To provide a work vehicle capable of accurately controlling travel or work, according to a state of a work place, a model, and a travel state.SOLUTION: A work vehicle comprises: a machine body; a travel unit 12 provided on the machine body; a machine body position calculating part 32 for calculating a position of the machine body and a travel azimuth of the machine body; an information acquiring part 24 for acquiring prescribed turning time information 40 in turning travel; and an automatic turning travel control part 36 for controlling a steering angle of the travel unit 12 in the turning travel in a predetermined prescribed procedure. The automatic turning travel control part 36 performs control for returning a steering angle to an original angle so that the machine body travels straightly, when an angle difference between a target azimuth of a straight path where the work vehicle travels after the turning travel, and the travel azimuth becomes a prescribed threshold 45 or lower, during the turning travel, and the automatic turning travel control part 36 changes the threshold according to the turning time information 40.SELECTED DRAWING: Figure 5
【課題】機種や、走行状態、作業地の状態等に応じて、走行または作業を精度良く制御することを目的とする。【解決手段】機体と、機体に設けられる走行装置12と、機体の位置および機体の走行方位を算出する機体位置算出部32と、旋回走行時の所定の旋回時情報40を取得する情報取得部24と、あらかじめ定められた所定の手順で旋回走行における走行装置12の操舵角度を制御する自動旋回走行制御部36とを備え、自動旋回走行制御部36は、旋回走行中に、旋回走行に続いて走行する直線経路の目標方位と走行方位との角度差が所定の閾値45以下になると機体が直進走行するように操舵角度を戻す制御を行い、自動旋回走行制御部36は、旋回時情報40に応じて閾値を変更する。【選択図】図5
WORK VEHICLE
作業車
2023-12-25
Patent
Elektronische Ressource
Japanisch
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