Autonomous travel system

Abstract

An autonomous travel system (1) comprises a traveling body (11) and a controller (70). The controller (70) autonomously controls the travel of the traveling body (11) so that the traveling body (11) travels toward a target position (T1). The traveling body (11) is provided with a left traveling body (11L) and a right traveling body (11R). The traveling body (11) is configured to be capable of performing a spin turn in which the left traveling body (11L) and the right traveling body (11R) are driven in mutually opposite directions. The controller (70) causes the traveling body (11) to perform the spin turn when a condition relating to the position or travel distance of the traveling body (11) is satisfied.

Description

Autonomous Driving System

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

[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.).

[0003] It is desired to be able to automatically control the traveling body so that the traveling body of the vehicle travels accurately toward the target position.

[0004] Japanese Unexamined Patent Application Publication No. 2023 - 115325

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

[0006] The autonomous driving system includes a traveling body of a vehicle and a controller. The controller automatically controls the traveling of the traveling body so that the traveling body travels toward a target position. The traveling body includes a left traveling body and a right traveling body. The right traveling body is disposed on the opposite side in the lateral direction to the left traveling body. The traveling body is configured to be capable of performing a spin turn that drives the left traveling body and the right traveling body in opposite directions to each other. The controller automatically causes the traveling body to perform the spin turn when a condition regarding the position or traveling distance of the traveling body is satisfied.

[0007] With the above - described autonomous driving system, it is possible to automatically control the traveling body so that the traveling body of the vehicle travels accurately toward the target position.

[0008] This is a view of the work machine 10 of the automatic driving system 1 from the side Y. This is a diagram showing the hydraulic circuit 20 of the work machine 10 shown in Figure 1. This is a block diagram showing the functions of the controller 70 shown in Figure 2. This is a view of the work machine 10 shown in Figure 1 from above Z1, where the pivot center 13a is included in the representative part O of the work machine 10. This is a diagram equivalent to Figure 4, where the pivot center 13a is not included in the representative part O. This is a diagram equivalent to Figure 4, where the representative part O is identified by its positional relationship with the upper pivot body 13. This is a diagram equivalent to Figure 4, showing the state in which the driving body 11 has performed a spin turn from the state shown in Figure 4. This is a diagram equivalent to Figure 7, showing the state in which the driving body 11 has moved forward from the state shown in Figure 7. This is a flowchart of the processing of the controller 70 shown in Figure 2. This is a view of the work machine 10 etc. shown in Figure 4 from above, and is an explanatory diagram of modification 1. This is a view of the work machine 10 etc. shown in Figure 4 from above, and is an explanatory diagram of modification 2.

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

[0010] The automatic driving system 1 is a system that automatically controls the movement of the work machine 10 (vehicle) shown in Figure 1. The automatic driving system 1 mainly comprises the driving body 11 of the work machine 10, a detection unit 40, an input unit 60, a controller 70, and an output unit 80, as shown in Figures 1 and 3. The work machine 10 is an example of a "vehicle" in this invention. In this invention, the vehicle is not limited to the work machine 10 and only needs to be drivable, but the following description will focus on the case where the vehicle is the work machine 10.

[0011] As shown in Figure 1, the work machine 10 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, a shovel or a crane. The work machine 10 may be a bulldozer or a wheel loader. 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 be operated by operator rather than by automatic control. For example, the work machine 10 may be operated by an operator sitting in the driver's cab 13c (described later), or it may be remotely controlled from outside the work machine 10. Below, we will mainly describe the case where the work machine 10 is a shovel. 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] 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 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 side when facing the front side X1) is defined as the left side Y1, and the side opposite to the left side Y1 is defined as the right side Y2. Note that the left side Y1 and the right side Y2 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 pivot axis of the upper rotating body 13 relative to the vehicle 11 (the pivot center 13a, described later) extends. One side in the vertical direction Z that faces the traveling body 11 from the traveling surface is designated as the upper side Z1, and the side opposite to the upper side Z1 is designated as the lower side Z2.

[0013] 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.

[0014] 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 so that it can rotate. The traveling body 11 can travel on a traveling surface such as the ground. The traveling body 11 is capable of performing spin turns (details of the traveling method will be described later). The traveling body 11 may have left and right wheels if it is capable of spin turns, but below we will describe the case in which the traveling body 11 has left and right crawlers 11d. As shown in Figure 4, the traveling body 11 comprises 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 each comprise a crawler frame 11c and a crawler 11d.

[0015] The base 11b of the traveling body is a frame (structure) that supports the upper rotating body 13 via the rotating device 12 (see Figure 1). The base 11b of the traveling body connects the left traveling body 11L and the right traveling body 11R.

[0016] As shown in Figure 1, the crawler frame 11c is a frame that supports the crawler 11d. The crawler frame 11c is provided on both the left running body 11L and the right running body 11R (see Figure 4). The crawler frame 11c is fixed to both sides of the running body base 11b in the lateral direction Y. The crawler frame 11c may be attached separately to the running body base 11b, or it may be provided integrally with the running body base 11b. Each of the left and right crawler frames 11c is provided so as to extend in the longitudinal direction X.

[0017] The crawler tracks 11d are positioned around the left and right crawler frames 11c, respectively. The crawler tracks 11d are provided on the left running body 11L and the right running body 11R (see Figure 4). The crawler tracks 11d are supported by the crawler frames 11c via rollers (not shown). The crawler tracks 11d are in contact with the running surface. The crawler tracks 11d move around the crawler frames 11c in response to the drive of the running motor 31, which will be described later.

[0018] The left vehicle body 11L is positioned on the left side Y1 of the vehicle body 11. The right vehicle body 11R is positioned on the right side Y2 of the vehicle body 11.

[0019] The slewing device 12 is a device that supports the upper slewing body 13 so that it can rotate relative to the traveling body 11. The slewing device 12 includes, for example, a slewing bearing.

[0020] The upper slewing body 13 is mounted on the traveling body 11 so as to be rotatable. The pivot axis of the upper slewing body 13 relative to the traveling body 11 is defined as the pivot center 13a (see Figure 4). The upper slewing body 13 is equipped with a driver's cab 13c. The driver's cab 13c is a room where an operator who operates the work machine 10 is seated.

[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 Figures 1 and 2. The drive control unit 17 includes a hydraulic circuit 20 (see Figure 2) 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 each of the components of the actuator 30, which will be described later: the travel motor 31, the slewing motor 33, the boom cylinder 35a, the arm cylinder 35b, and the tip attachment cylinder 35c.

[0023] The hydraulic circuit 20 is a circuit for operating the hydraulically operated actuator 30. 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 20-ton 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, that is, 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 one or more pumps 21, but in the example shown in Figure 2, two pumps 21 are provided. In this example, pump 21 comprises a first pump 21a and a second pump 21b.

[0026] The regulator 22 changes 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 by 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 from the controller 70. The command input to the regulator 22 may be, for example, a pilot hydraulic pressure command or an electrical signal (the same applies to the "command" below). The 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.

[0027] The regulator 22 comprises a first pump regulator 22a and a second pump regulator 22b. The first pump regulator 22a changes the capacity of the first pump 21a. The second pump regulator 22b 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 driving speed of the actuator 30 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, that is, in the middle of the oil passage connecting the pump 21 and the actuator 30. The control valve 25 controls the movement of the actuator 30 by changing the amount of opening (opening degree) of the control valve 25 in response to a command (opening command) input to the control valve 25 from the controller 70, thereby changing the flow rate of hydraulic fluid supplied to the actuator 30. Multiple control valves 25 are provided to control multiple actuators 30. In Figure 2, two control valves 25 that control two travel motors 31 are shown.

[0029] The control valve 25 comprises a left travel control valve 25L and a right travel control valve 25R. The left travel control valve 25L controls the movement of the left travel motor 31L. The left travel control valve 25L controls the direction and flow rate of the hydraulic fluid flowing from the first pump 21a to the left travel motor 31L. The right travel control valve 25R controls the movement of the right travel motor 31R. The right travel control valve 25R controls the direction and flow rate of the hydraulic fluid flowing from the second pump 21b to the right travel motor 31R.

[0030] The proportional pressure reducing valve 26 functions as a command conversion unit that 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 from the controller 70 to the control valve 25 into a pilot hydraulic pressure command for the control valve 25. Note that if the control valve 25 is controlled by an electrical signal command, the proportional pressure reducing valve 26 does not need to be provided.

[0031] The proportional pressure reducing valve 26 comprises a left proportional pressure reducing valve 26L and a right proportional pressure reducing valve 26R. The left proportional pressure reducing valve 26L converts the electrical signal command output from the controller 70 to the left travel control valve 25L into a pilot hydraulic command. The right proportional pressure reducing valve 26R converts the electrical signal command output from the controller 70 to the right 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 the pump 21 via an oil passage. The actuator 30 moves hydraulically when hydraulic fluid is supplied from the pump 21. The actuator 30 may be equipped with a motor that rotates, or a cylinder that extends and retracts. 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 the travel body 11 to move it. 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 and an oil passage.

[0035] The right travel motor 31R drives the right travel body 11R. The right travel motor 31R is connected to the second pump 21b via the right travel control valve 25R and an oil passage.

[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 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, such as a device for gripping objects, an actuator for driving the tip attachment 15c may be provided. The boom cylinder 35a, arm cylinder 35b, and tip attachment cylinder 35c are, for example, hydraulic cylinders.

[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, in that some or all of their elements may be mounted on the work machine 10 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 of the object to be measured (current position). The position detection unit 41 detects the position of a specific part of the work machine 10 by positioning. 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 not use satellites, for example, it may use a ground-based transmitter and receiver, 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 when detection is performed using a GNSS positioning system is indicated by the reference numeral for the position detection unit 41.

[0039] The position detection unit 41 detects the orientation of the object to be measured. Orientation is, for example, an index that represents the direction the object to be measured is facing, relative to a predetermined reference direction. The position detection unit 41 may, for example, detect the orientation 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 also detect the orientation of the object to be measured based on the positions of multiple parts of the object to be measured relative to the traveling surface (for example, the ground at the work site). For example, the position detection unit 41 may measure the position information (coordinates) of multiple locations (for example, 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 measured position information of the multiple locations.

[0040] The rotation angle detection unit 43 (rotation angle sensor) detects the 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 a rotation axis or rotation device 12, etc., along the rotation center 13a (see Figure 4) of the upper rotating body 13 relative to the traveling body 11. 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 various types of information to the controller 70. The input unit 60 shown in Figure 3 can function as a target setting tool, for example, 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 output signal is input 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 utilize the input function of a tablet, a smartphone, or a personal computer. The input unit 60 may be installed on the work machine 10, 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 a distributed system including multiple computers connected to each other. The components of the controller 70 may be connected to each other by wireless communication or by wired communication. For example, communication is performed by means of communication such as a mobile phone line, optical line, wireless LAN (Local Area Network), or wired LAN. Information is input to the controller 70 from the detection unit 40 and the input unit 60. Based on the various input information, the controller 70 outputs commands (signals) to the drive control unit 17 (see Figure 2) to operate the work machine 10. The controller 70 also outputs information to the output unit 80. The controller 70 may be mounted on the work machine 10 or located outside the work machine 10.

[0043] Focusing on the functions of the controller 70, the controller 70 includes a travel automatic control unit 71, a target position storage unit 72, an upper swing body azimuth calculation unit 73, a traveling body azimuth calculation unit 74, a position calculation unit 75, a target azimuth calculation unit 76, an arrival determination unit 77, a non-arrival determination unit 78, and a spin turn switching determination unit 79 (details will be described later).

[0044] The output unit 80 is a device that outputs information. Based on the signal output from the controller 70, the output unit 80 outputs information. The output unit 80 may output light (display), may output sound (such as voice), or may output vibration. The output unit 80 may utilize the output function of a tablet, may utilize the output function of a smartphone, or may utilize the output function of a personal computer. The output unit 80 may be provided in the cab 13c. The output unit 80 may be provided in a remote control device for remotely operating the work machine 10. When the output unit 80 outputs light, the output unit 80 may include a device (monitor) for display.

[0045] (Traveling method) The automatic traveling system 1 is configured to operate as follows.

[0046] The traveling body 11 shown in FIG. 4 can travel in various traveling methods by combining the forward or backward movement of the left traveling body 11L and the forward or backward movement of the right traveling body 11R. The traveling methods of the traveling body 11 include a spin turn and traveling methods other than the spin turn. The traveling methods other than the spin turn include straight traveling, slow turning, and pivot turning.

[0047] Straight traveling is a traveling method in which the traveling body 11 travels straight in the front-rear direction X. Straight traveling includes forward traveling and backward traveling. Straight traveling is a traveling method in which the left traveling body 11L and the right traveling body 11R are driven at the same speed and in the same direction (either the forward or backward direction).

[0048] Slow turning is a traveling method in which the traveling body 11 travels in the front-rear direction X while turning to the right side Y2 or the left side Y1. Slow turning is a traveling method in which the left traveling body 11L and the right traveling body 11R are driven in the same direction as each other and at different speeds from each other.

[0049] A pivot turn is a traveling method in which one of the left traveling body 11L and the right traveling body 11R is stopped and the other is driven, so that the traveling body 11 is turned around a position away from the center of the traveling body 11 to either the left or the right. Specifically, the pivot turn is a traveling method in which the right traveling body 11R is stopped and the left traveling body 11L is driven, or the left traveling body 11L is stopped and the right traveling body 11R is driven. The traveling direction of the driving-side traveling body may be either the forward direction or the backward direction. The pivot turn is a traveling method that can turn the traveling body 11 with the smallest turning radius among traveling methods other than the spin turn. Hereinafter, the turning center of the traveling body 11 by the pivot turn is referred to as the pivot center Pc.

[0050] The position of the pivot center Pc is the centroid position of the traveling body on the stopped side (hereinafter referred to as the stopped-side traveling body) among the left traveling body 11L and the right traveling body 11R when viewed from the vertical direction Z. The pivot center Pc is the position at the center of the front-rear direction X and the lateral direction Y of the stopped-side traveling body when viewed from the vertical direction Z. In other words, the pivot center Pc is the centroid position of the ground contact surface of the stopped-side traveling body when viewed from the vertical direction Z. This position is substantially the same as the centroid position of the crawler 11d (see FIG. 1) of the stopped-side traveling body. In FIG. 4, the pivot center Pc existing in the right traveling body 11R is the pivot center when the right traveling body 11R is the stopped-side traveling body, and the pivot center Pc existing in the left traveling body 11L is the pivot center when the left traveling body 11L is the stopped-side traveling body. Note that the position of the turning center of the traveling body 11 when the traveling body 11 actually makes a pivot turn does not necessarily exactly match the position of the above pivot center Pc, but generally coincides with the pivot center Pc.

[0051] A spin turn is a driving method that causes the vehicle 11 to rotate in place (see Figures 10 and 11). A spin turn is a driving method in which the left vehicle 11L and the right vehicle 11R are driven in opposite directions and at the same speed (or approximately the same speed). Specifically, a spin turn is a driving method in which the right vehicle 11R is driven in the forward direction and the left vehicle 11L is driven in the reverse direction, or the right vehicle 11R is driven in the reverse direction and the left vehicle 11L is driven in the forward direction. The center of rotation of the vehicle 11 in a spin turn is the position (or near the center) of the vehicle 11 in the longitudinal direction X and the lateral direction Y. This position (or near the center) of the vehicle 11 in the longitudinal direction X and the lateral direction Y 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 near the center) of the rotation center 13a.

[0052] (Automatic Driving Control) The controller 70, more specifically the automatic driving control unit 71 (see Figure 3), performs automatic driving control to automatically control the driving of the vehicle 11 so that the vehicle 11 travels toward the target position T1 shown in Figure 10. Automatic driving control may be either fully automatic or semi-automatic. Fully automatic means that the controller 70 automatically controls 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 switching of the vehicle 11's driving method to a spin turn (described later) is performed automatically by the spin turn switching determination unit 79 (see Figure 3) of the controller 70.

[0053] The controller 70 automatically controls the movement of the mobile body 11 so that a representative part O of the work machine 10 moves to the target position T1.

[0054] The representative part O is a part that represents the position of the work machine 10. The representative part O is set by the controller 70. The representative part O may be set, for example, in response to manual operation of the input unit 60 (see Figure 3) by the operator, or it may be set in advance by 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 described later).

[0055] The representative area O may be a point or a region. In this embodiment, the representative area O is assumed to be a region. In this case, the representative area O may be a two-dimensional region, i.e., a planar region viewed from the vertical direction Z, or a three-dimensional region. For example, when viewed from the vertical direction Z, the representative area O may be a circle, a polygon, or any other shape. Figure 4 illustrates the case where the representative area O is a circle when viewed from the vertical direction Z. In this case, the representative area O is a region enclosed by a circle with the representative point Oc as the center and the reach determination distance Or as the radius 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 by the controller 70. Note that when the representative area O is a point, the representative area O is the representative point Oc itself.

[0056] The representative part O may be set inside the work machine 10, on the surface of the work machine 10, or outside the work machine 10. The representative part O may be set at a position where its relative position to the traveling body 11 is specified. The representative part O may move in conjunction with the movement of the traveling body 11. The representative part O may be set at a position where its relative position to the upper slewing body 13 is specified (see Figure 6). The representative part O may rotate around the slewing center 13a relative to the traveling body 11 in conjunction with the rotation of the upper slewing body 13 relative to the traveling body 11. The representative part O may also be set at a position where its relative position to the attachment 15 is specified.

[0057] As shown in Figure 4, the representative part O may be set at a position that includes the pivot center 13a when viewed from the vertical direction Z. For example, the representative part O may be a region enclosed by a circle with the pivot center 13a as its center (representative point Oc) and the reach determination distance Or as its radius. The position of the representative part O in the vertical direction Z may also be set. For example, the representative part O may be a position that includes the intersection of the plane containing the lower surfaces of the left and right running bodies 11L and 11R, respectively, and the axis of the pivot center 13a (pivot center axis). As shown in Figures 5 and 6, the representative part O may be set at a position that does not include the pivot center 13a.

[0058] The target position T1 is the position (destination) that the vehicle 11 aims to reach during its journey. Specifically, the target position T1 is the movement target of a representative part O of the work machine 10. As shown in Figure 10, the target position T1 may be the final target position, which is the end of the vehicle 11's travel path, or it may be an intermediate target position set at a point along the vehicle 11's travel path. Information about the target position T1 can be represented, for example, by coordinates. Information about the target position T1 may be represented by coordinates based on the travel surface (for example, the ground at the work site), or it may be represented by global coordinates, etc. This also applies to position information other than the target position T1.

[0059] The target location T1, like the representative region O, can be a point or a region. If it is a region, the target location T1 can be a two-dimensional region or a three-dimensional region.

[0060] Here, even if the controller 70 attempts to move the vehicle 11 toward the target position T1 using automatic driving control, the representative part O may deviate from the target position T1 due to the inclination of the driving surface and operating errors of the equipment (for example, each component of the hydraulic circuit 20). 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 representative part O from the target position T1.

[0061] (Spin Turn Switching Control) The controller 70 performs spin turn switching control. The outline of the spin turn switching control is as follows: The controller 70 makes the vehicle 11 spin turn when conditions related to the position or travel distance of the work machine 10 (spin turn start conditions) are met. The controller 70 makes the vehicle 11 spin turn when conditions including the target position T1 being within an unreachable range R are met (unreachable conditions), as shown in Figure 4, for example. The controller 70 may make the vehicle 11 spin turn every time the vehicle 11 travels a predetermined travel distance L101, as shown in Figure 10 (see Modification 1 described later). The controller 70 may make the vehicle 11 spin turn when the work machine 10 is a predetermined separation distance L201 away from the target path T3, as shown in Figure 11 (see Modification 2 described later). The details of the spin turn switching control will be explained below.

[0062] The controller 70, more specifically the position calculation unit 75 (see Figure 3), acquires position information (e.g., coordinates) of the representative part 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 representative part O may be done by the controller 70 calculating the position information through calculation, or by the controller 70 acquiring the position information from an external source (the same applies to "acquisition" in the following description). The controller 70 acquires the position information of the representative part O, for example, as follows.

[0063] 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, such as 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 (for example, which part of the upper rotating body 13) is the part (positioning point) where position information is detected by the position detection unit 41. The specification information D1 may also include information indicating the relative position of a representative part O of the work machine 10. The specification information D1 may also include information indicating the position of the pivot center Pc on the traveling body 11. For example, the specification information D1 may include a combination of information on two or more positions among the pivot center 13a, the positioning point, the representative part O, and the pivot center Pc.

[0064] The controller 70, more specifically the upper slewing body orientation calculation unit 73 (see Figure 3), calculates the orientation of the upper slewing body 13 (see step S31 in Figure 9). Specifically, the position detection unit 41 detects positioning information, which is the position information of multiple locations (positioning points) on the upper slewing body 13 (see step S21 in Figure 9). The upper slewing body orientation calculation unit 73 calculates the orientation of the upper slewing body 13 based on the specification information D1 indicating which parts of the upper slewing body 13 the multiple positioning points are, and the position information of the multiple positioning points (positioning information).

[0065] The controller 70, more 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 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 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 as described above, and the turning angle of the upper turning body 13 relative to the vehicle 11. Here, the orientation of the vehicle 11 is an index that represents the direction of the vehicle 11 in the front-rear direction X with respect to a predetermined reference direction, and is expressed as the angle between the reference direction and the front-rear direction X, i.e., the azimuth angle. The orientation of the vehicle 11 may be the orientation of the front side X1 of the vehicle 11, or the orientation of the rear side X2.

[0066] The controller 70, more specifically the position calculation unit 75 (see Figure 3), calculates the position information of the representative part O, for example, as follows (see step S33 in Figure 9). The position calculation unit 75 may perform the calculation using any calculation method (procedure) as long as it can calculate the position information of the representative part O.

[0067] [Calculation Example 1] Figure 4 shows an example in which the representative part O is set such that the representative point Oc, which is the center of the representative part O, coincides with the rotation center 13a. In this case, the position calculation unit 75 calculates the position information of the representative part O as follows, for example. That is, the position calculation unit 75 calculates the position information of the rotation center 13a, i.e., the representative point Oc, based on the position information (positioning information) of the positioning point of the upper rotation body 13, the orientation of the upper rotation body 13, and the relative position information between the positioning point and the rotation center 13a included in the specifications information D1. Then, the position calculation unit 75 calculates the position information of the representative part O based on the position information of the representative point Oc and the reach determination distance Or.

[0068] [Calculation Example 2] Figure 5 shows an example in which a representative part O is set at a position other than the pivot center 13a, where the relative positional relationship with the traveling body 11 is specified. In this case, the position calculation unit 75 calculates the position information of the representative part O as follows, for example. That is, the position calculation unit 75 calculates the position information of the representative part O based on the position information of the pivot center 13a, the orientation of the traveling body 11, and the relative position information between the pivot center 13a and the representative part O included in the specifications information D1.

[0069] [Calculation Example 3] Figure 6 shows an example in which a representative part O is set at a position other than the pivot center 13a, where the relative positional relationship with the upper pivot body 13 is specified. In this case, the position calculation unit 75 calculates the position information of the representative part O as follows, for example. That is, the position calculation unit 75 calculates the position information of the representative part O based on the position information of the positioning point of the upper pivot body 13, the orientation of the upper pivot body 13, and the relative position information between the positioning point and the representative part O included in the specifications information D1.

[0070] (Calculation of Pivot Center Position Information) The controller 70, more specifically the position calculation unit 75 (see Figure 3), calculates the position information of the pivot center Pc shown in Figure 4 (see step S34 in Figure 9). A specific example of calculating the position information of the pivot center Pc is as follows: The position calculation unit 75 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 included in the specifications information D1. 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.

[0071] (Setting the target position) The controller 70 sets the target position T1 of the vehicle 11. Specifically, the controller 70 may acquire 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 through the input unit 60 (see Figure 3). The controller 70 may automatically calculate the position information of the target position T1 according to certain conditions. The controller 70, more specifically the target position storage unit 72 (see Figure 3), stores the position information of the target position T1. Various other information besides the position information of the target position T1 is also stored in the storage unit of the controller 70.

[0072] (Calculation of target direction) The controller 70, more specifically the target direction calculation unit 76 (see Figure 3), calculates the target direction T5 of the traveling body 11 (see step S35 in Figure 9). The target direction T5 is the direction from the current position of the work machine 10 (more specifically the position of the representative part O) toward the target position T1. The target direction calculation unit 76 calculates the target direction T5 based on the position information of the representative part O (current position) and the position information of the target position T1.

[0073] (Arrival Determination) The controller 70, more specifically the arrival determination unit 77 (see Figure 3), performs an arrival determination to determine whether the representative part O has reached the target position T1. The arrival determination unit 77 determines that the representative part O has reached the target position T1 if predetermined arrival conditions are met. The arrival determination unit 77 determines that the representative part 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 representative part O has reached the target position T1, the controller 70, more specifically the automatic driving control unit 71 (see Figure 3), terminates the driving that targets this target position T1. For example, if the reached target position T1 is the end of the driving path (final target position) of the driving body 11, the controller 70 stops the driving of the driving body 11. For example, if the reached target position T1 is an intermediate target position located along the travel path of the vehicle 11, the controller 70 sets the next target position T1 after the reached target position T1 as the new target position T1.

[0074] The conditions for determining reach, or the conditions for reaching a destination, as described above, can be various. For example, the following conditions for reaching a destination can be set.

[0075] [Example of setting the arrival condition 1] If the target position T1 is a point and the representative part O is a region, the arrival determination unit 77 determines that the representative part O has reached the target position T1 when the target position T1 enters the region of the representative part O (see Figure 8).

[0076] [Example of setting the arrival condition 2] When the target position T1 is a region and the representative part O is a point, the arrival determination unit 77 determines that the representative part O has reached the target position T1 when the representative part O enters the region of the target position T1.

[0077] [Example 3 of setting the arrival condition] If both the target position T1 and the representative part O are regions, the arrival determination unit 77 may determine that the representative part O has reached the target position T1 when at least a part of the representative part O enters the region of the target position T1. Alternatively, the arrival determination unit 77 may determine that the representative part O has reached the target position T1 when the narrower of the representative part O and the target position T1 completely enters the region of the wider region.

[0078] [Example of setting arrival conditions 4] As shown in Figure 6, if a representative part O is set at a position where its relative positional relationship with the upper rotating body 13 is specified, the representative part O will also rotate relative to the traveling body 11 as the upper rotating body 13 rotates relative to the traveling body 11. For this reason, rotation of the upper rotating body 13 relative to the traveling body 11 does not need to be 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 fixed angle. Alternatively, rotation of the upper rotating body 13 relative to the traveling body 11 may be permitted in the arrival determination. For example, when the representative part O is positioned near the target position T1, if the representative part O reaches the target position T1 as the upper rotating body 13 rotates relative to the traveling body 11, the arrival determination unit 77 may determine that the representative part O has reached the target position T1.

[0079] (Determination of Unreachability) The controller 70, more specifically the unreachability determination unit 78 (see Figure 3), performs an unreachability determination to determine whether or not the unreachability condition is met (see step S41 in Figure 9). The unreachability condition is a condition that can be determined to make it impossible to make the representative part O reach the target position T1 using any driving method of the vehicle 11 other than a spin turn. In other words, the unreachability determination unit 78 determines whether or not the representative part O is unable to reach the target position T1 based on whether or not the unreachability condition is met. The unreachability condition can be set in various ways depending on the type of reachability condition described above.

[0080] For example, the inaccessibility determination unit 78 determines that the inaccessibility condition is met, that is, that the representative part O cannot reach the target position T1, if the target position T1 is within the inaccessibility range R shown in Figure 4. Conversely, the inaccessibility determination unit 78 determines that the inaccessibility condition is not met, that is, that the representative part O is not inaccessible to the target position T1 (it is reachable), if the target position T1 is not within the inaccessibility range R.

[0081] The unreachable range R is the range of the target position T1 in which it is impossible to reach the representative part O with any method of movement of the vehicle 11 other than a spin turn. In other words, if the target position T1 is within the unreachable range R, it is impossible to reach the representative part O with 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 the center and the unreachable radius Rr as the radius when viewed from the vertical direction Z.

[0082] The unreachable radius Rr is the distance from the pivot center Pc to the representative part O, specifically the shortest distance. In the example shown in Figure 4, the representative part O is the region enclosed by a circle centered at the representative point Oc and with a radius equal to the reachability determination distance Or. In this case, the unreachable radius Rr is the distance obtained by subtracting the reachability determination distance Or from the pivot radius Pr, which is the distance between the representative point Oc and the pivot center Pc. For example, if the representative point Oc coincides with the pivot center 13a, the unreachable radius Rr is the distance obtained by subtracting the reachability determination distance Or from the pivot radius Pr, which is the distance between the pivot center 13a and the pivot center Pc.

[0083] In the example shown in Figure 4, the target position T1 is a point. In this case, if the reachability determination distance L1, which is the distance from the target position T1 to the pivot center Pc, is less than the unreachable radius Rr, then the target position T1 is within the unreachable range R. In this case, the unreachability determination unit 78 determines that the representative part O cannot reach the target position T1.

[0084] The specific details of the unreachable conditions can be set in various ways depending on the relative position of the representative part O with respect to the work machine 10, the shape of the representative part O and the target position T1, and the specific details of the reachable conditions. For example, when the target position T1 is a region, an unreachable condition corresponding to the reachable condition setting example 3 described above can be set. In this case, the controller 70 may determine that the target position T1 is included in the unreachable range R, i.e., the unreachable condition is met, if the entire target position T1 is included in the unreachable range R. The controller 70 may also determine that the target position T1 is not included in the unreachable range R, i.e., the unreachable condition is not met (reachable), if even a part of the target position T1 is not included in the unreachable range R. The controller 70 may also determine that the target position T1 is included in the unreachable range R, i.e., the unreachable condition is met, if at least a part of the target position T1 is included in the unreachable range R.

[0085] Furthermore, the unreachable range R can be set in various ways depending on the relative position of the representative part O with respect to the work machine 10. For example, as shown in Figure 6, when the representative part O is set to a part whose relative positional relationship with the upper slewing body 13 is specified, conditions corresponding to the above-described example of setting the reachable conditions 4 can be set. For example, if the rotation of the upper slewing body 13 relative to the traveling body 11 is permitted in the reachable determination, the unreachable radius Rr may be the distance (shortest distance) from the pivot center Pc to the corrected representative part Oa. The corrected representative part Oa is the area enclosed by a circle whose radius is the distance between the distance between the slewing center 13a and the position of the representative part O furthest from the slewing center 13a, when viewed from the vertical direction Z.

[0086] (Spin Turn) The automatic driving control unit 71 (see Figure 3) basically drives the vehicle 11 shown in Figure 4 using a driving method other than a spin turn, namely straight driving, a gentle turn, or a pivot turn. The automatic driving control unit 71 causes the vehicle 11 to perform a spin turn only when predetermined conditions for performing a spin turn are met. Specifically, the automatic driving control unit 71 causes the vehicle 11 to start a spin turn when predetermined spin turn start conditions are met. Also, the automatic driving control unit 71 causes the vehicle 11 to end the spin turn when predetermined spin turn end conditions are met.

[0087] The controller 70, more 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 causes the mobile body 11 to perform a spin turn when it is impossible to reach the representative part O with any other mobile body 11 travel method other than a spin turn. For example, the controller 70 causes the mobile body 11 to perform a spin turn when the target position T1 is within the unreachable range R. Note that the spin turn initiation conditions only need to include the unreachable conditions, or may include only the unreachable conditions. That is, the spin turn initiation conditions and the unreachable conditions may be completely identical. Also, the spin turn initiation conditions may be the meeting of the unreachable conditions and other conditions. The above-mentioned "other conditions" may be, for example, information indicating that the operator has confirmed that a spin turn is about to be performed has been input from the input unit 60 to the controller 70.

[0088] The controller 70, more specifically the automatic driving control unit 71 (see Figure 3), causes the vehicle to spin turn so that the orientation of the vehicle 11 approaches the target orientation T5, as shown in Figure 7. For example, when the vehicle 11 is moving forward, the vehicle 11 spins turn so that the orientation of the front X1 of the vehicle 11 approaches the target orientation T5.

[0089] The controller 70, more specifically 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. That is, when the spin turn termination condition is met, the controller 70 makes the vehicle 11 travel using a method other than a spin turn. For example, when the spin turn termination condition is met, the controller 70 returns the vehicle 11 to its original travel method and makes the vehicle 11 travel using the method it used before the spin turn started (for example, straight travel).

[0090] The spin turn termination condition may include the fact that the above unreachable condition is not met, that is, that the representative part O is reachable to the target position T1. For example, the spin turn termination condition may include that the target position T1 is not within the unreachable range R.

[0091] The spin turn termination condition may also include a condition regarding the orientation of the vehicle 11. The orientation of the vehicle 11 is the orientation X in the longitudinal direction of the vehicle 11, as described above. In the example shown in Figure 7, the orientation of the vehicle 11 is the orientation of the front side X1 of the vehicle 11, but it may also be the orientation of the rear side X2 of the vehicle 11. For example, the spin turn termination condition may include the orientation of the vehicle 11 coinciding with or approximately coinciding with the target orientation T5. Specifically, the spin turn termination 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 spin turn termination threshold.

[0092] As described above, by performing a spin turn on the vehicle 11 in the situation shown in Figure 4, where it is impossible for the representative part O to reach the target position T1, it becomes possible to make the representative part O reach the target position T1, as shown in Figure 7. While it would be possible to make the representative part O reach the target position T1 by increasing the size of the representative part O shown in Figure 4 and relaxing the arrival determination criteria, this would reduce the accuracy of the automatic vehicle control. In contrast, the method of this embodiment, which involves performing a spin turn on the vehicle 11, makes it possible to make the representative part O reach the target position T1 without relaxing the arrival determination criteria.

[0093] (Specific Example of Processing) Referring to the flowchart shown in Figure 9, a specific example of the processing of the controller 70's automatic driving control (mainly spin-turn switching control) will be explained. The following explanation will follow the order of processing shown in Figure 9, but the order of processing can be changed in various ways.

[0094] In the starting state prior to step S11, the work machine 10 is in an idling state, that is, the actuator 30 is not moving.

[0095] 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 a manual operation instructing the input unit 60 to start automatic driving control has been performed. Alternatively, for example, if a start condition for automatically starting automatic driving control is pre-set in the controller 70, the controller 70 may start automatic driving control when the start condition is met. If the determination in step S11 is YES and it is confirmed that the start condition has been met, the controller 70 starts automatic driving control. That is, the controller 70 starts processing from step S21 onwards. On the other hand, if the determination in step S11 is NO and it is confirmed that the start condition has not been met, the controller 70 waits until the start condition is met.

[0096] In steps S21 to S23, the controller 70 acquires information from the detection unit 40. For example, the controller 70 acquires position information (e.g., coordinates) of multiple positioning points on the upper rotating body 13 detected by the position detection unit 41 as positioning information (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 (step S23).

[0097] In steps S31 to S35, the controller 70 calculates direction and position information based on the information acquired from the detection unit 40. Specifically, the upper rotating body direction calculation unit 73 of the controller 70 calculates the direction of the upper rotating body 13 (step S31). The driving body direction calculation unit 74 of the controller 70 calculates the direction of the driving body 11 (step S32). The position calculation unit 75 of the controller 70 calculates the position information of the representative part O (step S33). The position calculation unit 75 of the controller 70 calculates the position information of the pivot center Pc (step S34). The target direction calculation unit 76 of the controller 70 calculates the target direction T5 (step S35).

[0098] In step S36, the reachability determination unit 78 of the controller 70 calculates the reachability determination distance L1 (step S36). The reachability determination distance L1 is the distance (shortest distance) from the target position T1 to the pivot center Pc.

[0099] In step S41, the controller 70 determines whether the unreachable condition, including the fact that the target position T1 is within the unreachable range R, has been met. Specifically, the unreachable determination unit 78 of the controller 70 determines whether the reachability determination distance L1 is less than the unreachable radius Rr (threshold).

[0100] If the reachability determination distance L1 is less than the unreachable radius Rr, that is, if the target position T1 is within the unreachable range R, the controller 70 determines that the unreachable condition is met. In this case, that is, if the determination in step S41 is YES, the controller 70 performs the process in step S42.

[0101] If the reachability determination distance L1 is greater than or equal to the unreachable radius Rr, that is, if the target position T1 is not within the unreachable range R, the controller 70 determines that the unreachable condition is not met. In this case, that is, if the determination in step S41 is NO, the controller 70 performs the process in step S52.

[0102] In step S42, the controller 70 determines whether the spin turn termination condition has been met. Specifically, the spin turn switching determination unit 79 of the controller 70 determines whether the deviation θd of the orientation of the vehicle 11 with respect to the target orientation T5, as shown in Figure 7, is greater than a predetermined spin turn termination threshold. Here, the deviation θd is the absolute value of the difference between the azimuth angle of the target orientation T5 and the azimuth angle of the vehicle 11.

[0103] If the deviation θd of the orientation of the vehicle 11 with respect to the target orientation T5 is greater than the spin turn termination threshold, the controller 70 determines that the spin turn termination condition is not met. In this case, that is, if the determination in step S42 is YES, the controller 70 performs the process in step S51 in order to have the vehicle 11 perform a spin turn.

[0104] 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, the controller 70 determines that the spin turn termination condition has been met. In this case, that is, if the determination in step S42 is NO, the controller 70 performs the process in step S52 in order to have the vehicle 11 travel using a method other than a spin turn.

[0105] In step S51, the automatic driving control unit 71 of the controller 70 automatically controls the driving body 11 so that it performs a spin turn. After that, the controller 70 performs the process in step S53.

[0106] In step S52, the automatic driving control unit 71 of the controller 70 automatically controls the driving body 11 so that it drives using a driving method other than a spin turn. After that, the controller 70 performs the process in step S53.

[0107] In step S53, the automatic driving control unit 71 of the controller 70 outputs a command to the drive control unit 17. 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 adjusts the capacity of the pump 21 by outputting a command to the regulator 22. After the processing in step S53, the controller 70 returns the flow and repeatedly executes the series of processes from step S11 onwards (steps S11 to S53). Note that in step S11 from the second time onwards, a YES determination is made because automatic driving control has already started, and the controller 70 proceeds with the processing from step S21 onwards.

[0108] (Modification 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 in place 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.

[0109] More specifically, the controller 70 performs a spin turn on the vehicle 11 each time it has traveled a predetermined distance L101 by automatic control. In other words, the spin turn initiation condition includes the controller 70 having traveled the vehicle 11 by a predetermined distance L101 by automatic control. By having the controller 70 perform a spin turn on the vehicle 11 each time it has traveled a predetermined distance L101 by automatic control, the vehicle 11 can be driven in a way that allows it to travel toward the target position T1 with greater precision.

[0110] 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: The controller 70 makes the vehicle 11 perform a spin turn when the vehicle 11 has traveled a predetermined distance L101 from its position at the start of automatic driving control (starting position).

[0111] Furthermore, if the controller 70 causes the vehicle 11 to perform a spin turn one or more times during automatic vehicle control, it performs the following process: 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.

[0112] 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 that is compared with the travel distance of the vehicle 11 in automatic driving control from the position where the controller 70 last made the vehicle 11 perform a spin turn or the starting position of the vehicle to the current position of the vehicle 11. In this case, the travel distance of the vehicle 11 may be the straight-line distance from the position where the controller 70 last made the vehicle 11 perform a spin turn or the starting position of the vehicle to the current position of the vehicle, or it may be the length of the vehicle's travel path (not limited to a straight line). Furthermore, the travel distance of the vehicle 11 may be the distance traveled by the turning center 13a (straight-line distance or path length), or it may be the distance traveled by the representative part O (straight-line distance or path length).

[0113] The predetermined travel distance L101 may be set by the operator manually operating the input unit 60. The controller 70 may set the predetermined travel distance L101 automatically. The controller 70 may change the predetermined travel distance L101 according to certain conditions, or it may not. For example, the controller 70 may automatically set 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. For example, the controller 70 may automatically set 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 predetermined travel distance L101 may also be a fixed value pre-set in the controller 70. The same applies to the predetermined separation distance L201 (see Figure 11), which will be described later.

[0114] The distance traveled by the vehicle 11 may be calculated, for example, based on positioning information from the position detection unit 41. For example, the distance traveled by the vehicle 11 may be calculated based on the position information of a representative part 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 of the vehicle motor 31 (such as rotational speed), or based on the drive state of the crawler 11d relative to the crawler frame 11c.

[0115] 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. Specifically, when the controller 70 makes the vehicle 11 spin turn, it makes the vehicle 11 spin turn in a direction that brings the orientation of the vehicle 11 closer to the target orientation T5, similar to 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. The same applies to Modification 2, which will be described later.

[0116] (Modification 2) Modification 2 will be described mainly with reference to Figure 11. In Modification 2, the spin turn initiation condition includes 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. As a result, the controller 70 can automatically control the vehicle 11 to move toward the target position T1 with greater accuracy.

[0117] 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 be a threshold distance from the target path T3 to the traveling body 11. The predetermined separation distance L201 may be a threshold distance from the target path T3 to the representative part O, or a threshold distance from the target path T3 to the representative point Oc. The predetermined separation distance L201 may be a threshold distance from the target path T3 to the pivot center 13a.

[0118] 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.

[0119] The predetermined separation distance L201 may be set according to the size of the representative area O. For example, as shown in Figure 4, the representative area O may be an area centered on the representative point Oc with a radius equal to 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). In Figure 11, for convenience, an example is shown where the predetermined separation distance L201 is set to a value significantly larger than the reach determination distance Or, but the predetermined separation distance L201 may be set to be less than or equal to the reach determination distance Or. In this way, it is possible to avoid the target position T1 falling into the unreachable range R (see Figure 4), making it easier to reach the target position T1 with the representative area O.

[0120] The target path T3 is the target travel path of the traveling body 11 to reach the target position T1 with a representative part O of the work machine 10. The target path T3 may be the target path of the representative part O, or the target path of the representative point Oc. The target path T3 is information set by the controller 70. The target path T3 is the path from the travel start position, which is the position of the work machine 10 at the start of automatic travel control (for example, the position of the representative part O), to the target position T1. For example, the target path T3 is a path that connects the coordinates representing the representative part O at the start of automatic travel control and the coordinates representing the target position T1 with a line (for example, a straight line).

[0121] 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. For example, the separation distance may be calculated based on the position information of a representative part O calculated from the positioning information of the position detection unit 41 (see step S33 in Figure 9), or based on the position information of a representative point Oc, or based on the position information of the pivot center 13a.

[0122] (Summary) 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. 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.

[0123] [Configuration 1] The controller 70 makes the vehicle 11 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.

[0124] 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 vehicle travel method that can reliably bring the orientation of the vehicle 11 closer to the orientation toward the target position T1, i.e., the target orientation T5, compared to other vehicle travel methods. Therefore, in the automatic control of the vehicle 11's movement, the orientation of the vehicle 11 can be reliably brought closer to the target orientation T5 compared to when no conditions are set for the vehicle 11 to automatically perform a spin turn. Thus, the vehicle 11 of the work machine 10 can be automatically controlled to move toward the target position T1 with high accuracy.

[0125] [Configuration 2] The controller 70 acquires position information of a representative part O that represents the position of the work machine 10. The controller 70 automatically controls the movement of the traveling body 11 so that the representative part O reaches the target position T1. The controller 70 performs a spin turn on the traveling body 11 when conditions are met, including the fact that it is impossible to make the representative part O reach the target position T1 using any travel method of the traveling body 11 other than a spin turn.

[0126] In the above configuration 2, the condition for automatically performing a spin turn on the mobile body 11 includes the fact that it is impossible to reach the representative part O at the target position T1 using any other method of movement for the mobile body 11. Therefore, even if it is impossible to reach the representative part O at the target position T1 using any other method of movement for the mobile body 11, the controller 70 can automatically perform a spin turn on the mobile body 11, making it easier for the representative part O to reach the target position T1. Thus, the automatic driving system 1 can reduce the possibility that the mobile body 11 will not be able to reach the target position T1. Therefore, the movement of the mobile body 11 can be automatically controlled so that it moves toward the target position T1 with greater accuracy.

[0127] [Configuration 3] The controller 70 is set to an unreachable range R. The unreachable range R is the range of the target position T1 in which it is impossible to make the representative part O reach the target position T1 by any driving method of the vehicle 11 other than a spin turn. The controller 70 makes the vehicle 11 perform a spin turn when the conditions including the target position T1 being within the unreachable range R are met.

[0128] 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 unreachable range R. Therefore, the controller 70 can appropriately determine whether or not to perform a spin turn on the vehicle 11.

[0129] [Configuration 4] As shown in Figure 10, the controller 70 automatically controls the vehicle 11 to travel a predetermined distance L101, and each time the vehicle 11 is driven, it performs a spin turn.

[0130] With the above configuration 4, the trajectory can be corrected so that the orientation of the vehicle 11 approaches the target orientation T5 each time the vehicle 11 travels a predetermined distance L101. Therefore, the vehicle 11 can be automatically controlled to travel toward the target position T1 with greater accuracy.

[0131] [Configuration 5] As shown in Figure 11, the controller 70 sets a target path T3 to allow the work machine 10 to reach the target position T1. The controller 70 makes the traveling body 11 spin turn when the work machine 10 moves away from the target path T3 by a predetermined distance L201 set in advance.

[0132] In the above configuration 5, when the work machine 10 moves away from the target path T3 by a predetermined separation distance L201, the orientation of the traveling body 11 can be brought closer to the 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.

[0133] (Other Modifications) The above embodiments and 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 feature (function, arrangement, shape, operation, etc.).

[0134] 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.

[0135] The present invention may include an automatic driving program or automatic driving method that enables the controller 70 (computer) to implement the various operations and functions described above. Each functional element of the controller 70 may correspond to a "step" in the automatic driving program and automatic driving method described above. For example, the operation of the spin turn switching determination unit 79 may correspond to a spin turn switching determination step that determines whether or not to perform a spin turn on the vehicle 11.

Claims

1. An automatic driving system comprising: a vehicle body; a controller for automatically controlling the movement of the vehicle body so that it moves toward a target position, wherein the vehicle body comprises a left vehicle body and a right vehicle body positioned on the opposite side of the left vehicle body in the lateral direction, the vehicle body is configured to perform a spin turn by driving the left vehicle body and the right vehicle body in opposite directions, and the controller automatically performs the spin turn of the vehicle body when conditions relating to the position or distance traveled by the vehicle body are met.

2. An automated driving system according to claim 1, wherein the controller acquires position information of a representative part that represents the position of the vehicle, the controller automatically controls the driving of the vehicle so that the representative part reaches the target position, and the controller performs the spin turn of the vehicle when a condition is met that includes the fact that it is impossible to make the representative part reach the target position by any driving method of the vehicle other than the spin turn.

3. An automatic driving system according to claim 2, wherein the controller is configured with an unreachable range, which is the range of the target position, in which it is impossible to reach the representative part of the driving body to the target position by any driving method of the driving body other than the spin turn, and the controller performs the spin turn of the driving body when a condition is met, including the target position being within the unreachable range.

4. An automatic driving system according to claim 1, wherein the controller causes the vehicle to perform a spin turn each time it has traveled a predetermined distance by automatic control.

5. An automated driving system according to claim 1, wherein the controller sets a target path for the vehicle to reach the target position, and the controller causes the vehicle to perform a spin turn when the vehicle has moved a predetermined distance from the target path.

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