Title:
TURN CONTROLLER FOR CRAWLER TYPE UNMANNED TRAVELLING VEHICLE
Document Type and Number:
Japanese Patent JP3667419
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To smoothly turn on a slope a crawler type unmanned travelling vehicle which turn by activating both right and left side clutches and right and left side brakes, so that a machine body follows an induction sensor, after detecting a discrepancy between the machine body and the induction sensor by using the induction sensors whose induction cables are attached to the right and left sides of the machine body.
SOLUTION: If a side brake on the inner side of the turn remains as it activates for more than a prescribed time during the turn, a machine is judged to be stuck, and the prescribed time brake is released. In addition, sticking of the machine is detected by an angular velocity sensor, the action of the side brake is taken at two steps, strong and weak, and an inclination sensor is arranged at any position of the machine body, so that both side clutch and side brake activate after being selected stepwise, matching the inclination during the turn.
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Inventors:
Taiji Mizukura
Chiaki Kadota
Hideji Nishimura
Chiaki Kadota
Hideji Nishimura
Application Number:
JP1915496A
Publication Date:
July 06, 2005
Filing Date:
February 05, 1996
Export Citation:
Assignee:
YANMAR AGRICULTURAL EQUIPMENT CO.,LTD.
International Classes:
A01M7/00; B62D11/02; A01B69/00; B62D11/08; B62D55/06; G05D1/02; (IPC1-7): B62D11/08
Domestic Patent References:
| JP5173633A | ||||
| JP4347708A | ||||
| JP56064701A |
Attorney, Agent or Firm:
Juichiro Yano