JP2002253005A - Zero-correcting device for sensor of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a rolling control having a good response and accuracy by using a tilting sensor and an angular velocity sensor by performing the zero correction of the angular velocity sensor even on an always moving tractor. SOLUTION: This rolling-control means 24 of a plowing unit 4 on a tractor, based on a tilting sensor 15 and an inexpensive angular velocity sensor 23 is provided by installing a memorizing means 25 for memorizing a plurality of sampling outputted values detected by the angular velocity sensor 23, a zero-controlling means 26 for performing a calculating treatment of the plurality of memorized sampling outputted values for setting their mean value as zero, a judging means H for judging the high or low of the posture stability of a machine body 21, and a correcting means 28 at the controlling device 22 for actuating the zero-controlling means 26 when the posture stability of the machine body 21 is high and not actuating the zero-controlling means 26 when the posture stability of the machine body 21 is low.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for correcting a sensor zero point of a working machine such as a tractor, a rice transplanter, and a straight-line machine, and more particularly, to a method for detecting a zero point of an angular velocity sensor that drifts due to a change in temperature or other conditions. The present invention relates to a technique that can be accurately obtained even during the operation of the machine.

[0002]

2. Description of the Related Art In rolling control of a ground working device in a working machine such as a tractor, both a tilt sensor and an angular velocity sensor are used as displacement detecting means of the working device, so that responsiveness is improved and malfunction is prevented. It is known that the control operation can be performed with a very low level of accuracy and precision.

That is, as disclosed in Japanese Patent Application Laid-Open No. 2-216412, an inclination sensor (a low-speed reaction sensor) including a weight, a potentiometer for detecting the amount of swing of the weight, and an optical gyro. The rolling control device is configured by using both of the angular velocity sensors (high-speed reaction sensors) composed of the above. By combining an angular velocity sensor that is not affected by inertia and has excellent responsiveness, and an inclination sensor that compensates for the disadvantage of an angular velocity sensor that cannot detect the absolute inclination angle at the time of detection, accurate and quick without the provision of a damper or filter The rolling control can be performed quickly, and the ground work accuracy can be improved.

[0004]

That is, by integrating the angular velocity output d.theta.j / dt from a gyro sensor of a vibration type or the like, it is possible to obtain a tilt angle change .theta.j which is not affected by the roll of the sensor housing. However, since the gyro sensor can detect only an angle change, an inclination sensor is required for detecting an absolute angle. When the vehicle body stops for a sufficiently long time, the actual inclination angle θ converges to θr, and the value of the inclination sensor is output as the inclination angle of the tractor. When the inclination of the vehicle body changes, θj is added to the actual inclination angle θ, and it is possible to detect an inclination angle with good response which is not affected by the roll.

However, there is still a problem to be solved in the rolling control using two types of sensors as described above. That is, in the angular velocity sensor, a zero point (a reference voltage or the like) easily drifts due to a temperature change or the like, so that accurate rolling control cannot be performed.
For example, the gyro sensor outputs the angular velocity as a deviation from the reference voltage. However, the angular velocity output dθj / dt always includes a large error because the reference voltage has an individual difference and a temperature change. The error accumulates due to the integration process for obtaining, and the actual tilt angle θ shifts with time (see FIG. 3).

In order to make the reference voltage correspond to the individual difference, it is only necessary to perform a process of averaging the voltage when the airframe is at rest and replacing it with the reference voltage, and to perform the process periodically to cope with the temperature change. Can be. However, since a working machine such as a tractor has a lot of continuous work and cannot secure a stationary time, the above-described processing is very difficult.

An object of the present invention is to make it possible to accurately correct the zero point of an angular velocity sensor that drifts due to a temperature change or the like even in a working machine that is constantly operating, such as a tractor, so that an angular velocity sensor and an inclination sensor can be used. The present invention is intended to substantially realize the used responsiveness and accurate rolling control.

[0008]

According to a first aspect of the present invention, there is provided an actuator for connecting a ground working device to a traveling machine so as to be freely rotatable, and for rolling and driving the ground working device relative to the traveling machine, a traveling machine or a ground working device. A tilt sensor for detecting the left-right tilt angle of the vehicle, and an angular speed sensor for detecting the angular speed of the traveling body or the ground work device in the left-right tilt direction, and ground work based on both the detected values of the tilt sensor and the angular speed sensor. A zero-point correction device for a working machine provided with rolling control means for operating an actuator so that the horizontal posture of the device is maintained at a set angle, and stores a plurality of sampling output values detected by an angular velocity sensor. And a zero point which is an average value calculated based on the stored plurality of sampling output values. Control means, and determination means for determining whether the attitude stability of the traveling body is high or low. When the attitude stability of the traveling body is higher than a predetermined stability, the zero point control means is operated, and the attitude stability of the traveling body is determined. Is provided with a correction means which functions so as not to operate the zero point control means when the value is less than the predetermined stability.

As described above, since a working machine such as a tractor basically travels on rough terrain, it is impossible to average a sampling output value at rest and obtain an accurate zero point. . However, although the traveling body is always rolling left and right, it does not rotate (i.e., roll over) in one direction, and always leans left and right while returning to a horizontal attitude, and depending on the ground conditions. In some cases, the vehicle travels almost without rolling or inclining left and right, or depending on the operation, travels at an extremely low speed, and a stable posture can be maintained for a while.

[0010] Therefore, it can be said that even during work, zero point correction by sampling is possible if the posture of the working machine is relatively stable. According to the configuration of claim 1 recalled based on this idea, when the attitude stability of the traveling body is higher than the predetermined stability, the zero point control means is operated by the function of the correction means, and the posture stability of the traveling body is stabilized. When the degree is less than the predetermined stability, the zero point control means is controlled so as not to operate, so even if the working machine is performing ground work such as a tractor during running or tilling or a rice transplanter during scraping, the posture is not changed. When it is stabilized, it will be automatically zero corrected,
Rolling control with excellent accuracy by the angular velocity sensor and the inclination sensor can be performed.

According to a second aspect of the present invention, in the first aspect, the determining means is a vehicle speed sensor for detecting a traveling speed of the traveling body, and the correcting means is a zero point control means when the traveling speed is equal to or higher than a predetermined value. Is operated so as not to operate the zero point control means when the traveling speed is lower than a predetermined value.

According to the second aspect of the present invention, the vehicle speed sensor is used as the determination means for determining whether the posture stability of the traveling body is high or low. Even when working on a rough terrain, if the traveling speed is sufficiently slow, it can be said that the posture change such as roll and the like per unit time is small (gentle) and the posture stability is high. Is substantially or almost absent, and the zero point correction of the angular velocity sensor by averaging can be performed. Then, when the traveling speed becomes equal to or higher than the predetermined speed, a state in which the posture change such as roll is large or easy to occur, that is, the posture stability becomes low. In this case, the fluctuation of the sampling output value becomes large. Will not be done.

According to a third aspect of the present invention, in the first aspect, the discriminating means is a traveling clutch or a traveling speed change mechanism, and the correcting means is that the traveling clutch is disengaged or the traveling speed change mechanism is operated at a predetermined speed. When it is operated at a lower speed than the position, the zero point control means is operated, when the traveling clutch is engaged or when the traveling transmission mechanism is at a predetermined shift position, and when it is operated at a higher speed than the predetermined shift position. The function is such that the zero-point control means does not operate when it is on.

According to the third aspect of the present invention, the determining means for determining whether the posture stability of the traveling body is high or low is a traveling clutch or a traveling speed change mechanism. When the traveling clutch is disengaged, or the traveling transmission mechanism is operated in the transmission cutoff state or the low speed transmission state, the aircraft is not traveling or traveling at an extremely low speed, and Since it can be said that the attitude stability of the traveling body is high with little or no change, the attitude change with respect to the sampling time is substantially or hardly changed, and the zero point correction of the angular velocity sensor by averaging can be performed.

When the traveling clutch is engaged, or when the traveling speed change mechanism is in the transmission state or is operated at a speed higher than a predetermined speed, the aircraft is traveling or relatively fast. In a running state, it can be said that a roll is likely to occur and the posture stability is low. In this case, since the fluctuation of the sampling output value becomes large, the correction control is not performed.

According to a fourth aspect of the present invention, in the configuration of the first aspect, the determination means is a start / stop operation means for starting and stopping the running, and the correction means is provided after the start / stop operation means is stopped. (1) activating the zero point control means in a stabilization time range after a predetermined time has elapsed and after that, when the start / stop operation means has been operated to start and goes back to a second predetermined time; It is characterized in that it functions so as not to operate the zero point control means when it is out of the range.

According to the configuration of the fourth aspect, the following operation is provided. Generally, even when a stop operation such as disengagement of the traveling clutch or neutralization of the traveling speed change mechanism is performed, the work machine does not stop immediately but stops after a short deceleration traveling due to inertia. Then, even if the start operation is performed, the vehicle does not run at the predetermined speed immediately, but enters the running state at the predetermined speed after a slight acceleration state. Therefore, it can be said that the traveling state exists even before it is determined that the vehicle is in the traveling state.

Therefore, after the first predetermined time has elapsed since the stop operation of the start / stop operation means, and after the start / stop operation of the start / stop operation means has been performed for a second predetermined time. In the stable time range between which the traveling body is in a stopped state or a low-speed traveling state without fail, that is, in a state suitable for operating the zero point control means in a posture stable state, a good zero point correction of the angular velocity sensor is performed. Will be able to do it. When the vehicle is traveling outside the stable time range or traveling at a speed equal to or higher than the predetermined speed, that is, the posture is in an unstable state and is not suitable for operating the zero point control means. I can't.

According to a fifth aspect of the present invention, in the first aspect, the determination means is an angular velocity sensor, and the correction means activates the zero point control means when the output value of the angular velocity sensor is equal to or less than a predetermined value. When the output value is larger than a predetermined value, the zero point control means is not operated.

According to the fifth aspect of the present invention, the discriminating means also serves as an angular velocity sensor, and when the output value is equal to or less than a predetermined value, there is no roll or the like and the posture stability of the traveling body is high. Therefore, the posture change with respect to the sampling time is substantially or hardly changed, and the zero point correction of the angular velocity sensor by averaging can be performed. When the output value of the angular velocity sensor is larger than a predetermined value, it can be said that the lateral stability and the like are large and the posture stability is low. In this case, the fluctuation of the sampling output value becomes large, so that the correction control is not performed. .

According to a sixth aspect of the present invention, in the first aspect, the determination means is an inclination sensor, and the correction means activates the zero point control means when the output value of the inclination sensor is equal to or less than a predetermined value. When the output value is larger than a predetermined value, the zero point control means is not operated.

According to the sixth aspect of the present invention, the discriminating means also serves as an inclination sensor. When the output value is equal to or less than a predetermined value, the posture of the traveling body is nearly horizontal and the posture is stable. Since it can be said that the degree is high, there is substantially no or almost no change in attitude with respect to the sampling time, and it is possible to perform zero point correction of the angular velocity sensor by averaging. When the output value of the tilt sensor is larger than the predetermined value, it can be said that the traveling stability is low and the attitude stability is low. In this case, the fluctuation of the sampling output value increases, so that the correction control is performed. Will not be done.

According to a seventh aspect of the present invention, in the first aspect, the discriminating means is a non-traveling actuator other than the travel-related actuator, and the correcting means is a zero-point control means when the non-traveling actuator is not operating. Is operated so that the zero point control means is not operated when the non-traveling actuator is operating.

According to the configuration of claim 7, the following operation is provided. Non-traveling actuators include a hydraulic cylinder for lifting and lowering the working device, a cylinder for rolling, and the like.When such an actuator is not operating, when the posture control of the working device is not performed, that is, Since the posture is stable, the zero point control means is operated at that time to carry out accurate zero point correction. And when the non-traveling actuator is operating,
Since the posture control of the working device is being performed, that is, the posture is not stable, the zero point control means is not operated so that the zero point is not corrected at that time.

According to an eighth aspect of the present invention, in the first aspect, the discriminating means is a turning angle sensor for detecting a turning angle of the steered wheels, and the correcting means is configured to set the turning angle of the steered wheels to a predetermined angle or less. In this case, the zero point control means is activated when the steering angle is greater than a predetermined angle, and the zero point control means is not activated when the steered angle is larger than a predetermined angle.

According to the configuration of claim 8, the discriminating means is a turning angle sensor for detecting the turning angle of the steered wheels. When the output value of the turning angle sensor is equal to or less than a predetermined value, the centrifugal force is small. Since the roll is small or hard to occur, that is, the posture stability is high, in this case, the zero point control means is operated to perform the zero point correction with high accuracy. When the output value of the turning angle sensor is larger than a predetermined value, the centrifugal force is large and the roll is large or likely to occur, that is, the posture stability is low. In this case, the zero point control means does not perform the zero point correction. Does not work.

According to a ninth aspect of the present invention, in the configuration of the first aspect, the determining means is an operating means for an actuator for operating the traveling body or the ground working device, and the correcting means is an operating means for operating the actuator by the operating means. When there is no input, the zero point control means is operated, and when there is an operation input for operating the actuator in the operation means, the zero point control means is operated so as not to be operated.

According to the ninth aspect, the following operation is provided. When the actuator for operating the traveling body such as the hydraulic cylinder for steering or the actuator for operating the ground work device such as the rolling cylinder is not operating, the state in which the attitude of the aircraft does not change or hardly occurs, that is, the attitude stability is high. Therefore, in this case, the zero point control means is operated to perform the zero point correction with high accuracy. Then, when the above-described actuator is operating, the attitude change of the body is or is likely to occur, that is, the attitude stability is low. Therefore, in this case, the zero point control means is not operated so that the zero point is not corrected. .

According to a tenth aspect of the present invention, in the configuration of the fifth or sixth aspect, a vehicle speed sensor for detecting a traveling speed of the traveling body is provided, and the predetermined value increases as the traveling speed increases, and the predetermined value increases as the traveling speed decreases. Characterized in that a first threshold value changing means for reducing the threshold value is provided.

According to the tenth aspect, the following operation is provided. That is, when the angular velocity sensor or the inclination sensor is used as the determination means, when the traveling speed is high, the detection value becomes large due to inertia even with small undulations and irregularities on the ground, so that most of the traveling is not suitable for zero point correction, Effectively, zero point correction tends to be impossible. And
When the running speed is low, the posture change becomes gentle even if the ups and downs and unevenness of the ground are relatively large, so that most of the running state becomes suitable for zero point correction, and the zero point correction tends to be performed at any time.

However, if the predetermined value is increased as the traveling speed increases, the ratio of situations suitable for zero point correction increases, and the zero point correction can be performed substantially.
In this case, the zero point correction is performed in a situation where the posture change is relatively large, and includes a state in which the correction accuracy is not good, but the response speed of the zero point correction is quick. If the predetermined value is made smaller as the traveling speed becomes slower, the ratio of situations suitable for zero point correction will occur, but the zero point correction will be performed in situations where the posture change is smaller, and the correction accuracy will be improved. Become like That is, when the speed is high, the response of the control is improved, and when the speed is low, the control accuracy is improved.

According to an eleventh aspect of the present invention, in the configuration of the eighth aspect, a vehicle speed sensor for detecting a traveling speed of the traveling body is provided, and the predetermined value is decreased as the traveling speed increases, and the predetermined value is increased as the traveling speed decreases. Characterized in that a second threshold value changing means is provided.

According to the eleventh aspect, the following operation is provided. That is, when the turning angle sensor is used as the determination unit,
When the traveling speed is high, the centrifugal force increases even with a small angle of cut, and the roll of the traveling body increases, and when the traveling speed is low, the centrifugal force decreases even with a large angle of cut,

[0034]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a rear part of an agricultural tractor, which is an example of a working machine. A transmission case 3 has a top link 1 and a pair of right and left lower links 2 that can swing up and down.
, A rotary tilling device (an example of a ground working device) 4 is connected to the traveling machine body 21 in a freely rolling manner. A pair of lift arms 6 driven up and down by a hydraulic cylinder 5 is provided on the upper part of the transmission case 3. The pair of lift arms 6 and the lower link 2 are lift rods 7, and a double-acting hydraulic cylinder 8. Are connected via Reference numeral 19 denotes a pair of left and right driving rear wheels.

As shown in FIG. 2, the control valve 16 of the three-position switching type for the hydraulic cylinder 5 is operated by the control device 22, and the rotary tilling device 4 is driven up and down by the hydraulic cylinder 5 and the lift arm 6. Control valve 1 of three-position switching type for hydraulic cylinder 8 which is a rolling cylinder
7 is operated by the control device 22, and the rotary tilling device 4 is operated by the expansion and contraction operation of the hydraulic cylinder 8.
Is driven around the connection point with the lower link 2 on the side opposite to the above.

This agricultural tractor has a rotary tilling device 4
Lifting and lowering control means 29 for maintaining the tilling depth at a set value from the ground at a set height, a position control means 30 for maintaining the height of the rotary tilling apparatus 4 with respect to the traveling body 21 at a set position, and a rotary for a horizontal plane. The control device 22 is provided with a rolling control function for maintaining the inclination angle of the tilling device 4 in the left-right direction at the set angle.

As shown in FIGS. 2 and 1, the rotary tilling apparatus 4 is provided with a rear cover 9 which can swing up and down. The rear cover 9 is urged downward by a spring 18, and A tillage depth sensor 10 for detecting the vertical swing angle of the rear cover 9 is provided.
The detected value of 0 has been input to the control device 22. Thereby, the control valve 16 is operated by the elevation control means 29 such that the detection value of the tillage depth sensor 10 becomes the set tillage depth of the dial-operated and potentiometer-type tillage depth setting device 11 provided on the traveling machine body 21. Then, the rotary tiller 4 is automatically driven up and down by the hydraulic cylinder 5.

As shown in FIG. 2 and FIG.
An angle sensor 13 for detecting the vertical angle of the lift arm 6 with respect to is provided at the base of the lift arm 6, and the detection value of the angle sensor 13 is input to the control device 22. Thereby, the position control means 30 causes the detection value of the angle sensor 13 to become the target value of the lever-operated position setter 12 provided on the traveling body 21.
The control valve 16 is operated, and the lift arm 6 is driven to swing up and down by the hydraulic cylinder 5.

In the elevation control means 29 and the position control means 30 described above, the detection value of the angle sensor 13 corresponding to the set tillage depth of the tillage depth setting device 11 and the target value of the position setting device 12 are compared. When the target value of the position setting device 12 is higher, the elevation control means 29 and a rolling control function described later are stopped (the state in which the hydraulic cylinder 8 is stopped), and the position control means 30 is operated. Thereby, the angle sensor 1 is set to the target value of the position setting device 12.
The control valve 16 is operated so that the detected values of 3 coincide with each other, and the rotary plow 4 is driven up and down by the hydraulic cylinder 5. Therefore, by operating the position setting device 12, the rotary plow 4 can be moved relative to the traveling body 21 within a range higher than the detection value of the angle sensor 13 corresponding to the set till depth of the till depth setting device 11. It can be driven up and down to the height and stopped.

Next, the position setting device 12 is operated to descend, and the target value of the position setting device 12 is
When the value matches the detection value of the angle sensor 13 corresponding to the set till depth of 1 (or becomes lower), the position control means 3
0 stops, and the elevation control means 29 and the rolling control function operate. Thereby, the control valve 16 is operated so that the detection value of the tillage depth sensor 10 becomes the set tillage depth of the tillage depth setting device 11 by the up / down control means, and the rotary tillage device 4 is automatically raised and lowered by the hydraulic cylinder 5. Driven. As will be described later, the rolling control function controls the rotary tilling apparatus 4 so that the left (rightward tilt angle) of the rotary tilling apparatus 4 with respect to the horizontal plane is maintained at a set angle inclined in the horizontal direction (or parallel to the horizontal plane) with respect to the horizontal plane. The valve 17 is operated, and the rotary tilling device 4 is driven to be rolled by the hydraulic cylinder 8.

As shown in FIGS. 1 and 2, in this agricultural tractor, the inclination angle of the rotary tilling apparatus 4 in the left-right direction with respect to the horizontal plane is set at a set angle inclined in the left-right direction (or parallel to the horizontal plane). A rolling control means 24 for driving the rotary tilling apparatus 4 in a rolling manner is provided so as to be maintained. The rotary tilling apparatus 4 is provided with a dial-type inclination setting device 20 for setting a setting angle in the left-right direction, which arbitrarily and continuously sets and continuously sets the setting angle from the horizontal position to the lower right side and the lower left side. It is configured so that it can be changed.

That is, a weight type inclination sensor 15 for detecting the left-right inclination angle of the traveling body 21, a vibration gyro-type angular velocity sensor 23 for detecting the angular velocity of the traveling body 21 in the left-right inclination direction, and operation of the hydraulic cylinder 8. And a stroke sensor 14 for detecting the position.
The inclination angle of the rotary tilling device 4 with respect to the body 21 can be detected based on the operating position of the rotary tilling device 4. The control device 22 is provided with a rolling control means 24 for operating the hydraulic cylinder 8 so as to be maintained at the set angle according to.

Further, there is provided a sensor zero point correcting device Z for updating and correcting the zero point of the angular velocity sensor 23 which drifts according to various conditions such as temperature with the passage of time. That is,
Storage means 25 for storing a plurality of sampling output values detected by the angular velocity sensor 23; zero point control means 26 for setting an average value calculated based on the stored plurality of sampling output values to a zero point; Determination means H for determining whether the posture stability of the traveling body 21 is high or low. When the posture stability of the traveling body 21 is higher than a predetermined stability, the zero point control means 26 is operated, and the posture stability of the traveling body 21 Is less than the stability of the zero point control means 26
There is provided a correction means 28 which functions so as not to operate the.

As shown in FIG. 2, the rear wheel 19 (see FIG. 1)
And a vehicle speed sensor 27 for detecting the rotation speed of the transmission shaft 32 to the front wheels 31 to detect the traveling speed of the traveling machine body 21. The vehicle speed sensor 27 and a discrimination circuit 33 for processing detection information of the vehicle speed sensor 27 are provided. The posture determining means H is configured. That is, when the traveling speed is higher than the predetermined speed, the posture stability of the traveling body 21 is determined to be low, and when the traveling speed is equal to or lower than the predetermined speed, the posture stability of the traveling body 21 is determined to be high. That is, the zero point correction of the angular velocity sensor 23 is performed when the traveling speed of the tractor is equal to or lower than the predetermined speed, and when the traveling speed is higher than the predetermined speed, the zero point correction is suspended. The predetermined speed is appropriately set based on the specifications and type of the angular velocity sensor, the effective traveling speed range of the tractor, and the specifications and types of the rotary tilling device 4 and the like.

The first error compensation (zero compensation) G1 by the arithmetic processing of the zero control means 26 and the correction means 28 is as follows. That is, as shown in FIG. 3, constant interval averaging processing and adaptive LPF are performed to completely remove noise generated within the average interval. The constant interval averaging process is 1000Hz
Of 10 msec sampled in step (10 pieces)
Are added to form a data string a. Then, the average of the data string a is calculated every 1 second, and is set as the data string b.

The adaptive LPF (low-pass filter) updates the reference voltage by the following LPF processing every time the averaging processing is performed. New reference voltage = (average value per second x α + old reference voltage x β)
÷ (α + β) Zero point is output by sufficiently smoothing (currently α =
1, set β = 199). However, α and β are made variable depending on the conditions. For example, when the reference voltage is likely to fluctuate, for example, immediately after the main key is turned on or when the temperature rises, α is increased to emphasize the ability to follow the fluctuation, and Under the condition where is stable, α is reduced and the accuracy of calculation is emphasized. In addition, the processing is interrupted during turning or when the inclination changes greatly, so that an incorrect reference voltage is not calculated.

Since all errors cannot be removed by the first error compensation G1, there is also an error in the linearity of the sensor, and the accumulation of errors due to integration cannot be eliminated. Therefore, in order to remove the accumulated error, the inclination sensor 15 is set to the target inclination angle θ set by the inclination setting device 20.
A second error compensation G2 for feeding back a deviation from the detected inclination angle θr is performed. Here, the feedback coefficient K
2 can be set to a sufficiently small value, θ = θr when the aircraft is stopped, and the absolute accuracy equivalent to that of the tilt sensor 15 is ensured. When the tilt changes, a tilt angle with good responsiveness that is not affected by the roll is output. it can. Conversely, if K2 is large,
The compensation of θr is too effective and does not differ from the output value of the inclination sensor 15.

Here, since K2 needs to be set according to the accumulated errors, the smaller the more accurate the gyro sensor is, the more the first error compensation G1 is devised. In the above-described processing, the error can be removed at about 0.5%, and the value is small enough to satisfy the required performance. However, in the case of severe temperature change conditions or inexpensive gyro sensors, it is necessary to further increase the size, and it is necessary to evaluate the degree of performance degradation due to the size.

It is also desirable to make K2 variable. For example, when the vehicle is stopped or when the inclination change is small, K2 is increased to quickly remove the error of the target inclination angle θ. Conversely, during work or when the inclination change is severe, K2 is reduced to suppress the influence of the roll. To increase responsiveness. Furthermore, K2 is increased to emphasize the elimination of the error under conditions where the error of the gyro sensor is large, such as immediately after start-up or when the temperature change is large, and when the temperature is stabilized, K2 is reduced to emphasize the responsiveness.

As a reference, FIGS. 13 to 15 show detection operation test results of the sensors 15 and 23 when the tractor is inclined on the table. As shown in FIG. 16, one of the mounting tables 41, 41 on which the rear wheels 19, 19 are to be mounted, is connected to a signal generating device 42, a control device 43, a lifting drive mechanism 44, and the like. Is moved up and down at a predetermined cycle, amount of up and down, and up and down speed by the up and down test equipment T.

FIG. 13 shows that the mounting table 41 on one side is
FIG. 9 shows change characteristics of the inclination sensor 15 and the angular velocity sensor 23 when the inclination sensor 15 and the angular velocity sensor 23 are raised and lowered so as to change degrees. According to this, the angular velocity sensor 23 changes almost without a time delay, and although it is slightly displaced, it rolls almost in the same manner as the mounting table 41 (that is, the tractor). It can be understood that the movement is changed with a time delay of about 5 seconds, and at the start of the upward movement and the start of the downward movement, the movement is temporarily detected in the reverse direction by inertia.

FIG. 14 is a graph in which the ascending / descending speed is made clearer than that in the case of FIG. 13, and the inclination when the mounting table 41 on one side is lowered and raised so as to change twice in 0.5 second. 3 shows a change characteristic of the sensor 15 and the angular velocity sensor 23. According to this, the inclination sensor 15 outputs about 1 degree in the reverse direction at the start of the descent and the ascent, and also overshoots when the ascent / descent is stopped. On the other hand, the angular velocity sensor 23 is also
It can be seen that it follows the movement of 1 (that is, the tractor). Although a slight overshoot is seen in the angular velocity sensor 23, this is probably because the tractor body 21 actually overshoots (due to inertia, the rear wheel 1
9 sinks and jumps up at the end of the climb).

FIG. 15 shows the output change characteristics of the inclination sensor 15 when the mounting table 41 on one side is raised and lowered so as to change three times in 0.5 seconds, in which the ascending and descending speeds are further increased. z, the output change characteristic of the angular velocity sensor 23 is represented by a line y, and the output change characteristic of the stroke sensor 14 by the rolling control means 24 according to the present invention (that is, the rotary plow 4 The inclination posture) is indicated by a line x, and the output of the conventional stroke sensor is indicated by a line w.

Also in this case, since the angular velocity sensor 23 exhibits a good followability, the rolling control as a whole is detected in the reverse direction regardless of the remarkable overshoot of the inclination sensor 15 functioning as the detection of the absolute inclination angle. Rotary plow 4
Is always kept within ± 1 degree of the target set angle (horizontal), and it can be understood that it is clearly superior to the conventional rolling control.

[Another Embodiment] The sensor zero point correcting device Z
The configuration described in <1> to <9> below may be used. In these other embodiments, only the differences from the present embodiment shown in FIG. 2 will be described.

<< 1 >> As shown in FIG. 4, the determination means H
A clutch switch 35 for detecting the on / off state of the clutch pedal 34 for operating the traveling clutch 36. The correcting means 28 operates the zero point control means 26 when the traveling clutch 36 is disengaged by depressing the clutch pedal 34. Then, when the depression of the clutch pedal 34 is released and the traveling clutch 33 is engaged, the zero point control means 26 is configured not to operate. A traveling speed change mechanism (not shown) may be used in place of the traveling clutch 36. In this case, the correction means 28 is provided with a zero point control means when the traveling speed change mechanism is operated at a speed lower than a predetermined shift position. 26, and functions so as not to operate the zero point control means 26 when it is in a predetermined shift position and when it is operated on a higher speed side than the predetermined shift position.

<< 2 >> As shown in FIG. 5, the determining means H
An operating means (an example of a start / stop operating means for starting / stopping the running) 37 of the running clutch 36 and a correcting means 28
Is the time after the first predetermined time has elapsed since the clutch operating means 37 was operated to stop, and between the time when the start / stop operation means 37 was operated to start and the time when the second predetermined time went back. The zero point control means 26 is operated in a certain stable time range, and functions so as not to be operated in other than the stable time range.

The first timer 38 for the first predetermined time is:
It operates from the time when the clutch switch 35 is turned off,
The second timer 39, which controls the second predetermined time, is activated when the clutch switch 35 is turned on. In this case, the sampling for the zero point correction is continued from the start of the operation of the first timer 38 until at least the time point at which the clutch switch 35 is turned on, and thereafter, from the end of the sampling by the second timer 39 to the second
It functions so that those in the time range that goes back a predetermined time are deleted.

<3> As shown in FIG. 6, the discriminating means H is also used by the angular velocity sensor 23, and the correcting means 28 activates the zero point control means 26 when the output value of the angular velocity sensor 23 is less than a predetermined value. When the output value of the angular velocity sensor 23 is larger than a predetermined value, the zero point control means 26 is not operated.

<4> As shown in FIG. 7, the discriminating means H is the tilt sensor 15, and the correcting means 28 is the tilt sensor 15
When the output value is less than a predetermined value, the zero point control means 26
Is operated so that the zero point control means 26 is not operated when the output value of the inclination sensor 15 is larger than a predetermined value.

<< 5 >> As shown in FIG. 8, the determining means H
The rolling cylinder 8 is an example of a non-traveling actuator other than an actuator related to traveling (a hydraulic cylinder in a power steering device for steering, a cylinder of a traveling hydraulic clutch, etc.), and the correcting means 28 operates the rolling cylinder 8. When the rolling cylinder 8 is in operation, the zero point control means 26 is activated when the rolling cylinder 8 is not in operation. The operation and non-operation of the rolling cylinder 8 can be determined by inputting the output of the stroke sensor 14 to the control device 22 also for rolling control.

<6> As shown in FIG. 9, the determining means H
The turning angle sensor 40 detects the turning angle of the steered wheel 31, and the correcting means 28 activates the zero point control means 26 when the turning angle of the steered wheel 31 is equal to or less than a predetermined angle. When the angle is larger than a predetermined angle, the zero point control means 26 is configured not to operate.

<7> As shown in FIG.
Is an operating means for the rotary tilling apparatus 4 for the hydraulic cylinder 5 for elevating, that is, an elevating lever 12a.
8 operates the zero point control means 2 when there is no operation input for operating the hydraulic cylinder 5 on the elevating lever 12a, and activates the zero point control means 26 when there is an operation input for operating the hydraulic cylinder 5 on the elevating lever 12a. It is configured to function so as not to operate. Specifically, the position setting device 12 also serves as the determination means H, and the zero point control means 26 operates only when the position setting device 12 is not moving.

<< 8 >> As shown in FIG. 11, when the angular velocity sensor 23 also serves as the discriminating means H (see FIG. 6), a vehicle speed sensor 27 for detecting the traveling speed of the traveling body 21 is provided. A first threshold value changing means for increasing a predetermined value (a value for determining whether the zero point control means 26 is operated or not among the output values of the angular velocity sensor 23) as the speed is faster, and decreasing a predetermined value as the traveling speed is slower. 45 are provided. That is, the maximum angular velocity at which the zero point can be corrected increases or decreases in proportion to the magnitude of the output value of the vehicle speed sensor 27.

<< 9 >> As shown in FIG. 12, a vehicle speed sensor for detecting the traveling speed of the traveling machine body 21 in the one in which the discriminating means H is constituted by a steering angle sensor 40 for detecting the steering angle of the steered wheels 31 27, a predetermined value (a value for judging whether the zero point control means 26 is operated or not among the output values of the turning angle sensor 40) is decreased as the traveling speed is increased, and the predetermined value is decreased as the traveling speed is decreased. A second threshold value changing means 46 for increasing the value is provided. That is, the maximum turning angle at which the zero point can be corrected increases or decreases in inverse proportion to the magnitude of the output value of the vehicle speed sensor 27.

<< Others >> Ground working device 4 or traveling body 2
Other examples of the determining means H for determining whether the posture stability is high or low include a pitching sensor for detecting the front-back inclination of the ground working device 4 or the body 21, an angular velocity sensor related to the pitching, the ground working device 4 or the body. Various changes can be made, such as the angular velocity sensor, the operation amount of the accelerator lever or pedal, and the number of shift steps (position) in the vertical direction of 21.

[0067]

According to the first aspect of the present invention, when the attitude stability of the traveling machine body is higher than a predetermined stability, the zero point control means is operated, and the posture stability of the traveling machine body is adjusted to a predetermined value. By devising a correction means that functions so as not to operate the zero point control means when the stability is less than the stability, even when the work machine during ground work, which is originally easy to change posture, automatically measures when the posture is stabilized. Thus, the zero point is corrected, and a highly accurate rolling control can be realized while using inexpensive angular velocity sensors and tilt sensors.

In the sensor zero correction device for a working machine according to the second aspect, the effect of the configuration according to the first aspect is achieved by devising a determination means utilizing the fact that a difference in posture change occurs due to a high or low traveling speed. Was able to be played.

In the sensor zero correction device for a working machine according to the third aspect, the above-described effect according to the first aspect can be obtained by devising the use of the traveling clutch or the traveling speed change mechanism as the posture stability determining means. did it.

According to a fourth aspect of the present invention, there is provided a working machine sensor zero correction apparatus for starting and stopping traveling.
By means of correcting both the inertia at the time of stopping and the time difference at the time of starting, zero point correction is performed when the traveling is truly stopped, so that more accurate rolling control can be realized. .

According to the sensor zero correction device for a working machine according to the fifth aspect, the cost is reduced by sharing the sensor by utilizing the fact that there is a difference in the posture change depending on the magnitude of the output of the angular velocity sensor. However, the effect according to the configuration of claim 1 could be obtained.

In the device for correcting a sensor zero point of a working machine according to the sixth aspect, the device is used as a discriminating means utilizing the fact that a difference in posture change occurs depending on the magnitude of the output of the tilt sensor, thereby reducing the cost by sharing the sensor. However, the effect according to the configuration of claim 1 could be obtained.

According to the sensor zero correction device for a working machine according to the seventh aspect of the present invention, the cost of the dual use of the sensor can be improved by devising a non-traveling actuator such as a hydraulic cylinder for lifting and lowering the ground working device. The above-described effect according to the configuration of claim 1 was able to be obtained while downing was possible.

In the working machine sensor zero correction apparatus according to the eighth aspect, the effect of the configuration according to the first aspect is achieved by devising a turning angle sensor for detecting a turning angle of a steered wheel as a posture stability determining means. Was able to be played.

According to the sensor zero correction device for a working machine according to the ninth aspect, for example, the posture stability can be determined by the presence or absence of an input to an operation means for an actuator for operating a traveling body or a ground working device, such as a lifting lever of a ground working device. By devising the discriminating means, the above-described effect of the configuration of claim 1 can be obtained.

In the apparatus for correcting a zero point of a working machine according to the tenth aspect, when the posture stability is determined by the angular velocity sensor or the inclination sensor, the threshold value of the sensor output is proportional to the level of the traveling speed at that time. By devising a certain predetermined value, the rolling control can be performed with excellent control accuracy when the traveling speed is low and with excellent responsiveness even when the traveling speed is high.

In the working machine sensor zero correction apparatus according to the eleventh aspect, when the turning angle sensor for detecting the turning angle of the steered wheel is used as the attitude stability determining means, it is inversely proportional to the level of the traveling speed at that time. By devising the threshold value of the sensor output to change the predetermined value, there is an advantage that accurate rolling control can be performed regardless of the traveling speed.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the structure of the rear part of an agricultural tractor.

FIG. 2 is a functional system diagram showing a schematic structure of rolling control based on a vehicle speed sensor.

FIG. 3 is a block diagram showing the concept of a correction control unit.

FIG. 4 is a functional system diagram of rolling control for correcting based on a traveling clutch.

FIG. 5 is a functional system diagram of rolling control for correcting based on whether or not the vehicle is truly stopped.

FIG. 6 is a functional system diagram of rolling control for correcting based on an angular velocity sensor.

FIG. 7 is a functional system diagram of rolling control for correcting based on a tilt sensor.

FIG. 8 is a functional system diagram of rolling control for correcting based on a lifting cylinder.

FIG. 9 is a functional system diagram of rolling control for correcting based on a turning angle sensor.

FIG. 10 is a functional system diagram of rolling control for correcting based on the presence or absence of a traveling clutch operation.

FIG. 11 is a functional system diagram of rolling control based on an angular velocity sensor and a vehicle speed sensor.

FIG. 12 is a functional system diagram of rolling control based on a turning angle sensor and a vehicle speed sensor.

FIG. 13 is a diagram showing an output characteristic graph of an inclination sensor and an angular velocity sensor.

FIG. 14 is a view showing an output characteristic graph of an inclination sensor and an angular velocity sensor by a bench test.

FIG. 15 is a diagram showing a change graph of the left and right postures of the working device and the outputs of the respective sensors by a bench test.

FIG. 16 is a side view showing a bench test situation;

[Explanation of symbols]

 Reference Signs List 4 Ground work device 5 Actuator 8 Non-traveling actuator 12a Operating means 15 Tilt sensor 21 Traveling body 23 Angular velocity sensor 24 Rolling control means 25 Storage means 26 Zero point control means 27 Vehicle speed sensor 28 Correction means 31 Steering wheel 36 Traveling clutch 37 Stop operation means 40 Turn angle sensor 45 First threshold value changing means 46 Second threshold value changing means H discriminating means

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[Procedure amendment]

[Submission date] February 1, 2002 (2002.2.1)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Detailed description of the invention

[Correction method] Change

[Correction contents]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for correcting a sensor zero point of a working machine such as a tractor, a rice transplanter, and a straight-line machine, and more particularly, to a method for detecting a zero point of an angular velocity sensor that drifts due to a change in temperature or other conditions. The present invention relates to a technique that can be accurately obtained even during the operation of the machine.

[0002]

2. Description of the Related Art In rolling control of a ground working device in a working machine such as a tractor, both a tilt sensor and an angular velocity sensor are used as displacement detecting means of the working device, so that responsiveness is improved and malfunction is prevented. It is known that the control operation can be performed with a very low level of accuracy and precision.

That is, as disclosed in Japanese Patent Application Laid-Open No. 2-216412, an inclination sensor (a low-speed reaction sensor) including a weight, a potentiometer for detecting the amount of swing of the weight, and an optical gyro. The rolling control device is configured by using both of the angular velocity sensors (high-speed reaction sensors) composed of the above. By combining an angular velocity sensor that is not affected by inertia and has excellent responsiveness, and an inclination sensor that compensates for the disadvantage of an angular velocity sensor that cannot detect the absolute inclination angle at the time of detection, accurate and quick without the provision of a damper or filter The rolling control can be performed quickly, and the ground work accuracy can be improved.

[0004]

That is, by integrating the angular velocity output d.theta.j / dt from a gyro sensor of a vibration type or the like, it is possible to obtain a tilt angle change .theta.j which is not affected by the roll of the sensor housing. However, since the gyro sensor can detect only an angle change, an inclination sensor is required for detecting an absolute angle. When the vehicle body stops for a sufficiently long time, the actual inclination angle θ converges to θr, and the value of the inclination sensor is output as the inclination angle of the tractor. When the inclination of the vehicle body changes, θj is added to the actual inclination angle θ, and it is possible to detect an inclination angle with good response which is not affected by the roll.

However, there is still a problem to be solved in the rolling control using two types of sensors as described above. That is, in the angular velocity sensor, a zero point (a reference voltage or the like) easily drifts due to a temperature change or the like, so that accurate rolling control cannot be performed.
For example, the gyro sensor outputs the angular velocity as a deviation from the reference voltage. However, the angular velocity output dθj / dt always includes a large error because the reference voltage has an individual difference and a temperature change. The error accumulates due to the integration process for obtaining, and the actual tilt angle θ shifts with time (see FIG. 3).

In order to make the reference voltage correspond to the individual difference, it is only necessary to perform a process of averaging the voltage when the airframe is at rest and replacing it with the reference voltage, and to perform the process periodically to cope with the temperature change. Can be. However, since a working machine such as a tractor has a lot of continuous work and cannot secure a stationary time, the above-described processing is very difficult.

An object of the present invention is to make it possible to accurately correct the zero point of an angular velocity sensor that drifts due to a temperature change or the like even in a working machine that is constantly operating, such as a tractor, so that an angular velocity sensor and an inclination sensor can be used. The present invention is intended to substantially realize the used responsiveness and accurate rolling control.

[0008]

According to a first aspect of the present invention, there is provided an actuator for connecting a ground working device to a traveling machine so as to be freely rotatable, and for rolling and driving the ground working device relative to the traveling machine, a traveling machine or a ground working device. A tilt sensor for detecting the left-right tilt angle of the vehicle, and an angular speed sensor for detecting the angular speed of the traveling body or the ground work device in the left-right tilt direction, and ground work based on both the detected values of the tilt sensor and the angular speed sensor. A zero-point correction device for a working machine provided with rolling control means for operating an actuator so that the horizontal posture of the device is maintained at a set angle, and stores a plurality of sampling output values detected by an angular velocity sensor. And a zero point which is an average value calculated based on the stored plurality of sampling output values. Control means, and determination means for determining whether the attitude stability of the traveling body is high or low. When the attitude stability of the traveling body is higher than a predetermined stability, the zero point control means is operated, and the attitude stability of the traveling body is determined. Is provided with a correction means which functions so as not to operate the zero point control means when the value is less than the predetermined stability.

As described above, since a working machine such as a tractor basically travels on rough terrain, it is impossible to average a sampling output value at rest and obtain an accurate zero point. . However, although the traveling body is always rolling left and right, it does not rotate (i.e., roll over) in one direction, and always leans left and right while returning to a horizontal attitude, and depending on the ground conditions. In some cases, the vehicle travels almost without rolling or inclining left and right, or depending on the operation, travels at an extremely low speed, and a stable posture can be maintained for a while.

[0010] Therefore, it can be said that even during work, zero point correction by sampling is possible if the posture of the working machine is relatively stable. According to the configuration of claim 1 recalled based on this idea, when the attitude stability of the traveling body is higher than the predetermined stability, the zero point control means is operated by the function of the correction means, and the posture stability of the traveling body is stabilized. When the degree is less than the predetermined stability, the zero point control means is controlled so as not to operate, so even if the working machine is performing ground work such as a tractor during running or tilling or a rice transplanter during scraping, the posture is not changed. When it is stabilized, it will be automatically zero corrected,
Rolling control with excellent accuracy by the angular velocity sensor and the inclination sensor can be performed.

According to a second aspect of the present invention, in the first aspect, the determining means is a vehicle speed sensor for detecting a traveling speed of the traveling body, and the correcting means is a zero point control means when the traveling speed is equal to or higher than a predetermined value. Is operated so as not to operate the zero point control means when the traveling speed is lower than a predetermined value.

According to the second aspect of the present invention, the vehicle speed sensor is used as the determination means for determining whether the posture stability of the traveling body is high or low. Even when working on a rough terrain, if the traveling speed is sufficiently slow, it can be said that the posture change such as roll and the like per unit time is small (gentle) and the posture stability is high. Is substantially or almost absent, and the zero point correction of the angular velocity sensor by averaging can be performed. Then, when the traveling speed becomes equal to or higher than the predetermined speed, a state in which the posture change such as roll is large or easy to occur, that is, the posture stability becomes low. In this case, the fluctuation of the sampling output value becomes large. Will not be done.

According to a third aspect of the present invention, in the first aspect, the discriminating means is a traveling clutch or a traveling speed change mechanism, and the correcting means is that the traveling clutch is disengaged or the traveling speed change mechanism is operated at a predetermined speed. When it is operated at a lower speed than the position, the zero point control means is operated, when the traveling clutch is engaged or when the traveling transmission mechanism is at a predetermined shift position, and when it is operated at a higher speed than the predetermined shift position. The function is such that the zero-point control means does not operate when it is on.

According to the third aspect of the present invention, the determining means for determining whether the posture stability of the traveling body is high or low is a traveling clutch or a traveling speed change mechanism. When the traveling clutch is disengaged, or the traveling transmission mechanism is operated in the transmission cutoff state or the low speed transmission state, the aircraft is not traveling or traveling at an extremely low speed, and Since it can be said that the attitude stability of the traveling body is high with little or no change, the attitude change with respect to the sampling time is substantially or hardly changed, and the zero point correction of the angular velocity sensor by averaging can be performed.

When the traveling clutch is engaged, or when the traveling speed change mechanism is in the transmission state or is operated at a speed higher than a predetermined speed, the aircraft is traveling or relatively fast. In a running state, it can be said that a roll is likely to occur and the posture stability is low. In this case, since the fluctuation of the sampling output value becomes large, the correction control is not performed.

According to a fourth aspect of the present invention, in the configuration of the first aspect, the determination means is a start / stop operation means for starting and stopping the running, and the correction means is provided after the start / stop operation means is stopped. (1) activating the zero point control means in a stabilization time range after a predetermined time has elapsed and after that, when the start / stop operation means has been operated to start and goes back to a second predetermined time; It is characterized in that it functions so as not to operate the zero point control means when it is out of the range.

According to the configuration of the fourth aspect, the following operation is provided. Generally, even when a stop operation such as disengagement of the traveling clutch or neutralization of the traveling speed change mechanism is performed, the work machine does not stop immediately but stops after a short deceleration traveling due to inertia. Then, even if the start operation is performed, the vehicle does not run at the predetermined speed immediately, but enters the running state at the predetermined speed after a slight acceleration state. Therefore, it can be said that the traveling state exists even before it is determined that the vehicle is in the traveling state.

Therefore, after the first predetermined time has elapsed since the stop operation of the start / stop operation means, and after the start / stop operation of the start / stop operation means has been performed for a second predetermined time. In the stable time range between which the traveling body is in a stopped state or a low-speed traveling state without fail, that is, in a state suitable for operating the zero point control means in a posture stable state, a good zero point correction of the angular velocity sensor is performed. Will be able to do it. When the vehicle is traveling outside the stable time range or traveling at a speed equal to or higher than the predetermined speed, that is, the posture is in an unstable state and is not suitable for operating the zero point control means. I can't.

According to a fifth aspect of the present invention, in the first aspect, the determination means is an angular velocity sensor, and the correction means activates the zero point control means when the output value of the angular velocity sensor is equal to or less than a predetermined value. When the output value is larger than a predetermined value, the zero point control means is not operated.

According to the fifth aspect of the present invention, the discriminating means also serves as an angular velocity sensor, and when the output value is equal to or less than a predetermined value, there is no roll or the like and the posture stability of the traveling body is high. Therefore, the posture change with respect to the sampling time is substantially or hardly changed, and the zero point correction of the angular velocity sensor by averaging can be performed. When the output value of the angular velocity sensor is larger than a predetermined value, it can be said that the lateral stability and the like are large and the posture stability is low. In this case, the fluctuation of the sampling output value becomes large, so that the correction control is not performed. .

According to a sixth aspect of the present invention, in the first aspect, the determination means is an inclination sensor, and the correction means activates the zero point control means when the output value of the inclination sensor is equal to or less than a predetermined value. When the output value is larger than a predetermined value, the zero point control means is not operated.

According to the sixth aspect of the present invention, the discriminating means also serves as an inclination sensor. When the output value is equal to or less than a predetermined value, the posture of the traveling body is nearly horizontal and the posture is stable. Since it can be said that the degree is high, there is substantially no or almost no change in attitude with respect to the sampling time, and it is possible to perform zero point correction of the angular velocity sensor by averaging. When the output value of the tilt sensor is larger than the predetermined value, it can be said that the traveling stability is low and the attitude stability is low. In this case, the fluctuation of the sampling output value increases, so that the correction control is performed. Will not be done.

According to a seventh aspect of the present invention, in the first aspect, the discriminating means is a non-traveling actuator other than the travel-related actuator, and the correcting means is a zero-point control means when the non-traveling actuator is not operating. Is operated so that the zero point control means is not operated when the non-traveling actuator is operating.

According to the configuration of claim 7, the following operation is provided. Non-traveling actuators include a hydraulic cylinder for lifting and lowering the working device, a cylinder for rolling, and the like.When such an actuator is not operating, when the posture control of the working device is not performed, that is, Since the posture is stable, the zero point control means is operated at that time to carry out accurate zero point correction. And when the non-traveling actuator is operating,
Since the posture control of the working device is being performed, that is, the posture is not stable, the zero point control means is not operated so that the zero point is not corrected at that time.

According to an eighth aspect of the present invention, in the first aspect, the discriminating means is a turning angle sensor for detecting a turning angle of the steered wheels, and the correcting means is configured to set the turning angle of the steered wheels to a predetermined angle or less. In this case, the zero point control means is activated when the steering angle is greater than a predetermined angle, and the zero point control means is not activated when the steered angle is larger than a predetermined angle.

According to the configuration of claim 8, the discriminating means is a turning angle sensor for detecting the turning angle of the steered wheels. When the output value of the turning angle sensor is equal to or less than a predetermined value, the centrifugal force is small. Since the roll is small or hard to occur, that is, the posture stability is high, in this case, the zero point control means is operated to perform the zero point correction with high accuracy. When the output value of the turning angle sensor is larger than a predetermined value, the centrifugal force is large and the roll is large or likely to occur, that is, the posture stability is low. In this case, the zero point control means does not perform the zero point correction. Does not work.

According to a ninth aspect of the present invention, in the configuration of the first aspect, the determining means is an operating means for an actuator for operating the traveling body or the ground working device, and the correcting means is an operating means for operating the actuator by the operating means. When there is no input, the zero point control means is operated, and when there is an operation input for operating the actuator in the operation means, the zero point control means is operated so as not to be operated.

According to the ninth aspect, the following operation is provided. When the actuator for operating the traveling body such as the hydraulic cylinder for steering or the actuator for operating the ground work device such as the rolling cylinder is not operating, the state in which the attitude of the aircraft does not change or hardly occurs, that is, the attitude stability is high. Therefore, in this case, the zero point control means is operated to perform the zero point correction with high accuracy. Then, when the above-described actuator is operating, the attitude change of the body is or is likely to occur, that is, the attitude stability is low. Therefore, in this case, the zero point control means is not operated so that the zero point is not corrected. .

According to a tenth aspect of the present invention, in the configuration of the fifth or sixth aspect, a vehicle speed sensor for detecting a traveling speed of the traveling body is provided, and the predetermined value increases as the traveling speed increases, and the predetermined value increases as the traveling speed decreases. Characterized in that a first threshold value changing means for reducing the threshold value is provided.

According to the tenth aspect, the following operation is provided. That is, when the angular velocity sensor or the inclination sensor is used as the determination means, when the traveling speed is high, the detection value becomes large due to inertia even with small undulations and irregularities on the ground, so that most of the traveling is not suitable for zero point correction, Effectively, zero point correction tends to be impossible. And
When the running speed is low, the posture change becomes gentle even if the ups and downs and unevenness of the ground are relatively large, so that most of the running state becomes suitable for zero point correction, and the zero point correction tends to be performed at any time.

However, if the predetermined value is increased as the traveling speed increases, the ratio of situations suitable for zero point correction increases, and the zero point correction can be performed substantially.
In this case, the zero point correction is performed in a situation where the posture change is relatively large, and includes a state in which the correction accuracy is not good, but the response speed of the zero point correction is quick. If the predetermined value is made smaller as the traveling speed becomes slower, the ratio of situations suitable for zero point correction will occur, but the zero point correction will be performed in situations where the posture change is smaller, and the correction accuracy will be improved. Become like That is, when the speed is high, the response of the control is improved, and when the speed is low, the control accuracy is improved.

According to an eleventh aspect of the present invention, in the configuration of the eighth aspect, a vehicle speed sensor for detecting a traveling speed of the traveling body is provided, and the predetermined value is decreased as the traveling speed increases, and the predetermined value is increased as the traveling speed decreases. Characterized in that a second threshold value changing means is provided.

According to the eleventh aspect, the following operation is provided. That is, when the turning angle sensor is used as the determination unit,
When the traveling speed is high, the centrifugal force increases even with a small angle of cut, and the roll of the traveling body increases, and when the traveling speed is low, the centrifugal force decreases even with a large angle of cut,

[0034]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a rear part of an agricultural tractor, which is an example of a working machine. A transmission case 3 has a top link 1 and a pair of right and left lower links 2 that can swing up and down.
, A rotary tilling device (an example of a ground working device) 4 is connected to the traveling machine body 21 in a freely rolling manner. A pair of lift arms 6 driven up and down by a hydraulic cylinder 5 is provided on the upper part of the transmission case 3. The pair of lift arms 6 and the lower link 2 are lift rods 7, and a double-acting hydraulic cylinder 8. Are connected via Reference numeral 19 denotes a pair of left and right driving rear wheels.

As shown in FIG. 2, the control valve 16 of the three-position switching type for the hydraulic cylinder 5 is operated by the control device 22, and the rotary tilling device 4 is driven up and down by the hydraulic cylinder 5 and the lift arm 6. Control valve 1 of three-position switching type for hydraulic cylinder 8 which is a rolling cylinder
7 is operated by the control device 22, and the rotary tilling device 4 is operated by the expansion and contraction operation of the hydraulic cylinder 8.
Is driven around the connection point with the lower link 2 on the side opposite to the above.

This agricultural tractor has a rotary tilling device 4
Lifting and lowering control means 29 for maintaining the tilling depth at a set value from the ground at a set height, a position control means 30 for maintaining the height of the rotary tilling apparatus 4 with respect to the traveling body 21 at a set position, and a rotary for a horizontal plane. The control device 22 is provided with a rolling control function for maintaining the inclination angle of the tilling device 4 in the left-right direction at the set angle.

As shown in FIGS. 2 and 1, the rotary tilling apparatus 4 is provided with a rear cover 9 which can swing up and down. The rear cover 9 is urged downward by a spring 18, and A tillage depth sensor 10 for detecting the vertical swing angle of the rear cover 9 is provided.
The detected value of 0 has been input to the control device 22. Thereby, the control valve 16 is operated by the elevation control means 29 such that the detection value of the tillage depth sensor 10 becomes the set tillage depth of the dial-operated and potentiometer-type tillage depth setting device 11 provided on the traveling machine body 21. Then, the rotary tiller 4 is automatically driven up and down by the hydraulic cylinder 5.

As shown in FIG. 2 and FIG.
An angle sensor 13 for detecting the vertical angle of the lift arm 6 with respect to is provided at the base of the lift arm 6, and the detection value of the angle sensor 13 is input to the control device 22. Thereby, the position control means 30 causes the detection value of the angle sensor 13 to become the target value of the lever-operated position setter 12 provided on the traveling body 21.
The control valve 16 is operated, and the lift arm 6 is driven to swing up and down by the hydraulic cylinder 5.

In the elevation control means 29 and the position control means 30 described above, the detection value of the angle sensor 13 corresponding to the set tillage depth of the tillage depth setting device 11 and the target value of the position setting device 12 are compared. When the target value of the position setting device 12 is higher, the elevation control means 29 and a rolling control function described later are stopped (the state in which the hydraulic cylinder 8 is stopped), and the position control means 30 is operated. Thereby, the angle sensor 1 is set to the target value of the position setting device 12.
The control valve 16 is operated so that the detected values of 3 coincide with each other, and the rotary plow 4 is driven up and down by the hydraulic cylinder 5. Therefore, by operating the position setting device 12, the rotary plow 4 can be moved relative to the traveling body 21 within a range higher than the detection value of the angle sensor 13 corresponding to the set till depth of the till depth setting device 11. It can be driven up and down to the height and stopped.

Next, the position setting device 12 is operated to descend, and the target value of the position setting device 12 is
When the value matches the detection value of the angle sensor 13 corresponding to the set till depth of 1 (or becomes lower), the position control means 3
0 stops, and the elevation control means 29 and the rolling control function operate. Thereby, the control valve 16 is operated so that the detection value of the tillage depth sensor 10 becomes the set tillage depth of the tillage depth setting device 11 by the up / down control means, and the rotary tillage device 4 is automatically raised and lowered by the hydraulic cylinder 5. Driven. As will be described later, the rolling control function controls the rotary tilling apparatus 4 so that the left (rightward tilt angle) of the rotary tilling apparatus 4 with respect to the horizontal plane is maintained at a set angle inclined in the horizontal direction (or parallel to the horizontal plane) with respect to the horizontal plane. The valve 17 is operated, and the rotary tilling device 4 is driven to be rolled by the hydraulic cylinder 8.

As shown in FIGS. 1 and 2, in this agricultural tractor, the inclination angle of the rotary tilling apparatus 4 in the left-right direction with respect to the horizontal plane is set at a set angle inclined in the left-right direction (or parallel to the horizontal plane). A rolling control means 24 for driving the rotary tilling apparatus 4 in a rolling manner is provided so as to be maintained. The rotary tilling apparatus 4 is provided with a dial-type inclination setting device 20 for setting a setting angle in the left-right direction, which arbitrarily and continuously sets and continuously sets the setting angle from the horizontal position to the lower right side and the lower left side. It is configured so that it can be changed.

That is, a weight type inclination sensor 15 for detecting the left-right inclination angle of the traveling body 21, a vibration gyro-type angular velocity sensor 23 for detecting the angular velocity of the traveling body 21 in the left-right inclination direction, and operation of the hydraulic cylinder 8. And a stroke sensor 14 for detecting the position.
The inclination angle of the rotary tilling device 4 with respect to the body 21 can be detected based on the operating position of the rotary tilling device 4. The control device 22 is provided with a rolling control means 24 for operating the hydraulic cylinder 8 so as to be maintained at the set angle according to.

Further, there is provided a sensor zero point correcting device Z for updating and correcting the zero point of the angular velocity sensor 23 which drifts according to various conditions such as temperature with the passage of time. That is,
Storage means 25 for storing a plurality of sampling output values detected by the angular velocity sensor 23; zero point control means 26 for setting an average value calculated based on the stored plurality of sampling output values to a zero point; Determination means H for determining whether the posture stability of the traveling body 21 is high or low. When the posture stability of the traveling body 21 is higher than a predetermined stability, the zero point control means 26 is operated, and the posture stability of the traveling body 21 Is less than the stability of the zero point control means 26
There is provided a correction means 28 which functions so as not to operate the.

As shown in FIG. 2, the rear wheel 19 (see FIG. 1)
And a vehicle speed sensor 27 for detecting the rotation speed of the transmission shaft 32 to the front wheels 31 to detect the traveling speed of the traveling machine body 21. The vehicle speed sensor 27 and a discrimination circuit 33 for processing detection information of the vehicle speed sensor 27 are provided. The posture determining means H is configured. That is, when the traveling speed is higher than the predetermined speed, the posture stability of the traveling body 21 is determined to be low, and when the traveling speed is equal to or lower than the predetermined speed, the posture stability of the traveling body 21 is determined to be high. That is, the zero point correction of the angular velocity sensor 23 is performed when the traveling speed of the tractor is equal to or lower than the predetermined speed, and when the traveling speed is higher than the predetermined speed, the zero point correction is suspended. The predetermined speed is appropriately set based on the specifications and type of the angular velocity sensor, the effective traveling speed range of the tractor, and the specifications and types of the rotary tilling device 4 and the like.

The first error compensation (zero compensation) G1 by the arithmetic processing of the zero control means 26 and the correction means 28 is as follows. That is, as shown in FIG. 3, constant interval averaging processing and adaptive LPF are performed to completely remove noise generated within the average interval. The constant interval averaging process is 1000Hz
Of 10 msec sampled in step (10 pieces)
Are added to form a data string a. Then, the average of the data string a is calculated every 1 second, and is set as the data string b.

The adaptive LPF (low-pass filter) updates the reference voltage by the following LPF processing every time the averaging processing is performed. New reference voltage = (average value per second x α + old reference voltage x β)
÷ (α + β) Zero point is output by sufficiently smoothing (currently α =
1, set β = 199). However, α and β are made variable depending on the conditions. For example, when the reference voltage is likely to fluctuate, for example, immediately after the main key is turned on or when the temperature rises, α is increased to emphasize the ability to follow the fluctuation, and Under the condition where is stable, α is reduced and the accuracy of calculation is emphasized. In addition, the processing is interrupted during turning or when the inclination changes greatly, so that an incorrect reference voltage is not calculated.

Since all errors cannot be removed by the first error compensation G1, there is also an error in the linearity of the sensor, and the accumulation of errors due to integration cannot be eliminated. Therefore, in order to remove the accumulated error, the inclination sensor 15 is set to the target inclination angle θ set by the inclination setting device 20.
A second error compensation G2 for feeding back a deviation from the detected inclination angle θr is performed. Here, the feedback coefficient K
2 can be set to a sufficiently small value, θ = θr when the aircraft is stopped, and the absolute accuracy equivalent to that of the tilt sensor 15 is ensured. When the tilt changes, a tilt angle with good responsiveness that is not affected by the roll is output. it can. Conversely, if K2 is large,
The compensation of θr is too effective and does not differ from the output value of the inclination sensor 15.

Here, since K2 needs to be set according to the accumulated errors, the smaller the more accurate the gyro sensor is, the more the first error compensation G1 is devised. In the above-described processing, the error can be removed at about 0.5%, and the value is small enough to satisfy the required performance. However, in the case of severe temperature change conditions or inexpensive gyro sensors, it is necessary to further increase the size, and it is necessary to evaluate the degree of performance degradation due to the size.

It is also desirable to make K2 variable. For example, when the vehicle is stopped or when the inclination change is small, K2 is increased to quickly remove the error of the target inclination angle θ. Conversely, during work or when the inclination change is severe, K2 is reduced to suppress the influence of the roll. To increase responsiveness. Furthermore, K2 is increased to emphasize the elimination of the error under conditions where the error of the gyro sensor is large, such as immediately after start-up or when the temperature change is large, and when the temperature is stabilized, K2 is reduced to emphasize the responsiveness.

For reference, FIG. 13 and FIG.
Operation of each sensor 15, 23 when the inclination of the vehicle changes
Shows test results.

According to FIG . 13, the change in the inclination of the traveling body is not affected.
Thus, the output of the calculation of the angular velocity sensor 23 is almost time delayed.
While the tilt sensor 15 is
It changes with a time delay of about 0.5 seconds, and
When the slope starts to change in the positive direction and in the negative direction
When the change starts, the direction of the
It can be understood that the motion is detected. FIG. 1
In FIGS. 0 to 11, v is the horizontal inclination of the traveling body 21, y
Is the output of the angular velocity sensor, z is the tilt sensor 15
Is the output of

FIG. 14 shows that the inclination change is larger than that of FIG.
It is a fast example, it descends to change twice in 0.5 seconds.
Tilt sensor 15 and angular velocity sensor when
4 shows the change characteristics of the output by the operation of the sensor 23.
You. According to this, the inclination sensor 15 outputs about 1 degree in the reverse direction at the start of the descent and the ascent, and also overshoots when the ascent / descent is stopped. On the other hand, the output of the angular velocity sensor 23 calculated by
It can be seen that the vehicle follows the inclination change of the aircraft. like this
Of the angular velocity sensor rather than based on the output of the tilt sensor
Control based on output is better in response and accuracy
It is clear that.

[Another Embodiment] A sensor zero point correcting apparatus Z
The configuration described in <1> to <9> below may be used. In these other embodiments, only the differences from the present embodiment shown in FIG. 2 will be described.

<< 1 >> As shown in FIG. 4, the determination means H
A clutch switch 35 for detecting the on / off state of the clutch pedal 34 for operating the traveling clutch 36. The correcting means 28 operates the zero point control means 26 when the traveling clutch 36 is disengaged by depressing the clutch pedal 34. Then, when the depression of the clutch pedal 34 is released and the traveling clutch 33 is engaged, the zero point control means 26 is configured not to operate. A traveling speed change mechanism (not shown) may be used in place of the traveling clutch 36. In this case, the correction means 28 is provided with a zero point control means when the traveling speed change mechanism is operated at a speed lower than a predetermined shift position. 26, and functions so as not to operate the zero point control means 26 when it is in a predetermined shift position and when it is operated on a higher speed side than the predetermined shift position.

<< 2 >> As shown in FIG. 5, the determination means H
An operating means (an example of a start / stop operating means for starting / stopping the running) 37 of the running clutch 36 and a correcting means 28
Is the time after the first predetermined time has elapsed since the clutch operating means 37 was operated to stop, and between the time when the start / stop operation means 37 was operated to start and the time when the second predetermined time went back. The zero point control means 26 is operated in a certain stable time range, and functions so as not to be operated in other than the stable time range.

The first timer 38 for the first predetermined time is:
It operates from the time when the clutch switch 35 is turned off,
The second timer 39, which controls the second predetermined time, is activated when the clutch switch 35 is turned on. In this case, the sampling for the zero point correction is continued from the start of the operation of the first timer 38 until at least the time point at which the clutch switch 35 is turned on, and thereafter, from the end of the sampling by the second timer 39 to the second
It functions so that those in the time range that goes back a predetermined time are deleted.

(3) As shown in FIG. 6, the discriminating means H is also used by the angular velocity sensor 23, and the correcting means 28 activates the zero point control means 26 when the output value of the angular velocity sensor 23 is less than a predetermined value. When the output value of the angular velocity sensor 23 is larger than a predetermined value, the zero point control means 26 is not operated.

<< 4 >> As shown in FIG. 7, the discriminating means H is the tilt sensor 15, and the correcting means 28 is the tilt sensor 15
When the output value is less than a predetermined value, the zero point control means 26
Is operated so that the zero point control means 26 is not operated when the output value of the inclination sensor 15 is larger than a predetermined value.

<< 5 >> As shown in FIG. 8, the determination means H
The rolling cylinder 8 is an example of a non-traveling actuator other than an actuator related to traveling (a hydraulic cylinder in a power steering device for steering, a cylinder of a traveling hydraulic clutch, etc.), and the correcting means 28 operates the rolling cylinder 8. When the rolling cylinder 8 is in operation, the zero point control means 26 is activated when the rolling cylinder 8 is not in operation. The operation and non-operation of the rolling cylinder 8 can be determined by inputting the output of the stroke sensor 14 to the control device 22 also for rolling control.

<< 6 >> As shown in FIG. 9, the determining means H
The turning angle sensor 40 detects the turning angle of the steered wheel 31, and the correcting means 28 activates the zero point control means 26 when the turning angle of the steered wheel 31 is equal to or less than a predetermined angle. When the angle is larger than a predetermined angle, the zero point control means 26 is configured not to operate.

<7> As shown in FIG.
Is an operating means for the rotary tilling apparatus 4 for the hydraulic cylinder 5 for elevating, that is, an elevating lever 12a.
8 operates the zero point control means 2 when there is no operation input for operating the hydraulic cylinder 5 on the elevating lever 12a, and activates the zero point control means 26 when there is an operation input for operating the hydraulic cylinder 5 on the elevating lever 12a. It is configured to function so as not to operate. Specifically, the position setting device 12 also serves as the determination means H, and the zero point control means 26 operates only when the position setting device 12 is not moving.

<< 8 >> As shown in FIG. 11, when the angular velocity sensor 23 also serves as the discriminating means H (see FIG. 6), a vehicle speed sensor 27 for detecting the traveling speed of the traveling body 21 is provided. A first threshold value changing means for increasing a predetermined value (a value for determining whether the zero point control means 26 is operated or not among the output values of the angular velocity sensor 23) as the speed is faster, and decreasing a predetermined value as the traveling speed is slower. 45 are provided. That is, the maximum angular velocity at which the zero point can be corrected increases or decreases in proportion to the magnitude of the output value of the vehicle speed sensor 27.

<< 9 >> As shown in FIG. 12, a vehicle speed sensor for detecting the traveling speed of the traveling machine body 21 in a configuration in which the determination means H is constituted by a steering angle sensor 40 for detecting the steering angle of the steered wheels 31 27, a predetermined value (a value for judging whether the zero point control means 26 is operated or not among the output values of the turning angle sensor 40) is decreased as the traveling speed is increased, and the predetermined value is decreased as the traveling speed is decreased. A second threshold value changing means 46 for increasing the value is provided. That is, the maximum turning angle at which the zero point can be corrected increases or decreases in inverse proportion to the magnitude of the output value of the vehicle speed sensor 27.

<< Others >> Ground working device 4 or traveling machine 2
Other examples of the determining means H for determining whether the posture stability is high or low include a pitching sensor for detecting the front-back inclination of the ground working device 4 or the body 21, an angular velocity sensor related to the pitching, the ground working device 4 or the body. Various changes can be made, such as the angular velocity sensor, the operation amount of the accelerator lever or pedal, and the number of shift steps (position) in the vertical direction of 21.

[0065]

According to the first aspect of the present invention, when the attitude stability of the traveling machine body is higher than a predetermined stability, the zero point control means is operated, and the posture stability of the traveling machine body is adjusted to a predetermined value. By devising a correction means that functions so as not to operate the zero point control means when the stability is less than the stability, even when the work machine during ground work, which is originally easy to change posture, automatically measures when the posture is stabilized. Thus, the zero point is corrected, and a highly accurate rolling control can be realized while using inexpensive angular velocity sensors and tilt sensors.

In the apparatus for correcting a sensor zero point of a work machine according to the second aspect, the effect of the configuration according to the first aspect is achieved by using a method in which a difference in posture change occurs due to a high or low traveling speed and used as a discriminating means. Was able to be played.

In the working machine sensor zero correction apparatus according to the third aspect, the effect of the first aspect can be obtained by devising the use of the traveling clutch or the traveling speed change mechanism as the attitude stability determining means. did it.

According to the sensor zero correction device for a working machine according to the fourth aspect, a start / stop operation means for starting and stopping the traveling is provided;
By means of correcting both the inertia at the time of stopping and the time difference at the time of starting, zero point correction is performed when the traveling is truly stopped, so that more accurate rolling control can be realized. .

In the apparatus for correcting a zero point of a working machine according to the fifth aspect of the present invention, cost reduction can be achieved by using the sensor for different purposes by utilizing the fact that a difference in attitude change is produced depending on the magnitude of the output of the angular velocity sensor. However, the effect according to the configuration of claim 1 could be obtained.

According to the sensor zero correction device for a working machine according to the sixth aspect, the device is used as a discriminating means by utilizing the fact that a difference in posture change occurs depending on the magnitude of the output of the tilt sensor, thereby reducing the cost by sharing the sensor. However, the effect according to the configuration of claim 1 could be obtained.

According to the sensor zero correction device for a working machine according to the seventh aspect of the present invention, the cost can be shared by using the sensor by devising a non-traveling actuator such as a hydraulic cylinder for lifting and lowering the ground working device. The above-described effect according to the configuration of claim 1 was able to be obtained while downing was possible.

In the working machine sensor zero correction apparatus according to the eighth aspect, the effect of the configuration according to the first aspect is achieved by devising the attitude stability by means of an angle sensor for detecting the angle of the steered wheels. Was able to be played.

According to a ninth aspect of the present invention, there is provided an apparatus for correcting a sensor zero point of a working machine, the posture stability of which is determined by the presence or absence of an input to an operation means for an actuator for operating a traveling body or a ground working apparatus, such as a lifting lever of a ground working apparatus. By devising the discriminating means, the above-described effect of the configuration of claim 1 can be obtained.

In the apparatus for correcting a zero point of a working machine according to the tenth aspect, when the posture stability is determined by the angular velocity sensor or the inclination sensor, the threshold value of the sensor output is proportional to the running speed at that time. By devising a certain predetermined value, the rolling control can be performed with excellent control accuracy when the traveling speed is low and with excellent responsiveness even when the traveling speed is high.

In the working machine sensor zero correction apparatus according to the eleventh aspect, when the turning angle sensor for detecting the turning angle of the steered wheels is used as the attitude stability determining means, it is inversely proportional to the level of the traveling speed at that time. By devising the threshold value of the sensor output to change the predetermined value, there is an advantage that accurate rolling control can be performed regardless of the traveling speed.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] Brief description of drawings

[Correction method] Change

[Correction contents]

[Brief description of the drawings]

FIG. 1 is a perspective view showing the structure of the rear part of an agricultural tractor.

FIG. 2 is a functional system diagram showing a schematic structure of rolling control based on a vehicle speed sensor.

FIG. 3 is a block diagram showing the concept of a correction control unit.

FIG. 4 is a functional system diagram of rolling control for correcting based on a traveling clutch.

FIG. 5 is a functional system diagram of rolling control for correcting based on whether or not the vehicle is truly stopped.

FIG. 6 is a functional system diagram of rolling control for correcting based on an angular velocity sensor.

FIG. 7 is a functional system diagram of rolling control for correcting based on a tilt sensor.

FIG. 8 is a functional system diagram of rolling control for correcting based on a lifting cylinder.

FIG. 9 is a functional system diagram of rolling control for correcting based on a turning angle sensor.

FIG. 10 is a functional system diagram of rolling control for correcting based on the presence or absence of a traveling clutch operation.

FIG. 11 is a functional system diagram of rolling control based on an angular velocity sensor and a vehicle speed sensor.

FIG. 12 is a functional system diagram of rolling control based on a turning angle sensor and a vehicle speed sensor.

FIG. 13 is a diagram showing an output characteristic graph of an inclination sensor and an angular velocity sensor.

FIG. 14 is a diagram showing an output characteristic graph of a tilt sensor and an angular velocity sensor by a test.

[Description of Signs] 4 Ground Working Device 5 Actuator 8 Non-Traveling Actuator 12a Operating Means 15 Tilt Sensor 21 Running Aircraft 23 Angular Speed Sensor 24 Rolling Control Means 25 Storage Means 26 Zero Control Means 27 Vehicle Speed Sensor 28 Correction Means 31 Steering Wheel 36 Traveling clutch 37 start / stop operation means 40 disconnection angle sensor 45 first threshold value changing means 46 second threshold value changing means H discriminating means

[Procedure amendment 3]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Deleted

[Procedure amendment 4]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Deleted

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Shohei Nakai 64 term, Ishizu-Kitacho, Sakai-shi, Osaka F-term in Kubota Sakai Works (reference) 2B304 KA13 LA02 LA05 LA09 LB05 MC08 MD03 MD04 QA26 QB03 QB16 QC11 RA27 2F069 AA02 AA71 AA93 BB40 DD30 EE02 FF01 GG11 GG41 GG64 GG74 HH30 NN02 NN06 NN26

Claims (11)

[Claims] 1. An actuator for rollingly connecting a ground working device to a traveling body, and an actuator for rollingly driving the ground working device with respect to the traveling body, and detecting a left-right inclination angle of the traveling machine or the ground working device. Includes an inclination sensor and an angular velocity sensor that detects the angular velocity of the traveling body or the ground work device in the left-right inclination direction, and based on the detection values of both the inclination sensor and the angular velocity sensor, A sensor zero point correction device for a working machine provided with rolling control means for operating the actuator so that a left-right attitude is maintained at a set angle, and stores a plurality of sampling output values detected by the angular velocity sensor. And the average value calculated based on the stored plurality of sampling output values is set to zero. Zero point control means, and determining means for determining whether the attitude stability of the traveling body is high or low, when the attitude stability of the traveling body is higher than a predetermined stability, actuates the zero point control means, A sensor zero correction device for a working machine, comprising a correction unit that functions so as not to operate the zero point control unit when the posture stability of the traveling body is less than a predetermined stability. 2. The vehicle control system according to claim 1, wherein the determining unit is a vehicle speed sensor that detects a traveling speed of the traveling body, and the correcting unit activates the zero point control unit when the traveling speed is equal to or higher than a predetermined value. 2. The sensor zero correction device for a working machine according to claim 1, wherein the device is configured to function so as not to operate the zero point control means when the value is less than the value. 3. The method according to claim 1, wherein the determining unit is a traveling clutch or a traveling speed change mechanism, and the correcting unit is configured to disengage the traveling clutch or operate the traveling speed change mechanism at a speed lower than a predetermined shift position. The zero point control means is activated when the traveling clutch is engaged or the traveling speed change mechanism is in a predetermined shift position and when the traveling speed change mechanism is operated to a higher speed side than the predetermined shift position. The sensor zero correction device for a working machine according to claim 1, wherein the device is configured to function so as not to operate the means. 4. The method according to claim 1, wherein the determination unit is a start / stop operation unit that controls start and stop of the traveling, and the correction unit is provided after a first predetermined time has elapsed since the start / stop operation unit was stopped. And, after that, the zero point control means is operated in a stable time range from when the start / stop operation means is operated to start up to a second predetermined time, and when the time is outside the stable time range, the zero point is controlled. The sensor zero correction device for a working machine according to claim 1, wherein the device is configured to function so as not to operate the control means. 5. The method according to claim 1, wherein the determining unit is the angular velocity sensor, and the correcting unit activates the zero point control unit when an output value of the angular velocity sensor is equal to or less than a predetermined value. 2. The sensor zero correction device for a working machine according to claim 1, wherein the sensor zero correction device is configured to function so as not to operate the zero point control means when the value is larger than the threshold value. 6. The discriminating means is the tilt sensor,
The correction means operates the zero point control means when the output value of the inclination sensor is equal to or less than a predetermined value, and functions so as not to operate the zero point control means when the output value of the inclination sensor is larger than a predetermined value. The sensor zero correction device for a working machine according to claim 1, wherein the device is configured as follows. 7. The non-traveling actuator other than the traveling-related actuator, wherein the correction means activates the zero point control means when the non-traveling actuator is not operating, and 2. The sensor zero correction device for a working machine according to claim 1, wherein the device is configured to function so as not to operate the zero point control means when an actuator is operating. 8. The turning angle sensor for detecting a turning angle of a steered wheel, wherein the correcting means activates the zero point control means when the turning angle of the steered wheel is smaller than a predetermined angle. 2. The apparatus according to claim 1, wherein said control means does not operate said zero point control means when the steering angle of said steered wheels is larger than a predetermined angle. 9. The method according to claim 8, wherein the determining unit is an operating unit for operating an actuator that operates the traveling body or the ground working device, and the correcting unit is configured to output the zero point when the operating unit does not have an operation input for operating the actuator. The sensor zero of the working machine according to claim 1, wherein the sensor is configured to operate such that the control means is operated and the zero point control means is not operated when the operation means has an operation input for operating the actuator. Correction device. 10. A vehicle speed sensor for detecting a traveling speed of the traveling body, wherein the predetermined value is increased as the traveling speed increases, and the predetermined value is decreased as the traveling speed decreases.
7. The sensor zero correction device for a working machine according to claim 5, further comprising a threshold value changing unit. 11. A vehicle speed sensor for detecting a traveling speed of the traveling body, wherein the predetermined value is decreased as the traveling speed is higher, and the predetermined value is increased as the traveling speed is lower.
9. The sensor zero correction device for a working machine according to claim 8, further comprising a threshold value changing unit.