JP4758969B2 - Work vehicle attitude control device - Google Patents

Description

  The present invention includes a posture changing operation means that can freely change the inclination posture of the vehicle body relative to the traveling device, a gravity-type inclination angle detection means that detects an inclination angle with respect to a horizontal reference plane of the vehicle body by the action of gravity, and the inclination angle detection And attitude control means for performing attitude change control for controlling the operation of the attitude change operation means so that the inclination angle with respect to the horizontal reference plane of the vehicle body is maintained at the target inclination angle based on the detection information of the means. The present invention relates to a work vehicle attitude control device.

  The work vehicle attitude control device is configured, for example, such that the attitude change operation means can freely change the left-right inclination posture of the vehicle body with respect to the traveling device, and the left-right inclination angle with respect to the horizontal reference plane of the vehicle body is a target inclination as the attitude change control. It is configured to control the operation of the posture changing operation means so as to be maintained at a corner, and conventionally, the target inclination angle is manually set by a plurality of steps, for example, 3 degrees from the horizontal reference plane to the left inclination direction. There is provided a manually operated target inclination angle setting means that is set by changing stepwise in seven steps between a maximum left inclination state that inclines and a maximum right inclination state that is inclined 3 degrees in the right inclination direction from the horizontal reference plane. After the target inclination angle is changed and set by the target inclination angle setting means, the attitude control means executes attitude change control based on the information of the target inclination angle thus changed and set. Configuration and became which was (for example, see Patent Document 1.). The gravitational inclination angle detecting means includes a pair of electrodes for storing a liquid having a predetermined viscosity, such as silicon oil, in a container provided in the vehicle body, and is immersed in the liquid. The change in capacitance between the pair of electrodes, which changes as the liquid level inclines with respect to the container and the amount of immersion of the pair of electrodes changes as the information about the front / rear tilt angle of the vehicle body It was configured to detect.

JP 2002-204613 A

  In the above-described conventional configuration, posture change control is performed so that the target inclination angle is set in advance by the target inclination angle setting means. For example, in a combine as an example of a work vehicle, a cutting operation is performed on a farm field. In such a case, the posture change operation is performed so that the left-right inclination angle with respect to the horizontal reference plane of the vehicle body is maintained at the target inclination angle as described above, so that the cutting operation is performed while preventing the cutting portion from contacting the ground. It is something that can be done.

In other words, in the above-described combine and the like, the ground is a substantially flat surface in many areas of the field, so the work is performed with the target inclination angle set to a substantially horizontal posture. There are many cases. However, when the farm is on the shore, the ground may be inclined so that the ground becomes higher as it is closer to the straw. In addition, hand-harvested cereal grains, straw scraps, and the like may be accumulated on the heel. Therefore, when traveling on the shore, the right / left inclination angle with respect to the horizontal reference plane of the vehicle body is not the horizontal position but the left / right side positions so that the cutting part does not touch the inclined ground or sediment. There is a case where the cutting operation is performed in a state where the portion closer to the cocoon is tilted so that the portion closer to the opposite side is located above the opposite portion.

Therefore, the target inclination varies depending on the target inclination angle setting means in response to a difference in work situation such as when the vehicle body is operated in a substantially horizontal posture or when the right and left inclination angle with respect to the horizontal reference plane of the vehicle body is inclined as described above. This can be done by switching to the corner. However, in the above conventional configuration, the target inclination angle is changed step by step over a plurality of stages, so in the case where the vehicle body is inclined in order to avoid contact with grains, straws, etc. Since the target inclination angle changes stepwise to any one of the seven steps as described above, the set inclination angle is too small or too large than the required inclination angle. In other words, there is a disadvantage that the desired tilt angle cannot be adjusted.

By the way, in order to eliminate such disadvantages, the target tilt angle setting means may be configured as a potentiometer type so that the target tilt angle can be changed and set steplessly. Since it corresponds to the magnitude of the inclination angle from the horizontal reference plane, regardless of the actual inclination angle of the vehicle body, the operator must respond to the magnitude of the target inclination angle and the actual inclination posture of the vehicle body. The relationship is difficult to understand sensuously, and it is difficult to adjust the target tilt angle to the tilt angle desired by the operator, which is disadvantageous in that it takes time and effort.

An object of the present invention is to provide an attitude control device for a work vehicle that can easily perform an operation of adjusting a target inclination angle to a desired inclination angle with less troublesomeness.

  An attitude control device for a work vehicle according to the present invention includes an attitude change operation unit that can freely change an inclination attitude of a vehicle body with respect to a traveling device, and a gravity-type inclination angle that detects an inclination angle with respect to a horizontal reference plane of the vehicle body by the action of gravity. A posture for executing a posture change control for controlling an operation of the posture changing operation means so that a tilt angle with respect to a horizontal reference plane of the vehicle body is maintained at a target tilt angle based on detection information of the detection means and the tilt angle detecting means Control means, and the first characteristic configuration thereof is a one-side posture change command for changing the inclination angle change direction to one side as a posture change command for changing the lean posture of the vehicle body with respect to the traveling device. And a manually operated attitude change command means for selectively instructing the other-side attitude change command to be changed to the other side of the inclination angle change direction, and the attitude control means When the posture change command is commanded by the posture change commanding means during the execution of further control, the posture change control is stopped and the tilt posture of the vehicle body with respect to the traveling device is changed based on the posture change command. When the posture change command is completed, the posture change control is resumed after the vehicle body tilt posture change operation is stopped until the set standby time elapses after the posture change command is finished. And controlling the operation of the posture change operation means, and after the output stabilization time set to a time shorter than the set standby time has elapsed from when the command of the posture change command ends, the set standby time Is configured to execute a target tilt angle setting process for setting the target tilt angle based on detection information of the tilt angle detecting means. .

According to the first characteristic configuration, the attitude control means performs attitude change control for controlling the operation of the attitude change operation means so that the inclination angle of the vehicle body with respect to the horizontal reference plane is maintained at the target inclination angle. In the middle, when the posture change command is commanded by the posture change command means, the posture change control is stopped and the tilt posture of the vehicle body with respect to the traveling device is changed based on the posture change command. That is, the operation of the attitude changing operation means is controlled to change the inclination attitude of the vehicle body relative to the traveling device to one side or the other side of the inclination angle changing direction based on the attitude change command. For example, when it is necessary to change the leaning posture of the vehicle body so that it does not come into contact with the ground sloping at the shore or deposits on the shore when the work vehicle is traveling in the field, the operator The tilt posture of the vehicle body can be changed by manually operating the posture change command means.

The posture change operation based on the command from the posture change command means tilts the vehicle body from the current vehicle body posture to one side or the other side. Since the vehicle body can be tilted to one side or the other side while confirming the above, it is easy to understand sensuously, and it is easy to make the tilt posture desired by the operator.

  When the posture change command is completed by the posture change command unit, the posture control unit changes the tilt posture of the vehicle body after a set standby time elapses after the posture change command is completed. After the operation is stopped, the operation of the posture changing operation means is controlled so that the posture changing control is resumed. That is, the change operation of the tilt posture of the vehicle body is stopped until the set standby time elapses after the command of the posture change command ends.

  Also, the attitude control means, from when the command of the attitude change command is completed until the set standby time elapses after the output stabilization time set to a time shorter than the set standby time, A target tilt angle setting process for setting the target tilt angle based on detection information of the tilt angle detecting means is executed. That is, the detection detected by the tilt angle detection means after waiting until the output stabilization time set to a time shorter than the set standby time elapses after the command of the posture change command is completed. The target inclination angle is set based on the information.

  In other words, the gravity-type tilt angle detection means that detects the tilt angle with respect to the horizontal reference plane of the vehicle body by the action of gravity properly detects the tilt angle in the longitudinal direction of the vehicle body when only gravity is applied. However, if the posture of the vehicle body changes in accordance with the command of the posture change command, the inclination angle detecting means also moves accordingly and acceleration in the moving direction is generated. When the acceleration is generated in this way, if the tilt angle detection means includes, for example, the liquid in the container, the liquid level of the liquid in the container becomes higher on the side opposite to the moving direction due to the acceleration. Oblique posture in the state. In addition, the liquid contained in the container generally has a predetermined viscosity so that it is not erroneously detected due to fine vibrations, etc., so that the liquid level is inclined due to large acceleration. Even when the state changes from the state to the state where the acceleration disappears, it is not possible to immediately return to the initial posture, i.e., the state where the liquid is stationary due to the addition of gravity. It takes a long time. As a result, when the posture change command is completed, if the detection value of the tilt angle detection means at that time is immediately set as the target tilt angle, the time delay required for returning to the liquid level state as described above, etc. Due to this, there is a disadvantage that an error occurs between the actual inclination posture of the vehicle body and the target inclination angle.

  Therefore, the detection information of the inclination angle detection means after the output stabilization time has elapsed since the completion of the attitude change command, in other words, the appropriate detection corresponding to the inclination attitude of the vehicle body desired by the operator The target inclination angle is set based on the information.

Then, after the set standby time has elapsed since the command of the posture change command has ended, the posture change control for controlling the operation of the posture change operation means based on the set target inclination angle is resumed. After that, even if the inclination posture of the grounding part of the traveling device may fluctuate due to unevenness of the ground, the posture of the vehicle body is changed by the manual operation command of the operator by executing the posture change control The tilted posture will be maintained.

  Therefore, according to the first characteristic configuration, it has become possible to provide a work vehicle attitude control device that can easily perform an operation of adjusting the target inclination angle to a desired inclination angle in a state of less trouble.

  In the second feature configuration of the present invention, in addition to the first feature configuration, the posture control unit averages a plurality of detection values detected a plurality of times by the tilt angle detection unit as the target tilt angle setting process. The target inclination angle obtained by processing is set.

  According to the second characteristic configuration, the posture control means detects the inclination angle between the time when the command for the posture change command is completed and the time when the set standby time elapses after the output stabilization time has elapsed. A target inclination angle obtained by averaging a plurality of detection values detected a plurality of times by the means is set.

  For example, in the case where the target inclination angle is set by using the result detected only once by the inclination angle detection means, the detection value fluctuates due to vibration or the like accompanying the traveling of the vehicle body, and an inappropriate detection value is obtained. Although there is a risk of being set as an angle, since a plurality of detection values detected multiple times are averaged, an appropriate inclination angle is obtained in a state where there are few temporary errors due to fluctuations in detection values, etc. Can be requested.

  Therefore, according to the second characteristic configuration, it is possible to set a target inclination angle that is the same as or close to the inclination angle corresponding to the actual inclination posture of the vehicle body operated by the operator with little error.

  According to a third feature configuration of the present invention, in addition to the first feature configuration or the second feature configuration, the posture change operation means is configured to change and operate a right / left tilt angle with respect to a horizontal reference plane of a vehicle body, and the tilt angle The detection means is configured to detect a left-right inclination angle with respect to a horizontal reference plane of the vehicle body, and the attitude control means is configured to detect the horizontal reference plane of the vehicle body based on detection information of the inclination angle detection means as the attitude change control. The configuration is such that the operation of the posture changing operation means is controlled so that the right / left inclination angle is maintained at the target inclination angle.

  According to the third characteristic configuration, since the posture change operation means is controlled so that the right / left inclination angle with respect to the horizontal reference plane of the vehicle body becomes the target inclination angle based on the detection information of the inclination angle detection means, The change operation is performed so that the horizontal posture becomes the horizontal posture. When the posture change command is commanded by the posture change command means, when the left and right posture of the vehicle is switched from a horizontal posture to a right tilt posture or a left tilt posture, a target tilt angle corresponding to the tilt posture is set. Thus, the posture changing operation means is controlled.

  Therefore, according to the third feature configuration, when applied to a combine that performs a cutting operation in a field as an example of a work vehicle, the cutting operation is performed with a target inclination angle of a left-right inclination angle with respect to a horizontal reference plane of the vehicle body. In this case, set the tilt angle corresponding to the horizontal posture or a posture close to it, and when performing cutting work at the heel, move the vehicle body so that the heel side is positioned higher than the horizontal posture by the posture change operation. There is an advantage that it can be suitably used by setting an appropriate target inclination angle corresponding to the work situation, such as setting an inclination angle corresponding to the inclination posture to be inclined.

Hereinafter, a case where an embodiment of the present invention is applied to a combine as an example of a work vehicle will be described with reference to the drawings.
As shown in FIG. 1, the combine includes a pair of left and right crawler type traveling devices 1 </ b> L and 1 </ b> R, a threshing device 3 that threshs the harvested cereal, a grain tank 4 that stores the threshed grain, and a boarding operation unit 2. The harvesting part 10 which harvests planted cereals such as rice and wheat and supplies it to the threshing device 3 with respect to the vehicle body V provided with the above and the like is configured to be movable up and down.

  The cutting unit 10 includes a weeding tool 6 provided at the tip, a pulling device 5 that causes a planted culm that has been weeded by the weeding tool 6, and a clipper type that cuts the stock side of the induced culm. The cutting blade 7 and the vertical conveying device 8 that conveys the harvested cereal grains to the rear side while gradually changing the posture to the horizontal position, and the hydraulic cutting cylinder around the horizontal axis P1 at the front of the vehicle body V It is provided to be swingable up and down by C1.

  An ultrasonic cutting height sensor 9 that detects the height of the cutting unit 10 with respect to the ground is provided at a location on the rear side of the weeding tool 6. Although not described in detail, the cutting height sensor 9 detects the height of the cutting unit 10 with respect to the ground by measuring the time from when the ultrasonic wave is transmitted downward to when it is received. It is configured in a non-contact manner.

The combine is provided with posture changing operation means 100 that can freely change the front-rear inclination angle and the left-right inclination angle of the vehicle body V with respect to the grounding portions of the left and right traveling apparatuses 1L, 1R. Hereinafter, the configuration will be described.
First, a structure for attaching the left and right traveling devices 1L and 1R to the vehicle body V will be described. Since the left and right traveling apparatuses 1L and 1R have the same configuration, the left traveling apparatus 1L will be described below, and the description of the right traveling apparatus 1R will be omitted.

  As shown in FIG. 2, a drive sprocket 13 is rotatably supported on the front end side of the support frame 12 fixed to the main frame 11 that constitutes the vehicle body V in the front-rear-facing posture, and a plurality of idle rotations. A track frame 16 that pivots in a state where the ring bodies 14 are arranged in the front-rear direction and supports a tension ring body 15 at the rear end portion is mounted on the support frame 12 so as to be movable up and down. A crawler belt B, which is an endless rotating body, is wound around the drive sprocket 13, the tension ring body 15, and each idler ring body 14.

A front bell crank 17a configured to be substantially L-shaped in a side view so as to be rotatable around a horizontal axis P2 is pivotally supported on the front side of the support frame 12, and a horizontal axis is provided on the rear side of the support frame 12. A rear bell crank 17b configured to be substantially L-shaped in a side view so as to be rotatable around P3 is pivotally supported. The lower end portion of the front bell crank 17a is pivotally connected to the front portion of the track frame 16, and the lower end portion of the rear bell crank 17b is connected to the track frame 16 via an auxiliary link 17b1 for absorbing the stroke. It is pivotally connected to the rear part.
On the other hand, the cylinder rods of the hydraulic cylinders C2 and C3 are connected to the upper end portions of the front and rear bell cranks 17a and 17b, respectively. The cylinder main body side of each of the hydraulic cylinders C2 and C3 is pivotally connected to the horizontal frame portion of the main frame 11, and each of the hydraulic cylinders C2 and C3 is constituted by a double-acting hydraulic cylinder.

  When the hydraulic cylinder C2 (hereinafter referred to as the left front cylinder) corresponding to the front bell crank 17a is most extended and the hydraulic cylinder C3 (hereinafter referred to as the left rear cylinder) corresponding to the rear bell crank 17b is most shortened, FIG. As shown, the track frame 16 is received and supported by the support frame 12, and the track frame 16 comes closest to the main frame 11 and becomes substantially parallel.

Then, from the state shown in FIG. 2, when the left front cylinder C2 is shortened while maintaining the left rear cylinder C3 as it is, the front side of the vehicle body V is separated from the grounding portion as shown in FIG. The posture will be changed in the direction to do.
When the left rear cylinder C3 is extended while maintaining the left front cylinder C2 as it is from the state shown in FIG. 2, the rear side of the vehicle body V is moved away from the grounding portion as shown in FIG. The posture will be changed.
In addition, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended from the state shown in FIG. 2, the vehicle body V is separated from the grounding portion in a parallel posture as shown in FIG. The posture will change in the direction.

Similarly to the left traveling device 1L, the right traveling device 1R is also provided with a right front cylinder C4 located on the front side of the fuselage and a right rear cylinder C5 located on the rear side of the fuselage, and the left crawler traveling device 1L. The same operation is performed.
Accordingly, the posture changing operation means 100 can change and adjust the height of the left and right traveling devices 1L and 1R with respect to the grounding portion at the left front, left rear, right front, and right rear in the vehicle body V, respectively. The four hydraulic cylinders C2 to C5 for changing the attitude of the airframe are provided as four driving means.

  When the left and right traveling devices 1L and 1R are in the state shown in FIG. 2, the lower limit reference as a reference state in which the inclination angle of the vehicle body V with respect to the grounding portion of the traveling devices 1L and 1R becomes zero or substantially zero. Become posture. When the left and right front cylinders C2 and C4 are shortened while maintaining the left and right rear cylinders C3 and C5 as they are in this lower limit reference posture, the track frames 16 of the left and right traveling apparatuses 1L and 1R The front end side is lowered with respect to the body frame 11 from the rear end side. In other words, the posture of the vehicle body V is changed (forward lifting operation) in a direction in which the front side is separated from the grounding portions of the traveling devices 1L and 1R.

  Further, when the left and right rear cylinders C3 and C5 are extended while maintaining the left and right front cylinders C2 and C4 as they are from the state of the lower limit reference posture, the track frames 16 of the left and right traveling apparatuses 1L and 1R are moved. The rear end side is lowered with respect to the body frame 11 from the front end side. The posture of the vehicle body V is changed (rearward raising operation) in a direction in which the rear side is separated from the grounding portions of the traveling devices 1L and 1R.

  Further, when the left and right front cylinders C2 and C4 are shortened and the left and right rear cylinders C3 and C5 are extended and operated from the lower limit reference posture, the track frames 16 of the left and right traveling devices 1L and 1R are moved to the fuselage. The state descends substantially parallel to the frame 11. The posture of the vehicle body V is changed (lifting operation) in a direction in which the vehicle body V is separated from the grounding portions of the traveling devices 1L and 1R while being in a parallel posture.

  The vertical distance between the track frame 16 and the airframe frame 11 in the left traveling device 1L is smaller than the vertical distance between the track frame 16 and the airframe frame 11 in the right traveling device 1R. When the hydraulic cylinders C2 to C5 are operated such that the vertical distance between the track frame 16 and the airframe frame 11 in the traveling device 1R is larger than the vertical distance between the track frame 16 and the airframe frame 11 in the left traveling device 1L. Then, the posture of the vehicle body V is changed in the right-up direction with respect to the grounding portions of the traveling devices 1L and 1R, that is, a left-inclination operation is performed to raise the right side and incline to the left side.

  Further, the vertical distance between the track frame 16 and the airframe frame 11 in the right traveling device 1R is smaller than the vertical distance between the track frame 16 and the airframe frame 11 in the left traveling device 1L. When the hydraulic cylinders C2 to C5 are operated such that the vertical distance between the track frame 16 and the body frame 11 in the traveling device 1L is larger than the vertical distance between the track frame 16 and the body frame 11 in the right traveling device 1R. Then, the posture of the vehicle body V is changed in the left-up direction with respect to the grounding portions of the traveling devices 1L and 1R, that is, a right-inclination operation is performed to raise the left side and incline to the right side.

  Based on the amount of rotation of the four hydraulic cylinders C2, C3, C4, C5 corresponding to the rotation fulcrums of the bell cranks 17a, 17b in the left and right traveling devices 1L, 1R. In addition, potentiometer-type stroke sensors 18, 19, 20, and 21 are provided for detecting the operation amounts of the hydraulic cylinders C2, C3, C4, and C5 (that is, the stroke amount that has been expanded and contracted) (see FIG. 9).

  Next, the power transmission system is shown in FIG. The power output from the engine E mounted on the vehicle body V is transmitted to the threshing device 3 via the threshing clutch 45 and travels to the left and right via the traveling clutch 46 and the continuously variable transmission 47 as the traveling transmission device. The power transmitted to the transmission unit 48 of the devices 1L and 1R and transmitted to the transmission unit 48 is transmitted to the traveling devices 1L and 1R, while being transmitted to the cutting unit 10 via the cutting clutch 49. Although not described in detail, a turning transmission mechanism 55 is provided for turning the power transmitted to the transmission unit 48 with a difference in driving speed between the left and right traveling apparatuses 1L and 1R. The vehicle body V can be caused to turn by switching the turning transmission mechanism 55 based on the left / right swinging operation of the operation lever 28 that can be swung in the left / right direction and the front / rear direction provided in the driving unit 2. It can be done. The continuously variable transmission 47 is configured to be shifted by a shift lever 51 provided in the boarding operation unit 2.

The combine is provided with a gravity-type left / right inclination angle sensor 23 for detecting the right / left inclination angle with respect to the horizontal reference plane of the vehicle body V by the action of gravity. It is configured as follows.
That is, as shown in FIG. 7, a liquid 42 having a predetermined viscosity made of silicon oil or the like is accommodated in a rectangular container 41 fixed to the vehicle body V, and metal plates having the same shape are arranged in parallel at the same intervals. Two pairs of the detection electrodes 43 provided are arranged in a state of being fixed to the container 41 with an interval in the inclination angle detection direction (left-right direction in FIG. 7). When the liquid 42 is returned to the initial posture (liquid level horizontal state) due to gravity, when the vehicle body V is not inclined, the two sets of detection electrodes 43 are in the same immersion state (the state of FIG. 7). In the state where the vehicle body V is inclined, the immersion state of the two sets of detection electrodes 43 is different. The capacitance of each detection electrode 43 is measured, and the difference between the measured values (the vehicle body V is inclined). The conversion circuit unit 44 converts the detection value corresponding to the inclination angle information into zero.

  A gravity-type front / rear tilt angle sensor 24 that detects the front / rear tilt angle with respect to the horizontal reference plane of the vehicle body V by the action of gravity is provided. The configuration is the same as that of the angle sensor 23. Further, an angular velocity sensor 25 for detecting the angular velocity of the vehicle body V in the front-rear inclination direction is provided, and the inclination for obtaining the front-rear inclination angle of the vehicle body V based on the detection value of the front-rear inclination angle sensor 24 and the detection value of the angular velocity sensor 25 is provided. The angle calculation means 300 is configured using a control device 22 described later.

  As shown in FIG. 9, a microcomputer-based control device 22 is provided. The control device 22 includes the stroke sensors 18 to 21, a cutting height sensor 9, a left / right tilt angle sensor 23, a front / rear tilt angle sensor 24, Each detection information of the angular velocity sensor 25 is input. In addition, on the operation panel of the boarding operation unit 2, a left / right automatic switch 26 for commanding on / off of rolling control for changing the posture in the left / right direction, before / after instructing on / off of pitching control for changing the posture in the front / rear direction. An automatic switch 27 is provided, and each piece of operation information is also input to the control device 22. Further, there are a volume-type cutting height setting device 39 for setting the height of the cutting unit 10 with respect to the vehicle body V relative to the ground, that is, a cutting height, a raising switch SW1 for instructing raising of the cutting unit, a lowering switch SW2 for instructing lowering of the cutting unit These pieces of information are also input to the control device 22.

  The ascending switch SW1 and the descending switch SW2 are configured to be turned on and off by a back and forth swinging operation of a cross swinging operation lever 28 provided on the operation panel of the boarding operation unit 2. That is, when the operation lever 28 is swung backward by a set amount or more, the ascending switch SW1 is turned on, and when the operation lever 28 is swung forward by a set amount or more, the descending switch SW2 is turned on.

  As shown in FIG. 8, on the upper part of the grip portion 28 a of the operation lever 28, a left tilt switch 60 for instructing a left tilt command for changing the left-right tilt posture of the vehicle body V in the left-down direction, A right tilt switch 61 for instructing a right tilt command for changing the right / left tilt posture in a right lowering direction, a front tilt switch 62 for instructing a front tilt operation for changing the front / rear tilt posture of the vehicle body V in a forward lowering direction, A rear tilt switch 63 for commanding a rear tilt command for changing the posture of the front / rear tilt posture in the rear lowering direction and a horizontal switch 64 for commanding the horizontal posture of the vehicle body V are provided so as to be operable with fingers. Separately, the operation panel of the boarding operation unit 2 is provided with a body raising switch 65 as an ascending command unit and a body lowering switch 66 as a descending command unit, and detection of these switches 60 to 66 is performed. Information is also input to the control device 22. Each of these switches constitutes a manual command means 400 that commands a change in the posture of the vehicle body by manual operation.

  Among them, in this embodiment, the left tilt switch 60 and the right tilt switch 61 change the tilt posture of the vehicle body V with respect to the traveling devices 1R and 1L to one side of the tilt angle change direction (right tilt direction) when performing rolling control. Manual operation type posture change that selectively commands a right tilt command as one side posture change command to be changed and a left tilt command as the other side posture change command to be changed to the other side (left tilt direction). Command means are configured.

  On the other hand, the front inclination switch 62 and the rear inclination switch 63 are changed to a front inclination command and a rear inclination direction for changing the inclination posture of the vehicle body V with respect to the traveling devices 1R and 1L to the front inclination direction when executing the pitching control. The rear tilt command is selectively commanded. The horizontal switch 64 constitutes a manually operated horizontal target inclination angle command means for instructing a horizontal inclination target inclination angle at which the inclination angle with respect to the horizontal reference plane becomes zero.

  In other words, each of the switches 60 to 64 is constituted by a push-push type push operation switch that is turned on when the push operation is performed and is turned off when the push is released. A left tilt command is issued to tilt the left side down and raise the right side. When the right tilt switch 61 is turned on, a right tilt command is issued to tilt the right side of the vehicle body V down and raise the left side, and the front tilt switch 62 is turned on. Then, a front inclination command for inclining to lower the front side of the vehicle body V and raising the rear side is instructed, and when the rear inclination switch 63 is turned on, a right inclination command for inclining to lower the rear side of the vehicle body V and raise the front side is instructed. .

  On the other hand, when the airframe raising switch 65 is turned on, an ascending process for simultaneously raising the left front portion, the left rear portion, the right front portion, and the right rear portion of the vehicle body V with respect to the grounding portions of the traveling devices 1R and 1L is commanded. When the lowering switch 66 is turned on, a lowering process for lowering the left front part, the left rear part, the right front part, and the right rear part of the vehicle body V with respect to the grounding parts of the traveling devices 1R and 1L is commanded.

  When the horizontal switch 64 is turned on while the rolling control is being executed, the control device 22 sets a target tilt angle for the rolling control that makes the right / left tilt angle with respect to the horizontal reference plane zero, and performs the rolling control and the pitching control. When the horizontal switch 64 is turned on during execution, a target inclination angle for rolling control is set so that the right and left inclination angle with respect to the horizontal reference plane becomes zero, and the pitching control with which the front and rear inclination angle with respect to the horizontal reference plane becomes zero It is configured to set a target inclination angle for use. Further, when the horizontal switch 64 is turned on in a state where neither rolling control nor pitching control is being executed, the vehicle body V is in the lower limit reference posture, that is, the left and right traveling devices 1L and 1R are respectively shown in FIG. The posture changing operation means 100 is configured to operate until reaching the lower limit reference state shown in FIG.

  When the control device 22 obtains the longitudinal inclination angle of the vehicle body V based on the detection value of the longitudinal inclination angle sensor 24 and the detection value of the angular velocity sensor 25, the low frequency component of the detection value of the longitudinal inclination angle sensor 24 and the angular velocity sensor. The front-rear inclination angle of the vehicle body V is obtained using a high-frequency component obtained by integrating 25 detection values. In other words, as shown in FIG. 10, the control device 22 uses the low-pass filter process for removing the high-frequency component from the detection values of the front and rear inclination angle sensor 24 that are sequentially detected, and the detection value of the angular velocity sensor 25. The integration process to integrate and the high pass filter process to remove the low frequency component of the integrated integral value are executed by software processing, and the output value and the high pass filter process after the low pass filter process are performed. It is configured to execute a process for obtaining the front-rear inclination angle of the vehicle body V by adding the output values after the addition. That is, a low-pass filter LPF, an integrating unit 500, a high-pass filter HPF, and the like are configured using the control device 22, and the tilt angle calculating unit 300 is configured by these.

  The control device 22 is configured to repeatedly execute the above-described forward / backward tilt angle calculation processing every set unit time, and the left / right tilt angle detection processing by the left / right tilt angle sensor 23 is also repeated every set unit time. Is configured to run.

  Further, by using the control device 22, the front-rear inclination angle with respect to the horizontal reference plane of the vehicle body V is calculated based on the detection information of the front-rear inclination angle sensor 24 and the angular velocity sensor 25, and the front-rear inclination angle becomes the set inclination angle. Based on the pitching control for controlling the operation of the posture changing operation means 100 so as to be maintained and the detection information of the left / right tilt angle sensor 23, the left / right tilt angle with respect to the horizontal reference plane of the vehicle body V is maintained at the set tilt angle. Thus, the posture control means 200 is configured to execute rolling control for controlling the operation of the posture change operation means 100.

  In the pitching control, the attitude control means 200 includes two hydraulic cylinders (a left front cylinder C2 and a right front cylinder C4) positioned at the left front part and the right front part among the four hydraulic cylinders C2 to C5, and a left rear part. And drive operation of the other two hydraulic cylinders in a state where one of the two hydraulic cylinders (the left rear cylinder C3 and the right rear cylinder C5) located at the right rear portion is stopped. And in the rolling control, out of the four hydraulic cylinders C2 to C5, two hydraulic cylinders (a left front cylinder C2 and a left rear cylinder C3) positioned at the left front part and the left rear part, Stop driving one of the two hydraulic cylinders (right front cylinder C4 and right rear cylinder C5) located at the right front and right rear. In state, and is configured to drive the operation of the other two hydraulic cylinders.

  In other words, the control device 22 outputs drive signals to the hydraulic control electromagnetic valves 29 to 33 for hydraulic control of the cutting cylinder C1 and the four body posture changing hydraulic cylinders C2 to C5. Although not described in detail, the control device 22 performs cutting so that the detected value of the cutting height sensor 9 is maintained at the set cutting height set by the cutting height setting device 39 during the cutting operation. The cutting height control for operating the cylinder C1 is executed.

Next, the posture changing operation by the rolling control and the pitching control will be specifically described.
That is, in the case of rolling control, if the traveling surface is in a left-down state, the left front cylinder C2 is shortened and the left rear cylinder C3 is operated in the left traveling device 1L from the state where the vehicle body is in the lower limit reference posture. When the extension operation is performed, the vehicle body V changes to a left upward inclined posture (right inclined posture) with respect to the ground contact portion, and the left and right inclination angles with respect to the horizontal reference plane of the vehicle body V can be made horizontal. Further, if the traveling surface is in a right-down state, when the right front cylinder C4 is shortened and the right rear cylinder C5 is extended in the right traveling device 1R from the state where the vehicle body is in the lower limit reference posture, V changes to the upper right tilting posture (left tilting posture) with respect to the grounding portion, and the left / right tilt angle with respect to the horizontal reference plane of the vehicle body V can be set as the target tilt angle for rolling.

  In the case of the pitching control, if the traveling surface is in the front lowering state, the left front cylinder C2 and the right rear cylinder C5 are maintained as they are from the state where the vehicle body is in the lower limit reference posture, respectively. When the right front cylinder C4 is shortened at the same time, the front side of the vehicle body V rises with respect to the respective grounding portions of the left and right traveling devices 1L and 1R, and changes its posture to a rearward tilting posture. The front / rear inclination angle with respect to can be set within a set range. Further, if the traveling surface is in the forwardly raised state, the left rear cylinder C3 and the right rear cylinder C5 are maintained while the left front cylinder C2 and the right front cylinder C4 are maintained as they are from the state where the vehicle body is in the lower limit reference posture. When the vehicle body V is operated to extend simultaneously, the rear side of the vehicle body V rises with respect to the respective grounding portions of the left and right traveling devices 1L and 1R and changes its posture to a forward leaning posture. The target inclination angle for pitching control can be set.

  Then, during the execution of the rolling control, the posture control means 200 uses either the left tilt switch 60 or the right tilt switch 61 as the posture change command means and the right tilt command or the left tilt command as the posture change command. Is commanded, the rolling control is stopped and the vehicle body V is tilted with respect to the traveling device based on the posture change command. When the posture change command is terminated, the posture change command is terminated. The operation of the posture changing operation means 100 is controlled so that the rolling control is restarted after the operation of changing the tilt posture of the vehicle body V is stopped until the set standby time elapses. Until the set standby time elapses after the output stabilization time set to a time shorter than the set standby time elapses. In between, and is configured to perform target tilt angle setting process for setting a target tilt angle based on the detection information of the lateral inclination angle sensor 23. The attitude control means 200 is configured to set a target inclination angle obtained by averaging a plurality of detection values detected a plurality of times by the left / right inclination angle sensor 23 as the target inclination angle setting process. ing.

  Next, the posture change control operation by the control device 22 will be described with reference to the flowcharts of FIGS. In addition, although illustration is abbreviate | omitted, this control becomes a structure performed in the state in which the threshing clutch switch (not shown) which detects the on / off of the threshing clutch 45 is turned on.

  As shown in FIG. 11, the state of the left / right automatic switch 26 and the front / rear automatic switch 27 is checked. If only the left / right automatic switch 26 is on, only rolling control is executed, and only the front / rear automatic switch 27 is on. In this case, only the pitching control is executed. When both the left / right automatic switch 26 and the front / rear automatic switch 27 are turned on, the rolling control and the pitching control are executed. When both the left / right automatic switch 26 and the front / rear automatic switch 27 are turned off, manual operation processing is executed.

  As shown in FIG. 12, the following processing is executed in the rolling control. In other words, if the deviation between the detected value of the left / right inclination angle sensor 23 and the signal value corresponding to the target inclination angle deviates from the dead zone for rolling control to the left inclination side of the vehicle body V, the right / left inclination posture of the vehicle body V is set to the vehicle body V. The right inclination process is executed to change the right / left inclination attitude of the left and right in the downward direction. That is, as shown in FIG. 17, it is determined whether one of the right front cylinder 4 and the right rear cylinder C5 is operated to the lower limit position based on the detection information of the front and rear stroke sensors 20 and 21 located on the right side of the body. If both the cylinders C4 and C5 are not operated to the lower limit position, the right front cylinder 4 is extended and the right rear cylinder C5 is shortened until one of them reaches the lower limit position. If either the right front cylinder 4 or the right rear cylinder C5 is operated to the lower limit position, then the left front cylinder C2 and the left rear cylinder C3 are based on the detection information of the front and rear stroke sensors 18, 19 located on the left side of the machine body. Is determined to be operated to the upper limit position. If neither of the cylinders C2 and C3 is operated to the lower limit position, the left front cylinder C2 is shortened until one of the cylinders reaches the upper limit position. The left rear cylinder C3 is extended.

If the deviation between the detected value of the left / right tilt angle sensor 23 and the target tilt angle deviates from the dead zone of the rolling control to the right tilt side of the vehicle body V, the left to change the left / right tilt posture of the vehicle body V to the lower left direction. Execute tilt processing. That is, as shown in FIG. 18, based on the detection information of the front and rear stroke sensors 18 and 20 located on the left side of the machine body, whether or not one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position. If both the cylinders C2 and C3 are not operated to the lower limit position, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened until one of them reaches the lower limit position. If either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position, then the right front cylinder C4 and the right rear cylinder C5 are based on the detection information of the front and rear stroke sensors 19, 21 located on the right side of the machine body. Is determined to be operated to the upper limit position, and if both cylinders C4 and C5 are not operated to the upper limit position, the right front cylinder C4 is shortened until one reaches the upper limit position. Further, the right rear cylinder C5 is extended.
In this way, the posture change operation process is automatically executed so that the angle deviation between the left and right inclination angles of the vehicle body V and the target inclination angle is within the dead zone while minimizing the height of the vehicle body V. is there.

If there is a manual posture change operation command during the rolling control, the following processing is executed.
That is, as shown in FIGS. 13, 17, and 18, when there is a manual posture change operation command, the execution of rolling control is stopped, and the manual posture change operation command is tilted to the right by the right tilt switch 61. If it is a command, the right tilt process (see FIG. 17) as described above is executed, and if it is a left tilt command by the left tilt switch 60, the left tilt process (see FIG. 18) as described above is executed. However, when the commands of the right tilt switch 61 and the left tilt switch 60 are stopped, the operation is stopped in the state when the commands are stopped.

  When a right tilt command by the right tilt switch 61 or a left tilt command by the left tilt switch 60 is commanded and a posture change operation is performed, when the command for the posture change command is completed, a set standby time ( The posture change operation of the vehicle body V is stopped until 1 second), and after the output change time (0.6 seconds) shorter than the set standby time has elapsed since the end of the posture change command, the setting wait Until the time elapses (0.4 seconds), as described above, the left / right inclination angle sensor 23 detects the left / right inclination angle for each set unit time, and performs an averaging process to obtain the moving average, thereby averaging the inclination The angle is obtained, and when the set standby time has elapsed, the average inclination angle at that time is set as the target inclination angle for rolling control. That is, the target inclination angle for rolling control is updated to the average inclination angle.

  After the target tilt angle is updated in this way, rolling control is executed based on the updated target tilt angle. That is, when the set waiting time (one second) has elapsed from the time when the posture change command is completed, the state returns to the state in which the rolling control is executed, and the horizontal reference plane of the vehicle body V detected by the left / right tilt angle sensor 23 Therefore, the operation of the posture changing operation means 100 is controlled so that the left / right inclination angle is maintained at the updated target inclination angle.

  Note that when either a right tilt command by the right tilt switch 61 or a left tilt command by the left tilt switch 60 is not commanded and a horizontal command by the horizontal switch 62 is commanded, the target tilt for rolling control is based on the command. The angle is set to the tilt angle corresponding to the horizontal state, ie zero.

  As shown in FIG. 14, in the pitching control, if the deviation between the detected value of the front / rear inclination angle sensor 24 and the signal value corresponding to the horizontal state deviates from the dead zone for pitching control to the front inclination side of the vehicle body V, A post-tilt process is executed to change the posture of the vehicle body V in the backward-lowering direction. That is, as shown in FIG. 19, whether one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position based on the detection information of the left and right stroke sensors 19 and 21 located at the rear of the machine body. If both the cylinders C3 and C5 are not operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are shortened until either one of the cylinders C3 and C5 reaches the lower limit position. . If one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position, the left front cylinder C2 and the right front cylinder C4 are shortened until either the left front cylinder C2 or the right front cylinder C4 reaches the upper limit position.

If the deviation between the detected value of the front / rear inclination angle sensor 24 and the signal value corresponding to the horizontal state deviates from the dead zone for pitching control to the rear inclination side of the vehicle body V, the front / rear inclination posture of the vehicle body V is moved downward. Pre-tilt processing for changing the posture is executed. That is, as shown in FIG. 20, whether one of the left front cylinder C2 and the right front cylinder C4 is operated to the lower limit position based on the detection information of the left and right stroke sensors 18 and 20 located at the front of the machine body. If both cylinders C2 and C4 are not operated to the lower limit position, the left front cylinder C2 and the right front cylinder C4 are extended until either one of the cylinders C2 and C4 reaches the lower limit position. If either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are extended until either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position. Let
In this way, the pitching operation process is executed so that the angle deviation between the front-rear inclination angle of the vehicle body V and the front-rear inclination angle corresponding to the horizontal state is within the dead zone while minimizing the height of the vehicle body V. It is.

When a manual posture change operation command is issued during pitching control, the following processing is executed.
That is, as shown in FIGS. 15, 19, and 20, when a manual posture change operation command is issued, the pitching control is stopped, and the manual posture change operation command is issued by the front tilt switch 62. If so, the above-described front inclination process (see FIG. 20) is executed. If the rear inclination command is issued by the rear inclination switch 63, the above-described rear inclination process (see FIG. 19) is executed. However, if the commands of the front tilt switch 62 and the rear tilt switch 63 are stopped during the operation, the operation is stopped in the state when the commands are stopped. When the front inclination command by the front inclination switch 62 or the rear inclination command by the rear inclination switch 63 is instructed and the posture changing operation is performed, when the instruction is completed, the inclination angle calculation means 300 obtains at the end of the instruction. The calculated value of the front / rear tilt angle is set as the target tilt angle for pitching control. Although neither a front tilt command nor a rear tilt command is issued, when a horizontal command is issued by the horizontal switch 64, the target tilt angle for pitching control is set to zero based on the command. When the target tilt angle is updated in this way, in the subsequent control, pitching control is executed based on the updated target tilt angle.

  As shown in FIGS. 16 to 20, in the manual operation process, the following process is executed. That is, if there is a right tilt command from the right tilt switch 61, the right tilt process is executed, if there is a left tilt command from the left tilt switch 60, the left tilt process is executed, and a front tilt command from the front tilt switch 62 is given. If the rear inclination command is issued by the rear inclination switch 63, the rear inclination process is executed. Then, when an aircraft raising command is issued by the aircraft raising switch 65, an aircraft raising process as an ascending process is executed. This airframe raising process is performed simultaneously with the shortening operation of the left front cylinder C2, the extension operation of the left rear cylinder C3, the shortening operation of the right front cylinder C4, and the extension operation of the right rear cylinder C5 only while the airframe raising switch 65 is ON. Execute. In addition, when an aircraft lowering command is issued by the aircraft lowering switch 66, an aircraft lowering process as a lowering process is executed. This airframe lowering process is performed simultaneously with the extension operation of the left front cylinder C2, the shortening operation of the left rear cylinder C3, the extension operation of the right front cylinder C4, and the shortening operation of the right rear cylinder C5 only while the body lowering switch 66 is ON. Execute.

If there is a horizontal command from the horizontal switch 64, a reference state return process is executed. That is, once the horizontal switch 64 is pushed and switched to the on state, the lower limit reference as a reference state in which the inclination angle of the vehicle body V with respect to the grounding portions of the traveling devices 1L and 1R becomes zero or substantially zero. The operation of each of the hydraulic cylinders C2 to C5 is started so as to be in the posture. That is, the left front cylinder C2 is extended, the left rear cylinder C3 is shortened, the right front cylinder 4 is extended, and the right rear cylinder C5 is shortened.
After starting the operation of the hydraulic cylinders C2 to C5 so as to be in the lower limit reference posture as described above, the stroke sensors 18 are determined without determining whether or not the horizontal switch 64 is switched to the OFF state. -21 until the lower limit reference posture is reached, that is, the left front part, right front part, left rear part, and right rear part of the vehicle body V are within the lifting operation range with respect to the grounding part of the traveling devices 1L and 1R. The operations of the hydraulic cylinders C2 to C5 are controlled in such a manner that the hydraulic cylinders C2 to C5 are continuously operated until the lower limit position is reached. That is, once the operation of each hydraulic cylinder C2 to C5 is started so as to be in the reference state, each hydraulic cylinder C2 to C5 is continued even after the operator releases the horizontal switch 64 and the horizontal command is finished. It is actuated to make it exactly the lower limit reference posture.

  Further, after confirming that the vehicle body V has reached the lower limit reference posture, the operation by the hydraulic cylinders C2 to C5 is continued for one second thereafter, and for one second after it is confirmed that the vehicle body V has reached the lower limit reference posture. After the elapse of time, the operations of the hydraulic cylinders C2 to C5 are stopped. By thus extending and executing the operations of the hydraulic cylinders C2 to C5, all the hydraulic cylinders C2 to C5 can be accurately operated to the stroke end, and the vehicle body V can be reliably brought into the lower limit reference posture. Although not shown, the pressure oil supply path to the hydraulic cylinders C2 to C5 is provided with a relief valve so that excessive pressure is not applied to the hydraulic cylinder even if the pressure oil is supplied after reaching the stroke end. I have to.

  In this embodiment, 1 second is set as the set standby time and 0.6 second is set as the output stabilization time. However, the set standby time and the output stabilization are not limited to this time. The time may be changed as appropriate.

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above embodiment, the right / left tilt angle is detected only by the left / right tilt angle sensor 23, and the front / rear tilt angle is calculated based on the information of the front / rear tilt angle sensor 24 and the angular velocity sensor 25. As an example of the control, the target inclination angle setting process is executed when the rolling control is being executed. However, instead of such a configuration, the following configuration may be used.
The target inclination angle setting process is executed in the pitching control as a configuration in which the right / left inclination angle is detected based on the information of the right / left inclination angle sensor and the angular velocity sensor and the front / rear inclination angle is detected only by the information of the front / rear inclination angle sensor. It is good also as a structure. Further, the left / right inclination angle is detected only by the right / left inclination angle sensor, and the front / rear inclination angle is detected only by the front / rear inclination angle sensor, and the target inclination angle setting process is executed in each of rolling control and pitching control. It is good.

(2) In the above-described embodiment, the posture control unit is configured to average a plurality of inclination angle detection values as they are as the averaging process. However, for example, the attitude control unit uses the detection value immediately after the output stabilization time has elapsed. In comparison, the average value may be obtained in various forms, for example, by performing a weighting process on the detected value of the inclination angle in the latter half after a lapse of time and performing an averaging process.

(3) In the above embodiment, the posture control means calculates the target inclination angle obtained by averaging a plurality of detection values detected a plurality of times by the inclination angle detection means as the target inclination angle setting process. Although what is configured to be set is exemplified, a detection value detected by the tilt angle detecting means only once after the output stabilization time has elapsed may be set as the target tilt angle.

(4) In the above-described embodiment, the left tilt switch and the right tilt switch as the posture change command means are provided on the grip portion of the control lever for steering provided in the driving portion of the vehicle body V so that the fingers can be operated. Although illustrated, it is good also as a structure provided in another places, such as a control part panel.

(5) In the above embodiment, the traveling device is constituted by a pair of left and right crawler type traveling devices. However, the present invention is not limited to this. For example, a single traveling device may be used. The traveling device may be used.

(6) In the above embodiment, the posture changing operation means 100 is configured by the four hydraulic cylinders C2 to C5 located at four positions on the front and rear, left and right of the vehicle body V. However, in addition to the hydraulic cylinders, an electric motor and screw feed You may comprise by the other drive means which consists of mechanisms. Further, the traveling device may be configured to change the front and rear inclination angle of the vehicle body V with respect to the grounding portion by one driving means.

(7) In the above embodiment, the combine is exemplified as the work vehicle. However, for example, a work vehicle other than the combine such as an agricultural tractor or a rice planting machine may be used.

Side view showing the front of the combine Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Power transmission diagram The perspective view which shows the structure of an inclination angle detection means. Diagram showing the grip of the control lever Block diagram showing control configuration Block diagram showing arithmetic processing configuration Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation

Explanation of symbols

1L. 1R traveling device 23 tilt angle detection means 60, 61 attitude change command means 100 attitude change operation means 200 attitude control means V vehicle body

Claims (3)

Attitude change operation means capable of changing the inclination attitude of the vehicle body relative to the traveling device, gravity type inclination angle detection means for detecting an inclination angle relative to the horizontal reference plane of the vehicle body by the action of gravity, and detection information of the inclination angle detection means The attitude of the work vehicle is provided with attitude control means for executing attitude change control for controlling the operation of the attitude change operation means so that the inclination angle of the vehicle body with respect to the horizontal reference plane is maintained at the target inclination angle. A control device,
As a posture change command for changing the tilt posture of the vehicle body with respect to the traveling device, a one-side posture change command for changing to one side of a tilt angle change direction and a second-side posture change command for changing to the other side of the tilt angle change direction are selectively used. A manually operated attitude change command means for commanding,
The posture control means is
When the posture change command is commanded by the posture change command means during the execution of the posture change control, the posture change control is stopped and the vehicle body leaning posture with respect to the traveling device is changed based on the posture change command. When the posture change command is completed, the posture change control is performed after stopping the change operation of the tilt posture of the vehicle body from the end of the posture change command until the set standby time elapses. Controlling the operation of the posture changing operation means to resume, and
Detection of the inclination angle detection means during the period from when the command of the posture change command is completed until the set standby time elapses after the output stabilization time set to be shorter than the set standby time A work vehicle attitude control device configured to execute a target inclination angle setting process for setting the target inclination angle based on information.   The posture control means is configured to set a target inclination angle obtained by averaging a plurality of detection values detected a plurality of times by the inclination angle detection means as the target inclination angle setting process. The attitude control device for a work vehicle according to claim 1. The posture changing operation means is configured to change and operate a left / right inclination angle with respect to a horizontal reference plane of the vehicle body,
The tilt angle detecting means is configured to detect a left / right tilt angle with respect to a horizontal reference plane of the vehicle body;
The posture control means operates the posture change operation means as the posture change control so that the right / left inclination angle with respect to the horizontal reference plane of the vehicle body is maintained at the target inclination angle based on the detection information of the inclination angle detection means. The work vehicle attitude control device according to claim 1, wherein the work vehicle posture control device is configured to control the work vehicle.

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