JPH03139202A - Ground working car - Google Patents

Abstract

PURPOSE:To prevent overshoot as far as possible by providing a pitching- controlling means operating pitching-operating means to keep longitudinal inclining angle of main body of the car at a set angle according to informations of longitudinal inclining angle detection. CONSTITUTION:A going up and down means CY1 is operated so as going up and down speed of a ground working device 5 in a going up and down- controlling means 100 to be slower in a case when height deviation of the ground working device 5 to a set height and deviation of longitudinal inclination angle of a main body of the car 7 to a set angle are simultaneously coexistent and when the operating direction correcting deviation of the ground working device 5 and the pitching-operating direction correcting deviation of setting position of the ground working device in a main body of the car are mutually equal. By said construction, controlling speed by the pitching-controlling means 101 is made higher than controlling speed by the going up and down-controlling means 100 and finished state of controlling operation of the going up and down- controlling means after finishing of controlling operation by the pitching- controlling means is facilitated, thus generation of overshoot is suppressed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides a vehicle body that is supported by a traveling device, a ground work device attached to the front or rear part of the vehicle body body, and a ground work device that is mounted on the front or rear of the vehicle body body. a lifting means for raising and lowering the vehicle body; a height-to-ground detecting means for detecting the height of the ground working device; and a pitching operation for tilting the vehicle body in the front-rear direction with respect to a ground contact portion of the traveling device. a longitudinal inclination angle detection means for detecting a longitudinal inclination angle of the vehicle body with respect to a horizontal reference plane; and a longitudinal inclination angle detection means for maintaining the height above the ground of the ground work device at a set height based on information from the height above the ground detection means. and a pitching control means for operating a pitching operation means to maintain the longitudinal inclination angle of the vehicle body at a set angle based on information from the longitudinal inclination angle detection means. Regarding ground work vehicles.

[Conventional technology]

In such a ground work vehicle, the elevation control means always raises and lowers the ground work device at a constant speed relative to the vehicle body, and the pitching control means always controls the vehicle body at a constant speed relative to the ground contact portion of the traveling device. It was supposed to control the tilt.

[Problem to be Solved by the Invention] In such a ground work device, since the ground work device is attached to the front or rear part of the vehicle body, when the vehicle body tilts in the front-rear direction with respect to the ground contact area of the traveling device, Even if the ground work device is stopped with respect to the vehicle body, it will descend A to the ground. Therefore, the lifting speed of the ground working device with respect to the vehicle body is directly determined by the operating speed of the lifting means, but the lifting speed of the ground working device with respect to the ground is determined by the lifting speed of the ground working device with respect to the vehicle body, and the lifting speed of the ground working device with respect to the vehicle body. It is determined by the speed combined with the lifting and lowering speed of the attachment site.

The lifting speed of this ground work equipment relative to the ground is
There is a deviation of the ground height of the ground work device from the set height and a deviation of the longitudinal inclination angle of the vehicle body from the set angle at the same time, and an elevation operation direction to correct the deviation of the ground work device;
If the directions of the pitching operation for correcting the deviation of the ground work equipment mounting portion of the vehicle body are the same, the pitching operation will be the maximum, and if they are different, the pitching operation will be the minimum. For example, if the ground work device is installed at the front of the vehicle body, and the vehicle body is tilted backward at the same time as the ground work device is raised, the maximum value will be reached. It becomes minimum when the main body is tilted forward.

As mentioned above, when the lifting speed of the ground working device relative to the ground is maximum, even if the ground working device reaches the appropriate height above the ground and the lifting control means stops the lifting operation, the pitching operation means continues to move the vehicle body. If the longitudinal inclination angle of the ground work device is changed, there is a risk that an overshoot will occur in which the ground work device deviates from the appropriate height above the ground. Of course, if such an overshoot occurs, the lifting control means will raise and lower the device to the appropriate height above the ground, but the lifting speed of the ground work equipment relative to the ground at this time will depend on the lifting and lowering speed controlled by the lifting control means. Since the value is obtained by subtracting the vertical speed by the pitching control means from the speed, it becomes difficult to quickly return to the appropriate height above the ground, and as a result,
The height of the ground work equipment relative to the ground cannot be appropriately maintained at the desired height.

If the direction of the overshoot is the downward direction of the ground working device, there is a risk that the ground working device may collide with the ground.

In order to avoid such inconveniences, as mentioned above, when the lifting speed of the ground work device relative to the ground reaches its maximum, the lifting operation by the lifting control means is stopped and only the pitching operation means is operated. It is possible that However, in this case, if the height of the ground working device relative to the ground deviates significantly from the appropriate height, there is a disadvantage that the ground working device cannot be quickly returned to the proper height.

The present invention has been made in view of this situation, and its purpose is to suppress the occurrence of the above-mentioned overshoot as much as possible, while also preventing the above-mentioned overshoot from occurring when the height above the ground of the ground work device is significantly deviated from the appropriate height. The purpose is to quickly return to the proper height.

[Means to solve the problem]

In order to achieve the above object, in the ground work vehicle according to the present invention, the elevation control means controls the deviation of the height of the ground work device from the set height and the set angle of the longitudinal inclination angle of the vehicle body body. If the deviations exist at the same time, and the direction of the lifting operation to correct the deviation of the ground work device is the same as the direction of the pitching operation to correct the deviation of the site on which the ground work device is attached to the vehicle body, the lifting and lowering of the ground work device The characteristic configuration is that the elevating means is configured to operate as low as possible.

[For production]

In other words, a deviation of the height above the ground of the ground work device from the set height and a deviation of the longitudinal inclination angle of the vehicle body from the set angle exist at the same time, and the lifting operation direction to correct the deviation of the ground work device and the vehicle body If the direction of the pitching operation for correcting the displacement of the main body is the same, the promotion speed of the ground work device relative to the vehicle main body is slowed down. As a result, by increasing the control speed by the pitching control means higher than the control speed by the elevation control means, it is easy to create a situation where the control operation of the elevation control means ends after the control action by the pitching control means ends. As a result, the occurrence of conventional overshoot is suppressed as much as possible. Moreover, by simultaneously operating the pitching control means and the elevation control means, even if the height of the ground work device above the ground deviates significantly from the appropriate height, it can be quickly returned to the appropriate height.

〔Effect of the invention〕

As a result, it is possible to prevent overshoot that occurs during lifting and lowering control of ground-based work equipment as much as possible, and to quickly return the ground-based work equipment to its proper height when it deviates significantly from the appropriate height. I can now do it.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

FIG. 14 shows a combine harvester which is an example of a ground work vehicle. This combine harvester includes a raising device (1) that causes the planted grain culms, a clipper-type cutting device (2) that reaps the raised grain culms, and a transporting device that transports the harvested grain culms toward the rear threshing device (3). The reaping pre-processing device (5), which has a vertical conveyance device (4), etc., is connected to a pair of left and right crawler traveling devices (6L).
, (6R) is attached to the front of the traveling machine body (7) (corresponding to the vehicle body), and a hydraulic cylinder (
CY1), it is configured to be able to swing vertically around the lateral fulcrum (X).

An ultrasonic cutting height sensor (S1) (corresponding to ground height detection means) is provided at the lower end of the reaping pretreatment device (5).
This is provided. In addition, a potentiometer (PM) is provided at the horizontal fulcrum (X), and a reaping pretreatment device (5
) has reached the upper limit position or lower limit position.

Next, move the traveling body (7) to the left and right crawler traveling devices (6L).
), (6R) A structure for pitching control that tilts in the front-rear direction with respect to the ground contact area will be described.

As shown in Figs. 10 and 11, a bracket (9) having an inverted U-shape in front view is installed across the front parts of the left and right main frames (8), and the bracket (9) has an inverted U-shape when viewed from the front. A fulcrum shaft (10) is installed across the lower left and right sides. The left and right movable frames (1
The front part of the machine is pivoted so that it can swing up and down. Also, the first
As shown in Figure 2, a rod (12) is installed across the rear parts of the left and right movable frames (11), and a pair of left and right guide frames (13) are installed on the top of this rod (12). The main frames (8) are provided to sandwich each other, and when the movable frame (11) swings,
Due to the action of the guide frame (13) in contact with the main frame (8), it is possible to restrict the displacement of the movable frame <11) in the groove direction. Furthermore, one hydraulic cylinder (CY2) for pitching is installed across the horizontal frame (14) connecting the left and right main frames (8) and the rod (12). The expansion of the hydraulic cylinder (CY2) causes the left and right movable frames (11) to swing downward at the same time, causing the traveling aircraft (7) to take a forward leaning position, and also swinging upward due to contraction, causing the traveling aircraft to (7) should be in a backward leaning position.

In addition, there are reinforcement plates (
15A) and (15B), and in particular, the rear reinforcing plate (15B) has the function of guiding the vertical movement of the guide frame (13) while regulating its longitudinal movement.

The rear reinforcing plate (15B) is provided with limit switches (LS'lV1) and (LSW2), which determine whether the guide frame (13) and the pitching hydraulic cylinder (CY2) have reached the movable stroke end. It should be possible to detect it. Here, the traveling aircraft (7
) is the most forwardly tilted position, the forward tilting limit switch (LSW1), and the limit switch that detects the most backwardly tilted position is the backward tilting limit switch (LSW2).

Next, with respect to the traveling body (7), that is, the movable frame (
11), the left and right crawler traveling devices (6L), (
6R) will be explained about the structure of the rolling control mechanism that moves up and down. However, the left and right crawler traveling devices (6L),
Since the elevating structure of (6R) is the same, the left side will be explained below as a representative.

At each of the front and rear parts of the movable frame (11),
A pair of front and rear bell cranks (16A) and (16B) consisting of a swinging link (16a) projecting upward and a drive arm (16b) projecting downward are pivotally supported so as to be integrally swingable. A track frame (18) is pivotally attached to the lower ends of the front and rear swing links (16a), and a connecting rod (19) is installed across the tops of the front and rear drive arms (16b). It is.

Further, a rolling hydraulic cylinder (CY3) supported on the movable frame (11) side is connected to the upper end of the rear drive arm (16a), and this rolling hydraulic cylinder (CY3) expands and contracts. The rear drive arm (16b) is designed to swing when actuated. The front bell crank (16A) shares the fulcrum shaft (10) with the movable frame (11).

The truck frame (18) has a plurality of ground wheels (2
0) and the tension ring (21) are pivotally supported. Further, a swingable arm (22) is provided in a state that is elastically biased downward, and a grounding wheel (20) is also provided at the tip of this arm (22).
is supported by a shaft. Furthermore, a drive wheel (23) is provided on the fuselage side. And these ground contact wheels (20) and tension wheels (
21), and the drive wheel (23).
4) is rolled up.

As mentioned above, the rolling hydraulic cylinder (CY
3) is extended, the front and rear bell cranks (16A)
, (16B) swing together, and the track frame (18) descends accordingly, moving the crawler traveling device (6
When the hydraulic cylinder (CY3) is contracted so that the ground contact parts of L) and (6R) are lowered relative to the traveling aircraft (7), the front and rear bell cranks (16A), (
16B) integrally swing in the opposite direction, the track frame (18) rises and the crawler traveling device (
The ground contact areas of 6L) and 6R are raised relative to the traveling body (7). In short, the traveling body (7) tilts in the left-right direction due to the difference in the amount of expansion and contraction of the left and right rolling hydraulic cylinders (CY3).

Limit switches (LSW3) and (LSW4) are provided before and after the rear drive arm (17) to determine whether the drive arm (17) and the rolling hydraulic cylinder (CY3) have reached the end of their movable stroke. It should be possible to detect it. Here, the upper limit switch (LSW3) is used to detect the state in which the crawler traveling devices (6L) and (6R) are at the farthest position from the traveling body (7), and the upper limit switch (LSW3) is used to detect the state in which the crawler traveling devices (6L) and (6R) are at the closest position to the traveling body (7). The limit switch to be detected is a lower limit switch (LSW4). In addition, the limit switch (LSW3) is also installed on the right crawler traveling device (6R).
Since it is similar to LSW4), we have added L and R, which mean left and right sides, to avoid confusion.

The driving unit of the traveling body (7) includes a cutting height setting device (25) for setting the cutting height of the cutting pre-treatment device (5), as shown in FIG. 13, in order to perform various controls. ), a longitudinal inclination angle setting device (26) for setting the target longitudinal inclination angle with respect to the horizontal reference plane of the traveling aircraft (7), a left-right inclination angle setting device (27) for setting the target left-right inclination angle, etc. Instruments, switches such as the automatic/manual mode changeover switch (SW1) that changes between manual mode and automatic mode, the upper and lower limit mode changeover switch (SXV2) that changes between upper limit reference mode and lower limit reference mode, and manual mode There are an attitude control lever (28) for controlling the attitude of the aircraft, a body lift lever (29) for raising and lowering the entire traveling body (7), etc., as shown in Fig. 1. Information is output to a control device (l()) unitized as a microcomputer.

Furthermore, a reaping lift lever (30) (see Fig. 14) for raising and lowering the reaping pre-treatment device (5) is provided at another position in the operating section of the traveling machine body (7), and the vicinity thereof is equipped with a manual priority switch (SW4) that detects by contact that the reaping lift lever (30) is raised or lowered. Information on this manual priority switch (SW4) is then output to the control device (H).

A supplementary explanation will be given about the upper limit reference mode and the lower limit reference mode. Rolling control includes a descending reference lift control state (hereinafter referred to as lower limit reference mode) that brings the ground contact parts of the left and right crawler traveling devices (6L) and (6R) closer to the traveling body side, and a Traveling device (
6L), (6R) Aircraft traveling on each ground contact part (7)
There is a rising reference elevation control state (hereinafter referred to as upper limit reference mode) in which the upper limit reference mode is set apart from the upper limit reference mode. In the lower limit reference mode, when the left and right inclination angle of the traveling aircraft (7) is within the dead zone with respect to the target inclination angle, the left and right crawler traveling devices (6L
), the rolling hydraulic cylinder (CY3) is operated to extend and retract so that the ground contact part of (6R) approaches the traveling aircraft side, and in the upper limit reference mode, the horizontal inclination angle of the traveling aircraft (7) is adjusted to the target inclination angle. If it is within the dead zone, the rolling hydraulic cylinder (CY3) will be telescopically operated so as to separate the ground contact parts of the left and right crawler traveling devices (6L) and (6R) from the traveling body. In other words, in the lower limit standard mode, rolling control is performed while keeping the height of the traveling aircraft (7) above the ground as low as possible, and in the upper limit reference mode, the height of the traveling aircraft (7) above the ground is made as high as possible. However, rolling control will be performed. Note that detailed control operations in each of the lower limit reference mode and upper limit reference mode will be described later.

The posture control lever (28) has four operation switches (
28a) to (28d), and when operated from the neutrally biased center position forward, backward, left, or right, any of the operation switches (28a) to (28d) sends a signal for attitude control to the control device (H). is now emitted. In other words,
If the attitude control lever (28) is operated forward, a signal instructing a pitching operation will be issued from the forward tilt operation switch (28a), and the traveling aircraft (7) will be in a forward tilt instruction state to be tilted forward. , backward tilt operation switch (28b)
A signal instructing a pitching operation is emitted from the rear tilting command state, and if you operate the pitching operation to the left, the left tilting operation switch (2
A signal instructing a rolling operation is emitted from 8c), resulting in a left-leaning instruction state, and when the right-leaning operation switch (28d) issues a signal instructing a rolling operation, the right-leaning instruction state is entered. .

The aircraft lift lever (29) has two operation switches (
29a) and (29b), and when operated forward from the neutral biased center position, the lift operation switch (2
9a) sends a signal to the control device (H) to instruct the traveling body (7) to rise, and when the traveling body (7) rises relative to the crawler traveling devices (6L) and (6R) and operates backwards. , from the lowering operation switch (29b) to the traveling aircraft (7
) is sent to the control device (H),
The traveling body (7) is a crawler traveling device (6L), (6R
).

The reaping lifting lever (29) is mechanically linked via a wire (not shown) to a three-position first control valve (m) that controls a hydraulic cylinder (CY1) for lifting and lowering the reaping. When this reaping lift lever (29) is operated forward from the neutral position where it is biased to return, the first control valve (
■1) is operated to raise and lower the reaping hydraulic cylinder (CY1).
) is retracted, and the reaping pre-treatment device (5) is moved to the main body (7).
) or rearward from the neutral position, the first control valve (v1) is operated and the reaping lifting hydraulic cylinder (CY1) is extended and operated, and the reaping pretreatment device (5 ) is designed to rise relative to the main body (7).

The first control valve (v1) includes a valve controller (
31) to the control device (H). It is equipped with an electromagnetic solenoid, and the reaping lift lever (3
It is designed to operate not only by mechanical operation (0) but also by an operation command from the control device (H). however,
Manual operation has priority. On the other hand, the second control valve (■2) that controls the pitching hydraulic cylinder (CY2) and the third control valve (v3) that controls the rolling hydraulic cylinder (CY3) are controlled by the control device (H). Connect directly to. It is equipped with an electromagnetic solenoid,
It is designed to operate only in response to an operation command from the control device (H). As described above, in this embodiment, the hydraulic cylinder (CY1) for lifting and lowering the harvest corresponds to the lifting means.
The pitching hydraulic cylinder (CY2) corresponds to the pitching operation means.

The valve controller (31) intermittently operates the first control valve (■1) under the condition that an operation command and a deceleration command are sent from the control device (H), and operates the hydraulic cylinder (1) for raising and lowering the harvest. This is to reduce the amount of hydraulic oil supplied to the reaping pretreatment device (5) and adjust the lifting speed of the reaping pretreatment device (5). Incidentally, the rate of deceleration of the elevation speed can be arbitrarily set by changing the duty ratio of the pulse sent from the valve controller (31) to the first control valve (v1).

The control device (H) includes, as shown in FIG.
In addition, the potentiometer (PN2), the forward tilt limit switch (LSW1), the backward tilt limit switch (LSW2), and the upper and lower limit switch (LSW2) are also used.
W3L), (LS~V3R), (LSW4L),
(LStV4R) and other switches, reaping pre-treatment device (5
) the cutting height sensor (S1) for detecting the cutting height of the
, a weight-type longitudinal inclination sensor (S2) for detecting the longitudinal inclination angle of the traveling aircraft (7) with respect to the horizontal reference plane, and a weight-type lateral inclination sensor (S3) for detecting the left-right inclination angle.
) and other sensors are connected.

The control device (H) gives operation/stop commands to the first to third control valves m-V3) to control them based on information inputted from these devices. In other words, the control device (H
) is a lift control valve (V1) that controls the first control valve (V1) so that the cutting pre-treatment device (5) reaches the cutting height determined by the cutting height setting device (25) based on the information of the cutting height sensor (S1). Based on the information from the control means (100) and the longitudinal inclination angle sensor (S2), the second control valve (■2) is operated so that the traveling aircraft (7) achieves the longitudinal inclination angle determined by the longitudinal inclination angle setting device (25). The pitching control means (101) controls the third control valve (v3) based on the left-right tilt sensor (S3) to set the left-right tilt angle set by the left-right tilt angle setting device (25). It controls.

Next, posture control and cutting height control performed by the control device (H) during the cutting operation will be explained based on the flowcharts of FIGS. 2 to 9. Note that the step numbers in the diagram are indicated with a # mark.

What is shown in FIG. 2 is the main flow of automatic control. First, after starting, initialize the timer and various flags. After the set time has elapsed, output control is performed to write the contents of various flags to the output port, and the output flags are cleared. Next, the target inclination angle (target angle) is calculated by reading the output values from various sensors and setting devices. After the calculation is completed, output evaluation processing is executed and the process returns to step 20 (steps 10 to 70).

What is shown in FIG. 3 is a subroutine for target angle calculation processing executed in step 6o. A correction value is obtained from the output value of a fine adjustment volume (not shown), and this correction value is used to set the left and right tilt angle setter (27) and the front and back tilt angle setter (
26) The set values are corrected to set the left and right target angles and the front and rear target angles.

Note that the fine adjustment volume has already been set at the shipping stage.

What is shown in FIG. 4 is a subroutine of the output evaluation process executed in step 70. After performing attitude control, if the manual priority switch (StV4) is OFF, cutting height control, cutting elevation speed setting, and limit processing are executed, and the process returns (steps 71 to 75). However, if the manual priority switch (SW4) is ON in step 72, after clearing the upper reaping solenoid output flag and the lower reaping solenoid output flag, the process executes the limit process and returns (steps 72, 76, 77, 75). ).

Step 71 is shown in FIG.
This is a posture control subroutine executed by

In the following descriptions, the lower left, upper left, lower right, upper right, rear ball,
Each of the above means the up and down operation direction of the left and right sides and the front and rear of the traveling body (7).

First, move the attitude control lever (28) and the aircraft lift lever (29).
) are not operated, the automatic mode is selected with the automatic/manual mode changeover switch (SW1), the threshing switch (SW3) is turned on, and the upper limit reference mode is selected with the upper/lower limit mode changeover switch (SW2). is selected, the upper limit reference mode is set, and if the lower limit reference mode is selected, the lower limit reference mode is set (steps 101 to 106).

However, if the attitude control lever (28) or the aircraft elevation lever (29) is operated in step 101, the mode is temporarily switched to manual mode (step 108).

Also, if the manual mode is selected with the automatic/manual mode changeover switch (SW1) in step 102, or if the threshing switch (SW3) is turned OFF in step 103, the lower limit reference mode is set and the mode is switched to manual mode. Switch and proceed to step 141 (step 102.1
03.107.1 [)8).

Illustrated in FIG. 6 is the manual mode subroutine executed at step 108. Posture control lever (28
) is operated forward and the forward tilt operation switch (28a) is turned on.
If so, set the pull-out solenoid output flag and turn OF
If F, proceed as is (steps 200 and 201)
. If the attitude control lever (28) is operated later and the backward tilting control switch (28b) is turned on, the lifting solenoid output flag is set, and if it is turned off, the process continues (steps 202 and 203). If the attitude control lever (28) is operated to the left and the left tilt control switch (28c) is turned ON, the lower left solenoid output flag and the upper right solenoid output flag are set, and if they are OFF, the process continues (steps 204 and 205). If the attitude control lever (28) is operated to the right and the right tilt control switch (28d) is turned ON, the upper left solenoid output flag and the lower right solenoid output flag are set, and if they are OFF, the process continues (step 20).
6.207). If the aircraft lift lever (29) is operated later and the lowering operation switch (29b) is turned ON, the lower left solenoid output flag and the lower right solenoid output flag are set, and if they are OFF, the process continues (step 208,
209''). If the aircraft lift lever (29) is operated forward and the lift operation switch (29a) is turned ON, the upper left solenoid output flag and the upper right solenoid output flag are set and return; if it is OFF, return as is. (steps 210 and 211).

In the automatic mode, when the lower limit reference mode or the upper limit reference mode is set, first, the left and right declination angle is calculated by subtracting the tilt angle detected by the left and right tilt angle sensor (S3) from the left and right target angle set in step 60. (Step 109).

In the lower limit reference mode, when the polarity of the left and right declination angles is positive and upward to the left, and the left and right declination angles are outside the dead band,
Further, if the left/right deviation angle is significantly large and the left lower limit switch (LSW4L) is OFF, the lower left solenoid output flag is set and the process proceeds to step 141 (steps 110 to 115). However, if it is determined in step 113 that the left/right deviation angle is small and that the left lower limit switch (LSW4L) is ON, or if the left lower limit switch (LSW4L) is ON in step 114,
If it is determined that LSW4L) is ON,
If the upper right solenoid output flag is set and it is determined that the left lower limit switch (LSW4L) is OFF, the process directly proceeds to step 141 (steps 116 and 117).

In the lower limit reference mode, the polarity of the left and right declination angles is positive and upward to the left, but the left and right declination angles are within the dead zone, and the left and right lower limit switches (LSW4L).

If both (LSW4R) are OFF, set the lower right solenoid output flag and the lower left solenoid output flag and proceed to step 1111, and also set the left or right lower limit switch (LStV4L), (LStV4R) (
7) If one is ON, proceed directly to step 141 (steps 110 to 112, 118, 119).

In the lower limit reference mode, when the polarity of the left and right yaw angle is negative and is rising to the right, and the left and right yaw angle is outside the dead band, this left and right yaw angle is significantly thick (and the right lower limit switch ( If LSW4R) is OFF, set the lower right solenoid output flag and proceed to step 141 (steps 110, 111, 120 to 123).However, if it is determined in step 121 that the left and right deviation angle is small, and The lower limit switch (LSW4R) is O.
If it is determined that it is FF, or if it is determined in step 122 that the right lower limit switch (LSW4R) is ON, the upper left solenoid output flag is set and the process proceeds to step 141. If it is determined that the lower limit switch (LSW4R) is ON, the process directly proceeds to step 141 (step 124.1).
25).

In the lower limit reference mode, the polarity of the left and right declination angles is negative and upward to the right, but the left and right declination angles are within the dead zone, and the left and right lower limit switches (LSW4L).

If both (LSW4R) are OFF, set the lower right solenoid output flag and the lower left solenoid output flag and proceed to step 141, and either the left or right lower limit switch (LStV4L) or (LSW4R) is ON. If so, the process directly proceeds to step 141 (step 110.lit, 120.118.119).

In the upper limit reference mode, when the left and right declination angles are in a positive polarity and rising to the left, and the left and right declination angles are outside the dead band,
Furthermore, if this left/right deviation angle is extremely large and the right upper limit switch (LSW3R) is ON, the lower left solenoid output flag is set and the process proceeds to step 141 (
Steps 110.126-140). However, step 1
In step 28, it is determined that the left and right deviation angle is small, and in addition, it is determined that the right upper limit switch (LSW3R) is OFF, or in step 129, the right upper limit switch (LSW3R) is OFF. If it is determined that
If it is determined that W3R) is ON, the process directly proceeds to step 141 (steps 131 and 132).

In the upper limit reference mode, when the polarity of the left and right declination angle is positive and rising to the left, but the left and right declination angle is within the dead zone, the left and right upper limit switches (LSW3L),
If both (LSW3R) are OFF, set the upper right solenoid output flag and the upper left solenoid output flag and proceed to step 141, and if either the left or right upper limit switch (LSW3L) or (LSW3R) is ON. If there is, the process directly proceeds to step 141 (steps 110, 126, 127° 133, 134).

In the upper limit reference mode, when the polarity of the left and right declination angle is negative and rising to the right, and the left and right declination angle is outside the dead band,
Furthermore, the left and right deviation angle is extremely large, and the left upper limit switch (LSXV3L).

If (LS to l13R) is ON, the lower right solenoid output flag is set and the process proceeds to step 141 (steps 110, 126, 135 to 138). However, step 1
If it is determined in step 36 that the left/right deviation angle is small and that the left upper limit switch (LSW3L) is OFF, or in step 139, the left upper limit switch (LS'l\3L) is turned off. If it is determined that it is OFF, the upper left solenoid output flag is set and the process proceeds to step 141, where the left upper limit switch (
If it is determined that LSW3L) is ON, the process directly proceeds to step 1 (steps 139 and 140).

In the upper limit reference mode, when the polarity of the left and right yaw angle is negative and rising to the right, but when the left and right yaw angle is within the dead zone, the left and right upper limit switch f (LSW3L),
If both (LSW3R) are OFF, the upper right solenoid output flag and the upper left solenoid output flag are set and the process proceeds to step 141, and one of the left or right upper limit switches (L!1J3L) and (LS1V3R) is OFF. If it is ON, proceed directly to step 141 (
Steps 110.126.135°133, 134).

Next, as shown in FIG. 5(b), the longitudinal declination angle is calculated by subtracting the inclination angle detected by the longitudinal inclination angle sensor (S2) from the left and right target angle set in step 60 (step 14).
1). If the polarity of the longitudinal yaw angle is positive, the front slant is outside the dead zone, and the forward tilt limit switch (LSW1) is OFF, set the lift solenoid output flag. and returns (steps 142 to 145). However, if it is outside the dead zone in step 143 or if the forward tilt limit switch (LS
If W1) is determined to be ON, the process directly returns.

The polarity of the longitudinal declination angle is negative, the liquid is rising, the longitudinal declination angle is outside the dead zone, and the backward tilt limit switch (
If LSW2) is OFF, set the pull-out solenoid output flag and return (step 142.14).
6-148). However, if it is outside the dead zone in step 146 or the backward tilt limit switch (LSW2
) is determined to be ON, the process returns directly.

What is shown in FIG. 7 is a subroutine for cutting height control executed in step 73. The height difference is determined by subtracting the target cutting height set by the cutting height setting device (25) from the cutting height detected by the cutting height sensor (31), and the polarity of this height difference is positive and the dead zone is determined. and the potentiometer (PM
), if the lower limit position for reaping is not detected, the lower reaping solenoid output flag is set and the process returns (steps 301 to 305). However, if it is within the dead zone in step 303 or if the lower limit position of reaping is detected in step 304, the process returns directly.

If the polarity of the height difference is negative, outside the dead zone, and the upper limit position for reaping is not detected by the potentiometer (PM), set the upper reaping solenoid output flag and return (steps 302, 306 to 308). . However, if it is within the dead zone in step 306 or if the reaping upper limit position is detected in step 307, the process returns directly.

What is shown in FIG. 8 is a subroutine for setting the reaping lifting speed executed in step 74.

If the upper solenoid output flag is set and the lower reaping solenoid output flag is set, a deceleration command is issued to the valve controller (31) to slow down the descending speed of the reaping pretreatment device (5), and the process returns. (Steps 401 to 403).

However, if the lower reaping solenoid output flag is not set in step 402, the valve controller (
31) and returns (steps 402 and 404).

If the uplift solenoid output flag is not set, but the uplift solenoid output flag is set, and the reaping up solenoid output flag is set,
Issue a deceleration command to the valve controller (31) to slow down the rising speed of the reaping pretreatment device (5) and return (
Steps 401, 405-407). However, step 4
If the extraction solenoid output flag is not set in step 05 or the reaping solenoid output flag is not set in step 406, the valve controller is activated to return the vertical speed of the reaping pretreatment device (5) to the normal speed. (3
Release the deceleration command to 1) and return (Step 4)
05.406.408).

What is shown in FIG. 9 is the limit processing subroutine executed in step 75. If the left lower limit switch (LSW4L") is ON, clear the lower left solenoid output flag and proceed to the next step; if it is OFF, leave it as is and proceed to the next step (steps 501 and 502). If it is ON, clear the lower right solenoid output flag and proceed to the next step; if it is OFF, leave it as is and proceed to the next step (steps 503, 50.4
). If the upper left limit switch (LSW3L) is ON, clear the upper left solenoid output flag and proceed to the next step.
If it is OFF, leave it as is and proceed to the next step (step 50).
5.506). Right upper limit switch (LS~!/3
If R) is ON, clear the upper right solenoid output flag and proceed to the next step; if it is OFF, leave it as is and proceed to the next step (steps 507 and 508). Forward tilt limit switch (
If LSWI ) is ON, clear the uplift solenoid output flag and proceed to the next step; if it is OFF, leave it as is and proceed to the next step (steps 509 and 51 O). If the backward tilt limit switch (LS'1V2) is ON, the lifting solenoid output flag is cleared and the process proceeds to the next step, and if it is OFF, the process proceeds to the next step (steps 511 and 512). If the reaping upper limit position is detected by the potentiometers (P~D), clear the reaping-hysolenoid output flag and proceed to the next step; if not detected, leave it as is and proceed to the next step (steps 513, 514). If the lower limit position of reaping is detected by (), the lower reaping solenoid output flag is cleared and the process returns; if it is not detected, the process leaves it as is and returns (step 515,
516).

As explained above, the control device (H) is used when the pre-reaping treatment device (5) is raised and at the same time the traveling machine body (7) is pitched in the direction of backward descent, and when the pre-reaping treatment device (5) When the traveling machine body (7) is simultaneously operated to descend in the backward upward direction, the vertical speed of the reaping pre-processing device (5) is adjusted to be slow.

[Another example]

(a) The elevating means and the pitching operation means may be of a structure using an electric motor.

(b) The height above the ground detection means includes a bridge member that is swingably provided on the ground work device and is forced to swing against the ground;
A potentiometer that outputs the swing angle of the bridge member may be used.

(c) The traveling device may have a structure using wheels.

The present invention can also be implemented with ground work vehicles other than combines, such as a straw harvester.

It is also possible to carry out the process using a ground work vehicle that has a ground work device attached to the rear of the vehicle body.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, it is clear from these entries that the present invention is not limited to the structure of the attached drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the ground work vehicle according to the present invention, in which Fig. 1 is an overall configuration diagram of the control system, Fig. 2 is the main flow, Fig. 3 is a subroutine for target angle calculation processing, and Fig. 4 is an output evaluation. Processing subroutines, Figure 5 ((), (0) are posture control subroutines, Figure 6 is manual mode subroutine, Figure 7 is cutting height control subroutine, Figure 8 is cutting lifting speed setting subroutine. , FIG. 9 is a subroutine for limit processing, FIG. 10 is a side view of the crawler traveling device, and FIG. 11 is a side view of the crawler traveling device.
12 is a diagram showing the mounting structure of the pitching hydraulic cylinder, FIG. 13 is a plan view of the operating section, and FIG. 14 is a side view of the entire combine harvester. (CY1)... Lifting means, (CY2)...
... Pitching operation means, (Sl,) ... Ground height detection means, (S2) ... Longitudinal inclination angle detection means, (5) ... Ground work device, <6L), (
6R)... Traveling device, (7)... Vehicle body, (100)... Lifting control means, (101
)...Pitching control means.

Claims (1)

[Claims] A vehicle main body (7) is supported by the traveling devices (6L) and (6R), and a ground work device (5) is attached to the front or rear part of the vehicle main body (7).
5) with respect to the vehicle body (7); a height-to-ground detecting means (S1) that detects the height of the ground work device (5) above the ground;
7) a pitching operation means (CY2) for tilting the vehicle body (CY2) in the longitudinal direction with respect to the ground contact area of the traveling device (6L), (6R); and a longitudinal tilting means for detecting the longitudinal inclination angle of the vehicle body (7) with respect to the horizontal reference plane. The lifting means (CY1) is operated to maintain the height above the ground of the ground working device (5) at a set height based on information from the angle detecting means (S2) and the height above the ground detecting means (S1). Pitching control that operates a pitching operation means (CY2) to maintain the longitudinal inclination angle of the vehicle body (7) at a set angle based on information from the elevation control means (100) and the longitudinal inclination angle detection means (S2). means (101), the elevation control means (100) is equipped with a ground work device (
5) A lifting/lowering operation direction in which a deviation from the set height of the height above the ground and a deviation from the set angle of the longitudinal inclination angle of the vehicle body body (7) exist at the same time, and the deviation of the ground work device (5) is corrected. and when the direction of the pitching operation for correcting the misalignment of the ground work device mounting portion of the vehicle body body (7) is the same, the elevating means (CY1) is operated so that the elevating speed of the ground work device (5) is low. A ground work vehicle configured to