PROBLEM TO BE SOLVED: To obtain smooth turning without derailing an autonomous traveling work vehicle when the autonomous traveling work vehicle is towed and moved by a manned traveling work vehicle.SOLUTION: A traction control device comprises: an autonomous traveling work vehicle 1 that comprises position calculation means for positioning a position of a machine body by using a satellite positioning system, and a control device 30 for causing a steering actuator 40 to travel by actuating the steering actuator 40 automatically so as to travel along a set travel path R; a manned traveling work vehicle 100 on which an operator rides, and which comprises remote handling equipment 112 and can operate the autonomous traveling work vehicle 1 by the remote handling equipment 112; and a traction device 150 which connects the manned traveling work vehicle 100 and the autonomous traveling work vehicle 1. When the autonomous traveling work vehicle 1 is towed and moved by the manned traveling work vehicle 100, the control device 30 actuates the steering actuator 40 of the autonomous traveling work vehicle 1 so as to travel along a moving path M which is set in advance.

    【課題】有人走行作業車両により自律走行作業車両を牽引して移動する際には、自律走行作業車両が脱輪することなく、スムースな旋回が得られるようにしようとする。【解決手段】衛星測位システムを利用して機体の位置を測位する位置算出手段と、設定した走行経路Rに沿うように自動的に操舵アクチュエータ40を作動させて走行させる制御装置30とを備えた自律走行作業車両1と、オペレータが搭乗し遠隔操作装置を備えて、該遠隔操作装置112により自律走行作業車両1を操作可能とする有人走行作業車両100と、有人走行作業車両100と自律走行作業車両1とを連結する牽引装置150とを備え、有人走行作業車両100により自律走行作業車両1を牽引して移動する際には、制御装置30は予め設定した移動経路Mに沿うように自律走行作業車両1の操舵アクチュエータ40を作動させる。【選択図】図1


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    Titel :

    TRACTION CONTROL DEVICE


    Weitere Titelangaben:

    牽引制御装置


    Beteiligte:

    Erscheinungsdatum :

    2015-12-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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