JP3497481B2 - Work machine rolling 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 a rolling control device for a working machine such as a tractor, a rice transplanter, and a direct clan machine. More specifically, the ground working device is connected to a traveling machine body so that it can roll freely, and the ground working device is driven. An actuator that performs a rolling drive with respect to the machine body, an inclination sensor that detects a lateral inclination angle of the traveling machine body or the ground work device, and an angular velocity sensor that detects an angular velocity of the traveling machine body or the ground work device in a lateral inclination direction, The present invention relates to a rolling control device for a working machine, which is provided with rolling control means for operating an actuator so that the horizontal posture of the ground working device is maintained at a set angle based on the detection values of both the sensor and the angular velocity sensor. is there.

[0002]

2. Description of the Related Art In rolling control of a ground work device in a work machine such as a tractor, by using both an inclination sensor and an angular velocity sensor as displacement detecting means of the work device, good responsiveness and no malfunction occurs. First of all, it is known that a precise and accurate control operation that cannot be performed can be performed.
As described above, as the rolling control means that uses both the inclination sensor and the angular velocity sensor, the rolling control means is roughly classified and the detected values from the two types of sensors are used as they are to judge the situation, and the rolling operation speed and the like are determined accordingly. 10-
No. 178835), and one in which the angular velocity is integrated to obtain an inclination angle and an error is corrected by an inclination sensor (Japanese Patent No. 2733597).

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

That is, the angular velocity output dθ from the angular velocity sensor
By integrating j / dt, it is possible to obtain a change in tilt angle (integrated tilt angle) θj that is not affected by the roll of the sensor housing. However, since the angular velocity sensor can detect only the angle change, the tilt sensor is necessary for detecting the absolute angle. When the vehicle body stops for a sufficiently long time, the target tilt angle θ converges to the detected tilt angle θr and the value of the tilt sensor is output as the tilt angle of the traveling machine body. When the traveling machine body changes in inclination, the inclination angle change θj is added to the target inclination angle θ, and it is possible to detect an inclination angle with a good response that is not affected by rolling.

[0005]

Although the rolling control means can be realized by using a relatively inexpensive angular velocity sensor, it has a drawback that it cannot cope with complicated inclination changes. On the other hand, the rolling control means can always detect the inclination with high accuracy, but has a drawback that a highly accurate sensor, that is, an expensive sensor is required to realize the inclination.

An object of the present invention is to realize a rolling control means which has advantages of both the above-mentioned means and the above means, that is, a rolling control means which can detect with high accuracy while using an angular velocity sensor which is relatively inexpensive.

[0007]

According to a first aspect of the present invention, an actuator for connecting a ground work device to a traveling machine body in a rolling manner so as to roll the ground work device to the traveling machine body, a traveling machine body or a ground work device. A tilt sensor for detecting the left / right tilt angle of the vehicle and an angular velocity sensor for detecting the angular velocity of the traveling machine body or the ground working device in the left / right tilting direction are provided, and ground work is performed based on the detection values of both the tilt sensor and the angular velocity sensor. A rolling control device for a working machine, which is provided with rolling control means for operating an actuator so that the horizontal posture of the device is maintained at a set angle, wherein the rolling control means is obtained by integrating a detection value of an angular velocity sensor. The detected tilt angle obtained by performing correction based on the detected value of the tilt sensor with the integrated value as a reference is set in advance. It is configured to operate the actuator so that the target set angle is set to the specified target angle, and is provided with a determination means for determining whether the state stability of the traveling machine body or the ground work device is high or low, and the state stabilization of the traveling machine body or the ground work device State correction means for increasing the correction rate based on the detection value of the tilt sensor as the degree is lower, and for decreasing the correction rate based on the detection value of the tilt sensor as the state stability of the traveling machine body or the ground work device is higher. Is characterized by.

According to the structure of claim 1, the following actions and effects can be obtained. The reference value of the angular velocity sensor tends to fluctuate relatively easily depending on the degree of stability of the traveling body or working equipment such as temperature change, humidity change, and altitude. If the state stability of the work device changes, a considerable difference occurs in the reference value, which is inconvenient. Therefore, when the state stability is changing, increasing the correction rate based on the detection value of the tilt sensor can improve the detection accuracy by the comprehensive judgment of the two types of sensors.

In this case, the larger the change in the state stability, the larger the change in the reference value, and the smaller the change in the state stability, the smaller the change in the reference value.
The lower the state stability of the traveling body or work equipment, the larger the correction rate based on the detection value of the tilt sensor, and the higher the state stability of the traveling body or work equipment, the smaller the correction rate based on the detection value of the tilt sensor. Thus, when the accumulation of the integration error is small, the correction ratio is reduced to improve the control response, and when the accumulation of the integration error is large, the correction ratio can be increased to strengthen the correction of the integration error. Accurate rolling control can be performed regardless of the change in stability.

According to a second aspect of the present invention, in the first aspect, the determining means is a temperature sensor for detecting the temperature of the angular velocity sensor, and the state correcting means detects the inclination sensor as the temperature change of the angular velocity sensor increases. It is characterized in that the correction rate based on the value is increased, and the correction rate based on the detection value of the tilt sensor is decreased as the temperature change of the angular velocity sensor is smaller.

According to the second aspect of the present invention, the determining means is also desirable as a measure for measuring the state stability of looking at the temperature change of the angular velocity sensor itself, and the change of the reference value due to the temperature change of the angular velocity sensor can be accurately measured. I can catch it,
The operation and effect of the structure of claim 1 can be surely exhibited.

According to a third aspect of the present invention, in the first aspect of the invention, the discriminating means is time measuring means for detecting an elapsed time from when the main switch is turned on, and the state correcting means is for turning on the main switch. The shorter the time is, the larger the correction rate based on the detection value of the tilt sensor is, and the longer the time from turning on the main switch is, the smaller the correction rate based on the detection value of the tilt sensor is configured. It is a thing.

According to the structure of claim 3, the following actions and effects can be obtained. Normally, the main switch is turned on to start the engine. Therefore, the engine is started by turning on the main switch, and the engine temperature rises as time elapses from the ON operation. When the engine temperature rises, the mission case temperature also rises, and thereby the ambient temperature of the angular velocity sensor also rises. Therefore, as the elapsed time from the turning on of the main switch increases, the angular velocity sensor temperature rises. .

Therefore, according to the state correction means, the correction rate based on the detection value of the tilt sensor is larger as the elapsed time from the main switch ON is shorter, and based on the detection value of the tilt sensor as the elapsed time from the main switch ON is longer. Since the correction ratio becomes small, the change in the reference value due to the change in the temperature of the angular velocity sensor can be captured as a result, and the above-described operation according to the configuration of claim 1 can be satisfactorily exhibited.

According to a fourth aspect of the present invention, the ground work device is connected to the traveling machine body in a rolling manner, and the actuator for rolling the ground work device with respect to the traveling machine body and the horizontal inclination angle of the traveling machine body or the ground work machine are detected. The tilt sensor and the angular velocity sensor for detecting the angular velocity of the traveling machine body or the ground work device in the left-right tilt direction are provided, and the left-right posture of the ground work device is determined based on the detection values of both the tilt sensor and the angular velocity sensor. In a rolling control device for a working machine, which is provided with a rolling control means for operating an actuator so as to maintain a set angle, the rolling control means is used to set an inclination based on an integrated value obtained by integrating a detection value of an angular velocity sensor. The detected tilt angle obtained by performing the correction based on the detection value of the sensor is a preset target setting. Is configured to operate the actuator so that the traveling airframe or the ground work device has a high attitude stability discriminating means. A posture correction unit is provided, which increases the correction rate based on the detection value of 1. and decreases the correction rate based on the detection value of the tilt sensor as the posture stability of the traveling machine body or the ground work device increases.

According to the structure of claim 4, the following actions and effects can be obtained. When the posture stability of the traveling machine body or the work device is low, for example, when the traveling speed is fast or the absolute tilt angle on the left and right is steep, the detection followability of the angular velocity sensor itself is good, but the reference value to be updated is It can be said that the reference value cannot be calculated accurately from the point that the difference from the previous reference value becomes large. On the contrary, when the posture stability of the traveling machine body or the work device is high, for example, when the traveling speed is slow or the traveling ground is almost horizontal, the change in the reference value due to the detection of the angular velocity sensor is small and is calculated. The reference value will be reliable.

Therefore, the attitude correction means increases the correction rate based on the detection value of the tilt sensor as the posture stability of the traveling machine body or working device is lower, and increases the tilt rate of the tilt sensor as the posture stability of the traveling machine body or working device is higher. If the correction rate based on the detection value is made small, the correction rate is made small and the control response is improved when the accumulation of the integration error is small, and the correction rate is made large to make the correction of the integration error when the accumulation of the integration error is large. Therefore, the rolling control can be performed with high accuracy regardless of whether the posture stability of the traveling machine body or the working device is high or low.

According to a fifth aspect of the present invention, in the fourth aspect, the discriminating means is an angular velocity sensor, and the attitude correcting means is
The correction rate based on the detection value of the tilt sensor increases as the output value of the angular velocity sensor increases, and the correction rate based on the detection value of the tilt sensor decreases as the output value of the angular velocity sensor decreases. It is what

According to the fifth aspect of the invention, the posture correcting means is utilized by utilizing the fact that the posture stability is lower as the angular velocity in the rolling motion of the traveling machine body or the working device is higher, and the posture stability is higher as the angular velocity is lower. Therefore, by using the angular velocity sensor equipped as the rolling control means also as the determination means, it becomes possible to exert the action and effect according to the configuration of claim 4.

According to a sixth aspect of the present invention, in the construction of the fourth aspect, the determining means is a tilt sensor, and the attitude correcting means increases the correction rate based on the detected value of the tilt sensor as the output value of the tilt sensor increases. The smaller the output value of the tilt sensor, the smaller the correction ratio based on the detection value of the tilt sensor.

According to the sixth aspect of the invention, the posture correction means utilizes the fact that the posture stability is lower as the horizontal inclination angle of the traveling machine body or the work device is larger, and the posture stability is higher as the horizontal inclination angle is smaller. Since the tilt sensor is also used as the determination means, it is possible to achieve the action and effect according to the configuration of claim 4.

According to a seventh aspect of the present invention, in the fourth aspect, the discriminating means is a vehicle speed sensor for detecting the traveling speed of the traveling machine body, and the posture correcting means makes the detected value of the tilt sensor the faster the traveling speed. The correction ratio based on the detected value of the tilt sensor is set to be smaller as the traveling speed becomes slower.

According to the seventh aspect of the present invention, the slower the traveling speed of the traveling machine body, the less rolling and pitching and the like, and the higher the posture stability. The faster the traveling speed, the greater the rolling and pitching. The attitude correction means is utilized by utilizing the fact that the attitude stability becomes low. By using the vehicle speed sensor as the determination means, it is possible to exhibit the action and effect according to the configuration of claim 4.

According to an eighth aspect of the present invention, in the fourth aspect, the discriminating means is an operation frequency detecting means for detecting an operation of an actuator for operating the traveling machine body or the ground work device or the number of operation inputs. The attitude correction unit increases the correction rate based on the detection value of the tilt sensor as the number of actuator operations or operation inputs increases, and decreases the correction rate based on the detection value of the tilt sensor as the number of actuator operations or operation inputs decreases. It is characterized by being configured into one.

According to the present invention, the operating amount (or operating speed) of an actuator such as a steering hydraulic cylinder or a raising / lowering hydraulic cylinder of a tillage rotary, or an operation input such as a handle turning amount or a raising / lowering lever tilt amount. The smaller the number, the less the influence of inertia on the traveling body, and therefore the higher the posture stability of the traveling body.
Utilizing the phenomenon that the larger the actuation amount (or actuation speed) of the actuator or the number of operation inputs therefor, the greater the influence of inertia on the traveling machine body, and thus the lower the posture stability of the traveling machine body. It is the attitude correction means, and by using the operation frequency detection means for detecting the operation of the actuator or the number of operation inputs, as the determination means, it is possible to achieve the action and effect according to the configuration of claim 4. Become.

According to a ninth aspect of the present invention, the ground work device is connected to the traveling machine body in a rolling manner, and the actuator for rolling the ground work device with respect to the traveling machine body and the horizontal inclination angle of the traveling machine body or the ground work machine are detected. The tilt sensor and the angular velocity sensor for detecting the angular velocity of the traveling machine body or the ground work device in the left-right tilt direction are provided, and the left-right posture of the ground work device is determined based on the detection values of both the tilt sensor and the angular velocity sensor. A rolling control device for a working machine, which is provided with rolling control means for operating an actuator so as to maintain a set angle, wherein the rolling control means is based on an integrated value obtained by integrating a detection value of an angular velocity sensor. , The detected tilt angle obtained by performing correction based on the detection value of the tilt sensor is a preset target setting. When the actuator is operated so that the change amount of the detected value by the tilt sensor per unit time does not or hardly exists, the correction rate based on the detected value of the tilt sensor increases as the change amount of the integrated value increases. And an integral correction means for decreasing the correction rate based on the detection value of the tilt sensor as the amount of change in the integrated value decreases.

According to the structure of claim 9, the following actions and effects can be obtained. That is, although the actual inclination of the traveling ground in the left-right direction is stable, when the angle obtained by integrating the detection value of the angular velocity sensor is changing, the error due to integration is accumulated. Since it can be considered, the control accuracy can be improved by changing the correction ratio based on the detection value of the tilt sensor according to the change amount.

That is, when the accumulation of the integration error is small, the integration correction means reduces the correction ratio to improve the control response, and when the accumulation of the integration error is large, the correction ratio is increased to correct the integration error. By making the strength stronger, it becomes possible to perform the rolling control with high accuracy even in a state where the actual inclination is stable but the angle detected by the angular velocity sensor is changing.

[0029]

DETAILED DESCRIPTION OF THE INVENTION First Embodiment

FIG. 1 shows a rear portion of an agricultural tractor which is an example of a working machine. In a mission case 3, a top link 1 which can be vertically swung and a pair of left and right lower links 2 are provided to a traveling machine body 21. A rotary tiller (an example of a ground work device) 4 is connected so that it can be rolled freely. A pair of lift arms 6 swingably driven up and down by a hydraulic cylinder 5 are provided above the mission case 3, and the pair of lift arms 6 and the lower link 2 are connected to a lift rod 7.
And a double-acting hydraulic cylinder 8 for connection.
Reference numeral 19 denotes a pair of left and right driving rear wheels.

As shown in FIG. 2, the three-position switching control valve 16 for the hydraulic cylinder 5 is operated by the control device 22, and the rotary tiller 4 is driven up and down by the hydraulic cylinder 5 and the lift arm 6. The three-position switching type control valve 17 for the hydraulic cylinder 8 is operated by the control device 22, and the rotary tiller 4 is moved by the control device 22 so that the rotary cultivator 4 is moved to the lower link 2 on the opposite side of the hydraulic cylinder 8.
Rolling is driven around the connection point with.

This agricultural tractor includes a rotary tiller 4
Elevating control means 29 for maintaining the height of the plowing depth at a set value from the ground and for maintaining the plowing depth at the set value, position control means 30 for maintaining the height of the rotary tilling device 4 with respect to the traveling vehicle body 21 at the set position, and rotary for the horizontal plane. The control device 22 is provided with rolling control means 24 for maintaining the tilt angle of the tilling device 4 in the left-right direction at a set angle.

As shown in FIGS. 2 and 1, the rotary cultivator 4 is provided with a rear cover 9 which is vertically swingable, and the spring 18 urges the rear cover 9 downward so that the rotary cultivator 4 is supported. A plowing depth sensor 10 for detecting the vertical swing angle of the rear cover 9 is provided.
The detected value of 0 is input to the control device 22. As a result, the control valve 16 is operated by the lifting control means 29 so that the detection value of the tilling depth sensor 10 becomes the set tilling depth of the tiller depth setting device 11 of the potentiometer type provided on the traveling machine body 21. Then, the rotary tiller 4 is automatically moved up and down by the hydraulic cylinder 5.

As shown in FIGS. 2 and 1, the traveling body 21
An angle sensor 13 for detecting the vertical angle of the lift arm 6 with respect to is provided at the base of the lift arm 6, and the detection value of the angle sensor 13 is input to the control device 22. As a result, the position control means 30 causes the detected value of the angle sensor 13 to become the target value of the lever-operated position setter 12 provided on the traveling machine body 21,
The control valve 16 is operated, and the hydraulic cylinder 5 swings the lift arm 6 up and down.

In the ascending / descending control means 29 and the position control means 30, the detected value of the angle sensor 13 corresponding to the set tilling depth of the tilling depth setting device 11 and the target value of the position setting device 12 are compared, When the target value of the position setter 12 is higher, the functions of the lifting control means 29 and the rolling control means 24 described later stop (the hydraulic cylinder 8 is stopped), and the position control means 30 operates. As a result, the control valve 16 is operated so that the detection value of the angle sensor 13 matches the target value of the position setter 12, and the rotary tiller 4 is operated by the hydraulic cylinder 5.
Is driven up and down. Therefore, by operating the position setter 12, the rotary tiller 4 with respect to the traveling machine body 21 can be moved to an arbitrary range within a range higher than the detection value of the angle sensor 13 corresponding to the set tillage depth of the tiller depth setter 11. It can be driven up and down to a height and stopped.

Next, the position setter 12 is operated to the descending side, and the target value of the position setter 12 is changed to the working depth setter 1.
When the detection value of the angle sensor 13 corresponding to the set tilling depth of 1 matches (or becomes lower), the position control means 3
0 is stopped, and the lifting control means 29 and the rolling control function are activated. As a result, the control valve 16 is operated by the lifting control means 29 so that the detection value of the tilling depth sensor 10 becomes the set tilling depth of the tilling depth setter 11, and the rotary tiller 4 is automatically operated by the hydraulic cylinder 5. It is driven up and down. By the rolling control means 24, as will be described later,
The control valve 17 is operated so that the left (rightward inclination angle) of the rotary tiller 4 with respect to the horizontal plane is maintained at a set angle that is inclined in the left-right direction (or parallel to the horizontal plane) with respect to the horizontal plane. Rotary tiller 4 by 8
Is rolling driven.

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

That is, a weight-type tilt sensor 15 for detecting the horizontal tilt angle of the traveling machine body 21, a vibration gyro-type angular speed sensor 23 for detecting the angular speed of the traveling machine body 21 in the lateral tilt direction, and the operation of the hydraulic cylinder 8. The rolling cylinder 8 is provided with a stroke sensor 14 for detecting the position.
The horizontal tilt angle of the rotary cultivator 4 with respect to the machine body 21 can be detected by the operating position of the rotary cultivator 4, so that the horizontal posture of the rotary cultivator 4 can be determined based on the detected values of both the tilt sensor 15 and the angular velocity sensor 23. The controller 22 is provided with rolling control means 24 for operating the hydraulic cylinder 8 so as to maintain the set angle by

Further, there is provided a sensor zero point correction device Z for updating and correcting the zero point of the angular velocity sensor 23 which drifts due to various conditions such as temperature. That is,
A storage unit 25 that stores a plurality of sampling output values detected by the angular velocity sensor 23, a zero point control unit 26 that sets a zero point to an average value calculated based on the stored plurality of sampling output values, and the traveling body 21. And a posture determination means Hs for determining whether the posture stability is high or low,
A sensor zero point correction device is provided by providing zero point correction means 28 that sets a smaller number of sampling output values as the posture stability of the traveling body 21 is higher, and sets a larger number of sampling output values as the posture stability of the traveling body 21 is lower. Z is configured.

As shown in FIG. 2, the rear wheel 19 (see FIG. 1)
And a vehicle speed sensor 27 for detecting the traveling speed of the traveling machine body 21 by detecting the number of rotations of the transmission shaft 32 to the front wheel 31, and the vehicle speed sensor 27 and the discrimination circuit 34 for processing the detection information thereof. Attitude determination means Hs is configured. That is, it is determined that the higher the traveling speed, the lower the posture stability of the traveling machine body 21, and the lower the traveling speed, the higher the posture stability of the traveling machine body 21.

The first error compensation (zero point compensation) G1 by the arithmetic processing of the zero point control means 26 and the points is as follows. That is, as shown in FIG. 3, constant interval averaging processing and adaptive LPF are performed in order to completely remove noise generated within the average interval. In the constant interval averaging process, data (10 pieces) for 10 msec sampled at 1000 Hz is added to obtain a data string a. Then, the average of the data string a is calculated every 1 sec and set as the data string b.

The adaptive LPF (low-pass filter) updates the reference voltage by the following LPF processing every time averaging processing is performed. New reference voltage = (average value for 1 second x α + old reference voltage x β)
÷ (α + β) Outputs the zero point with sufficient smoothing (currently α =
1, set β = 199). However, α and β are variable according to the conditions. For example, when the reference voltage is likely to fluctuate immediately after the main key is turned on or when the temperature rises, α is increased and importance is attached to the fluctuation followability. In the condition where is stable, α is made small and importance is attached to the accuracy of calculation. Further, the processing is interrupted during turning or when there is a large change in inclination so that an incorrect reference voltage is not calculated.

Since all the errors cannot be removed by the first error compensation G1, there is an error in the linearity of the sensor, and it is impossible to eliminate the accumulation of errors due to the integration process. Therefore, in order to remove the error once accumulated, the inclination sensor 15 is set to the target inclination angle θ set by the inclination setter 20.
The second error compensation G2 for feeding back the deviation from the detected inclination angle θr is performed. Here, if the feedback coefficient (that is, the correction rate based on the detection value of the tilt sensor 15 and hereinafter abbreviated as FB coefficient) K2 can be set to be sufficiently small, θ = θr when the airframe is stopped and the tilt sensor becomes An absolute accuracy equivalent to that of 15 is secured, and a tilt angle with good responsiveness that is not affected by rolling when tilting changes can be output. On the contrary, if the FB coefficient K2 is large, the compensation of θr becomes too effective and the output value of the tilt sensor 15 does not change.

Since it is necessary to set the FB coefficient K2 in accordance with the accumulated error, the more accurate the gyro sensor is used, the smaller the first error compensation G1 can be made. In the above process, the error can be removed by about 0.5%, which is a sufficiently small value that satisfies the required performance. But,
It is necessary to further increase the size in the case of using a gyro sensor that has a drastic change in temperature and a cheaper gyro sensor, and it is necessary to evaluate how much the performance deterioration due to the gyro sensor will be.

Therefore, as shown in FIG. 2, there is provided a state correction means A for varying the FB coefficient K2 according to the situation. That is, the state correction unit A functions to increase the FB coefficient K2 as the state stability of the traveling machine body 21 decreases, and to decrease the FB coefficient K2 as the state stability of the traveling machine body 21 increases. The state determination means Hj that determines whether the state stability is high or low is the temperature sensor 36 that detects the temperature of the angular velocity sensor 23, and the state correction means A increases the FB coefficient K2 as the temperature change of the angular velocity sensor 23 increases. The FB coefficient K2 is made smaller as the temperature change of the angular velocity sensor becomes smaller. As shown in FIG. 2, the temperature sensor 36 is preferably arranged so as to be incidental to the angular velocity sensor 23, but it may be arranged at a position slightly apart or in the mission case 3.

The angular velocity sensor 23 is arranged just beside the mission case 3 and is easily affected by the ambient temperature due to the temperature change of the mission case 3. Since the temperature of the mission case 3 depends on the engine temperature, there is a difference between immediately after the engine is started and after the engine is sufficiently warmed up.
The temperature of the angular velocity sensor 23 is clearly different, which causes the zero point to drift (that is, the reference value changes). In addition to the engine, the atmospheric temperature of the angular velocity sensor 23 (an example of the state stability of the traveling machine body 21 or the working device 4) varies depending on various conditions such as season, weather, region, and geography. Then, the FB coefficient K2 is changed.

For reference, FIGS. 10 to 11 show a tractor.
Operation of each sensor 15, 23 when the inclination of the
Shows the test results.

According to FIG . 10, the inclination change of the traveling body is
Then, the output of the calculation of the angular velocity sensor 23 is delayed by almost the time.
The tilt sensor 15 is
It changes with a time delay of about 0.5 seconds, and
When the slope begins to change in the positive direction and in the negative direction
When inertia begins to change to
It can be understood that the motion is detected. Note that FIG.
0 to FIG. 11, v is the lateral inclination of the traveling body 21, y
Is the output of the calculation of the angular velocity sensor, z is the tilt sensor 15
Is the output of.

FIG. 11 shows a change in inclination more than that in the case of FIG.
This is a fast example, and descends so that it changes twice in 0.5 seconds.
Tilt sensor 15 and angular velocity sensor
The change characteristics of the output by the calculation of the sensor 23 are shown.
It According to this, the tilt sensor 15 outputs about 1 degree in the opposite direction at the time of starting the descending and ascending, and also overshoots at the time of stopping the ascending and descending. On the other hand, the output from the calculation of the angular velocity sensor 23 is still running.
It can be seen that it follows the tilt change of the aircraft. like this
The angular velocity sensor's
Controlling based on output is superior in response and accuracy
It is clear that

-Second Embodiment-

Only the points different from those of the first embodiment will be described. As shown in FIG. 4, a posture determination means Hs for determining whether the traveling machine body 21 (or the ground work device 4) has a high posture stability is provided, and the posture stability of the traveling machine body 21 (or the ground work device 4) is low. The larger the FB coefficient K2,
The rolling control may be performed by providing the attitude correction unit B that reduces the FB coefficient K2 as the attitude stability of the traveling machine body 21 (or the ground work device 4) increases. The attitude determination unit Hs also serves as the angular velocity sensor 23 instead of the vehicle speed sensor 27. The attitude correction unit B increases the FB coefficient K2 as the output value of the angular velocity sensor 23 increases, and the output value of the angular velocity sensor 23 increases. The smaller the value, the smaller the FB coefficient K2.

-Third Embodiment-

As shown in FIG. 5, when there is little or no change in the value detected by the tilt sensor 15 per unit time, the amount of change in the integrated value obtained by integrating the values detected by the angular velocity sensor 23 is large. The FB coefficient K2 may be increased as the FB coefficient K2 is increased, and the FB coefficient K2 may be decreased as the amount of change in the integrated value obtained by integrating the detection value of the angular velocity sensor 23 decreases. .
That is, the control device 22 is provided with the linking means 33 that determines whether or not the detection value of the tilt sensor 15 is less than or equal to the predetermined decimal point, and operates the integral correction means C when it is less than or equal to the predetermined decimal point. is there.

[Other Embodiments] State correction means A, posture correction means B, state determination means Hj,
The posture determining means Hs may have the configurations described in << 1 >> to << 4 >> below.

<< 1 >> As shown in FIG. 6, the state discrimination means H
j is a timer (an example of time measuring means) 37 for detecting the elapsed time from when the main switch 35 is turned on, and the state correction means A is set so that the FB coefficient K2 becomes shorter as the time from when the main switch 35 is turned on becomes shorter. And the FB coefficient K2 is made smaller as the time from turning ON of the main switch 35 is longer, and rolling control is performed. The state determination means Hj may be configured to detect the engine speed or the work load, or to perform analogy based on the work state or type.

<< 2 >> As shown in FIG. 7, the posture determining means H
s is also used as the tilt sensor 15, and the posture correction means B is used to increase the FB coefficient K2 as the output value of the tilt sensor 15 increases, and as the output value of the tilt sensor decreases FB.
A configuration in which the coefficient K2 is made small to perform rolling control.

<< 3 >> As shown in FIG. 8, the posture determining means H
s is a vehicle speed sensor 2 that detects the traveling speed of the traveling body 21.
7, the posture correction means B is set to FB as the traveling speed becomes faster.
The coefficient K2 is increased, and the slower the traveling speed is, the FB coefficient K2
It is configured to make rolling smaller and perform rolling control.

<< 4 >> As shown in FIG. 9, the posture discriminating means H
s is configured as an angle sensor (an example of operation frequency detecting means S) 13 that detects an operation amount of a lifting hydraulic cylinder (an example of an actuator) 5 for moving the ground work device 4 up and down, and an attitude correcting means B is The FB coefficient K2 is increased as the operation amount of the lifting hydraulic cylinder 5 is increased, and the FB coefficient K2 is decreased as the operation amount of the lifting hydraulic cylinder 5 is decreased to perform rolling control.

<< Others >> Ground work device 4 or traveling body 2
Posture discriminating means Hs for discriminating whether the posture stability of No. 1 is high or low.
As another example, a pitching sensor that detects the forward / backward inclination of the ground work device 4 or the machine body 21, an angular velocity sensor related to pitching, an acceleration sensor related to vertical movement of the ground work device 4 or the machine body 21, operation of an accelerator lever or a pedal. It is possible to make various changes such as the amount and the number of shift stages (position) depending on the level. Further, in the present embodiment, the inclination sensor 15 and the angular velocity sensor 23 may be arranged on the ground work device 4 side. As the ground work device 4, various changes such as a tilling device, a seedling planting device, a direct seeding device, a ridge making device, and a ground leveling device can be made.

[Brief description of drawings]

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

FIG. 2 is a functional system diagram showing a schematic structure of rolling control according to the first embodiment.

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

FIG. 4 is a functional system diagram showing a schematic structure of rolling control according to a second embodiment.

FIG. 5 is a functional system diagram showing a schematic structure of rolling control according to a third embodiment.

FIG. 6 is a functional system diagram of rolling control in which correction is performed based on operation of a main switch.

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

FIG. 8 is a functional system diagram of rolling control for correction based on a vehicle speed sensor.

FIG. 9 is a functional system diagram of rolling control that is corrected based on the amount of vertical movement of the tiller.

FIG. 10 is a diagram showing an output characteristic graph of a tilt sensor and an angular velocity sensor by a test.

FIG. 11 is a diagram showing an output characteristic graph of a tilt sensor and an angular velocity sensor by a test.

[Explanation of symbols]

4 Ground work device 8 actuators 15 Tilt sensor 21 traveling aircraft 23 Angular velocity sensor 24 Rolling control means 27 vehicle speed sensor 35 Main switch 36 Temperature sensor 37 Lateral acceleration sensor A state correction means B posture correction means C integral correction means Hj, Hs discrimination means S operation frequency detection means

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-4-356104 (JP, A) JP-A-2001-4 (JP, A) JP-A-11-289808 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) A01B 63/10 G01B 21/22 G01C 9/00

Claims (9)

(57) [Claims] 1. An actuator for rollingly driving a ground work apparatus to a traveling machine body to drive the ground work apparatus to roll with respect to the traveling machine body, and detecting a horizontal inclination angle of the traveling machine body or the ground work apparatus. An inclination sensor and an angular velocity sensor for detecting the angular velocity of the traveling machine body or the ground working device in the left-right tilt direction are provided, and based on the detection values of both the tilt sensor and the angular velocity sensor, the ground working device A rolling control device for a working machine, comprising a rolling control means for activating the actuator so that the horizontal posture is maintained at a set angle, the rolling control means integrating the detection value of the angular velocity sensor. Obtained by performing correction based on the detected value of the tilt sensor with the obtained integral value as a reference It is configured to operate the actuator so that the outgoing inclination angle becomes a preset target set angle, and includes a determination means for determining whether the state stability of the traveling machine body or the ground work device is high or low. As the state stability of the traveling machine body or the ground work device is lower, the correction rate based on the detection value of the tilt sensor is increased, and as the state stability of the traveling machine body or the ground work device is higher, the tilt sensor is detected. A rolling control device for a working machine, comprising a state correction means for reducing a correction rate based on a value. 2. The determination means is a temperature sensor for detecting the temperature of the angular velocity sensor, and the state correction means is
The larger the temperature change of the angular velocity sensor, the larger the correction rate based on the detection value of the tilt sensor, and the smaller the temperature change of the angular velocity sensor, the smaller the correction rate based on the detection value of the tilt sensor. The rolling control device for a working machine according to claim 1. 3. The main switch of the discriminating means is turned on.
The state correction means increases the correction rate based on the detection value of the tilt sensor as the time from the main switch ON decreases, and the main switch ON. The rolling control device for a working machine according to claim 1, wherein the correction ratio based on the detection value of the tilt sensor is set to be smaller as the time from is longer. 4. An actuator for rollingly driving a ground work device to a traveling machine body to drive the ground work device to roll with respect to the traveling machine body, and detecting a horizontal inclination angle of the traveling machine body or the ground work device. An inclination sensor and an angular velocity sensor for detecting the angular velocity of the traveling machine body or the ground working device in the left-right tilting direction are provided, and based on the detection values of both the tilt sensor and the angular velocity sensor, the ground working device A rolling control device for a working machine, comprising a rolling control means for activating the actuator so that the horizontal posture is maintained at a set angle, the rolling control means integrating the detection value of the angular velocity sensor. Obtained by performing correction based on the detected value of the tilt sensor with the obtained integral value as a reference The outgoing inclination angle is configured to operate the actuator so as to be a preset target set angle, and a determination means for determining high or low attitude stability of the traveling machine body or the ground work device is provided, The lower the posture stability of the traveling body or the ground work device, the larger the correction rate based on the detection value of the tilt sensor, and the higher the posture stability of the traveling body or the ground work device, the detection value of the tilt sensor. A rolling control device for a working machine, comprising a posture correction means for reducing the correction ratio based on the above. 5. The determination unit is the angular velocity sensor, and the attitude correction unit increases the correction rate based on the detection value of the tilt sensor as the output value of the angular velocity sensor increases, and the output value of the angular velocity sensor. 5. The rolling control device for a working machine according to claim 4, wherein the smaller the value is, the smaller the correction ratio based on the detection value of the tilt sensor is. 6. The determination means is the tilt sensor,
The attitude correction means increases the correction rate based on the detection value of the tilt sensor as the output value of the tilt sensor increases, and decreases the correction rate based on the detection value of the tilt sensor as the output value of the tilt sensor decreases. The rolling control device for a working machine according to claim 4, wherein the rolling control device is configured to operate. 7. The discriminating means is a vehicle speed sensor for detecting a traveling speed of the traveling machine body, and the attitude correcting means is
The work according to claim 4, wherein the higher the traveling speed, the larger the correction rate based on the detection value of the tilt sensor, and the slower the traveling speed, the smaller the correction rate based on the detection value of the tilt sensor. Machine rolling control device. 8. The operation determining means is an operation frequency detecting means for detecting the number of operations or the number of operation inputs of an actuator for operating the traveling machine body or the ground work device.
The attitude correction unit increases the correction rate based on the detection value of the tilt sensor as the number of actuations or operation inputs of the actuator increases, and based on the detection value of the tilt sensor as the number of actuations or operation inputs of the actuator decreases. 5. The structure according to claim 4, wherein the correction ratio is reduced.
The rolling control device for the working machine described in. 9. An actuator for rollingly driving the ground work device to the traveling machine body to drive the ground work device to roll with respect to the traveling machine body, and detecting a horizontal inclination angle of the traveling machine body or the ground work device. An inclination sensor and an angular velocity sensor for detecting the angular velocity of the traveling machine body or the ground working device in the left-right tilting direction are provided, and based on the detection values of both the tilt sensor and the angular velocity sensor, the ground working device A rolling control device for a working machine, comprising a rolling control means for activating the actuator so that the horizontal posture is maintained at a set angle, the rolling control means integrating the detection value of the angular velocity sensor. Obtained by performing correction based on the detected value of the tilt sensor with the obtained integral value as a reference The output tilt angle is configured to operate the actuator so as to be a preset target set angle, and when there is no or almost no change amount of the detection value of the tilt sensor per unit time, the integrated value The work provided with integral correction means for increasing the correction rate based on the detection value of the tilt sensor as the change amount of the tilt sensor increases, and decreasing the correction rate based on the detection value of the tilt sensor for the smaller change amount of the integration value. Machine rolling control device.