JP3870610B2 - Horizontal control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a horizontal control device, and more particularly to a horizontal control device such as an agricultural tractor or a riding management machine.
[0002]
[Prior art and problems to be solved by the invention]
In agricultural work vehicles such as agricultural tractors and riding management machines, a work machine such as a rotary is connected to the rear part of the machine via a link mechanism, and the rolling angle of the work machine relative to the machine is changed between the machine and the machine. There is known an actuator provided with a horizontal control device for automatically adjusting the rolling angle of the work implement by providing an inclination adjusting dial or the like for setting the rolling angle of the work implement on the machine body.
[0003]
In this horizontal control device, a sensor for detecting the rolling angle of the work machine is provided between the machine body and the work machine, and a tilt sensor for detecting the rolling angle of the machine body is provided in the machine body, and based on the detection value of each sensor. Calculate the rolling angle of the machine and the rolling angle of the work machine, and output a drive signal to the actuator to keep the rolling angle of the work machine horizontal regardless of the attitude of the machine, or the rolling angle of the machine and the work machine The actuator is controlled so as to be driven in order to maintain the rolling angle in parallel.
[0004]
In general, a tilt sensor is configured to suspend a pendulum that always faces in a vertical direction in a casing and detect a change in the angle of the right and left tilt of the casing attached to the fuselage with respect to the pendulum. For example, when the airframe starts to tilt in the lower right direction, the pendulum is relatively left on the left side. Therefore, the tilt sensor outputs a detection signal in the reverse direction immediately after the start of the tilt of the aircraft, and the response of detecting the tilt of the aircraft quickly is not good due to the time delay in the output of the detection signal.
[0005]
On the other hand, a method of providing a rolling angular velocity sensor for detecting the rolling angular velocity of the aircraft and calculating the rolling angle of the aircraft from the detection value of the rolling angular velocity sensor is also conceivable. However, various noises are generated depending on the traveling conditions and field conditions such as the traveling speed of the aircraft, the hardness of the field, or the lug pattern of the tire, and the output signal of the rolling angular velocity sensor continuously changes in small increments. In order to adjust the rolling angle of the work implement in synchronization with the output change of the rolling angular velocity sensor, an actuator capable of providing a variable speed with no response delay is required, which makes the configuration complicated and extremely expensive.
[0006]
In addition, depending on the work contents, there may be a turn with the work machine lowered. At this time, since the lateral G acts on the machine, the tilt sensor detects that there is “tilt” even if the machine is horizontal. End up. At this time, the rolling angular velocity sensor detects that there is no change in angular velocity because the aircraft is horizontal, but at the start of turning and at the end of turning, a sudden lateral G acts to detect that “angular velocity is generated in the aircraft”. As a result, an erroneous horizontal control signal is output.
[0007]
Therefore, when the actuator provided between the machine and the work machine is driven and the rolling angle of the work machine is adjusted to perform horizontal control, the work machine is prevented from overshooting and response delays due to the rolling of the machine. Therefore, there is a technical problem to be solved in order to eliminate the output of the horizontal control signal, and the present invention aims to solve this problem.
[0008]
[Means for Solving the Problems]
The present invention has been proposed in order to achieve the above object, and a work machine (12) is connected to the rear part of the machine body via a link mechanism (11) , and the machine body is interposed between the machine body and the work machine (12). tilt sensor for detecting a rolling angle and means for detecting provided, airframe rolling angle of the該機body of the actuator (30) and the working machine for該機body (12) to change the rolling angle of the work machine (12) for (41 ) , A rolling angular velocity sensor (43) for detecting the rolling angular velocity of the machine body, and a tilt setting means for setting the rolling angle of the work machine (12) ,
該機body provided with the working machine lift arm angle sensor for detecting a vertical position of the working machine in the rotation base of the lift arm (22) for vertically moving (12) (12) (25) is provided,
In addition, the vehicle body is provided with a steering means for the front wheel (38) provided with the front wheel break angle sensor (39), a means for increasing the speed of the front wheel, and a means for detecting the one-brake operation of the rear wheel so that the airframe can turn. In a horizontal control device comprising a turning motion detection means for detecting whether or not it has entered ,
A stroke sensor (31) is used as means for detecting the rolling angle of the work machine (12) with respect to the machine body. When the detected value of the rolling angular velocity sensor (43) is within a specified value (ω ₀ ) , the tilt sensor ( 41) When the rolling angle of the work machine (12) is adjusted with the detected value of 41), when the detected value of the rolling angular velocity sensor (43) detects a rolling angular velocity greater than a specified value (ω ₀ ) , this rolling angular velocity sensor The amount of inclination detected in (43) is compared with the amount of correction detected by the stroke sensor (31) , and the amount of correction of the stroke sensor (31) is adjusted so as not to exceed the amount of inclination of the rolling angular velocity sensor (43). performs horizontal control based on the detection value of the rolling angular velocity sensor (43), during the horizontal control, the front wheel steering angle sensor (39) Front wheel steering operations detected value becomes a specified value or more, the front wheel of the speed increasing operation, or when one piece brake operation of the rear wheel is detected, or the detection value of the lift arm angle sensor (25) is a predetermined value or more A horizontal control device configured to suppress the output of a horizontal control signal based on the detection value of the rolling angular velocity sensor (43) by increasing the prescribed value (ω ₀ ) It is to provide.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. 1 and 2 show a small tractor 10 as an example of a work vehicle, and a rotary work machine 12 is connected to the rear part of the machine body via a link mechanism 11. In the vicinity of the driver's seat 13, a position lever 15 that is a lifting / lowering position setting means for the work implement, a tilling depth adjustment dial 16 that is a working depth setting means for the work implement, and an inclination that is an inclination setting means for setting the rolling angle of the work implement. An adjustment dial 17 and the like are provided. Rear axles 19 protrude from the left and right sides of the mission case 18 and left and right rear wheels 34, 34 are attached.
[0010]
The link mechanism 11 includes a top link 20 and left and right lower links 21, 21, and the ends of the left and right lift arms 22, 22 and the lower links 21, 21 are connected by lift rods 23, 23 to drive the lift cylinder 24. By rotating the lift arm 22, the lower links 21, 21 move up and down via the lift rods 23, 23. Thus, the rotary working machine 12 moves up and down with the tip ends of the lower links 21 and 21 as the center of rotation.
[0011]
A lift arm angle sensor 25 is provided at the rotation base of the lift arm 22 as means for detecting the lift position of the work implement. The lift arm angle sensor 25 detects the rotation angle of the lift arm 22, and the controller 50. To calculate the elevation height of the rotary working machine 12. Further, a rear cover 27 is attached to the rear end portion of the main cover 26 of the rotary work machine 12 so as to be rotatable up and down, and a rotation angle of the rear cover 27 is detected by a rear cover sensor 28, and the controller 50 detects the rotation of the rotary work machine 12. Calculate tillage depth.
[0012]
On the other hand, as an actuator for changing the rolling angle of the rotary working machine 12 with respect to the machine body, a rolling cylinder 30 is provided in the middle of either the left or right lift rod 23, and the rolling cylinder 30 is expanded or contracted to increase or decrease the lift amount of the lower link 21. By changing the angle, the inclination of the rotary working machine 12 with respect to the machine body in the left-right direction can be changed.
[0013]
As a means for detecting the rolling angle of the rotary working machine 12 with respect to the machine body, a stroke sensor 31 is provided adjacent to the rolling cylinder 30, and the expansion / contraction length of the rolling cylinder 30 is detected by the stroke sensor 31. The rolling angle of the rotary working machine 12 is calculated by the controller 50, and the rolling cylinder 30 is driven according to the set value of the tilt adjusting dial 17 so that the horizontal working of the rotary working machine 12 can be performed.
[0014]
Here, a steering handle 32 which is a steering operation portion of the fuselage is provided in front of the driver's seat 13, and a forward / reverse switching lever 33 is provided in the vicinity of the steering handle 32, and the forward / backward switching lever 33 is operated. Thus, the driving force transmitted to the rear wheel 34 is reversed so that the traveling direction of the aircraft can be selected. A shift lever 35 is installed at the front lower part of the driver's seat 13 and left and right brake pedals 36 and 36 that can be stepped on independently are provided. The rotation operation of the steering handle 32 is transmitted to the steering device 37, and the front wheel 38 turns according to the steering amount. The steering amount of the front wheel 38 is detected by a front wheel break angle sensor 39.
[0015]
An inclination sensor 41 that is a means for detecting a rolling angle of the airframe and a means for detecting an angular velocity when the airframe is pitched are located at a substantially central portion near the rear axle 19 on the upper surface portion of the transmission case 18. A pitching angular velocity sensor 42 and a rolling angular velocity sensor 43, which is a means for detecting an angular velocity when the airframe rolls, are integrally stored in a case 44.
[0016]
Further, the rear axle 19 is provided with brake devices 46, 46 capable of independently braking the left and right rear wheels 34, 34. When the vehicle turns, only the brake pedal 36 on one side is depressed and one side is depressed. By actuating the brake device 46 and applying one brake to the rear wheel 34 inside the turn, the turning radius of the airframe can be reduced. In addition, as a means for detecting the one-brake operation of the rear wheels, the left and right brake devices 46 are provided with brake sensors 47, respectively. On the other hand, the front wheel 38 is provided with a speed increasing device 48 as means for increasing the rotational speed of the front wheel approximately twice that of the rear wheel. When the vehicle turns, the speed increasing device 48 is operated to increase the front wheel 38. By driving at high speed, the aircraft can be turned around.
[0017]
FIG. 3 is a block diagram of the control system. The working depth target value of the rotary working machine 12 is set by the working depth adjustment dial 16, and the lift position of the rotary working machine 12 is calculated by the detection signal of the lift arm angle sensor 25. At the same time, the rear cover sensor 28 detects the rotation angle of the rear cover 27 and calculates the working depth of the rotary working machine. Then, in order to maintain the rotation angle of the rear cover 27 at a predetermined angle corresponding to the working depth target value set by the working depth adjustment dial 16, to the raising solenoid or the lowering solenoid of the electromagnetic control valve that drives the lift cylinder 24. A control signal is output from the controller 50. Therefore, the lift arm 22 is turned up and down to move the rotary work machine 12 up and down, and the rear cover 27 is turned and the detection value of the rear cover sensor 28 is controlled to coincide with the tilling target value.
[0018]
On the other hand, the tilt adjustment dial 17 allows the operator to arbitrarily set the rolling angle of the rotary working machine 12. The rolling angle of the machine relative to the ground is detected by the tilt sensor 41, and the rolling angle of the rotary working machine 12 relative to the machine is detected by the stroke sensor 31. Accordingly, the rolling angle of the rotary working machine 12 with respect to the ground can be calculated from the detection values of both sensors, and the rolling cylinder 30 is driven to maintain the rolling angle of the working machine set by the tilt adjustment dial 17. A control signal is output from the controller 50 to the right-up solenoid or right-down solenoid of the electromagnetic control valve. Accordingly, the rolling cylinder 30 is expanded and contracted to change the rolling angle of the rotary working machine 12, and the detection value of the stroke sensor 31 is controlled to coincide with the target value of the horizontal control.
[0019]
Note that the pitching angular velocity sensor 42 and the rolling angular velocity sensor 43 are each of the vibration gyro type, and the structure is simple, precise, and inexpensive. However, a sensor other than the vibration gyro system may be used. The tilt sensor 41, the pitching angular velocity sensor 42, and the rolling angular velocity sensor 43 are provided at a substantially central portion near the rear axle 19 and closer to the center of gravity of the airframe than when installed on the front wheel 38 side. As a result, there is little vibration in the vertical direction and it is difficult to receive disturbances, and the measurement accuracy is improved. In addition, since all the three sensors are integrally stored in the case 44, the installation space becomes compact and the installation work can be simplified, for example, the power supply circuit can be shared.
[0020]
Further, a horizontal mode, a machine parallel mode, and an angle setting mode can be selected by the horizontal switch 45, and the horizontal switch 45 detects the relative inclination of the machine and the work machine and the inclination with respect to the ground. A target value for horizontal control is determined according to the set mode, and the rolling cylinder 30 is driven to adjust the inclination of the rotary working machine 12.
[0021]
For example, when the horizontal selector switch 45 is set to the horizontal mode, the inclination of the rotary work machine 12 with respect to the ground is calculated from the detection value of the inclination sensor 41 and the detection value of the stroke sensor 31, and this inclination is made zero. Set the target value for horizontal control. Then, a control signal is output from the controller 50 to the right-up solenoid or the right-down solenoid of the electromagnetic control valve that drives the rolling cylinder 30 so that the measured value of the stroke sensor 31 matches the target value. Therefore, control is performed so that the horizontal inclination of the rotary working machine 12 is horizontal regardless of the attitude of the machine body.
[0022]
On the other hand, when the horizontal changeover switch 45 is set to the aircraft parallel mode, the target value of the horizontal control is determined so that the lift amounts of the left and right lower links 21 are equal. Then, in order to drive the rolling cylinder 30 so that the measured value of the stroke sensor 31 coincides with this target value, a control signal is output from the controller 50 to the right raising solenoid or the right lowering solenoid. Therefore, the rotary working machine 12 is controlled so that the horizontal tilt is parallel to the tilt of the machine.
[0023]
When the horizontal changeover switch 45 is set to the angle setting mode, a target value for horizontal control is determined according to the set value of the tilt adjustment dial 17 arbitrarily set by the operator, and the measured value of the stroke sensor 31 is set to this value. In order to drive the rolling cylinder 30 so as to match the target value, a control signal is output from the controller 50 to the right-up solenoid or right-down solenoid. Therefore, the rotary working machine 12 is controlled to have an arbitrary inclination set.
[0024]
Here, the steering amount of the front wheel 38 is detected by the front wheel turning angle sensor 39, and it is determined by the controller 50 whether or not the aircraft has entered a turning motion. Also, the one-brake operation is detected by the left and right brake sensors 47. For example, when turning the airframe during rotary work in a dry field, the operator steers the steering handle 32 to turn the front wheel 38 and depresses the brake pedal 36 on one side to operate the brake device 46 inside the turn. Apply one brake to the rear wheel 34.
[0025]
At this time, in order to prevent dragging of the rotary working machine 12, a working machine raising signal is output from the controller 50 to the raising solenoid of the electromagnetic control valve of the lift cylinder 24, and the rotary working machine 12 is raised to a predetermined height. At substantially the same time, a command signal is output from the controller 50 to the speed increasing solenoid of the electromagnetic control valve that drives the speed increasing device 48, and the rotational speed of the front wheel 38 is increased. Therefore, the airframe can be turned slightly by the one-brake operation of the rear wheel 34 inside the turn and the speed-up operation of the front wheel 38.
[0026]
An actuator (not shown) is mounted on each of the left and right brake devices 46, and a drive signal is output to the right brake solenoid or the left brake solenoid of the electromagnetic control valve for the actuator in response to a command signal from the controller 50. The left and right brake devices 46 can be configured to be operated. In such a case, the one-brake can be automatically applied to the rear wheel 34 even when the brake pedal 36 is not depressed when the aircraft is turning.
[0027]
Here, noise caused by various vibrations is generated in the detection signal of the rolling angular velocity sensor 43 depending on the traveling condition and the field condition such as the traveling speed of the machine body, the hardness of the field, or the lug pattern of the tire. For example, as shown in FIG. 4, when the output signal of the rolling angular velocity sensor 43 changes from 0V to a maximum of 5V, the change in angular velocity when the aircraft rolls to the right appears upward in the graph, and the aircraft moves to the left. Assuming that the change in the angular velocity when rolling appears downward, the detection signal of the rolling angular velocity sensor 43 continuously appears in small increments due to vibration noise.
[0028]
Therefore, when performing horizontal control based on the rolling angular velocity, the peak value (upper peak value) of the right direction angular velocity and the peak value (lower end peak value) of the left direction angular velocity are continuously measured for a predetermined time, and each peak value is The moving average value is calculated, and the neutral position of the rolling angular velocity sensor 43 is set from the moving average value of the rightward angular velocity peak value and the moving average value of the leftward angular velocity peak value. Then, a predetermined value ω0 is set in advance for the neutral position, and when the detected value of the rolling angular velocity sensor 43 is within the predetermined value ω0, the inclination sensor 41 is regarded as angular velocity detection due to vibration noise. The rolling angle of the fuselage is calculated from the detected value of “1” and a “right-up” or “right-down” horizontal control signal is output to the electromagnetic control valve for the rolling cylinder 30 based on the detection value of the tilt sensor 41. On the other hand, when a rolling angular velocity larger than the predetermined value ω0 determined in advance is detected (for example, a portion from t1 to t2), the electromagnetic control valve for the rolling cylinder 30 is moved based on the detection value of the rolling angular velocity sensor 43. Outputs horizontal control signal.
[0029]
At this time, the amount of inclination detected by the rolling angular velocity sensor 43 and the amount of correction detected by the stroke sensor 31 are always compared, so that the amount of correction at the stroke sensor 31 does not exceed the amount of inclination at the rolling angular velocity sensor 43. It is necessary to adjust the horizontal control signal to the electromagnetic control valve. For example, when the amount of inclination at the rolling angular velocity sensor 43 is detected as 5 °, the rolling cylinder 30 is driven so that the amount of correction at the stroke sensor 31 does not exceed 5 °, thereby preventing the working machine from going too far. Thus, the rolling angle of the work implement can be adjusted in synchronization with the change in the output of the rolling angular velocity sensor without using an expensive actuator without a response delay.
[0030]
Further, after the time point (t2) when the detection value of the rolling angular velocity sensor 43 returns to within the specified value ω0, it is assumed that the rolling angular velocity for one time has disappeared, and the inclination amount is set to zero. When the detected value exceeds the specified value ω0 (part from t3 to t4), a new amount of inclination is calculated. Therefore, accumulation of the calculation error of the tilt amount is eliminated, and the horizontal control signal for each time can be output accurately.
[0031]
Here, in scraping work or the like, the rotary work machine 12 may be turned while being lowered. At this time, since the lateral G acts on the machine body, the rolling angular velocity sensor 43 is “the machine body even if the machine body is horizontal. Therefore, the horizontal control signal based on the rolling angular velocity sensor 43 is not output while the aircraft is turning.
[0032]
For example, as shown in FIG. 5, when the detection value of the rolling angular velocity sensor 43 exceeds the specified value ω0 during the horizontal control based on the rolling angular velocity sensor and the output request of the horizontal control signal is requested (Step 100), the front wheel turning angle Only when the detected value of the sensor 39 is not more than the specified value (Step 110), there is no front wheel acceleration operation (Step 120), and there is no one-brake operation (Step 130), that is, when there is no operation related to turning of the aircraft. Then, a horizontal control signal based on the detection value of the rolling angular velocity sensor 43 is output (Step 140). On the other hand, if any one of Step 110 to Step 130 is applicable, it is assumed that the aircraft has made a turning motion, and a horizontal control signal based on the detection value of the rolling angular velocity sensor 43 is not output ( Step 150). Thus, it is possible to prevent an erroneous horizontal control signal from being output when the aircraft is turning. In Step 150, the horizontal control signal is not output at all, but it may be controlled so as to output the horizontal control signal while considering the generated rolling angular velocity to be smaller than the actual one. Good. Alternatively, the specified value ω0 may be increased to suppress the output of the horizontal control signal.
[0033]
On the other hand, during the horizontal control based on the detection value of the rolling angular velocity sensor 43, when the machine goes out of the work area or when the machine is retracted, the rotary work machine 12 is manually operated to a certain height. May be raised. At this time, if the rolling angular velocity sensor 43 detects the rolling angular velocity of the machine body and outputs a horizontal control signal, the work implement is rattled and the operational feeling is deteriorated.
[0034]
For this reason, as shown in FIG. 6, when the detection value of the lift arm angle sensor 25 becomes a certain value or more during horizontal control based on the detection value of the rolling angular velocity sensor 43 (Step 200), the rotary work machine 12 is Since the vehicle is in the ascending operation or stopped at the ascending position, the output of the horizontal control signal based on the rolling angular velocity is prohibited (Step 210). Thus, unnecessary horizontal control output is not performed while the work implement is raised, and the play of the work implement can be eliminated. In Step 210, instead of prohibiting the output of the horizontal control signal, the above-mentioned prescribed value ω0 is increased to widen the dead zone of the rolling angular velocity sensor 43 and controlled so as to suppress the output of the horizontal control signal. Also good.
[0035]
Thus, the present invention can be variously modified without departing from the spirit of the present invention, and the present invention naturally extends to the modified ones.
[0036]
【The invention's effect】
As described in detail in the above embodiment, when the rolling angular velocity sensor (43) detects a rolling angular velocity greater than the specified value (ω ₀ ), the present invention detects the rolling angular velocity sensor (43) . comparing the correction amount detected by the inclination amount stroke sensor (31), said stroke sensor (31) fixes the amount of rolling angular velocity sensor (43) the rolling angular velocity sensor so as not to exceed the amount of tilt at (43) The horizontal control is performed based on the detected value of the front wheel , and during this horizontal control , the front wheel steering operation, the front wheel speed increasing operation, or the rear wheel one-brake where the detected value of the front wheel break angle sensor (39) is a specified value or more. when one operation is detected, or when said detected value of the lift arm angle sensor (25) is a certain value or more, increase the prescribed value (omega ₀₎ 該Ro Since suppress the output of the ring horizontal control signal based on the detection value of the angular velocity sensor (43), the aircraft during a turn as lateral G is applied, and that there is no to an incorrect horizontal control signal is output, the working machine Accurate horizontal control without overshooting or response delay can be performed.
When the detected value of the rolling angular velocity sensor is within a specified value, the rolling angle of the work implement is adjusted by the detected value of the tilt sensor, while the rolling angular velocity detected by the rolling angular velocity sensor is larger than the specified value. When this is done, the amount of inclination detected by the rolling angular velocity sensor is compared with the amount of inclination detected by the stroke sensor and the amount of correction detected by the stroke sensor. Since the horizontal control based on the detected value of the rolling angular velocity is performed so as not to exceed, it is possible to prevent the working machine from overshooting.
Further, a lift arm (22) for moving the work machine (12) up and down is provided, and a lift arm angle sensor ( for detecting the raising / lowering position of the work machine (12) is provided at the rotation base of the lift arm (22). 25), and when the turning motion of the airframe is detected by the turning motion detection means, or when the detected value of the lift arm angle sensor (25) becomes a certain value or more, the rolling angular velocity sensor (43 The horizontal control signal based on the detected value is not output, so that when the work machine (12) is raised when the machine goes out of the work area or when it moves backward, the prescribed value (ω ₀ ) is increased so that the output of the horizontal control signal based on the detection value of the rolling angular velocity sensor (43) is suppressed, so that unnecessary horizontal control output is not performed and the work equipment (12) is not stable. Is resolved.
[0037]
Still further, the horizontal control in the detection value front wheel steering operation becomes the specified value or more of the front wheel steering angle sensor (39), the front wheel of the speed increasing operation, or one piece brake operation of the rear wheel is detected In some cases, it is assumed that the aircraft has entered a turning motion, and the specified value (ω ₀ ) is increased to suppress the output of the horizontal control signal based on the detected value of the rolling angular velocity sensor (43). The output of the horizontal control signal can be reliably stopped when the vehicle turns, and the function of the horizontal control in the working machine of the agricultural work vehicle can be reliably performed.
[Brief description of the drawings]
The figure shows an embodiment of the present invention.
FIG. 1 is a side view of a tractor body and a rotary working machine.
FIG. 2 is a rear view of FIG. 1 in which illustration of a rear cover sensor and the like is omitted.
FIG. 3 is a block diagram of a control system.
FIG. 4 is a graph showing a detection signal of a rolling angular velocity sensor when there is noise.
FIG. 5 is a flowchart showing a control procedure of the horizontal control device.
FIG. 6 is a flowchart for explaining horizontal control when the aircraft turns.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Tractor 12 Rotary working machine 17 Tilt adjustment dial 30 Rolling cylinder 31 Stroke sensor 39 Front wheel break angle sensor 41 Tilt sensor 43 Rolling angular velocity sensor 47 Brake sensor 48 Speed increase device 50 Controller

Claims (1)

An actuator (30) for connecting a work machine (12) to a rear part of the machine body via a link mechanism (11) , and changing a rolling angle of the work machine (12) relative to the machine body between the machine body and the work machine (12 ) ; Means for detecting a rolling angle of the work machine (12) with respect to the airframe, an inclination sensor (41) for detecting the rolling angle of the airframe, and a rolling angular velocity sensor (43) for detecting the rolling angular speed of the airframe. A horizontal control device comprising an inclination setting means for setting a rolling angle of the work machine (12) ,
該機body provided with the working machine lift arm angle sensor for detecting a vertical position of the working machine in the rotation base of the lift arm (22) for vertically moving (12) (12) (25) is provided,
In addition, the vehicle body is provided with a steering means for the front wheel (38) provided with the front wheel break angle sensor (39), a means for increasing the speed of the front wheel, and a means for detecting the one-brake operation of the rear wheel so that the airframe can turn. In a horizontal control device comprising a turning motion detection means for detecting whether or not it has entered ,
A stroke sensor (31) is used as means for detecting the rolling angle of the work machine (12) with respect to the machine body. When the detected value of the rolling angular velocity sensor (43) is within a specified value (ω ₀ ) , the tilt sensor ( 41) When the rolling angle of the work machine (12) is adjusted with the detected value of 41), when the detected value of the rolling angular velocity sensor (43) detects a rolling angular velocity greater than a specified value (ω ₀ ) , this rolling angular velocity sensor The amount of inclination detected in (43) is compared with the amount of correction detected by the stroke sensor (31) , and the amount of correction of the stroke sensor (31) is adjusted so as not to exceed the amount of inclination of the rolling angular velocity sensor (43). performs horizontal control based on the detection value of the rolling angular velocity sensor (43), during the horizontal control, the front wheel steering angle sensor (39) Front wheel steering operations detected value becomes a specified value or more, the front wheel of the speed increasing operation, or when one piece brake operation of the rear wheel is detected, or the detection value of the lift arm angle sensor (25) is a predetermined value or more The horizontal control device is configured to increase the specified value (ω ₀ ) and suppress the output of a horizontal control signal based on the detection value of the rolling angular velocity sensor (43) .

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