It is possible to return to a planned traveling route (L) easily while suppressing damage of an agricultural field (H).A working machine (1) includes a machine body (3); a steering device (11) capable of changing the orientation of the machine body (3); a first wheel (7R1) provided on the machine body (3); a second wheel (7R2) provided on the machine body (3) and separated from the first wheel (7R1) in a machine-body width direction; a rotational difference generating device (25) that causes a rotational difference between the first wheel (7R1) and the second wheel (7R2); and a controller (40) having a first control unit (40a1) that sets the steering angle of the steering device (11) on the basis of a planned traveling route (L), and a second control unit (40a2) that controls the rotational difference generating device (25) on the basis of the planned traveling route (L) to cause a rotational difference between the first wheel (7R1) and the second wheel (7R2). The rotational difference generating device (25) is a braking device. On the basis of the planned traveling route (L), the second control unit (40a2) causes the braking device (25) to perform setting about braking of either the first wheel (7R1) or the second wheel (7R2) by performing pumping control.
WORK MACHINE
ARBEITSMASCHINE
MACHINE DE TRAVAIL
2023-12-20
Patent
Elektronische Ressource
Englisch
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