JP3173989B2 - Work vehicle rolling control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to the case of horizontally tilling a horizontal field such as a paddy field using a tractor equipped with a rotary tilling device or a plow at the rear thereof, or to the right and left using the tractor. This technique is useful for tilling while traveling along a contour line on a sloping land, and in particular, a ground work device is rotatably connected to the traveling vehicle body and detects the horizontal left-right inclination posture of the traveling vehicle body. Horizontal rolling control means for maintaining the ground working device in a set horizontal rolling posture based on the detection information of the tilt detecting means, and the ground work based on the detection information of the tilt detecting means. The present invention relates to a work vehicle rolling control device provided with an inclined rolling control means for maintaining the device in a set ground rolling posture.

[0002]

2. Description of the Related Art For example, in a tilling operation (an example of ground work) using a work vehicle (an tilling work vehicle) in which a tilling device (an example of a ground work device) is connected to a rear portion of a tractor (an example of a traveling vehicle body). , A horizontal field such as a paddy field, and an inclined field while traveling along a contour line in a horizontally inclined field.

[0003] In the field work on a horizontal land, it is usual that the cultivator is tilled so that the cultivator has a set-to-horizontal posture, generally a horizontal posture. Is usually tilled so that it is parallel to the slope on the left and right.

The above-mentioned rolling control device has been developed in consideration of the above-mentioned point, and when working in a horizontal field, the mode is switched to a horizontal rolling control mode in which the horizontal rolling control means is operated, so that the level of the field ground can be reduced. Regardless of rolling of the tractor due to unevenness and undulations,
The tilling device can be maintained in a horizontal position to keep the cultivator horizontal.On the other hand, when working on a sloping field, by switching to the sloping rolling control mode that activates the sloping rolling control means, the tractor caused by unevenness or undulation of the field ground can be obtained. Regardless of the rolling, the tilling machine can be maintained parallel to the left-right slope and the cultivator can be parallel.

Conventionally, as such a rolling control device, switching between a horizontal rolling control mode in which horizontal rolling control means is operated and a tilt rolling control mode in which tilt rolling control means is operated in accordance with a field is performed manually. There is known one configured to switch control modes.

[0006]

However, according to the above-mentioned prior art, the control mode is switched by an artificial operation. Therefore, after switching to the horizontal rolling control mode and performing the horizontal field work, in particular, At a later date, when working on a sloping field, forget to switch to the sloping rolling control mode and start working on the sloping field in the horizontal rolling control mode, or conversely, switch to the sloping rolling control mode. In particular, when working on a sloping land, after performing work on a horizontal terrain at a later date, there is a risk that the user may forget to switch to the horizontal rolling control and start working on the horizontal sloping field in the inclined rolling control mode. was there.

It is an object of the present invention to reliably perform ground work by operating the horizontal rolling control means when working on a horizontal field, and to reliably perform ground work by operating the inclined rolling control means when working on an inclined field. The point is to be able to do it.

[0008]

The structure, operation and effect of the first invention according to the first aspect of the present invention are as follows.

[Structure] A ground working device is rotatably connected to a traveling vehicle body, and inclination detecting means for detecting a horizontal and horizontal inclination posture of the traveling vehicle body is provided, and the ground operation is performed based on detection information of the inclination detecting means. Horizontal rolling control means for maintaining the device in a set-to-horizontal rolling position;
An inclination rolling control means for maintaining the ground working device in a set ground rolling posture based on the detection information of the inclination detection means, the rolling control apparatus for a work vehicle comprising: An automatic control mode switching means for reversibly switching from a horizontal rolling control mode for operating the horizontal rolling control means to an inclined rolling control mode for operating the inclined rolling control means based on the above detection information is provided.

[Operation] By providing the control mode automatic switching means, the automatic switching from the horizontal rolling control mode to the inclination rolling control mode is performed based on the detection information of the angle set by the inclination detecting means or more, and the inclination detecting means is provided. Is automatically switched from the tilt rolling control mode to the horizontal rolling control mode based on the detection information less than the set angle of, that is, when the detection information of the tilt detection means is equal to or larger than the set angle, If the detected information of the inclination detecting means is smaller than the set angle while automatically determining the slope field and switching to the inclined rolling control mode, it is determined to be a horizontal field and automatically switched to the horizontal rolling control mode. With this configuration, horizontal rolling control can be performed during horizontal field work without forgetting At the time of the land field work can be performed inclination rolling control.

[Effects] As a result, according to the first aspect of the present invention, when working on a horizontal field, the horizontal rolling control means is reliably operated, and the ground working device is set regardless of the rolling of the traveling vehicle body. In the case of field work on a sloping land, the ground rolling device can be reliably operated to maintain the ground working device in the set ground rolling posture regardless of the rolling of the traveling vehicle body. You can now perform good ground work.

The structure, operation and effect of the second invention according to the second aspect of the present invention are as follows.

[Configuration] In the configuration of the first aspect of the present invention, the horizontal rolling control means, the inclination rolling control means, and the control mode automatic switching means are deactivated, and the automatic rolling control off mode for activating the artificial rolling operation means is provided. And a switch / automatic switching means operable to switch between a control automatic switching mode for operating the control mode automatic switching means.

[Operation] Depending on the field and the working conditions, even in a horizontal field, the ground work device is not maintained in the set horizontal roll posture, but the rolling posture of the ground work device is artificially changed to perform ground work. In some cases, the user may want to perform the ground work by artificially changing the rolling posture of the ground working device without maintaining the ground working device in the set ground rolling posture even in a sloping field.

Focusing on the above points, the automatic rolling control switching mode for activating the artificial rolling operation means is provided by providing the switching / automatic switching means. By selecting the automatic rolling control cutoff mode, the artificial rolling operation means can be operated to artificially change the rolling posture of the ground working device.

[Effects] As a result, according to the second aspect of the present invention, the work modes can be diversified, and the ground work can be performed in a work form suitable for the field and work conditions.

The structure, operation and effect of the third invention according to the third aspect of the present invention are as follows.

[Structure] In the structure of the first invention, the horizontal rolling control means, the inclined rolling control means, and the control mode automatic switching means are deactivated, and the automatic rolling control off mode for activating the manual rolling operation means is provided. In addition, there is provided cutting / automatic / horizontal switching means operable to freely switch between a control automatic switching mode for operating the control mode automatic switching means and a horizontal rolling control mode for operating only the horizontal rolling control means.

[Operation] For example, in the plowing operation in a horizontal field, the plowing operation is performed such that the cultivator of the entire field including the headland inclined to the left and right is in a horizontal posture, and While the cultivator is in a horizontal position, the cultivator of the headland located around the center of the cultivator has the work of tilling so as to be in a position parallel to the headland inclined in the left and right direction,
For ground-based work in a horizontal field, there are two tasks: setting the work mark in the entire field and setting it to a horizontal position, and setting the work mark in the center of the field to the set position and a horizontal position, while the work mark in the headland is inclined. There is an operation of setting a ground position such as a posture parallel to the headland that has been set. And in ground work such as tilling on headlands,
The traveling vehicle body may lean left and right more than the set angle.

Therefore, when there is no cutting / automatic / horizontal switching means and only the control automatic switching mode can be realized, the latter ground work can be performed, but the former ground work cannot be performed. .

In view of the above points, by providing cutting / automatic / horizontal switching means, it is possible to select a horizontal rolling control mode in which only the horizontal rolling control means is operated in addition to the automatic control switching mode. Therefore, in the former case, by operating the cutting / automatic / horizontal switching means to switch to the horizontal rolling control mode, regardless of the inclination of the traveling vehicle body on the headland, The work trace can be set to the horizontal position, and the entire work trace can be set to the horizontal position.On the other hand, in the latter case, the cutting / automatic / horizontal switching means is operated, By switching to the control automatic switching mode, the work mark at the center of the field can be set to the horizontal position, and the work mark at the headland can be set to the horizontal position. Kill.

[Effects] As a result, according to the third aspect of the present invention, the work modes can be diversified, and the ground work can be performed in a work form suitable for the field and work conditions.

The structure, operation and effect of the fourth invention according to the fourth invention are as follows.

[Structure] In the structure of the first invention, the horizontal rolling control means, the inclination rolling control means and the control mode automatic switching means are deactivated, and the automatic rolling control cut-off mode for activating the manual rolling operation means. In addition, there is provided cutting / automatic / inclination switching means operable to freely switch between a control automatic switching mode for operating the control mode automatic switching means and an inclination rolling control mode for operating only the inclination rolling control means.

[Operation] For example, in the tilling operation along a contour line in a sloping field, the cultivator is set in a posture parallel to the sloping field regardless of a change in the tilt angle caused by undulations in the field. Tilling work with high accuracy, and in the steeply sloping field part where the inclination angle is larger than the set angle, the tilling is performed so that the cultivator is in a posture parallel to the steeply inclined field, while the inclination angle of the inclined object is smaller than the set angle For example, in the case of a gently sloping field part, there is a work in which the gently sloping field part is regarded as a horizontal land field and the cultivator is tilled so that the cultivator is set to a horizontal position, for example. Work to set the work mark accurately to the set ground position regardless of the change in the tilt angle, and to set the work mark to the set ground position in the steeply inclined field part where the tilt angle is larger than the set angle, The gentle slope field portion than the set angle has the task of setting pair horizontal posture such as horizontal work trace.

Therefore, if there is no cutting / automatic / tilt switching means and only the control automatic switching mode can be realized, the latter ground work can be performed, but the former ground work cannot be performed. .

Focusing on the above points, by providing cutting / automatic / inclination switching means, it is possible to select an inclination rolling control mode in which only the inclination rolling control means is operated in addition to the automatic control switching mode. Therefore, in the former case, the cutting / automatic / inclination switching means is operated to switch to the inclination rolling control mode. Regardless of the existence, the work traces on the gently sloped field part can be set to the set ground position, and the entire work traces can be set to the set ground position. By operating the automatic / horizontal switching means to switch to the control automatic switching mode, work marks on steeply inclined parts where the inclination angle is larger than the set angle It can be a constant ground attitude, and work marks with gentle slope field portion that can be regarded as horizontal locations can be set to-horizontal posture.

[Effects] As a result, according to the fourth aspect of the present invention, the work modes can be diversified, and the ground work can be performed in a work form suitable for the field and work conditions.

The structure, operation and effect of the fifth invention according to the fifth aspect of the present invention are as follows.

[Configuration] In the configuration of the first aspect of the present invention, the horizontal rolling control means, the tilt rolling control means, and the control mode automatic switching means are deactivated, and the automatic rolling control off mode for activating the manual rolling operation means. A control automatic switching mode for operating the control mode automatic switching means, a horizontal rolling control mode for operating only the horizontal rolling control means, and a tilt rolling control mode for operating only the tilt rolling control means. The point is that a cutting / automatic / horizontal / inclination switching means is provided.

[Operation] Focusing on the points described in the section of the operation of the third and fourth aspects of the present invention, by providing cutting / automatic / horizontal / inclination switching means, in addition to the automatic control switching mode, Since the horizontal rolling control mode in which only the rolling control means is operated and the inclined rolling control mode in which only the inclined rolling control means is operated, the operation of the third invention and the operation of the fourth invention can be selected. Can be combined.

[Effect] As a result, according to the fifth aspect of the present invention, the work modes can be further diversified, and the ground work can be performed in a work form suitable for the field and work conditions.

[0033]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of application to a work vehicle in which a running vehicle is a tractor will be described. As shown in FIG. 1, the work vehicle is configured by connecting a rotary cultivator 2, which is an example of a ground work device, to a rear portion of the tractor 1 via a three-point link mechanism 3 so as to be able to move up and down and roll freely. I have.

As shown in FIG. 2, the three-point link mechanism 3 comprises a pair of left and right lower links 4 for connecting the tilling device 2 to the tractor 1 so as to be able to swing up and down. And a top link 5 for regulating the front-back orientation.

The horizontal axis X is lifted by the lift cylinder 6.
The lower link 4 corresponding to the pair of left and right lift arms 7 swinging up and down around 1 is connected via a lift rod 8, and the lower link 4 is driven to swing up and down by expansion and contraction of the lift cylinder 6, that is, tilling. The apparatus 2 is configured to move up and down.

The means for rolling the tilling device 2 comprises a lift rod cylinder 8A which can freely expand and contract one of the lift rods 8, and one of the lower links 4 is extended by expansion and contraction of the lift rod cylinder 8A. Is swung up and down with respect to the other lower link 4 so that the tilling device 2 is rolled with respect to the tractor 1. In addition, for convenience of the following description, a form in which the lift rod 8 on the right side is a lift rod cylinder 8A is shown, but of course, a form in which the lift rod 8 on the left side is a lift rod cylinder 8A can also be implemented. . Therefore, lift rod cylinder 8A
, The tilling device 2 is rolled in a downward right direction with respect to the tractor 1, while the lift rod cylinder 8 </ b> A is shortened, so that the tilling device 2 is lowered in the left downward direction with respect to the tractor 1. It will be rolling.

The tilling device 2 is a tilling rotary 2A.
And a main body cover 2B covering the upper part thereof, and a rear cover 2C attached to the rear end of the main body cover 2B so as to be vertically swingable around a horizontal axis X2.

The work vehicle includes an inclination sensor 9 as inclination detecting means for detecting the horizontal inclination of the tractor 1 with respect to horizontal and horizontal, a potentiometer type stroke sensor 10 for detecting the length of the lift rod cylinder 8A,
A cover angle sensor 11 for detecting the height of the tillage device 2 above the ground, that is, a tillage depth, based on the swing angle of the rear cover 2C with respect to the main body cover 2B, and a turning detecting means for detecting whether or not the tractor 1 is turning. 12 and a control device 13.

As shown in FIG. 5, the turning detecting means 12 is provided with a potentiometer 14 at the swing fulcrum of the lift arm 7, and the height of the lift arm 7 is detected by the potentiometer 14 so that the turning motion can be detected. It is configured to detect the presence or absence. That is, paying attention to the point that the tilling device 2 is positioned low during non-working traveling such as turning while the cultivating device 2 is positioned low during working traveling,
The start of turning travel is detected by the change of the lift arm 7 from a low position during work travel to a high position during non-work travel, and conversely, the lift is moved from a high position during non-work travel to a low position during work travel. When the arm 7 changes, the end of the turning travel is detected.

The control device 13 is provided in a control box 16 disposed on the side of the driver's seat 15, and as shown in FIG. 5, the cultivation depth control means A, the control mode automatic switching means G, Cutting / automatic / horizontal / tilt switching means M4, horizontal rolling control means B, horizontal correction means b1, horizontal correction inversion means b2, tilt rolling control means C, target setting means a1, automatic correction means a2
, Detection information processing means a3, inclination correction means c1, inclination correction inversion means c2, and artificial rolling operation means D.

As shown in FIG. 4, the control panel 17 of the control box 16 has a cultivation depth setting dial 18 for setting a target cultivation depth, and a dial-type mode switching operation for selectively setting rolling control. A tool 19 and a rolling angle adjusting operation tool 20 are provided.

The cultivation depth setting dial 18 adjusts the pointer to the cultivation depth scale attached to the control panel 17 and outputs the value of the cultivation depth scale to which the pointer is adjusted to the control device 13 as a target cultivation depth. The tiller depth control is performed by operating the pointer so that it matches the notation of "OFF" set at the position beyond the tillage depth setting range marked with the scale, specifically, at the position beyond the maximum tillage depth position. The information that cuts off is output. That is, the tillage setting dial 18 is
It is also used as an on / off switch for plowing depth control.

The mode switching operation tool 19 switches the manual rolling operation information for activating the manual rolling operation means D by setting the pointer to the notation of "OFF" on the control panel 17, and automatically, horizontally, and tilt. The automatic information for activating the control mode automatic switching means G is output to the switching / automatic / horizontal / inclination switching means M4 by outputting the information to the switching means M4 and setting the pointer to the notation of "auto". By setting the pointer to the notation, the horizontal rolling control information for operating the horizontal rolling control means B is output to the cutting / automatic / horizontal / inclination switching means M4, and the pointer is set to the notation of "inclination". Turning off the inclination rolling control information for operating the inclination rolling control means C, automatic / horizontal / inclination switching means M4 And outputs.

The rolling angle adjusting operation tool 20 is a push-button type reference operation tool 20S for rolling the tillage device 2 to the reference rolling posture, and the tilling device 2 is rolled downward to the right with respect to the tractor 1. And a push-button-type left correction operating tool 20L for rolling the tillage device 2 in a downward-leftward direction with respect to the tractor 1.

The cultivation depth control means A is operated based on the detection information of the cover angle sensor 11 so that the cultivation depth of the tilling device 2 becomes the target cultivation depth set by the cultivation depth setting dial 18. 6 is a control means for operating the control valve V1 for 6 to raise and lower the tillage device 2. In other words, it is means for raising and lowering the tillage device 2 so that the deviation between the detection information of the cover angle sensor 11 and the target tillage depth set by the tillage depth setting dial 18 becomes zero.

The control mode automatic switching means G includes a horizontal rolling control mode for operating the horizontal rolling means B when the information detected by the inclination sensor 9 is equal to or larger than the set angle θ and the state is continued for a set time t or longer. Is switched to the inclination rolling control mode in which the inclination rolling control means C is activated from the above, while the inclination rolling control means C is activated when the detection information of the inclination sensor 9 is less than the set angle θ and the state is continued for the set time t or more. The mode is switched from the inclined rolling control mode to the horizontal rolling control mode for operating the horizontal rolling control means B. The setting angle θ is an average value calculated by a target setting unit a1 described later. Incidentally, as an example of a real numerical value, the set angle θ is 1 degree, and the set time t is 1 minute.

The cutting / automatic / horizontal / inclination switching means M4 operates the horizontal rolling control means B and B when the mode switching operation tool 19 is operated on the "cut" notation section and artificial rolling operation information is input. Incline rolling control means C and control mode automatic switching means G
And the rolling operation means D
Is switched to an automatic rolling control switching mode for operating the automatic switching control mode, and when the mode switching operation tool 19 is operated in the "automatic" notation section and automatic information is input, the control automatic switching for activating the control mode automatic switching means G is performed. The mode is switched to the horizontal rolling control mode in which only the horizontal rolling control means B is operated when the mode switching operating tool 19 is operated on the “horizontal” notation and the horizontal rolling control information is input. When the mode switching operation tool 19 is operated on the “tilt” notation section and tilt rolling control information is input, the mode is switched to the horizontal rolling control mode in which only the tilt rolling control means C is operated.

The horizontal rolling control means B operates by inputting the horizontal rolling control information. When the tractor 1 tilts left and right, the tilling apparatus 2 is rolled with respect to the tractor 1 in a direction to cancel the tilt. By doing so, the lift rod cylinder 8 is adjusted so that the left and right inclination posture of the tillage device 2 becomes the set versus horizontal posture (target posture).
A controls the control valve V2. More specifically, if the extension length of the lift rod cylinder 8A is known, the tillage device 2
The rolling direction and the rolling angle with respect to the tractor 1 are known. Utilizing this, based on the detection information (inclination angle / inclination direction) of the inclination sensor 9, the tilling device 2 is rolled in the opposite direction to the tractor 1 by the same angle as the inclination angle of the tractor 1. Rod cylinder 8
A is driven to maintain the tillage device 2 in the set-to-horizontal position regardless of the rolling of the tractor 1.

The horizontal correction means b1 is operated in a state where the horizontal rolling control information is inputted and the horizontal rolling means B is operating, and the rolling operation amount by the horizontal rolling control means B is manually operated, that is, the rolling operation is performed. This is means for correcting by operation of the angle adjustment operation tool 20, and is a reference operation tool 2 of the rolling angle adjustment operation tool 20.
When 0S is operated, the horizontal rolling control means B is operated with the reference horizontal posture as the target posture, and when the right correction operating tool 20R is operated, the lift rod cylinder 8A is set in accordance with the operation. The tilling apparatus 2 is rolled downward to the right with respect to the tractor 1 by extending at a speed, and the horizontal rolling control means B is operated with the rolling posture inclined with respect to the horizontal at the time when the operation is released as the target posture. When the left correction operation tool 20L is operated, the lift rod cylinder 8A is shortened at a set speed in accordance with the operation, whereby the tilling device 2 is rolled in the left-downward direction with respect to the tractor 1, and the operation is released. The horizontal rolling control means B is operated with the rolling posture tilted with respect to the horizontal at the time when the rolling is performed as the target posture. That is, the horizontal correction means b1 is a means for continuously changing the amount of correction to be added or subtracted while the right correction operation tool 20R or the left correction operation tool 20L is being operated.

In short, in the horizontal rolling control by the horizontal rolling control means B, the target attitude can be arbitrarily changed and set by manually operating the rolling angle adjusting operation tool 20. That is, (a) and (b) of FIG.
As shown in (c), when the left correction operation tool 20L is pushed for a set time, a left-downward posture, which is a set amount lower than the reference horizontal posture, is set as a target posture, and the standard operation device 2 is pressed.
By pressing the 0S, the reference horizontal posture is set as the target posture, and by pressing the right correction operation tool 20R for the set time, the lower right posture which is lower than the reference horizontal posture by the set amount is set as the target posture. Each can be set.

When the reference operation tool 20S is operated in a state where the posture different from the horizontal posture is set as the target posture by operating the right correction operation device 20R and the left correction operation device 20L, the lift rod cylinder is operated. The tilling device 2 can be rolled with respect to the tractor 1 by expanding and contracting the 8A at the set speed, and the target posture can be returned to the reference horizontal posture.

By the way, the working vehicle turns on the headland and reverses the running direction. In this case, there is no problem in the horizontal rolling control with the horizontal posture as the target posture. A problem occurs in horizontal rolling control in which the target posture is a rightward-downward posture or a leftward-downward posture with respect to the horizontal by operating the left or right correction operation tool 20L. That is, in the case of the horizontal rolling control in which the downwardly inclined posture is the target posture, as shown in FIG. 7A, if the target posture remains the downwardly inclined posture after the turn, the work before the turn is performed. In running, the tilling was plowed so that it was in a downward-sloping posture, whereas when returning to work after turning, it was plowed in such a way that it was in a down-sloping posture. In the case of the horizontal rolling control with the target posture, as shown in (a) of FIG. 8, if the target posture remains the left-downward posture during turning, the cultivator may be left-downward in the forward traveling before turning. While the plow was cultivated to be in the posture, the whole area of the field was lowered to the right or lowered to the left, such as cultivating to return to the lower right position when returning to work after turning. Can not be tilled.

The horizontal correction inversion means b2 is provided focusing on the above point, and inverts the sign of the correction amount from the horizontal correction means b1 based on the rotation detection by the rotation detection means 12. Means for inputting to the horizontal rolling control means B.

Therefore, as shown in FIG. 7 (b), in the horizontal rolling control with the downwardly inclined posture as the target posture,
After turning, the target posture is switched to the left-downward posture, and the posture of the cultivated tilling cultivated by the forward traveling before turning and the posture of the cultivated tilled by the returning traveling after turning become the same, As shown in (b) of FIG. 8, in the horizontal rolling control in which the left-downward posture is the target posture, after turning, the target posture is switched to the rightward-downward posture, and the plow was cultivated by the forward traveling before the turn. The posture of the cultivator and the posture of the cultivated cultivated tilling by the return operation after turning are the same.

The slope rolling control means C is operated by inputting the slope rolling control information, and the target rolling attitude of the tilling apparatus 2 is set at the time of working traveling along a contour line on a sloping land in the left-right direction. Means a
So that the ground rolling posture set in step 1
The control valve V2 of the lift rod cylinder 8A is operated based on the detection information of the inclination sensor 9 and the detection information of the stroke sensor 10.

The target setting means a1 outputs the detection information of the inclination sensor 9 at predetermined intervals (for example, every 0.5 seconds or 50c).
m every traveling), calculating an average value of a predetermined number (for example, 10) of the extracted detection information, and outputting the average value as a target value (set ground rolling posture). The detection information for calculating the average value is sequentially updated as the vehicle travels. That is, when one piece of latest detection information is taken out during traveling, the oldest detection information is deleted from the predetermined number of pieces of detection information. Therefore, the target setting unit a1 outputs the average value of the latest predetermined number of pieces of detection information as the target value.

As shown in FIG. 3, when traveling along a contour line on a sloping ground in the left-right direction, the wheel 1A on the lower side of the left and right wheels 1A of the tractor 1 is moved by the movement of the center of gravity.
Sinks, the inclination angle L of the tractor 1 becomes somewhat larger than the inclination angle G of the ground, and the angle difference LG tends to be roughly determined by specifications such as the inclination angle of the ground and the weight of the tractor 1.

The automatic correcting means a2 is a means focused on the above point, and as shown in FIG. 13, the inclination angle G and the angle difference LG of the ground in a standard field.
Is stored in advance as standard correction amount data,
From the average value L calculated by the target setting means a1, the correction amount ΔS (LG) of the detection information detected by the inclination sensor 9 is obtained based on the data of the standard correction amount, and the corrected information is used as a new value. This is output to the inclination rolling control means C as a target value. That is, the target value calculated by the target setting unit a1 is corrected by the automatic correction unit a2 and is input to the inclination rolling control unit C. The inclination rolling control unit C uses the corrected target value as a basis. To perform the rolling control.

The detection information processing means a3 deletes the information detected by the inclination sensor 9 up to that time based on the detection of the turning end of the turning detecting means 12, and based on only the detection information after the turning end, the target setting means a1. When the first detection information is taken out, the target setting means a1 calculates the average value by assuming that the detection information has a predetermined number, and calculates the average value. Once extracted, an average value is calculated from (predetermined number-1) pieces of first detection information and second detection information, and the same method is used until the predetermined number of pieces of detection information is extracted. An average value is calculated.

As described above, the angle correction in anticipation of the sinking of the tractor 1 is automatically performed by the automatic correcting means a2 on a sloping ground in the left-right direction. However, when the ground on the sloping ground in the left-right direction is softer than the standard, If it is hard, the tilling apparatus 2 will not be in the set ground rolling posture even if the angle is automatically corrected.

Focusing on the above points, the inclination correcting means c1
The inclination correcting means c1 operates in a state where the inclination rolling control information is input and the inclination rolling control means C is operating, and manually adjusts the rolling operation amount by the inclination rolling control means C. Operation, that is, means for correcting by the operation of the rolling angle adjustment operation tool 20, as shown in FIG. 13, the standard correction amount which the automatic correction means a2 has as data is set as a default, By operating the correction operation tool 20R and the left correction operation tool 20L, an artificial correction amount obtained by adding or subtracting the correction amount to the standard correction amount is output to the inclination rolling control means C. If the ground is softer than the standard hardness, an artificial correction amount is output by adding the correction amount according to the softness of the ground to the standard correction amount.If the ground is harder than the standard hardness, the ground is Thus, an artificial correction amount obtained by subtracting the correction amount according to the hardness from the standard correction amount is output. More specifically, when the reference operation tool 20S of the rolling angle adjustment operation tool 20 is operated, the inclination rolling control means C is operated with the reference parallel attitude to the ground corrected by the automatic correction means a2 as the target attitude. When the right correction operation tool 20R is operated,
By extending the lift rod cylinder 8A at the set speed in accordance with the operation, the tilling device 2 is rolled downward to the right with respect to the tractor 1, and the rolling posture at the time when the operation is released is set as the target posture, and the inclined rolling control is performed. When the means C is operated and the left correction operation tool 20L is operated, the lift rod cylinder 8
By shortening A at the set speed, the tilling device 2 is rolled in the lower left direction with respect to the tractor 1, and the rolling posture at the time when the operation is released is set as the target posture to activate the inclined rolling control means C. is there.
That is, the inclination correction unit c1 is a unit that continuously changes the amount of correction to be added or subtracted while the right correction operation tool 20R or the left correction operation tool 20L is being operated.

Therefore, when it is desired to maintain the tilling device 2 in a posture parallel to the left-right sloping ground, the reference operating tool 20S is operated to roll the tilling device 2 to the reference parallel position to the ground. Is visually checked to see if it is positioned parallel to the left-right sloping ground, and if it is, by performing work traveling while performing tilt rolling control with the reference target posture as the target posture, unevenness and unevenness of the left-right sloping ground are Irrespective of the rolling of the tractor 1 caused, the tillage device 2 can be automatically maintained in a posture parallel to the left-right inclined ground. On the other hand, when the settlement amount of the wheel 1A is above or below the standard and the tilling device 2 is not positioned parallel to the left-right sloping ground, the right correction operation tool 20R or the left correction operation tool 2
By operating the 0L, the tilling device 2 is rolled with respect to the tractor 1 so that the tilling device 2 is parallel to the sloping land in the left-right direction. By doing
The tillage device 2 can be automatically maintained in a posture parallel to the left-right sloping land, regardless of the rolling of the tractor 1 caused by the unevenness of the left-right sloping ground or the ups and downs. Further, in the inclination rolling control, when the ground is standard, the target posture can be arbitrarily changed and set as well as the posture parallel to the ground by manually operating the rolling angle adjusting operation tool 20.
That is, as shown in (a), (b), and (c) of FIG. 9, by pressing the left correction operation tool 20L for a set time,
The standard attitude 20S is pushed and operated by pressing the standard operation tool 20S to set the reference ground parallel attitude to the target attitude, and the right correction operation tool 20R is set for the set time by setting the target attitude to the lower left position, which is a set amount lower than the reference ground parallel attitude. By performing the pushing operation, it is possible to set, as the target postures, the postures that fall to the lower right by a set amount lower than the reference ground-parallel postures.

In a state where the target posture is set by operating the right correction operation tool 20R and the left correction operation tool 20L, the lift rod cylinder 8A is expanded and contracted at the set speed by operating the reference operation tool 20S. Thus, the tilling device 2 can be rolled with respect to the tractor 1 to return the target posture to the reference target posture corrected by the automatic correcting means a2.

In addition, even when the hardness of the ground is other than the standard, the target posture can be set arbitrarily by operating the rolling angle adjusting operation tool 20.

In short, in the tilt rolling control, the target posture can be set to an arbitrary posture other than parallel to the ground by operating the rolling angle adjusting operation tool 20 irrespective of the hardness of the ground.

Then, as described in the case of the horizontal rolling control, as shown in FIGS. 10A and 11A, the sign of the target value corrected by the inclination correcting means c1 is determined before turning. If they are the same after turning, the posture of the cultivated tilling cultivated in the forward traveling of the work before turning and the cultivated tilled in the returning traveling of the work after turning will be different.

The inclination correction inversion means c2 is provided focusing on the above point, and inverts the sign of the correction amount from the inclination correction means c1 based on the turning detection by the turning detecting means 12. Is input to the inclination rolling control means C. Thereby, (b) of FIG. 10 and FIG.
As shown in (b) of FIG. 1, the posture of the cultivated tilling cultivated by the forward traveling before turning and the posture of the cultivated tilled by the returning traveling after turning are the same.

The manual rolling operation means D is operated by inputting the manual rolling operation information. When the reference operating tool 20S is operated, the lift rod cylinder 8 is operated based on the detection length of the stroke sensor 10.
By operating the control valve V2 so that A has the same length as the lift rod 8, the tilling device 2 is set in a posture parallel to the tractor 1, and the right correction operation tool 20R and the left correction operation tool 20L are operated. By operating the control valve V2 so that the lift rod cylinder 8A expands and contracts at the set speed, the tiller 2 is rolled with respect to the tractor 1, and when a desired rolling posture is attained, the operation is released and rolling is stopped. By doing so, the tillage device 2 is fixedly maintained in the desired rolling posture with respect to the tractor 1.

That is, the rolling angle adjusting operating tool 20 including the reference operating tool 20S, the right correcting operating tool 20R, and the left correcting operating tool 20L is a manual operating tool of the horizontal correcting means b1 and an artificial operating tool of the tilt correcting means c1. In addition, the artificial rolling operation means D also serves as the artificial operating device.

When the horizontal rolling control information is input and the horizontal rolling control means B is operating, the work vehicle displays the correction amount by the horizontal correction means b1.
When the inclination rolling control information C is input and the inclination rolling control means C is operating, a correction amount display means for displaying a correction amount by the inclination correction means c1 is provided.

In the state where the horizontal rolling control information is input, the correction amount display means, as shown in FIG. 12 (a), is provided at the left and right ends when the tilling apparatus 2 is in the reference horizontal posture. Is the reference position KB,
The vertical distance L1 from the reference position KB to the left and right ends.
Is displayed as the correction amount, and in the state where the inclination rolling control information is input, as shown in (b) of FIG. 12, when the tilling apparatus 2 is in the reference posture parallel to the left-right sloping land field, The position of the left and right ends is used as a reference position KC, and the vertical distance L2 from the reference position KC to the left and right ends is displayed as a correction amount. The right correction operation tool 20R and the left correction operation tool 20L are operated. And the distances L1, L
The control unit 13 is provided with a correction amount calculating means E for calculating 2 and the correction amount display section F for displaying the correction amount calculated by the correction amount calculating means E is provided on the control panel 17.

The correction amount calculating means E includes a right correction operating tool 2
0R and the accumulated time during which the left correction operation tool 20L is operated;
This is a means for calculating a correction amount based on the operating speed of the lift rod cylinder 8A. When the reference operating tool 20S is operated, the correction amount is reset to zero.

The correction amount display section F includes a plurality of lamps 21.
Are arranged in a line, and when the result of the calculation by the correction amount calculating means E is zero, the reference lamp 21S at the center of the column is turned on to display the zero correction amount, and the correction amount becomes the set amount. Each time it increases, the lamp 21 is turned on in order from the lamp 21 located on the side of the reference lamp 21S, and the correction amount is displayed by the lighting number of the lamp 21. More specifically, when the left and right ends are corrected in the direction of raising the left and right end portions beyond the reference positions KB and KC, the lamp 21 positioned on the higher side than the reference lamp 21S is turned on to correct the correction amount and the correction direction. Is displayed, and when the correction in the direction of lowering the left and right ends from the reference positions KB and KC is performed, the lamp 21 positioned lower than the reference lamp 21S is turned on, and the correction amount and the correction direction are set. Is displayed.

The reference operation tool 20S of the mode switching operation tool 19 has "Horizontal" and "Normal" displayed characters, and the right correction operation tool 20R has "Lower right".
The display character "hard" is written, and the left correction operating tool 20L
Indicates the characters “lower left” and “soft”.

[Alternative Embodiment] In the above embodiment, the rolling angle adjusting operation tool 20 has the reference operation tool 20S, the right correction operation tool 20R, and the left correction operation tool 20L. As shown in FIG. 14, the operation tool 20 may be a dial type using a rotary switch, and a control panel 17 located around the rolling angle adjustment operation tool 20.
Has a notation of “horizontal / normal”, a display zone of “lower right / hard” and a display zone of “lower left / soft” with the “horizontal / normal” notation placed in the center. In each of the display zones, a correction amount scale is described.
Then, the horizontal correction means b1 corrects when the horizontal rolling control information is input and the horizontal rolling control means B is in operation and the pointer of the rolling angle adjusting operation tool 20 is adjusted to the notation of "horizontal / normal". The amount of zero is output, and the correction amount in the downward right direction indicated by the correction amount scale is output by adjusting the pointer to the correction amount scale of the notation zone of “lower right / hard”. When the pointer is adjusted to the correction amount scale, the correction amount is output in the lower left direction indicated by the correction amount scale. Similarly, the inclination correction means c1 sets the pointer of the rolling angle adjustment operation tool 20 to the notation of "horizontal / normal" while the inclination rolling information is input and the inclination rolling control means C is operating. By outputting the standard correction amount, the correction amount in the downward right direction indicated by the correction amount scale is output by adjusting the pointer to the correction amount scale of the notation zone of “lower right / hard”, and the correction amount of “lower left / soft” When the pointer is set to the correction amount scale of the display zone, the correction amount in the downward left direction indicated by the correction amount scale is output.

In the above embodiment, the set angle θ is 1
Degrees, the set angle θ is less than 1 degree,
It may be larger than 1 degree.

In the above embodiment, the set time t is 1
Although the minute is shown, the set time t may be less than one minute or longer than one minute.

In the above embodiment, as shown in FIG. 15, instead of the cutting / automatic / horizontal / inclination switching means M4, the following cutting / automatic / inclination switching means M3 may be provided. Cutting / automatic / tilt switching means M
3 is when the mode switching operation tool 19 is operated on the notation of "OFF" and the artificial rolling operation information is input.
The operation of the horizontal rolling control means B, the inclination rolling control means C and the control mode automatic switching means G is stopped, and the mode is switched to an automatic rolling control switching mode for activating the artificial rolling operation means D. When the automatic information is input by being operated in the "automatic" notation section, the mode is switched to the control automatic switching mode for operating the control mode automatic switching means G, and the mode switching operation tool 19 is set to "tilt".
Is switched to the horizontal rolling control mode in which only the tilt rolling control means C is operated when the tilt rolling control information is input by operating the notation section. As a matter of course, as a result, the manual rolling operation information for operating the artificial rolling operation means D is switched as the mode switching operation tool 19 by setting the pointer to the notation of "OFF" attached to the control panel 17 as shown in the figure. -Output to the automatic / inclination switching means M3 and turn off the automatic information for activating the control mode automatic switching means G by adjusting the pointer to the notation of "auto";-Output to the automatic / inclination switching means M3; Rolling control means C by aligning the pointer with the notation
Is output to the cutting / automatic / inclination switching means M3.

In the above embodiment, as shown in FIG. 16, instead of the cutting / automatic / horizontal / inclination switching means M4, the following cutting / automatic / horizontal switching means M2 may be provided. Cutting / Automatic / Horizontal switching means M
2 indicates that when the mode switching operation tool 19 is operated on the notation of “OFF” and the artificial rolling operation information is input,
The operation of the horizontal rolling control means B, the inclination rolling control means C and the control mode automatic switching means G is stopped, and the mode is switched to an automatic rolling control switching mode for activating the artificial rolling operation means D. When the automatic information is input by being operated in the "automatic" notation section, the mode is switched to the control automatic switching mode for activating the control mode automatic switching means G, and the mode switching operation tool 19 is set to "horizontal".
Is switched to the horizontal rolling control mode in which only the horizontal rolling control means B is operated when the horizontal rolling control information is input by being operated by the notation section. As a matter of course, as a result, the manual rolling operation information for operating the artificial rolling operation means D is switched as the mode switching operation tool 19 by setting the pointer to the notation of "OFF" attached to the control panel 17 as shown in the figure. -Output to the automatic / horizontal switching means M2, turn off the automatic information for activating the control mode automatic switching means G by adjusting the pointer to the notation of "auto", and output to the automatic / horizontal switching means M2, The horizontal rolling control means B
Is output to the cutting / automatic / horizontal switching means M2.

In the above embodiment, as shown in FIG. 17, a cutting / automatic switching means M1 described below may be provided in place of the cutting / automatic / horizontal / tilt switching means M4. When the mode switching operation tool 19 is operated on the notation of "OFF" and the artificial rolling operation information is input, the turning / automatic switching means M1 is provided with the horizontal rolling control means B, the inclined rolling control means C, and the control mode. The automatic switching means G was deactivated, and the automatic rolling control switching mode for activating the artificial rolling operation means D was switched. The mode switching operation tool 19 was operated in the "automatic" notation section to input the automatic information. At this time, it is a means for switching to the control automatic switching mode for operating the control mode automatic switching means G. Needless to say, the control panel 1 as the mode switching operation tool 19 as shown in FIG.
The manual rolling operation information for operating the artificial rolling operation means D is output to the cutting / automatic switching means M1 by aligning the pointer with the notation of "OFF" attached to 7;
By setting the pointer to the "automatic" notation, the automatic information for activating the control mode automatic switching means G is turned off.
An output to the automatic switching means M1 is provided.

In the above embodiment and each of the other embodiments, the present invention is implemented by providing switching means without “cut”.

Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a side view of a working vehicle showing an embodiment.

FIG. 2 is a perspective view of a main part of a work vehicle showing an embodiment.

FIG. 3 is a rear view of the work vehicle showing the embodiment;

FIG. 4 is a front view of a control panel showing the embodiment.

FIG. 5 is a control block diagram showing an embodiment.

FIG. 6 is an explanatory diagram of a horizontal rolling control mode showing an embodiment.

FIG. 7 is an explanatory diagram of a horizontal rolling control mode showing an embodiment.

FIG. 8 is an explanatory diagram of a horizontal rolling control mode showing an embodiment.

FIG. 9 is an explanatory diagram of a tilt rolling control mode showing the embodiment.

FIG. 10 is an explanatory diagram of a tilt rolling control mode showing an embodiment.

FIG. 11 is an explanatory diagram of a tilt rolling control mode showing an embodiment.

FIG. 12 is an explanatory diagram of an artificial correction operation according to the embodiment.

FIG. 13 is a graph showing a relationship between a tractor inclination angle and a correction amount in the embodiment.

FIG. 14 is a front view of a main part showing another embodiment.

FIG. 15 is a control block diagram showing another embodiment.

FIG. 16 is a control block diagram showing another embodiment.

FIG. 17 is a control block diagram showing another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running vehicle body 2 Ground work device 9 Inclination detection means B Horizontal rolling control means C Inclination rolling control means G Control mode automatic switching means D Artificial rolling operation means M1 Cutting / automatic switching means M2 Cutting / Automatic / horizontal switching means M3 Cutting / Automatic・ Inclination switching means M4 cutting ・ Automatic ・ Horizontal / Inclination switching means

Claims (5)

(57) [Claims] 1. A ground work device (2) is rotatably connected to a traveling vehicle body (1), and inclination detecting means (9) is provided for detecting a horizontal inclination angle of the traveling vehicle body (1) with respect to horizontal. Horizontal rolling control means (B) for maintaining the ground working device (2) in a set-to-horizontal rolling posture based on the detection information of the detection means (9), and based on the detection information of the inclination detection means (9). The ground working device (2)
And a tilt rolling control device (C) for maintaining the vehicle in a set ground rolling posture, wherein the tilt control device (9) is provided with a rolling control device, Work vehicle rolling provided with automatic control mode switching means (G) for reversibly switching from a horizontal rolling control mode for operating the horizontal rolling control means (B) to a tilt rolling control mode for operating the tilt rolling control means (C). Control device. 2. An automatic rolling control for stopping the operation of the horizontal rolling control means (B), the inclination rolling control means (C) and the control mode automatic switching means (G) and activating the artificial rolling operation means (D). 2. The rolling control device for a work vehicle according to claim 1, further comprising a cutting / automatic switching means (M1) operable to switch between a switching mode and a control automatic switching mode for operating the control mode automatic switching means (G). 3. An automatic rolling control for stopping the operation of the horizontal rolling control means (B), the inclination rolling control means (C), and the control mode automatic switching means (G) and activating the artificial rolling operation means (D). A cutting / automatic / automatic switching operation that can be freely switched between a cutting mode, a control automatic switching mode for operating the control mode automatic switching means (G), and a horizontal rolling control mode for operating only the horizontal rolling control means (B).
The rolling control device for a working vehicle according to claim 1, further comprising a horizontal switching means (M2). 4. An automatic rolling control for stopping the operation of the horizontal rolling control means (B), the inclination rolling control means (C) and the control mode automatic switching means (G) and for activating the manual rolling operation means (D). A cutting / automatic / automatic mode that can be freely switched between a cutting mode, an automatic control switching mode for operating the control mode automatic switching means (G), and a tilt rolling control mode for operating only the tilt rolling control means (C).
The rolling control device for a work vehicle according to claim 1, further comprising an inclination switching means (M3). 5. An automatic rolling control for stopping the operation of the horizontal rolling control means (B), the inclination rolling control means (C) and the control mode automatic switching means (G) and for activating the artificial rolling operation means (D). A cutting mode, a control automatic switching mode for operating the control mode automatic switching means (G), a horizontal rolling control mode for operating only the horizontal rolling control means (B), and only the inclination rolling control means (C). 2. The work vehicle rolling control device according to claim 1, further comprising a cutting / automatic / horizontal / inclination switching means (M4) operable to switch between an inclining rolling control mode to be activated.