US 12,102,023 B2
Coupling device
Kohei Okura, Osaka (JP); Shinnosuke Ishikawa, Osaka (JP); and Noriyuki Koshida, Osaka (JP)
Assigned to Kubota Corporation, Osaka (JP)
Filed by Kubota Corporation, Osaka (JP)
Filed on Sep. 1, 2021, as Appl. No. 17/463,804.
Claims priority of application No. 2020-155566 (JP), filed on Sep. 16, 2020.
Prior Publication US 2022/0078960 A1, Mar. 17, 2022
Int. Cl. A01B 59/06 (2006.01); A01B 63/111 (2006.01)
CPC A01B 59/068 (2013.01) [A01B 63/1117 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A coupling device comprising:
a first connector that has a first connecting position rotatably supported by a first vertical shaft of a work vehicle that comprises an automatic drive controller;
a second connector that has a second connecting position rotatably supported by a second vertical shaft of a work device;
an actuator that changes at least one of the first and second connecting positions; and
a control device that:
estimates, with a position estimation model, a positional relationship between a travel line of the work vehicle and at least one of the first and second connecting positions, and
during an automatic drive control, controls the actuator independently of the automatic drive controller to change at least one of the first and second connecting positions based on the positional relationship.