Traction controller for crawler vehicles

摘要

PCT No. PCT/JP93/00507 Sec. 371 Date Oct. 18, 1994 Sec. 102(e) Date Oct. 18, 1994 PCT Filed Apr. 20, 1993 PCT Pub. No. WO93/21053 PCT Pub. Date Oct. 28, 1993.This invention relates to the controlling of the travel of a crawler vehicle and aims at resolving the issue of making a crawler vehicle travel on an ungraded land with the crawlers effectively gripping the road surface. According to the present invention, the loads imparted to crawlers (12FL, 12FR, 12RL, 12RR) are detected, and, on the basis of the results of this detection, the sum of the loads on a pair of crawlers (12FL, 12RR) at the front left and rear right sides of the vehicle and the sum of the loads on another pair of crawlers (12FR, 12RL) at the front right and rear left sides thereof are computed. When a difference between the sums thus computed has become higher than a predetermined level, it means that a diagonal stuck has occurred. In such a case, the pivot shafts (14) of a pair of crawlers having smaller loads are driven in a direction in which the loads imparted to the same crawlers increase, so that the floated pair of crawlers contact the road surface, these crawlers thus being capable of providing an effective driving force. This invention is used mainly when a natural disaster rescue crawler vehicle travels on an outdoor ungraded land.