JP3688211B2 - Rolling control device for work equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a rolling control device for a work machine such as a tractor, a rice transplanter, or a straight-line machine. Specifically, the ground work device is connected to a traveling machine body so as to be able to roll freely, and the ground work apparatus is driven to roll with respect to the traveling machine body. The actuator includes an actuator, an inclination sensor that detects a left-right inclination angle of the traveling machine body or the ground work device, and an angular speed sensor that detects an angular velocity in a left-right inclination direction of the traveling machine body or the ground work device, and both the inclination sensor and the angular speed sensor. This invention relates to a rolling control device for a working machine provided with a 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 detected value.
[0002]
[Prior art]
In rolling control of ground work devices in work machines such as tractors, by using both the inclination sensor and the angular velocity sensor as displacement detection means of the work device, the responsiveness is good, and there is almost no malfunction. It is known that good control operation can be performed. As described above, the rolling control means using both the tilt sensor and the angular velocity sensor can be broadly classified as follows: (1) The situation is determined by using the detection values of the two types of sensors as they are, and the rolling operation speed and the like are thereby determined. (Japanese Patent Laid-Open No. 10-178835) and (2) those that integrate the angular velocity into a tilt angle and correct the error by a tilt sensor (Japanese Patent No. 2733597).
[0003]
For example, as disclosed in Japanese Patent Laid-Open No. 216164/1990, it is composed of a weight, a tilt sensor (low-speed reaction sensor) composed of a potentiometer for detecting the swinging amount of the weight, an optical gyro, and the like. A rolling control device is configured by using both sensors of an angular velocity sensor (high-speed reaction sensor). As a result, an angular velocity sensor that is not affected by inertia and has excellent responsiveness, and an inclination sensor that compensates for the drawbacks of angular velocity sensors that cannot detect the absolute inclination angle at the time of detection, can be accurately and quickly installed without a damper or filter. In addition, the rolling control can be performed, and the ground work accuracy can be improved.
[0004]
That is, by integrating the angular velocity output dθj / dt from the angular velocity sensor, it is possible to obtain an inclination angle change (integrated inclination angle) θj that is not affected by the roll of the sensor housing. However, since the angular velocity sensor can only detect an angle change, an inclination sensor is required to detect the absolute angle. When the vehicle body stops for a sufficiently long time, the target inclination angle θ converges to the detected inclination angle θr, and the value of the inclination sensor is output as the inclination angle of the traveling machine body. When the traveling machine body changes its inclination, the inclination angle change θj is added to the target inclination angle θ, and it is possible to detect a responsive inclination angle that is not affected by the roll.
[0005]
[Problems to be solved by the invention]
Although the rolling control means (1) can be realized even by using a relatively inexpensive angular velocity sensor, there is a problem that it cannot cope with a complicated change in inclination. On the other hand, the rolling control means {circle around (2)} can always detect the inclination with high accuracy, but there is a problem that a high-accuracy sensor, that is, an expensive sensor, is required for the realization.
[0006]
An object of the present invention is to realize a rolling control means that can be accurately detected while having the advantages of both means (1) and (2), that is, a relatively inexpensive angular velocity sensor. .
[0007]
[Means for Solving the Problems]
  According to the first aspect of the present invention, the ground work device is connected to the traveling machine body so as to be able to roll freely, the actuator for rolling the ground work device with respect to the traveling machine body, and the inclination sensor for detecting the right and left inclination angle of the traveling machine body or the ground work device. And an angular velocity sensor for detecting the angular velocity in the left-right tilt direction of the traveling machine body or the ground work device, and based on the detection values of both the tilt sensor and the angular speed sensor, the horizontal posture of the ground work device is set to the set angle. A rolling control device for a working machine provided with a rolling control means for operating an actuator to be maintained,
  The detected tilt angle obtained by performing correction based on the detected value of the tilt sensor on the basis of the integrated value obtained by integrating the detected value of the angular velocity sensor with the rolling control means becomes a preset target set angle. And a means for determining whether the attitude stability of the traveling machine body is high or low.
  The higher the attitude stability of the traveling aircraft, the larger the correction ratio based on the detected value of the tilt sensor, and the lower the attitude stability of the traveling aircraft, the smaller the correction ratio based on the detected value of the inclination sensor.As described above, the weighting ratio of the detection value of each sensor is changed according to the posture stability.A correction means is provided.
[0008]
[Action / Effect]
As described above, when the running ground has little or no undulations or irregularities, the working machine posture is relatively stable, the effectiveness of the tilt sensor increases, and the running ground undulations or irregularities are compared. When the target is large or large and relatively complex, the working machine posture is relatively unstable, which increases the effectiveness of the angular velocity sensor. Therefore, if the correction ratio based on the detected value of the tilt sensor is increased as the attitude stability of the traveling aircraft increases, rolling control with good responsiveness can be performed while improving the detection accuracy, and the attitude stability of the traveling aircraft is improved. If the correction ratio based on the detection value of the tilt sensor is reduced as the value is lower, it is possible to perform rolling control that can follow frequent posture changes and does not impair detection accuracy.
[0009]
In other words, by changing the weighting ratio of each sensor detection value according to the situation, using a relatively inexpensive angular velocity sensor, it is accurate on rough roads with severe posture changes, and undulations and irregularities with gentle posture changes. It is possible to perform a rapid rolling control on the ground with a small amount of ground, and it is superior in detection accuracy on rough roads as compared with the method (1), while obtaining the necessary detection accuracy compared with the method (2). It has come to be excellent in that the cost required for the system can be reduced.
[0010]
According to a second aspect of the present invention, in the configuration of the first aspect, the determining unit is an angular velocity sensor, and the correcting unit increases the correction ratio based on the detection value of the tilt sensor as the output value of the angular velocity sensor is smaller. The larger the output value is, the smaller the correction ratio based on the detection value of the tilt sensor is.
[0011]
[Action / Effect]
According to the configuration of the second aspect, the angular velocity sensor provided for rolling control also serves as the determination means, so that the operation and effect of the configuration of the first aspect can be achieved while omitting the dedicated determination means. Become.
[0012]
According to a third aspect of the present invention, in the configuration of the first aspect, the discrimination means is a tilt sensor, and the correction means increases the correction ratio based on the detection value of the tilt sensor as the output value of the tilt sensor is smaller. The larger the output value is, the smaller the correction ratio based on the detection value of the tilt sensor is.
[0013]
[Action / Effect]
According to the configuration of claim 3, since the tilt sensor provided for rolling control also serves as the discrimination means, the operation and effect of the configuration of claim 1 can be achieved while omitting the dedicated discrimination means. Become.
[0014]
According to a fourth aspect of the present invention, in the configuration of the first aspect, the discriminating means is a vehicle speed sensor that detects the traveling speed of the traveling vehicle body, and the correcting means has a correction ratio based on the detected value of the inclination sensor as the traveling speed is slower. It is configured such that the correction ratio based on the detection value of the tilt sensor is reduced as the traveling speed is increased.
[0015]
[Action / Effect]
According to the fourth aspect of the present invention, if the running speed is increased, the impact and the posture change when the undulation and the unevenness are overcome become large, and if the running speed is slow, the impact and the posture change when the undulation and the unevenness are overcome are small. By using the vehicle speed sensor as the discriminating means, it is possible to achieve the functions and effects of the configuration of claim 1.
[0016]
According to a fifth aspect of the present invention, in the configuration of the first aspect, the discriminating means is a lateral acceleration sensor that detects the lateral acceleration of the traveling machine body, and the correcting means is such that the smaller the lateral acceleration of the traveling machine body, the smaller the inclination sensor. The correction ratio based on the detection value is increased, and the correction ratio based on the detection value of the tilt sensor is decreased as the lateral acceleration increases.
[0017]
[Action / Effect]
The configuration of claim 5 utilizes the fact that the posture stability is lower as the lateral acceleration of the traveling aircraft is larger, and the posture stability is higher as the lateral acceleration of the traveling aircraft is smaller, and the lateral acceleration sensor is discriminated. By using it as a means, it is possible to achieve the operations and effects of the configuration of claim 1.
[0018]
According to a sixth aspect of the present invention, in the configuration of the first aspect, the discriminating means is a turning angular velocity sensor that detects an angular velocity in the turning traveling of the traveling vehicle body, and the correcting means is a turning angular velocity due to the traveling traveling of the traveling vehicle body. The correction ratio based on the detection value of the tilt sensor is increased as the angle is smaller, and the correction ratio based on the detection value of the tilt sensor is decreased as the turning angular velocity is higher.
[0019]
[Action / Effect]
In the configuration of claim 6, the fact that the posture stability is lower as the angular velocity (turning speed) during turning of the traveling vehicle body is higher, and the posture stability is higher as the angular velocity (turning speed) during turning is lower. Therefore, by using the turning angular velocity sensor as the discriminating means, it is possible to achieve the functions and effects of the configuration of claim 1.
[0020]
According to a seventh aspect of the present invention, in the configuration of the first aspect, the determining means is a turning angle sensor that detects a turning angle of the steered wheel, and the correcting means detects the inclination sensor as the turning angle of the steered wheel is smaller. The correction ratio based on the value is increased, and the correction ratio based on the detection value of the tilt sensor is decreased as the turning angle of the steering wheel is increased.
[0021]
[Action / Effect]
According to the configuration of the seventh aspect, the smaller the turning angle of the steering wheel such as the front wheel, the smaller the centrifugal force acting on the traveling machine body and the higher the posture stability, and the larger the turning angle of the steering wheel, the traveling machine body. The use of the fact that the centrifugal force acting on the lens increases and the posture stability becomes low, and by using the cutting angle sensor as the discriminating means, the operation and effect of the configuration of claim 1 can be achieved. Become.
[0022]
The configuration of claim 8 is the operation frequency detection means in which the determination means detects the number of operation inputs or the number of operation inputs of the actuator for operating the traveling machine body or the ground work device in the configuration of claim 1, and the correction means The correction ratio based on the detection value of the tilt sensor is increased as the number of actuators or operation inputs is decreased, and the correction ratio is decreased as the number of actuator operations or operation inputs is increased. It is characterized by that.
[0023]
[Action / Effect]
In the configuration of claim 8, the number of operation inputs such as the operation amount (or operation speed) of an actuator such as a steering hydraulic cylinder or a lifting hydraulic cylinder of a tilling rotary, or a handle turning amount or a tilting amount of a lifting lever therefor is small. Thus, the influence of inertia on the traveling machine body is small, and thus the attitude stability of the traveling machine body is high. The more the operation amount (or operation speed) of the actuator or the number of operation inputs therefor, the more It uses the phenomenon that the influence of inertia is large and therefore the attitude stability of the traveling aircraft is low, and the operation frequency detection means for detecting the number of operation of the actuator or the number of operation inputs is used as the discrimination means. Thus, the function / effect of the configuration of claim 1 can be achieved.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows the rear part of an agricultural tractor which is an example of a work machine. The mission case 3 can be rolled with respect to a traveling machine body 21 via a top link 1 which can swing up and down and a pair of left and right lower links 2. A rotary tilling device (an example of a ground work device) 4 is connected to the head. A pair of lift arms 6 that are driven to swing up and down by a hydraulic cylinder 5 are provided on the top of the transmission case 3, and the pair of lift arms 6 and the lower link 2 are a lift rod 7 and a double-acting hydraulic cylinder 8. It is connected through. Reference numeral 19 denotes a pair of left and right driving rear wheels.
[0025]
As shown in FIG. 2, the three-position switching type 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. A 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 rotated around the connection point with the lower link 2 opposite to the hydraulic cylinder 8 by the expansion and contraction operation of the hydraulic cylinder 8. It is driven by rolling.
[0026]
This agricultural tractor is a position for maintaining the height of the rotary tiller 4 with respect to the traveling machine body 21 at a set position, ascending / descending control means 29 for maintaining the rotary tiller 4 at a set height from the ground and maintaining the tillage depth at a set value. The control device 30 is provided with a rolling control function for maintaining the control unit 30 and the horizontal tilt angle of the rotary tiller 4 with respect to the horizontal plane at a set angle.
[0027]
As shown in FIGS. 2 and 1, the rotary tiller 4 is provided with a rear cover 9 that can swing up and down. The rear cover 9 is urged downward by a spring 18, and the rear cover 9 against the rotary tiller 4 is provided. The tilling depth sensor 10 for detecting the vertical swing angle is provided, and the detection value of the tilling depth sensor 10 is input to the control device 22. As a result, the control valve 16 is operated by the lift control means 29 so that the detected value of the tilling depth sensor 10 becomes the set tilling depth of the dial operating type potentiometer type tilling depth setting device 11 provided in the traveling machine body 21. The rotary tiller 4 is automatically driven up and down by the hydraulic cylinder 5.
[0028]
As shown in FIGS. 2 and 1, an angle sensor 13 that detects the vertical angle of the lift arm 6 with respect to the traveling machine body 21 is provided at the base of the lift arm 6, and the detected value of the angle sensor 13 is transmitted to the control device 22. Have been entered. As a result, the control valve 16 is operated by the position control means 30 so that the detected value of the angle sensor 13 becomes the target value of the lever-operated position setting device 12 provided in the traveling machine body 21, and the hydraulic cylinder 5 The lift arm 6 is driven to swing up and down.
[0029]
In the above-described lift control means 29 and 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, and the position setting device. When the target value of 12 is higher, the elevation control means 29 and the rolling control function described later are stopped (the hydraulic cylinder 8 is stopped), and the position control means 30 is activated. Accordingly, the control valve 16 is operated so that the detected value of the angle sensor 13 matches the target value of the position setting device 12, and the rotary tiller 4 is driven up and down by the hydraulic cylinder 5. Therefore, by operating the position setter 12, the rotary tiller 4 can be arbitrarily set with respect to the traveling machine body 21 within a range higher than the detected value of the angle sensor 13 corresponding to the set tiller depth of the tiller depth setter 11. It can be driven up and down to the height and stopped.
[0030]
Next, when the position setter 12 is operated downward, and the target value of the position setter 12 matches (or becomes lower) the detected value of the angle sensor 13 corresponding to the set tilling depth of the tilling depth setter 11. The position control means 30 is stopped, and the elevation control means 29 and the rolling control function are activated. Thereby, the control valve 16 is operated so that the detected value of the tilling depth sensor 10 becomes the set tilling depth of the tilling depth setting device 11 by the lifting control means, and the rotary tilling device 4 is automatically raised and lowered by the hydraulic cylinder 5. Driven. As will be described later, with the rolling control function, control is performed so that the left (rightward inclination angle of the rotary tiller 4 with respect to the horizontal plane is maintained at a set angle inclined in the left-right direction (or parallel to the horizontal plane) with respect to the horizontal plane. The valve 17 is operated, and the rotary tiller 4 is driven to roll by the hydraulic cylinder 8.
[0031]
As shown in FIGS. 1 and 2, in this agricultural tractor, the inclination angle of the rotary tiller 4 in the horizontal direction with respect to the horizontal plane is maintained at a set angle that is inclined in the horizontal direction (or parallel to the horizontal plane) with respect to the horizontal plane. As described above, a rolling control unit 24 for rolling the rotary tiller 4 is provided. There is provided a dial type inclination setting device 20 for setting a setting angle in the left-right direction of the rotary tiller 4, which sets the setting 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.
[0032]
That is, a weight type inclination sensor 15 that detects the right and left inclination angle of the traveling machine body 21, a vibration gyro type angular velocity sensor 23 that detects an angular speed of the traveling machine body 21 in the right and left inclination direction, and an operating position of the hydraulic cylinder 8 are detected. Since the horizontal tilt angle of the rotary tiller 4 with respect to the airframe 21 can be detected by the operating position of the rolling cylinder 8, based on the detection values of both the tilt sensor 15 and the angular velocity sensor 23, Rolling control means 24 for operating the hydraulic cylinder 8 is provided in the control device 22 so that the horizontal posture of the rotary tiller 4 is maintained at a set angle by the tilt setting device 20.
[0033]
A sensor zero correction device Z is provided that updates and corrects the zero point of the angular velocity sensor 23 that drifts depending on various conditions such as temperature, over time. 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 uses an average value calculated based on the stored sampling output values as a zero point, Posture determination means H for determining whether the posture stability of the airframe 21 is high or low. The higher the posture stability of the traveling aircraft body 21 is, the smaller the number of sampling output values is set, and the lower the posture stability of the traveling aircraft body 21 is. A sensor zero point correcting device Z is configured by providing zero point correcting means 28 for setting a large number of sampling output values.
[0034]
As shown in FIG. 2, a vehicle speed sensor 27 for detecting the traveling speed of the traveling machine body 21 by detecting the rotational speed of the transmission shaft 32 to the rear wheel 19 (see FIG. 1) and the front wheel 31 is provided. The posture determination means H is constituted by the sensor 27 and the determination circuit 29 for processing the detected information. That is, the higher the traveling speed, the lower the posture stability of the traveling machine body 21, and the slower the traveling speed, the higher the posture stability of the traveling machine body 21.
[0035]
  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 to completely remove noise generated within the average interval. The regular interval averaging process was sampled at 1000 Hz.A predetermined number of data for a predetermined timeIs added to obtain a data string a. AndUnit timeEach time, the average of the data string a is calculated to be the data string b.
[0036]
  The adaptive LPF (low-pass filter) updates the reference voltage by the following LPF process at every averaging process.
  New reference voltage = (average value for 1 second × α + old reference voltage × β) ÷ (α + β)
Output zero by smoothing sufficientlyTo do.
However, α and β are variable depending on conditions. For example, when the reference voltage is likely to fluctuate, such as immediately after the main key is turned on or when the temperature rises, α is increased so that followability to the fluctuation is emphasized. In the condition where is stable, α is made small and importance is given to the accuracy of calculation. Also, the process is interrupted during turning or when there is a large change in inclination so that an incorrect reference voltage is not calculated.
[0037]
Since all errors cannot be removed by the first error compensation G1, there is also an error in the linearity of the sensor, and accumulation of errors due to integration processing cannot be eliminated. Therefore, in order to remove the accumulated error, the second error compensation G2 is performed to feed back the deviation between the target inclination angle θ set by the inclination setting device 20 and the detected inclination angle θr by the inclination sensor 15. Here, if the feedback coefficient (that is, the correction ratio based on the detection value of the tilt sensor 15 and hereinafter referred to as the FB coefficient) K2 can be set sufficiently small, θ = θr when the aircraft is stopped and the tilt sensor. An absolute accuracy equivalent to 15 is ensured, and a tilt angle with good responsiveness that is not affected by rolling can be output when the tilt changes. On the other hand, if the FB coefficient K2 is large, the compensation of θr is too effective and does not change from the output value of the tilt sensor 15.
[0038]
Here, since the FB coefficient K2 needs to be set according to the accumulated error, the more accurate the gyro sensor is used, the smaller the first error compensation G1 is devised. In the above-described processing, an error can be removed at about 0.5%, which is a sufficiently small value to satisfy the required performance. However, when the temperature changes drastically or when a cheaper gyro sensor is used, it is necessary to further increase the size, and it is necessary to evaluate how much the performance deterioration is caused by it.
[0039]
  there,2 and 3As shown in FIG. 4, coefficient correction means A is provided that makes the FB coefficient K2 variable according to the situation. That is, the coefficient correction means A increases the correction ratio based on the detection value of the inclination sensor 15 as the attitude stability of the traveling machine body 21 is higher, and based on the detection value of the inclination sensor 15 as the attitude stability of the traveling machine body 21 is lower. It functions to reduce the correction ratio. The posture determination means H for determining whether the posture stability is high or low is the vehicle speed sensor 27 described above, and the coefficient correction means A increases the correction ratio as the traveling speed is low, and increases the correction ratio as the traveling speed is high. It is configured to be small.
[0040]
As another example of making the FB coefficient K2 variable, when the vehicle is stopped or when there is little change in inclination, the FB coefficient K2 is increased to quickly remove the error of the target inclination angle θ. In some cases, the FB coefficient K2 is reduced to suppress the influence of rolling and increase the responsiveness. Furthermore, under conditions where the error of the gyro sensor becomes large, such as immediately after start-up or when the temperature changes greatly, the FB coefficient K2 is increased to emphasize error removal, and when the temperature is stable, the FB coefficient K2 is decreased to emphasize responsiveness. .
[0041]
As reference,10-11, each sensor when the inclination of the tractor changes
15 and 23 show the detection operation test results.
[0042]
According to FIG. 10, the output from the calculation of the angular velocity sensor 23 changes almost without a time delay with respect to the change in the inclination of the traveling vehicle body, whereas the tilt sensor 15 has a time delay of about 0.5 seconds. It can be understood that when the inclination starts to change in the positive direction and when the inclination starts to change in the negative direction, the movement is temporarily detected as a reverse movement due to inertia. 10 to 11, v is the left-right inclination of the traveling machine body 21, y is the output from the calculation of the angular velocity sensor, and z is the output of the inclination sensor 15.
[0043]
11 is more than the case of FIG.This is an example in which the inclination change is fast, and shows the change characteristics of the output by the calculation of the inclination sensor 15 and the angular velocity sensor 23 when changing twice in 0.5 seconds.According to this, the inclination sensor 15 outputs in the reverse direction about once when starting to descend and rise, and also overshoots when stopping raising and lowering. In contrast, the angular velocity sensor 23It can be seen that the output from the calculation follows the inclination change of the traveling aircraft. Thus, it is clear that the control based on the output of the angular velocity sensor is superior in both responsiveness and accuracy than the output based on the tilt sensor.
[0044]
[Another embodiment]
The coefficient correction means A and the posture determination means H may be configured as described in << 1 >> to << 7 >> below.
[0045]
<< 1 >> As shown in FIG. 4, the posture determination means H is the angular velocity sensor 23, and the coefficient correction means A increases the FB coefficient K2 as the output value of the angular velocity sensor 23 decreases, and the output value of the angular velocity sensor 23 increases. The larger the value, the smaller the FB coefficient K2.
[0046]
<< 2 >> As shown in FIG. 5, the posture determination means H is the inclination sensor 15, and the coefficient correction means A increases the FB coefficient K 2 as the output value of the inclination sensor 15 decreases, and the output value of the inclination sensor 15 increases. The larger the value, the smaller the FB coefficient K2.
[0047]
<< 3 >> As shown in FIG. 6, the posture determination means H is a lateral acceleration sensor 41 that detects the lateral acceleration of the traveling machine body 21, and the coefficient correction means A is used as the lateral acceleration of the traveling machine body 21 decreases. The FB coefficient K2 is increased, and the FB coefficient K2 is decreased as the lateral acceleration increases.
[0048]
<< 4 >> As shown in FIG. 7, the posture determination means H is a turning angular velocity sensor 42 that detects an angular velocity in turning traveling of the traveling machine body 21, and the coefficient correction means A is based on turning traveling of the traveling machine body 21. The smaller the turning angular velocity, the larger the FB coefficient K2, and the larger the turning angular velocity, the smaller the FB coefficient K2.
[0049]
<< 5 >> As shown in FIG. 8, the posture determination means H is a turning angle sensor 33 that detects the turning angle of the front steering wheel 31, and the coefficient correction means A is set to FB as the turning angle of the front steering wheel 31 decreases. The coefficient K2 is increased, and the FB coefficient K2 is decreased as the turning angle of the front steering wheel 31 is increased.
[0050]
<< 6 >> As shown in FIG. 9, the posture determination means H is an angle sensor (an example of the operation frequency detection means S) 13 that detects the operation amount of the lifting hydraulic cylinder 5 for moving the ground work device 4 up and down. The coefficient correction means A is configured to increase the FB coefficient K2 as the operating amount of the hydraulic cylinder 5 decreases, and to decrease the FB coefficient K2 as the operating amount of the hydraulic cylinder 5 increases.
[0051]
<< Others >> As another example of the posture discriminating means H for discriminating whether the posture stability of the ground work device 4 or the traveling machine body 21 is high or low, a pitching sensor for detecting the front / rear inclination of the ground work device 4 or the machine body 21, Various changes can be made, such as 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, an operation amount of an accelerator lever or a pedal, and a device for checking the level of a shift stage (position).
In the present embodiment, the inclination sensor 15 and the angular velocity sensor 23 may be arranged on the ground work device 4 side. The ground work device 4 can be variously modified such as a seedling planting device, a direct sowing device, a cocoon creation device, and a ground leveling device in addition to a tilling device.
[Brief description of the 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.
FIG. 3 is a block diagram showing the concept of correction control means.
FIG. 4 is a functional system diagram of rolling control that is corrected based on an angular velocity sensor.
FIG. 5 is a functional system diagram of rolling control that is corrected based on an inclination sensor.
FIG. 6 is a functional system diagram of rolling control that is corrected based on a lateral acceleration sensor.
FIG. 7 is a functional system diagram of rolling control for correction based on a turning angular velocity sensor.
FIG. 8 is a functional system diagram of rolling control that is corrected based on a cutting angle sensor.
FIG. 9 is a functional system diagram of rolling control that is corrected based on the amount of lifting movement of the tillage device.
FIG. 10 is a graph showing output characteristic graphs of a tilt sensor and an angular velocity sensor by a test.
FIG. 11 is a graph showing output characteristic graphs of an inclination sensor and an angular velocity sensor by a test.
[Explanation of symbols]
4 Ground working equipment
5 Actuator
8 Actuator
15 Tilt sensor
21 Traveling aircraft
23 Angular velocity sensor
24 Rolling control means
27 Vehicle speed sensor
31 Steering wheel
33 Cutting angle sensor
41 Lateral acceleration sensor
42 Turning angular velocity sensor
A Correction means
H discrimination means
S operation frequency detection means

Claims (8)

An actuator for connecting the ground work device to a traveling machine body so as to be able to roll freely, the actuator for rolling the ground work device with respect to the traveling machine body, an inclination sensor for detecting a right and left inclination angle of the traveling machine body or the ground work device, An angular velocity sensor that detects an angular velocity in a lateral tilt direction of the traveling machine body or the ground work device, and a lateral orientation of the ground work device is set based on detection values of both the tilt sensor and the angular velocity sensor. A rolling control device for a working machine provided with a rolling control means for operating the actuator so as to be maintained at an angle,
The detected tilt angle obtained by performing correction based on the detected value of the tilt sensor on the basis of the integrated value obtained by integrating the detected value of the angular velocity sensor with the rolling control means as a preset target setting While configuring the actuator to act as a corner,
A determination means for determining whether the attitude stability of the traveling aircraft body is high or low is provided, and the higher the attitude stability of the traveling aircraft body is, the larger the correction ratio based on the detected value of the tilt sensor is, and the attitude stability of the traveling aircraft body is A rolling control device for a working machine, comprising: a correction unit that changes a weighting ratio of detection values of each sensor in accordance with posture stability so that a correction ratio based on a detection value of the tilt sensor is reduced as the value is lower. The discrimination means is the angular velocity sensor, and the correction means increases the correction ratio based on the detection value of the tilt sensor as the output value of the angular velocity sensor is small, and the tilt sensor as the output value of the angular velocity sensor is large. The rolling control device for a work machine according to claim 1, which is configured to reduce a correction ratio based on the detected value. The discrimination means is the inclination sensor, and the correction means increases the correction ratio based on the detection value of the inclination sensor as the output value of the inclination sensor is small, and the inclination sensor as the output value of the inclination sensor is large. The rolling control device for a work machine according to claim 1, which is configured to reduce a correction ratio based on the detected value. The determination means is a vehicle speed sensor that detects the traveling speed of the traveling vehicle body, and the correction means increases the correction ratio based on the detected value of the inclination sensor as the traveling speed is slower, and the inclination as the traveling speed is faster. The rolling control device for a working machine according to claim 1, wherein the rolling control device is configured to reduce a correction ratio based on a detection value of the sensor. The discrimination means is a lateral acceleration sensor that detects lateral acceleration of the traveling machine body, and the correction means increases the correction ratio based on the detection value of the tilt sensor as the lateral acceleration of the traveling machine body decreases. The rolling control device for a working machine according to claim 1, wherein the higher the lateral acceleration, the smaller the correction ratio based on the detection value of the tilt sensor. The discriminating means is a turning angular velocity sensor that detects an angular velocity in turning traveling of the traveling vehicle body, and the correction means uses the detected value of the inclination sensor as the turning angular velocity due to the turning traveling of the traveling vehicle body decreases. The rolling control device for a work machine according to claim 1, wherein the correction rate based on the detected value is increased, and the correction rate based on the detection value of the tilt sensor is decreased as the turning angular velocity increases. The discrimination means is a turning angle sensor that detects a turning angle of a steering wheel, and the correction means increases a correction ratio based on a detection value of the tilt sensor as the turning angle of the steering wheel is smaller, The rolling control device for a work machine according to claim 1, wherein the larger the turning angle of the steering wheel, the smaller the correction ratio based on the detection value of the tilt sensor. The determination means is an operation frequency detection means for detecting the number of operations or operation inputs of an actuator for operating the traveling machine body or the ground work device, and the correction means has an operation or operation input number of the actuator. The correction ratio based on the detection value of the tilt sensor is increased as the amount is smaller, and the correction ratio based on the detection value of the tilt sensor is decreased as the number of operation or operation inputs of the actuator is increased. The rolling control device for the working machine described.

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