US 12,419,206 B2
Working machine
Fumiya Yoshimura, Sakai (JP); Keisuke Takeda, Sakai (JP); Junki Kuroishi, Sakai (JP); Yusuke Takahashi, Sakai (JP); and Yuji Okuyama, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by KUBOTA CORPORATION, Osaka (JP)
Filed on Jun. 2, 2022, as Appl. No. 17/830,476.
Application 17/830,476 is a continuation of application No. PCT/JP2020/046348, filed on Dec. 11, 2020.
Claims priority of application No. 2019-228669 (JP), filed on Dec. 18, 2019.
Prior Publication US 2022/0287219 A1, Sep. 15, 2022
Int. Cl. A01B 69/04 (2006.01); B60K 17/348 (2006.01); B60W 30/14 (2006.01); B62D 6/00 (2006.01); B62D 11/00 (2006.01); B62D 11/08 (2006.01); B62D 11/20 (2006.01); B62D 49/06 (2006.01); G05D 1/00 (2024.01)
CPC A01B 69/008 (2013.01) [B60K 17/348 (2013.01); B60W 30/143 (2013.01); B62D 6/001 (2013.01); B62D 11/003 (2013.01); B62D 11/08 (2013.01); B62D 11/20 (2013.01); G05D 1/0214 (2013.01); G05D 1/0219 (2013.01); B62D 49/06 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A working machine comprising:
a machine body;
a steering device capable of changing an orientation of the machine body;
a first wheel provided on the machine body;
a second wheel provided on the machine body and separated from the first wheel in a machine-body width direction;
a rotational difference generator to cause a rotational difference between the first wheel and the second wheel; and
a controller configured or programmed to include a first control unit to set a steering angle of the steering device based on a planned traveling route, and a second control unit to control the rotational difference generator based on the planned traveling route to cause a rotational difference between the first wheel and the second wheel; wherein
the rotational difference generator includes a braking device to cause the rotational difference between the first wheel and the second wheel by switching between a brake state in which at least one of the first wheel and the second wheel is braked and a release state in which the at least one of the first wheel and the second wheel is not braked; and
the second control unit is configured or programmed to:
based on the planned traveling route, cause the braking device to perform setting about braking of either the first wheel or the second wheel by performing pumping control in which switching between the brake state and the release state is repeated; and
repeatedly perform switching between the brake state and the release state in a predetermined cycle in the pumping control and maintain the brake state for only a predetermined time and the release state for only a predetermined time on one cycle of the predetermined cycle.