PROBLEM TO BE SOLVED: To provide a travel work machine capable of properly executing control of a machine body which is performed during shift from automatic travel to manual travel according to a situation.SOLUTION: A travel work machine comprises: an automatic travel control unit 61 for executing automatic travel based on automatic travel information required for automatic travel; a manual travel control unit 52 for executing manual travel based on an operation signal from a manual travel operation unit 9; a machine body state detection unit 51 for outputting machine body state information for indicating a machine body state based on the detection signal received from a state detection appliance 8 and the operation signal; and an automatic travel management part 7 for determining inhibition and permission of the automatic travel by the automatic travel control unit 61 based on the machine body state information, and outputting an automatic inhibition time control command for determining control of the machine body after inhibition of the automatic travel is commanded, based on the machine body state information.SELECTED DRAWING: Figure 1
【課題】自動走行から手動走行への移行時に行われる機体の制御が状況に応じて適切に実行される走行作業機の提供。【解決手段】走行作業機は、自動走行に必要な自動走行情報に基づいて自動走行を実行する自動走行制御ユニット61と、手動走行操作ユニット9からの操作信号に基づいて手動走行を実行する手動走行制御ユニット52と、操作信号及び状態検出機器8から受け取った検出信号に基づいて機体状態を示す機体状態情報を出力する機体状態検知ユニット51と、機体状態情報に基づいて自動走行制御ユニット61による自動走行の禁止と当該自動走行の許可とを判定し、かつ機体状態情報に基づいて自動走行の禁止が指令された後の機体の制御を決定する自動禁止時制御指令を出力する自動走行管理部7を備えている。【選択図】図1
TRAVEL WORK MACHINE
走行作業機
2017-03-09
Patent
Electronic Resource
Japanese
IPC: | 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 |
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