Armstrong, Westerman, Hattori, McLeland & Naughton
Method and apparatus for controlling shoe slip of crawler vehicle
 This invention relates to a method and apparatus for controlling shoe slip of a crawler vehicle directed to automatically prevent an endless track from slipping beyond the state where maximum pulling force is attained thereby liberating an operator from troublesome operations requiring a high level of skill. The shoe slip control method is accomplished by switching the operation mode to a predetermined engine output mode when a shoe slip ratio exceeds a predetermined value during the operation of the vehicle. The apparatus includes an acceleration detecting device (27) for detecting the acceleration in the travelling direction of the vehicle, a travelling speed computing circuit (31) for the endless track, an actual vehicle speed computing circuit (32) for calculating the actual vehicle speed on the basis of the acceleration thus detected, a shoe slip ratio computing circuit (33) for calculating the shoe slip ratio from the actual vehicle speed and the track travelling speed, and an engine output control circuit for switching the engine output mode on the basis of the shoe slip ratio thus calculated. 
Kabushiki Kaisha Komatsu Seisakusho
E B E E
E02F B60K E02F E02F
inventional inventional inventional inventional
Hideki Shinji Shigeru
Yamada Takasugi Yamamoto