JPH03186485A - Attitude control device for working vehicle - Google Patents

Abstract

PURPOSE:To reduce the attitude control power by correcting the larger one preferentially to the smaller one of the angle difference between the detected lateral inclination angle and the preset lateral inclination angle and the angle difference between the detected longitudinal inclination angle and the preset longitudinal inclination angle. CONSTITUTION:The information of various setters and sensors is inputted to a control device 100 for various control. Detected inclination angles are inputted from a lateral inclination angle sensor S3 and a longitudinal inclination angle sensor S2. The detected inclination angles are compared with preset values of a lateral inclination angle setter 27 and a longitudinal inclination angle setter 26 respectively to determine angle differences. The lateral inclination angle difference and the longitudinal inclination angle difference are compared, and the larger angle difference is preferentially corrected. If the longitudinal inclination angle difference is larger, a pitching drive means CY2 is selectively operated, if the lateral inclination angle difference is larger, a rolling drive means CY3 is selectively operated. The attitude control power can be reduced.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a posture control device for a working vehicle, and more specifically, a device for detecting the horizontal inclination of a body supported by a traveling device with respect to a horizontal reference plane or the ground. a left-right inclination angle detection means; a longitudinal inclination angle detection means for detecting a longitudinal inclination of the main body with respect to a horizontal reference plane or the ground; and a rolling drive that tilts the main body in the left-right direction with respect to a ground contact area of the traveling device. and a pitching drive means for tilting the main body in the longitudinal direction with respect to the ground contact portion of the traveling device, and based on the detection information of the left and right angle detecting means, the main body is tilted to a horizontal reference plane or The rolling driving means is operated to maintain a set inclination angle in the left and right directions with respect to the ground, and the body is moved forward and backward with respect to a horizontal reference plane or the ground based on the detection information of the longitudinal inclination angle detection means. The present invention relates to a posture control device for a working vehicle, which includes a control means for operating a pitching drive means to maintain a set inclination angle in a direction.

[Conventional technology]

When traveling on uneven or soft land, the machine body shakes significantly in the left-right and front-back directions, which not only makes the ride uncomfortable, but also makes it difficult for the various work equipment installed on the machine body to perform adequately. You may not be able to fully demonstrate your abilities. Therefore, there was a strong desire to stabilize the aircraft to prevent it from shaking.

Therefore, in order to maintain the aircraft body at a set tilt angle in the left-right and front-back directions with respect to the ground or a horizontal reference plane (mainly parallel to the horizontal reference plane), the left-right tilt angle sensor and the front-back tilt angle sensor are used. Attitude control devices have come to be provided that operate the rolling drive means and the pitching drive means simultaneously based on the information.

[Problem to be solved by the invention]

However, in the above-mentioned conventional attitude control device, the rolling drive means and the pitching drive means are operated simultaneously to control the attitude. Corrective actions may be performed at the same time. That is, an operation in which the longitudinal inclination angle of the aircraft body is corrected to the set inclination angle before the horizontal inclination angle of the aircraft body is corrected to the set inclination angle;
Or, the opposite operation will be performed, resulting in not only back and forth, left and right shaking, but also diagonal shaking. Generally, in such work vehicles, the occupants are often located above the various work devices installed on the machine body, and the above-mentioned shaking of the machine body in front and back, left and right, and diagonal directions is caused by the correction of the tilt of the machine body. feels big. In other words,
The vibrations in the longitudinal, lateral, and diagonal directions are mixed in a complicated manner, and the occupants are likely to experience so-called vehicle acid, which tends to cause discomfort to the occupants.

Furthermore, in order to operate the rolling drive means and the pitching drive means at the same time, a large power source is required to supply the circumferential drive means, which has the disadvantage that the entire configuration of the attitude control device becomes expensive. Ta. In particular, in a work vehicle, since the weight of the various work devices mounted on it is heavy, the driving power source requires a large amount of power, while the power required for driving the work vehicle and the various work devices is Since sufficient power is required, it is generally not possible to supply a large amount of power to the circumferential drive means from the viewpoint of overall balance, and there are significant restrictions on the power that can be supplied.

For this reason, it is desirable to operate the rolling drive means and the pitching drive means alternatively, but simply setting a priority order will delay control for those with large inclination angles and maintain the aircraft in its proper attitude. 1-It was difficult.

The present invention has been made in view of the actual situation described above, and its purpose is to reduce the power required for the attitude control device by selectively performing rolling control and pitching control, and to reduce the power required for the attitude control device as a whole. The aim is to maintain the main body of the aircraft in an appropriate attitude as much as possible, while also reducing the cost.

[Means to solve the problem]

In order to achieve this object, the characteristic configuration of the attitude control device for a work vehicle according to the present invention is such that the control means detects the angular difference between the detected angle by the left-right tilt angle detection means and the set tilt angle in the left-right direction, and The rolling drive means and the pitching drive means are selectively controlled so that the larger one of the angle differences between the detected angle by the longitudinal inclination angle detection means and the set inclination angle in the longitudinal direction is corrected preferentially to the smaller one. The point is that it is configured to operate.

[For production]

As described above, the control means is controlled based on the angular difference between the detected angle by the left-right tilt angle detection means and the set tilt angle in the left-right direction, and the detected angle by the longitudinal tilt angle detector and the set tilt angle in the front-back direction. Since the structure is configured so that the larger angle difference of Shaking can be suppressed as much as possible. Moreover, since the rolling drive means and the pitching drive means are configured to be operated selectively, the power required to drive both drive means is reduced by half compared to driving both drive means simultaneously. I can do it.

〔Effect of the invention〕

Therefore, by selectively performing rolling control and pitching control, the power required for the attitude control device is reduced.
An attitude control device for a work vehicle has been obtained which can maintain the main body of the machine in an appropriate attitude as much as possible while reducing the cost of the entire attitude control device.

〔Example〕

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

FIG. 12 shows a combine harvester, which is an example of a work vehicle. This combine harvester includes a raising device (1) that causes the planted grain culm, a clipper-type cutting device (2) that reaps the raised grain culm, and a conveyor to transport the cut grain culm toward the rear threshing device (3). A reaping pretreatment device (5) having a vertical conveyance device (4) etc. is connected to a pair of left and right crawler traveling devices (6L),
Hydraulic cylinder (CYI) installed at the front of the traveling machine (7) (corresponding to the main body) equipped with (6R) for lifting and lowering the harvest.
It is constructed so that it can be freely swung up and down around the lateral fulcrum (X).

Next, the traveling body (7) is moved to the left and right crawler traveling devices (61
), (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 Figures 8 and 9, the left and right main frames (8
) A bracket (9) having an inverted U-shape in front view is installed across the front parts of the brackets (9), and a fulcrum shaft (10) is installed across the left and right lower portions of this bracket (9). At both ends of this fulcrum shaft (lO) are left and right movable frames (11).
The front part is pivoted so that it can swing up and down. Further, as shown in FIG. 10, a rod (12) is installed across the rear portions of the left and right movable frames (11), and a pair of left and right guide frames (1
3) is provided to sandwich the left and right main frames (8), and when the movable frame (11) swings, the guide frame (13) comes into contact with the main frame (8). , so as to be able to restrict lateral displacement of the movable frame (11). Furthermore, the left and right main frames (
8) and the horizontal frame (14) connecting the rod (
12) One pitching hydraulic cylinder (
CY2) (corresponding to pitching drive means) is installed 7
By extension of this pitching hydraulic cylinder (CY2), the left and right movable frames (11) swing downward at the same time, so that the traveling body (7) is tilted forward and upward by contraction. Simultaneously swinging and traveling aircraft (7)
The body should be tilted backwards. In addition, there are reinforcement plates (15A) on the front and rear of the left and right main frames (8).

(15B), especially the later reinforcement plate (1,
5B) has the function of guiding the vertical movement of the guide frame (13) while regulating its longitudinal movement.

The rear reinforcing play 1-(15B>) is equipped with limit switches (LSWI) and (LSW2), which control when the guide frame (13) and the pitching hydraulic cylinder (CY2) reach the movable stroke end.・It is designed to be able to detect squid.Here, the traveling aircraft (7
) is the most forward tilted position, and the limit switch that detects the most backward tilted position is the forward tilt limit switch (LSWI).The limit switch that detects the most backward tilted position is the backward tilt limit switch (1,5W2). .

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 described below. 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 (i6a), and a connecting rod (19) is installed across the top of the front and rear drive arms (16b). It is.

Further, a rolling hydraulic cylinder (CY3) (corresponding to rolling drive means) supported on the movable frame (11) side is connected to the upper end of the rear drive arm (16a). Hydraulic cylinder (CY
The rear drive arm (16b) is designed to swing by the telescopic operation of 3).

In addition, the front bell crank (16A) is attached to the fulcrum shaft (16A).
0) is shared 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).
It is on a rack.

As shown below, the rolling hydraulic cylinder (C
When Y3) is extended, the front and rear bell cranks (16A
), (16B) swing in one direction, and the track frame (18) descends accordingly, moving the crawler traveling device (
6L) and (6R) are lowered relative to the traveling body (7), and the hydraulic cylinder (CY3)
When the is contracted, the front and rear bell cranks (16A),
(16B) swing integrally in the opposite direction, and the track frame (18) rises accordingly, causing the ground contact parts of the crawler traveling devices (6L) and (6R) to rise relative to the traveling body (7). That's what I do. In short, the main 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), (LS
Since this is similar to W4), L and R, which mean left and right sides, are added to avoid confusion.

The operating section of the traveling machine (7) is provided with an operation panel (30) as shown in FIG. 11 to perform various controls, and is used to set the cutting height of the cutting pre-treatment device (5). cutting height setting device (25) for setting the target longitudinal inclination angle of the traveling machine (7) with respect to the horizontal reference plane, longitudinal inclination angle setting device (26) for setting the target longitudinal inclination angle with respect to the horizontal reference plane, and lateral inclination setting device (26) for setting the target horizontal inclination angle. Setting devices such as the angle setting device (27), automatic/manual mode changeover switch (SWI) that changes between manual mode and automatic mode, and upper/lower limit mode changeover switch (SW2) that changes between upper limit reference mode and lower limit reference mode. ) and other switches, a cross lever (28) for operating the tilted posture in manual mode, a body lift lever (29) for raising and lowering the entire traveling body (7), etc.
As shown in the figure, this information is output to a control device (100) unitized as a microcomputer.

The operation panel (30) mainly includes a panel (30a) with levers for manual operation, and a setting device for presetting the target cutting height and target inclination angle for the automatic mote. The panel (30b) is bent downward at the center. As shown in Figure 12, during normal operation, the front of the operation panel (3
0b) is housed in the main body, and is structured so that it can be placed in a horizontal state when necessary, such as changing the target setting angle, and can be stored in the main body again after adjusting the setting device. This is to ensure that the operator can see as much of the front side of the raising device (1) as possible.

That is, at the start of reaping work, etc., the operator can visually check the divider (1a) provided at the tip of the raising device (1) when aligning the row with the base of the planted culm. This was done due to the constraints of not being able to take up much space on the operation panel.

Add supplementary explanation about upper limit reference mode and lower limit reference mode. For rolling control, left and right crawler running devices (
(6L), (6R) A descending reference lift control state (hereinafter referred to as lower limit reference mode) that brings each ground contact part closer to the traveling aircraft side, and a lower limit reference mode (hereinafter referred to as lower limit reference mode), and a
L), (6R) There is a rising reference ascending/lowering control state (hereinafter referred to as upper limit reference mode) in which each ground contact portion is separated from the traveling body (7). 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 expand and contract 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 in the dead zone with respect to the target inclination angle. If it is inside, the rolling hydraulic cylinder (
CY3) will be operated to expand and contract. 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 for each of the lower limit reference mode and upper limit reference mode will be described later.

The cross lever (28) has four operation switches (28
a) 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 (100). is now emitted. In other words,
If the cross 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, and if operated later, A signal instructing a pitching operation is emitted from the backward tilt operation switch (28b), and the backward tilt instruction state is established.If the operation is performed to the left, the left tilt operation switch (28e) is activated.
) will issue a signal instructing a rolling operation, resulting in a left tilt instruction state, and if the right tilt operation switch (28d') issues a signal instructing a rolling operation, the right tilt instruction state will occur. .

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
A signal is issued from 9a) to the control device (100) to instruct the traveling body (7) to rise, and the traveling body (7) rises one step relative to the crawler traveling devices (6L) and (6R) and operates backward. Then, a signal instructing the lowering operation switch (29b) to lower the traveling machine body (7) is sent to the control device (100), and the traveling machine's body (7) moves to the crawler traveling device (6L).
), (6R).

The reaping lifting hydraulic cylinder (CYI), the pitching hydraulic cylinder (CY2), and the rolling hydraulic cylinder (CY3) each include a three-position switching type electromagnetic valve (Vl), (V2). ).

(V3), and these three-position switching type electromagnetic valves (Vl, ), (V2), and (V3) are connected to the control device (100). Then, from this control device (100), the electromagnetic valves (m, (V2), (V
3) various hydraulic cylinders (CYI) and (CY2) according to the lifting commands issued to them.

(CY3) is designed to expand and contract.

As shown in FIG. 1, the control device (100) also includes the forward tilt limit switch (LSWI),
Backward tilt limit switch (LSW2), upper and lower limit switch (LSW3L), (L!V3R), (
LSSv4L).

(LSW4R) and other switches, reaping pre-treatment device (5)
A cutting height sensor (Sl) for detecting the cutting height of Sensors such as a weight type left and right tilt angle sensor (S3) are connected to detect the angle.

The control device (100) controls a three-position switching type electromagnetic valve m) based on the information inputted from these devices.
(V2). In other words, the control device (100) controls the electromagnetic valve (■1) so that the cutting pretreatment device (5) reaches the cutting height set by the cutting height setting device (25) based on the information from the cutting height sensor (Sl). The mowing height is controlled based on the information from the longitudinal inclination angle sensor (Sl).
) performs pitching control to control the electromagnetic valve (■2) so that the longitudinal inclination angle is set by the longitudinal inclination angle setting device (25), and based on the left and right inclination sensor (S3), the pitching control is performed by the left and right inclination angle setting device (25). Solenoid valve (
It performs rolling control to control V3).

Note that the pitching control and the rolling control are alternatively controlled according to a control flow described later.

Next, pitching control and rolling control performed by the control device (100) will be explained based on the flowcharts of FIGS. 2 to 7. Note that the control device (100) actually performs cutting height control at the same time, but the description will be omitted below to make the invention easier to understand. still,
Step numbers in the diagram are indicated with a # mark.

What is shown in FIG. 2 is the main flow of attitude control. First, after starting, the timer and various flags are initialized (step 10).

After a predetermined period of time (approximately 10 m5 EC) has elapsed (step 20), output control is performed to write the contents of various output flags to the output J boat (step 30), and the output flags are cleared (step 40). Next, output values from various sensors, switches, and setting devices are read (step 50). Next, a subroutine of target angle setting processing is performed to set a target inclination angle in the left-right direction and a target inclination angle in the longitudinal direction (step 60). Subsequently, a subroutine for attitude control processing including rolling control and pitching control is performed (step 70). Thereafter, output flags that satisfy certain conditions are cleared (step 80). The above-mentioned processing after the initialization is completed will be repeatedly executed.

What is shown in FIG. 3 is a subroutine for target angle setting processing executed at step 60. The respective correction values are obtained from the output values of the left and right fine adjustment volutes and the front and rear fine adjustment volumes (not shown), and these correction values are used to set the left and right tilt angle setter (27) and the front and rear tilt angle setter (26). ) is corrected (step 61), and the left and right target inclination angles and the front and rear target inclination angles are set (step 62゜6).
3). It should be noted that both the left and right fine adjustment volumes and the front and rear fine adjustment volumes are already setting devices at the time of shipment.

What is shown in FIG. 4 is a subroutine for attitude control processing executed in step 70.

The left-right angle difference is calculated by subtracting the left-right tilt angle detected by the left-right tilt angle sensor (S3) serving as a left-right tilt angle detection means from the left-right target tilt angle set in step 60 (step 71). Further, the longitudinal angle difference is calculated by subtracting the longitudinal inclination angle detected by the longitudinal inclination angle sensor (Sl) serving as the longitudinal inclination angle detection means from the longitudinal target inclination angle set in step 60 (step 72). Then, the left-right angle difference and the front-rear angle difference obtained by these calculations are compared, and if the left-right angle difference is greater than or equal to the front-rear angle difference, a rolling control processing subroutine is performed (step 74).
If the front-rear angle difference is smaller than the left-right angle difference, a subroutine for pitching control processing is performed (step 75). After performing the above processing, return to the main flow.

That is, the angular difference between the angle detected by the left-right tilt angle detection means (S3) and the set tilt angle in the left-right direction, and the angular difference between the detected angle by the front-back tilt angle detection means (S2) and the set tilt angle in the front-rear direction. The rolling control process and the pitching control process are configured to be operated alternatively in order to correct the larger one with priority over the smaller one.

As mentioned above, when the left-right angle difference and the front-back angle difference are equal, rolling control processing is performed (7). This is because it is worn so that it can be raised and lowered freely, and priority is given to correcting the posture in the horizontal direction.

FIG. 5 shows a subroutine of the rolling control process executed in step 74. However, in the following description, lower left, upper left, lower right, upper right, lower rear, and rear ball each refer to the operation direction with a minus sign at the left and right sides and the front and rear of the traveling body (7). .

Neither the cross lever (28) nor the machine lift lever (29) is being operated, the automatic mode is selected with the automatic/manual mode changeover switch (SWI), and the threshing switch (SW3) is ON. If the upper limit reference mode is selected with the upper F limit mode changeover switch (SW2), the upper limit reference mode is set, and if the lower limit reference mode is selected, the lower limit reference mode is set (step 20
1-2I3).

However, if either the cross lever (28) or the body lifting lever (29) is operated in step 201, the mode is temporarily switched to manual mode (step 208). In addition, in step 202, the automatic/manual mode changeover switch (
If the manual mode is selected with SWI) or the threshing switch (SW3) is turned OFF in step 203, the lower limit reference mote is set and the manual mode processing described later is performed, and then the process returns to the main flow ( Steps 202, 203.207.208).

What is shown in FIG. 7 is a subroutine for manual mode processing executed at step 208.

If the cross lever (28) is operated forward and the forward tilt operation switch (28a) is turned on, the lifting solenoid output flag is set, and if it is turned off, the process continues (steps 400, 401). If the cross lever (28) is operated later and the backward tilt operation switch (28b) is turned on, the lower rear solenoid output flag is set, and if it is turned off, the process continues (steps 402 and 403). Cross lever (28
) is operated to the left and the left tilt operation switch (28c) is turned on.
If so, set the lower left solenoid output flag and the upper right solenoid output flag 2, and if they are OFF, proceed as is (steps 404 and 405).The cross lever (28) is operated to the right and the right tilt operation switch (28d) is turned ON. If so, set the upper left solenoid output flag and the lower right solenoid output flag, and if they are OFF, proceed as is (steps 406 and 407). If the lowering operation switch (29b) is turned ON by operating the aircraft elevation control <- (29), the lower left solenoid output flag and the lower right solenoid output flag are set, and if they are OFF, the process continues (step 408). .409). 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 right lower solenoid output flag are set, and if they are OFF, return to the main flow (steps 410, 411).

In the automatic mode, when the lower limit reference mode is set, the polarity of the left-right angle difference is positive and upward to the left, and when the left-right angle difference is outside the dead zone, the left-right angle difference is significantly larger, Moreover, if the left lower limit switch (LSW4L) is OFF, the lower left solenoid output flag is set to zero and the process returns to the main flow (steps 210 to 215). However, if it is determined in step 213 that the left/right declination is small and the left lower limit switch (LSW4L) is ON, or if the left lower limit switch (LSW4L) is turned on in step 216, If it is determined that the upper right solenoid output flag is ON, the upper right solenoid output flag is set, and if it is determined that the left lower limit switch (LSW41,) is OFF, the process returns to the main flow (step 216.217).

1; It is the limit reference mode, and the polarity of the left and right declination angles is positive and rising to the left, or 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,
In addition, the left or right lower limit switch (LSW41.
), (LSW4R) is ON, returns to the main flow (steps 210 to 212, 218
．． 219),.

In the lower limit reference mode, when the polarity of the left and right declination angle is negative and the left and right declination angle is outside the dead zone, when the left and right declination angle is significantly large and the right lower limit switch (LSW4R) If it is OFF, set the lower right solenoid output flag and return to the main flow (steps 210, 211, 220 to 223
). However, in step 221, it is determined that the left and right deviation angle is small, and the right lower limit switch (LSW4R
) is determined to be OFF, or if the right lower limit switch (LSW4R) is determined to be OFF in step 223.
If it is determined that it is N, the upper left solenoid output flag is set and the lower limit switch (LSW
4R) is ON, the process directly returns to the main flow (steps 224 and 225).

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,
In addition, the left or right lower limit switch (LSW4L)
, (LSW4R) is ON, returns to the main flow (steps 210, 211, 220 .
218.219).

In the upper limit reference mode, when the polarity of the left and right angle difference is positive and rising to the left, and the left and right angle difference is outside the dead band, this left and right angle difference is extremely large, and the right upper limit switch (LSW3R) is If ON, the lower left solenoid output flag is set and the process returns to the main flow (steps 210, 226 to 230). However, in step 228, it is determined that the left/right declination angle is small;
And the upper right limit switch (LSW3R) is OFF.
F, or if it is determined in step 229 that the right upper limit switch (LSW3R) is OFF, the upper right solenoid output flag is set and the right upper limit switch (t , S~V3R
) is ON, the process directly returns to the main flow (steps 231 and 232).

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),
(LSW3R) are both OFF, set the upper right solenoid output flag and the upper left solenoid output flag, and also set the left or right upper limit switch (LSW3R).
If the − side of L) and (LSW3R) is ON, return to the main flow as is (step 210.22
6.235.233.234).

In the upper limit reference mode, when the polarity of the left and right yaw angle is negative and upward to the right, and the left and right yaw angle is outside the dead band,
Furthermore, the left and right deviation angle is extremely large, and what's more, the left upper limit switch (LSW3L).

If (1,5W3R) is ON, the lower right solenoid output flag is set and the process returns to the main flow (steps 210.226.235 to 238). However, if it is determined in step 236 that the left/right deviation angle is small and it is determined that the left upper limit switch (LSW3L) is OFF, or if the left upper limit switch (LSW3L) is OFF in step 237, If it is determined that the upper left solenoid output flag is set, and if it is determined that the left upper limit switch (LSW3L) is ON, the process returns to the main flow (steps 239 and 240).

In the upper limit reference mode, when the polarity of the left and right declination angle is negative and rising to the right, but the left and right declination angle is within the dead zone, the left and right upper limit switches (LSW3L),
(LSW3R) are both OFF, the upper right solenoid output flag and the upper left solenoid output flag are set to
Then, the process proceeds to step 241, and if either the left or right upper limit switch (LSW31,) or (LSW3R) is ON, the process returns to the main flow (steps 210, 226, 235, 233, 234).

Next, the subroutine of the pitching control process executed in step 35 shown in FIG. 6 will be explained.

If neither the cross lever (28) nor the aircraft lift lever (29) is operated and the automatic mode is selected with the automatic/manual mode changeover switch (SWI), the process advances to step 305 (step 301-302
), either the cross lever (28) or the aircraft lift lever (29) is operated in step 301, or
In step 302, the automatic/manual mode changeover switch (S
If manual mode is selected in WI), the seventh
Execute the manual mode shown in the figure and return to the main flow (step 304).

If the polarity of the front-rear angle difference is positive and the front is bent, the front-rear angle difference is outside the dead zone, and the forward tilt limit switch (LSWI) is OFF, set the lift solenoid output flag. Then, the process returns to the main flow (steps 305 to 308). However, step 306
If it falls within the dead zone, or if it is determined in step 307 that the forward tilt limit switch (1, SWI,) is ON, the process returns to the main flow without setting the lift solenoid output flag.

The polarity of the longitudinal yaw angle is negative, the longitudinal yaw angle is outside the dead zone, and the backward tilt limit switch (
When LSW2) is OFF, the rear lower solenoid output flag is set and the process returns to the main flow (steps 305, 309 to 311).

However, if it is within the dead zone in step 309 or step 3
If it is determined in step 10 that the backward tilt limit switch (LSW2) is ON, the process directly returns to the main flow.

Note that the condition flag clearing process in step 80 is a process of clearing each output flag in each step in order to stop the operation of each drive means when each of the limit switches described above is in the ON state. .

As explained above, this work vehicle selectively performs rolling control and pitching control, depending on the left-right angle difference and the front-rear angle difference, giving priority to the one with a large angle difference, so that the main body of the machine is adjusted properly. This allows you to maintain your posture as much as possible.

[Another example]

The rolling control and pitching control in the present invention have been exemplified where each control is performed at a constant speed according to the angular difference with respect to the target inclination angle, but depending on the size of the angular difference, the larger the angular difference The speed of each control may be increased (7), and the specific configuration may be changed.

In addition, although the reference numeral 8 is written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure of the attached drawings by this entry.

[Brief explanation of drawings]

The drawings show an embodiment of the attitude control device for a working vehicle according to the present invention, in which Fig. 1 shows the overall configuration of the control system, Fig. 2 shows the main flow, Fig. 3 shows a subroutine for target angle setting processing, and Fig. 4 5 is a subroutine for attitude control processing, FIG. 5 is a subroutine for rolling control processing, FIG. 6 is a subroutine for pitching control processing, FIG. 7 is a subroutine for manual mode processing,
Fig. 8 is a side view of the crawler traveling device, Fig. 9 is a plan view of the crawler traveling device, Fig. 10 is a rear view showing the connection structure of the pitching hydraulic cylinder, Fig. 11 is the operation panel, and Fig. 12 is the combine FIG.

Claims (1)

[Claims] The main body of the aircraft (7) supported by the traveling gear (6L) and (6R)
) for detecting the horizontal inclination of the fuselage body (7) relative to the horizontal reference plane or the ground; and longitudinal inclination angle detecting means for detecting the longitudinal inclination of the aircraft body (7) relative to the horizontal reference plane or the ground. (S2), and a rolling drive means (CY) that tilts the fuselage main body (7) in the left-right direction with respect to the ground contact area of the traveling devices (6L) and (6R).
3), and a pitching drive means (CY2) for tilting the main body (7) in the front-rear direction with respect to the ground contact portions of the traveling devices (6L) and (6R), and the left-right tilt angle detection means ( Based on the detection information of S3), the rolling drive means (CY3) is operated to maintain the aircraft main body (7) at a set inclination angle in the left-right direction with respect to a horizontal reference plane or the ground, and A control means (for controlling) which operates a pitching drive means (CY2) to maintain the main body (7) at a predetermined inclination angle in the longitudinal direction with respect to a horizontal reference plane or the ground based on the detection information of the angle detection means (S3). 100), wherein the control means (100) detects an angular difference between the detected angle by the left-right tilt angle detection means (S3) and the set tilt angle in the left-right direction; The rolling drive means (CY3) and A posture control device for a working vehicle configured to selectively operate the pitching drive means (CY2).