Patent ID: 8725360

Claim:
A traction control device of a construction machine comprising a braking mechanism provided to each of wheels, the traction control device controlling the braking mechanism, the traction control device comprising: a rotation speed detector that detects a rotation speed of the wheels; a vehicle speed acquirer that acquires a vehicle speed of the construction machine; a control-start determiner that determines whether or not to control the braking mechanism based on the rotation speed; a control deviation calculator that calculates a control deviation based on the rotation speed and the vehicle speed; a traction force estimator that estimates a traction force transmittable from at least one of the wheels to a road surface; and a braking mechanism controller that controls the braking mechanism based on the control deviation calculated by the control deviation calculator and the traction force estimated by the traction force estimator, wherein the traction force estimator comprises: a control condition determining section that determines a control condition of the braking mechanism based on a result of the determination of the control-start determiner; a traction force initial value setting section that sets an initial value of the traction force in accordance with a result of the determination of the control condition determining section; and a traction force modifying section that modifies the traction force based on the control deviation and based on the control deviation being outside a first range of values, the first range including a value of zero, wherein based on the control deviation falling within the first range, the traction force modifying section maintains a present value of the traction force without modifying.