JP3310552B2 - Attitude control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inclination angle detecting means for detecting an inclination angle of an object to be detected, and an attitude control for controlling the object to a set attitude based on information detected by the inclination angle detecting means. And a posture control device provided with the means.

[0002]

2. Description of the Related Art In the above attitude control device, conventionally,
For example, the inclination angle detecting means detects the left-right inclination angle and the front-rear inclination angle of the agricultural work vehicle as the detected object, and the posture of the vehicle body,
For example, it is configured to perform a posture control so as to maintain a horizontal posture (an example of a set posture), and as the inclination angle detecting means, there has been one configured as shown in FIG. 2, for example. In other words, a liquid 32 having a predetermined viscosity such as silicon oil as a reference body is put into a container 31 as a main body, and the liquid in the initial state, that is, the liquid level is horizontal due to gravity in a container not inclined. When returning to the state, the detection electrodes 33 in which parallel metal plates of the same shape are erected at the same intervals are set in the tilt angle detection direction (left and right directions in the drawing) so that the parallel metal plates are in the same immersion state. And a conversion circuit unit 34 configured to measure the capacitance of each detection electrode 33 and convert the difference between these measured values to tilt angle information. .

Further, as an example of an attitude control means for controlling an object to be set to a set attitude based on the detection information of such an inclination angle detecting means, for example, as shown in Japanese Patent Application No. 5-141745, A pair of drive units (hydraulic cylinders) are provided to drive the right and left traveling units (crawler traveling units) up and down independently of the body as the object to be detected. In some cases, each driving means is operated so as to maintain the posture.

[0004]

In the tilt angle detecting means having the above structure, the viscosity of the liquid is reduced to improve the response of the detection characteristic, and the response delay with respect to the change in the posture of the object to be detected is delayed. It is preferable to configure the sensor so that it responds sensitively in a state with a small amount of water.However, in such a case, for example, the liquid surface shakes due to vibration of the detection object due to a disturbance or a sudden change in posture, and an erroneous response occurs. The inclination angle may be detected, and as a result, the detected angle becomes larger than the actual inclination angle, so that the posture control operation by the posture control means is excessively performed and proper control cannot be performed. There was a risk.

In order to avoid such disadvantages, it is conceivable to increase the viscosity of the liquid so that the liquid does not respond sensitively to the above-mentioned sudden change in posture. Then, it takes time for the liquid surface to return to the initial state, that is, the liquid surface horizontal state due to gravity,
As a result, the detection responsiveness to the change in the posture of the detected object decreases, and as a result, the detection angle becomes smaller than the actual inclination angle, and the posture control operation by the posture control means is insufficient, so that appropriate control cannot be performed. There was a risk.

In order to control the posture of the detected object to the set posture after the inclination angle is detected by the inclination angle detecting means, for example, a processing time for calculation or a physical control for actually controlling the posture. In general, the attitude control means requires a predetermined response delay.

The present invention has been made in view of such a point, and an object of the present invention is to perform appropriate attitude control while improving the response to detection of a change in the attitude of an object to be detected. The object is to provide a posture control device capable of performing the following.

[0008]

According to the characteristic configuration of the present invention, the rate of change of the attitude inclination angle which can be detected by the inclination angle detecting means, and the attitude control means controls the attitude of the object to be detected. Is set so as to be higher than the upper limit value of the change rate of the posture inclination angle at the time of performing, the detection responsiveness of the inclination angle detecting means to the posture change of the detected object becomes high.

Then, the detection information of the inclination angle detecting means is corrected by the detection information correcting means so as to be information which can respond to the attitude control operation by the attitude control means. That is, while improving responsiveness to a change in the posture of the detected object, the detection information itself of the inclination angle detecting means is used as information capable of responding to the posture control operation by the posture control means, that is, the posture control. The attitude control of the object to be detected by the attitude control means is executed as information from which the information of the rapid change which cannot be handled by the means is removed as much as possible.

As a result, with respect to a change in the posture of the object to be detected, the detection response is enhanced to improve the detection accuracy as much as possible. To minimize the excess and deficiency of the attitude control operation due to the error between the detected angle of the tilt angle detecting means and the actual tilt angle of the detected object caused by the change in the posture, etc. An attitude control device capable of performing control can be provided.

[0011] Then, before Symbol detection information correcting means, the detection information of the tilt angle detecting means, said attitude control means test
Rate of change of the posture inclination angle when controlling the posture of the body
Filter means for removing a frequency component exceeding a set frequency which is set to the same or almost the same value as the frequency corresponding to the upper limit value , and after passing the detection information of the inclination angle detecting means through this filter means. , To the attitude control means.

That is, when the detection information of the inclination angle detecting means passes through the filter means, a frequency component exceeding the set frequency, that is, a high frequency which cannot be responded by the attitude control means is removed. Since it is provided to the attitude control means, it is possible to minimize the excess or deficiency of the attitude control operation due to the error in the detection angle as described above and to perform appropriate attitude control of the object to be detected.

In addition, since the detection information is passed through the filter means, no extra processing time is required and the posture control is performed as compared with a configuration in which a special arithmetic processing is executed to correct the detection information. There is little risk of degrading the response characteristics of the means.

According to the feature configuration described in claim 2, wherein
Change rate of attitude tilt angle detectable by tilt angle detecting means
When the attitude control means controls the attitude of the detected object.
Is higher than the upper limit of the rate of change of the attitude inclination angle
Is set so that changes in the posture of the
The detection response of the inclination angle detecting means is high. Soshi
The detection information of the inclination angle detecting means is used as a detection information correction means.
The response of the attitude control operation by the attitude control means depends on the step.
It is modified to provide the information possible. That is,
Improves responsiveness to changes in the posture of the detected object
However, the detection information itself of the inclination angle detecting means is
Information that can respond to the attitude control operation by the control means,
That is, sudden changes that cannot be handled by the attitude control
Information is removed to the attitude control means as much as possible.
Thus, the posture control of the detected object is performed. That
As a result, the detection responsiveness to
While improving the detection accuracy as much as possible,
If the posture control means cannot respond,
Of tilt angle detection means generated due to various posture changes
Posture control operation based on the error between the angle and the actual tilt angle of the detected object
Minimize crop overage and shortage to minimize the
Provides a posture control device that enables precise posture control
I can do it. The detection information correcting means may be configured such that the amount of change per unit time of the posture inclination angle in the detection information of the inclination angle detection means is the posture inclination per unit time when the posture control means corrects the posture of the detection target. If the change amount of the angle is larger than the change amount of the angle, the change amount of the posture inclination angle in the detection information of the inclination angle detection means, the posture inclination angle per unit time when correcting the posture of the detected object by the posture control means It is configured to change the amount of change.

That is, when the amount of change in the inclination angle detecting means is larger than the amount of change in the attitude control means, that is, the attitude change of the detected object is a fast attitude change such that the attitude control means cannot respond. At this time, the change amount per unit time of the posture inclination angle in the detection information of the inclination angle detection unit is changed to a change amount capable of responding by the posture control unit, so that the detection angle of the inclination angle detection unit and the actual angle are changed. It is possible to minimize the error with the tilt angle of the object to be detected as much as possible and minimize the excess or deficiency of the attitude control operation due to the error of the detection angle as described above, and perform appropriate attitude control of the object to be detected. It becomes possible.

According to a third aspect of the present invention, the inclination angle detecting means is configured to detect an angle of the reference body urged to return to the initial state by gravity with respect to the main body with respect to the main body. Have been.

Even if the main body is tilted in accordance with the change in the posture of the detected body, the reference body is urged to return to the initial state by gravity. The inclination angle of the body can be detected.
Therefore, the inclination angle of the object to be detected can be detected with a simple configuration using gravity.

According to a fourth aspect of the present invention, the object to be detected is constituted by a body of an agricultural work vehicle, and the attitude control means is provided so as to be able to move up and down relative to the machine and the body separately. A pair of left and right actuators that can be operated to change the relative ascending / descending position with respect to each of the left and right traveling devices, and a control unit that controls the operation state of each of the actuators based on the detection information of the inclination angle detecting means. I have.

When the agricultural work vehicle as the object to be detected is tilted left and right due to, for example, unevenness of the ground contact surface, for example, a traveling device located at a low position is determined based on the detection information of the tilt angle detecting means. By controlling the actuator to operate so as to lower relative to the body, in other words, to raise the body, the body can be changed to a set posture such as a horizontal posture.

In such an agricultural work vehicle or the like, the above-described detection error easily occurs in the tilt angle detecting means due to vibration of the body or the like. When the control is performed, since the attitude correction operation is performed at a relatively low speed, there is a large possibility that the amount of excess or deficiency in the attitude control operation by the attitude control means due to the detection error increases. Also, it is possible to perform appropriate posture control.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An attitude control device according to the present invention will be described below with reference to the drawings, taking as an example the case where the attitude of a combine as a farm work vehicle is controlled.

FIG. 4 shows a combine which cuts a grain stalk planted in a field or the like and performs threshing processing of the cut stalk. In this combine, a threshing device 3 and a Glen tank 4 for storing threshed grains are mounted on an airframe V including a pair of left and right crawler traveling devices 1,
A cutting pre-processing unit 6 is provided at the front of the body so as to be able to move up and down and swing around the horizontal axis X by the operation of the lifting hydraulic cylinder 5, and a boarding operation unit 7 is provided on one side of the cutting pre-processing unit 6. Is provided. The cutting pre-processing unit 6 includes a raising device 8 for raising the standing plant culm in a standing position, a cutting device 9 for cutting off the root of the raised cereal stem, and gradually cutting the culm in the cut and standing position. The transport device 10 is configured to be transported toward the rear threshing device 3 while changing the posture so as to be in the side-down posture. In addition, on the rear side of the machine body of the threshing device 3, a waste straw cutter 11 that shreds the waste straw after threshing and discharges it to the field is provided.

In this combine, for example, when the left or right crawler traveling device 1 or 1 enters a recess or the like on a traveling road surface and the vehicle body leans left or right, the body is set to a setting posture for mowing. Attitude control means H for correcting the inclination attitude of the body V as a detection target so as to be maintained is provided. That is, the left and right crawler traveling devices 1 and 1 are separately provided so as to be able to move up and down relative to the machine body V, and when the machine body V is inclined left and right as described above, one of the crawler traveling devices 1 is relatively moved. It is configured so that the aircraft is corrected to the set posture by moving up and down.

A configuration for moving the crawler traveling device 1 up and down relative to the machine body V will be described. Since the left and right crawler traveling devices 1 and 1 have the same configuration, only one side will be described. As shown in FIG. 5, the crawler traveling device 1 includes an endless crawler belt 15 extending over each of a front driving wheel 12, a rear tensioning wheel 13, and a plurality of grounding rollers 14 located therebetween. Is wound, and the driving force from the engine is transmitted to the transmission case 16.
The driving wheel 12 is driven to rotate the crawler belt 15 to drive the vehicle body. As shown in FIGS. 5 and 6, fixedly supported in a state where it is connected to and fixed to the body frame 17 constituting the body V, is located inward of the crawler traveling device 1 in the body, and extends in the longitudinal direction of the body. A frame 18 is provided, and the drive wheel 12 is rotatably supported on the front end side of the fixed-side support frame 18. The movable support frame 19 that rotatably supports the ground rolling wheels 14 and the tension wheels 13 is moved up and down relative to the fixed support frame 18 while maintaining a substantially parallel state with a parallel quadruple link mechanism. Supported as possible. In other words, it is integrated with one end side (outward side in the lateral direction of the vehicle body) of each of the rotating shafts 21 and 21 supported by the pair of front and rear bearing portions 20 and 20 fixed to the fixed side support frame 18 at predetermined intervals in the front and rear direction. A swing arm 22 is provided rotatably, and the other end of each of the front and rear swing arms 22 is pivotally connected to the movable support frame 19 to form a parallel quadruple link mechanism. The front and rear operation arms 23, 2 which are provided at the other end sides (inward in the vehicle width direction) of the front and rear sides 21 and 21 so as to be integrally rotatable.
3 are interlocked and connected by a connecting rod 24. A cylinder rod 25 of a posture control hydraulic cylinder CY (an example of an actuator) whose base end is supported by the body frame 17 is pivotally connected to the rear operation arm 23.

Therefore, the attitude control hydraulic cylinder CY
The front and rear swing arms 22, 22 are extended and retracted.
Is pivoted around the axis of each of the rotating shafts 21 and 21, and the movable support frame 19 is moved up and down relative to the solid support frame 18, that is, the body frame 17 while maintaining a substantially parallel state. It is configured to:

In the vicinity of the operation arm 23 on the rear side of the fuselage, an upper limit detection limit switch 26 and a lower limit detection limit switch 26 for detecting that the movable support frame 19 is at the upper limit operation position and the lower limit operation position. 27 are provided.

FIG. 1 shows a control block diagram for attitude control. A weight-type tilt angle sensor S (an example of tilt angle detecting means) for detecting a horizontal tilt angle with respect to the absolute horizontal attitude (predetermined attitude) of the body is provided, and is configured to detect an actual tilt state of the body V. A posture setting volume 28 for setting a target inclination posture (set posture) of the body V
Is provided. Then, based on the detection information, the electromagnetically operated hydraulic control valve 29 for each of the attitude control hydraulic cylinders CY is switched so that the inclination attitude of the machine body V becomes the target inclination attitude, and the hydraulic cylinder CY is controlled. A control device 30 using a microcomputer is provided as a control unit for controlling the supply / discharge state of the hydraulic oil.
Therefore, the attitude control means H is constituted by the control device 31, each hydraulic cylinder CY, the hydraulic control valve 29, and the like. The relative reference positions of the left and right crawler traveling devices 1 and 1 when the aircraft is in the target inclination posture include an upper limit position where both the left and right upper limit detection limit switches 26 and 26 detect an ON state, and a left and right lower limit. Both of the detection limit switches 27, 27 can be set to any of the lower limit positions for detecting the ON state, and which of the lower limit positions is set in advance according to the work situation. . For example, in a wetland where the crawler traveling device 1 sinks deeply into the mud surface, the lower limit position,
On the basis of the state in which the crawler traveling device 1 is relatively separated downward, if the subsidence is a dry field with little sinking, the crawler traveling device 1 is positioned at the upper limit position, that is, the body.
Can be properly used based on a state in which the object is relatively close to the upper side.

As shown in FIG. 2, the tilt angle sensor S is provided inside a rectangular container 31 (an example of a main body) fixedly attached to a body V as an object to be detected. When the liquid 32 (an example of a reference body) is contained and the liquid 32 inside the container 31 in a non-inclined state (the state shown in FIG. 2) is returning to the initial state by gravity, that is, When the liquid surface is in a horizontal state, a detection electrode 33 in which parallel metal plates of the same shape are erected at the same interval.
Are arranged at predetermined intervals along the tilt angle detection direction (left-right direction in the drawing) in a state where each parallel metal plate is in the same immersion state, and further, the capacitance of each detection electrode 33 is processed. Conversion circuit unit 34 for converting the data into inclination angle detection information
It is configured with. Note that the inclination angle sensor S is arranged so that the inclination angle detection direction coincides with the vehicle width direction.

That is, when the vehicle body V is not inclined in the lateral width direction, the capacitances of the two detection electrodes 33 are the same, but when the vehicle body V is inclined, as shown in FIG. Liquid 3 returning to the state (liquid level state)
Since the liquid level of No. 2 drops with respect to the detection electrode 33 on the upper side of the slope and rises with respect to the detection electrode 33 on the lower side of the slope, a liquid level difference occurs and the capacitance between the two electrodes is the same. Disappears. Since the difference in capacitance changes in accordance with the inclination angle of the body, the conversion circuit unit 34 converts the information on the difference in capacitance into inclination angle information for input to the control device 30. Process it. Thus, the inclination angle of the body V can be detected. In addition, the viscosity of the liquid 32 is set to a relatively low value, and there is little accompanying movement due to friction with the detection electrode 33 with respect to a change in the attitude of the body V, and the detection response is excellent and the precision is high. It is configured so that the inclination angle can be detected.

The tilt angle information of the tilt angle sensor S is configured to be input to the control device 30 through a filter circuit 35 (an example of a filter means).
The filter circuit 35 includes a low-pass filter that removes high-frequency components equal to or higher than a set frequency (that is, blocks a passage). The set frequency is set to the same or almost the same value as the frequency corresponding to the upper limit value of the change rate of the attitude inclination angle when the attitude is controlled by the attitude control means H. In other words, figure
This is the frequency corresponding to the response speed of the force correction. For example, when the specific numerical value is used, the airframe rotates by about 1 ° per second.
This corresponds to a frequency of a speed at which the angle can be changed, and is a very low value.

As a result, for example, the vehicle body vibrates frequently due to running on uneven terrain such as a field, and the liquid in the tilt angle sensor S fluctuates at a high frequency due to the vibration, and erroneous tilt angle information is obtained. In the case of detecting, or in the case where the vehicle body largely changes its attitude and the detection angle overshoots only for a short period of time beyond the inclination angle of the vehicle body, such a fast frequency component is removed. As described above, even when a detection error occurs between the actual inclination angle of the aircraft and the detection angle, due to that,
It is possible to prevent inconveniences such as a large or insufficient amount of posture correction operation by the hydraulic cylinder CY from occurring.

Therefore, the detection information correction means KS for correcting the detection information of the inclination angle sensor S so as to be information which can respond to the attitude control operation by the attitude control means H using the filter circuit 35 is constituted. Will be done.

For example, when the vehicle travels with the upper limit position as the reference position and the horizontal posture is set as the target inclination posture, as shown in FIG. The tilt angle from the horizontal attitude is detected by the tilt angle sensor S, and the control device is positioned on the lower side of the tilt based on the detected information. 7) By extending the hydraulic cylinder CY to lower the corresponding crawler traveling device 1 relatively,
The body V is corrected to the horizontal posture as shown by the virtual line.

Then, due to fine irregularities on the ground and fine vibrations of the vehicle body caused by the engine as the vehicle body travels,
Even when the detection value of the inclination angle sensor S changes finely at a high frequency as shown in FIG. 8A or when the detection value locally changes suddenly due to disturbance or the like, the detection information is obtained. By performing the correction as described above by the filter circuit 35, the posture control is corrected to smooth change information that can sufficiently respond as shown in FIG. 8B, and the posture control is favorably performed with an appropriate operation amount. It will be.

[Another Embodiment] (1) In the above embodiment, the detection information correcting means KS uses the inclination angle information of the inclination angle sensor S (inclination angle detecting means) as a filter for removing high frequency components higher than a set frequency. Control device 3 through a circuit (an example of a filter means)
Although the case where the input is input to 0 has been described as an example, the following configuration may be used instead of the above configuration.

The amount of change in the posture inclination angle per unit time in the detection information of the inclination angle detecting means (inclination angle sensor S) is as follows:
If the change amount of the attitude inclination angle per unit time when correcting the attitude of the body (detected body) by the attitude control means H is larger than the change amount of the attitude inclination angle in the detection information of the inclination angle detection means. May be changed to the amount of change in the attitude inclination angle per unit time when the attitude of the body is corrected by the attitude control means. In addition, the detection information correcting means KS is provided in the control device 30 in the form of a control program, and the control device 30 is configured to execute control as described below.

FIG. 9 shows a flowchart of output control of the inclination angle for attitude control. This control is repeatedly executed every set unit time (5 ms). First, the current detection value _Xn of the tilt angle sensor S is read (step 1), and the absolute value of the difference from the previous detection value _Xn-1 is calculated.
That is, the amount of change per unit time in the detection information of the inclination angle sensor S is the change amount α of the posture inclination angle per unit time when the posture control means H corrects the posture of the body (detected body) (hydraulic cylinder (The amount of change in the attitude correction of the aircraft due to the change), it is determined whether the change is positive or negative (step 2). If the change is "positive", that is, if the detected value is increasing, the previous control command is issued. A value obtained by adding the change amount α of the attitude inclination angle per unit time when the attitude of the body is corrected by the attitude control means to the value P _{n− 1} is set as the current control command value P _n (steps 3 and 4). ), If “negative”, a value obtained by subtracting the change amount α is set as the control command value _Pn (step 5).

The current detection value X_nAnd the previous detected value X_n-1
If the absolute value of the difference from
It is determined whether the change is positive or negative (step 6).
Previous control command value P_n-1A obtained by adding the change amount α to
₁And the current detection value, and the current detection value X_nIs the value A
₁If the current detection value is smaller than
And set the current detection value X_nIs the value A₁Larger than
If so, the value is set as the control command value (step
7-10). If the determination in step 6 is "negative",
Command value P for control_n-1A obtained by subtracting the change amount α from
_TwoAnd the current detection value X_nAnd the current detection value X_nIs
Value A _TwoIf the current detection value X is larger than_nThe current
Control command value P_nAnd the current detection value X_nIs
Value A_TwoIf it is less than_TwoThe current control finger
Price P_n(Steps 11 to 13, 9).

Accordingly, while the control command value is as close as possible to the value detected by the inclination angle sensor S, the change amount of the control command value per unit time is always a change that can be handled by the attitude control means. It does not become larger than the amount α, and the posture control is favorably performed with an appropriate operation amount.

[0040]

( 2 ) In the above embodiment, the object to be detected detects the inclination of the body of the combine as the object to be detected. However, for example, a configuration for detecting the front-back inclination angle of the body may be used. However, the present invention is not limited to such agricultural work vehicles, but may be configured to detect the tilting state of other moving vehicles or stationary devices, and any object may be detected.

( 3 ) In the above embodiment, the posture of the object to be detected is corrected by the hydraulic cylinder. However, the correction may be performed using an electric actuator or another actuator.

( 4 ) In the above embodiment, as the tilt angle detecting means, the tilt state of the liquid put in the container is detected by the pair of detection electrodes. On the other hand, the present invention may be embodied in various forms such as detecting the angle of the pendulum with respect to the main body of the pendulum which is urged to return to the vertical posture by gravity.

[Brief description of the drawings]

FIG. 1 is a control block diagram

FIG. 2 is a diagram showing an inclination angle sensor;

FIG. 3 is a diagram showing a detection state of an inclination angle;

FIG. 4 is an overall side view of the combine.

FIG. 5 is a side view of the crawler traveling device.

FIG. 6 is a vertical front view of the crawler traveling device.

FIG. 7 is a simplified front view showing an inclined state of the aircraft.

FIG. 8 is a diagram showing tilt angle detection information.

FIG. 9 is a flowchart illustrating a control operation according to another embodiment.

[Explanation of symbols]

 1,1 Traveling device 30 Control unit 31 Main body 32 Reference body 35 Filter means CY actuator KS Detection information correction means H Attitude control means S Inclination angle detection means V Detected body

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01D 67/00 B62D 55/116

Claims (4)

(57) [Claims] An inclination angle detecting means for detecting a posture inclination angle of an object to be detected, and an attitude control means for controlling the object to be set to a set attitude based on information detected by the inclination angle detecting means are provided. In the attitude control device, the change rate of the attitude tilt angle that can be detected by the tilt angle detection means is higher than the upper limit value of the change rate of the attitude tilt angle when the attitude control means controls the attitude of the detected object. is set to be higher, the detection information of the tilt angle detecting means, wherein as response posture control operation by the posture control means is capable of information, detection information correcting means comprises al is to be modified, the detection Information correction means for detecting the attitude control based on the detection information of the inclination angle detection means;
Attitude inclination angle when the means controls the attitude of the detected object
The same or almost the frequency corresponding to the upper limit value of
Frequency components exceeding the set frequency set to the same value
Filter means for removing the detection information of the inclination angle detecting means.
After passing, it is given to the attitude control means.
It has been that attitude control system. 2. An inclination angle for detecting a posture inclination angle of an object to be detected.
Detecting means, based on information detected by the inclination angle detecting means.
Attitude control means for controlling the detected object to the set attitude.
A posture control device, wherein the inclination angle detection means detects a change in posture inclination angle.
The attitude control means controls the attitude of the object to be detected.
Higher than the upper limit of the rate of change of the attitude inclination angle when
And the detection information of the inclination angle detection means is sent to the attitude control means.
So that the response to the posture control operation
Positive detected information correcting unit provided, the detection information correction means is a single attitude inclination angle in the detection information of the tilt angle detecting means
The amount of change per unit time is affected by the attitude control means.
Appearance per unit time when correcting the attitude of the object
If the change amount is larger than the change amount of the inclination angle, the change of the posture inclination angle in the detection information of the inclination angle detecting means is detected.
The attitude of the object to be detected by the attitude control means.
Amount of change in attitude tilt angle per unit time when correcting
An attitude control device that is configured to change the position. 3. The reference device according to claim 1, wherein said tilt angle detecting means is biased to return to an initial state by gravity with respect to the main body.
And configured to detect an angle of the body with respect to the body.
The attitude control device according to claim 1 or 2, wherein: 4. The apparatus according to claim 1, wherein the object to be detected is an agricultural work vehicle.
The attitude control means is provided so as to be able to move up and down relative to the aircraft and the aircraft separately.
Operation to change the relative vertical position of the left and right traveling devices
A pair of operable left and right actuators and each of the actuators based on detection information of the inclination angle detection means.
And a control unit for controlling the operation state of the
Attitude control device according to any one of claims 1-3 being.