Slip-state determination method, stuck-state determination method, storage medium, slip-state determination device, and stuck-state determination device

A stuck-state determination method for determining a stuck state of a mobile working machine including a drive wheel driven by a drive motor, the method being executed by one or more processors, the method comprising:

• acquiring a yaw rate of the mobile working machine, as an actual yaw rate;
• calculating the yaw rate of the mobile working machine, as a calculated yaw rate, based on a wheel speed of the drive wheel;
• measuring a duration time, the duration time being a time period during which a state in which an absolute value of the actual yaw rate is less than a first threshold value and an absolute value of the calculated yaw rate is equal to or greater than a second threshold value continues;
• and
• determining whether or not the mobile working machine is in the stuck state, based on a comparison between the duration time and a fifth threshold value.

A non-transitory computer-readable storage medium storing a program that causes a computer to execute a slip-state determination method for determining a slip state of a drive wheel provided in a mobile working machine and which is driven by a drive motor,

• the program causing the computer to:
• acquire a yaw rate of the mobile working machine, as an actual yaw rate;
• calculate the yaw rate of the mobile working machine, as a calculated yaw rate, based on a wheel speed of the drive wheel;
• and
• determine whether or not the drive wheel is in the slip state, based on a comparison between the actual yaw rate and a first threshold value and a comparison between the calculated yaw rate and a second threshold value.

A non-transitory computer-readable storage medium storing a program that causes a computer to execute a stuck-state determination method for determining a stuck state of a mobile working machine including a drive wheel driven by a drive motor,

• the program causing the computer to:
• acquire a yaw rate of the mobile working machine, as an actual yaw rate;
• calculate the yaw rate of the mobile working machine, as a calculated yaw rate, based on a wheel speed of the drive wheel;
• measure a duration time, the duration time being a time period during which a state in which an absolute value of the actual yaw rate is less than a first threshold value and an absolute value of the calculated yaw rate is equal to or greater than a second threshold value continues;
• and
• determine whether or not the mobile working machine is in the stuck state, based on a comparison between the duration time and a fifth threshold value.

A slip-state determination device for determining a slip state of a drive wheel provided in a mobile working machine and which is driven by a drive motor, the slip-state determination device comprising:

• one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the slip-state determination device to:
• acquire a yaw rate of the mobile working machine, as an actual yaw rate;
• calculate the yaw rate of the mobile working machine, as a calculated yaw rate, based on a wheel speed of the drive wheel;
• and
• determine whether or not the drive wheel is in the slip state, based on a comparison between an absolute value of the actual yaw rate and a first threshold value and a comparison between an absolute value of the calculated yaw rate and a second threshold value.

A stuck-state determination device for determining a stuck state of a mobile working machine including a drive wheel driven by a drive motor, the stuck-state determination device comprising:

• one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the stuck-state determination device to:
• acquire a yaw rate of the mobile working machine, as an actual yaw rate;
• calculate the yaw rate of the mobile working machine, as a calculated yaw rate, based on a wheel speed of the drive wheel;
• measure a duration time, the duration time being a time period during which a state in which an absolute value of the actual yaw rate is less than a first threshold value and an absolute value of the calculated yaw rate is equal to or greater than a second threshold value continues;
• and
• determine whether or not the mobile working machine is in the stuck state, based on a comparison between the duration time and a fifth threshold value.