coordinates) at the start of automatic travel control with a line (for example, a straight line).

[0114] The distance (separation distance) from the target path T3 to the work machine 10 may be calculated based on the position information of the target path T3 and the positioning information of the position detection unit 41 (see Figure 3). For example, the separation distance may be calculated based on the position information of the target position O calculated from the positioning information of the position detection unit 41 (step S33 in Figure 9), or based on the position information of the target point Oc, or based on the position information of the pivot center 13a.

[0115] (Effects of the first invention) The effects of the automatic driving system 1 shown in Figure 1 are as follows. The automatic driving system 1 comprises a driving body 11 of the work machine 10 (vehicle) and a controller 70. The controller 70 automatically controls the movement of the driving body 11 so that it moves toward the target position T1 shown in Figure 10. As shown in Figure 4, the driving body 11 comprises a left driving body 11l and a right driving body 11r. The right driving body 11r is positioned on the opposite side of the left driving body 11l in the lateral direction Y. The driving body 11 is configured to be able to perform a spin turn by driving the left driving body 11l and the right driving body 11r in opposite directions.

[0116] [Configuration 1] The controller 70 causes the vehicle 11 to perform a spin turn when conditions related to the position of the vehicle 11 (see Figures 4 and 11) or the distance traveled (see Figure 10) are met.

[0117] In the above [Configuration 1], the vehicle 11 automatically performs a spin turn when conditions regarding the position or distance traveled by the vehicle 11 are met. Here, a spin turn is a travel method that can reliably bring the orientation of the vehicle 11 (e.g., the front X1) closer to the orientation toward the target position T1 (target orientation T5) compared to other travel methods. Therefore, in the automatic control of the vehicle 11's travel, the orientation of the vehicle 11 can be reliably brought closer to the orientation toward the target position T1 (target orientation T5) compared to when no conditions are set for the vehicle 11 to automatically perform a spin turn. Thus, the travel of the vehicle 11 of the work machine 10 can be automatically controlled so that it travels toward the target position T1 with high accuracy.

[0118] (Effects of the second invention) The controller 70 is set with a target position O, which is information indicating the position of the work machine 10. The controller 70 automatically controls the movement of the traveling body 11 so that the target position O reaches the target position T1.

[0119] [Configuration 2] The controller 70 performs a spin turn on the vehicle 11 when conditions are met, including the fact that it is impossible to move the vehicle 11 to the target position T1 using any other vehicle movement method.

[0120] In the above [Configuration 2], the condition for automatically performing a spin turn on the vehicle 11 includes a state in which it is impossible to reach the target position T1 from the target position O using any other method of vehicle 11 other than a spin turn. Therefore, even if it is impossible to reach the target position T1 from the target position O using any other method of vehicle 11 other than a spin turn, the controller 70 makes it easier for the target position O to reach the target position T1 by automatically performing a spin turn on the vehicle 11. Thus, the automatic vehicle driving system 1 can suppress the possibility that the vehicle 11 will not be able to reach the target position T1. Therefore, the vehicle 11 can be automatically controlled to move toward the target position T1 with greater accuracy.

[0121] (Effects of the third invention) [Configuration 3] The controller 70 is set to an unreachable range R. The unreachable range R is the range of positions of the target position T1 in which it is impossible to reach the target position O with any driving method of the vehicle 11 other than a spin turn. The controller 70 performs a spin turn on the vehicle 11 when the conditions are met, including the fact that the target position T1 is within the range of the unreachable range R.

[0122] In the above [Configuration 3], the condition for the vehicle 11 to perform a spin turn is that the target position T1 is within the range of the unreachable area R. Therefore, the controller 70 can appropriately determine whether or not to perform a spin turn on the vehicle 11.

[0123] (Effects of the fourth invention) [Configuration 4] As shown in Figure 10, the controller 70 (see Figure 3) automatically controls the vehicle 11 to travel a predetermined distance L101 set in the controller 70, and each time the vehicle 11 is driven, it performs a spin turn.

[0124] With the above configuration [4], each time the vehicle 11 travels a predetermined distance L101 as shown in Figure 10, the orientation of the vehicle 11 (front X1) as shown in Figure 4 can be reliably brought closer to the orientation toward the target position T1 (target orientation T5). Therefore, the vehicle 11 can be automatically controlled to travel toward the target position T1 with greater accuracy.

[0125] (Effects of the fifth invention) [Configuration 5] As shown in Figure 11, the controller 70 (see Figure 3) is configured with a target path T3 for the work machine 10 to reach the target position T1. The controller 70 causes the traveling body 11 to spin turn when the work machine 10 moves away from the target path T3 by a predetermined separation distance L201 set in the controller 70.

[0126] In the above [Configuration 5], even if the work machine 10 moves away from the target path T3 by a predetermined separation distance L201, the orientation of the traveling body 11 (front side X1) shown in Figure 4 can be reliably brought closer to the orientation toward the target position T1 (target orientation T5). Therefore, the travel of the traveling body 11 can be automatically controlled so that it travels toward the target position T1 with greater accuracy.

[0127] (Other variations) The above embodiments (including the modifications within the embodiments), and modifications 1 and 2 (including the modifications within the descriptions of modifications 1 and 2) may be modified in various ways. The configuration of the above embodiments and the configurations of modifications 1 and 2 may be combined. For example, the number of components in the above embodiments and modifications 1 and 2 may be changed, and some components may not be provided. For example, the arrangement of components may be changed. For example, the fixing or connection of components may be direct or indirect. For example, the connections between components shown in Figures 2 and 3 may be changed. For example, the inclusion relationships of components may be changed in various ways. For example, a component described as a subordinate component included in a higher-level component may not be included in this higher-level component, but may be included in other components. For example, what was described as multiple distinct elements may be treated as a single element. For example, what was described as a single element may be divided into multiple distinct elements. For example, each component may have only a part of each characteristic (function, arrangement, shape, operation, etc.).

[0128] For example, the order of the steps in the flowchart shown in Figure 9 may be changed, and some steps may be omitted. For example, various types of information (values, ranges, etc.) may be pre-set in the controller 70 shown in Figure 3, or they may be set by being read into the controller 70 from an external storage device. Various types of information may be set in the controller 70 based on information set by manual operation of the input unit 60 by an operator. Various types of information may be set in the controller 70 based on information detected by the detection unit 40. For example, various types of information may not be changed, may be changed by manual operation, or may be automatically changed by the controller 70 according to some condition. For example, the controller 70 may perform substantially the same processing as each process (calculation, judgment, etc.). For example, the formulas used in the processing, the processing procedures, and the information used in the processing can be changed in various ways. Specifically, the controller 70 may perform processing using information that can be converted into various types of information used in the above embodiment and modified examples 1 and 2. The processing performed by the controller 70 may be combined in various ways.

[0129] The automatic driving system 1 is configured to perform each of the operations described above. An automatic driving program may be set to cause the controller 70 (computer) to execute the processes that cause each of the operations described above. An automatic driving method may be performed to carry out each of the operations described above. Each of the operations described above may be referred to as a "step" in the automatic driving program and automatic driving method described above. For example, the spin turn switching determination unit 79's determination of whether or not to perform a spin turn on the driving body 11 (see Figure 4) may be referred to as the "spin turn switching determination step". [Explanation of Symbols]

[0130] 1. Automated Driving System 10. Work machinery (vehicles) 11. Running body 11L Left-hand drive unit 11r Right-hand drive unit 70 Controllers L101 Scheduled mileage L201 Predetermined separation distance O Target position R Unreachable Range T1 target position T3 Target Path

Claims

1. The vehicle's running gear and A controller that automatically controls the movement of the vehicle so that the vehicle moves toward a target position, Equipped with, The aforementioned traveling body is The left vehicle and, The right-hand vehicle is positioned on the opposite side in the lateral direction from the left-hand vehicle, Equipped with, The aforementioned traveling body is configured to perform a spin turn by driving the left traveling body and the right traveling body in opposite directions. The controller automatically performs the spin turn on the vehicle when the conditions relating to the vehicle's position or distance traveled are met. Automated driving system.

2. An automated driving system according to claim 1, The controller is configured with a target position, which is information indicating the location of the vehicle. The controller automatically controls the movement of the vehicle so that the target position reaches the target position. The controller performs the spin turn on the vehicle when a condition is met that includes the fact that it is impossible to move the vehicle to the target position using any other method of vehicle movement other than the spin turn. Automated driving system.

3. An automated driving system according to claim 2, The controller is configured with an unreachable range, which is the range of the target position within which it is impossible to reach the target position using any driving method of the vehicle other than the spin turn. The controller causes the vehicle to perform the spin turn when a condition is met that includes the target position being within the range of the unreachable area. Automated driving system.

4. An automated driving system according to claim 1, The controller, each time it automatically controls the vehicle to travel a predetermined distance set in the controller, performs the spin turn on the vehicle. Automated driving system.

5. An automated driving system according to claim 1, The controller is configured with a target path for the vehicle to reach the target position. The controller, when the vehicle moves away from the target path by a predetermined distance set in the controller, causes the vehicle to perform the spin turn. Automated driving system.

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