US 12,274,190 B2
Working machine
Fumiya Yoshimura, Sakai (JP); Kotaro Yamaguchi, Sakai (JP); Kenji Tamatani, Sakai (JP); Takanori Morimoto, Sakai (JP); and Ken Sakuta, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by KUBOTA CORPORATION, Osaka (JP)
Filed on Jun. 10, 2022, as Appl. No. 17/837,251.
Application 17/837,251 is a continuation of application No. PCT/JP2020/046482, filed on Dec. 14, 2020.
Claims priority of application No. 2019-228667 (JP), filed on Dec. 18, 2019.
Prior Publication US 2022/0304216 A1, Sep. 29, 2022
Int. Cl. A01B 69/00 (2006.01); A01B 63/10 (2006.01); A01B 63/111 (2006.01); A01B 69/04 (2006.01)
CPC A01B 69/008 (2013.01) [A01B 63/1006 (2013.01); A01B 63/1117 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A working machine comprising:
a machine body;
a lifting device to link a working device to the machine body, the lifting device being capable of moving up and down with the working device between a grounding state in which the working device is in contact with a ground and an ungrounding state in which the working device is out of contact with the ground;
an automatic travel controller to cause the machine body to perform automatic travel according to a planned travel route; and
an input interface to receive input of a first height of the lifting device in the ungrounding state; wherein
the lifting device is operable to have a plurality of working devices, including the working device, attached thereto;
the input interface includes a storage to store information regarding each of the plurality of working devices and the first height, such that each of the plurality of working devices and the first height are associated with each other;
the automatic travel controller is configured or programmed to include a lifting controller to control the lifting device to move up with the working device from the grounding state to the ungrounding state;
the lifting controller is configured or programmed to acquire the first height associated with the working device attached to the lifting device, control the lifting device based on the first height associated with the working device attached to the lifting device to move up with the working device from the grounding state to the ungrounding state, and enable the machine body to turn or travel rearward when the working device is in the ungrounding state; and
the automatic travel controller is configured or programmed to cause the machine body to turn or travel rearward after the lifting controller controls the lifting device to move up with the working device from the grounding state to the ungrounding state.