JP2007097468A - Working vehicle for agriculture - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working vehicle for agriculture, enabling the state of the working vehicle such as a tractor to be recognized by using a sensor or the like, enabling the working vehicle for the agriculture and a grounding implement of a rotary tiller to be controlled based on the recognized content, capable of rapidly settling the control of a tilling depth, and capable of carrying out the posture control of the grounding implement. <P>SOLUTION: The working vehicle 1 for the agriculture has a structure 16 for detecting right or left inclination of the working vehicle 1 for the agriculture, a structure 23 for detecting a relative angle between the working vehicle 1 for the agriculture and the grounding implement 14, and a controller 21 for controlling the relative angle of the grounding implement 14 based on the detecting means. The controller widens a dead zone width of the angle control to the ground in the rolling direction of the grounding implement 14 when setting up the grounding implement 14 on the ground surface by lowering the implement 14. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention detects the relative relationship between a farm work vehicle such as a tractor and a work machine attached to the farm work vehicle using a sensor or the like, and controls the angle of the ground work machine with respect to the farm work vehicle. It relates to technology to be performed.

Conventionally, as an example of an agricultural work vehicle, there is a tractor to which a ground working machine such as a rotary tiller for cultivating a farm field can be connected at a rear portion thereof.
Such a tractor detects the ground angle (tilt angle) in the rolling direction (left-right direction) of the main body and also detects the relative angle (vertical direction) between the tractor and the rotary tiller.
Further, when the tractor is tilted, the actuator is operated so as to make the field flat by operating an actuator such as a hydraulic cylinder so as to compensate for the tilt of the connected rotary tiller.
A technique for limiting the attitude control amount by detecting the rolling angle and the height (lift cylinder position) of the ground work machine is known.
Japanese Patent Publication No. 5-81201 JP-A-6-141604 Japanese Utility Model Publication No. 2-7976

In general, in a rotary tiller or the like, a ground work machine that is in an ascending state is lowered to come into contact with the ground to start a tilling work. Immediately after the grounding of this tillage work machine, the rotary tiller enters the ground, and the operation is often not stable until reaching the predetermined target tillage depth and the tillage depth control is converged.
If the rolling control is performed in a state where the tilling depth is not stable, the control operation may affect the tilling depth detection, thereby hindering the convergence of the tilling depth control. Further, when the tilling depth control does not converge, the posture of the work vehicle main unit is not stable, which results in mutually hindering the stability of the rolling control.
The present invention has been made in view of the above circumstances, and provides an agricultural work vehicle that can quickly converge tillage control and perform posture control of a ground work machine.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, according to the first aspect of the present invention, a mechanism for detecting the horizontal inclination of the agricultural work vehicle and a mechanism for detecting the relative angle between the agricultural work vehicle and the ground work machine are provided, and the relative angle of the ground work machine is based on the detection means. In the agricultural work vehicle having the control means for controlling the ground work machine, when the ground work machine is lowered and installed on the ground surface, the control means controls the dead zone width of the ground work machine in the rolling direction ground angle control. It expands from time.

  According to a second aspect of the present invention, there is provided means for detecting the ground height of the ground work machine, and the dead zone width of the control means is returned to normal when the ground height fluctuation continues to converge to a certain value or less. It is.

  According to a third aspect of the present invention, there is provided a means for detecting the plowing depth of the ground working machine, and when the fluctuation of the plowing depth has converged below a certain value, the dead zone width of the control means is returned to normal. is there.

  According to a fourth aspect of the present invention, there is provided means for detecting the ground height of the ground work machine, and the dead zone width of the control means is returned to normal after a predetermined time since the ground work machine is lowered.

  According to a fifth aspect of the present invention, there is provided means for operating to change the ground height of the ground work machine, and the dead zone width of the control means is returned to normal after a certain time after the ground work machine is lowered.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect, when the work is started using the ground working machine, the control accuracy is improved by increasing the convergence of the tilling depth control, thereby improving the work accuracy. As the means, the operation frequency of the ground work machine in the rolling direction can be reduced by widening the dead zone width of the ground angle control. During operation in the rolling direction, a rear cover as a means for detecting the tilling depth is pressed to one side. Or one side will be lifted, and the state of tilling depth detection will change. Therefore, in the state where the tilling depth control has not converged, priority is given to stabilizing the tilling depth detection, and by giving no extra disturbance, the work accuracy is improved by stabilizing the attitude control of the ground working machine.

  In claim 2, the dead zone width of the rolling control of the ground work machine is returned to normal by detecting the fluctuation of the ground height, that is, the convergence state of the plowing depth control operation, and the quick response is restored. Thereby, the accuracy in the rolling direction after stabilizing the tilling depth is increased. It is possible to improve both the system at the start of tillage and the accuracy after stabilization of tillage.

  According to the third aspect of the present invention, the stability of the control operation is determined by detecting the variation in tilling depth, and when the stability of the control operation is confirmed, the dead zone width in the rolling direction is returned to the normal and the quick response is restored. As a result, the accuracy in the rolling direction of the ground work machine is increased after stabilization of the tilling depth. It is possible to achieve both the improvement of accuracy at the start of tillage and the accuracy after stabilization of tillage.

  In claim 4, the time when the ground height has changed from the non-working state to the working state height is measured, and when a certain time or more has elapsed, the dead zone width of the rolling control of the ground working machine is returned to normal and promptly returned. Restore responsiveness. This makes it possible to return the responsiveness of the rolling control with a simple determination. Further, in a farm field with severe unevenness in which the plowing depth control operation is frequently performed, if it is difficult to determine the convergence of the plowing depth control, the dead zone width of the rolling control may remain widened. The object of the present invention is to speed up the control convergence with respect to a condition where the tilling depth to be predicted at the start of tilling is not stable, and does not abandon the improvement in accuracy of rolling control depending on the condition. Therefore, if a certain time has elapsed after the start of tilling, it is determined that the variation in tilling depth is steady, and the rolling control is performed without restriction, so that the work accuracy can be stabilized.

  In Claim 5, the time which passed after the ground height was artificially changed from the non-working state to the working state height is measured, and if a certain time or more has passed, the dead zone of the rolling control of the ground work machine Return the width to normal and restore quick response. As a result, the same effect as that of the fourth aspect can be realized by simpler determination, and at the same time, the regulation of the rolling control can be canceled even when the ground height cannot be detected normally. This also makes it possible to stabilize the control operation.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention. In addition, the following embodiment is an example which actualized this invention, Comprising: It is not the thing of the character which limits the technical scope of this invention.
1 is a side view showing a schematic configuration of a tractor 1 according to an embodiment of the present invention, FIG. 2 is a block diagram relating to a control system of the tractor 1, FIG. 3 is a hydraulic circuit diagram of the tractor 1, and FIG. FIG. 5 is a detailed flowchart of the process (step A) in the flowchart shown in FIG. 4, and FIG. 6 is a detailed flowchart of the process (step B) in the flowchart shown in FIG. is there.

First, a schematic configuration of a tractor as an example of an agricultural work vehicle according to the present invention will be described with reference to FIG. 1 (external view), FIG. 2 (block diagram), and FIG. 3 (hydraulic circuit diagram).
Reference numeral 1 denotes a tractor, which includes front wheels 2 and 2 and rear wheels 3 and 3 at the front and rear portions of the airframe, respectively, and a hydraulic cylinder case 5 fixedly provided at the rear upper part of the transmission case 4.
A single-acting hydraulic cylinder 6 is provided in the hydraulic cylinder case 5, and lift arms 7 and 7 that are rotated by expansion and contraction of the hydraulic cylinder 6 are arranged on both the left and right sides of the hydraulic cylinder case 5. .

In addition, a rotary tiller 14 as an example of a ground working machine is connected to a rear end portion of a three-point link mechanism 12 including a top link 10 and a lower link 11, 11 by lift arms 7 and 7 so as to freely move up and down. Yes.
Accordingly, the rotary tiller 14 connected to the lift arms 7 and 7 is controlled to be raised or lowered by the single-acting hydraulic cylinder 6.
Between the lift arms 7 and 7 and the lower links 11 and 11, a lift rod 15 is interposed on the left and right sides, and an inclined cylinder 18 is interposed on the left and right sides.

Further, the tilting cylinder 18 is a double-acting type, and is expanded and contracted by switching a control valve, which will be described later, so that the rotary tiller 14 can be tilted in the rolling direction (left-right direction), and the horizontal (posture) control of the rotary tiller 14 is performed. Can be performed.
Reference numeral 17 denotes a means for detecting a relative angle in the left-right direction between the machine (lift arm) and the work machine, and is composed of a stroke sensor that detects a relative rotation amount between the tractor 1 and the rotary tiller 14. Specifically, it is composed of a linear potentiometer.
The stroke sensor 17 is disposed on the lateral side of the tilt cylinder 18 and detects the relative rotation amount by detecting the amount of expansion / contraction of the tilt cylinder 18.
Reference numeral 16 denotes an inclination sensor attached to an arbitrary position of the machine, for example, a lateral side portion of the hydraulic cylinder case 5, and is an example of a ground detection unit that detects a right and left inclination angle (that is, a ground angle) of the tractor 1. is there.

<Regarding the positioning of the rotary tiller 14>
A hydraulic control lever 20 for position control includes a potentiometer for setting the height of the rotary tiller 14 that is connected to the rear portion of the tractor 1 at the rotation base of the hydraulic control lever 20. A ground height setting device 21 (see FIG. 2) is attached.

  On the other hand, a ground height sensor 23 (see FIG. 2) comprising a potentiometer is also provided at the rotation base of the one-side lift arm 7, and the lift arms 7, 7 rotate to the position set by the hydraulic operation lever 20. It is configured to stop at the set position. The ground height sensor 23 detects the rotation angle of the lift arm 7 by a rotation sensor such as a rotary potentiometer or a rotary encoder, thereby detecting the height of the rotary tiller (work machine) 14. Yes.

<Regarding the rotary tiller 14>
The rotary tiller 14 will be described in brief. The rotary tiller 14 includes a tiller 34 that rotates the tillage claws, a tiller cover 35 that covers the top of the tiller 34, and a rear cover 36 at the rear of the tiller cover 35. The tilling depth sensor 37 for detecting the angle of the rear cover 36 is provided at the rotation base of the rear cover 36. The plowing depth sensor 37 may detect the angle of the rear cover or may be configured to detect the expansion / contraction length of the hanger rod.

Next, the hydraulic path will be described with reference to FIG.
<Hydraulic system related to right and left tilting of rotary tiller 14>
The working pressure oil delivered from the hydraulic pump 25 is partly sent to the above-described horizontal control tilting cylinder 18 side by the diverter valve 26, and the other is a working machine that can be connected to the rear part of the tractor 1 (for example, the above-mentioned The rotary tiller 14) is sent to the single-acting hydraulic cylinder 6 connected to lift arms 7 and 7 for raising and lowering.
The switching valve 27 for horizontal control of the rotary tiller 14 is constituted by a three-position four-port valve. When the left solenoid 27a is excited, the tilting cylinder 18 is extended, and conversely, the right solenoid 27b is excited. It shortens when done.
The switching valve 27 is a solenoid valve that is controlled by flowing a pulse signal to the solenoid 27a or the solenoid 27b when receiving a pulse signal from the control device 60 (see FIG. 2), and is proportional to the current value. Is.
Further, the switching valve 27 normally maintains a neutral position. When the inclination of the tractor 1 is detected by the inclination sensor 16, the control device 60 selects any of the above to maintain the rotary tiller 14 horizontally. The switching valve 27 is switched by exciting the solenoids (27a, 27b).

<Hydraulic system related to lifting and lowering of lift arm 7>
Reference numeral 40 denotes an oil passage that constitutes a part of the main hydraulic lift circuit, 42 is an ascending proportional control valve, and 45 is a descending proportional control valve.
The rising proportional control valve 42 includes a first control valve 47 that controls the pilot pressure and a second control valve 48 that controls the flow rate, and the first control valve 47 controls the current value flowing through the solenoid of the first control valve 47. 2 The pilot pressure applied to the control valve 48 changes, and the amount of hydraulic oil reaching the single-acting hydraulic cylinder 6 is controlled.
Similarly, the descending proportional control valve 45 includes a first control valve 49 that controls the pilot pressure and a second control valve 50 that controls the flow rate, and changes the value of the current supplied to the solenoid of the first control valve 49. As a result, the pilot pressure applied to the second control valve 50 changes, and the amount of hydraulic oil discharged from the single-acting hydraulic cylinder 6 to the hydraulic oil tank is controlled.
These rising and lowering proportional control valves 42 and 45, like the horizontal control switching valve 27, control the current value by changing the ON time per pulse (duty control).

Further, the switching valve 27, the raising proportional control valve 42, and the lowering proportional control valve 45 may be switched by a PWM (Pulse Width Modulation) signal sent from the control device 60.
In this way, when the configuration is switched by the PWM signal, for example, when a deviation occurs between the set value by the ground height setting device 21 and the detection value of the ground height sensor 23, the control device 60 When the deviation is small, the PWM signal is transmitted by shortening the ON time per pulse (on time). On the other hand, when the deviation is large, the PWM signal is transmitted by increasing the ON time per pulse. You may comprise as follows.

As shown in FIG. 2, the control system 60 is an example of a control means for performing rolling control of the relative angle of the rotary tiller 14 in the tractor 1, as shown in FIG. An angular velocity sensor 19 for measuring the angle change rate is provided.
In addition, the control device 60 has an attachment changeover switch 59 which is an example of setting means for setting the switching according to the connection state such as the attachment width of the ground working machine such as the rotary tiller 14 attached to the rear portion of the tractor 1. A shift position sensor 56 that detects the shift position, an engine speed sensor 57, and a vehicle speed sensor 70 that is an example of vehicle speed detection means for detecting the vehicle speed of the tractor 1 are connected. (Hereinafter, “switch” is expressed as “SW”)
Further, a tilling depth setting device 51 for setting the tilling depth of the rotary tilling device 14 and an inclination setting device 52 for setting in advance the relative speed between the tractor 1 and the rotary tilling device 14 and the inclination angle of the tractor 1 are also connected. Has been. Also, an ascending SW 81 and a descending SW 82 for simply raising and lowering the work machine are connected.
The attachment switching SW 59 and the inclination setting device 52 may be provided on a dashboard or a meter panel near the driver seat of the tractor 1.

Further, an A / D converter 55 is provided on the input side of the control device 60, and through the A / D converter 55, an attachment switching SW 59, a shift position sensor 56, an inclination setting device 52, a working depth setting. A device 51, a ground height setting device 21, a ground height sensor 23, a tilling depth sensor 37, a stroke sensor 17, a tilt sensor 16, an angular velocity sensor 19, and the like are connected to the control device 60.
What is connected to the control device 60 without going through the A / D converter 55 includes an engine speed sensor 57, a mode SW 61, a vehicle speed sensor 70, an ascending SW 81, a descending SW 82, and the like.
The control device 60 may be a central processing unit such as an MPU or CPU.

  Further, on the output side of the control device 60, the ascending proportional control valve 42 and the descending proportional control valve 45 for lifting and lowering the lift arms 7 and 7 and the solenoid 27a for extending the tilting cylinder 18 for horizontal control are shortened. A solenoid 27b is connected.

<A series of processing>
A series of control processes will be described with reference to FIG.
First, the control device 60 recognizes the state of the tractor 1 by reading the settings and detection positions of the switches and sensors described above (step 1). Based on the detection result, the control device 60 performs control processing related to the lifting and lowering of the lift arms 7 and 7 in step A, and performs processing related to expansion and contraction of the tilting cylinder 18 in step B.
Here, processing related to lifting and lowering of the lift arm 7 in step A, that is, processing related to lifting and lowering of the rotary tiller 14 will be described with reference to FIG.
This ascending and descending consists of two modes: ascending mode and descending mode. First, in step A-10 to step A-30, the ascending mode and descending mode are determined. That is, it is determined whether or not the descending SW is operated (step A-10), whether or not the ascending mode is selected (step A-20), and whether or not the ascending SW is operated (step A-30). Do.
The case where the ascending SW 81 is operated is a case where the ascending switch 81 is operated at the end of work or the like, and thereafter, processing is performed in the ascending mode. The case where the descent SW 82 is operated is a case where the descent switch 82 is operated at the start of work or the like, and thereafter, processing is performed in the descent mode. Then, the input from the sensor is compared with the set value during plowing depth control, and if there is a deviation and the ascent mode, the process proceeds to step A-50, and if it is the descending mode, the process proceeds to step A-60 and subsequent processes. .

In the ascending mode, the ground height deviation up to the target position during ascent is set in the ascent deviation (step A-50). That is, the current height is detected by the ground height sensor 23, the difference to the target position (for example, the highest ascending position) is calculated, and the difference (deviation) is read.
In the descending mode, first, the tilling depth deviation to the set position (step A-60) and the ground height deviation to the set position are calculated (step A-70). That is, the set depth and the current depth (rear cover position) set by the tilling depth setting unit 51 are detected by the tilling depth sensor 37, and the difference (deviation) between the values is calculated, and the current height is determined as the ground height. Detected by the sensor 23, the difference to the target position (for example, the lowest position or the height set by the ground height setter 21) is calculated.

Then, it is determined whether or not the deviation direction of the ground height is an ascending direction (step A-80). If it is the ascending direction, whether the deviation direction of the tilling depth is the same ascending direction next Is determined (step A-90). When the deviation direction of the tilling depth is the descending direction, the ground height deviation is set to the elevation deviation. If the deviation direction of the tilling depth and the deviation direction of the ground height are the same ascending directions, the magnitude of each deviation is compared (step A-95). If the deviation of the ground height is larger, The height deviation is set to the elevation deviation (step A-111), and when the tilling depth deviation is larger, the tilling depth deviation is set to the elevation deviation (step A-110).
When the deviation direction of the ground height is the descending direction, it is next determined whether or not the tilling depth deviation is the ascending direction in the opposite direction (step A-100). If the tilling depth deviation is in the upward direction opposite to the ground height deviation, the tilling depth deviation is set to the elevation deviation (step A-110). If the deviation direction of the tilling depth is also in the descending direction, the magnitudes of the respective deviations are compared (step A-105). (Step A-110) If the tilling depth deviation is larger, the ground height deviation is set to the elevation deviation (Step A-111).

When the elevation deviation is set in this way, the process proceeds to the determination of whether the elevation deviation is within the dead zone (step A-130). If it is within the range of the dead zone, it is not output and the elevation control is not performed (step A-140). On the other hand, if it is outside the range of the dead zone, it has not yet reached the set position, so it outputs in the upward or downward direction according to the deviation (step A-150, step A-151).
That is, in the lift mode, the lift proportional control valve 42 is driven to drive the lift arms 7 and 7 by the amount of the ground height deviation up to the lift target position set in the lift deviation, and the lift position If it reaches, the ground height is maintained.
In the descending mode, if the value set for the ascent / descendment deviation (cultivation depth deviation or ground height deviation) is a positive value, as in the ascending mode, the proportional control for ascent to drive the lift arms 7 and 7 When the valve 42 is driven and the value is negative, the descending proportional control valve 45 is driven, and the ground height is maintained when the valve 42 is moved up and down by an amount corresponding to the lifting deviation.

Further, when a tilling depth deviation is generated by the tilling depth sensor in the descent mode, the following processing is performed.
When the tilling depth sensor 37 determines that the tilling depth is deeper than the target value determined by the tilling depth setting device 51, the control device 60 drives the raising proportional control valve 42 and moves the lift arm 7 in the raising direction. The working depth is reduced by operating. When the tilling depth sensor 37 determines that the tilling depth is deeper than the target value determined by the tilling depth setting device 51, the control device 60 drives the descending proportional control valve 45 to move the lift arms 7, 7 in the descending direction. Deepen the working depth by operating. However, this lowering drive uses the position determined by the ground height setter 21 as the lower limit. The larger the deviation is, the larger the driving amount of the control valve is, so that the control valve can be quickly reached. The smaller the deviation is, the smaller the driving amount is, so that overshooting and hunting or the like do not occur.

The rotary tiller 14 is controlled to move up and down as described above, and at the same time, the following tilt control in the rolling direction is performed. FIG. 6 is a detailed flowchart of the tilt control process (step B).
First, when it is recognized that the work implement lowering switch 82 has been operated (step B-10) or when it is recognized that the ground height has changed from a high position to a low position (step B-20), A process of widening the motion insensitive body width of the tilt control is performed (step B-40).

  By comprising in this way, when starting a work using a ground working machine, the control precision is raised by speeding up convergence of tillage depth control, and work precision is improved. As the means, by expanding the dead zone width of the ground angle control, it is possible to reduce the operation frequency of the ground work machine in the rolling direction when the rear cover serving as the tilling depth sensor 23 comes into contact with the ground. For example, if the work equipment is lowered while the machine is tilted, or the work machine is lowered while the work machine is tilted, the rear cover as a means for detecting the tilling depth will be grounded first on the left and right sides. Thus, the control operation in the rolling direction is started after one side is lifted, and the change in the state of tilling depth detection is large. If normal rolling control is performed at this time, the rotary may go into the ground and pass through the set target value for a moment, so that control driving is frequently performed and hunting or the like may occur. Therefore, at the start of control where there is a large change until the tillage depth converges, priority is given to stabilizing tillage depth detection, and by giving no extra disturbance, work accuracy is improved by stabilizing the attitude control of the ground work machine. Improve.

When it is recognized that the work implement lowering switch 82 has been operated (step B-10) or when it is recognized that the ground height has changed from a high position to a low position (step B-20), The maximum time during which the state where the dead zone width increases from the time point is continued is determined, and the time counting is started (step B-41).
Next, when the restriction processing is executed as described above with respect to the tilting operation, the operation range is limited as in Step B70 to Step B100, and it is determined whether or not each restriction processing for increasing the dead band is to be canceled. After that, the control deviation is calculated. If no restriction is provided, the process proceeds to the control deviation calculation.
When the restriction process is being executed, it is determined whether or not the time set in Step B-41 has elapsed. If the time has elapsed, the dead zone width is returned to normal. If it is recognized that the tilling depth control has already been stabilized even if each processing time has not elapsed, the dead zone width is quickly returned to normal (step B-100). That is, the amount of change per fixed time of the tilling depth sensor 37 is less than a certain value, and it is not necessary to actively control the tilling depth (step B-80), or the ground height sensor 23 per fixed time If the change is less than a certain value and it is not necessary to actively control the tilling depth (step B-90), the control responsiveness is recovered using a normal dead zone in step B-100.

  By configuring in this way, the dead zone width of the rolling control of the ground work machine is returned to normal by detecting the fluctuation of the ground height or the fluctuation of the tilling depth, that is, the convergence state of the tilling depth control operation, and the quick response. Recover. Thereby, the accuracy in the rolling direction after stabilizing the tilling depth is increased. It is possible to improve both the system at the start of tillage and the accuracy after stabilization of tillage.

  In addition, the time when the ground height changes from the non-working state to the working state height is measured, and if a certain time or more has elapsed, the dead zone width of the rolling control of the ground work machine is returned to normal and the quick response is restored. By doing so, it becomes possible to return the responsiveness of the rolling control with simple judgment. Further, the time elapsed after the descent SW 81 is operated is measured, and if a certain time or more has elapsed, the dead zone width of the rolling control of the ground work machine is returned to the normal, and quick response is restored, thereby making it simpler. It is possible to return the responsiveness of the rolling control with a simple judgment, and at the same time, it is possible to cancel the regulation of the rolling control even when the ground height cannot be normally detected.

After the slope deviation is calculated in step B-120, it is determined in step B-130 whether the deviation exceeds a predetermined dead band. Since the threshold is the dead band width, is the process in step B-40 continued? It depends on whether or not.
That is, if the tilt deviation is within a predetermined range, tilt control is not performed (step B-140).
If the tilt control is outside the predetermined range, the tilt is controlled by extending and retracting the tilt cylinder 18 in the extension direction (step B-170) and the shortening direction (step B-180) according to the deviation.

A side view showing a schematic structure of tractor 1 concerning an embodiment of the invention. The block diagram regarding the control system of the tractor 1. FIG. The hydraulic circuit diagram in the tractor 1. FIG. The flowchart which showed an example of the series of processes which a control system performs. FIG. 5 is a detailed flowchart of processing (step A) in the flowchart shown in FIG. 4. FIG. 5 is a detailed flowchart of processing (step B) in the flowchart shown in FIG. 4.

Explanation of symbols

1 Tractor 6 Single-acting Hydraulic Cylinder 7 Lift Arm 14 Rotary Plowing Device 16 Tilt Sensor 18 Tilt Cylinder 21 Ground Height Setter 23 Ground Height Sensor 60 Controller 81 Lift Switch 82 Lower Switch

Claims (5)

A mechanism for detecting the horizontal inclination of the agricultural work vehicle; a mechanism for detecting a relative angle between the agricultural work vehicle and the ground work machine; and a control means for controlling the relative angle of the ground work machine based on the detection means. Agricultural work vehicle
The agricultural work vehicle characterized in that, when the ground work machine is lowered and brought into contact with the ground, the control means widens the dead zone width of the ground direction work machine in the rolling direction ground angle control compared to normal control.   The control means comprises means for detecting the ground height of the ground work machine, and when the fluctuation of the ground height has converged below a certain value, the dead zone width of the control means is returned to normal. The agricultural work vehicle according to claim 1, wherein   The control means includes means for detecting the plowing depth of the ground working machine, and when the fluctuation of the plowing depth has converged below a certain value, the dead zone width of the control means is returned to normal. The agricultural work vehicle according to claim 1.   The said control means is provided with a means to detect the ground height of a ground work machine, The dead zone width | variety of the said control means is returned to normal after a fixed time after a ground work machine descend | falls. Agricultural work vehicle. The control means includes means for operating to change the ground height of the ground work machine, and returns the dead zone width of the control means to normal after a predetermined time after the ground work machine is lowered. Item 1. Agricultural work vehicle according to Item 1.

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