Yanmar Power Technology Co., Inc.

Yanmar Co., Ltd.

Keisuke Iwamura

Katsumi Fujiki

Shinya Kawashiri

Tomoyuki Kuroda

Takeshi Fukumoto

Shoichi Nakamura

Koji Miyake

Hidehiro Yuki

This autonomous traveling system is provided with a path preparation unit, a forward movement control unit, a backward movement control unit, and a turn control unit. The path preparation unit prepares a plurality of straight line paths. The forward movement control unit causes a machine to execute work and simultaneously causes the machine to travel along a straight line path by at least autonomous steering. After an operator has stopped the machine traveling toward an edge of a field, the backward movement control unit causes the machine to travel backward autonomously or operationally by the operator, without executing any work. After the machine moving backward has stopped, and an instruction for forward movement has been provided by the operator, the turn control unit causes the machine to turn toward a predetermined straight line path by performing at least autonomous steering without executing any work.

Autonomous traveling system for working vehicle to travel autonomously

A work vehicle includes an engine mounted on a traveling body, a straight-traveling system transmission path including a first stepless transmission device, and a turning system transmission path including a second stepless transmission device, the work vehicle being configured to combine outputs of the straight-traveling system transmission path and an output of the turning system transmission paths to drive left and right traveling units. The work vehicle also includes control sections that control the outputs of the straight-traveling system transmission path and the output of the turning system transmission paths in cooperation with each other, a transmission operation tool that specifies the output of the straight-traveling system transmission path, and a detector that detects the output of the straight-traveling system transmission path. The control sections select one of an instruction value from the transmission operation tool and an actually measured value from the detector and set the output of the turning system transmission path.

Work vehicle

A work vehicle including: an engine mounted on a traveling body; a straight-traveling system transmission path including a first stepless transmission device; and a turning system transmission path including a second stepless transmission device. The work vehicle combines an output of the straight-traveling system transmission path and an output of the turning system transmission path to drive left and right traveling units. The work vehicle further includes: control sections that control the output of the straight-traveling system transmission path and the output of the turning system transmission path in cooperation with each other; and a driving force blocking mechanism that blocks a driving force transfer from the straight-traveling system transmission path. When the driving force transfer from the straight-traveling system transmission path is blocked by the driving force blocking mechanism, the mutually reverse rotation operations of the left and right traveling units is inhibited.

A work vehicle equipped with: a straight-traveling system transmission path including a first stepless transmission device, a turning system transmission path including a second stepless transmission device, left and right traveling units that receive a driving force from an engine and move the work vehicle in forward and in reverse, and a brake operation tool that actuates a brake mechanism. The output of the straight-traveling system transmission path and the output of the turning system transmission path are combined to drive the traveling units. When the operation amount to the brake operation tool exceeds a first predetermined amount, a control section blocks the driving force output from the first stepless transmission device, and at the same time, sets a swash plate of the second stepless transmission device in a neutral state.

A working vehicle is structured to maintain a ride quality for an operator on a control seat. Provided are a travel machine body which mounts an engine, front wheels on the machine body, a track frame on the machine body, right and left travel crawlers installed on the track frame, a rear axle which transmits a rotating force to the travel crawler, and oscillation supporting point shafts which support the track frame on the machine body so as to freely oscillate. In the case that the rear axle and the oscillation supporting point shafts are provided so as to be spaced, the oscillation supporting point shafts are arranged just below an axle case to which the rear axle is pivoted, and the track frame is connected to the axle case via link members provided in the oscillation supporting point shafts.

Growing community of inventors

Osaka, Japan

Keisuke Iwamura