US 12,127,493 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 May 17, 2022, as Appl. No. 17/746,118.
Application 17/746,118 is a continuation of application No. PCT/JP2020/046377, filed on Dec. 11, 2020.
Claims priority of application No. 2019-228665 (JP), filed on Dec. 18, 2019.
Prior Publication US 2022/0272889 A1, Sep. 1, 2022
Int. Cl. A01B 69/00 (2006.01); B62D 49/06 (2006.01); G05D 1/00 (2024.01)
CPC A01B 69/004 (2013.01) [G05D 1/0219 (2013.01); B62D 49/06 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A working machine comprising:
a machine body capable of traveling;
a position detector to detect a position of the machine body;
a controller to control the machine body based on the position of the machine body detected by the position detector and a planned travel route; and
an input operable to receive input of a level of accuracy of work; wherein
the planned travel route includes a straight section on which the machine body travels straight; and
the controller is configured or programmed to include a threshold setter to set a threshold according to the work, and cause the machine body to perform a recovery movement to make a deviation between the position of the machine body detected by the position detector and the planned travel route less than the threshold when the machine body is at a start point of the straight section or is about to enter the start point of the straight section; and
the threshold setter is configured or programmed to correct, using a correction value corresponding to the level of the accuracy of the work inputted into the input, the threshold to a smaller value when higher priority is placed on the accuracy of the work than on efficiency of the work and to a larger value when higher priority is placed on the efficiency of the work than on the accuracy of the work.